...

cxx/mcc_mount_astro_erfa.h

@@ -10,40 +10,13 @@
 
 
 #include "mcc_astrom_iers.h"
+#include "mcc_mount_concepts.h"
 #include "mcc_mount_coord.h"
 
-// #include "mcc_mount_astrom.h"
-#include "mcc_mount_concepts.h"
 
 namespace mcc::astrom::erfa
 {
-
+enum class MccMountAstromEngineERFAErrorCode : int {
-#include <erfa.h>
-#include <erfam.h>
-
-
-/*  A concept for ERFA-library compatible type to represent anglular quantities  */
-template <typename T>
-concept mcc_erfa_angle_t = std::constructible_from<T, double> && std::convertible_to<T, double>;
-
-template <mcc_erfa_angle_t AngleT = MccAngle>
-class MccMountAstromEngineERFA
-{
-protected:
-    static constexpr std::array engineErrorString = {"OK",
-                                                     "invalid argument",
-                                                     "invalid year",
-                                                     "invalid month",
-                                                     "time point is out of range",
-                                                     "time point is out of range",
-                                                     "dubious year",
-                                                     "unacceptable year",
-                                                     "leap seconds update error",
-                                                     "bulletin A update error"};
-
-public:
-    static constexpr double DEFAULT_WAVELENGTH = 0.55;  // default observed wavelength in mkm
-    enum error_t : size_t {
     ERROR_OK = 0,
     ERROR_INVALID_INPUT_ARG,
     ERROR_JULDATE_INVALID_YEAR,
@@ -56,6 +29,96 @@ public:
     ERROR_UPDATE_BULLETINA,
 };
 
+}
+
+
+namespace std
+{
+
+template <>
+class is_error_code_enum<mcc::astrom::erfa::MccMountAstromEngineERFAErrorCode> : public true_type
+{
+};
+
+}  // namespace std
+
+
+
+namespace mcc::astrom::erfa
+{
+
+#include <erfa.h>
+#include <erfam.h>
+
+
+/*  error category definition  */
+
+// error category
+struct MccMountAstromEngineERFACategory : public std::error_category {
+    MccMountAstromEngineERFACategory() : std::error_category() {}
+
+    const char* name() const noexcept
+    {
+        return "ADC_GENERIC_DEVICE";
+    }
+
+    std::string message(int ec) const
+    {
+        MccMountAstromEngineERFAErrorCode err = static_cast<MccMountAstromEngineERFAErrorCode>(ec);
+
+        switch (err) {
+            case MccMountAstromEngineERFAErrorCode::ERROR_OK:
+                return "OK";
+            case MccMountAstromEngineERFAErrorCode::ERROR_INVALID_INPUT_ARG:
+                return "invalid argument";
+            case MccMountAstromEngineERFAErrorCode::ERROR_JULDATE_INVALID_YEAR:
+                return "invalid year number";
+            case MccMountAstromEngineERFAErrorCode::ERROR_JULDATE_INVALID_MONTH:
+                return "invalid month number";
+            case MccMountAstromEngineERFAErrorCode::ERROR_BULLETINA_OUT_OF_RANGE:
+                return "time point is out of range";
+            case MccMountAstromEngineERFAErrorCode::ERROR_LEAPSECONDS_OUT_OF_RANGE:
+                return "time point is out of range";
+            case MccMountAstromEngineERFAErrorCode::ERROR_DUBIOUS_YEAR:
+                return "dubious year";
+            case MccMountAstromEngineERFAErrorCode::ERROR_UNACCEPTABLE_DATE:
+                return "unacceptable date";
+            case MccMountAstromEngineERFAErrorCode::ERROR_UPDATE_LEAPSECONDS:
+                return "leap seconds update error";
+            case MccMountAstromEngineERFAErrorCode::ERROR_UPDATE_BULLETINA:
+                return "bulletin A update error";
+            default:
+                return "UNKNOWN";
+        }
+    }
+
+    static const MccMountAstromEngineERFACategory& get()
+    {
+        static const MccMountAstromEngineERFACategory constInst;
+        return constInst;
+    }
+};
+
+
+inline std::error_code make_error_code(MccMountAstromEngineERFAErrorCode ec)
+{
+    return std::error_code(static_cast<int>(ec), MccMountAstromEngineERFACategory::get());
+}
+
+
+
+/*  A concept for ERFA-library compatible type to represent anglular quantities  */
+template <typename T>
+concept mcc_erfa_angle_t = std::constructible_from<T, double> && std::convertible_to<T, double>;
+
+template <mcc_erfa_angle_t AngleT = MccAngle>
+class MccMountAstromEngineERFA
+{
+public:
+    static constexpr double DEFAULT_WAVELENGTH = 0.55;  // default observed wavelength in mkm
+
+    typedef std::error_code error_t;
+
 
