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This commit is contained in:
Timur A. Fatkhullin
2025-09-11 18:23:39 +03:00
parent ab49f927fb
commit 8e8cb543ae
6 changed files with 146 additions and 77 deletions
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132
mcc/mcc_generic_mount.h
View File

@@ -119,15 +119,11 @@ template <mcc_hardware_c HardwareT,
mcc_pzone_container_c PZoneContT,
mcc_slewing_model_c SlewModelT,
mcc_tracking_model_c TrackModelT,
// mcc_guiding_model_c GuidingModelT,
mcc_logger_c LoggerT = MccNullLogger>
class MccGenericMountFSM
: public fsm::MccFiniteStateMachine,
// public MccGenericMount<HardwareT, TelemetryT, PZoneContT, SlewModelT, TrackModelT, GuidingModelT, LoggerT>
public MccGenericMount<HardwareT, TelemetryT, PZoneContT, SlewModelT, TrackModelT, LoggerT>
class MccGenericMountFSM : public fsm::MccFiniteStateMachine,
public MccGenericMount<HardwareT, TelemetryT, PZoneContT, SlewModelT, TrackModelT, LoggerT>
{
protected:
// typedef MccGenericMount<HardwareT, TelemetryT, PZoneContT, SlewModelT, TrackModelT, GuidingModelT, LoggerT>
typedef MccGenericMount<HardwareT, TelemetryT, PZoneContT, SlewModelT, TrackModelT, LoggerT> base_gmount_t;
public:
@@ -206,14 +202,6 @@ public:
};
// to guiding state
// struct MccGenericMountEventGuiding : MccGenericMountBaseEvent {
// static constexpr std::string_view ID = "MCC-MOUNT-GUIDING-EVENT";
// MccGenericMountEventGuiding(MccGenericMountFSM& mount) : MccGenericMountBaseEvent(mount) {}
// };
// to stoping state
struct MccGenericMountEventStop : MccGenericMountBaseEvent {
static constexpr std::string_view ID = "MCC-MOUNT-STOP-EVENT";
@@ -226,6 +214,8 @@ public:
/* base class for states */
struct MccGenericMountBaseState {
static constexpr std::string_view ID{"BASE-STATE"};
virtual ~MccGenericMountBaseState() = default;
protected:
@@ -250,13 +240,15 @@ public:
// forward declarations
struct MccGenericMountStateInit;
struct MccGenericMountStateIDLE;
struct MccGenericMountStateError;
struct MccGenericMountStateError; // must be implemented in derived class
struct MccGenericMountStateSlew;
struct MccGenericMountStateTrack;
// struct MccGenericMountStateGuiding;
struct MccGenericMountStateStopping;
struct MccGenericMountStateUninit : MccGenericMountBaseState {
static constexpr std::string_view ID{"UNINITIALIZED-STATE"};
// from uninitialized state only INIT-event is permitted!
using transition_t = fsm::fsm_transition_table_t<std::pair<MccGenericMountEventInit, MccGenericMountStateInit>>;
@@ -274,16 +266,11 @@ public:
};
struct MccGenericMountStateInit : MccGenericMountBaseState {
static constexpr std::string_view ID{"INITIALIZING-STATE"};
using transition_t =
fsm::fsm_transition_table_t<std::pair<MccGenericMountEventIDLE, MccGenericMountStateIDLE>,
std::pair<MccGenericMountEventError, MccGenericMountStateError>>;
// fsm::fsm_transition_table_t<std::pair<MccGenericMountEventInit, MccGenericMountStateInit>,
// std::pair<MccGenericMountEventIDLE, MccGenericMountStateIDLE>,
// std::pair<MccGenericMountEventError, MccGenericMountStateError>,
// std::pair<MccGenericMountEventStop, MccGenericMountStateInit>,
// std::pair<MccGenericMountEventSlew, MccGenericMountStateInit>,
// std::pair<MccGenericMountEventTrack, MccGenericMountStateInit>,
// std::pair<MccGenericMountEventGuiding, MccGenericMountStateInit>>;
template <std::derived_from<MccGenericMountBaseEvent> EvT>
void exit(EvT& event)
@@ -306,6 +293,8 @@ public:
};
struct MccGenericMountStateIDLE : MccGenericMountBaseState {
static constexpr std::string_view ID{"IDLE-STATE"};
using transition_t =
fsm::fsm_transition_table_t<std::pair<MccGenericMountEventInit, MccGenericMountStateInit>,
std::pair<MccGenericMountEventError, MccGenericMountStateError>,
@@ -328,9 +317,22 @@ public:
struct MccGenericMountStateStopping : MccGenericMountBaseState {
static constexpr std::string_view ID{"STOPPING-STATE"};
using transition_t =
fsm::fsm_transition_table_t<std::pair<MccGenericMountEventIDLE, MccGenericMountStateIDLE>,
std::pair<MccGenericMountEventError, MccGenericMountStateError>>;
std::pair<MccGenericMountEventError, MccGenericMountStateError>,
