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This commit is contained in:
Timur A. Fatkhullin
2025-10-28 01:11:34 +03:00
parent bdfc5dbc1c
commit 85dfa2e9a5
5 changed files with 337 additions and 200 deletions
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83
asibfm700/asibfm700_mount.cpp
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@@ -12,12 +12,12 @@ Asibfm700Mount::Asibfm700Mount(Asibfm700MountConfig const& config,
std::shared_ptr<spdlog::logger> logger,
const auto& pattern_range)
: mcc::ccte::erfa::MccCCTE_ERFA({.meteo{.temperature = 10.0, .humidity = 0.5, .pressure = 1010.0},
.wavelength = config.refractWavelength,
.lat = config.siteLatitude,
.lon = config.siteLongitude,
.elev = config.siteElevation}),
Asibfm700PCM(config.pcmData),
base_gm_class_t(gm_class_t{AsibFM700ServoController{config.servoControllerConfig}, mcc::MccTelemetry{this},
.wavelength = config.refractWavelength(),
.lat = config.siteLatitude(),
.lon = config.siteLongitude(),
.elev = config.siteElevation()}),
Asibfm700PCM(config.pcmData()),
base_gm_class_t(gm_class_t{AsibFM700ServoController{config.servoControllerConfig()}, mcc::MccTelemetry{this},
Asibfm700PZoneContainer{}, mcc::MccSimpleSlewingModel{this},
mcc::MccSimpleTrackingModel{this}, Asibfm700Logger{std::move(logger), pattern_range}},
Asibfm700StartState{}),
@@ -44,66 +44,66 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
std::lock_guard lock{*_mountConfigMutex};
logInfo("Init AstroSib FM-700 mount with configuration:");
logInfo(" site latitude: {}", _mountConfig.siteLatitude.sexagesimal());
logInfo(" site longitude: {}", _mountConfig.siteLongitude.sexagesimal());
logInfo(" site elevation: {} meters", _mountConfig.siteElevation);
logInfo(" refraction wavelength: {} mkm", _mountConfig.refractWavelength);
logInfo(" leap seconds filename: {}", _mountConfig.leapSecondFilename);
logInfo(" IERS Bulletin A filename: {}", _mountConfig.bulletinAFilename);
logInfo(" site latitude: {}", _mountConfig.siteLatitude().sexagesimal());
logInfo(" site longitude: {}", _mountConfig.siteLongitude().sexagesimal());
logInfo(" site elevation: {} meters", _mountConfig.siteElevation());
logInfo(" refraction wavelength: {} mkm", _mountConfig.refractWavelength());
logInfo(" leap seconds filename: {}", _mountConfig.leapSecondFilename());
logInfo(" IERS Bulletin A filename: {}", _mountConfig.bulletinAFilename());
logInfo("");
logDebug("Delete previously defined prohobited zones");
clearPZones();
logInfo("Add prohibited zones ...");
logInfo(" Add MccAltLimitPZ zone: min alt = {}, lat = {}", _mountConfig.pzMinAltitude.degrees(),
_mountConfig.siteLatitude.degrees());
addPZone(mcc::MccAltLimitPZ<mcc::MccAltLimitKind::MIN_ALT_LIMIT>{_mountConfig.pzMinAltitude,
_mountConfig.siteLatitude, this});
logInfo(" Add MccAltLimitPZ zone: min alt = {}, lat = {}", _mountConfig.pzMinAltitude().degrees(),
_mountConfig.siteLatitude().degrees());
addPZone(mcc::MccAltLimitPZ<mcc::MccAltLimitKind::MIN_ALT_LIMIT>{_mountConfig.pzMinAltitude(),
_mountConfig.siteLatitude(), this});
logInfo(" Add MccAxisLimitSwitchPZ zone: min value = {}, max value = {}",
_mountConfig.pzLimitSwitchHAMin.degrees(), _mountConfig.pzLimitSwitchHAMax.degrees());
_mountConfig.pzLimitSwitchHAMin().degrees(), _mountConfig.pzLimitSwitchHAMax().degrees());
size_t pz_num = addPZone(mcc::MccAxisLimitSwitchPZ<mcc::MccCoordKind::COORDS_KIND_HA>{
_mountConfig.pzLimitSwitchHAMin, _mountConfig.pzLimitSwitchHAMax, this});
_mountConfig.pzLimitSwitchHAMin(), _mountConfig.pzLimitSwitchHAMax(), this});
logInfo("{} prohibited zones were added successfully", pz_num);
logInfo("");
logInfo("Setup slewing and tracking parameters ...");
auto st_err = setSlewingParams(_mountConfig.movingModelParams);
auto st_err = setSlewingParams(_mountConfig.movingModelParams());
if (st_err) {
errorLogging(" An error occured while setting slewing parameters: ", st_err);
