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This commit is contained in:
Timur A. Fatkhullin 2025-08-26 13:38:33 +03:00
parent 8b1873b40b
commit 7556539084
2 changed files with 121 additions and 36 deletions
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57
mcc/mcc_generic_mount.h Normal file
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@ -0,0 +1,57 @@
#pragma once
/* MOUNT CONTROL COMPONENTS LIBRARY */
/* GENERIC MOUNT REFERENCE IMPLEMENTATION */
#include "mcc_generics.h"
namespace mcc
{
template <mcc_telemetry_c TelemetryT, mcc_pzone_container_c PZoneContT, mcc_logger_c LoggerT>
class MccGenericMount : public TelemetryT, public PZoneContT, public LoggerT
{
public:
MccGenericMount(TelemetryT telemetry, PZoneContT pzone_cont, LoggerT logger)
: TelemetryT(std::move(telemetry)), PZoneContT(std::move(pzone_cont)), LoggerT(std::move(logger))
{
}
virtual ~MccGenericMount() = default;
template <std::derived_from<MccGenericMount> SelfT>
auto slewToTarget(this SelfT&& self)
{
return std::forward<SelfT>(self).slewToTarget();
}
template <std::derived_from<MccGenericMount> SelfT>
auto trackTarget(this SelfT&& self)
{
return std::forward<SelfT>(self).trackTarget();
}
template <std::derived_from<MccGenericMount> SelfT>
auto startGuidingTarget(this SelfT&& self)
{
return std::forward<SelfT>(self).startGuidingTarget();
}
template <std::derived_from<MccGenericMount> SelfT>
auto stopGuidingTarget(this SelfT&& self)
{
return std::forward<SelfT>(self).stopGuidingTarget();
}
template <std::derived_from<MccGenericMount> SelfT>
auto stopMount(this SelfT&& self)
{
return std::forward<SelfT>(self).stopMount();
}
};
} // namespace mcc

100
mcc/mcc_generics.h
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@ -698,6 +698,9 @@ concept mcc_slewing_model_c = requires(T t, const T t_const) {
{ t.slewToTarget() } -> std::same_as<typename T::error_t>;
{ t.stopSlewing() } -> std::same_as<typename T::error_t>;
{ t.setSlewingParams(std::declval<typename T::slewing_params_t>()) } -> std::same_as<typename T::error_t>;
{ t.getSlewingParams() } -> std::same_as<typename T::slewing_params_t>;
};
@ -715,6 +718,9 @@ concept mcc_tracking_model_c = requires(T t, const T t_const) {
{ t.trackTarget() } -> std::same_as<typename T::error_t>;
{ t.stopTracking() } -> std::same_as<typename T::error_t>;
{ t.setTrackingParams(std::declval<typename T::tracking_params_t>()) } -> std::same_as<typename T::error_t>;
{ t.getTrackingParams() } -> std::same_as<typename T::tracking_params_t>;
};
template <typename T>
@ -731,6 +737,9 @@ concept mcc_guiding_model_c = requires(T t, const T t_const) {
{ t.startGuidingTarget() } -> std::same_as<typename T::error_t>;
{ t.stopGuidingTarget() } -> std::same_as<typename T::error_t>;
{ t.setGuidingParams(std::declval<typename T::guiding_params_t>()) } -> std::same_as<typename T::error_t>;
{ t.getGuidingParams() } -> std::same_as<typename T::guiding_params_t>;
};
@ -738,51 +747,70 @@ concept mcc_guiding_model_c = requires(T t, const T t_const) {
template <mcc_error_c RetT, typename StopReasonT>
struct mcc_generic_mount_interface_t {
virtual ~mcc_generic_mount_interface_t() = default;
// template <mcc_error_c RetT, typename StopReasonT>
// struct mcc_generic_mount_interface_t {
// virtual ~mcc_generic_mount_interface_t() = default;
// slew mount to target (target coordinates were defined in telemetry data)
template <std::derived_from<mcc_generic_mount_interface_t> SelfT>
