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@ -127,175 +127,83 @@ public:
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/* GENERIC FINITE-STATE-MACHINE MOUNT REFERENCE IMPLEMENTATION */
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template <typename T>
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concept mcc_generic_fsm_mount_event_c =
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fsm::traits::fsm_event_c<T> && std::constructible_from<typename T::mount_t*> && requires(T t) {
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{ t.mount() } -> std::same_as<typename T::mount_t*>;
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};
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template <mcc_generic_mount_c MOUNT_T>
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struct MccGenericFsmMountBaseEvent {
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typedef MOUNT_T mount_t;
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// static constexpr std::string_view ID{""};
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virtual ~MccGenericFsmMountBaseEvent() = default;
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MOUNT_T* mount() const
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{
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return _mount;
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}
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protected:
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MOUNT_T* _mount;
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MccGenericFsmMountBaseEvent(MOUNT_T* mount) : _mount(mount) {}
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};
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template <mcc_generic_mount_c MOUNT_T>
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struct MccGenericFsmMountInitEvent;
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template <mcc_generic_mount_c MOUNT_T>
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struct MccGenericFsmMountIdleEvent;
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template <mcc_generic_mount_c MOUNT_T>
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struct MccGenericFsmMountStopEvent;
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template <mcc_generic_mount_c MOUNT_T>
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struct MccGenericFsmMountErrorEvent : MccGenericFsmMountBaseEvent<MOUNT_T> {
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static constexpr std::string_view ID{"GENERIC-MOUNT-ERROR-EVENT"};
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typedef typename MOUNT_T::error_t mount_error_t;
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MccGenericFsmMountErrorEvent(MOUNT_T* mount, const mount_error_t& err)
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: MccGenericFsmMountBaseEvent<MOUNT_T>(mount), _err(err)
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{
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}
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mount_error_t eventData() const noexcept
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{
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return _err;
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}
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protected:
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mount_error_t _err;
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};
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template <mcc_generic_mount_c MOUNT_T>
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struct MccGenericFsmMountSlewEvent;
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template <mcc_generic_mount_c MOUNT_T>
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struct MccGenericFsmMountTrackEvent;
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// template <mcc_generic_mount_c MOUNT_T>
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// struct MccGenericFsmMountBaseState {
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// typedef MOUNT_T mount_t;
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// virtual ~MccGenericFsmMountBaseState() = default;
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// protected:
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// MccGenericFsmMountBaseState() = default;
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// template <fsm::traits::fsm_event_c EvT>
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// void exitLog(this auto&& self, EvT& event)
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// {
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// using self_t = std::remove_cvref_t<decltype(self)>;
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// if constexpr (mcc_generic_log_mount_c<MOUNT_T> &&
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// std::derived_from<EvT, MccGenericFsmMountBaseEvent<MOUNT_T>>) {
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// event.mount()->logDebug(std::format("Exit from '{}' state due to '{}' event ...", self_t::ID, EvT::ID));
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// }
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// }
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// template <fsm::traits::fsm_event_c EvT>
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// void enterLog(this auto&& self, EvT& event)
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// {
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// using self_t = std::remove_cvref_t<decltype(self)>;
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// if constexpr (mcc_generic_log_mount_c<MOUNT_T> &&
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// std::derived_from<EvT, MccGenericFsmMountBaseEvent<MOUNT_T>>) {
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// event.mount()->logDebug(std::format("Enter to '{}' state due to '{}' event ...", self_t::ID, EvT::ID));
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// }
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// }
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// };
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// template <mcc_generic_mount_c MOUNT_T>
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// struct MccGenericFsmMountStartState;
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// template <mcc_generic_mount_c MOUNT_T>
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// struct MccGenericFsmMountIdleState;
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// template <mcc_generic_mount_c MOUNT_T>
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// struct MccGenericFsmMountStopState;
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// template <mcc_generic_mount_c MOUNT_T>
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// struct MccGenericFsmMountErrorState;
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// template <mcc_generic_mount_c MOUNT_T>
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// struct MccGenericFsmMountSlewState;
