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This commit is contained in:
Timur A. Fatkhullin 2025-07-24 15:56:59 +03:00
parent 8f36f89d7a
commit 7e1709727a
5 changed files with 106 additions and 41 deletions
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7
cxx/asibfm700_hardware.cpp
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@ -110,16 +110,17 @@ AsibFM700Hardware::error_t AsibFM700Hardware::getState(AsibFM700Hardware::hw_sta
AsibFM700Hardware::error_t AsibFM700Hardware::setPos(AsibFM700Hardware::axes_pos_t pos)
{
// according to"SiTech protocol notes" X is DEC-axis and Y is HA-axis
double X = pos.y, Y = pos.x;
error_t err = static_cast<AsibFM700HardwareErrorCode>(Mount.moveTo(&X, &Y));
error_t err;
// according to"SiTech protocol notes" X is DEC-axis and Y is HA-axis
coordpair_t hw_pos{.X = pos.y, .Y = pos.x};
switch (pos.state) {
case hw_state_t::HW_STATE_SLEW: // slew mount
err = static_cast<AsibFM700HardwareErrorCode>(Mount.slewTo(&hw_pos, pos.flags));
break;
case hw_state_t::HW_STATE_TRACK: // interpretate as guiding correction
err = static_cast<AsibFM700HardwareErrorCode>(Mount.correctBy(&hw_pos));
break;
case hw_state_t::HW_STATE_STOP:
break;

21
cxx/mcc_guiding_model.h
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@ -7,6 +7,7 @@
#include "mcc_mount_concepts.h"
#include "mcc_slew_guiding_model_common.h"
namespace mcc
@ -192,7 +193,7 @@ public:
}
protected:
std::function<error_t()> _guidingFunc{};
std::function<error_t(guiding_point_t)> _guidingFunc{};
std::atomic_bool _doCorrection{true};
@ -447,11 +448,11 @@ protected:
// compare t_data with computed coordinates ...
if (_doCorrection) {
if constexpr (mccIsEquatorialMount(pec_t::mountType)) {
xr = t_data.mntHA - ha;
yr = t_data.mntDEC - dec_app;
xr = ha - t_data.mntHA;
yr = dec_app - t_data.mntDEC;
} else if constexpr (mccIsAltAzMount(pec_t::mountType)) {
xr = t_data.mntAZ - az;
yr = t_data.mntALT - alt;
xr = az - t_data.mntAZ;
yr = alt - t_data.mntALT;
} else {
static_assert(false, "UNSUPPORTED MOUNT TYPE!");
}
@ -470,9 +471,13 @@ protected:
}
// do correction
ax_pos.state = hardware_t::hw_state_t::HW_STATE_TRACK;
ax_pos.x = t_data.mntPosX;
ax_pos.y = t_data.mntPosY;
ax_pos.state = hardware_t::hw_state_t::HW_STATE_TRACK; // indicates to hardware level
ax_pos.x = xr;
ax_pos.y = yr;
// ax_pos.x = t_data.mntPosX;
// ax_pos.y = t_data.mntPosY;
ax_pos.time_point = t_data.time_point;
// asynchronous operation!
auto err = hardware.setPos(std::move(ax_pos));

12
cxx/mcc_mount_concepts.h
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@ -73,13 +73,6 @@ struct MccNullLogger {
};
struct MccCelestialPoint {
typedef double coord_t;
MccCoordPairKind coordPairKind{MccCoordPairKind::COORDS_KIND_RADEC_ICRS};
coord_t x{0.0}, y{0.0};
};
} // namespace mcc
@ -257,8 +250,8 @@ concept mcc_mount_hardware_c = !std::copyable<T> && std::movable<T> && requires(
{ t_const.getState(std::declval<typename T::hw_state_t&>()) } -> std::same_as<typename T::error_t>;
{ t.stop() } -> std::same_as<typename T::error_t>;
{ t.init() } -> std::same_as<typename T::error_t>;
{ t.stop() } -> std::same_as<typename T::error_t>; // stop any moving
{ t.init() } -> std::same_as<typename T::error_t>; // initialize hardware
};
@ -545,6 +538,5 @@ namespace mcc
{
static_assert(traits::mcc_logger_c<MccNullLogger>, "MccNullLogger INVALID DECLARATION!");
static_assert(traits::mcc_celestial_point_c<MccCelestialPoint>, "MccCelestialPoint INVALID DECLARATION!");
} // namespace mcc

