...
This commit is contained in:
Timur A. Fatkhullin
parent
4ebaac2dcb
commit
5a5854ccdd
@ -151,15 +151,15 @@ if (WITH_TESTS)
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target_include_directories(${FITPACK_TEST_APP} PRIVATE ${FITPACK_INCLUDE_DIR})
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# message(STATUS "INC UP: " ${FITPACK_INCLUDE_DIR})
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set(FSM_TEST_APP fsm_test)
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add_executable(${FSM_TEST_APP} tests/fsm_test.cpp)
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# set(FSM_TEST_APP fsm_test)
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# add_executable(${FSM_TEST_APP} tests/fsm_test.cpp)
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# set(TESTS_SRC tests/configfile_test.cpp tests/astrom_test.cpp tests/fitpack_test.cpp tests/fsm_test.cpp)
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set(TESTS_SRC tests/coord.cpp)
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set(TESTS_SRC tests/coord.cpp tests/fsm.cpp tests/mount.cpp)
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create_test_sourcelist(Tests common_tests.cpp ${TESTS_SRC})
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add_executable(common_tests ${Tests})
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# target_include_directories(common_tests PRIVATE ${FITPACK_INCLUDE_DIR})
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target_include_directories(common_tests PRIVATE ${FITPACK_INCLUDE_DIR})
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target_link_libraries(common_tests fitpack)
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foreach (test ${TESTS_SRC})
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get_filename_component (TName ${test} NAME_WE)
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@ -115,11 +115,11 @@ struct MccMountConfig {
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MccMountSiteInfo siteInfo{.latitude = 0.0, .longitude = 0.0, .elevation = 0.0, .name{"ALL-ZERO"}};
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template <typename ComponentT, typename... CompCtorArgTs>
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auto update(this auto&& self, CompCtorArgTs... comp_ctor_args)
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{
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return std::forward<decltype(self)>(self).updateImpl(std::forward<CompCtorArgTs>(comp_ctor_args)...);
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}
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// template <typename ComponentT, typename... CompCtorArgTs>
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// auto update(this auto&& self, CompCtorArgTs... comp_ctor_args)
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// {
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// return std::forward<decltype(self)>(self).updateImpl(std::forward<CompCtorArgTs>(comp_ctor_args)...);
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// }
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};
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@ -153,9 +153,9 @@ public:
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/* constructors and destructor */
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template <fsm::traits::fsm_state_c InitStateT>
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template <fsm::traits::fsm_state_c InitStateT, traits::mcc_input_char_range LogMarkT = std::string_view>
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MccMount(InitStateT,
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traits::mcc_input_char_range auto const& logger_mark = "[MOUNT]",
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const LogMarkT& logger_mark = "[MOUNT]",
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std::shared_ptr<spdlog::logger> logger = spdlog::null_logger_mt("NULL"))
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: fsm::MccFiniteStateMachine(InitStateT{}), utils::MccSpdlogLogger(logger)
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{
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@ -186,13 +186,15 @@ public:
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mount_config_t mountConfig() const
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{
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return _mountConfig.load();
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return _mountConfig;
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// return _mountConfig.load();
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}
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mount_telemetry_t mountTelemetry() const
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{
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return _mountTelemetry.load();
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return _mountTelemetry;
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// return _mountTelemetry.load();
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}
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@ -238,8 +240,10 @@ public:
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protected:
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std::atomic<mount_config_t> _mountConfig;
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std::atomic<mount_telemetry_t> _mountTelemetry;
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// std::atomic<mount_config_t> _mountConfig;
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// std::atomic<mount_telemetry_t> _mountTelemetry;
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mount_config_t _mountConfig;
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mount_telemetry_t _mountTelemetry;
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typedef std::chrono::duration<double> pz_duration_t;
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@ -163,7 +163,10 @@ public:
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return *this;
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}
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MccAngle& normalize() { return normalize<NORM_KIND_0_360>(); }
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MccAngle& normalize()
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{
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return normalize<NORM_KIND_0_360>();
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}
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// template <typename T>
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@ -173,7 +176,10 @@ public:
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// return _angleInRads;
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// }
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operator double() const { return _angleInRads; }
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operator double() const
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{
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return _angleInRads;
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}
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template <typename T>
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@ -182,7 +188,10 @@ public:
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return _angleInRads * 180.0 / std::numbers::pi;
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}
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double degrees() const { return degrees<double>(); }
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double degrees() const
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{
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return degrees<double>();
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}
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template <traits::mcc_output_char_range T>
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T sexagesimal(bool hms = false, int prec = 2) const
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@ -190,7 +199,10 @@ public:
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return utils::rad2sxg(_angleInRads, hms, prec >= 0 ? prec : _precision);
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}
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std::string sexagesimal(bool hms = false, int prec = 2) const { return sexagesimal<std::string>(hms, prec); }
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std::string sexagesimal(bool hms = false, int prec = 2) const
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{
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return sexagesimal<std::string>(hms, prec);
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}
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// arithmetics
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@ -331,18 +343,25 @@ class MccAngleAZ : public MccAngle
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using MccAngle::MccAngle;
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};
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struct MccAngleALT; // just forward declaration
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class MccAngleALT; // just forward declaration
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struct MccAngleZD : public MccAngle {
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class MccAngleZD : public MccAngle
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{
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public:
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using MccAngle::MccAngle;
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MccAngleZD(const MccAngleALT&);
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};
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struct MccAngleALT : public MccAngle {
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class MccAngleALT : public MccAngle
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{
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public:
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using MccAngle::MccAngle;
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MccAngleALT(const MccAngleZD& zd) { _angleInRads = std::numbers::pi / 2.0 - (double)zd; }
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MccAngleALT(const MccAngleZD& zd)
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{
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_angleInRads = std::numbers::pi / 2.0 - (double)zd;
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}
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};
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@ -27,7 +27,10 @@ public:
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virtual ~MccMountEventBase() = default;
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mount_t& mount() const { return _mount; }
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mount_t& mount() const
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{
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return _mount;
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}
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protected:
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MccMountEventBase(mount_t& mount) : _mount(mount) {}
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@ -74,7 +77,10 @@ struct MccMountEventError : public MccMountEventBase<MountT> {
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using event_data_t = std::error_code;
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event_data_t eventData() const { return _error; }
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event_data_t eventData() const
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{
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return _error;
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}
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MccMountEventError(MountT& mount, const event_data_t& error) : base_t(mount), _error(error) {}
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@ -93,7 +99,10 @@ struct MccMountEventSlew : public MccMountEventBase<MountT> {
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using event_data_t = typename MountT::slew_param_t;
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event_data_t eventData() const { return _eventData; }
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event_data_t eventData() const
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{
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return _eventData;
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}
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MccMountEventSlew(MountT& mount, const event_data_t& ev_data) : base_t(mount), _eventData(ev_data) {}
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@ -129,7 +138,10 @@ struct MccMountEventStop : public MccMountEventBase<MountT> {
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EVENT_STOP_BUTTON // hardware button
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};
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event_data_t eventData() const { return _reason; }