std::pair<MccGenericMountEventStop, MccGenericMountStateStopping>>;
void exit(MccGenericMountEventStop& event)
{
event.mount().logWarn("It seems re-entering to stopping state was asked! Just ignore it!");
}
void enter(MccGenericMountEventStop& event)
{
event.mount().logWarn("It seems re-entering to stopping state was asked! Wait for mount stopping!");
}
template <std::derived_from<MccGenericMountBaseEvent> EvT>
void exit(EvT& event)
@@ -354,11 +356,28 @@ public:
struct MccGenericMountStateSlew : MccGenericMountBaseState {
static constexpr std::string_view ID{"SLEWING-STATE"};
using transition_t =
fsm::fsm_transition_table_t<std::pair<MccGenericMountEventIDLE, MccGenericMountStateIDLE>,
std::pair<MccGenericMountEventStop, MccGenericMountStateStopping>,
std::pair<MccGenericMountEventError, MccGenericMountStateError>,
std::pair<MccGenericMountEventTrack, MccGenericMountStateTrack>>;
std::pair<MccGenericMountEventTrack, MccGenericMountStateTrack>,
std::pair<MccGenericMountEventSlew, MccGenericMountStateSlew>>;
void exit(MccGenericMountEventSlew& event)
{
event.mount().logWarn(
"It seems re-entering to slewing state was asked! Do not stop the current slewing process, just ignore "
"this event!");
}
void enter(MccGenericMountEventSlew& event)
{
event.mount().logWarn(
"It seems re-entering to slewing state was asked! Do not start a new slewing process, just ignore this "
"event!");
}
template <std::derived_from<MccGenericMountBaseEvent> EvT>
void exit(EvT& event)
@@ -393,9 +412,26 @@ public:
struct MccGenericMountStateTrack : MccGenericMountBaseState {
static constexpr std::string_view ID{"TRACKING-STATE"};
using transition_t =
fsm::fsm_transition_table_t<std::pair<MccGenericMountEventStop, MccGenericMountStateStopping>,
std::pair<MccGenericMountEventError, MccGenericMountStateError>>;
std::pair<MccGenericMountEventError, MccGenericMountStateError>,
std::pair<MccGenericMountEventTrack, MccGenericMountStateTrack>>;
void exit(MccGenericMountEventTrack& event)
{
event.mount().logWarn(
"It seems re-entering to tracking state was asked! Do not stop the current tracking process, just "
"ignore this event!");
}
void enter(MccGenericMountEventTrack& event)
{
event.mount().logWarn(
"It seems re-entering to tracking state was asked! Do not start a new tracking process, just ignore "
"this event!");
}
template <std::derived_from<MccGenericMountBaseEvent> EvT>
void exit(EvT& event)
@@ -421,34 +457,14 @@ public:
};
// struct MccGenericMountStateGuiding : MccGenericMountBaseState {
// using transition_t =
// fsm::fsm_transition_table_t<std::pair<MccGenericMountEventStop, MccGenericMountStateStopping>,
// std::pair<MccGenericMountEventError, MccGenericMountStateError>,
// std::pair<MccGenericMountEventTrack, MccGenericMountStateTrack>>;
using LoggerT::logDebug;
using LoggerT::logError;
using LoggerT::logInfo;
using LoggerT::logWarn;
// template <std::derived_from<MccGenericMountBaseEvent> EvT>
// void exit(EvT& event)
// {
// error_t err = event.mount()._stopGuidingMount();
// if (err) {
// event.mount().dispatchEvent(MccGenericMountEventError{event.mount(), err});
// }
// this->exitLog(event);
// }
// template <std::derived_from<MccGenericMountBaseEvent> EvT>
// void enter(EvT& event)
// {
// this->enterLog(event);
// error_t err = event.mount()._startGuidingMount();
// if (err) {
// event.mount().dispatchEvent(MccGenericMountEventError{event.mount(), err});
// }
// }
// };
using typename SlewModelT::slewing_params_t;
using typename TrackModelT::tracking_params_t;
/* CONSTRUCTORS AND DESTRUCTOR */
@@ -477,6 +493,11 @@ public:
// reimplementation of base-class methods to adapt it to FSM-behavior
auto initMount()
{
if (_currentStateID == MccGenericMountStateInit::ID) {
logWarn("Already in initializing state! Ignore!");
return;
}
this->dispatchEvent(MccGenericMountEventInit{*this});
}
@@ -506,15 +527,6 @@ public:
this->dispatchEvent(MccGenericMountEventIDLE{*this});
}
// auto startGuidingTarget()
// {
// this->dispatchEvent(MccGenericMountEventGuiding{*this});
// }
// auto stopGuidingTarget()
// {
// this->dispatchEvent(MccGenericMountEventTrack{*this});
// }
protected:
// wrappers

