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... compiled!

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This commit is contained in:
Timur A. Fatkhullin 2025-10-30 01:01:52 +03:00
parent 620f8ba136
commit 85259fc6ad
14 changed files with 261 additions and 216 deletions
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6
CMakeLists.txt
View File

@ -2,16 +2,18 @@ cmake_minimum_required(VERSION 3.14)
#********************************************** #**********************************************
# Astrosib(c) BM-700 mount control software * # Astrosib(c) FM-700 mount control software *
#********************************************** #**********************************************
project(ASIB_BM700 LANGUAGES C CXX) project(ASIB_FM700 LANGUAGES C CXX)
set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH}) set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
# #
# ******* C++ PART OF THE PROJECT ******* # ******* C++ PART OF THE PROJECT *******
set(EXAMPLES OFF CACHE BOOL "" FORCE)
add_subdirectory(LibSidServo)
# add_subdirectory(cxx) # add_subdirectory(cxx)
add_subdirectory(mcc) add_subdirectory(mcc)
add_subdirectory(asibfm700) add_subdirectory(asibfm700)

4
asibfm700/CMakeLists.txt
View File

@ -65,12 +65,12 @@ add_library(${ASIBFM700_LIB} STATIC ${ASIBFM700_LIB_SRC}
) )
target_include_directories(${ASIBFM700_LIB} PUBLIC mcc spdlog ${ERFA_INCLUDE_DIR}) target_include_directories(${ASIBFM700_LIB} PUBLIC mcc spdlog ${ERFA_INCLUDE_DIR})
target_link_libraries(${ASIBFM700_LIB} mcc spdlog ${ERFA_LIBFILE}) # target_link_libraries(${ASIBFM700_LIB} PUBLIC mcc spdlog ${ERFA_LIBFILE})
target_link_libraries(${ASIBFM700_LIB} PUBLIC mcc spdlog ERFA_LIB bsplines sidservo)
set(ASIBFM700_NETSERVER_APP asibfm700_netserver) set(ASIBFM700_NETSERVER_APP asibfm700_netserver)
add_executable(${ASIBFM700_NETSERVER_APP} asibfm700_netserver_main.cpp) add_executable(${ASIBFM700_NETSERVER_APP} asibfm700_netserver_main.cpp)
# target_include_directories(${ASIBFM700_NETSERVER_APP} PRIVATE mcc spdlog)
target_link_libraries(${ASIBFM700_NETSERVER_APP} PRIVATE mcc spdlog ${ASIBFM700_LIB}) target_link_libraries(${ASIBFM700_NETSERVER_APP} PRIVATE mcc spdlog ${ASIBFM700_LIB})
option(WITH_TESTS "Build tests" ON) option(WITH_TESTS "Build tests" ON)

