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This commit is contained in:
Timur A. Fatkhullin
2025-09-12 12:53:05 +03:00
parent 8e8cb543ae
commit 5f802ff57e
4 changed files with 319 additions and 31 deletions
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63
asibfm700/asibfm700_servocontroller.cpp
View File

@@ -23,7 +23,35 @@ constexpr std::string_view AsibFM700ServoController::hardwareName() const
AsibFM700ServoController::error_t AsibFM700ServoController::hardwareStop()
{
return static_cast<AsibFM700ServoControllerErrorCode>(Mount.stop());
error_t err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.stop());
if (err) {
return err;
}
hardware_state_t hw_state;
auto start_tp = std::chrono::steady_clock::now();
// poll hardware till stopped-state detected ...
while (true) {
err = hardwareGetState(&hw_state);
if (err) {
return err;
}
if (hw_state.moving_state == hardware_moving_state_t::HW_MOVE_STOPPED) {
break;
}
if ((std::chrono::steady_clock::now() - start_tp) > _hardwareConfig.pollingTimeout) {
err = AsibFM700ServoControllerErrorCode::ERROR_POLLING_TIMEOUT;
break;
}
std::this_thread::sleep_for(_hardwareConfig.pollingInterval);
}
return err;
}
AsibFM700ServoController::error_t AsibFM700ServoController::hardwareInit()
@@ -55,6 +83,10 @@ AsibFM700ServoController::error_t AsibFM700ServoController::hardwareSetState(har
AsibFM700ServoController::error_t AsibFM700ServoController::hardwareGetState(hardware_state_t* state)
{
if (state == nullptr) {
return AsibFM700ServoControllerErrorCode::ERROR_NULLPTR;
}
using tp_t = decltype(hardware_state_t::time_point);
mountdata_t mdata;
@@ -75,6 +107,35 @@ AsibFM700ServoController::error_t AsibFM700ServoController::hardwareGetState(har
state->speedX = mdata.encYspeed.val;
state->speedY = mdata.encXspeed.val;
state->stateX = mdata.Xstate;
state->stateY = mdata.Ystate;
if (mdata.Xstate == AXIS_STOPPED) {
if (mdata.Ystate == AXIS_STOPPED) {
state->moving_state = hardware_moving_state_t::HW_MOVE_STOPPED;
} else if (mdata.Ystate == AXIS_SLEWING) {
state->moving_state = hardware_moving_state_t::HW_MOVE_SLEWING;
} else if (mdata.Ystate == AXIS_POINTING) {
state->moving_state = hardware_moving_state_t::HW_MOVE_ADJUSTING;
} else if (mdata.Ystate == AXIS_GUIDING) {
state->moving_state = hardware_moving_state_t::HW_MOVE_GUIDING;
} else if (mdata.Ystate == AXIS_ERROR) {
state->moving_state = hardware_moving_state_t::HW_MOVE_ERROR;
} else {
state->moving_state = hardware_moving_state_t::HW_MOVE_UNKNOWN;
}
} else if (mdata.Xstate == AXIS_SLEWING) {
state->moving_state = hardware_moving_state_t::HW_MOVE_SLEWING;
} else if (mdata.Xstate == AXIS_POINTING) {
state->moving_state = hardware_moving_state_t::HW_MOVE_ADJUSTING;
} else if (mdata.Xstate == AXIS_GUIDING) {
state->moving_state = hardware_moving_state_t::HW_MOVE_GUIDING;
} else if (mdata.Xstate == AXIS_ERROR) {
state->moving_state = hardware_moving_state_t::HW_MOVE_ERROR;
} else {
state->moving_state = hardware_moving_state_t::HW_MOVE_UNKNOWN;
}
}
return err;

12
asibfm700/asibfm700_servocontroller.h
View File

@@ -20,6 +20,8 @@ enum class AsibFM700ServoControllerErrorCode : int {
ERROR_MOUNTDEV = MCC_E_MOUNTDEV,
ERROR_FAILED = MCC_E_FAILED,
// my codes ...
ERROR_POLLING_TIMEOUT,
ERROR_NULLPTR
};
// error category
@@ -59,11 +61,13 @@ public:
typedef std::error_code error_t;
enum class hardware_moving_state_t : int {
HW_MOVE_STOPPED,
HW_MOVE_ERROR = -1,
HW_MOVE_STOPPED = 0,
HW_MOVE_SLEWING,
HW_MOVE_ADJUSTING,
HW_MOVE_TRACKING,
HW_MOVE_GUIDING
HW_MOVE_GUIDING,
HW_MOVE_UNKNOWN
};
struct hardware_state_t {
@@ -71,6 +75,7 @@ public:
mcc::MccTimePoint time_point;
double X, Y, speedX, speedY;
axis_status_t stateX, stateY; // Eddy's LibSidServo axis state
hardware_moving_state_t moving_state;
};
@@ -86,6 +91,9 @@ public:
conf_t devConfig;
hardware_configuration_t hwConfig;
std::chrono::milliseconds pollingInterval{300}; // hardware polling interval
std::chrono::milliseconds pollingTimeout{30000}; // hardware polling timeout
};
/* constructors and destructor */