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This commit is contained in:
Timur A. Fatkhullin
2025-11-13 17:56:51 +03:00
parent b3a257fab6
commit 94fb4c6a48
7 changed files with 182 additions and 197 deletions
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191
mcc/mcc_telemetry.h
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@@ -51,7 +51,7 @@ struct MccTelemetryCategory : public std::error_category {
const char* name() const noexcept
{
return "ALTITUDE-LIMIT-PZ";
return "MCC-TELEMETRY";
}
std::string message(int ec) const
@@ -160,6 +160,20 @@ public:
if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
_data.target.X = _data.target.RA_ICRS;
_data.target.Y = _data.target.DEC_ICRS;
} else if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
_data.target.X = _data.target.AZ;
_data.target.Y = _data.target.ZD;
} else if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_AZALT) {
_data.target.X = _data.target.AZ;
_data.target.Y = _data.target.ALT;
} else if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
_data.target.X = _data.target.HA;
_data.target.Y = _data.target.DEC_APP;
} else if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
_data.target.X = _data.target.RA_APP;
_data.target.Y = _data.target.DEC_APP;
} else {
return MccTelemetryErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
}
auto ccte_err = controls->transformCoordinates(_data.target, &_data.target);
@@ -178,21 +192,24 @@ public:
if (_data.target.pair_kind != MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
// fixed apparent coordinates (AZZD or HADEC)
// needs to compute ICRS
if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
_data.target.X = _data.target.AZ;
_data.target.Y = _data.target.ZD;
} else if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_AZALT) {
_data.target.X = _data.target.AZ;
_data.target.Y = _data.target.ALT;
} else if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
_data.target.X = _data.target.HA;
_data.target.Y = _data.target.DEC_APP;
} else if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
_data.target.X = _data.target.RA_APP;
_data.target.Y = _data.target.DEC_APP;
} else {
return MccTelemetryErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
}
// (.X and .Y are already assigned above!)
// if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
// _data.target.X = _data.target.AZ;
// _data.target.Y = _data.target.ZD;
// } else if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_AZALT) {
// _data.target.X = _data.target.AZ;
// _data.target.Y = _data.target.ALT;
// } else if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
// _data.target.X = _data.target.HA;
// _data.target.Y = _data.target.DEC_APP;
// } else if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
// _data.target.X = _data.target.RA_APP;
// _data.target.Y = _data.target.DEC_APP;
// } else {
// return MccTelemetryErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
// }
MccCelestialPoint pt{.pair_kind = MccCoordPairKind::COORDS_KIND_RADEC_ICRS};
ccte_err = controls->transformCoordinates(_data.target, &pt);
@@ -228,76 +245,6 @@ public:
return MccTelemetryErrorCode::ERROR_OK;
};
/*
_updateTargetFunc = [controls, this](bool only_hw, std::stop_token stop_token) -> error_t {
if (!only_hw) {
//
// compute apparent coordinates
// ICRS coordinates of the taget must be already set
//
_data.target.time_point =
std::chrono::time_point_cast<typename decltype(_data.target.time_point)::duration>(
_data.time_point);
_data.target.pair_kind = MccCoordPairKind::COORDS_KIND_RADEC_ICRS;
_data.target.X = _data.target.RA_ICRS;
_data.target.Y = _data.target.DEC_ICRS;
// update apparent cordinates
auto ccte_err = controls->transformCoordinates(_data.target, &_data.target);
if (ccte_err) {
return mcc_deduce_error_code(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
}
}
if (stop_token.stop_requested()) {
return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
}
typename pcm_t::error_t pcm_err;
MccPCMResult pcm_res;
// MccCelestialPoint pt;
// pt.time_point =
// std::chrono::time_point_cast<typename decltype(pt.time_point)::duration>(_data.target.time_point);
pcm_err = controls->computeInversePCM(_data, &pcm_res, &_data);
// if constexpr (mccIsEquatorialMount(pcm_t::mountType)) {
// pcm_err = pcm->computeInversePCM(_data, &pcm_res, &_data);
// pt.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
// pt.X = _data.target.HA;
// pt.Y = _data.target.DEC_APP;
// pcm_err = pcm->computeInversePCM(std::move(pt), &pcm_res);
// if (!pcm_err) {
// _data.target.X = _data.target.HA - pcm_res.pcmX;
// _data.target.Y = _data.target.DEC_APP - pcm_res.pcmY;
// }
// } else if constexpr (mccIsAltAzMount(pcm_t::mountType)) {
// pt.pair_kind = MccCoordPairKind::COORDS_KIND_AZALT;
// pt.X = _data.target.AZ;
// pt.Y = _data.target.ALT;