}
st_err = setTrackingParams(_mountConfig.movingModelParams);
st_err = setTrackingParams(_mountConfig.movingModelParams());
if (st_err) {
errorLogging(" An error occured while setting tracking parameters: ", st_err);
}
logInfo("Slewing and tracking parameters have been set successfully");
auto hw_cfg = _mountConfig.servoControllerConfig();
logInfo("");
logInfo("Hardware initialization ...");
logInfo(" set hardware configuration:");
logInfo(" RunModel: {}",
_mountConfig.servoControllerConfig.devConfig.RunModel == 1 ? "MODEL-MODE" : "REAL-MODE");
logInfo(" mount dev path: {}", _mountConfig.servoControllerConfig.MountDevPath);
logInfo(" encoder dev path: {}", _mountConfig.servoControllerConfig.EncoderDevPath);
logInfo(" encoder X-dev path: {}", _mountConfig.servoControllerConfig.EncoderXDevPath);
logInfo(" encoder Y-dev path: {}", _mountConfig.servoControllerConfig.EncoderYDevPath);
logInfo(" RunModel: {}", hw_cfg.devConfig.RunModel == 1 ? "MODEL-MODE" : "REAL-MODE");
logInfo(" mount dev path: {}", hw_cfg.MountDevPath);
logInfo(" encoder dev path: {}", hw_cfg.EncoderDevPath);
logInfo(" encoder X-dev path: {}", hw_cfg.EncoderXDevPath);
logInfo(" encoder Y-dev path: {}", hw_cfg.EncoderYDevPath);
logInfo(" EncoderDevSpeed: {}", _mountConfig.servoControllerConfig.devConfig.EncoderDevSpeed);
logInfo(" SepEncoder: {}", _mountConfig.servoControllerConfig.devConfig.SepEncoder);
logInfo(" MountReqInterval: {}", _mountConfig.servoControllerConfig.devConfig.MountReqInterval);
logInfo(" EncoderReqInterval: {}", _mountConfig.servoControllerConfig.devConfig.EncoderReqInterval);
logInfo(" EncoderSpeedInterval: {}", _mountConfig.servoControllerConfig.devConfig.EncoderSpeedInterval);
logInfo(" EncoderDevSpeed: {}", hw_cfg.devConfig.EncoderDevSpeed);
logInfo(" SepEncoder: {}", hw_cfg.devConfig.SepEncoder);
logInfo(" MountReqInterval: {}", hw_cfg.devConfig.MountReqInterval);
logInfo(" EncoderReqInterval: {}", hw_cfg.devConfig.EncoderReqInterval);
logInfo(" EncoderSpeedInterval: {}", hw_cfg.devConfig.EncoderSpeedInterval);
logInfo(" XPIDC: [P: {}, I: {}, D: {}]", _mountConfig.servoControllerConfig.devConfig.XPIDC.P,
_mountConfig.servoControllerConfig.devConfig.XPIDC.I, _mountConfig.servoControllerConfig.devConfig.XPIDC.D);
logInfo(" XPIDV: [P: {}, I: {}, D: {}]", _mountConfig.servoControllerConfig.devConfig.XPIDV.P,
_mountConfig.servoControllerConfig.devConfig.XPIDV.I, _mountConfig.servoControllerConfig.devConfig.XPIDV.D);
logInfo(" YPIDC: [P: {}, I: {}, D: {}]", _mountConfig.servoControllerConfig.devConfig.YPIDC.P,
_mountConfig.servoControllerConfig.devConfig.YPIDC.I, _mountConfig.servoControllerConfig.devConfig.YPIDC.D);
logInfo(" YPIDV: [P: {}, I: {}, D: {}]", _mountConfig.servoControllerConfig.devConfig.YPIDV.P,
_mountConfig.servoControllerConfig.devConfig.YPIDV.I, _mountConfig.servoControllerConfig.devConfig.YPIDV.D);
logInfo(" XPIDC: [P: {}, I: {}, D: {}]", hw_cfg.devConfig.XPIDC.P, hw_cfg.devConfig.XPIDC.I,
hw_cfg.devConfig.XPIDC.D);
logInfo(" XPIDV: [P: {}, I: {}, D: {}]", hw_cfg.devConfig.XPIDV.P, hw_cfg.devConfig.XPIDV.I,
hw_cfg.devConfig.XPIDV.D);
logInfo(" YPIDC: [P: {}, I: {}, D: {}]", hw_cfg.devConfig.YPIDC.P, hw_cfg.devConfig.YPIDC.I,
hw_cfg.devConfig.YPIDC.D);
logInfo(" YPIDV: [P: {}, I: {}, D: {}]", hw_cfg.devConfig.YPIDV.P, hw_cfg.devConfig.YPIDV.I,
hw_cfg.devConfig.YPIDV.D);
// auto hw_err = hardwareInit();
// if (hw_err) {
@@ -127,8 +127,9 @@ Asibfm700Mount::error_t Asibfm700Mount::updateMountConfig(const Asibfm700MountCo
_mountConfig = cfg;
hardwareUpdateConfig(_mountConfig.servoControllerConfig.devConfig);
hardwareUpdateConfig(_mountConfig.servoControllerConfig.hwConfig);
auto hw_cfg = _mountConfig.servoControllerConfig();
hardwareUpdateConfig(hw_cfg.devConfig);
hardwareUpdateConfig(hw_cfg.hwConfig);
return AsibFM700ServoControllerErrorCode::ERROR_OK;
}