...

mcc/mcc_generic_mount.h

@@ -136,6 +136,9 @@ public:
 
     using fsm::MccFiniteStateMachine::currentStateID;
 
+    using typename MOUNT_T::slewing_params_t;
+    using typename MOUNT_T::tracking_params_t;
+
 protected:
     /*  default events implementation  */
 
@@ -333,6 +336,120 @@ protected:
     };
 
 
+    template <fsm::traits::fsm_state_c ERROR_STATE_T>
+    struct MccGenericFsmMountSlewState : MccGenericFsmMountBaseState {
+        static constexpr std::string_view ID{"GENERIC-MOUNT-SLEW-STATE"};
+
+        using transition_t = fsm::fsm_transition_table_t<
+            std::pair<MccGenericFsmMountIdleEvent, MccGenericFsmMountIdleState<ERROR_STATE_T>>,
+            std::pair<MccGenericFsmMountErrorEvent, ERROR_STATE_T>,
+            std::pair<MccGenericFsmMountTrackEvent, MccGenericFsmMountTrackState<ERROR_STATE_T>>,
+            std::pair<MccGenericFsmMountSlewEvent, MccGenericFsmMountSlewState>>;
+
+
+        void exit(MccGenericFsmMountSlewEvent& event)
+        {
+            if constexpr (mcc_generic_log_mount_c<MOUNT_T>) {
+                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(MccGenericFsmMountSlewEvent& event)
+        {
+            if constexpr (mcc_generic_log_mount_c<MOUNT_T>) {
+                event.mount()->logWarn(
+                    "It seems re-entering to slewing state was asked! Do not start a new slewing process, just ignore "
+                    "this event!");
+            }
+        }
+
+        void exit(fsm::traits::fsm_event_c auto& event)
+        {
+            exitLog(event);
+        }
+
+        void enter(fsm::traits::fsm_event_c auto& event)
+        {
+            enterLog(event);
+
+            auto* mount_ptr = event.mount();
+
+            // call base-class stopMount method!
+            auto err = static_cast<MOUNT_T*>(mount_ptr)->slewToTarget();
+            if (err) {
+                mount_ptr->dispatchEvent(MccGenericFsmMountErrorEvent{mount_ptr});
+                return;
+            }
+
+
+            MccGenericFsmMount::slewing_params_t params;
+            mount_ptr->getSlewingParams(&params);
+            if (params.slewAndStop) {  // after slewing switch to IDLE state
+                mount_ptr->dispatchEvent(MccGenericFsmMountIdleEvent{mount_ptr});
+            } else {  // after slewing switch to tracking state
+                mount_ptr->dispatchEvent(MccGenericFsmMountTrackEvent{mount_ptr});
+            }
+        }
+    };
+
+
+
+    template <fsm::traits::fsm_state_c ERROR_STATE_T>
+    struct MccGenericFsmMountTrackState : MccGenericFsmMountBaseState {
+        static constexpr std::string_view ID{"GENERIC-MOUNT-TRACK-STATE"};
+
+        using transition_t = fsm::fsm_transition_table_t<
+            std::pair<MccGenericFsmMountIdleEvent, MccGenericFsmMountIdleState<ERROR_STATE_T>>,
+            std::pair<MccGenericFsmMountErrorEvent, ERROR_STATE_T>,
+            std::pair<MccGenericFsmMountTrackEvent, MccGenericFsmMountTrackState>>;
+
+
+        void exit(MccGenericFsmMountTrackEvent& event)
+        {
+            if constexpr (mcc_generic_log_mount_c<MOUNT_T>) {
+                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(MccGenericFsmMountTrackEvent& event)
+        {
+            if constexpr (mcc_generic_log_mount_c<MOUNT_T>) {
+                event.mount()->logWarn(
+                    "It seems re-entering to tracking state was asked! Do not start a new tracking process, just "
+                    "ignore this event!");
+            }
+        }
+
+        void exit(fsm::traits::fsm_event_c auto& event)
+        {
+            exitLog(event);
+        }
+
+        void enter(fsm::traits::fsm_event_c auto& event)
+        {
+            enterLog(event);
+
+            auto* mount_ptr = event.mount();
+
+            // call base-class stopMount method!
+            auto err = static_cast<MOUNT_T*>(mount_ptr)->trackTarget();
+            if (err) {
+                mount_ptr->dispatchEvent(MccGenericFsmMountErrorEvent{mount_ptr});
+                return;
+            }
+
+            // after stop trackin switch to IDLE state
+
+            mount_ptr->dispatchEvent(MccGenericFsmMountIdleEvent{mount_ptr});
+        }
+    };
+
+
+
     template <fsm::traits::fsm_state_c ERROR_STATE_T>
     struct MccGenericFsmMountStopState : MccGenericFsmMountBaseState {
         static constexpr std::string_view ID{"GENERIC-MOUNT-STOP-STATE"};
@@ -420,9 +537,9 @@ protected:
 
 
 public:
-    MccGenericFsmMount(
-        MOUNT_T mount,
-        fsm::traits::fsm_state_c auto start_state = MccGenericFsmMountStartState<MccGenericFsmMountErrorState>{})
+    template <fsm::traits::fsm_state_c ERROR_STATE_T = MccGenericFsmMountErrorState>
+    MccGenericFsmMount(MOUNT_T mount,
+                       fsm::traits::fsm_state_c auto start_state = MccGenericFsmMountStartState<ERROR_STATE_T>{})
         : MOUNT_T(std::move(mount)), fsm::MccFiniteStateMachine(std::move(start_state))
     {
     }