67
cxx/mcc_slew_guiding_model_common.h Normal file
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@ -0,0 +1,67 @@
#pragma once
/* MOUNT CONTROL COMPONENTS LIBRARY */
/* COMMON DECLARATION FOR SLEW AND GUIDING MODELS GENERIC IMPLEMENTATIONS */
#include "mcc_mount_concepts.h"
namespace mcc
{
/* DEFAULT CLASS TO REPRESENT CELESTIAL POINT */
struct MccCelestialPoint {
typedef double coord_t;
MccCoordPairKind coordPairKind{MccCoordPairKind::COORDS_KIND_RADEC_ICRS};
coord_t x{0.0}, y{0.0};
};
static_assert(traits::mcc_celestial_point_c<MccCelestialPoint>, "MccCelestialPoint INVALID DECLARATION!");
/* CHECK FOR CURRENT MOUNT POSITION IN PROHIBITED ZONES */
/*
* WARNING: if an error occured during telemetry data request
* result 'in zone' flags cannot be interpretated correctly!
*/
template <traits::mcc_mount_telemetry_c TelemetryT,
traits::mcc_prohibited_zone_c<typename TelemetryT::mount_telemetry_data_t>... ZTs>
auto mccCheckInZonePZTuple(TelemetryT& telemetry,
std::tuple<ZTs...>& tuple_zones,
std::array<bool, sizeof...(ZTs)>& in_zone)
{
const auto p_telemetry = &telemetry;
const auto p_tuple_zones = &tuple_zones;
const auto p_in_zone = &in_zone;
return [p_telemetry, p_tuple_zones, p_in_zone]<size_t... Is>(std::index_sequence<Is...>) {
typename TelemetryT::error_t t_err;
(
[&t_err]() {
if constexpr (Is) {
if (t_err) {
(*p_in_zone)[Is] = false;
return;
}
}
typename TelemetryT::mount_telemetry_data_t tdata;
t_err = p_telemetry->data(tdata);
if (!t_err) {
(*p_in_zone)[Is] = std::get<Is>(p_tuple_zones).inZone(tdata);
}
}(),
...);
}(std::make_index_sequence<sizeof...(ZTs)>{});
}
} // namespace mcc

40
cxx/mcc_slew_model.h
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@ -9,6 +9,7 @@
#include "mcc_mount_concepts.h"
#include "mcc_slew_guiding_model_common.h"
namespace mcc
{
@ -431,34 +432,33 @@ protected:
// typename telemetry_t::mount_telemetry_data_t::time_point_t prev_time_point{};
// typename telemetry_t::mount_telemetry_data_t::coord_t xrate, yrate, mount_rate2;
std::array<bool, Nzones> in_zone_flag;
auto start_poll_tm = std::chrono::steady_clock::now();
while (true) {
// check prohibited zones
res_err = check_zones(std::make_index_sequence<Nzones>{});
if (res_err) {
hardware.stop();
// res_err = check_zones(std::make_index_sequence<Nzones>{});
// if (res_err) {
// return res_err;
// }
return res_err;
}
t_err = mccCheckInZonePZTuple(*telemetry, p_mount_controls->prohibitedZones, in_zone_flag);
// it is assumed here that telemetry data is in actual state!
// t_err = telemetry.data(t_data);
// if (t_err) {
// hardware.stop();
// if constexpr (std::same_as<decltype(t_err), error_t>) {
// logError(
// std::format("An telemetry error occured: code = {} ({})", t_err.value(),
// t_err.message()));
// return t_err;
// } else {
// if constexpr (traits::mcc_formattable<decltype(t_err)>) {
// logError(std::format("An telemetry error occured: code = {}", t_err));
// }
// return MccSimpleSlewModelErrorCode::ERROR_TELEMETRY_DATA;
// }
// }
if (t_err) {
if constexpr (std::same_as<decltype(t_err), error_t>) {
logError(
std::format("An telemetry error occured: code = {} ({})", t_err.value(), t_err.message()));
return t_err;
} else {
if constexpr (traits::mcc_formattable<decltype(t_err)>) {
logError(std::format("An telemetry error occured: code = {}", t_err));
}
return MccSimpleSlewModelErrorCode::ERROR_TELEMETRY_DATA;
}
}
err = hardware->getPos(ax_pos);