     // meteo parameters (to compute refraction)
     struct meteo_t {
@@ -140,10 +203,10 @@ public:
         std::lock_guard lock{_stateMutex};
 
         if (!_currentState._leapSeconds.load(stream, comment_sym)) {
-            return ERROR_UPDATE_LEAPSECONDS;
+            return MccMountAstromEngineERFAErrorCode::ERROR_UPDATE_LEAPSECONDS;
         }
 
-        return ERROR_OK;
+        return MccMountAstromEngineERFAErrorCode::ERROR_OK;
     }
 
 
@@ -152,10 +215,10 @@ public:
         std::lock_guard lock{_stateMutex};
 
         if (!_currentState._leapSeconds.load(filename, comment_sym)) {
-            return ERROR_UPDATE_LEAPSECONDS;
+            return MccMountAstromEngineERFAErrorCode::ERROR_UPDATE_LEAPSECONDS;
         }
 
-        return ERROR_OK;
+        return MccMountAstromEngineERFAErrorCode::ERROR_OK;
     }
 
 
@@ -164,10 +227,10 @@ public:
         std::lock_guard lock{_stateMutex};
 
         if (!_currentState._bulletinA.load(stream, comment_sym)) {
-            return ERROR_UPDATE_BULLETINA;
+            return MccMountAstromEngineERFAErrorCode::ERROR_UPDATE_BULLETINA;
         }
 
-        return ERROR_OK;
+        return MccMountAstromEngineERFAErrorCode::ERROR_OK;
     }
 
 
@@ -176,19 +239,13 @@ public:
         std::lock_guard lock{_stateMutex};
 
         if (!_currentState._bulletinA.load(filename, comment_sym)) {
-            return ERROR_UPDATE_BULLETINA;
+            return MccMountAstromEngineERFAErrorCode::ERROR_UPDATE_BULLETINA;
         }
 
-        return ERROR_OK;
+        return MccMountAstromEngineERFAErrorCode::ERROR_OK;
     }
 
 
-
-    std::string errorString(error_t err) const
-    {
-        return engineErrorString[err];
-    }
-
     /*   time-related methods    */
 
     // templated generic version
@@ -203,10 +260,10 @@ public:
         static constexpr std::chrono::year MIN_YEAR = -4799y;
 
         if (ymd.year() < MIN_YEAR) {
-            return ERROR_JULDATE_INVALID_YEAR;
+            return MccMountAstromEngineERFAErrorCode::ERROR_JULDATE_INVALID_YEAR;
         }
         if (!ymd.month().ok()) {
-            return ERROR_JULDATE_INVALID_MONTH;
+            return MccMountAstromEngineERFAErrorCode::ERROR_JULDATE_INVALID_MONTH;
         }
 
         int64_t im = (unsigned)ymd.month();
@@ -223,7 +280,7 @@ public:
         using fd_t = std::chrono::duration<double, std::ratio<86400>>;  // fraction of day
         juldate.mjd = static_cast<double>(mjd_int) + std::chrono::duration_cast<fd_t>(time_point - dd).count();
 
-        return ERROR_OK;
+        return MccMountAstromEngineERFAErrorCode::ERROR_OK;
     }
 
     error_t greg2jul(time_point_t time_point, juldate_t& juldate)
@@ -242,14 +299,14 @@ public:
         if (tai_utc.has_value()) {
             tt.mjd += std::chrono::duration_cast<real_days_t>(tai_utc.value()).count();
         } else {
-            return ERROR_LEAPSECONDS_OUT_OF_RANGE;
+            return MccMountAstromEngineERFAErrorCode::ERROR_LEAPSECONDS_OUT_OF_RANGE;
         }
 
 
         auto tt_tai = _currentState._bulletinA.TT_TAI();
         tt.mjd = juldate.mjd + std::chrono::duration_cast<real_days_t>(tt_tai).count();
 
-        return ERROR_OK;
+        return MccMountAstromEngineERFAErrorCode::ERROR_OK;
     }
 
