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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
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@@ -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