353
asibfm700/asibfm700_configfile.h
View File

@ -208,6 +208,177 @@ static auto Asibfm700MountConfigDefaults = std::make_tuple(
); );
static constexpr std::string_view Asibfm700MountDefaultConfigString =
R"--(
#
# ASTROSIB FM-700 MOUNT DEFAULT CONFIGURATION
#
# (created 2025-10-01T03:00:00.0)
#
# main cycle period in millisecs
hardwarePollingPeriod = 100
# geographic coordinates of the observation site
# site latitude in degrees
siteLatitude = 43.646711
# site longitude in degrees
siteLongitude = 41.440732
# site elevation in meters
siteElevation = 2070.0
# celestial coordinate transformation
# wavelength at which refraction is calculated (in mkm)
refractWavelength = 0.5
# an empty filename means default precompiled string
leapSecondFilename =
# an empty filename means default precompiled string
bulletinAFilename =
# pointing correction model
# PCM default type:
# GEOMETRY - "classic" geometry-based correction coefficients
# GEOMETRY-BSPLINE - previous one and additional 2D B-spline corrections
# BSPLINE - pure 2D B-spline corrections
pcmType = GEOMETRY
# PCM geometrical coefficients
pcmGeomCoeffs = 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
# PCM B-spline degrees
pcmBsplineDegree = 3, 3
# PCM B-spline knots along X-axis (HA-angle). By default from 0 to 2*PI radians
pcmBsplineXknots = 0.0, 0.6981317, 1.3962634, 2.0943951, 2.7925268, 3.4906585, 4.1887902, 4.88692191, 5.58505361, 6.28318531
# PCM B-spline knots along Y-axis (declination-angle). By default from -PI/6 to PI/2 radians
pcmBsplineYknots = -0.52359878, -0.29088821, -0.05817764, 0.17453293, 0.40724349, 0.63995406, 0.87266463, 1.10537519, 1.33808576, 1.57079633
# PCM B-spline coeffs for along X-axis (HA-angle)
pcmBsplineXcoeffs =
# PCM B-spline coeffs for along Y-axis (declination-angle)
pcmBsplineYcoeffs =
# slewing and tracking parameters
# arcseconds per second
#sideralRate = 15.0410686
# timeout for telemetry updating in milliseconds
telemetryTimeout = 3000
# minimal allowed time in seconds to prohibited zone
minTimeToPZone = 10
# a time interval to update prohibited zones related quantities (millisecs)
updatingPZoneInterval = 5000
# coordinates difference in arcsecs to stop slewing
slewToleranceRadius = 5.0
# target-mount coordinate difference in arcsecs to start adjusting of slewing
adjustCoordDiff = 50.0
# minimum time in millisecs between two successive adjustments
adjustCycleInterval = 300
# slew process timeout in seconds
slewTimeout = 3600
# a time shift into future to compute target position in future (UT1-scale time duration, millisecs)
timeShiftToTargetPoint = 10000
# minimum time in millisecs between two successive tracking corrections
trackingCycleInterval = 300
# maximal valid target-to-mount distance for tracking process (arcsecs)
# if current distance is greater than assume current mount coordinate as target point
trackingMaxCoordDiff = 20.0
# prohibited zones
# minimal altitude in degrees
pzMinAltitude = 10.0
# HA-axis limit switch minimal value in degrees
pzLimitSwitchHAMin = -170.0
# HA-axis limit switch maximal value in degrees
pzLimitSwitchHAMax = 170.0
# DEC-axis limit switch minimal value in degrees
pzLimitSwitchDecMin = -90.0
# DEC-axis limit switch maximal value in degrees
pzLimitSwitchDecMax = 90.0
# hardware-related
# hardware mode: 1 - model mode, otherwise real mode
RunModel = 0
# mount serial device paths
MountDevPath = /dev/ttyUSB0
# mount serial device speed
MountDevSpeed = 19200
# motor encoders serial device path
EncoderDevPath =
# X-axis encoder serial device path
EncoderXDevPath = /dev/encoderX0
# Y-axis encoder serial device path
EncoderYDevPath = /dev/encoderY0
# encoders serial device speed
EncoderDevSpeed = 153000
# ==1 if encoder works as separate serial device, ==2 if there's new version with two devices
SepEncoder = 2
# mount polling interval in millisecs
MountReqInterval = 100
# encoders polling interval in millisecs
EncoderReqInterval = 50
# mount axes rate calculation interval in millisecs
EncoderSpeedInterval = 100
# X-axis coordinate PID P,I,D-params
XPIDC = 0.8, 0.1, 0.3
# X-axis rate PID P,I,D-params
XPIDV = 1.0, 0.01, 0.2
# Y-axis coordinate PID P,I,D-params
YPIDC = 0.8, 0.1, 0.3
# Y-axis rate PID P,I,D-params
YPIDV = 0.5, 0.2, 0.5
# maximal moving rate (degrees per second) along HA-axis (Y-axis of Sidereal servo microcontroller)
hwMaxRateHA = 8.0
# maximal moving rate (degrees per second) along DEC-axis (X-axis of Sidereal servo microcontroller)
hwMaxRateDEC = 10.0
)--";
class Asibfm700MountConfig : public mcc::utils::KeyValueHolder<decltype(Asibfm700MountConfigDefaults)> class Asibfm700MountConfig : public mcc::utils::KeyValueHolder<decltype(Asibfm700MountConfigDefaults)>
{ {
@ -227,14 +398,14 @@ protected:
} else if constexpr (std::same_as<VT, mcc::MccAngle>) { // assume here all angles are in degrees } else if constexpr (std::same_as<VT, mcc::MccAngle>) { // assume here all angles are in degrees
double vd; double vd;
// ec = base_t::defaultDeserializeFunc(str, vd); // ec = base_t::defaultDeserializeFunc(str, vd);