 
@@ -270,7 +327,7 @@ public:
             if (dut1.has_value()) {
                 ut1 += std::chrono::duration_cast<real_days_t>(dut1.value()).count();
             } else {  // out of range
-                return ERROR_BULLETINA_OUT_OF_RANGE;
+                return MccMountAstromEngineERFAErrorCode::ERROR_BULLETINA_OUT_OF_RANGE;
             }
         }
 
@@ -288,7 +345,7 @@ public:
 
         juldate_t tt;
         auto err = terrestrialTime(juldate, tt);
-        if (err != ERROR_OK) {
+        if (err != MccMountAstromEngineERFAErrorCode::ERROR_OK) {
             return err;
         }
 
@@ -297,7 +354,7 @@ public:
             gst += _currentState.lon;
         }
 
-        return ERROR_OK;
+        return MccMountAstromEngineERFAErrorCode::ERROR_OK;
     }
 
 
@@ -306,13 +363,13 @@ public:
         juldate_t tt;
 
         auto err = terrestrialTime(juldate, tt);
-        if (err != ERROR_OK) {
+        if (err != MccMountAstromEngineERFAErrorCode::ERROR_OK) {
             return err;
         }
 
         eo = eraEo06a(tt.MJD0, tt.mjd);
 
-        return ERROR_OK;
+        return MccMountAstromEngineERFAErrorCode::ERROR_OK;
     }
 
     /*   atmospheric refraction-related methods   */
@@ -324,7 +381,7 @@ public:
         eraRefco(_currentState.meteo.pressure, _currentState.meteo.temperature, _currentState.meteo.humidity,
                  _currentState.wavelength, &refr.refa, &refr.refb);
 
-        return ERROR_OK;
+        return MccMountAstromEngineERFAErrorCode::ERROR_OK;
     }
 
 
@@ -337,7 +394,7 @@ public:
             corr = ref_params.refa / tanALT + ref_params.refb / tanALT / tanALT / tanALT;
         }
 
-        return ERROR_OK;
+        return MccMountAstromEngineERFAErrorCode::ERROR_OK;
     }
 
     /*    coordinates conversional methods    */
@@ -357,12 +414,12 @@ public:
         auto dut1 = _currentState._bulletinA.DUT1(juldate.mjd);
 
         if (!dut1.has_value()) {
-            return ERROR_BULLETINA_OUT_OF_RANGE;
+            return MccMountAstromEngineERFAErrorCode::ERROR_BULLETINA_OUT_OF_RANGE;
         }
 
         auto pol_pos = _currentState._bulletinA.polarCoords(juldate.mjd);
         if (!pol_pos.has_value()) {
-            return ERROR_BULLETINA_OUT_OF_RANGE;
+            return MccMountAstromEngineERFAErrorCode::ERROR_BULLETINA_OUT_OF_RANGE;
         }
         const auto arcsec2rad = std::numbers::pi / 180 / 3600;
         pol_pos->x *= arcsec2rad;
@@ -376,9 +433,9 @@ public:
                             &oaz, &ozd, &oha, &odec, &ora, &eo_);
 
         if (ret == 1) {
-            return ERROR_DUBIOUS_YEAR;
+            return MccMountAstromEngineERFAErrorCode::ERROR_DUBIOUS_YEAR;
         } else if (ret == -1) {
-            return ERROR_UNACCEPTABLE_DATE;
+            return MccMountAstromEngineERFAErrorCode::ERROR_UNACCEPTABLE_DATE;
         }
 
         ra_app = ora;
@@ -388,7 +445,7 @@ public:
         ha = oha;
         eo = eo_;
 
-        return ERROR_OK;
+        return MccMountAstromEngineERFAErrorCode::ERROR_OK;
     }
 
 
@@ -402,7 +459,7 @@ public:
         az = r_az;
         alt = r_alt;
 
-        return ERROR_OK;
+        return MccMountAstromEngineERFAErrorCode::ERROR_OK;
     }
 
     error_t azalt2hadec(coord_t az, coord_t alt, coord_t& ha, coord_t& dec)
@@ -416,7 +473,7 @@ public:
         ha = r_ha;
         dec = r_dec;
 
-        return ERROR_OK;
+        return MccMountAstromEngineERFAErrorCode::ERROR_OK;
     }
 
 
@@ -426,7 +483,7 @@ public:
 
         pa = eraHd2pa(ha, dec, _currentState.lat);
 
-        return ERROR_OK;
+        return MccMountAstromEngineERFAErrorCode::ERROR_OK;
     }
 
 

cxx/mcc_mount_concepts.h

@@ -97,12 +97,6 @@ concept mcc_astrom_engine_c = requires(T t, const T t_const) {
     typename T::refract_result_t;
 
