...

cxx/mcc_mount_events_states.h

@@ -162,6 +162,13 @@ struct MccMountEventStop : public MccMountEventBase<MountT> {
         return _reason;
     }
 
+    std::string_view reason() const
+    {
+        return _reason == EVENT_STOP_BUTTON   ? "Hardware stop-button"
+               : _reason == EVENT_STOP_CLIENT ? "Stop from client"
+                                              : "UNKNOWN";
+    }
+
     MccMountEventStop(MountT& mount, event_data_t reason) : base_t(mount), _reason(reason) {}
 
 protected:
@@ -236,7 +243,7 @@ struct MccMountStateError;
 template <traits::mcc_mount_c MountT>
 struct MccMountStateSlew;
 
-template <traits::mcc_mount_c MountT>
+template <traits::mcc_mount_c MountT, fsm::traits::fsm_event_c TrEvT = MccMountEventStop<MountT>>
 struct MccMountStateStop;
 
 template <traits::mcc_mount_c MountT>
@@ -246,6 +253,49 @@ template <traits::mcc_mount_c MountT>
 struct MccMountStateShutdown;
 
 
+// stop state
+
+template <traits::mcc_mount_c MountT, fsm::traits::fsm_event_c TrEvT>
+struct MccMountStateStop : MccMountStateBase<MountT> {
+    static constexpr std::string_view ID = "MCC-MOUNT-STOP-STATE";
+
+    using transition_t = fsm::fsm_transition_table_t<std::pair<MccMountEventIDLE<MountT>, MccMountStateIDLE<MountT>>>;
+
+protected:
+    void exitImpl(MccMountEventIDLE<MountT>& event)
+    {
+        // normal exit from the state
+    }
+
+    // normal bihavior (transit to IDLE state after stopping)
+    void enterImpl(MccMountEventStop<MountT>& event)
+    {
+        auto mount = event.mount();
+        mount.stopMount();
+
+        // switch to IDLE state
+        mount.template dispatchEvent<MccMountEventIDLE<MountT>>({mount});
+    }
+
+    template <std::derived_from<MccMountEventBase<MountT>> EvT>
+    void enterImpl(EvT& event)
+    {
+        auto mount = event.mount();
+
+        mount.stopMount();
+
+        if constexpr (std::same_as<EvT, MccMountEventStop<MountT>>) {
+            mount.logInfo("Stop reason: {}", event.reason());
+
+            // normal bihavior (transit to IDLE state after stopping)
+            mount.template dispatchEvent<MccMountEventIDLE<MountT>>({mount});
+        } else {
+            mount.logInfo("Stop reason: special state");
+            mount.dispatchEvent(event);
+        }
+    }
+};
+
 // initialization state
 
 template <traits::mcc_mount_c MountT>
@@ -263,14 +313,17 @@ protected:
     template <std::derived_from<MccMountEventBase<MountT>> EvT>
     void enterImpl(EvT& event)
     {
-        event.mount().initMount();
+        auto mount = event.mount();
+        mount.initMount();
 
         // switch to IDLE state
-        event.mount().template dispatchEvent<MccMountEventIDLE<MountT>>();
+        mount.template dispatchEvent<MccMountEventIDLE<MountT>>({mount});
     }
 };
 
 
+// error state
+
 template <traits::mcc_mount_c MountT>
 struct MccMountStateError : MccMountStateBase<MountT> {
     static constexpr std::string_view ID = "MCC-MOUNT-ERROR-STATE";
@@ -288,7 +341,7 @@ protected:
     template <std::derived_from<MccMountEventBase<MountT>> EvT>
     void exitImpl(EvT& event)
     {
-        event.mount().logWarning(
+        event.mount().logWarn(
             "The mount is in the error state!!! One must correct it before transit to any states! Event type is '{}'",
             EvT::ID);
     }
@@ -314,6 +367,8 @@ protected:
 };
 
 
+// IDLE state
+
 template <traits::mcc_mount_c MountT>
 struct MccMountStateIDLE : MccMountStateBase<MountT> {
     static constexpr std::string_view ID = "MCC-MOUNT-IDLE-STATE";
@@ -328,17 +383,55 @@ struct MccMountStateIDLE : MccMountStateBase<MountT> {
 };
 
 
+// shutdown state
+
 template <traits::mcc_mount_c MountT>
 struct MccMountStateShutdown : MccMountStateBase<MountT> {
     static constexpr std::string_view ID = "MCC-MOUNT-SHUTDOWN-STATE";
 
+    // only initialization
+    using transition_t = fsm::fsm_transition_table_t<std::pair<MccMountEventInit<MountT>, MccMountStateInit<MountT>>>;
+
+protected:
+    void exitImpl(MccMountEventInit<MountT>& event)
+    {
+        // normal exit from the state
+    }
+
+    template <std::derived_from<MccMountEventBase<MountT>> EvT>
+    void enterImpl(EvT& event)
+    {
+        event.mount().shutdownMount();
+    }
+};
+
+
+// slew state
+
+template <traits::mcc_mount_c MountT>
+struct MccMountStateSlew : MccMountStateBase<MountT> {
+    static constexpr std::string_view ID = "MCC-MOUNT-SLEW-STATE";
+
+    // only initialization
     using transition_t =
         fsm::fsm_transition_table_t<std::pair<MccMountEventInit<MountT>, MccMountStateInit<MountT>>,
-                                    std::pair<MccMountEventError<MountT>, MccMountStateError<MountT>>,
+                                    std::pair<MccMountEventError<MountT>, MccMountStateStop<MountT>>,
-                                    std::pair<MccMountEventSlew<MountT>, MccMountStateSlew<MountT>>,
+                                    // std::pair<MccMountEventSlew<MountT>, MccMountStateSlew<MountT>>,
-                                    std::pair<MccMountEventGuiding<MountT>, MccMountStateGuiding<MountT>>,
+                                    std::pair<MccMountEventGuiding<MountT>, MccMountStateStop<MountT>>,
-                                    std::pair<MccMountEventStop<MountT>, MccMountStateIDLE<MountT>>,
+                                    std::pair<MccMountEventStop<MountT>, MccMountStateStop<MountT>>,
-                                    std::pair<MccMountEventShutdown<MountT>, MccMountStateShutdown<MountT>>>;
+                                    std::pair<MccMountEventShutdown<MountT>, MccMountStateStop<MountT>>>;
+
+protected:
+    template <std::derived_from<MccMountEventBase<MountT>> EvT>
+    void exitImpl(EvT& event)
+    {
+    }
+
+    template <std::derived_from<MccMountEventSlew<MountT>> EvT>
+    void enterImpl(EvT& event)
+    {
+        event.mount().startSlew(/* params here ...*/);
+    }
 };
 
 }  // namespace mcc