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This commit is contained in:
Timur A. Fatkhullin
2025-10-22 23:52:14 +03:00
parent 42a4349c76
commit 80ec2382ea
5 changed files with 266 additions and 35 deletions
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192
mcc/mcc_netserver.h
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@@ -826,26 +826,125 @@ public:
: base_t(ctx, {}, std::forward<LoggerCtorArgsTs>(log_args)...)
{
base_t::_handleMessageFunc = [mount = std::move(mount), this](std::string_view command) {
using mount_error_t = decltype(mount)::error_t;
mount_error_t m_err;
MccNetMessage input_msg;
MccNetMessage<std::vector<char>> output_msg;
std::error_code err{};
if (auto ec = parseMessage(command, input_msg)) {
output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ERROR_STR, ec);
} else {
bool imsg_ok = true;
if (input_msg.withKey(MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR)) { // strange!
output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR);
output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, command);
} else if (input_msg.withKey(MCC_COMMPROTO_KEYWORD_SERVER_ERROR_STR)) { // ??!!!
output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, MCC_COMMPROTO_KEYWORD_SERVER_ERROR_STR);
output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, command);
} else if (input_msg.withKey(MCC_COMMPROTO_KEYWORD_RESTART_SERVER_STR)) {
this->restart();
output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR,
MCC_COMMPROTO_KEYWORD_RESTART_SERVER_STR);
output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, command);
} else if (input_msg.withKey(MCC_COMMPROTO_KEYWORD_INIT_STR)) {
m_err = mount.initMount();
} else if (input_msg.withKey(MCC_COMMPROTO_KEYWORD_STOP_STR)) {
m_err = mount.stopMount();
} else if (input_msg.withKey(MCC_COMMPROTO_KEYWORD_SLEW_STR)) {
m_err = mount.slewToTarget(false);
} else if (input_msg.withKey(MCC_COMMPROTO_KEYWORD_MOVE_STR)) {
m_err = mount.slewToTarget(true);
} else if (input_msg.withKey(MCC_COMMPROTO_KEYWORD_TRACK_STR)) {
m_err = mount.trackTarget();
} else if (input_msg.withKey(MCC_COMMPROTO_KEYWORD_COORDFMT_STR)) {
auto v = input_msg.paramValue<MccNetMessageCoordFormat>(0);
if (v) {
_coordFormat = v.value();
output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, command);
} else {
err = v.error();
}
} else if (input_msg.withKey(MCC_COMMPROTO_KEYWORD_COORDPREC_STR)) {
auto v = input_msg.paramValue<MccNetMessageCoordPrec>(0);
if (v) {
_coordPrec = v.value();
output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, command);
} else {
err = v.error();
}
} else if (input_msg.withKey(MCC_COMMPROTO_KEYWORD_TARGET_STR)) {
// by default return ICRS coordinates
MccCelestialPoint cp{.pair_kind = MccCoordPairKind::COORDS_KIND_RADEC_ICRS};
auto sz = input_msg.paramSize();
if (sz) { // set or get operation
auto vc = input_msg.paramValue<MccCelestialPoint>(0); // is it set operation?
if (vc) { // coordinates are given - set operation
auto m_err = mount.setPointingTarget(vc.value());
if (m_err) {
// !!!!!!!!!!!!!
err = m_err;
} else {
output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, command);
}
} else {
auto vp = input_msg.paramValue<MccCoordPairKind>(0);
if (vp) { // coordinate pair kind is given
cp.pair_kind = vp.value();
err = coordsFromTelemetryData(mount, true, cp);
if (!err) {
output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR,
MCC_COMMPROTO_KEYWORD_TARGET_STR, cp);
}
} else { // invalid command!!!