 
-    // { t.setState(std::declval<typename T::engine_state_t>()) };
-
-    // { t_const.getState() } -> std::same_as<typename T::engine_state_t>;
-
-    { t_const.errorString(std::declval<typename T::error_t>()) } -> mcc_formattable;
-
     /*    coordinates conversional methods    */
 
     // ICRS RA and DEC to observed place: icrs2obs(ra, dec, jd, ra_app, dec_app, ha, az, alt, eo)
@@ -249,7 +243,7 @@ concept mcc_mount_telemetry_data_c = requires(T telemetry) {
 
 template <typename T>
 concept mcc_mount_telemetry_c = requires(T t, const T t_const) {
-    typename T::error_t;
+    requires mcc_error_c<typename T::error_t>;
 
     // // a class that at least contains celestial (equatorial and horizontal) coordinates
     // requires requires(typename T::mount_telemetry_data_t telemetry) {

cxx/mcc_mount_pec.h

@@ -12,6 +12,65 @@
 #include "mcc_mount_concepts.h"
 #include "mcc_mount_coord.h"
 
+namespace mcc
+{
+
+enum class MccMountDefaultPECErrorCode : int { ERROR_OK, ERROR_INVALID_INPUTS_BISPLEV, ERROR_EXCEED_MAX_ITERS };
+
+/*  error category definition  */
+
+// error category
+struct MccMountDefaultPECCategory : public std::error_category {
+    MccMountDefaultPECCategory() : std::error_category() {}
+
+    const char* name() const noexcept
+    {
+        return "ADC_GENERIC_DEVICE";
+    }
+
+    std::string message(int ec) const
+    {
+        MccMountDefaultPECErrorCode err = static_cast<MccMountDefaultPECErrorCode>(ec);
+
+        switch (err) {
+            case MccMountDefaultPECErrorCode::ERROR_OK:
+                return "OK";
+            case MccMountDefaultPECErrorCode::ERROR_INVALID_INPUTS_BISPLEV:
+                return "invalid input arguments for bispev";
+            case MccMountDefaultPECErrorCode::ERROR_EXCEED_MAX_ITERS:
+                return "exceed maximum of iterations number";
+            default:
+                return "UNKNOWN";
+        }
+    }
+
+    static const MccMountDefaultPECCategory& get()
+    {
+        static const MccMountDefaultPECCategory constInst;
+        return constInst;
+    }
+};
+
+
+inline std::error_code make_error_code(MccMountDefaultPECErrorCode ec)
+{
+    return std::error_code(static_cast<int>(ec), MccMountDefaultPECCategory::get());
+}
+}  // namespace mcc
+
+
+namespace std
+{
+
+template <>
+class is_error_code_enum<mcc::MccMountDefaultPECErrorCode> : public true_type
+{
+};
+
+}  // namespace std
+
+
+
 namespace mcc
 {
 
@@ -165,7 +224,7 @@ public:
                 if (ret) {
                     res.dx = std::numeric_limits<double>::quiet_NaN();
                     res.dy = std::numeric_limits<double>::quiet_NaN();
-                    return std::error_code();  // !!!!!!!!!!!!!!
+                    return MccMountDefaultPECErrorCode::ERROR_INVALID_INPUTS_BISPLEV;
                 }
 
 
@@ -175,7 +234,7 @@ public:
                 if (ret) {
                     res.dx = std::numeric_limits<double>::quiet_NaN();
                     res.dy = std::numeric_limits<double>::quiet_NaN();
-                    return std::error_code();  // !!!!!!!!!!!!!!
+                    return MccMountDefaultPECErrorCode::ERROR_INVALID_INPUTS_BISPLEV;
                 }
 
 
@@ -187,7 +246,7 @@ public:
             static_assert(false, "UNSUPPORTED");
         }
 
-        return std::error_code();
+        return MccMountDefaultPECErrorCode::ERROR_OK;
     }
 
     // from celestial to encoder (use of iterative scheme)
@@ -196,35 +255,59 @@ public:
         coord_t e2 = eps * eps;
 
         coord_t xi = x, yi = y;
-        coord_t xp, yp;
+        coord_t xe, ye;
         size_t iter = 1;
 
         // the first iteration
         auto err = compute(x, y, res);
 
         if (!err) {
-            xp = x - res.dx;
+            // 'encoder' cocordinates
-            yp = y - res.dy;
+            xe = x - res.dx;
+            ye = y - res.dy;
 
