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This commit is contained in:
Timur A. Fatkhullin
2025-06-15 22:49:02 +03:00
parent 4ebaac2dcb
commit 5a5854ccdd
7 changed files with 388 additions and 31 deletions
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59
cxx/mcc_mount_events_states.h
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@@ -27,7 +27,10 @@ public:
virtual ~MccMountEventBase() = default;
mount_t& mount() const { return _mount; }
mount_t& mount() const
{
return _mount;
}
protected:
MccMountEventBase(mount_t& mount) : _mount(mount) {}
@@ -74,7 +77,10 @@ struct MccMountEventError : public MccMountEventBase<MountT> {
using event_data_t = std::error_code;
event_data_t eventData() const { return _error; }
event_data_t eventData() const
{
return _error;
}
MccMountEventError(MountT& mount, const event_data_t& error) : base_t(mount), _error(error) {}
@@ -93,7 +99,10 @@ struct MccMountEventSlew : public MccMountEventBase<MountT> {
using event_data_t = typename MountT::slew_param_t;
event_data_t eventData() const { return _eventData; }
event_data_t eventData() const
{
return _eventData;
}
MccMountEventSlew(MountT& mount, const event_data_t& ev_data) : base_t(mount), _eventData(ev_data) {}
@@ -129,7 +138,10 @@ struct MccMountEventStop : public MccMountEventBase<MountT> {
EVENT_STOP_BUTTON // hardware button
};
event_data_t eventData() const { return _reason; }
event_data_t eventData() const
{
return _reason;
}
std::string_view reason() const
{
@@ -187,13 +199,13 @@ protected:
template <std::derived_from<MccMountEventBase<MountT>> EvT>
void exitImpl(EvT& event)
{
event.mount().logWarning("Call an empty MccMountStateBase::exitImpl method!!! Event type is '{}'", EvT::ID);
event.mount().logWarn("Call an empty MccMountStateBase::exitImpl method!!! Event type is '{}'", EvT::ID);
}
template <std::derived_from<MccMountEventBase<MountT>> EvT>
void enterImpl(EvT& event)
{
event.mount().logWarning("Call an empty MccMountStateBase::enterImpl method!!! Event type is '{}'", EvT::ID);
event.mount().logWarn("Call an empty MccMountStateBase::enterImpl method!!! Event type is '{}'", EvT::ID);
}
};
@@ -315,7 +327,10 @@ protected:
EvT::ID);
}
void exitImpl(MccMountEventIDLE<MountT>& event) { event.mount().logWarning("Suppose the error was corrected!"); }
void exitImpl(MccMountEventIDLE<MountT>& event)
{
event.mount().logWarning("Suppose the error was corrected!");
}
void exitImpl(MccMountEventInit<MountT>& event)
{
@@ -400,4 +415,34 @@ protected:
}
};
// guiding state
template <traits::mcc_mount_c MountT>
struct MccMountStateGuiding : MccMountStateBase<MountT> {
static constexpr std::string_view ID = "MCC-MOUNT-GUIDING-STATE";
// only initialization
using transition_t =
fsm::fsm_transition_table_t<std::pair<MccMountEventInit<MountT>, MccMountStateInit<MountT>>,
std::pair<MccMountEventError<MountT>, MccMountStateStop<MountT>>,
// std::pair<MccMountEventSlew<MountT>, MccMountStateSlew<MountT>>,
std::pair<MccMountEventGuiding<MountT>, MccMountStateStop<MountT>>,
std::pair<MccMountEventStop<MountT>, MccMountStateStop<MountT>>,
std::pair<MccMountEventShutdown<MountT>, MccMountStateStop<MountT>>>;
protected:
template <std::derived_from<MccMountEventBase<MountT>> EvT>
void exitImpl(EvT& event)
{
}
template <std::derived_from<MccMountEventSlew<MountT>> EvT>
void enterImpl(EvT& event)
{
event.mount().slewMount(/* params here ...*/);
}
};
} // namespace mcc