err = vp.error();
}
}
} else { // get operation
err = coordsFromTelemetryData(mount, true, cp);
if (!err) {
output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, MCC_COMMPROTO_KEYWORD_TARGET_STR,
cp);
}
}
} else if (input_msg.withKey(MCC_COMMPROTO_KEYWORD_MOUNT_STR)) {
// by default return ICRS coordinates
MccCelestialPoint cp{.pair_kind = MccCoordPairKind::COORDS_KIND_RADEC_ICRS};
if (input_msg.paramSize()) { // ccordinate pair kind is given
auto vp = input_msg.paramValue<MccCoordPairKind>(0);
if (vp) { // coordinate pair kind is given
cp.pair_kind = vp.value();
err = coordsFromTelemetryData(mount, false, cp);
if (!err) {
output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR,
MCC_COMMPROTO_KEYWORD_MOUNT_STR, cp);
}
} else { // invalid command!!!
err = vp.error();
}
} else {
err = coordsFromTelemetryData(mount, false, cp);
if (!err) {
output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, MCC_COMMPROTO_KEYWORD_MOUNT_STR,
cp);
}
}
} else {
err = std::make_error_code(std::errc::invalid_argument);
}
if (imsg_ok) { // send ACK
// output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, input_msg);
if (m_err) {
// ?????!!!!!!
err = m_err;
}
if (err) { // send error description
output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ERROR_STR, err);
}
// else { // send ACK with copy of the input message
// output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, command);
// }
}
return output_msg;
@@ -855,6 +954,9 @@ public:
virtual ~MccGenericMountNetworkServer() {}
protected:
MccNetMessageCoordFormat _coordFormat{MccNetMessageCoordFormat::CFMT_SGM}; // ouput coordinates format
MccNetMessageCoordPrec _coordPrec{2, 1};
template <typename MSG_T>
std::error_code parseMessage(std::string_view msg_bytes, MSG_T& msg)
{
@@ -862,6 +964,82 @@ protected:
return ec;
}
std::error_code coordsFromTelemetryData(mcc_generic_mount_c auto& mount,
bool target, // true - target coordinates, false - mount coordinates
mcc_celestial_point_c auto& cp)
{
MccTelemetryData tdata;
auto t_err = mount.telemetryData(&tdata);
if (t_err) {
// ??!!!!
return t_err;
}
mcc_tp2tp(tdata.target.time_point, cp.time_point);
switch (cp.pair_kind) {
case mcc::MccCoordPairKind::COORDS_KIND_RADEC_ICRS:
if (target) {
cp.X = tdata.target.RA_ICRS;
cp.Y = tdata.target.DEC_ICRS;
mcc_tp2tp(MccCelestialCoordEpoch::J2000_UTC, cp.time_point);
} // ??!!!
break;
case mcc::MccCoordPairKind::COORDS_KIND_RADEC_APP:
if (target) {
cp.X = tdata.target.RA_APP;
cp.Y = tdata.target.DEC_APP;
} else {
cp.X = tdata.RA_APP;
cp.Y = tdata.DEC_APP;
}
break;
case mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP:
if (target) {
cp.X = tdata.target.HA;
cp.Y = tdata.target.DEC_APP;
} else {
cp.X = tdata.HA;
cp.Y = tdata.DEC_APP;
}
break;
case mcc::MccCoordPairKind::COORDS_KIND_AZZD:
if (target) {
cp.X = tdata.target.AZ;
cp.Y = tdata.target.ZD;
} else {
cp.X = tdata.AZ;
cp.Y = tdata.ZD;
}
break;
case mcc::MccCoordPairKind::COORDS_KIND_AZALT:
if (target) {
cp.X = tdata.target.AZ;
cp.Y = tdata.target.ALT;
} else {
cp.X = tdata.AZ;
cp.Y = tdata.ALT;
}
break;
case mcc::MccCoordPairKind::COORDS_KIND_XY:
if (target) {
cp.X = tdata.target.X;
cp.Y = tdata.target.Y;
} else {
cp.X = tdata.X;
cp.Y = tdata.Y;
}
break;
default:
return std::make_error_code(std::errc::invalid_argument);
}
return {};
}
};
} // namespace mcc::network