-            bool ok = ((xp - x) * (xp - x) + (yp - y) * (yp - y)) <= e2;
+            err = compute(xe, ye, res);  // to celestial
+            if (err) {
+                return MccMountDefaultPECErrorCode::ERROR_INVALID_INPUTS_BISPLEV;
+            }
+
+            xi = xe + res.dx;  // celestial
+            yi = ye + res.dy;
+
+            auto rx = (x - xi);
+            auto ry = (y - yi);
+            auto d = rx * rx + ry * ry;
+
+            bool ok = d <= e2;
             if (ok) {
-                return std::error_code();
+                return MccMountDefaultPECErrorCode::ERROR_OK;
             }
 
             while (iter < max_iter) {
-                xi = xp;
+                err = compute(xi, yi, res);  // to encoder
-                yi = xp;
+                if (err) {
-                err = compute(xi, yi, res);
+                    return MccMountDefaultPECErrorCode::ERROR_INVALID_INPUTS_BISPLEV;
-                xp -= res.dx;
+                }
-                yp -= res.dy;
+                xe = x - res.dx;
+                ye = y - res.dy;
 
-                ok = ((xp - xi) * (xp - xi) + (yp - yi) * (yp - yi)) <= e2;
+                err = compute(xe, ye, res);  // to celestial
+                if (err) {
+                    return MccMountDefaultPECErrorCode::ERROR_INVALID_INPUTS_BISPLEV;
+                }
+
+                xi = xe + res.dx;  // celestial
+                yi = ye + res.dy;
+
+                ok = ((x - xi) * (x - xi) + (y - yi) * (y - yi)) <= e2;
                 if (ok) {
-                    return std::error_code();
+                    return MccMountDefaultPECErrorCode::ERROR_OK;
-                }
                 }
 
-            // err = "exceed max iterations";!!!
+                ++iter;
+            }
+
+            err = MccMountDefaultPECErrorCode::ERROR_EXCEED_MAX_ITERS;
         }
 
         return err;

cxx/mcc_mount_telemetry.h

@@ -139,42 +139,6 @@ public:
 
     typedef DATA_T mount_telemetry_data_t;
 
-    // mount current telemetry data: time, position and related quantities
-    // struct mount_telemetry_data_t {
-    //     typedef typename astrom_engine_t::coord_t coord_t;
-
-    //     // time-related
-    //     typename astrom_engine_t::time_point_t utc;          // time point of measurements, UTC
-    //     typename astrom_engine_t::juldate_t jd;              // Julian date
-    //     typename astrom_engine_t::sideral_time_t siderTime;  // local apperant sideral time
-    //     // typename astrom_engine_t::time_point_t ut1;          // Universal time
-    //     // typename astrom_engine_t::time_point_t tt;           // Terrestial time
-
-    //     // apparent target (user-input) current coordinates (in radians)
-    //     coord_t tagRA, tagDEC;
-    //     coord_t tagHA;
-    //     coord_t tagAZ, tagALT;
-    //     coord_t tagPA;  // paralactic angle
-
-    //     // encoder-measured current mount coordinates (in radians)
-    //     coord_t mntRA, mntDEC;
-    //     coord_t mntHA;
-    //     coord_t mntAZ, mntALT;
-    //     typename astrom_engine_t::pa_t mntPA;
-
-    //     // encoder-measured (non-corrected for PCS) current mount position and moving speed (in radians, radians/s)
-    //     // X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ALT for horizontal-type one
-    //     coord_t mntPosX, mntPosY;
-
-    //     // current refraction coefficients
-    //     typename pec_t::pec_result_t currRefrCoeffs;
-    //     // current refraction correction (for mntALT)
-    //     coord_t currRefr;
-
-    //     // PEC (pointing error correction):
-    //     // X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ALT for horizontal-type one
-    //     coord_t pecX, pecY;
-    // };
 
     MccMountTelemetry(astrom_engine_t& astrom_engine, pec_t& pec, hardware_t& hardware)
         : _astromEngine(astrom_engine), _pec(pec), _hardware(hardware)

cxx/mcc_slew_model.h

@@ -19,7 +19,6 @@ namespace mcc
  *            [azimuth, zenithal distance] (see sources code below)
  */
 
-template <traits::mcc_mount_telemetry_c TELEMETRY_T>
 class MccSimpleSlewModel
 {
 public:
@@ -37,26 +36,47 @@ public:
     };
 