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event_data_t eventData() const
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{
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return _reason;
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}
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std::string_view reason() const
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{
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@ -187,13 +199,13 @@ protected:
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template <std::derived_from<MccMountEventBase<MountT>> EvT>
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void exitImpl(EvT& event)
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{
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event.mount().logWarning("Call an empty MccMountStateBase::exitImpl method!!! Event type is '{}'", EvT::ID);
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event.mount().logWarn("Call an empty MccMountStateBase::exitImpl method!!! Event type is '{}'", EvT::ID);
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}
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template <std::derived_from<MccMountEventBase<MountT>> EvT>
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void enterImpl(EvT& event)
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{
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event.mount().logWarning("Call an empty MccMountStateBase::enterImpl method!!! Event type is '{}'", EvT::ID);
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event.mount().logWarn("Call an empty MccMountStateBase::enterImpl method!!! Event type is '{}'", EvT::ID);
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}
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};
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@ -315,7 +327,10 @@ protected:
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EvT::ID);
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}
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void exitImpl(MccMountEventIDLE<MountT>& event) { event.mount().logWarning("Suppose the error was corrected!"); }
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void exitImpl(MccMountEventIDLE<MountT>& event)
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{
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event.mount().logWarning("Suppose the error was corrected!");
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}
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void exitImpl(MccMountEventInit<MountT>& event)
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{
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@ -400,4 +415,34 @@ protected:
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}
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};
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// guiding state
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template <traits::mcc_mount_c MountT>
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struct MccMountStateGuiding : MccMountStateBase<MountT> {
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static constexpr std::string_view ID = "MCC-MOUNT-GUIDING-STATE";
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// only initialization
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using transition_t =
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fsm::fsm_transition_table_t<std::pair<MccMountEventInit<MountT>, MccMountStateInit<MountT>>,
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std::pair<MccMountEventError<MountT>, MccMountStateStop<MountT>>,
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// std::pair<MccMountEventSlew<MountT>, MccMountStateSlew<MountT>>,
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std::pair<MccMountEventGuiding<MountT>, MccMountStateStop<MountT>>,
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std::pair<MccMountEventStop<MountT>, MccMountStateStop<MountT>>,
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std::pair<MccMountEventShutdown<MountT>, MccMountStateStop<MountT>>>;
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protected:
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template <std::derived_from<MccMountEventBase<MountT>> EvT>
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void exitImpl(EvT& event)
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{
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}
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template <std::derived_from<MccMountEventSlew<MountT>> EvT>
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void enterImpl(EvT& event)
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{
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event.mount().slewMount(/* params here ...*/);
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}
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};
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} // namespace mcc
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127
cxx/tests/fitpack.cpp
Normal file
127
cxx/tests/fitpack.cpp
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@ -0,0 +1,127 @@
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#include <algorithm>
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#include <functional>
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#include <iostream>
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#include <random>
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#include <ranges>
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#include "../fitpack/fitpack.h"
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int tests_fitpack(int, char**)
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{
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size_t nt = 30, np = 60, N = nt * np, i = 1;
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// size_t nt = 10, np = 20, N = nt * np, i = 1;
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double ts = std::numbers::pi / (nt + 1);
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double ps = 2.0 * std::numbers::pi / (np + 1);
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std::vector<double> tetha(N), phi(N), func(N);
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auto gen_func = [](double st, size_t& idx) {
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double v = st * idx;
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++idx;
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return v;
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};