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// template <mcc_generic_mount_c MOUNT_T>
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// struct MccGenericFsmMountTrackState;
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// template <mcc_generic_mount_c MOUNT_T>
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// struct MccGenericFsmMountInitState : MccGenericFsmMountBaseState<MOUNT_T> {
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// static constexpr std::string_view ID{"GENERIC-MOUNT-INIT-STATE"};
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// using transition_t = fsm::fsm_transition_table_t<
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// std::pair<MccGenericFsmMountIdleEvent<MOUNT_T>, MccGenericFsmMountIdleState<MOUNT_T>>,
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// std::pair<MccGenericFsmMountErrorEvent<MOUNT_T>, MccGenericFsmMountErrorState<MOUNT_T>>,
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// std::pair<MccGenericFsmMountInitEvent<MOUNT_T>, MccGenericFsmMountInitState<MOUNT_T>>>;
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// void exit(MccGenericFsmMountInitEvent<MOUNT_T>& event)
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// {
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// if constexpr (mcc_generic_log_mount_c<MOUNT_T>) {
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// event.mount()->logWarn("It seems a re-entering to the initializing state was asked! Ignore the event!");
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// }
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// }
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// void enter(MccGenericFsmMountInitEvent<MOUNT_T>& event)
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// {
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// if constexpr (mcc_generic_log_mount_c<MOUNT_T>) {
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// event.mount()->logWarn(
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// "It seems a re-entering to the initializing state was asked! Ignore the event and wait for the mount
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// " "to initialize!");
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// }
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// }
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// void exit(fsm::traits::fsm_event_c auto& event)
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// {
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// exitLog(event);
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// }
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// void enter(fsm::traits::fsm_event_c auto& event)
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// {
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// enterLog(event);
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// auto err = event.mount()->initMount();
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// }
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// };
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template <mcc_generic_mount_c MOUNT_T,
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mcc_generic_fsm_mount_event_c INIT_EVENT_T = MccGenericFsmMountInitEvent<MOUNT_T>,
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mcc_generic_fsm_mount_event_c STOP_EVENT_T = MccGenericFsmMountStopEvent<MOUNT_T>,
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mcc_generic_fsm_mount_event_c SLEW_EVENT_T = MccGenericFsmMountSlewEvent<MOUNT_T>,
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mcc_generic_fsm_mount_event_c TRACK_EVENT_T = MccGenericFsmMountTrackEvent<MOUNT_T>>
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class MccGenericFsmMount : public MOUNT_T, protected fsm::MccFiniteStateMachine
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{
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// to prevent infinite recursion!
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static_assert(!std::derived_from<MOUNT_T, MccGenericFsmMount>, "!!!!!!!!!");
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public:
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typedef std::error_code error_t;
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using fsm::MccFiniteStateMachine::currentStateID;
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protected:
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/* default events implementation */
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struct MccGenericFsmMountBaseEvent {
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virtual ~MccGenericFsmMountBaseEvent() = default;
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MccGenericFsmMount* mount() const
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{
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return _mount;
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}
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protected:
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MccGenericFsmMount* _mount;
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MccGenericFsmMountBaseEvent(MccGenericFsmMount* mount) : _mount(mount) {}
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};
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struct MccGenericFsmMountInitEvent : MccGenericFsmMountBaseEvent {
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static constexpr std::string_view ID{"GENERIC-MOUNT-INIT-EVENT"};
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MccGenericFsmMountInitEvent(MccGenericFsmMount* mount) : MccGenericFsmMountBaseEvent(mount) {}
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};
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struct MccGenericFsmMountIdleEvent : MccGenericFsmMountBaseEvent {
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static constexpr std::string_view ID{"GENERIC-MOUNT-IDLE-EVENT"};
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MccGenericFsmMountIdleEvent(MccGenericFsmMount* mount) : MccGenericFsmMountBaseEvent(mount) {}
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};
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struct MccGenericFsmMountStopEvent : MccGenericFsmMountBaseEvent {
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static constexpr std::string_view ID{"GENERIC-MOUNT-STOP-EVENT"};
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MccGenericFsmMountStopEvent(MccGenericFsmMount* mount) : MccGenericFsmMountBaseEvent(mount) {}
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};
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struct MccGenericFsmMountErrorEvent : MccGenericFsmMountBaseEvent {
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static constexpr std::string_view ID{"GENERIC-MOUNT-ERROR-EVENT"};
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MccGenericFsmMountErrorEvent(MccGenericFsmMount* mount, const MccGenericFsmMount::error_t& err)
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: MccGenericFsmMountBaseEvent(mount), _err(err)
