...

mcc/CMakeLists.txt

@@ -68,8 +68,9 @@ message(STATUS "BSPLINES_INCLUDE_DIR: " ${BSPLINES_INCLUDE_DIR})
 include_directories(${BSPLINES_INCLUDE_DIR})
 
 set(MCC_LIBRARY_SRC1 mcc_generics.h mcc_defaults.h mcc_traits.h mcc_utils.h
-     mcc_ccte_iers.h mcc_ccte_iers_default.h mcc_ccte_erfa.h mcc_telemetry.h
-     mcc_angle.h mcc_pzone.h mcc_pzone_container.h mcc_finite_state_machine.h)
+    mcc_ccte_iers.h mcc_ccte_iers_default.h mcc_ccte_erfa.h mcc_telemetry.h
+    mcc_angle.h mcc_pzone.h mcc_pzone_container.h mcc_finite_state_machine.h
+    mcc_generic_mount.h)
 
 list(APPEND MCC_LIBRARY_SRC1 mcc_spdlog.h)
 

mcc/mcc_generic_mount.h

@@ -12,7 +12,7 @@
 namespace mcc
 {
 
-enum class MccGenericMountErrorCode : int { ERROR_OK, ERROR_HW_STOP, ERROR_HW_GETSTATE };
+enum class MccGenericMountErrorCode : int { ERROR_OK, ERROR_HW_INIT, ERROR_HW_STOP, ERROR_HW_GETSTATE };
 
 }  // namespace mcc
 
@@ -98,9 +98,22 @@ public:
 
         return MccGenericMountErrorCode::ERROR_OK;
     }
+
+    error_t initMount()
+    {
+        auto hw_err = this->hardwareInit();
+        if (hw_err) {
+            return mcc_deduce_error(hw_err, MccGenericMountErrorCode::ERROR_HW_STOP);
+        }
+
+        return MccGenericMountErrorCode::ERROR_OK;
+    }
 };
 
 
+/*                          GENERIC FINITE-STATE-MOCHINE MOUNT REFERENCE IMPLEMENTATION                          */
+
+
 template <mcc_hardware_c HardwareT,
           mcc_telemetry_c TelemetryT,
           mcc_pzone_container_c PZoneContT,
@@ -110,17 +123,173 @@ template <mcc_hardware_c HardwareT,
           mcc_logger_c LoggerT = MccNullLogger>
 class MccGenericMountFSM
     : public fsm::MccFiniteStateMachine,
-      protected MccGenericMount<HardwareT, TelemetryT, PZoneContT, SlewModelT, TrackModelT, GuidingModelT, LoggerT>
+      public MccGenericMount<HardwareT, TelemetryT, PZoneContT, SlewModelT, TrackModelT, GuidingModelT, LoggerT>
 {
 protected:
     typedef MccGenericMount<HardwareT, TelemetryT, PZoneContT, SlewModelT, TrackModelT, GuidingModelT, LoggerT>
         base_gmount_t;
 
 public:
-    struct MccGenericMountStateUninit {
-        using transition_t = fsm::fsm_transition_table_t<>;
+    /*                          EVENTS AND STATES DEFINITION                            */
+
+
+    /*  base class for events  */
+
+    struct MccGenericMountBaseEvent {
+        virtual ~MccGenericMountBaseEvent() = default;
+
+        MccGenericMountFSM& mount() const
+        {
+            return _mount;
+        }
+
+    protected:
+        MccGenericMountFSM& _mount;
+
+        MccGenericMountBaseEvent(MccGenericMountFSM& mount) : _mount(mount) {}
     };
 