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auto print_func = [](const auto& r, std::string_view name) {
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std::cout << name << ": ";
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for (auto& el : r) {
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std::cout << el << " ";
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}
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std::cout << "\n";
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};
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// std::ranges::generate(tetha, std::bind(gen_func, ts, i));
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// i = 1;
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// std::ranges::generate(phi, std::bind(gen_func, ps, i));
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size_t k = 1;
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i = 0;
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for (size_t j = 0; j < nt; ++j) {
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std::ranges::fill_n(tetha.begin() + i * np, np, ts * (i + 1));
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std::ranges::generate(phi | std::views::drop(i * np) | std::views::take(np), std::bind(gen_func, ps, k));
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++i;
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k = 1;
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}
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// std::uniform_real_distribution<double> distr{-0.1, 0.1};
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std::normal_distribution<double> distr{0.0, 1.0};
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std::random_device device;
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std::mt19937 engine{device()};
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std::ranges::generate(func, [ii = 0, &distr, &engine, &tetha, &phi]() mutable {
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double v = (5.0 + tetha[ii]) * 1.3 + (3.0 + phi[ii]) * 3.1 + distr(engine);
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++ii;
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return v;
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});
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int ntk = 24, npk = 29, nf = (ntk + 4) * (npk + 4);
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// int ntk = 3, npk = 6, nf = (ntk + 4) * (npk + 4);
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std::vector<double> tk(ntk + 8), pk(npk + 8), coeffs(nf);
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ts = std::numbers::pi / (ntk + 1);
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ps = 2.0 * std::numbers::pi / (npk + 1);
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i = 1;
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std::ranges::generate(tk | std::views::drop(4) | std::views::take(ntk), std::bind(gen_func, ts, i));
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i = 1;
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std::ranges::generate(pk | std::views::drop(4) | std::views::take(npk), std::bind(gen_func, ps, i));
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double rs = 0.0;
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int ec = mcc::fitpack::fitpack_sphere_fit(tetha, phi, func, 1.0, tk, pk, coeffs, rs);
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std::cout << "FIT EC = " << ec << "\n";
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std::cout << "FIT RESI = " << rs << "\n";
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ntk += 8;
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npk += 8;
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std::ranges::fill(tk, -1);
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std::ranges::fill(pk, -1);
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ec = mcc::fitpack::fitpack_sphere_smooth(tetha, phi, func, 1.0, 1800.0, ntk, npk, tk, pk, coeffs, rs);
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std::cout << "FIT EC = " << ec << "\n";
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std::cout << "FIT RESI = " << rs << "\n";
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std::cout << "NKNOTS: " << ntk << ", " << npk << "\n";
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print_func(coeffs, "coeffs");
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// print_func(tetha, "tetha");
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// print_func(phi, "phi");
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print_func(tk, "tetha_knots");
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print_func(pk, "phi_knots");
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print_func(func, "func");
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std::cout << "\n\n";
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k = 1;
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ts = std::numbers::pi / (nt + 1);
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std::ranges::generate_n(tetha.begin(), nt, std::bind(gen_func, ts, k));
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std::vector<double> f_func;
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tetha.resize(nt);
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phi.resize(np);
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tk.resize(ntk);
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pk.resize(npk);
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print_func(tetha, "TETHA:");
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print_func(phi, "PHI:");
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ec = mcc::fitpack::fitpack_eval_spl2d(tk, pk, coeffs, tetha, phi, f_func);
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// ec = mcc::fitpack::fitpack_eval_spl2d(pk, tk, coeffs, phi, tetha, f_func);
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std::cout << "EVAL EC = " << ec << "\n";
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print_func(f_func, "func");
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std::cout << "\n\n";
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for (size_t l = 0; l < f_func.size(); ++l) {
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auto r = f_func[l] - func[l];
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std::cout << r << " ";
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}
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std::cout << "\n";
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return 0;
