From 8da923f9e71bcdc76ce59b811f9bc9b15102abe1 Mon Sep 17 00:00:00 2001
From: "Timur A. Fatkhullin" <timur@sao.ru>
Date: Mon, 10 Mar 2025 17:18:59 +0300
Subject: [PATCH] ...

---
 cxx/mount.h | 25 ++++++++++++++++---------
 1 file changed, 16 insertions(+), 9 deletions(-)

diff --git a/cxx/mount.h b/cxx/mount.h
index bfe65ff..772d5b1 100644
--- a/cxx/mount.h
+++ b/cxx/mount.h
@@ -2,6 +2,7 @@
 
 /*  MOUNT CONTROL COMPONENTS LIBRARY  */
 
+#include <atomic>
 #include <concepts>
 #include <cstdint>
 #include <functional>
@@ -29,7 +30,8 @@ concept mcc_mount_state_c = requires(T t, const T t_const) {
 template <MccMountType MOUNT_TYPE>
 class MccMount
 {
-    typedef double coord_t;
+    typedef double mnt_coord_t;
+    typedef double mnt_speed_t;
     typedef double time_point_t;
 
 public:
@@ -41,20 +43,24 @@ public:
         time_point_t siderTime;  // sideral time
 
         // target (user-input) current coordinates (in radians)
-        coord_t tagRA, tagDEC;
-        coord_t tagHA;
-        coord_t tagAZ, tagZD;
+        mnt_coord_t tagRA, tagDEC;
+        mnt_coord_t tagHA;
+        mnt_coord_t tagAZ, tagZD;
 
         // encoder-measured current mount coordinates (in radians)
-        coord_t mntRA, mntDEC;
-        coord_t mntHA;
-        coord_t mntAZ, mntZD;
+        mnt_coord_t mntRA, mntDEC;
+        mnt_coord_t mntHA;
+        mnt_coord_t mntAZ, mntZD;
+
+        // encoder-measured current mount moving speed (in radians/s)
+        mnt_speed_t mntSpeedX,
+            mntSpeedY;  // X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ZD for horizontal-type one
 
         // current refraction coefficient
-        coord_t currRefr;
+        mnt_coord_t currRefr;
 
         // PCS (pointing correction system) corrections
-        coord_t pcsX, pcsY;  // X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ZD for horizontal-type one
+        mnt_coord_t pcsX, pcsY;  // X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ZD for horizontal-type one
 
         // mount current state
     };
@@ -80,6 +86,7 @@ public:
 protected:
     std::function<void()> _exitCurrentState;
 
+    std::atomic<mount_state_t> _mountCurrentState;
 
     void updateMountState() {}
 };