+    // to IDLE state
+    struct MccGenericMountEventIDLE : MccGenericMountBaseEvent {
+        static constexpr std::string_view ID = "MCC-MOUNT-IDLE-EVENT";
+
+        // CTAD does not work for clang++ (at least till v. 20 and -std=c++23)!
+        // so, one must explicitly define constructor here
+        MccGenericMountEventIDLE(MccGenericMountFSM& mount) : MccGenericMountBaseEvent(mount) {}
+    };
+
+
+    // to error state
+    struct MccGenericMountEventError : MccGenericMountBaseEvent {
+        static constexpr std::string_view ID = "MCC-MOUNT-ERROR-EVENT";
+
+        typedef typename base_gmount_t::error_t error_t;
+
+        MccGenericMountEventError(MccGenericMountFSM& mount, const error_t& err)
+            : MccGenericMountBaseEvent(mount), _error(err)
+        {
+        }
+
+
+        error_t eventData() const
+        {
+            return _error;
+        }
+
+    protected:
+        error_t _error;
+    };
+
+
+    // to INIT state
+    struct MccGenericMountEventInit : MccGenericMountBaseEvent {
+        static constexpr std::string_view ID = "MCC-MOUNT-INIT-EVENT";
+
+        MccGenericMountEventInit(MccGenericMountFSM& mount) : MccGenericMountBaseEvent(mount) {}
+    };
+
+
+    // to slewing state
+    struct MccGenericMountEventSlew : MccGenericMountBaseEvent {
+        static constexpr std::string_view ID = "MCC-MOUNT-SLEWING-EVENT";
+
+        MccGenericMountEventSlew(MccGenericMountFSM& mount) : MccGenericMountBaseEvent(mount) {}
+    };
+
+
+    // to tracking state
+    struct MccGenericMountEventTrack : MccGenericMountBaseEvent {
+        static constexpr std::string_view ID = "MCC-MOUNT-TRACKING-EVENT";
+
+        MccGenericMountEventTrack(MccGenericMountFSM& mount) : MccGenericMountBaseEvent(mount) {}
+    };
+
+
+    // to guiding state
+    struct MccGenericMountEventGuiding : MccGenericMountBaseEvent {
+        static constexpr std::string_view ID = "MCC-MOUNT-GUIDING-EVENT";
+
+        MccGenericMountEventGuiding(MccGenericMountFSM& mount) : MccGenericMountBaseEvent(mount) {}
+    };
+
+
+    // to stoping state
+    struct MccGenericMountEventStop : MccGenericMountBaseEvent {
+        static constexpr std::string_view ID = "MCC-MOUNT-STOP-EVENT";
+
+        MccGenericMountEventStop(MccGenericMountFSM& mount) : MccGenericMountBaseEvent(mount) {}
+    };
+
+
+
+    /*  base class for states  */
+
+    struct MccGenericMountBaseState {
+        virtual ~MccGenericMountBaseState() = default;
+
+    protected:
+        MccGenericMountBaseState() = default;
+
+        template <std::derived_from<MccGenericMountBaseEvent> EvT>
+        void exitLog(this auto&& self, EvT& event)
+        {
+            using self_t = std::remove_cvref_t<decltype(self)>;
+
+            event.mount().logDebug(std::format("Exit from '{}' state due to '{}' event ...", self_t::ID, EvT::ID));
+        }
+
+        template <std::derived_from<MccGenericMountBaseEvent> EvT>
+        void enterLog(this auto&& self, EvT& event)
+        {
+            using self_t = std::remove_cvref_t<decltype(self)>;
+            event.mount().logDebug(std::format("Enter to '{}' state due to '{}' event ...", self_t::ID, EvT::ID));
+        }
+    };
+
+    // forward declarations
+    struct MccGenericMountStateInit;
+    struct MccGenericMountStateIDLE;
+    struct MccGenericMountStateError;
+    struct MccGenericMountStateSlew;
+    struct MccGenericMountStateTrack;
+    struct MccGenericMountStateGuiding;
+    struct MccGenericMountStateStopping;
+
+    struct MccGenericMountStateUninit : MccGenericMountBaseState {
+        // from uninitialized state only INIT-event is permitted!
+        using transition_t =
+            fsm::fsm_transition_table_t<std::pair<MccGenericMountEventInit, MccGenericMountStateInit>,
+                                        std::pair<MccGenericMountEventIDLE, MccGenericMountStateUninit>,
+                                        std::pair<MccGenericMountEventError, MccGenericMountStateError>,
+                                        std::pair<MccGenericMountEventStop, MccGenericMountStateUninit>,
+                                        std::pair<MccGenericMountEventSlew, MccGenericMountStateUninit>,
+                                        std::pair<MccGenericMountEventTrack, MccGenericMountStateUninit>,
+                                        std::pair<MccGenericMountEventGuiding, MccGenericMountStateUninit>>;
+
+        template <std::derived_from<MccGenericMountBaseEvent> EvT>
+        void exit(EvT& event)
+        {
+            this->exitLog(event);
+        }
+
+        void enter(MccGenericMountEventInit& event)
+        {
+            error_t err = event.mount().initMount();
+            if (err) {
+                event.mount().dispatchEvent(MccGenericMountEventError{event.mount(), err});
+            }
+        }
+
+        template <std::derived_from<MccGenericMountBaseEvent> EvT>
+        void enter(EvT& event)
+        {
+            this->enterLog(event);
+        }
+    };
+
+
+    /*  CONSTRUCTORS AND DESTRUCTOR  */
+
     MccGenericMountFSM(HardwareT hardware,
                        TelemetryT telemetry,
                        PZoneContT pzone_cont,
@@ -138,6 +307,14 @@ public:
                         std::move(logger))
     {
     }
+
+
+    virtual ~MccGenericMountFSM() = default;
+
+    auto stopMount()
+    {
+        this->dispatchEvent(MccGenericMountEventStop{*this});
+    }
 };
 
 

mcc/mcc_generics.h

@@ -847,6 +847,9 @@ concept mcc_generic_mount_c = mcc_telemetry_c<T> && mcc_pzone_container_c<T> &&
 
     // stop any movement
     { t.stopMount() } -> std::same_as<typename T::error_t>;
+
+    // init mount
+    { t.initMount() };
 };