eddy/mountcontrol
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

...

Browse Source
This commit is contained in:
Timur A. Fatkhullin
2025-12-12 17:21:11 +03:00
parent 255c34dbb2
commit 6fca94e571
2 changed files with 447 additions and 39 deletions
Download Patch File Download Diff File Expand all files Collapse all files

140
mcc/mcc_tracking_model.h
View File

@@ -6,6 +6,8 @@
/* SIMPLE Tracking MODEL IMPLEMENTATION */
#include <fstream>
#include "mcc_defaults.h"
#include "mcc_moving_model_common.h"
@@ -133,6 +135,10 @@ public:
MccEqtHrzCoords intsc_coords;
MccCelestialPoint target_in_future_pt;
bool store_path = false;
std::ofstream fst;
using path_tp_t = std::chrono::duration<double>; // seconds represented as double
if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
target_in_future_pt.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
} else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
@@ -144,6 +150,7 @@ public:
// double dist, dx, dy;
logger.logInfo("Start tracking:");
logger.logInfo(" timesift: {} millisecs", _currentParams.timeShiftToTargetPoint.count());
logger.logInfo(" min time to pzone: {} secs", _currentParams.minTimeToPZone.count());
@@ -153,6 +160,8 @@ public:
return mcc_deduce_error_code(t_err, MccSimpleTrackingModelErrorCode::ERROR_GET_TELEMETRY);
}
auto start_point = tdata.time_point; // needed for trajectory file
bool in_zone;
auto pz_err = controls->inPZone(tdata, &in_zone);
if (pz_err) {
@@ -257,7 +266,7 @@ public:
return mcc_deduce_error_code(pcm_err, MccSimpleTrackingModelErrorCode::ERROR_PCM_COMP);
}
mcc_tp2tp(tdata.time_point, hw_state.time_point);
mcc_tp2tp(tdata.time_point + tp_dt, hw_state.time_point);
}
return MccSimpleTrackingModelErrorCode::ERROR_OK;
@@ -275,6 +284,8 @@ public:
{
std::lock_guard lock{*_currentParamsMutex};
mcc_copy_eqt_hrz_coord(tdata, &tdata.target);
auto ccte_err = target_point(&target_in_future_pt);
if (ccte_err) {
*_stopTracking = true;
@@ -296,6 +307,29 @@ public:
} else {
static_assert(false, "UNKNOWN MOUNT TYPE!");
}
if (!_currentParams.trackingPathFilename.empty()) { // open tracking trajectory file
fst.open(_currentParams.trackingPathFilename);
if (fst.is_open()) {
store_path = true;
logger.logInfo(" timesift: {} millisecs", _currentParams.timeShiftToTargetPoint.count());
logger.logInfo(" min time to pzone: {} secs", _currentParams.minTimeToPZone.count());
fst << "# \n";
fst << "# Tracking trajectory, " << std::chrono::system_clock::now() << "\n";
fst << "# Config:\n";
fst << "# timeshift: " << _currentParams.timeShiftToTargetPoint.count() << " millisecs\n";
fst << "# min time to pzone: " << _currentParams.minTimeToPZone.count() << " secs\n";
fst << "# \n";
fst << "# Format (time is in seconds, coordinates are in radians): \n";
fst << "# <time-since-start> <target X> <target Y> <mount X> <mount Y> <dX_{target-mount}> "
"<dY_{target-mount}> <moving state>\n";
} else {
logger.logError(std::format("Cannot open tracking path file: {}! Do not save it!",
_currentParams.trackingPathFilename));
}
}
}
// move mount
@@ -328,6 +362,14 @@ public:
}
}
if (store_path) {
fst << std::chrono::duration_cast<path_tp_t>(tdata.time_point - start_point).count() << " "
<< tdata.target.HA << " " << tdata.target.DEC_APP << " " << tdata.HA << " " << tdata.DEC_APP
<< " " << (tdata.target.HA - tdata.HA) << " " << (tdata.target.DEC_APP - tdata.DEC_APP) << " "
<< (int)hw_state.moving_state << "\n";
}
if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
logger.logTrace(std::format(" current target: HA = {}, DEC = {}",
mcc::MccAngle(tdata.target.HA).sexagesimal(true),
@@ -353,52 +395,72 @@ public:
}
// control prohibited zones
if (mcc_is_near_pzones(controls, tdata, _currentParams.minTimeToPZone, pz_err)) {
