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This commit is contained in:
Timur A. Fatkhullin
2025-09-01 18:25:47 +03:00
parent 227f501d6f
commit 3d3b57a311
4 changed files with 411 additions and 63 deletions
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74
mcc/mcc_tracking_model.h
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@@ -8,7 +8,7 @@
#include "mcc_defaults.h"
#include "mcc_generics.h"
#include "mcc_moving_model_common.h"
namespace mcc
{
@@ -48,16 +48,18 @@ class MccSimpleTrackingModel
public:
typedef std::error_code error_t;
struct tracking_params_t {
static constexpr double sideralRate = 15.0410686_arcsecs; // in radians per second
typedef MccSimpleMovingModelParams tracking_params_t;
double trackSpeedX{};
double trackSpeedY{};
// struct tracking_params_t {
// static constexpr double sideralRate = 15.0410686_arcsecs; // in radians per second
std::chrono::seconds telemetryTimeout{3};
// minimal time to prohibited zone. if it is lesser then exit with error
std::chrono::seconds minTimeToPZone{10};
};
// double trackSpeedX{};
// double trackSpeedY{};
// std::chrono::seconds telemetryTimeout{3};
// // minimal time to prohibited zone. if it is lesser then exit with error
// std::chrono::seconds minTimeToPZone{10};
// };
template <mcc_telemetry_data_c TelemetryT,
mcc_hardware_c HardwareT,
@@ -99,6 +101,7 @@ public:
mcc_tp2tp(tdata.time_point, cpt.time_point);
bool no_intersects = false;
std::vector<std::chrono::duration<double>> pz_timeto; // in seconds
std::chrono::duration<double> min_time{0.0};
@@ -132,14 +135,15 @@ public:
}
if (utils::isEqual(dha_min, 0.0)) { // no intersections
cpt.X = tdata.HA - 1.0_mins;
no_intersects = true;
cpt.X = tdata.HA + 710.0_mins; // 12h - 10min
cpt.Y = tdata.DEC_APP;
}
// compute position in future
auto err = hardware->hardwareGetState(&hw_state);
if (err) {
return mcc_deduce_error<error_t>(err, MccSimpleTrackingModelErrorCode::ERROR_HW_GETSTATE);
auto hw_err = hardware->hardwareGetState(&hw_state);
if (hw_err) {
return mcc_deduce_error<error_t>(hw_err, MccSimpleTrackingModelErrorCode::ERROR_HW_GETSTATE);
}
MccPCMResult pcm_inv_res;
@@ -161,9 +165,9 @@ public:
hw_state.moving_type = HardwareT::hardware_moving_state_t::HW_MOVE_TRACKING;
// start tracking
err = hardware->hardwareSetState(std::move(hw_state));
if (err) {
return mcc_deduce_error<error_t>(err, MccSimpleTrackingModelErrorCode::ERROR_HW_SETSTATE);
hw_err = hardware->hardwareSetState(std::move(hw_state));
if (hw_err) {
return mcc_deduce_error<error_t>(hw_err, MccSimpleTrackingModelErrorCode::ERROR_HW_SETSTATE);
}
@@ -194,14 +198,44 @@ public:
break;
}
// check for current axis speed
if (utils::isEqual(tdata.speedX, 0.0) && utils::isEqual(tdata.speedY, 0.0)) {
// unhandled stop state?!!!
return MccSimpleTrackingModelErrorCode::ERROR_UNEXPECTED_AXIS_RATES;
if (no_intersects) {
if ((cpt.X - tdata.HA) < 10.0_mins) { // recompute target point
cpt.X += 11.0_hours;
hw_err = hardware->hardwareGetState(&hw_state);
if (hw_err) {
return mcc_deduce_error<error_t>(hw_err,
MccSimpleTrackingModelErrorCode::ERROR_HW_GETSTATE);
}
pcm_err = pcm->computeInversePCM(cpt, &pcm_inv_res, &hw_state);
if (pcm_err) {
return mcc_deduce_error<error_t>(pcm_err,
MccSimpleTrackingModelErrorCode::ERROR_PCM_COMP);
}
// just set sideral rate once
mcc_tp2tp(tdata.time_point, hw_state.time_point);
{
std::lock_guard lock{*_currentTrackParamsMutex};
hw_state.speedX = _currentTrackParams.trackSpeedX;
hw_state.speedY = _currentTrackParams.trackSpeedY;
}
hw_state.moving_type = HardwareT::hardware_moving_state_t::HW_MOVE_TRACKING;
// start tracking
hw_err = hardware->hardwareSetState(std::move(hw_state));
if (hw_err) {
return mcc_deduce_error<error_t>(hw_err,
MccSimpleTrackingModelErrorCode::ERROR_HW_SETSTATE);
}
}
}
}
return MccSimpleTrackingModelErrorCode::ERROR_OK;
} else if constexpr (mccIsAltAzMount(PcmT::mountType)) {
static_assert(false, "NOT IMPLEMENTED!");
} else {