eddy/mountcontrol
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

ran client sessions in separated thread pool

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

65
mcc/mcc_slewing_model.h
View File

@@ -409,13 +409,34 @@ public:
mcc::MccAngleFancyString(tdata.speedX),
mcc::MccAngleFancyString(tdata.speedY)));
pz_err = controls->inPZone(cpt, &in_zone);
in_zone_vec.clear();
pz_err = controls->inPZone(cpt, &in_zone, &in_zone_vec);
if (pz_err) {
*_stopSlewing = true;
return mcc_deduce_error_code(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
}
if (in_zone) {
size_t i = 0;
for (; i < in_zone_vec.size(); ++i) {
if (in_zone_vec[i]) {
break;
}
}
logger.logError(
"target point is near prohibited zone (zone index: {})! Entered target coordinates:", i);
logger.logError(std::format(
" RA-APP, DEC-APP, HA, LST: {}, {}, {}, {}", mcc::MccAngle{tdata.RA_APP}.sexagesimal(true),
mcc::MccAngle{tdata.DEC_APP}.sexagesimal(), mcc::MccAngle{tdata.HA}.sexagesimal(true),
mcc::MccAngle{tdata.LST}.sexagesimal(true)));
logger.logError(std::format(" AZ, ZD, ALT: {}, {}, {}", mcc::MccAngle{tdata.AZ}.sexagesimal(),
mcc::MccAngle{tdata.ZD}.sexagesimal(),
mcc::MccAngle{tdata.ALT}.sexagesimal()));
logger.logError(std::format(" hardware X, Y: {}, {}", mcc::MccAngle{tdata.X}.sexagesimal(),
mcc::MccAngle{tdata.Y}.sexagesimal()));
*_stopSlewing = true;
return MccSimpleSlewingModelErrorCode::ERROR_NEAR_PZONE;
}
@@ -431,12 +452,17 @@ public:
}
}
logger.logTrace(std::format("get hw state ..."));
hw_err = controls->hardwareGetState(&hw_state);
if (hw_err) {
*_stopSlewing = true;
return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
}
logger.logTrace(std::format("hw state was updated ({}, {})", MccAngle(hw_state.X).sexagesimal(true),
MccAngle(hw_state.Y).sexagesimal()));
if (slew_and_stop) { // just wait for mount to be stopped
if (hw_state.moving_state == CONTROLS_T::hardware_moving_state_t::HW_MOVE_STOPPED) {
logger.logInfo("mount moving state is STOPPED - exit!");
@@ -451,19 +477,28 @@ public:
logger.logTrace(std::format(" target-to-mount distance: {}", mcc::MccAngleFancyString(dist)));
// if (dist < _currentParams.adjustCoordDiff) {
// if (dist < 1.0_degs) {
if (dist <= _currentParams.slewToleranceRadius) { // stop slewing and exit from cycle
logger.logInfo("target-to-mount distance is lesser than slew tolerance radius - exit!");
break;
}
if (*_stopSlewing) {
return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
}
// resend new position since target coordinates are changed in time
hw_state.X = (double)tdata.target.X;
hw_state.Y = (double)tdata.target.Y;
logger.logTrace(std::format("Send to hardware: X = {} degs, Y = {} degs",
mcc::MccAngle{hw_state.X}.degrees(),
mcc::MccAngle{hw_state.Y}.degrees()));
logger.logTrace(
std::format("Send to hardware: X = {} degs, Y = {} degs ({}, {})",
mcc::MccAngle{hw_state.X}.degrees(), mcc::MccAngle{hw_state.Y}.degrees(),
MccAngle(hw_state.X).sexagesimal(true), MccAngle(hw_state.Y).sexagesimal()));
hw_err = controls->hardwareSetState(hw_state);
if (hw_err) {
*_stopSlewing = true;
@@ -471,10 +506,26 @@ public:
}
{
std::lock_guard lock{*_currentParamsMutex};
logger.logDebug(" the 'hardwareSetState' method performed successfully!");
logger.logDebug(" the 'hardwareSetState' method performed successfully!");
// }
// FOR DEBUG PURPOSE!!!!
std::this_thread::sleep_for(std::chrono::milliseconds(50));
logger.logTrace(std::format("get hw state right after hardwareSetState ..."));
hw_err = controls->hardwareGetState(&hw_state);
if (hw_err) {
*_stopSlewing = true;
return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
}
logger.logTrace(std::format("hw state was updated ({}, {})", MccAngle(hw_state.X).sexagesimal(true),
MccAngle(hw_state.Y).sexagesimal()));
}
if (*_stopSlewing) {
return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
}
// sleep here