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This commit is contained in:
Timur A. Fatkhullin
2025-07-10 12:03:50 +03:00
parent a35e72d166
commit 4d13c86e3d
5 changed files with 209 additions and 243 deletions
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252
cxx/mcc_mount_telemetry.h
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@@ -5,33 +5,14 @@
/* MOUNT TELEMETRY OBJECT CONCEPT AND POSSIBLE IMPLEMENTATION */
#include <functional>
#include <mutex>
// #include "mcc_mount_config.h"
#include "mcc_mount_concepts.h"
namespace mcc
{
// namespace traits
// {
// template <typename T>
// concept mcc_mount_telemetry_c = requires(T t, const T t_const) {
// typename T::error_t;
// typename T::mount_telemetry_data_t;
// { t_const.errorString(std::declval<typename T::error_t>()) } -> mcc_formattable;
// { t.update() } -> std::same_as<typename T::error_t>;
// { t_const.data() } -> std::same_as<typename T::mount_telemetry_data_t>;
// };
// } // namespace traits
template <traits::mcc_astrom_engine_c ASTROM_ENGINE_T,
traits::mcc_mount_pec_c PEC_T,
traits::mcc_mount_hardware_c HARDWARE_T>
@@ -42,29 +23,44 @@ public:
typedef PEC_T pec_t;
typedef HARDWARE_T hardware_t;
enum error_t : int { TEL_ERROR_OK = 0, TEL_ERROR_HARDWARE, TEL_ERROR_ASTROMETRY_COMP };
enum error_t : int { TEL_ERROR_OK = 0, TEL_ERROR_HARDWARE, TEL_ERROR_ASTROMETRY_COMP, TEL_ERROR_PEC };
// check for coordinate types consistency
static_assert(std::convertible_to<typename hardware_t::coord_t, typename astrom_engine_t::coord_t>,
"HARDWARE COORDINATE TYPE MUST BE CONVERTIBLE TO ASTROMETRY ENGINE ONE!");
static_assert(std::convertible_to<typename astrom_engine_t::coord_t, typename pec_t::coord_t>,
"ASTROMETRY ENGINE COORDINATE TYPE MUST BE CONVERTIBLE TO PEC ONE!");
static_assert(std::convertible_to<typename hardware_t::coord_t, typename pec_t::coord_t>,
"HARDWARE COORDINATE TYPE MUST BE CONVERTIBLE TO PEC ONE!");
static_assert(std::same_as<typename astrom_engine_t::time_point_t, typename hardware_t::time_point_t>,
"TIME-POINT TYPE IN ASTROMETRY ENGINE AND HARDWARE MUST BE THE SAME!");
// static_assert(std::convertible_to<typename pec_t::coord_t, typename astrom_engine_t::coord_t>,
// "ASTROMETRY ENGINE COORDINATE TYPE MUST BE CONVERTIBLE TO PEC ONE!");
// mandatory arithmetic operations
static_assert( // for CIO-based apparent RA computation and PEC correction addition (see below)
requires(typename astrom_engine_t::coord_t v1,
typename astrom_engine_t::coord_t v2,
typename pec_t::coord_t v3) {
{ v1 + v2 } -> std::convertible_to<typename astrom_engine_t::coord_t>;
{ v1 - v2 } -> std::convertible_to<typename astrom_engine_t::coord_t>;
v1 += v3;
},
"ASTROMETRY ENGINE COORDINATE TYPE MUST DEFINE '+', '+=' AND '-' ARITHMETIC OPERATIONS!");
// check for time point types consistency
static_assert(std::convertible_to<typename hardware_t::time_point_t, typename astrom_engine_t::time_point_t>,
"HARDWARE TIME-POINT TYPE MUST BE CONVERTIBLE TO ASTROMETRY ENGINE ONE!");
// mount current telemetry data: time, position and related quantities
struct mount_telemetry_data_t {
typedef astrom_engine_t::coord_t mnt_coord_t;
// typedef astrom_engine_t::coord_t mnt_speed_t;
// time-related
typename astrom_engine_t::time_point_t utc; // time point of measurements, UTC
typename astrom_engine_t::juldate_t jd; // Julian date
typename astrom_engine_t::sideral_time_t siderTime; // local apperant sideral time