// pcm_err = pcm->computeInversePCM(std::move(pt), &pcm_res);
// if (!pcm_err) {
// _data.target.X = _data.target.AZ - pcm_res.pcmX;
// _data.target.Y = _data.target.ALT - pcm_res.pcmY;
// }
// } else {
// static_assert(false, "UNKNOWN MOUNT TYPE!");
// }
if (pcm_err) {
return mcc_deduce_error_code(pcm_err, MccTelemetryErrorCode::ERROR_PCM_COMP);
}
return MccTelemetryErrorCode::ERROR_OK;
};
*/
_updateFunc = [controls, this](std::stop_token stop_token) -> std::error_code {
// first, update mount quantities
typename hardware_t::hardware_state_t hw_pos;
@@ -306,9 +253,9 @@ public:
return mcc_deduce_error_code(hw_err, MccTelemetryErrorCode::ERROR_HARDWARE_GETPOS);
}
if (stop_token.stop_requested()) {
return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
}
// if (stop_token.stop_requested()) {
// return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
// }
double eo;
@@ -323,10 +270,6 @@ public:
ccte_err = controls->juldayToAppSideral(_data.JD, &_data.LST, true);
if (!ccte_err) {
if (stop_token.stop_requested()) {
return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
}
ccte_err = controls->equationOrigins(_data.JD, &eo);
}
}
@@ -335,9 +278,9 @@ public:
return mcc_deduce_error_code(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
}
if (stop_token.stop_requested()) {
return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
}
// if (stop_token.stop_requested()) {
// return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
// }
_data.X = (double)hw_pos.X;
_data.Y = (double)hw_pos.Y;
@@ -350,9 +293,9 @@ public:
return mcc_deduce_error_code(pcm_err, MccTelemetryErrorCode::ERROR_PCM_COMP);
}
if (stop_token.stop_requested()) {
return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
}
// if (stop_token.stop_requested()) {
// return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
// }
MccCelestialPoint pt{.pair_kind = MccCoordPairKind::COORDS_KIND_AZALT, .time_point = _data.time_point};
@@ -391,9 +334,9 @@ public:
}
if (!ccte_err) {
if (stop_token.stop_requested()) {
return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
}
// if (stop_token.stop_requested()) {
// return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
// }
// to compute refraction coefficients
_data.pair_kind = MccCoordPairKind::COORDS_KIND_AZZD;
@@ -530,14 +473,18 @@ public:
_internalUpdatingFuture = std::async(
std::launch::async,
[this](std::stop_token stop_token) -> error_t {
// while (!stop_token.stop_requested()) {
while (true) {
while (!stop_token.stop_requested()) {
// while (true) {
_lastUpdateError = updateTelemetryData(defaultInternalUpdateTimeout);
if (_lastUpdateError) {
*_internalUpdating = false;
return _lastUpdateError;
}
// auto nn = std::this_thread::get_id();
// std::this_thread::sleep_for(_currentUpdateInterval);
{
std::lock_guard lock{*_currentUpdateIntervalMutex};
@@ -592,28 +539,30 @@ public:
error_t updateTelemetryData(traits::mcc_time_duration_c auto const& timeout)
{
std::lock_guard thread_lock{*_updateMutex};
{
std::lock_guard thread_lock{*_updateMutex};
std::stop_source stop_source;
std::stop_source stop_source;
*_isDataUpdated = false;
*_isDataUpdated = false;
std::future<error_t> update_ft = std::async(std::launch::async, _updateFunc, stop_source.get_token());
// std::future<error_t> update_ft =
// std::async(std::launch::async, _updateFunc, _internalUpdatingStopSource.get_token());
auto status = update_ft.wait_for(timeout);
std::future<error_t> update_ft = std::async(std::launch::async, _updateFunc, stop_source.get_token());
// std::future<error_t> update_ft =
// std::async(std::launch::async, _updateFunc, _internalUpdatingStopSource.get_token());
auto status = update_ft.wait_for(timeout);
if (status == std::future_status::ready) {
*_isDataUpdated = true;
_lastUpdateError = update_ft.get();
} else if (status == std::future_status::deferred) { // std::async was invoked in this thread, get result
_lastUpdateError = update_ft.get();
if (!_lastUpdateError) {
if (status == std::future_status::ready) {
*_isDataUpdated = true;
_lastUpdateError = update_ft.get();
} else if (status == std::future_status::deferred) { // std::async was invoked in this thread, get result
_lastUpdateError = update_ft.get();
if (!_lastUpdateError) {
*_isDataUpdated = true;
}
} else { // timeout
stop_source.request_stop();
_lastUpdateError = MccTelemetryErrorCode::ERROR_DATA_TIMEOUT;
}
} else { // timeout
stop_source.request_stop();
_lastUpdateError = MccTelemetryErrorCode::ERROR_DATA_TIMEOUT;
}
// unblock waiting threads even in the case of timeout!
@@ -631,7 +580,7 @@ public:
std::unique_lock ulock(*_updateMutex);
auto res = _updateCondVar->wait_for(ulock, timeout, [this]() -> bool { return _isDataUpdated.get(); });
auto res = _updateCondVar->wait_for(ulock, timeout, [this]() -> bool { return *_isDataUpdated; });
if (!res) {
return MccTelemetryErrorCode::ERROR_DATA_TIMEOUT;
}