ec = deser(str, value); ec = deser(str, vd);
if (!ec) { if (!ec) {
value = mcc::MccAngle(vd, mcc::MccDegreeTag{}); value = mcc::MccAngle(vd, mcc::MccDegreeTag{});
} }
} else if constexpr (std::same_as<VT, mcc::MccDefaultPCMType>) { } else if constexpr (std::same_as<VT, mcc::MccDefaultPCMType>) {
std::string vstr; std::string vstr;
// ec = base_t::defaultDeserializeFunc(str, vstr); // ec = base_t::defaultDeserializeFunc(str, vstr);
ec = deser(str, value); ec = deser(str, vstr);
if (!ec) { if (!ec) {
auto s = mcc::utils::trimSpaces(vstr); auto s = mcc::utils::trimSpaces(vstr);
@ -620,172 +791,22 @@ public:
return ec; return ec;
} }
// dump default values to file
static bool dumpDefaults(const std::filesystem::path& path)
{
std::ofstream fst(path);
if (!fst.is_open()) {
return false;
}
fst << asibfm700::Asibfm700MountDefaultConfigString;
fst.close();
return true;
}
}; };
static constexpr std::string_view Asibfm700MountConfigString =
R"--(
#
# ASTROSIB FM-700 MOUNT DEFAULT CONFIGURATION
#
# (created 2025-10-01T03:00:00.0)
#
# main cycle period
hardwarePollingPeriod = 100
# geographic coordinates of the observation site
# site latitude in degrees
siteLatitude = 43.646711
# site longitude in degrees
siteLongitude = 41.440732
# site elevation in meters
siteElevation = 2070.0
# celestial coordinate transformation
# wavelength at which refraction is calculated (in mkm)
refractWavelength = 0.5
# an empty filename means default precompiled string
leapSecondFilename =
# an empty filename means default precompiled string
bulletinAFilename =
# pointing correction model
# PCM default type
pcmType = GEOMETRY
# PCM geometrical coefficients
pcmGeomCoeffs = 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
# PCM B-spline degrees
pcmBsplineDegree = 3, 3
# PCM B-spline knots along X-axis (HA-angle or azimuth). By default from 0 to 2*PI radians
pcmBsplineXknots = 0.0, 0.6981317, 1.3962634, 2.0943951, 2.7925268, 3.4906585, 4.1887902, 4.88692191, 5.58505361, 6.28318531
# PCM B-spline knots along Y-axis (declination or zenithal distance). By default from -PI/6 to PI/2 radians
pcmBsplineYknots = -0.52359878, -0.29088821, -0.05817764, 0.17453293, 0.40724349, 0.63995406, 0.87266463, 1.10537519, 1.33808576, 1.57079633
# PCM B-spline coeffs for along X-axis (HA-angle or azimuth)
pcmBsplineXcoeffs =
# PCM B-spline coeffs for along Y-axis (declination or zenithal distance)
pcmBsplineYcoeffs =
# slewing and tracking parameters
# arcseconds per second
#sideralRate = 15.0410686
# timeout for telemetry updating in milliseconds
telemetryTimeout = 3000
# minimal allowed time in seconds to prohibited zone
minTimeToPZone = 10
# a time interval to update prohibited zones related quantities (millisecs)
updatingPZoneInterval = 5000
# coordinates difference in arcsecs to stop slewing
slewToleranceRadius = 5.0
# target-mount coordinate difference in arcsecs to start adjusting of slewing
adjustCoordDiff = 50.0
# minimum time in millisecs between two successive adjustments
adjustCycleInterval = 300
# slew process timeout in seconds
slewTimeout = 3600
# a time shift into future to compute target position in future (UT1-scale time duration, millisecs)
timeShiftToTargetPoint = 10000
# minimum time in millisecs between two successive tracking corrections
trackingCycleInterval = 300
# prohibited zones
# minimal altitude in degrees
pzMinAltitude = 10.0
# HA-axis limit switch minimal value in degrees
pzLimitSwitchHAMin = -170.0
# HA-axis limit switch maximal value in degrees
pzLimitSwitchHAMax = 170.0
# DEC-axis limit switch minimal value in degrees
pzLimitSwitchDecMin = -90.0
# DEC-axis limit switch maximal value in degrees
pzLimitSwitchDecMax = 90.0
# hardware-related
# hardware mode: 1 - model mode, otherwise real mode
RunModel = 0
# mount serial device paths
MountDevPath = /dev/ttyUSB0
# mount serial device speed
MountDevSpeed = 19200
# motor encoders serial device path
EncoderDevPath =
# X-axis encoder serial device path
EncoderXDevPath = /dev/encoderX0
# Y-axis encoder serial device path
EncoderYDevPath = /dev/encoderY0
# encoders serial device speed
EncoderDevSpeed = 153000
# ==1 if encoder works as separate serial device, ==2 if there's new version with two devices
SepEncoder = 2
# mount polling interval in millisecs
MountReqInterval = 100
# encoders polling interval in millisecs
EncoderReqInterval = 50
# mount axes rate calculation interval in millisecs
EncoderSpeedInterval = 100
# X-axis coordinate PID P,I,D-params
XPIDC = 0.8, 0.1, 0.3
# X-axis rate PID P,I,D-params
XPIDV = 1.0, 0.01, 0.2
# Y-axis coordinate PID P,I,D-params
YPIDC = 0.8, 0.1, 0.3
# Y-axis rate PID P,I,D-params
YPIDV = 0.5, 0.2, 0.5
# maximal moving rate (degrees per second) along HA-axis (Y-axis of Sidereal servo microcontroller)
hwMaxRateHA = 8.0
# maximal moving rate (degrees per second) along DEC-axis (X-axis of Sidereal servo microcontroller)
hwMaxRateDEC = 10.0
)--";
} // namespace asibfm700 } // namespace asibfm700

