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This commit is contained in:
Timur A. Fatkhullin
2025-07-25 01:31:03 +03:00
parent 1033506c11
commit 7c8bf5bb0b
5 changed files with 1247 additions and 413 deletions
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384
cxx/mcc_mount_telemetry.h
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@@ -5,66 +5,74 @@
/* MOUNT TELEMETRY OBJECT POSSIBLE GENERIC IMPLEMENTATION */
#include <list>
#include <mutex>
#include "mcc_mount_concepts.h"
#include "mcc_mount_telemetry_astrom.h"
namespace mcc
{
enum class MccMountTelemetryErrorCode : int { ERROR_OK, ERROR_HARDWARE };
/* error category definition */
// error category
struct MccMountTelemetryCategory : public std::error_category {
MccMountTelemetryCategory() : std::error_category() {}
const char* name() const noexcept
{
return "ADC_GENERIC_DEVICE";
}
std::string message(int ec) const
{
MccMountTelemetryErrorCode err = static_cast<MccMountTelemetryErrorCode>(ec);
switch (err) {
case MccMountTelemetryErrorCode::ERROR_OK:
return "OK";
case MccMountTelemetryErrorCode::ERROR_HARDWARE:
return "hardware request failed";
default:
return "UNKNOWN";
}
}
static const MccMountTelemetryAstromTransformCategory& get()
{
static const MccMountTelemetryAstromTransformCategory constInst;
return constInst;
}
};
inline std::error_code make_error_code(MccMountTelemetryErrorCode ec)
{
return std::error_code(static_cast<int>(ec), MccMountTelemetryCategory::get());
}
} // namespace mcc
namespace std
{
template <>
class is_error_code_enum<mcc::MccMountTelemetryErrorCode> : public true_type
{
};
} // namespace std
namespace mcc
{
namespace traits
{
/* DEFAULT TELEMETRY DATA CLASS */
/* enhanced telemetry data concept */
/* in general it correspond to definitions used in astrometry engine (see its concept) */
template <typename T, typename ASTROM_ENGINE_T, typename PEC_T>
concept mcc_mount_telemetry_enh_data_c = mcc_mount_telemetry_data_c<T> && requires(T t) {
requires traits::mcc_astrom_engine_c<ASTROM_ENGINE_T>;
requires traits::mcc_mount_pec_c<PEC_T>;
// check for types definitions and its consistency
requires std::same_as<typename T::coord_t, typename ASTROM_ENGINE_T::coord_t>;
requires std::same_as<typename T::time_point_t, typename ASTROM_ENGINE_T::time_point_t>;
requires std::same_as<typename T::juldate_t,
typename ASTROM_ENGINE_T::juldate_t>; // a type to represent Julian date
requires std::same_as<typename T::sideral_time_t,
typename ASTROM_ENGINE_T::sideral_time_t>; // a type to represent sideral time
requires std::same_as<typename T::pa_t,
typename ASTROM_ENGINE_T::pa_t>; // a type to represent parallactic angle
// typename T::eo_t; // a type to represent equation of origins
requires std::same_as<decltype(t.jd), typename T::juldate_t>; // Julian date
requires std::same_as<decltype(t.siderTime), typename T::sideral_time_t>; // sideral time
requires std::same_as<decltype(t.mntRA), typename T::pa_t>; // parallactic angle
// 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
requires std::same_as<decltype(t.mntPosX), typename T::coord_t>;
requires std::same_as<decltype(t.mntPosY), typename T::coord_t>;
requires std::same_as<decltype(t.mntRateX), typename T::coord_t>;
requires std::same_as<decltype(t.mntRateY), typename T::coord_t>;
// current refraction coefficients
requires std::same_as<decltype(t.currRefrCoeffs), typename PEC_T::pec_result_t>;
// current refraction correction (for mntALT)
requires std::same_as<decltype(t.currRefr), typename T::coord_t>;
// PEC (pointing error correction):
// X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ALT for horizontal-type one
requires std::same_as<decltype(t.pecX), typename T::coord_t>;
requires std::same_as<decltype(t.pecY), typename T::coord_t>;
