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This commit is contained in:
Timur A. Fatkhullin
2025-09-16 18:35:39 +03:00
parent bb41710645
commit 732cd33947
5 changed files with 433 additions and 175 deletions
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121
mcc/mcc_generic_mount.h
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@@ -99,7 +99,7 @@ public:
auto hw_err = this->hardwareStop();
if (hw_err) {
return mcc_deduce_error(hw_err, MccGenericMountErrorCode::ERROR_HW_STOP);
return mcc_deduce_error_code(hw_err, MccGenericMountErrorCode::ERROR_HW_STOP);
}
logInfo("Stop command was sent");
@@ -113,7 +113,7 @@ public:
auto hw_err = this->hardwareInit();
if (hw_err) {
return mcc_deduce_error(hw_err, MccGenericMountErrorCode::ERROR_HW_STOP);
return mcc_deduce_error_code(hw_err, MccGenericMountErrorCode::ERROR_HW_STOP);
}
logInfo("Mount initialization was performed");
@@ -140,6 +140,8 @@ public:
using typename MOUNT_T::tracking_params_t;
protected:
error_t _lastError;
/* default events implementation */
struct MccGenericFsmMountBaseEvent {
@@ -236,7 +238,8 @@ protected:
struct MccGenericFsmMountErrorState; // default error-state class implementation (forward declaration)
template <fsm::traits::fsm_state_c ERROR_STATE_T>
// template <fsm::traits::fsm_state_c ERROR_STATE_T>
template <typename ERROR_STATE_T>
struct MccGenericFsmMountInitState;
template <fsm::traits::fsm_state_c ERROR_STATE_T>
@@ -260,7 +263,8 @@ protected:
std::pair<MccGenericFsmMountInitEvent, MccGenericFsmMountInitState<ERROR_STATE_T>>>;
};
template <fsm::traits::fsm_state_c ERROR_STATE_T>
// template <fsm::traits::fsm_state_c ERROR_STATE_T>
template <typename ERROR_STATE_T>
struct MccGenericFsmMountIdleState
: MccGenericFsmMountBaseState // IDLE state: mount is stopped, wait for client commands
{
@@ -285,8 +289,11 @@ protected:
}
};
template <fsm::traits::fsm_state_c ERROR_STATE_T>
// template <fsm::traits::fsm_state_c ERROR_STATE_T>
template <typename ERROR_STATE_T>
struct MccGenericFsmMountInitState : MccGenericFsmMountBaseState {
// static_assert(fsm::traits::fsm_state_c<ERROR_STATE_T>);
static constexpr std::string_view ID{"GENERIC-MOUNT-INIT-STATE"};
using transition_t = fsm::fsm_transition_table_t<
@@ -512,6 +519,9 @@ protected:
void exit(fsm::traits::fsm_event_c auto& event)
{
// just reset error
event.mount()->_lastError = MccGenericFsmMountErrorCode::ERROR_OK;
exitLog(event);
if constexpr (mcc_generic_log_mount_c<MOUNT_T>) {
@@ -524,6 +534,8 @@ protected:
void enter(fsm::traits::fsm_event_c auto& event)
{
event.mount()->_lastError = event.eventData();
enterLog(event);
if constexpr (mcc_generic_log_mount_c<MOUNT_T>) {
@@ -546,15 +558,21 @@ public:
// reimplementation of base-class methods to adapt it to FSM-behavior
auto initMount()
error_t initMount()
{
try {
this->dispatchEvent(MccGenericFsmMountInitEvent{this});
} catch (std::system_error const& exc) {
return exc.code();
if (exc.code().category() == fsm::MccFiniteStateMachineCategory::get()) {
_lastError = MccGenericFsmMountErrorCode::ERROR_INVALID_OPERATION;
} else {
// return exc.code();
_lastError = exc.code();
}
}
return MccGenericFsmMountErrorCode::ERROR_OK;
// return MccGenericFsmMountErrorCode::ERROR_OK;
return _lastError;
}
auto stopMount()
@@ -562,10 +580,16 @@ public:
try {
this->dispatchEvent(MccGenericFsmMountStopEvent{this});
} catch (std::system_error const& exc) {
return exc.code();
if (exc.code().category() == fsm::MccFiniteStateMachineCategory::get()) {
_lastError = MccGenericFsmMountErrorCode::ERROR_INVALID_OPERATION;
} else {
// return exc.code();
_lastError = exc.code();
}
}
return MccGenericFsmMountErrorCode::ERROR_OK;
// return MccGenericFsmMountErrorCode::ERROR_OK;
return _lastError;
}
auto slewToTarget()
@@ -573,10 +597,16 @@ public:
try {
this->dispatchEvent(MccGenericFsmMountSlewEvent{this});
} catch (std::system_error const& exc) {
return exc.code();
if (exc.code().category() == fsm::MccFiniteStateMachineCategory::get()) {
_lastError = MccGenericFsmMountErrorCode::ERROR_INVALID_OPERATION;
} else {
// return exc.code();
_lastError = exc.code();
}
}
return MccGenericFsmMountErrorCode::ERROR_OK;
// return MccGenericFsmMountErrorCode::ERROR_OK;
return _lastError;
}
auto stopSlewing()
@@ -584,10 +614,16 @@ public:
try {
this->dispatchEvent(MccGenericFsmMountStopEvent{this});
} catch (std::system_error const& exc) {
return exc.code();
if (exc.code().category() == fsm::MccFiniteStateMachineCategory::get()) {
_lastError = MccGenericFsmMountErrorCode::ERROR_INVALID_OPERATION;
} else {
// return exc.code();
_lastError = exc.code();
}
}
return MccGenericFsmMountErrorCode::ERROR_OK;
// return MccGenericFsmMountErrorCode::ERROR_OK;
return _lastError;
}
auto trackTarget()
@@ -595,10 +631,16 @@ public:
try {
this->dispatchEvent(MccGenericFsmMountTrackEvent{this});
} catch (std::system_error const& exc) {
return exc.code();
if (exc.code().category() == fsm::MccFiniteStateMachineCategory::get()) {
_lastError = MccGenericFsmMountErrorCode::ERROR_INVALID_OPERATION;
} else {
// return exc.code();
_lastError = exc.code();
}
}
return MccGenericFsmMountErrorCode::ERROR_OK;
// return MccGenericFsmMountErrorCode::ERROR_OK;
return _lastError;
}
@@ -607,47 +649,16 @@ public:
try {
this->dispatchEvent(MccGenericFsmMountStopEvent{this});
} catch (std::system_error const& exc) {
return exc.code();
if (exc.code().category() == fsm::MccFiniteStateMachineCategory::get()) {
_lastError = MccGenericFsmMountErrorCode::ERROR_INVALID_OPERATION;
} else {
// return exc.code();
_lastError = exc.code();
}
}
return MccGenericFsmMountErrorCode::ERROR_OK;
}
protected:
// wrappers
auto _initMount()
{
return MOUNT_T::initMount();
}
auto _stopMount()
{
return MOUNT_T::stopMount();
}
auto _slewToTarget()
{
return MOUNT_T::slewToTarget();
}
auto _trackTarget()
{
return MOUNT_T::trackTarget();
}
auto _startGuidingTarget()
{
return MOUNT_T::startGuidingTarget();
}
auto _stopGuidingTarget()
{
return MOUNT_T::stopGuidingTarget();
// return MccGenericFsmMountErrorCode::ERROR_OK;
return _lastError;
}
};