5
asibfm700/asibfm700_mount.h
View File

@ -97,6 +97,11 @@ public:
~Asibfm700Mount(); ~Asibfm700Mount();
Asibfm700Mount(Asibfm700Mount&&) = default;
Asibfm700Mount& operator=(Asibfm700Mount&&) = default;
Asibfm700Mount(const Asibfm700Mount&) = delete;
Asibfm700Mount& operator=(const Asibfm700Mount&) = delete;
error_t initMount(); error_t initMount();

6
asibfm700/asibfm700_netserver.cpp
View File

@ -15,7 +15,7 @@ Asibfm700MountNetServer::Asibfm700MountNetServer(asio::io_context& ctx,
auto* mount_ptr = &mount; auto* mount_ptr = &mount;
base_t::_handleMessageFunc = [mount_ptr, this](std::string_view command) { base_t::_handleMessageFunc = [mount_ptr, this](std::string_view command) {
using mount_error_t = typename Asibfm700Mount::error_t; // using mount_error_t = typename Asibfm700Mount::error_t;
std::error_code err{}; std::error_code err{};
Asibfm700NetMessage input_msg; Asibfm700NetMessage input_msg;
@ -46,8 +46,10 @@ Asibfm700MountNetServer::Asibfm700MountNetServer(asio::io_context& ctx,
} }
} }
return output_msg.byteRepr(); return output_msg.template byteRepr<typename base_t::handle_message_func_result_t>();
}; };
} }
Asibfm700MountNetServer::~Asibfm700MountNetServer() {}
} // namespace asibfm700 } // namespace asibfm700

