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This commit is contained in:
Timur A. Fatkhullin
284
cxx/mcc_mount_telemetry.h.old
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284
cxx/mcc_mount_telemetry.h.old
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#pragma once
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/* MOUNT CONTROL COMPONENTS LIBRARY */
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/* MOUNT TELEMETRY OBJECT POSSIBLE GENERIC IMPLEMENTATION */
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#include <mutex>
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#include "mcc_mount_concepts.h"
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namespace mcc
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{
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namespace traits
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{
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/* enhanced telemetry data concept */
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/* in general it correspond to definitions used in astrometry engine (see its concept) */
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template <typename T, typename ASTROM_ENGINE_T, typename PEC_T>
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concept mcc_mount_telemetry_enh_data_c = mcc_mount_telemetry_data_c<T> && requires(T t) {
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requires traits::mcc_astrom_engine_c<ASTROM_ENGINE_T>;
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requires traits::mcc_mount_pec_c<PEC_T>;
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// check for types definitions and its consistency
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requires std::same_as<typename T::coord_t, typename ASTROM_ENGINE_T::coord_t>;
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requires std::same_as<typename T::time_point_t, typename ASTROM_ENGINE_T::time_point_t>;
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requires std::same_as<typename T::juldate_t,
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typename ASTROM_ENGINE_T::juldate_t>; // a type to represent Julian date
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requires std::same_as<typename T::sideral_time_t,
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typename ASTROM_ENGINE_T::sideral_time_t>; // a type to represent sideral time
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requires std::same_as<typename T::pa_t,
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typename ASTROM_ENGINE_T::pa_t>; // a type to represent parallactic angle
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// typename T::eo_t; // a type to represent equation of origins
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requires std::same_as<decltype(t.jd), typename T::juldate_t>; // Julian date
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requires std::same_as<decltype(t.siderTime), typename T::sideral_time_t>; // sideral time
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requires std::same_as<decltype(t.mntRA), typename T::pa_t>; // parallactic angle
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// encoder-measured (non-corrected for PCS) current mount position and moving speed (in radians, radians/s)
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// X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ALT for horizontal-type one
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requires std::same_as<decltype(t.mntPosX), typename T::coord_t>;
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requires std::same_as<decltype(t.mntPosY), typename T::coord_t>;
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requires std::same_as<decltype(t.mntRateX), typename T::coord_t>;
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requires std::same_as<decltype(t.mntRateY), typename T::coord_t>;
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// current refraction coefficients
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requires std::same_as<decltype(t.currRefrCoeffs), typename PEC_T::pec_result_t>;
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// current refraction correction (for mntALT)
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requires std::same_as<decltype(t.currRefr), typename T::coord_t>;
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// PEC (pointing error correction):
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// X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ALT for horizontal-type one
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requires std::same_as<decltype(t.pecX), typename T::coord_t>;
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requires std::same_as<decltype(t.pecY), typename T::coord_t>;
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};
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} // namespace traits
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// default generic telemetry data definition
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template <traits::mcc_astrom_engine_c ASTROM_ENGINE_T, traits::mcc_mount_pec_c PEC_T>
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struct MccMountTelemetryData {
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typedef typename ASTROM_ENGINE_T::coord_t coord_t;
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typedef typename ASTROM_ENGINE_T::time_point_t time_point_t;
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typedef typename ASTROM_ENGINE_T::juldate_t juldate_t;
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typedef typename ASTROM_ENGINE_T::sideral_time_t sideral_time_t;
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typedef typename ASTROM_ENGINE_T::pa_t pa_t;
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// time-related
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time_point_t time_point; // time point of measurements, UTC
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juldate_t jd; // Julian date
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sideral_time_t siderTime; // local apperant sideral time