 
-    template <traits::mcc_mount_hardware_c HARDWARE_T,
+    template <traits::mcc_mount_controls_c MOUNT_CONTROLS_T>
-              traits::mcc_astrom_engine_c ASTROM_T,
+    MccSimpleSlewModel(MOUNT_CONTROLS_T& mount_controls)
-              traits::mcc_mount_pec_c PEC_T>
-    MccSimpleSlewModel(HARDWARE_T& hardware, ASTROM_T& astrom_engine, PEC_T& pec)
     {
-        const auto p_hardware = &hardware;
+        // deduce controls types
-        const auto p_astrom_engine = &astrom_engine;
+        using astrom_engine_t = decltype(mount_controls.astrometryEngine);
-        const auto p_pec = &pec;
+        using hardware_t = decltype(mount_controls.hardware);
+        using pec_t = decltype(mount_controls.PEC);
+        using telemetry_t = decltype(mount_controls.telemetry);
+        using tpl_pz_t = decltype(mount_controls.prohibitedZones);
+
+        static constexpr size_t Nzones = std::tuple_size_v<tpl_pz_t>;
+
+        const auto p_mount_controls = &mount_controls;
+
+        // prohibited zones related lambdas
+        auto check_zones = [p_mount_controls]<size_t... Is>(std::array<bool, sizeof...(Is)>& result,
+                                                            std::index_sequence<Is...>) {
+            ((result[Is] = std::get<Is>(p_mount_controls->prohibitedZones).inZone(p_mount_controls->telemetry.data())),
+             ...);
+
+            bool flag = false;
+            ((flag |= result[Is]), ...);
+
+            return flag;
+        };
 
 
+        _slewFunc = [p_mount_controls](this auto&& self, const slew_params_t& slew_pars) {
+            auto& astrom_engine = p_mount_controls->astrometryEngine;
+            auto& hardware = p_mount_controls->hardware;
+            auto& pec = p_mount_controls->PEC;
+            auto& telemetry = p_mount_controls->telemetry;
 
-        _slewFunc = [p_hardware, p_astrom_engine, p_pec](this auto&& self, const slew_params_t& slew_pars,
+            using coord_t = typename astrom_engine_t::coord_t;
-                                                         TELEMETRY_T& telemetry) {
+            using jd_t = typename astrom_engine_t::juldate_t;
-            using coord_t = typename ASTROM_T::coord_t;
-            using jd_t = typename ASTROM_T::juldate_t;
 
-            typename HARDWARE_T::axes_pos_t ax_pos;
+            typename hardware_t::axes_pos_t ax_pos;
 
             error_t res_err;
-            typename ASTROM_T::error_t ast_err;
+            typename astrom_engine_t::error_t ast_err;
+            typename pec_t::error_t pec_err;
 
             if (slew_pars.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_XY) {
                 // trivial case (the pair is interpretated as raw encoder coordinates)
@@ -66,26 +86,24 @@ public:
                        mcc::MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {  // catalog coordinates
                 jd_t jd;
                 coord_t ra_app, dec_app, ha, az, alt;
-                typename ASTROM_T::eo_t eo;
+                typename astrom_engine_t::eo_t eo;
 
-                ast_err = p_astrom_engine->greg2jul(std::chrono::system_clock::now(), jd);
+                ast_err = astrom_engine->greg2jul(std::chrono::system_clock::now(), jd);
 
                 if (!ast_err) {
-                    ast_err = p_astrom_engine->icrs2obs(slew_pars.x, slew_pars.y, jd, ra_app, dec_app, ha, az, alt, eo);
+                    ast_err = astrom_engine->icrs2obs(slew_pars.x, slew_pars.y, jd, ra_app, dec_app, ha, az, alt, eo);
 
                     if (!ast_err) {
-                        if constexpr (mccIsEquatorialMount(PEC_T::mountType)) {
+                        if constexpr (mccIsEquatorialMount(pec_t::mountType)) {
                             res_err = self({.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP,
                                             .x = ha,
                                             .y = dec_app,
-                                            .stop = slew_pars.stop},
+                                            .stop = slew_pars.stop});
-                                           telemetry);
+                        } else if constexpr (mccIsAltAzMount(pec_t::mountType)) {
-                        } else if constexpr (mccIsAltAzMount(PEC_T::mountType)) {
                             res_err = self({.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_AZALT,
                                             .x = az,
                                             .y = alt,
-                                            .stop = slew_pars.stop},
+                                            .stop = slew_pars.stop});
-                                           telemetry);
                         } else {
                             static_assert(false, "UNKNOWN MOUNT TYPE!");
                         }
@@ -94,78 +112,73 @@ public:
 