19
asibfm700/asibfm700_netserver.h
View File

@ -72,9 +72,9 @@ protected:
if constexpr (std::same_as<T, Asibfm700CCTE::meteo_t>) { if constexpr (std::same_as<T, Asibfm700CCTE::meteo_t>) {
// serialize just like a vector // serialize just like a vector
std::vector<double> meteo{value.temperature, value.humidity, value.pressure}; std::vector<double> meteo{value.temperature, value.humidity, value.pressure};
base_t::operator()(meteo, bytes); base_t::DefaultSerializer::operator()(meteo, bytes);
} else { } else {
base_t::operator()(value, bytes); base_t::DefaultSerializer::operator()(value, bytes);
} }
} }
} _serializer; } _serializer;
@ -84,13 +84,13 @@ protected:
{ {
public: public:
template <mcc::traits::mcc_input_char_range IR, typename VT> template <mcc::traits::mcc_input_char_range IR, typename VT>
std::error_code operator()(IR&& bytes, VT& value) std::error_code operator()(IR&& bytes, VT& value) const
{ {
if constexpr (std::same_as<VT, Asibfm700CCTE::meteo_t>) { if constexpr (std::same_as<VT, Asibfm700CCTE::meteo_t>) {
// deserialize just like a vector // deserialize just like a vector
std::vector<double> v; std::vector<double> v;
auto ec = base_t::operator()(std::forward<IR>(bytes), v); auto ec = base_t::DefaultDeserializer::operator()(std::forward<IR>(bytes), v);
if (ec) { if (ec) {
return ec; return ec;
} }
@ -105,7 +105,7 @@ protected:
return {}; return {};
} else { } else {
return base_t::operator()(std::forward<IR>(bytes), value); return base_t::DefaultDeserializer::operator()(std::forward<IR>(bytes), value);
} }
} }
} _deserializer; } _deserializer;
@ -116,9 +116,9 @@ public:
using base_t::base_t; using base_t::base_t;
template <typename T> template <typename T>
std::expected<T, std::error_code> paramValue(size_t idx) std::expected<T, std::error_code> paramValue(size_t idx) const
{ {
return paramValue<T>(idx, _deserializer); return base_t::template paramValue<T>(idx, _deserializer);
} }
@ -127,7 +127,7 @@ public:
std::error_code construct(KT&& key, PTs&&... params) std::error_code construct(KT&& key, PTs&&... params)
requires mcc::traits::mcc_output_char_range<BYTEREPR_T> requires mcc::traits::mcc_output_char_range<BYTEREPR_T>
{ {
return construct(_serializer, std::forward<KT>(key), std::forward<PTs>(params)...); return base_t::construct(_serializer, std::forward<KT>(key), std::forward<PTs>(params)...);
} }
}; };
@ -141,9 +141,6 @@ public:
Asibfm700MountNetServer(asio::io_context& ctx, Asibfm700Mount& mount, std::shared_ptr<spdlog::logger> logger); Asibfm700MountNetServer(asio::io_context& ctx, Asibfm700Mount& mount, std::shared_ptr<spdlog::logger> logger);
~Asibfm700MountNetServer(); ~Asibfm700MountNetServer();
private:
std::vector<char> handleMessage(std::string_view msg);
}; };
} // namespace asibfm700 } // namespace asibfm700