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{
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}
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MccGenericFsmMount::error_t eventData() const noexcept
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{
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return _err;
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}
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protected:
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MccGenericFsmMount::error_t _err;
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};
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struct MccGenericFsmMountSlewEvent : MccGenericFsmMountBaseEvent {
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static constexpr std::string_view ID{"GENERIC-MOUNT-SLEW-EVENT"};
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MccGenericFsmMountSlewEvent(MccGenericFsmMount* mount) : MccGenericFsmMountBaseEvent(mount) {}
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};
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struct MccGenericFsmMountTrackEvent : MccGenericFsmMountBaseEvent {
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static constexpr std::string_view ID{"GENERIC-MOUNT-TRACK-EVENT"};
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MccGenericFsmMountTrackEvent(MccGenericFsmMount* mount) : MccGenericFsmMountBaseEvent(mount) {}
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};
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/* default states implementation */
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template <fsm::traits::fsm_state_c ERROR_STATE_T>
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struct MccGenericFsmMountBaseState {
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virtual ~MccGenericFsmMountBaseState() = default;
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@ -307,8 +215,7 @@ protected:
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{
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using self_t = std::remove_cvref_t<decltype(self)>;
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if constexpr (mcc_generic_log_mount_c<MOUNT_T> &&
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std::derived_from<EvT, MccGenericFsmMountBaseEvent<MOUNT_T>>) {
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if constexpr (mcc_generic_log_mount_c<MOUNT_T> && std::derived_from<EvT, MccGenericFsmMountBaseEvent>) {
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event.mount()->logDebug(std::format("Exit from '{}' state due to '{}' event ...", self_t::ID, EvT::ID));
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}
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}
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@ -318,19 +225,16 @@ protected:
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{
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using self_t = std::remove_cvref_t<decltype(self)>;
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if constexpr (mcc_generic_log_mount_c<MOUNT_T> &&
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std::derived_from<EvT, MccGenericFsmMountBaseEvent<MOUNT_T>>) {
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if constexpr (mcc_generic_log_mount_c<MOUNT_T> && std::derived_from<EvT, MccGenericFsmMountBaseEvent>) {
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event.mount()->logDebug(std::format("Enter to '{}' state due to '{}' event ...", self_t::ID, EvT::ID));
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}
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}
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};
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struct MccGenericFsmMountErrorState;
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struct MccGenericFsmMountStartState;
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struct MccGenericFsmMountErrorState; // default error-state class implementation (forward declaration)
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template <fsm::traits::fsm_state_c ERROR_STATE_T>
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struct MccGenericFsmMountIdleState;
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struct MccGenericFsmMountInitState;
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template <fsm::traits::fsm_state_c ERROR_STATE_T>
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struct MccGenericFsmMountStopState;
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@ -341,24 +245,61 @@ protected:
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template <fsm::traits::fsm_state_c ERROR_STATE_T>
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struct MccGenericFsmMountTrackState;
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template <fsm::traits::fsm_state_c ERROR_STATE_T>
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struct MccGenericFsmMountInitState : MccGenericFsmMountBaseState<ERROR_STATE_T> {
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struct MccGenericFsmMountStartState
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: MccGenericFsmMountBaseState // initial state after mount-class creation (uninitialized state)
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{
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static constexpr std::string_view ID{"GENERIC-MOUNT-START-STATE"};
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// only initialization is allowed here
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using transition_t = fsm::fsm_transition_table_t<
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std::pair<MccGenericFsmMountInitEvent, MccGenericFsmMountInitState<ERROR_STATE_T>>>;
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};
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template <fsm::traits::fsm_state_c ERROR_STATE_T>
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struct MccGenericFsmMountIdleState
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: MccGenericFsmMountBaseState // IDLE state: mount is stopped, wait for client commands
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{
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static constexpr std::string_view ID{"GENERIC-MOUNT-IDLDE-STATE"};
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using transition_t = fsm::fsm_transition_table_t<
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std::pair<MccGenericFsmMountIdleEvent, MccGenericFsmMountIdleState<ERROR_STATE_T>>,
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std::pair<MccGenericFsmMountErrorEvent, ERROR_STATE_T>,
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std::pair<MccGenericFsmMountInitEvent, MccGenericFsmMountInitState<ERROR_STATE_T>>,
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std::pair<MccGenericFsmMountSlewEvent, MccGenericFsmMountSlewState<ERROR_STATE_T>>,
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std::pair<MccGenericFsmMountTrackEvent, MccGenericFsmMountTrackState<ERROR_STATE_T>>,