             } else if (slew_pars.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_RADEC_APP) {  // apparent
                 jd_t jd;
-                typename ASTROM_T::eo_t eo;
+                typename astrom_engine_t::eo_t eo;
 
-                ast_err = p_astrom_engine->greg2jul(std::chrono::system_clock::now(), jd);
+                ast_err = astrom_engine->greg2jul(std::chrono::system_clock::now(), jd);
                 if (!ast_err) {
-                    typename ASTROM_T::sideral_time_t lst;
+                    typename astrom_engine_t::sideral_time_t lst;
-                    ast_err = p_astrom_engine->apparentSiderTime(jd, lst, true);
+                    ast_err = astrom_engine->apparentSiderTime(jd, lst, true);
 
                     if (!ast_err) {
-                        ast_err = p_astrom_engine->eqOrigins(jd, eo);
+                        ast_err = astrom_engine->eqOrigins(jd, eo);
                         if (!ast_err) {
                             res_err = self({.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP,
                                             .x = lst - slew_pars.x + eo,  // HA = LST - RA_APP + EO
                                             .y = slew_pars.y,
-                                            .stop = slew_pars.stop},
+                                            .stop = slew_pars.stop});
-                                           telemetry);
                         }
                     }
                 }
             } else if (slew_pars.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP) {  // apparent
-                if constexpr (mccIsEquatorialMount(PEC_T::mountType)) {  // compute encoder coordinates
+                if constexpr (mccIsEquatorialMount(pec_t::mountType)) {  // compute encoder coordinates
                     coord_t eps = 1.0 / 3600.0 * std::numbers::pi / 180.0;
 
-                    typename PEC_T::pec_result_t pec_res;
+                    typename pec_t::pec_result_t pec_res;
 
-                    auto err = p_pec->reverseCompute(slew_pars.x, slew_pars.y, pec_res, eps, 10);
+                    pec_err = pec->reverseCompute(slew_pars.x, slew_pars.y, pec_res, eps, 10);
-                    if (!err) {
+                    if (!pec_err) {
                         res_err = self({.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_XY,
                                         .x = slew_pars.x - pec_res.dx,
                                         .y = slew_pars.y - pec_res.dy,
-                                        .stop = slew_pars.stop},
+                                        .stop = slew_pars.stop});
-                                       telemetry);
                     }
-                } else if constexpr (mccIsAltAzMount(PEC_T::mountType)) {
+                } else if constexpr (mccIsAltAzMount(pec_t::mountType)) {
                     coord_t az, alt;
 
-                    ast_err = p_astrom_engine->hadec2azalt(slew_pars.x, slew_pars.y, az, alt);
+                    ast_err = astrom_engine->hadec2azalt(slew_pars.x, slew_pars.y, az, alt);
 
                     if (!ast_err) {
                         res_err = self({.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_AZALT,
                                         .x = az,
                                         .y = alt,
-                                        .stop = slew_pars.stop},
+                                        .stop = slew_pars.stop});
-                                       telemetry);
                     }
                 } else {
                     static_assert(false, "UNKNOWN MOUNT TYPE!");
                 }
             } else if (slew_pars.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_AZALT) {
-                if constexpr (mccIsEquatorialMount(PEC_T::mountType)) {
+                if constexpr (mccIsEquatorialMount(pec_t::mountType)) {
                     coord_t ha, dec;
 
-                    ast_err = p_astrom_engine->azalt2hadec(slew_pars.x, slew_pars.y, ha, dec);
+                    ast_err = astrom_engine->azalt2hadec(slew_pars.x, slew_pars.y, ha, dec);
 
                     if (!ast_err) {
                         res_err = self({.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP,
                                         .x = ha,
                                         .y = dec,
-                                        .stop = slew_pars.stop},
+                                        .stop = slew_pars.stop});
-                                       telemetry);
                     }
-                } else if constexpr (mccIsAltAzMount(PEC_T::mountType)) {  // compute encoder coordinates
+                } else if constexpr (mccIsAltAzMount(pec_t::mountType)) {  // compute encoder coordinates
                     coord_t eps = 1.0 / 3600.0 * std::numbers::pi / 180.0;
 
-                    typename PEC_T::pec_result_t pec_res;
+                    typename pec_t::pec_result_t pec_res;
 