11
mcc/mcc_generics.h
View File

@@ -896,20 +896,23 @@ concept mcc_all_controls_c = mcc_position_controls_c<T> && mcc_telemetry_c<T> &&
// 3) slewing and tracking, stop and init mount methods
template <typename T>
concept mcc_generic_mount_c = mcc_telemetry_c<T> && mcc_pzone_container_c<T> && requires(T t) {
requires mcc_error_c<typename T::error_t>;
// requires mcc_error_c<typename T::error_t>;
// slew mount to target (target coordinates were defined in telemetry data)
{ t.slewToTarget() } -> std::same_as<typename T::error_t>;
{ t.slewToTarget() };
// { t.slewToTarget() } -> std::same_as<typename T::error_t>;
// track target, i.e., the mount moves with celestial speed
{ t.trackTarget() } -> std::same_as<typename T::error_t>;
{ t.trackTarget() };
// { t.trackTarget() } -> std::same_as<typename T::error_t>;
// { t.startGuidingTarget() } -> std::same_as<typename T::error_t>;
// { t.stopGuidingTarget() } -> std::same_as<typename T::error_t>;
// stop any movement
{ t.stopMount() } -> std::same_as<typename T::error_t>;
{ t.stopMount() };
// { t.stopMount() } -> std::same_as<typename T::error_t>;
// init mount
{ t.initMount() };

24
mcc/mcc_slewing_model.h
View File

@@ -27,6 +27,8 @@ enum class MccSimpleSlewingModelErrorCode : int {
ERROR_NEAR_PZONE,
ERROR_TIMEOUT,
ERROR_UNEXPECTED_AXIS_RATES,
ERROR_ALREADY_SLEW,
ERROR_ALREADY_STOPPED,
ERROR_STOPPED
};
@@ -63,6 +65,8 @@ public:
MccSimpleSlewingModel(CONTROLS_T* controls)
: _stopSlewing(new std::atomic_bool()), _currentParamsMutex(new std::mutex)
{
*_stopSlewing = true;
_slewingFunc = [controls, this]() -> error_t {
// first, check target coordinates
typename CONTROLS_T::error_t t_err;
@@ -80,10 +84,12 @@ public:
bool in_zone;
auto pz_err = controls->inPZone(tdata.target, &in_zone);
if (pz_err) {
*_stopSlewing = true;
return mcc_deduce_error<error_t>(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
}
if (in_zone) {
*_stopSlewing = true;
return MccSimpleSlewingModelErrorCode::ERROR_TARGET_IN_PZONE;
}
@@ -110,6 +116,7 @@ public:
auto hw_err = controls->hardwareGetState(&hw_state);
if (hw_err) {
*_stopSlewing = true;
return mcc_deduce_error<error_t>(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
}
@@ -133,6 +140,7 @@ public:
// start slewing
hw_err = controls->hardwareSetState(hw_state);
if (hw_err) {
*_stopSlewing = true;
return mcc_deduce_error<error_t>(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
}
@@ -155,6 +163,7 @@ public:
t_err = controls->waitForTelemetryData(&tdata, _currentParams.telemetryTimeout);
if (t_err) {
*_stopSlewing = true;
return mcc_deduce_error<error_t>(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
}
}
@@ -176,11 +185,13 @@ public:
pz_err = controls->inPZone(cpt, &in_zone);
if (pz_err) {
*_stopSlewing = true;
return mcc_deduce_error<error_t>(pz_err,
MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
}
if (in_zone) {
*_stopSlewing = true;
return MccSimpleSlewingModelErrorCode::ERROR_NEAR_PZONE;
}
@@ -196,11 +207,13 @@ public:
hw_err = controls->hardwareGetState(&hw_state);
if (hw_err) {
*_stopSlewing = true;
return mcc_deduce_error<error_t>(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
}
t_err = controls->targetToMountDist(&dist);
if (t_err) {
*_stopSlewing = true;
return mcc_deduce_error<error_t>(t_err, MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY);
}
@@ -225,6 +238,7 @@ public:
hw_err = controls->hardwareSetState(hw_state);
if (hw_err) {
*_stopSlewing = true;
return mcc_deduce_error<error_t>(hw_err,
MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
}
@@ -238,6 +252,7 @@ public:
if (dist <= _currentParams.slewToleranceRadius) { // stop slewing and exit from cycle
if (hw_state.moving_state ==
CONTROLS_T::hardware_moving_state_t::HW_MOVE_STOPPED) { // mount was stopped
*_stopSlewing = true;
break;
}
}
@@ -258,6 +273,7 @@ public:
hw_err = controls->hardwareSetState(hw_state);
if (hw_err) {
*_stopSlewing = true;
return mcc_deduce_error<error_t>(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
}
@@ -291,6 +307,10 @@ public:
error_t slewToTarget()
{
if (!(*_stopSlewing)) {
return MccSimpleSlewingModelErrorCode::ERROR_ALREADY_SLEW;
}
*_stopSlewing = false;
return _slewingFunc();
@@ -299,6 +319,10 @@ public:
error_t stopSlewing()
{
if (*_stopSlewing) {
return MccSimpleSlewingModelErrorCode::ERROR_ALREADY_STOPPED;
}
*_stopSlewing = true;
return MccSimpleSlewingModelErrorCode::ERROR_OK;