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// encoder-measured current mount coordinates
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coord_t mntRA, mntDEC;
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coord_t mntHA;
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coord_t mntAZ, mntALT;
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pa_t mntPA;
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// encoder-measured (non-corrected for PCS) current mount position and axes rates
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// X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ALT for horizontal-type one
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coord_t mntPosX, mntPosY;
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coord_t mntRateX, mntRateY;
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// current refraction coefficients
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typename PEC_T::pec_result_t currRefrCoeffs;
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// current refraction correction (for mntALT)
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coord_t currRefr;
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// PEC (pointing error correction):
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// X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ALT for horizontal-type one
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coord_t pecX, pecY;
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};
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template <traits::mcc_astrom_engine_c ASTROM_ENGINE_T,
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traits::mcc_mount_pec_c PEC_T,
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traits::mcc_mount_hardware_c HARDWARE_T,
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traits::mcc_mount_telemetry_enh_data_c<ASTROM_ENGINE_T, PEC_T> DATA_T =
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MccMountTelemetryData<ASTROM_ENGINE_T, PEC_T>>
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class MccMountTelemetry
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{
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public:
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typedef ASTROM_ENGINE_T astrom_engine_t;
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typedef PEC_T pec_t;
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typedef HARDWARE_T hardware_t;
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enum error_t : int { TEL_ERROR_OK = 0, TEL_ERROR_HARDWARE, TEL_ERROR_ASTROMETRY_COMP, TEL_ERROR_PEC };
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// check for coordinate types consistency
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static_assert(std::convertible_to<typename hardware_t::coord_t, typename astrom_engine_t::coord_t>,
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"HARDWARE COORDINATE TYPE MUST BE CONVERTIBLE TO ASTROMETRY ENGINE ONE!");
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static_assert(std::convertible_to<typename hardware_t::coord_t, typename pec_t::coord_t>,
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"HARDWARE COORDINATE TYPE MUST BE CONVERTIBLE TO PEC ONE!");
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// static_assert(std::convertible_to<typename pec_t::coord_t, typename astrom_engine_t::coord_t>,
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// "ASTROMETRY ENGINE COORDINATE TYPE MUST BE CONVERTIBLE TO PEC ONE!");
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// mandatory arithmetic operations
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static_assert( // for CIO-based apparent RA computation and PEC correction addition (see below)
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requires(typename astrom_engine_t::coord_t v1,
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typename astrom_engine_t::coord_t v2,
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typename pec_t::coord_t v3) {
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{ v1 + v2 } -> std::convertible_to<typename astrom_engine_t::coord_t>;
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{ v1 - v2 } -> std::convertible_to<typename astrom_engine_t::coord_t>;
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v1 += v3;
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},
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"ASTROMETRY ENGINE COORDINATE TYPE MUST DEFINE '+', '+=' AND '-' ARITHMETIC OPERATIONS!");
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// check for time point types consistency
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static_assert(std::convertible_to<typename hardware_t::time_point_t, typename astrom_engine_t::time_point_t>,
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"HARDWARE TIME-POINT TYPE MUST BE CONVERTIBLE TO ASTROMETRY ENGINE ONE!");
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typedef DATA_T mount_telemetry_data_t;
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MccMountTelemetry(astrom_engine_t& astrom_engine, pec_t& pec, hardware_t& hardware)
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: _astromEngine(astrom_engine), _pec(pec), _hardware(hardware)
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{
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}
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virtual ~MccMountTelemetry() = default;
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// update current data method
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error_t update()
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{
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mount_telemetry_data_t current_data;
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typename hardware_t::axes_pos_t ax_pos;
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auto err = _hardware.getPos(ax_pos);
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if (err) {
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// logging?!!!