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}
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147
cxx/tests/fsm.cpp
Normal file
147
cxx/tests/fsm.cpp
Normal file
@ -0,0 +1,147 @@
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#include <cxxabi.h>
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#include <iostream>
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#include <typeinfo>
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#include "../mcc_finite_state_machine.h"
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using namespace mcc;
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struct S {
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};
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struct EV1 {
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static constexpr std::string_view ID = "EV1";
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void onTransit()
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{
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//
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std::cout << "EV1::onTransit()\n";
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}
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};
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struct EV2 {
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static constexpr std::string_view ID = "EV2";
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};
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struct EV3 {
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static constexpr std::string_view ID = "EV3";
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};
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struct EVN {
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static constexpr std::string_view ID = "EVN";
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};
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struct ST1;
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struct ST2;
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struct STN {
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static constexpr std::string_view ID = "STN";
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using transition_t = fsm::fsm_transition_table_t<std::pair<EV1, STN>, std::pair<EV2, ST2>>;
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void enter()
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{
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std::cout << "transit to " << ID << "-state\n";
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}
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void exit()
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{
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std::cout << "transit from " << ID << "-state\n";
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}
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};
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struct ST3 {
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static constexpr std::string_view ID = "ST3";
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using transition_t = fsm::fsm_transition_table_t<std::pair<EV1, ST1>, std::pair<EV2, ST2>>;
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void enter(EV3& ev)
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{
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std::cout << "transit to " << ID << "-state\n";
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}
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void exit()
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{
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std::cout << "transit from " << ID << "-state\n";
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}
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};
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|
||||
struct ST2 {
|
||||
static constexpr std::string_view ID = "ST2";
|
||||
using transition_t = fsm::fsm_transition_table_t<std::pair<EV2, STN>, std::pair<EV3, ST3>>;
|
||||
|
||||
void enter(EV2& ev)
|
||||
{
|
||||
std::cout << "transit to " << ID << "-state\n";
|
||||
}
|
||||
|
||||
void exit()
|
||||
{
|
||||
std::cout << "transit from " << ID << "-state\n";
|
||||
}
|
||||
};
|
||||
|
||||
struct ST1 {
|
||||
static constexpr std::string_view ID = "ST1";
|
||||
using transition_t =
|
||||
fsm::fsm_transition_table_t<std::pair<EV1, ST2>, std::pair<EV2, STN>, std::pair<EV3, STN>, std::pair<EV3, STN>>;
|
||||
|
||||
void enter()
|
||||
{
|
||||
std::cout << "transit to " << ID << "-state\n";
|
||||
}
|
||||
|
||||
void exit()
|
||||
{
|
||||
std::cout << "transit from " << ID << "-state\n";
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
int tests_fsm(int, char**)
|
||||
{
|
||||
std::cout << "\n\n\n------- mcc_finite_state_machine.h -------\n";
|
||||
|
||||
|
||||
|
||||
fsm::MccFiniteStateMachine fsmach(ST1{});
|
||||
|
||||
std::cout << "STATES: ";
|
||||
for (auto& el : fsmach.stateIDs()) {
|
||||
std::cout << std::quoted(el) << " ";
|
||||
}
|
||||
std::cout << "\n";
|
||||
|
||||
std::cout << "EVENTS: ";
|
||||
for (auto& el : fsmach.eventIDs()) {
|
||||
std::cout << std::quoted(el) << " ";
|
||||
}
|
||||
std::cout << "\n";
|
||||
|
||||
fsmach.dispatchEvent<EV1>();
|
||||
fsmach.dispatchEvent<EV3>();
|
||||
fsmach.dispatchEvent<EV2>();
|
||||
|
||||
// fsmach.dispatchEvent<EVN>();
|
||||
|
||||
using tab_t = fsm::fsm_transition_table_t<std::pair<EV1, ST2>, std::pair<EV3, ST1>>;
|
||||
|
||||
using st_t = tab_t::find_state_by_event_t<EV2>;
|
||||
|
||||
int status;
|
||||
char* aa = abi::__cxa_demangle(typeid(st_t).name(), NULL, NULL, &status);
|
||||
std::cout << "aa = " << aa << "\n";
|
||||
free(aa);
|
||||
|
||||
std::cout << "\nAfter std::move\n";
|
||||
auto fsmach1 = std::move(fsmach);
|
||||
std::cout << "STATES: ";
|
||||
for (auto& el : fsmach1.stateIDs()) {
|
||||
std::cout << std::quoted(el) << " ";
|
||||
}
|
||||
std::cout << "\n";
|
||||
std::cout << "current state: " << std::quoted(fsmach1.currentStateID()) << "\n";
|
||||
|
||||
return 0;
|
||||
}
|
||||
15
cxx/tests/mount.cpp
Normal file
15
cxx/tests/mount.cpp
Normal file
@ -0,0 +1,15 @@
|
||||
#include "../mcc_mount.h"
|
||||
#include "../mcc_mount_events_states.h"
|
||||
|
||||
int tests_mount(int, char**)
|
||||
{
|
||||
using namespace mcc;
|
||||
|
||||
using mount_t = MccMount<MccMountConfig<MccMountType::CROSSAXIS_TYPE>, MccMountTelemetry>;
|
||||
|
||||
mount_t mount(MccMountStateIDLE<mount_t>{});
|
||||
|
||||
|
||||
|
||||
return 0;
|
||||
}
|
||||
Loading…
x
Reference in New Issue
Block a user