};
} // namespace traits
// default generic telemetry data definition
template <traits::mcc_astrom_engine_c ASTROM_ENGINE_T, traits::mcc_mount_pec_c PEC_T>
struct MccMountTelemetryData {
typedef typename ASTROM_ENGINE_T::coord_t coord_t;
@@ -78,6 +86,13 @@ struct MccMountTelemetryData {
juldate_t jd; // Julian date
sideral_time_t siderTime; // local apperant sideral time
// target sky point ICRS and current coordinates
coord_t tagRA_ICRS, tagDEC_ICRS;
coord_t tagRA, tagDEC;
coord_t tagHA;
coord_t tagAZ, tagALT;
pa_t tagPA;
// encoder-measured current mount coordinates
coord_t mntRA, mntDEC;
coord_t mntHA;
@@ -100,57 +115,58 @@ struct MccMountTelemetryData {
coord_t pecX, pecY;
};
/* DEFAULT TELEMETRY MANAGER CLASS */
template <traits::mcc_astrom_engine_c ASTROM_ENGINE_T,
traits::mcc_mount_pec_c PEC_T,
traits::mcc_mount_hardware_c HARDWARE_T,
traits::mcc_mount_telemetry_enh_data_c<ASTROM_ENGINE_T, PEC_T> DATA_T =
std::derived_from<MccMountTelemetryData<ASTROM_ENGINE_T, PEC_T>> DATA_T =
MccMountTelemetryData<ASTROM_ENGINE_T, PEC_T>>
class MccMountTelemetry
class MccMountTelemetry : public MccMountTelemetryAstromTransform<ASTROM_ENGINE_T, PEC_T>
{
typedef MccMountTelemetryAstromTransform<ASTROM_ENGINE_T, PEC_T> base_t;
struct point_t {
MccCoordPairKind coordPairKind;
typename ASTROM_ENGINE_T::coord_t x, y;
};
public:
typedef ASTROM_ENGINE_T astrom_engine_t;
typedef PEC_T pec_t;
typedef HARDWARE_T hardware_t;
enum error_t : int { TEL_ERROR_OK = 0, TEL_ERROR_HARDWARE, TEL_ERROR_ASTROMETRY_COMP, TEL_ERROR_PEC };
// check for coordinate types consistency
static_assert(std::convertible_to<typename hardware_t::coord_t, typename astrom_engine_t::coord_t>,
"HARDWARE COORDINATE TYPE MUST BE CONVERTIBLE TO ASTROMETRY ENGINE ONE!");
static_assert(std::convertible_to<typename hardware_t::coord_t, typename pec_t::coord_t>,
"HARDWARE COORDINATE TYPE MUST BE CONVERTIBLE TO PEC ONE!");
// static_assert(std::convertible_to<typename pec_t::coord_t, typename astrom_engine_t::coord_t>,
// "ASTROMETRY ENGINE COORDINATE TYPE MUST BE CONVERTIBLE TO PEC ONE!");
// mandatory arithmetic operations
static_assert( // for CIO-based apparent RA computation and PEC correction addition (see below)
requires(typename astrom_engine_t::coord_t v1,
typename astrom_engine_t::coord_t v2,
typename pec_t::coord_t v3) {
{ v1 + v2 } -> std::convertible_to<typename astrom_engine_t::coord_t>;
{ v1 - v2 } -> std::convertible_to<typename astrom_engine_t::coord_t>;
v1 += v3;
},
"ASTROMETRY ENGINE COORDINATE TYPE MUST DEFINE '+', '+=' AND '-' ARITHMETIC OPERATIONS!");
// check for time point types consistency
static_assert(std::convertible_to<typename hardware_t::time_point_t, typename astrom_engine_t::time_point_t>,
"HARDWARE TIME-POINT TYPE MUST BE CONVERTIBLE TO ASTROMETRY ENGINE ONE!");
typedef DATA_T mount_telemetry_data_t;
typedef std::error_code error_t;
typedef std::function<void(mount_telemetry_data_t)> update_callback_func_t;
typedef std::list<update_callback_func_t> update_callback_container_t;
MccMountTelemetry(astrom_engine_t& astrom_engine, pec_t& pec, hardware_t& hardware)
: _astromEngine(astrom_engine), _pec(pec), _hardware(hardware)
: base_t(astrom_engine, pec), _hardware(hardware)
{
}
virtual ~MccMountTelemetry() = default;
// update current data method
// set current target sky point coordinates (update all data)
template <traits::mcc_celestial_point_c PointT>
error_t setTarget(PointT tag_point)
{
std::lock_guard lock{_updateMutex};
auto err = this->toICRS(tag_point, _data.utc, _data.tagRA_ICRS, _data.tagDEC_ICRS);
if (!err) {
err = update();
}
return err;
}
error_t update()
{
mount_telemetry_data_t current_data;
@@ -159,91 +175,133 @@ public:
auto err = _hardware.getPos(ax_pos);
if (err) {
// logging?!!!