// astrom_engine_t::time_point_t ut1; // Universal time
// astrom_engine_t::time_point_t tt; // Terrestial time
// typename astrom_engine_t::time_point_t ut1; // Universal time
// typename astrom_engine_t::time_point_t tt; // Terrestial time
// apparent target (user-input) current coordinates (in radians)
mnt_coord_t tagRA, tagDEC;
@@ -81,7 +77,6 @@ public:
// encoder-measured (non-corrected for PCS) current mount position and moving speed (in radians, radians/s)
// X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ALT for horizontal-type one
mnt_coord_t mntPosX, mntPosY;
// mnt_speed_t mntSpeedX, mntSpeedY;
// current refraction coefficients
typename pec_t::pec_result_t currRefrCoeffs;
@@ -94,98 +89,8 @@ public:
};
MccMountTelemetry(astrom_engine_t& astrom_engine, pec_t& pec, hardware_t& hardware)
: _astromEngine(astrom_engine), _pec(pec), _hardware(hardware)
{
// to be sure that arguments are captured by reference
const auto astrom_engine_ptr = &astrom_engine;
const auto pec_ptr = &pec;
const auto hardware_ptr = &hardware;
_updateImpl = [astrom_engine_ptr, pec_ptr, hardware_ptr, this]() {
mount_telemetry_data_t current_data;
// computing ...
typename hardware_t::axes_pos_t ax_pos;
auto err = hardware_ptr->getPos(ax_pos);
if (err) {
// logging?!!!
return TEL_ERROR_HARDWARE;
}
_data.utc = ax_pos.time_point;
_data.mntPosX = ax_pos.x;
_data.mntPosY = ax_pos.y;
// compute Julian date
auto ast_err = astrom_engine_ptr->greg2jul(_data.utc, _data.jd);
if (ast_err) {
return TEL_ERROR_ASTROMETRY_COMP;
}
// compute local apparent sideral time
ast_err = astrom_engine_ptr->apparentSiderTime(_data.jd, _data.siderTime, true);
if (ast_err) {
return TEL_ERROR_ASTROMETRY_COMP;
}
// compute equation of origins
typename astrom_engine_t::eo_t eo;
ast_err = astrom_engine_ptr->eqOrigins(_data.jd, eo);
if (ast_err) {
return TEL_ERROR_ASTROMETRY_COMP;
}
typename pec_t::pec_result_t pec_res;
pec_res = pec_ptr->compute(ax_pos.x, ax_pos.y);
if constexpr (mccIsEquatorialMount(pec_t::mountType)) {
_data.mntHA = pec_res.x + ax_pos.x;
_data.mntDEC = pec_res.y + ax_pos.y;
ast_err = astrom_engine_ptr->hadec2azalt(_data.mntHA, _data.mntDEC, _data.mntAZ, _data.mntALT);
if (ast_err) {
return TEL_ERROR_ASTROMETRY_COMP;
}
} else if constexpr (mccIsAltAzMount(pec_t::mountType)) {
_data.mntAZ = pec_res.x + ax_pos.x;
_data.mntALT = pec_res.y + ax_pos.x;
ast_err = astrom_engine_ptr->azalt2hadec(_data.mntAZ, _data.mntALT, _data.mntHA, _data.mntDEC);
if (ast_err) {
return TEL_ERROR_ASTROMETRY_COMP;
}
} else {
static_assert(false, "UNSUPPORTED MOUNT TYPE!");
}
// compute CIO-based apparent RA
_data.mntRA = _data.siderTime - _data.mntHA + eo;
// compute PA
ast_err = astrom_engine_ptr->hadec2pa(_data.mntHA, _data.mntDEC, _data.mntPA);
if (ast_err) {
return TEL_ERROR_ASTROMETRY_COMP;
}
ast_err = astrom_engine_ptr->refraction(_data.currRefrCoeffs);
if (ast_err) {
return TEL_ERROR_ASTROMETRY_COMP;
}
ast_err = astrom_engine_ptr->refractCorrection(_data.mntALT, _data.currRefrCoeffs, _data.currRefr);
if (ast_err) {
return TEL_ERROR_ASTROMETRY_COMP;
}
std::lock_guard lock{_updateMutex};
_data = std::move(current_data);
};
}
virtual ~MccMountTelemetry() = default;
@@ -193,7 +98,93 @@ public:
// update current data method
error_t update()
{
_updateImpl();
mount_telemetry_data_t current_data;
typename hardware_t::axes_pos_t ax_pos;
auto err = _hardware.getPos(ax_pos);
if (err) {
// logging?!!!
