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mcc/mcc_generic_mount.h

@@ -6,13 +6,21 @@
 /*                          GENERIC MOUNT REFERENCE IMPLEMENTATION                          */
 
 
+#include "mcc_defaults.h"
 #include "mcc_generics.h"
 
 
 namespace mcc
 {
 
-enum class MccGenericMountErrorCode : int { ERROR_OK, ERROR_HW_INIT, ERROR_HW_STOP, ERROR_HW_GETSTATE };
+enum class MccGenericMountErrorCode : int {
+    ERROR_OK,
+    ERROR_HW_INIT,
+    ERROR_HW_STOP,
+    ERROR_HW_GETSTATE,
+    ERROR_SET_TARGET,
+    ERROR_MOUNT_SLEW
+};
 
 enum class MccGenericFsmMountErrorCode : int { ERROR_OK, ERROR_INVALID_OPERATION, ERROR_UNKNOWN_EVENT };
 
@@ -197,6 +205,43 @@ public:
 
         return MccGenericMountErrorCode::ERROR_OK;
     }
+
+    // re-implements TelemetryT::setPointingTarget to hold target coordinates
+    // in some intermediate buffer
+    error_t setPointingTarget(mcc_celestial_point_c auto pt)
+    {
+        mcc_copy_celestial_point(std::move(pt), &_inputTargetCoordiniates);
+
+        std::string xstr;
+        if (_inputTargetCoordiniates.pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS ||
+            _inputTargetCoordiniates.pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP ||
+            _inputTargetCoordiniates.pair_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
+            xstr = MccAngle(_inputTargetCoordiniates.X).sexagesimal(true);
+        } else {
+            MccAngle(_inputTargetCoordiniates.X).sexagesimal();
+        }
+
+        logInfo(std::format("Set input target coordinates to: {} {} {}", xstr,
+                            MccAngle(_inputTargetCoordiniates.Y).sexagesimal(),
+                            MccCoordPairKindStr<_inputTargetCoordiniates.pair_kind>));
+
+        return MccGenericMountErrorCode::ERROR_OK;
+    }
+
+    // re-implements SlewModelT::slewToTarget to fetch input target coordinates from intermediate buffer
+    error_t slewToTarget(bool slew_and_stop = false)
+    {
+        auto err = TelemetryT::setPointingTarget(_inputTargetCoordiniates);
+        if (err) {
+            return mcc_deduce_error_code(err, MccGenericMountErrorCode::ERROR_SET_TARGET);
+        }
+
+        return mcc_deduce_error_code(SlewModelT::slewToTarget(slew_and_stop),
+                                     MccGenericMountErrorCode::ERROR_MOUNT_SLEW);
+    }
+
+protected:
+    MccCelestialPoint _inputTargetCoordiniates;
 };