return TEL_ERROR_HARDWARE;
}
_data.utc = ax_pos.time_point;
_data.mntPosX = static_cast<typename astrom_engine_t::coord_t>(ax_pos.x);
_data.mntPosY = static_cast<typename astrom_engine_t::coord_t>(ax_pos.y);
_data.mntRateX = static_cast<typename astrom_engine_t::coord_t>(ax_pos.xrate);
_data.mntRateY = static_cast<typename astrom_engine_t::coord_t>(ax_pos.yrate);
// compute Julian date
auto ast_err = _astromEngine.greg2jul(_data.time_point, _data.jd);
if (ast_err) {
return TEL_ERROR_ASTROMETRY_COMP;
}
// compute local apparent sideral time
ast_err = _astromEngine.apparentSiderTime(_data.jd, _data.siderTime, true);
if (ast_err) {
return TEL_ERROR_ASTROMETRY_COMP;
}
// compute equation of origins
typename astrom_engine_t::eo_t eo;
ast_err = _astromEngine.eqOrigins(_data.jd, eo);
if (ast_err) {
return TEL_ERROR_ASTROMETRY_COMP;
}
typename pec_t::pec_result_t pec_res;
auto pec_err = _pec.compute(ax_pos.x, ax_pos.y, pec_res);
if (pec_err) {
return TEL_ERROR_PEC;
}
if constexpr (mccIsEquatorialMount(pec_t::mountType)) {
_data.mntHA = _data.mntPosX;
_data.mntDEC = _data.mntPosY;
_data.mntHA += pec_res.dx;
_data.mntDEC += pec_res.dy;
ast_err = _astromEngine.hadec2azalt(_data.mntHA, _data.mntDEC, _data.mntAZ, _data.mntALT);
if (ast_err) {
return TEL_ERROR_ASTROMETRY_COMP;
if constexpr (std::same_as<error_t, decltype(err)>) {
return err;
}
} else if constexpr (mccIsAltAzMount(pec_t::mountType)) {
_data.mntAZ = _data.mntPosX;
_data.mntALT = _data.mntPosY;
_data.mntAZ += pec_res.dx;
_data.mntALT += pec_res.dy;
return MccMountTelemetryErrorCode::ERROR_HARDWARE;
}
ast_err = _astromEngine.azalt2hadec(_data.mntAZ, _data.mntALT, _data.mntHA, _data.mntDEC);
if (ast_err) {
return TEL_ERROR_ASTROMETRY_COMP;
error_t res_err;
typename astrom_engine_t::error_t ast_err{};
// times
current_data.utc = ax_pos.time_point;
// Julian date
ast_err = this->_astromEngine.greg2jul(current_data.time_point, current_data.jd);
if (!ast_err) {
// local apparent sideral time
ast_err = this->_astromEngine.apparentSiderTime(current_data.jd, current_data.siderTime, true);
}
if (ast_err) {
if constexpr (std::same_as<typename astrom_engine_t::error_t, error_t>) {
return ast_err;
}
return MccMountTelemetryAstromTransformErrorCode::ERROR_ASTROMETRY_COMP;
}
// encoder coordinates
current_data.mntPosX = static_cast<typename astrom_engine_t::coord_t>(ax_pos.x);
current_data.mntPosY = static_cast<typename astrom_engine_t::coord_t>(ax_pos.y);
current_data.mntRateX = static_cast<typename astrom_engine_t::coord_t>(ax_pos.xrate);
current_data.mntRateY = static_cast<typename astrom_engine_t::coord_t>(ax_pos.yrate);
// correction for PEC
if constexpr (base_t::equatorialMount) {
res_err = this->toApparent(point_t{.coordPairKind = MccCoordPairKind::COORDS_KIND_XY,
.x = current_data.mntPosX,
.y = current_data.mntPosY},
current_data.utc, current_data.mntHA, current_data.mntDEC);
if (!res_err) {
ast_err = this->_astromEngine.hadec2azalt(current_data.mntHA, current_data.mntDEC, current_data.mntAZ,
current_data.mntALT);
}
} else if constexpr (base_t::altAzMount) {
res_err = this->toApparent(point_t{.coordPairKind = MccCoordPairKind::COORDS_KIND_XY,
.x = current_data.mntPosX,