RetT slewToTarget(this SelfT&& self, mcc_slewing_model_c auto model)
{
return std::forward<SelfT>(self).slewToTarget(std::move(model));
}
// // slew mount to target (target coordinates were defined in telemetry data)
// template <std::derived_from<mcc_generic_mount_interface_t> SelfT>
// RetT slewToTarget(this SelfT&& self, mcc_slewing_model_c auto model)
// {
// return std::forward<SelfT>(self).slewToTarget(std::move(model));
// }
// track target, i.e., the mount moves with celestial speed
template <std::derived_from<mcc_generic_mount_interface_t> SelfT>
RetT trackTarget(this SelfT&& self, mcc_tracking_model_c auto model)
{
return std::forward<SelfT>(self).trackTarget(std::move(model));
}
// // track target, i.e., the mount moves with celestial speed
// template <std::derived_from<mcc_generic_mount_interface_t> SelfT>
// RetT trackTarget(this SelfT&& self, mcc_tracking_model_c auto model)
// {
// return std::forward<SelfT>(self).trackTarget(std::move(model));
// }
template <std::derived_from<mcc_generic_mount_interface_t> SelfT>
RetT startGuidingTarget(this SelfT&& self, mcc_guiding_model_c auto model)
{
return std::forward<SelfT>(self).startGuidingTarget(std::move(model));
}
// template <std::derived_from<mcc_generic_mount_interface_t> SelfT>
// RetT startGuidingTarget(this SelfT&& self, mcc_guiding_model_c auto model)
// {
// return std::forward<SelfT>(self).startGuidingTarget(std::move(model));
// }
template <std::derived_from<mcc_generic_mount_interface_t> SelfT>
RetT stopGuidingTarget(this SelfT&& self)
{
return std::forward<SelfT>(self).stopGuidingTarget();
}
// template <std::derived_from<mcc_generic_mount_interface_t> SelfT>
// RetT stopGuidingTarget(this SelfT&& self)
// {
// return std::forward<SelfT>(self).stopGuidingTarget();
// }
template <std::derived_from<mcc_generic_mount_interface_t> SelfT>
RetT stopMount(this SelfT&& self, StopReasonT reason)
{
return std::forward<SelfT>(self).stopMount(std::move(reason));
}
// template <std::derived_from<mcc_generic_mount_interface_t> SelfT>
// RetT stopMount(this SelfT&& self, StopReasonT reason)
// {
// return std::forward<SelfT>(self).stopMount(std::move(reason));
// }
protected:
mcc_generic_mount_interface_t() = default;
};
// protected:
// mcc_generic_mount_interface_t() = default;
// };
// template<typename T>
// concept mcc_generic_mount_c
// = std::derived_from<T, mcc_generic_mount_interface_t<typename T::error_t, typename T::stop_reason_t>>
// && mcc_telemetry_c<T> && mcc_pzone_container_c<T>;
template <typename T>
concept mcc_generic_mount_c =
std::derived_from<T, mcc_generic_mount_interface_t<typename T::error_t, typename T::stop_reason_t>> &&
mcc_telemetry_c<T> && mcc_pzone_container_c<T>;
concept mcc_generic_mount_c = mcc_telemetry_c<T> && mcc_pzone_container_c<T> && requires(T t) {
requires mcc_error_c<typename T::error_t>;
typename T::stop_reason_t;
// slew mount to target (target coordinates were defined in telemetry data)
{ t.slewToTarget() } -> std::same_as<typename T::error_t>;
// track target, i.e., the mount moves with celestial speed
{ t.trackTarget() } -> std::same_as<typename T::error_t>;
{ t.startGuidingTarget() } -> std::same_as<typename T::error_t>;
{ t.stopGuidingTarget() } -> std::same_as<typename T::error_t>;
// stop any movement
{ t.stopMount(std::declval<typename T::stop_reason_t>()) } -> std::same_as<typename T::error_t>;
};
// with logging methods