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std::pair<MccGenericFsmMountStopEvent, MccGenericFsmMountStopState<ERROR_STATE_T>>>;
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void exit(fsm::traits::fsm_event_c auto& event)
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{
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exitLog(event);
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}
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void enter(fsm::traits::fsm_event_c auto& event)
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{
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enterLog(event);
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}
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};
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template <fsm::traits::fsm_state_c ERROR_STATE_T>
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struct MccGenericFsmMountInitState : MccGenericFsmMountBaseState {
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static constexpr std::string_view ID{"GENERIC-MOUNT-INIT-STATE"};
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using transition_t = fsm::fsm_transition_table_t<
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std::pair<MccGenericFsmMountIdleEvent<MOUNT_T>, MccGenericFsmMountIdleState<MccGenericFsmMountErrorState>>,
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std::pair<MccGenericFsmMountErrorEvent<MOUNT_T>, MccGenericFsmMountErrorState>,
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std::pair<MccGenericFsmMountInitEvent<MOUNT_T>, MccGenericFsmMountInitState>>;
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std::pair<MccGenericFsmMountIdleEvent, MccGenericFsmMountIdleState<ERROR_STATE_T>>,
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std::pair<MccGenericFsmMountErrorEvent, ERROR_STATE_T>,
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std::pair<MccGenericFsmMountInitEvent, MccGenericFsmMountInitState>>;
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void exit(MccGenericFsmMountInitEvent<MOUNT_T>& event)
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void exit(MccGenericFsmMountInitEvent& event)
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{
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if constexpr (mcc_generic_log_mount_c<MOUNT_T>) {
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event.mount()->logWarn("It seems a re-entering to the initializing state was asked! Ignore the event!");
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}
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}
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void enter(MccGenericFsmMountInitEvent<MOUNT_T>& event)
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void enter(MccGenericFsmMountInitEvent& event)
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{
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if constexpr (mcc_generic_log_mount_c<MOUNT_T>) {
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event.mount()->logWarn(
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void enter(fsm::traits::fsm_event_c auto& event)
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{
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enterLog(event);
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auto err = event.mount()->initMount();
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auto* mount_ptr = event.mount();
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// call base-class initMount method!
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auto err = static_cast<MOUNT_T*>(mount_ptr)->initMount();
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if (err) {
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mount_ptr->dispatchEvent(MccGenericFsmMountErrorEvent{mount_ptr});
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return;
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}
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// after initialization switch to IDLE state
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mount_ptr->dispatchEvent(MccGenericFsmMountIdleEvent{mount_ptr});
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}
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};
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struct MccGenericFsmMountErrorState // default implementation (just log error)
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template <fsm::traits::fsm_state_c ERROR_STATE_T>
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struct MccGenericFsmMountStopState : MccGenericFsmMountBaseState {
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static constexpr std::string_view ID{"GENERIC-MOUNT-STOP-STATE"};
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using transition_t = fsm::fsm_transition_table_t<
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std::pair<MccGenericFsmMountIdleEvent, MccGenericFsmMountIdleState<ERROR_STATE_T>>,
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std::pair<MccGenericFsmMountErrorEvent, ERROR_STATE_T>,
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std::pair<MccGenericFsmMountStopEvent, MccGenericFsmMountStopState>>;
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void exit(MccGenericFsmMountStopEvent& event)
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{
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if constexpr (mcc_generic_log_mount_c<MOUNT_T>) {
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event.mount()->logWarn("It seems a re-entering to the stop state was asked! Ignore the event!");
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}
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}
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void enter(MccGenericFsmMountStopEvent& event)
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{
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if constexpr (mcc_generic_log_mount_c<MOUNT_T>) {
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event.mount()->logWarn(
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"It seems a re-entering to the stop state was asked! Ignore the event and wait for the mount to "
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"stop!");
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}
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}
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void exit(fsm::traits::fsm_event_c auto& event)
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{
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exitLog(event);
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}
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void enter(fsm::traits::fsm_event_c auto& event)
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{
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enterLog(event);
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auto* mount_ptr = event.mount();
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// call base-class stopMount method!