-                    auto err = p_pec->reverseCompute(slew_pars.x, slew_pars.y, pec_res, eps, 10);
+                    pec_err = pec->reverseCompute(slew_pars.x, slew_pars.y, pec_res, eps, 10);
-                    if (!err) {
+                    if (!pec_err) {
                         res_err = self({.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_XY,
                                         .x = slew_pars.x - pec_res.dx,
                                         .y = slew_pars.y - pec_res.dy,
-                                        .stop = slew_pars.stop},
+                                        .stop = slew_pars.stop});
-                                       telemetry);
                     }
 
                 } else {
@@ -178,32 +191,57 @@ public:
                 res_err = self({.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_AZALT,
                                 .x = slew_pars.x,
                                 .y = std::numbers::pi / 2.0 - slew_pars.y,
-                                .stop = slew_pars.stop},
+                                .stop = slew_pars.stop});
-                               telemetry);
             }
 
             if (res_err) {
                 return res_err;
             }
 
-            if (!ast_err) {
+            if (pec_err) {
-                auto err = p_hardware->setPos(std::move(ax_pos));
+                // ???????????
+                return std::error_code();  // !!!!!!!!!!!!!!!
+            }
 
+            if (!ast_err) {
+                typename telemetry_t::error_t t_err;
+                typename telemetry_t::mount_telemetry_data_t t_data;
+
+                // move mount (it is assumed this is asynchronous operation!!!)
+                typename hardware_t::error_t err = hardware->setPos(std::move(ax_pos));
+
+                std::array<bool, Nzones> pz_result;
+
+                if (!err) {
+                    //
+                    //  what is the condition for mount reaches given position?!!
+                    //
                     while (true) {
+                        t_err = telemetry.data(t_data);
+                        if (t_err) {
+                            // ?????????!!!!!!!!!!
+                        }
+
+                        // check prohibited zones
+                        if (check_zones(pz_result, std::make_index_sequence<Nzones>{})) {
+                            // stop mount ?!!!!!!!!!!!!!!!!!!!!!
+                            // return in-zone-error-code
+                        }
+                    }
                 }
             }
         };
     }
 
-    error_t slew(const slew_params_t& pars, TELEMETRY_T& telemetry)
+    error_t slew(const slew_params_t& pars)
     {
-        error_t res_err = _slewFunc(pars, telemetry);
+        error_t res_err = _slewFunc(pars);
 
         return res_err;
     }
 
 protected:
-    std::function<error_t(const slew_params_t&, TELEMETRY_T&)> _slewFunc{};
+    std::function<error_t(const slew_params_t&)> _slewFunc{};
 };
 
 

cxx/tests/astrom_test.cpp

@@ -10,6 +10,7 @@
 
 struct tel_data_t {
     typedef mcc::MccAngle coord_t;
+    typedef std::chrono::system_clock::time_point time_point_t;
 
     coord_t mntRA, mntDEC, mntHA;
     coord_t mntAZ, mntALT;
@@ -187,7 +188,7 @@ int main(int argc, char* argv[])
     auto res = erfa.icrs2obs(ra1, dec1, jd, ra_o, dec_o, ha1, az1, alt1, eor);
     std::cout << "eq of origins (from icrs2obs) = " << eor.sexagesimal(true) << "\n";
 
-    std::cout << "ret code (icrs2obs) = " << erfa.errorString(res) << "\n";
+    std::cout << "ret code (icrs2obs) = " << res.message() << "\n";
     std::cout << "alt = " << alt1.sexagesimal() << "\n";
     std::cout << "az = " << az1.sexagesimal() << "\n";
 
@@ -232,7 +233,7 @@ int main(int argc, char* argv[])
     ra1 = "17:00:00"_hms;
     dec1 = "40:25:10.43"_dms;
     res = erfa.icrs2obs(ra1, dec1, jd, ra_o, dec_o, ha1, az1, alt1, eor);
-    std::cout << "ret code (icrs2obs) = " << erfa.errorString(res) << "\n";
+    std::cout << "ret code (icrs2obs) = " << res.message() << "\n";
     std::cout << "alt = " << alt1.sexagesimal() << "\n";
     std::cout << "az = " << az1.sexagesimal() << "\n";
 
@@ -265,5 +266,10 @@ int main(int argc, char* argv[])
         std::cout << "(MAXALT) time from zone: " << std::chrono::hh_mm_ss(tm) << " (" << now1 << ")\n";
     }
 
+    ra_o = 1.0;
+    dec_o = 2.0;
+    ha1 = ra_o * dec_o;
+    std::cout << "mult: " << ha1.degrees() << "\n";
+
     return ecode;
 }