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This commit is contained in:
Timur A. Fatkhullin
2025-08-04 22:23:26 +03:00
parent f661dfad44
commit 864e257884
8 changed files with 554 additions and 633 deletions
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89
cxx/mcc_guiding_model.h
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@@ -139,21 +139,29 @@ public:
using guiding_point_t = MccSlewAndGuidingPoint;
template <traits::mcc_mount_controls_c MOUNT_CONTROLS_T, typename... LoggerCtorArgTs>
MccSimpleGuidingModel(MOUNT_CONTROLS_T& mount_controls, LoggerCtorArgTs&&... ctor_args)
template <traits::mcc_mount_telemetry_c TELEMETRY_T,
traits::mcc_mount_hardware_c HARDWARE_T,
traits::mcc_tuple_c PZ_T,
typename... LoggerCtorArgTs>
MccSimpleGuidingModel(TELEMETRY_T& telemetry,
HARDWARE_T& hardware,
PZ_T& prohibited_zone,
LoggerCtorArgTs&&... ctor_args)
requires(!std::same_as<LoggerT, MccNullLogger>)
: LoggerT(std::forward<LoggerCtorArgTs>(ctor_args)...)
{
logDebug(std::format("Create 'MccSimpleGuidingModel' class instance ({})", (void*)this));
init(mount_controls);
init(telemetry, hardware, prohibited_zone);
}
template <traits::mcc_mount_controls_c MOUNT_CONTROLS_T>
MccSimpleGuidingModel(MOUNT_CONTROLS_T& mount_controls)
template <traits::mcc_mount_telemetry_c TELEMETRY_T,
traits::mcc_mount_hardware_c HARDWARE_T,
traits::mcc_tuple_c PZ_T>
MccSimpleGuidingModel(TELEMETRY_T& telemetry, HARDWARE_T& hardware, PZ_T& prohibited_zone)
requires(std::same_as<LoggerT, MccNullLogger>)
{
init(mount_controls);
init(telemetry, hardware, prohibited_zone);
}
virtual ~MccSimpleGuidingModel()
@@ -177,23 +185,24 @@ protected:
error_t init(auto& mount_controls)
error_t init(auto& telemetry, auto& hardware, auto& prohibited_zones)
{
// deduce controls types
using astrom_engine_t = decltype(mount_controls.astrometryEngine);
using hardware_t = decltype(mount_controls.hardware);
using pec_t = decltype(mount_controls.PEC);
using telemetry_t = decltype(mount_controls.telemetry);
// deduce controls types
using hardware_t = decltype(hardware);
using telemetry_t = decltype(telemetry);
static_assert(traits::mcc_mount_default_telemetry_c<telemetry_t>,
"TELEMETRY CLASS MUST BE A DESCENDANT OF 'MccMountTelemetry'!");
static_assert(std::derived_from<telemetry_t, MccMountTelemetry<astrom_engine_t, pec_t, hardware_t,
typename telemetry_t::mount_telemetry_data_t>>,
"TELEMETRY CLASS MUST BE A DESCENDANT OF 'MccMountTelemetry' ONE!");
using astrom_engine_t = typename telemetry_t::astrom_engine_t;
using tpl_pz_t = decltype(mount_controls.prohibitedZones);
static constexpr size_t Nzones = std::tuple_size_v<decltype(prohibited_zones)>;
const auto p_mount_controls = &mount_controls;
const auto p_telemetry = &telemetry;
const auto p_hardware = &hardware;
const auto p_prohibited_zones = &prohibited_zones;
_guidingFunc = [p_mount_controls, this](guiding_point_t guiding_point) {
_guidingFunc = [p_telemetry, p_hardware, p_prohibited_zones, this](guiding_point_t guiding_point) {
_stopRequested = false;
if (guiding_point.correctionRange[0] >= guiding_point.correctionRange[1]) {
@@ -203,19 +212,14 @@ protected:
auto low_corr_limit = guiding_point.correctionRange[0] * guiding_point.correctionRange[0];
auto high_corr_limit = guiding_point.correctionRange[1] * guiding_point.correctionRange[1];
auto& astrom_engine = p_mount_controls->astrometryEngine;
auto& hardware = p_mount_controls->hardware;
auto& pec = p_mount_controls->PEC;
auto& telemetry = p_mount_controls->telemetry;
using coord_t = typename astrom_engine_t::coord_t;
using jd_t = typename astrom_engine_t::juldate_t;
jd_t jd;
// using coord_t = typename astrom_engine_t::coord_t;
// using jd_t = typename astrom_engine_t::juldate_t;
// jd_t jd;
error_t res_err;
typename astrom_engine_t::error_t ast_err;
typename pec_t::error_t pec_err;
// typename pec_t::error_t pec_err;
typename telemetry_t::error_t t_err;
typename telemetry_t::mount_telemetry_data_t t_data;
@@ -225,7 +229,7 @@ protected:
ax_pos.moving_type = hardware_t::hw_moving_type_t::HW_MOVE_GUIDING;
t_err = telemetry.setTarget(guiding_point);
t_err = p_telemetry->setTarget(guiding_point);
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()));
@@ -238,7 +242,7 @@ protected:
}
}
std::array<bool, std::tuple_size_v<tpl_pz_t>> in_zone_flag;
std::array<bool, Nzones> in_zone_flag;
while (true) {
if (_stopRequested) {
@@ -249,10 +253,13 @@ protected:
// suspend the thread here until telemetry data is updated
t_err = telemetry.waitForUpdatedData(t_data, guiding_point.telemetryUpdateTimeout);
t_err = p_telemetry->waitForUpdatedData(t_data, guiding_point.telemetryUpdateTimeout);
ax_pos.x = t_data.mntPosX;
ax_pos.y = t_data.mntPosY;
// check prohibited zones ...
if (mccCheckInZonePZTuple(t_data, p_mount_controls->prohibitedZones, in_zone_flag)) {
if (mccCheckInZonePZTuple(t_data, *p_prohibited_zones, in_zone_flag)) {
return MccSimpleGuidingModelErrorCode::ERROR_IN_PROHIBITED_ZONE;
};
@@ -279,9 +286,13 @@ protected:
// compare t_data with computed coordinates ...
if (_doCorrection) {
auto coord_diff = telemetry.targetToMountDiff();
auto coord_diff = p_telemetry->targetToMountDiff();
if (coord_diff.r2 < low_corr_limit) {
logWarn(
std::format("guiding model: the 'mount-target' square of difference is less than the limit "
"(diff = {}; lim = {}). Do not perfrom the corrections!",
(double)coord_diff.r2, (double)high_corr_limit));
continue;
}
@@ -294,22 +305,14 @@ protected:
}
// do correction
// current celestial position of target is already computed for current time point
// so one needs only correct apparent coordinates for PEC corrections
ax_pos.time_point = t_data.time_point;
if constexpr (mccIsEquatorialMount(pec_t::mountType)) {
ax_pos.x = t_data.tagHA - t_data.pecX;
ax_pos.y = t_data.tagDEC - t_data.pecY;
} else if constexpr (mccIsAltAzMount(pec_t::mountType)) {
ax_pos.x = t_data.tagAZ - t_data.pecX;
ax_pos.y = t_data.tagALT - t_data.pecY;
} else {
static_assert(false, "UNSUPPORTED MOUNT TYPE!");
ax_pos.x += coord_diff.xdiff;
if (guiding_point.dualAxisGuiding) {
ax_pos.y += coord_diff.ydiff;
}
// asynchronous operation!
auto err = hardware.setPos(ax_pos);
auto err = p_hardware->setPos(ax_pos);
if (err) {
if constexpr (std::same_as<decltype(err), error_t>) {
logError(