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auto err = static_cast<MOUNT_T*>(mount_ptr)->stopMount();
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if (err) {
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mount_ptr->dispatchEvent(MccGenericFsmMountErrorEvent{mount_ptr});
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return;
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}
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// after stopping switch to IDLE state
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mount_ptr->dispatchEvent(MccGenericFsmMountIdleEvent{mount_ptr});
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}
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};
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struct MccGenericFsmMountErrorState : MccGenericFsmMountBaseState // default error-state class implementation
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// (just log error)
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{
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static constexpr std::string_view ID{"GENERIC-MOUNT-ERROR-STATE"};
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using transition_t = fsm::fsm_transition_table_t<
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std::pair<MccGenericFsmMountErrorEvent<MOUNT_T>, MccGenericFsmMountErrorState>,
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std::pair<MccGenericFsmMountIdleEvent<MOUNT_T>, MccGenericFsmMountIdleState<MccGenericFsmMountErrorState>>,
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std::pair<MccGenericFsmMountInitEvent<MOUNT_T>, MccGenericFsmMountInitState<MccGenericFsmMountErrorState>>>;
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std::pair<MccGenericFsmMountErrorEvent, MccGenericFsmMountErrorState>,
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std::pair<MccGenericFsmMountIdleEvent, MccGenericFsmMountIdleState<MccGenericFsmMountErrorState>>,
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std::pair<MccGenericFsmMountInitEvent, MccGenericFsmMountInitState<MccGenericFsmMountErrorState>>>;
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void exit(fsm::traits::fsm_event_c auto& event)
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{
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@ -416,7 +420,9 @@ protected:
|
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|
||||
|
||||
public:
|
||||
MccGenericFsmMount(MOUNT_T mount, fsm::traits::fsm_state_c auto start_state)
|
||||
MccGenericFsmMount(
|
||||
MOUNT_T mount,
|
||||
fsm::traits::fsm_state_c auto start_state = MccGenericFsmMountStartState<MccGenericFsmMountErrorState>{})
|
||||
: MOUNT_T(std::move(mount)), fsm::MccFiniteStateMachine(std::move(start_state))
|
||||
{
|
||||
}
|
||||
@ -426,7 +432,7 @@ public:
|
||||
auto initMount()
|
||||
{
|
||||
try {
|
||||
this->dispatchEvent(INIT_EVENT_T{this});
|
||||
this->dispatchEvent(MccGenericFsmMountInitEvent{this});
|
||||
} catch (std::system_error const& exc) {
|
||||
return exc.code();
|
||||
}
|
||||
@ -437,7 +443,7 @@ public:
|
||||
auto stopMount()
|
||||
{
|
||||
try {
|
||||
this->dispatchEvent(STOP_EVENT_T{this});
|
||||
this->dispatchEvent(MccGenericFsmMountStopEvent{this});
|
||||
} catch (std::system_error const& exc) {
|
||||
return exc.code();
|
||||
}
|
||||
@ -448,7 +454,7 @@ public:
|
||||
auto slewToTarget()
|
||||
{
|
||||
try {
|
||||
this->dispatchEvent(SLEW_EVENT_T{this});
|
||||
this->dispatchEvent(MccGenericFsmMountSlewEvent{this});
|
||||
} catch (std::system_error const& exc) {
|
||||
return exc.code();
|
||||
}
|
||||
@ -459,7 +465,7 @@ public:
|
||||
auto stopSlewing()
|
||||
{
|
||||
try {
|
||||
this->dispatchEvent(STOP_EVENT_T{this});
|
||||
this->dispatchEvent(MccGenericFsmMountStopEvent{this});
|
||||
} catch (std::system_error const& exc) {
|
||||
return exc.code();
|
||||
}
|
||||
@ -470,7 +476,7 @@ public:
|
||||
auto trackTarget()
|
||||
{
|
||||
try {
|
||||
this->dispatchEvent(TRACK_EVENT_T{this});
|
||||
this->dispatchEvent(MccGenericFsmMountTrackEvent{this});
|
||||
} catch (std::system_error const& exc) {
|
||||
return exc.code();
|
||||
}
|
||||
@ -482,7 +488,7 @@ public:
|
||||
auto stopTracking()
|
||||
{
|
||||
try {
|
||||
this->dispatchEvent(STOP_EVENT_T{this});
|
||||
this->dispatchEvent(MccGenericFsmMountStopEvent{this});
|
||||
} catch (std::system_error const& exc) {
|
||||
return exc.code();
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user