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return TEL_ERROR_HARDWARE;
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}
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_data.utc = ax_pos.time_point;
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_data.mntPosX = static_cast<typename astrom_engine_t::coord_t>(ax_pos.x);
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_data.mntPosY = static_cast<typename astrom_engine_t::coord_t>(ax_pos.y);
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_data.mntRateX = static_cast<typename astrom_engine_t::coord_t>(ax_pos.xrate);
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_data.mntRateY = static_cast<typename astrom_engine_t::coord_t>(ax_pos.yrate);
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// compute Julian date
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auto ast_err = _astromEngine.greg2jul(_data.time_point, _data.jd);
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if (ast_err) {
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return TEL_ERROR_ASTROMETRY_COMP;
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}
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// compute local apparent sideral time
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ast_err = _astromEngine.apparentSiderTime(_data.jd, _data.siderTime, true);
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if (ast_err) {
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return TEL_ERROR_ASTROMETRY_COMP;
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}
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// compute equation of origins
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typename astrom_engine_t::eo_t eo;
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ast_err = _astromEngine.eqOrigins(_data.jd, eo);
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if (ast_err) {
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return TEL_ERROR_ASTROMETRY_COMP;
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}
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typename pec_t::pec_result_t pec_res;
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auto pec_err = _pec.compute(ax_pos.x, ax_pos.y, pec_res);
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if (pec_err) {
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return TEL_ERROR_PEC;
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}
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if constexpr (mccIsEquatorialMount(pec_t::mountType)) {
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_data.mntHA = _data.mntPosX;
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_data.mntDEC = _data.mntPosY;
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_data.mntHA += pec_res.dx;
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_data.mntDEC += pec_res.dy;
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ast_err = _astromEngine.hadec2azalt(_data.mntHA, _data.mntDEC, _data.mntAZ, _data.mntALT);
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if (ast_err) {
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return TEL_ERROR_ASTROMETRY_COMP;
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}
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} else if constexpr (mccIsAltAzMount(pec_t::mountType)) {
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_data.mntAZ = _data.mntPosX;
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_data.mntALT = _data.mntPosY;
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_data.mntAZ += pec_res.dx;
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_data.mntALT += pec_res.dy;
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ast_err = _astromEngine.azalt2hadec(_data.mntAZ, _data.mntALT, _data.mntHA, _data.mntDEC);
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if (ast_err) {
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return TEL_ERROR_ASTROMETRY_COMP;
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}
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} else {
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static_assert(false, "UNSUPPORTED MOUNT TYPE!");
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}
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// compute CIO-based apparent RA
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_data.mntRA = _data.siderTime - _data.mntHA + eo;
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// compute PA
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ast_err = _astromEngine.hadec2pa(_data.mntHA, _data.mntDEC, _data.mntPA);
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if (ast_err) {
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return TEL_ERROR_ASTROMETRY_COMP;
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}
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ast_err = _astromEngine.refraction(_data.currRefrCoeffs);
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if (ast_err) {
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return TEL_ERROR_ASTROMETRY_COMP;
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}
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ast_err = _astromEngine.refractCorrection(_data.mntALT, _data.currRefrCoeffs, _data.currRefr);
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if (ast_err) {
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return TEL_ERROR_ASTROMETRY_COMP;
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}
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std::lock_guard lock{_updateMutex};
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_data = std::move(current_data);
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return TEL_ERROR_OK;
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}
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error_t data(mount_telemetry_data_t& data)
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{
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std::lock_guard lock{_updateMutex};
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data = std::move(_data);
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return TEL_ERROR_OK;
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}
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std::string_view errorString(error_t err) const
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{
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if (err == TEL_ERROR_OK) {
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return "OK";
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} else if (err == TEL_ERROR_ASTROMETRY_COMP) {
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return "astrometry computation error";
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} else if (err == TEL_ERROR_PEC) {
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return "PEC computation error";
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} else if (err == TEL_ERROR_HARDWARE) {
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return "hardware request error";
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} else {
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return "unknown error";
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}
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}
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protected:
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mount_telemetry_data_t _data{};
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astrom_engine_t& _astromEngine;
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pec_t& _pec;
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hardware_t& _hardware;
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std::mutex _updateMutex;
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};
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} // namespace mcc
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