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This commit is contained in:
Timur A. Fatkhullin 2025-03-10 17:18:59 +03:00
parent 96cf21dbf7
commit 8da923f9e7
1 changed files with 16 additions and 9 deletions
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25
cxx/mount.h
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@ -2,6 +2,7 @@
/* MOUNT CONTROL COMPONENTS LIBRARY */ /* MOUNT CONTROL COMPONENTS LIBRARY */
#include <atomic>
#include <concepts> #include <concepts>
#include <cstdint> #include <cstdint>
#include <functional> #include <functional>
@ -29,7 +30,8 @@ concept mcc_mount_state_c = requires(T t, const T t_const) {
template <MccMountType MOUNT_TYPE> template <MccMountType MOUNT_TYPE>
class MccMount class MccMount
{ {
typedef double coord_t; typedef double mnt_coord_t;
typedef double mnt_speed_t;
typedef double time_point_t; typedef double time_point_t;
public: public:
@ -41,20 +43,24 @@ public:
time_point_t siderTime; // sideral time time_point_t siderTime; // sideral time
// target (user-input) current coordinates (in radians) // target (user-input) current coordinates (in radians)
coord_t tagRA, tagDEC; mnt_coord_t tagRA, tagDEC;
coord_t tagHA; mnt_coord_t tagHA;
coord_t tagAZ, tagZD; mnt_coord_t tagAZ, tagZD;
// encoder-measured current mount coordinates (in radians) // encoder-measured current mount coordinates (in radians)
coord_t mntRA, mntDEC; mnt_coord_t mntRA, mntDEC;
coord_t mntHA; mnt_coord_t mntHA;
coord_t mntAZ, mntZD; 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 // current refraction coefficient
coord_t currRefr; mnt_coord_t currRefr;
// PCS (pointing correction system) corrections // 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 // mount current state
}; };
@ -80,6 +86,7 @@ public:
protected: protected:
std::function<void()> _exitCurrentState; std::function<void()> _exitCurrentState;
std::atomic<mount_state_t> _mountCurrentState;
void updateMountState() {} void updateMountState() {}
}; };