return TEL_ERROR_HARDWARE;
}
_data.utc = ax_pos.time_point;
_data.mntPosX = static_cast<typename astrom_engine_t::coord_t>(ax_pos.x);
_data.mntPosY = static_cast<typename astrom_engine_t::coord_t>(ax_pos.y);
// compute Julian date
auto ast_err = _astromEngine.greg2jul(_data.utc, _data.jd);
if (ast_err) {
return TEL_ERROR_ASTROMETRY_COMP;
}
// compute local apparent sideral time
ast_err = _astromEngine.apparentSiderTime(_data.jd, _data.siderTime, true);
if (ast_err) {
return TEL_ERROR_ASTROMETRY_COMP;
}
// compute equation of origins
typename astrom_engine_t::eo_t eo;
ast_err = _astromEngine.eqOrigins(_data.jd, eo);
if (ast_err) {
return TEL_ERROR_ASTROMETRY_COMP;
}
typename pec_t::pec_result_t pec_res;
auto pec_err = _pec.compute(ax_pos.x, ax_pos.y, pec_res);
if (pec_err) {
return TEL_ERROR_PEC;
}
if constexpr (mccIsEquatorialMount(pec_t::mountType)) {
_data.mntHA = _data.mntPosX;
_data.mntDEC = _data.mntPosY;
_data.mntHA += pec_res.dx;
_data.mntDEC += pec_res.dy;
ast_err = _astromEngine.hadec2azalt(_data.mntHA, _data.mntDEC, _data.mntAZ, _data.mntALT);
if (ast_err) {
return TEL_ERROR_ASTROMETRY_COMP;
}
} else if constexpr (mccIsAltAzMount(pec_t::mountType)) {
_data.mntAZ = _data.mntPosX;
_data.mntALT = _data.mntPosY;
_data.mntAZ += pec_res.dx;
_data.mntALT += pec_res.dy;
ast_err = _astromEngine.azalt2hadec(_data.mntAZ, _data.mntALT, _data.mntHA, _data.mntDEC);
if (ast_err) {
return TEL_ERROR_ASTROMETRY_COMP;
}
} else {
static_assert(false, "UNSUPPORTED MOUNT TYPE!");
}
// compute CIO-based apparent RA
_data.mntRA = _data.siderTime - _data.mntHA + eo;
// compute PA
ast_err = _astromEngine.hadec2pa(_data.mntHA, _data.mntDEC, _data.mntPA);
if (ast_err) {
return TEL_ERROR_ASTROMETRY_COMP;
}
ast_err = _astromEngine.refraction(_data.currRefrCoeffs);
if (ast_err) {
return TEL_ERROR_ASTROMETRY_COMP;
}
ast_err = _astromEngine.refractCorrection(_data.mntALT, _data.currRefrCoeffs, _data.currRefr);
if (ast_err) {
return TEL_ERROR_ASTROMETRY_COMP;
}
std::lock_guard lock{_updateMutex};
_data = std::move(current_data);
}
mount_telemetry_data_t data(this auto&& self)
@@ -206,12 +197,29 @@ public:
}
std::string_view errorString(error_t err) const
{
if (err == TEL_ERROR_OK) {
return "OK";
} else if (err == TEL_ERROR_ASTROMETRY_COMP) {
return "astrometry computation error";
} else if (err == TEL_ERROR_PEC) {
return "PEC computation error";
} else if (err == TEL_ERROR_HARDWARE) {
return "hardware request error";
} else {
return "unknown error";
}
}
protected:
mount_telemetry_data_t _data{};
std::function<error_t()> _updateImpl{};
astrom_engine_t& _astromEngine;
pec_t& _pec;
hardware_t& _hardware;
std::mutex _updateMutex;
};
} // namespace mcc