.y = current_data.mntPosY},
current_data.utc, current_data.mntAZ, current_data.mntALT);
if (!res_err) {
ast_err = this->_astromEngine.azalt2hadec(current_data.mntAZ, current_data.mntALT, current_data.mntHA,
current_data.mntDEC);
}
} else {
static_assert(false, "UNSUPPORTED MOUNT TYPE!");
}
// compute CIO-based apparent RA
_data.mntRA = _data.siderTime - _data.mntHA + eo;
// compute PA
ast_err = _astromEngine.hadec2pa(_data.mntHA, _data.mntDEC, _data.mntPA);
if (ast_err) {
return TEL_ERROR_ASTROMETRY_COMP;
if (res_err) {
return res_err;
}
ast_err = _astromEngine.refraction(_data.currRefrCoeffs);
if (ast_err) {
return TEL_ERROR_ASTROMETRY_COMP;
// PA angle
if (!ast_err) {
ast_err = this->_astromEngine.hadec2pa(current_data.mntHA, current_data.mntDEC, current_data.mntPA);
if (!ast_err) {
// target coordinates (assuming its ICRS RA-DEC are already given or computed)
typename mount_telemetry_data_t::eo_t eo;
ast_err = this->_astromEngine.icrs2obs(current_data.tagRA_ICRS, current_data.tagDEC_ICRS,
current_data.jd, current_data.tagRA, current_data.tagDEC,
current_data.tagHA, current_data.tagAZ, current_data.tagALT, eo);
if (!ast_err) {
current_data.mntRA = current_data.siderTime - current_data.mntHA + eo; // CIO based mount RA
ast_err = this->_astromEngine.hadec2pa(current_data.tagHA, current_data.tagDEC, current_data.tagPA);
}
}
}
ast_err = _astromEngine.refractCorrection(_data.mntALT, _data.currRefrCoeffs, _data.currRefr);
if (ast_err) {
return TEL_ERROR_ASTROMETRY_COMP;
if constexpr (std::same_as<typename astrom_engine_t::error_t, error_t>) {
return ast_err;
}
return MccMountTelemetryAstromTransformErrorCode::ERROR_ASTROMETRY_COMP;
}
std::lock_guard lock{_updateMutex};
_data = std::move(current_data);
return TEL_ERROR_OK;
std::lock_guard cl_lock{_callbackMutex};
// callbacks will be invoked with its own copy of telemetry data!
for (auto& func : _callbackFuncs) {
std::thread t([this, &func] {
auto d = _data;
func(std::move(d));
});
t.detach();
}
return MccMountTelemetryErrorCode::ERROR_OK;
}
update_callback_container_t::iterator addCallbackFunc(update_callback_func_t func)
{
std::lock_guard lock{_callbackMutex};
return _callbackFuncs.emplace_back(std::move(func));
}
void delCallbackFunc(update_callback_container_t::iterator iter)
{
std::lock_guard lock{_callbackMutex};
if (_callbackFuncs.size()) {
_callbackFuncs.erase(iter);
}
}
void clearCallbackFuncs()
{
std::lock_guard lock{_callbackMutex};
_callbackFuncs.clear();
}
error_t data(mount_telemetry_data_t& data)
@@ -252,32 +310,16 @@ public:
data = std::move(_data);
return TEL_ERROR_OK;
}
std::string_view errorString(error_t err) const
{
if (err == TEL_ERROR_OK) {
return "OK";
} else if (err == TEL_ERROR_ASTROMETRY_COMP) {
return "astrometry computation error";
} else if (err == TEL_ERROR_PEC) {
return "PEC computation error";
} else if (err == TEL_ERROR_HARDWARE) {
return "hardware request error";
} else {
return "unknown error";
}
return MccMountTelemetryErrorCode::ERROR_OK;
}
protected:
mount_telemetry_data_t _data{};
astrom_engine_t& _astromEngine;
pec_t& _pec;
hardware_t& _hardware;
update_callback_container_t _callbackFuncs{};
std::mutex _updateMutex;
std::mutex _callbackMutex;
};