*_stopTracking = true;
return MccSimpleTrackingModelErrorCode::ERROR_NEAR_PZONE;
}
if (pz_err) {
*_stopTracking = true;
return mcc_deduce_error_code(pz_err, MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
}
// if (mcc_is_near_pzones(controls, tdata, _currentParams.minTimeToPZone, pz_err)) {
// logger.logError("Mount is near zone!");
// *_stopTracking = true;
// return MccSimpleTrackingModelErrorCode::ERROR_NEAR_PZONE;
// }
// if (pz_err) {
// *_stopTracking = true;
// return mcc_deduce_error_code(pz_err,
// MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
// }
if (*_stopTracking) {
break;
}
{
std::lock_guard lock{*_currentParamsMutex};
auto now = std::chrono::steady_clock::now();
// {
// std::lock_guard lock{*_currentParamsMutex};
// auto now = std::chrono::steady_clock::now();
if ((now - last_corr_tp) > _currentParams.trackingCycleInterval) {
// update prohibited zones intersection point
if ((now - last_ipzone_update_tp) < _currentParams.updatingPZoneInterval) {
pz_err = update_pzones_ipoint();
if (pz_err) {
*_stopTracking = true;
return mcc_deduce_error_code(
pz_err, MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
}
}
// if ((now - last_corr_tp) > _currentParams.trackingCycleInterval) {
// // update prohibited zones intersection point
// if ((now - last_ipzone_update_tp) < _currentParams.updatingPZoneInterval) {
// pz_err = update_pzones_ipoint();
// if (pz_err) {
// *_stopTracking = true;
// return mcc_deduce_error_code(
// pz_err, MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
// }
// }
// compute new target-in-future point
auto ccte_err = target_point(&target_in_future_pt);
if (ccte_err) {
*_stopTracking = true;
return mcc_deduce_error_code(ccte_err, MccSimpleTrackingModelErrorCode::ERROR_CCTE);
}
// // compute new target-in-future point
// auto ccte_err = target_point(&target_in_future_pt);
// if (ccte_err) {
// *_stopTracking = true;
// return mcc_deduce_error_code(ccte_err, MccSimpleTrackingModelErrorCode::ERROR_CCTE);
// }
logger.logTrace("The updated target point:");
if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
logger.logTrace(" HA, DEC: {} {}", MccAngle(target_in_future_pt.X).sexagesimal(true),
MccAngle(target_in_future_pt.Y).sexagesimal());
} else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
logger.logTrace(" AZ, ZD: {} {}", MccAngle(target_in_future_pt.X).sexagesimal(),
MccAngle(target_in_future_pt.Y).sexagesimal());
} else {
static_assert(false, "UNKNOWN MOUNT TYPE!");
}
}
// logger.logTrace("The updated target point:");
// if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
// logger.logTrace(" HA, DEC: {} {}", MccAngle(target_in_future_pt.X).sexagesimal(true),
// MccAngle(target_in_future_pt.Y).sexagesimal());
// } else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
// logger.logTrace(" AZ, ZD: {} {}", MccAngle(target_in_future_pt.X).sexagesimal(),
// MccAngle(target_in_future_pt.Y).sexagesimal());
// } else {
// static_assert(false, "UNKNOWN MOUNT TYPE!");
// }
// }
// }
// compute new target-in-future point
auto ccte_err = target_point(&target_in_future_pt);
if (ccte_err) {
*_stopTracking = true;
return mcc_deduce_error_code(ccte_err, MccSimpleTrackingModelErrorCode::ERROR_CCTE);
}
logger.logTrace("The updated target point:");
if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
logger.logTrace(" HA, DEC: {} {}", MccAngle(target_in_future_pt.X).sexagesimal(true),
MccAngle(target_in_future_pt.Y).sexagesimal());
} else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
logger.logTrace(" AZ, ZD: {} {}", MccAngle(target_in_future_pt.X).sexagesimal(),
MccAngle(target_in_future_pt.Y).sexagesimal());
} else {
static_assert(false, "UNKNOWN MOUNT TYPE!");
}
// send corrections