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ran client sessions in separated thread pool

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This commit is contained in:
Timur A. Fatkhullin
2025-11-26 18:01:34 +03:00
parent a42f6dbc98
commit 43638f383f
4 changed files with 128 additions and 62 deletions
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40
asibfm700/asibfm700_servocontroller.cpp
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@@ -159,33 +159,33 @@ AsibFM700ServoController::error_t AsibFM700ServoController::hardwareGetState(har
state->speedX = mdata.encYspeed.val;
state->speedY = mdata.encXspeed.val;
state->stateX = mdata.Xstate;
state->stateY = mdata.Ystate;
state->stateX = mdata.Ystate;
state->stateY = mdata.Xstate;
if (mdata.Xstate == AXIS_STOPPED) {
if (mdata.Ystate == AXIS_STOPPED) {
state->moving_state = hardware_moving_state_t::HW_MOVE_STOPPED;
} else if (mdata.Ystate == AXIS_SLEWING) {
if (mdata.Xstate == AXIS_ERROR || mdata.Ystate == AXIS_ERROR) {
state->moving_state = hardware_moving_state_t::HW_MOVE_ERROR;
} else {
if (mdata.Xstate == AXIS_STOPPED) {
if (mdata.Ystate == AXIS_STOPPED) {
state->moving_state = hardware_moving_state_t::HW_MOVE_STOPPED;
} else if (mdata.Ystate == AXIS_SLEWING) {
state->moving_state = hardware_moving_state_t::HW_MOVE_SLEWING;
} else if (mdata.Ystate == AXIS_POINTING) {
state->moving_state = hardware_moving_state_t::HW_MOVE_ADJUSTING;
} else if (mdata.Ystate == AXIS_GUIDING) {
state->moving_state = hardware_moving_state_t::HW_MOVE_GUIDING;
} else {
state->moving_state = hardware_moving_state_t::HW_MOVE_UNKNOWN;
}
} else if (mdata.Xstate == AXIS_SLEWING) {
state->moving_state = hardware_moving_state_t::HW_MOVE_SLEWING;
} else if (mdata.Ystate == AXIS_POINTING) {
} else if (mdata.Xstate == AXIS_POINTING) {
state->moving_state = hardware_moving_state_t::HW_MOVE_ADJUSTING;
} else if (mdata.Ystate == AXIS_GUIDING) {
} else if (mdata.Xstate == AXIS_GUIDING) {
state->moving_state = hardware_moving_state_t::HW_MOVE_GUIDING;
} else if (mdata.Ystate == AXIS_ERROR) {
state->moving_state = hardware_moving_state_t::HW_MOVE_ERROR;
} else {
state->moving_state = hardware_moving_state_t::HW_MOVE_UNKNOWN;
}
} else if (mdata.Xstate == AXIS_SLEWING) {
state->moving_state = hardware_moving_state_t::HW_MOVE_SLEWING;
} else if (mdata.Xstate == AXIS_POINTING) {
state->moving_state = hardware_moving_state_t::HW_MOVE_ADJUSTING;
} else if (mdata.Xstate == AXIS_GUIDING) {
state->moving_state = hardware_moving_state_t::HW_MOVE_GUIDING;
} else if (mdata.Xstate == AXIS_ERROR) {
state->moving_state = hardware_moving_state_t::HW_MOVE_ERROR;
} else {
state->moving_state = hardware_moving_state_t::HW_MOVE_UNKNOWN;
}
}