10
asibfm700/asibfm700_netserver_main.cpp
View File

@ -49,7 +49,7 @@ int main(int argc, char* argv[])
std::cout << "\n"; std::cout << "\n";
std::cout << "[endpoint0] [enpoint1] ... [endpointN] - endpoints server will be listening for. For 'local' " std::cout << "[endpoint0] [enpoint1] ... [endpointN] - endpoints server will be listening for. For 'local' "
"endpoint the '@' symbol at the beginning of the path " "endpoint the '@' symbol at the beginning of the path "
"means abstract namespace socket (e.g. local://stream/@BM700_SERVER)." "means abstract namespace socket (e.g. local://stream/@ASIBFM700_SERVER)."
<< "\n"; << "\n";
return 0; return 0;
} }
@ -63,7 +63,7 @@ int main(int argc, char* argv[])
} else if (logname == "stderr") { } else if (logname == "stderr") {
return spdlog::stderr_color_mt("stderr"); return spdlog::stderr_color_mt("stderr");
} else if (logname == "") { } else if (logname == "") {
return spdlog::null_logger_mt("BM700_SERVER_NULL_LOGGER"); return spdlog::null_logger_mt("FM700_SERVER_NULL_LOGGER");
} else { } else {
return spdlog::basic_logger_mt(logname, logname); return spdlog::basic_logger_mt(logname, logname);
} }
@ -80,10 +80,10 @@ int main(int argc, char* argv[])
logger->set_pattern("%v"); logger->set_pattern("%v");
int w = 90; int w = 90;
// const std::string fmt = std::format("{{:*^{}}}", w); // const std::string fmt = std::format("{{:*^{}}}", w);
constexpr std::string_view fmt = "{{:*^90}}"; constexpr std::string_view fmt = "{:*^90}";
logger->info("\n\n\n"); logger->info("\n\n\n");
logger->info(fmt, ""); logger->info(fmt, "");
logger->info(fmt, " ASTROSIB BM700 MOUNT SERVER "); logger->info(fmt, " ASTROSIB FM700 MOUNT SERVER ");
auto zt = std::chrono::zoned_time(std::chrono::current_zone(), auto zt = std::chrono::zoned_time(std::chrono::current_zone(),
std::chrono::floor<std::chrono::seconds>(std::chrono::system_clock::now())); std::chrono::floor<std::chrono::seconds>(std::chrono::system_clock::now()));
logger->info(fmt, std::format(" {} ", zt)); logger->info(fmt, std::format(" {} ", zt));
@ -128,7 +128,7 @@ int main(int argc, char* argv[])
asio::post(pool, [&ctx]() { ctx.run(); }); asio::post(pool, [&ctx]() { ctx.run(); });
pool.join(); pool.join();
// ctx.run(); ctx.run();
} catch (...) { } catch (...) {
} }

10
asibfm700/asibfm700_servocontroller.cpp
View File

@ -16,15 +16,15 @@ std::string AsibFM700ServoControllerErrorCategory::message(int ec) const
case AsibFM700ServoControllerErrorCode::ERROR_OK: case AsibFM700ServoControllerErrorCode::ERROR_OK:
return "OK"; return "OK";
case AsibFM700ServoControllerErrorCode::ERROR_FATAL: case AsibFM700ServoControllerErrorCode::ERROR_FATAL:
return "LibServo fatal error"; return "LibSidServo fatal error";
case AsibFM700ServoControllerErrorCode::ERROR_BADFORMAT: case AsibFM700ServoControllerErrorCode::ERROR_BADFORMAT:
return "LibServo wrong arguments of function"; return "LibSidServo wrong arguments of function";
case AsibFM700ServoControllerErrorCode::ERROR_ENCODERDEV: case AsibFM700ServoControllerErrorCode::ERROR_ENCODERDEV:
return "LibServo encoder device error or can't open"; return "LibSidServo encoder device error or can't open";
case AsibFM700ServoControllerErrorCode::ERROR_MOUNTDEV: case AsibFM700ServoControllerErrorCode::ERROR_MOUNTDEV:
return "LibServo mount device error or can't open"; return "LibSidServo mount device error or can't open";
case AsibFM700ServoControllerErrorCode::ERROR_FAILED: case AsibFM700ServoControllerErrorCode::ERROR_FAILED:
return "LibServo failed to run command"; return "LibSidServo failed to run command";
case AsibFM700ServoControllerErrorCode::ERROR_NULLPTR: case AsibFM700ServoControllerErrorCode::ERROR_NULLPTR:
return "nullptr argument"; return "nullptr argument";
case AsibFM700ServoControllerErrorCode::ERROR_POLLING_TIMEOUT: case AsibFM700ServoControllerErrorCode::ERROR_POLLING_TIMEOUT:

13
asibfm700/tests/cfg_test.cpp
View File

@ -23,12 +23,17 @@ int main()
std::error_code err; std::error_code err;
std::ofstream fst("/tmp/cfg.cfg"); // std::ofstream fst("/tmp/cfg.cfg");
fst << asibfm700::Asibfm700MountConfigString; // fst << asibfm700::Asibfm700MountConfigString;
fst.close(); // fst.close();
bool ok = asibfm700::Asibfm700MountConfig::dumpDefaults("/tmp/cfg.cfg");
if (!ok) {
std::cerr << "Cannot dump default configuration!\n";
exit(10);
}
asibfm700::Asibfm700MountConfig acfg; asibfm700::Asibfm700MountConfig acfg;
// asibfm700::Asibfm700MountConfig2 acfg;
auto ec = acfg.load("/tmp/cfg.cfg"); auto ec = acfg.load("/tmp/cfg.cfg");
std::cout << "EC (load) = " << ec.message() << "\n"; std::cout << "EC (load) = " << ec.message() << "\n";

