...

asibfm700/asibfm700_servocontroller.h

@@ -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  */