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This commit is contained in:
Timur A. Fatkhullin 2025-05-19 14:21:04 +03:00
parent d0674d15a6
commit 88d4b30a58
2 changed files with 35 additions and 5 deletions
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3
cxx/mount.h
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@ -87,8 +87,9 @@ struct MccMountPosition {
mnt_coord_t mntAZ, mntZD; mnt_coord_t mntAZ, mntZD;
mnt_coord_t mntPA; mnt_coord_t mntPA;
// encoder-measured current mount moving speed (in radians/s) // encoder-measured (non-corrected for PCS) current mount position and moving speed (in radians, radians/s)
// X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ZD for horizontal-type one // X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ZD for horizontal-type one
mnt_coord_t mntPosX, mntPosY;
mnt_speed_t mntSpeedX, mntSpeedY; mnt_speed_t mntSpeedX, mntSpeedY;
// current refraction coefficient (for tagZD) // current refraction coefficient (for tagZD)

37
cxx/mount_state.h
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@ -6,8 +6,15 @@
namespace mcc::traits namespace mcc::traits
{ {
template <typename T, mcc::MccMountType MOUNT_TYPE> // template <typename T, mcc::MccMountType MOUNT_TYPE>
concept mcc_mount_c = std::derived_from<T, mcc::MccMount<MOUNT_TYPE>>; // concept mcc_mount_c = std::derived_from<T, mcc::MccMount<MOUNT_TYPE>>;
template <typename T>
concept mcc_mount_c = requires {
typename T::mount_config_t;
requires std::same_as<decltype(T::mountType), MccMountType>;
requires std::derived_from<T, mcc::MccMount<T::mountType, typename T::mount_config_t>>;
};
} // namespace mcc::traits } // namespace mcc::traits
@ -28,8 +35,7 @@ public:
// helper // helper
static constexpr auto mcc_noop_callback = [](const mount_state_error_t&) {}; static constexpr auto mcc_noop_callback = [](const mount_state_error_t&) {};
template <MccMountType MOUNT_TYPE> MccMountAbstractState(traits::mcc_mount_c auto* mount_ptr,
MccMountAbstractState(traits::mcc_mount_c<MOUNT_TYPE> auto* mount_ptr,
std::convertible_to<enter_callback_t> auto&& enter_callback, std::convertible_to<enter_callback_t> auto&& enter_callback,
std::convertible_to<exit_callback_t> auto&& exit_callback, std::convertible_to<exit_callback_t> auto&& exit_callback,
std::convertible_to<error_callback_t> auto&& error_callback) std::convertible_to<error_callback_t> auto&& error_callback)
@ -74,4 +80,27 @@ public:
} }
}; };
/* */
class MccMountStateSlew
{
public:
enum coords_kind_t { COORDS_KIND_RADEC_IRCS, COORDS_KIND_RADEC_APP, COORDS_KIND_HADEC_APP, COORDS_KIND_AZALT };
struct slew_state_params_t {
coords_kind_t coordKind{COORDS_KIND_RADEC_APP};
MccAngle x, y; // according to 'coordKind'
bool stop{false}; // stop after
};
MccMountStateSlew() {}
std::string_view ident() const
{
return "MCC-MOUNT-STATE-SLEW";
}
};
} // namespace mcc } // namespace mcc