4
mcc/CMakeLists.txt
View File

@ -58,11 +58,11 @@ ExternalProject_Add(erfalib
INSTALL_COMMAND meson install -C <BINARY_DIR> INSTALL_COMMAND meson install -C <BINARY_DIR>
BUILD_BYPRODUCTS ${CMAKE_BINARY_DIR}/erfa_lib/liberfa.a BUILD_BYPRODUCTS ${CMAKE_BINARY_DIR}/erfa_lib/liberfa.a
) )
add_library(ERFA_LIB STATIC IMPORTED) add_library(ERFA_LIB STATIC IMPORTED GLOBAL)
set_target_properties(ERFA_LIB PROPERTIES IMPORTED_LOCATION ${CMAKE_BINARY_DIR}/erfa_lib/liberfa.a) set_target_properties(ERFA_LIB PROPERTIES IMPORTED_LOCATION ${CMAKE_BINARY_DIR}/erfa_lib/liberfa.a)
add_dependencies(ERFA_LIB erfalib) add_dependencies(ERFA_LIB erfalib)
set(ERFA_INCLUDE_DIR ${CMAKE_BINARY_DIR}/erfa_lib) set(ERFA_INCLUDE_DIR ${CMAKE_BINARY_DIR}/erfa_lib)
set(ERFA_LIBFILE ${CMAKE_BINARY_DIR}/erfa_lib/erfa) # set(ERFA_LIBFILE ${CMAKE_BINARY_DIR}/erfa_lib/liberfa.a PARENT_SCOPE)
# include_directories(${ERFA_INCLUDE_DIR}) # include_directories(${ERFA_INCLUDE_DIR})
message(STATUS ${ERFA_INCLUDE_DIR}) message(STATUS ${ERFA_INCLUDE_DIR})

9
mcc/mcc_generic_mount.h
View File

@ -168,7 +168,7 @@ public:
SlewModelT(std::move(slew_model)), SlewModelT(std::move(slew_model)),
TrackModelT(std::move(track_model)), TrackModelT(std::move(track_model)),
LoggerT(std::move(logger)), LoggerT(std::move(logger)),
_mountStatus(new std::atomic<mount_status_t>) _mountStatus(new std::atomic<mount_status_t>{})
{ {
*_mountStatus = mount_status_t::IDLE; *_mountStatus = mount_status_t::IDLE;
} }
@ -242,7 +242,7 @@ public:
logInfo(std::format("Set entered target coordinates to: {} {} {}", xstr, logInfo(std::format("Set entered target coordinates to: {} {} {}", xstr,
MccAngle(_enteredTargetCoordiniates.Y).sexagesimal(), MccAngle(_enteredTargetCoordiniates.Y).sexagesimal(),
MccCoordPairKindStr<_enteredTargetCoordiniates.pair_kind>)); MccCoordPairKindToStr(_enteredTargetCoordiniates.pair_kind)));
return MccGenericMountErrorCode::ERROR_OK; return MccGenericMountErrorCode::ERROR_OK;
} }
@ -293,7 +293,8 @@ public:
error_t stopTracking() error_t stopTracking()
{ {
*_mountStatus = mount_status_t::IDLE; // *_mountStatus = mount_status_t::IDLE;
_mountStatus->store(mount_status_t::IDLE);
TrackModelT::stopTracking(); TrackModelT::stopTracking();
@ -303,7 +304,7 @@ public:
MccGenericMount::mount_status_t mountStatus() const MccGenericMount::mount_status_t mountStatus() const
{ {
return _mountStatus.get(); return *_mountStatus;
} }
protected: protected:

34
mcc/mcc_netserver.h
View File

@ -651,13 +651,13 @@ protected:
} }
std::vector<char> handleClientCommand(std::string_view command) // std::vector<char> handleClientCommand(std::string_view command)
{ // {
std::vector<char> resp{MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR.begin(), // std::vector<char> resp{MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR.begin(),
MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR.end()}; // MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR.end()};
return resp; // return resp;
} // }
template <mcc::traits::mcc_time_duration_c RCVT = decltype(DEFAULT_RCV_TIMEOUT), template <mcc::traits::mcc_time_duration_c RCVT = decltype(DEFAULT_RCV_TIMEOUT),
@ -917,7 +917,7 @@ public:
output_msg = handleMessage<output_msg_t>(input_msg, mount_ptr); output_msg = handleMessage<output_msg_t>(input_msg, mount_ptr);
} }
return output_msg.byteRepr(); return output_msg.template byteRepr<typename base_t::handle_message_func_result_t>();
}; };
} }
@ -951,9 +951,6 @@ protected:
} else if (input_msg.withKey(MCC_COMMPROTO_KEYWORD_RESTART_SERVER_STR)) { } else if (input_msg.withKey(MCC_COMMPROTO_KEYWORD_RESTART_SERVER_STR)) {
this->restart(); this->restart();
output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, input_msg.byteRepr()); output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, input_msg.byteRepr());
} else if (input_msg.withKey(MCC_COMMPROTO_KEYWORD_STATUS_STR)) {
auto st = mount_ptr->status(); // according to mcc_generic_mount_c 'st' is formattable
output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, MCC_COMMPROTO_KEYWORD_STATUS_STR, st);
} else if (input_msg.withKey(MCC_COMMPROTO_KEYWORD_INIT_STR)) { } else if (input_msg.withKey(MCC_COMMPROTO_KEYWORD_INIT_STR)) {
m_err = mount_ptr->initMount(); m_err = mount_ptr->initMount();
if (m_err) { if (m_err) {
@ -1066,6 +1063,16 @@ protected:
_coordFormat, _coordPrec, cp); _coordFormat, _coordPrec, cp);
} }
} }
} else if (input_msg.withKey(mcc::network::MCC_COMMPROTO_KEYWORD_STATUS_STR)) {
auto st = mount_ptr->mountStatus(); // according to mcc_generic_mount_c 'st' is formattable
using st_t = decltype(st);
if constexpr (std::is_enum_v<st_t>) {
output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, MCC_COMMPROTO_KEYWORD_STATUS_STR,
std::to_underlying(st));
} else {
output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, MCC_COMMPROTO_KEYWORD_STATUS_STR,
std::format(st));
}
} else { } else {
err = std::make_error_code(std::errc::invalid_argument); err = std::make_error_code(std::errc::invalid_argument);
} }
@ -1084,7 +1091,12 @@ protected:
{ {
auto ec = msg.fromCharRange(msg_bytes); auto ec = msg.fromCharRange(msg_bytes);
return ec; if (ec != MSG_T::ERROR_OK) {
return std::make_error_code(std::errc::invalid_argument);
}
// return ec;
return {};
} }

2
mcc/mcc_netserver_proto.h
View File

@ -314,7 +314,7 @@ protected:
DefaultDeserializer() : base_t(MCC_COMMPROTO_RANGEPARAM_DELIM_SEQ) {} DefaultDeserializer() : base_t(MCC_COMMPROTO_RANGEPARAM_DELIM_SEQ) {}
template <traits::mcc_input_char_range IR, typename VT> template <traits::mcc_input_char_range IR, typename VT>
std::error_code operator()(IR&& bytes, VT& value) std::error_code operator()(IR&& bytes, VT& value) const
{ {
if constexpr (mcc_telemetry_data_c<VT>) { if constexpr (mcc_telemetry_data_c<VT>) {
return _telemetryDeserializer(std::forward<IR>(bytes), value); return _telemetryDeserializer(std::forward<IR>(bytes), value);

2
mcc/mcc_utils.h
View File

@ -442,7 +442,7 @@ public:
} }
template <traits::mcc_input_char_range IR, typename VT> template <traits::mcc_input_char_range IR, typename VT>
std::error_code operator()(IR&& bytes, VT& value) std::error_code operator()(IR&& bytes, VT& value) const
{ {
std::error_code ret{}; std::error_code ret{};