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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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2
asibfm700/asibfm700_mount.cpp
View File

@ -102,7 +102,7 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
logInfo("");
logInfo("Setup slewing and tracking parameters ...");
mpars.slewRateX = _mountConfig.getValue<mcc::MccAngle>("hwMaxRateHA").value_or(0.0);
mpars.slewRateY = _mountConfig.getValue<mcc::MccAngle>("hwMaxRateDec").value_or(0.0);
mpars.slewRateY = _mountConfig.getValue<mcc::MccAngle>("hwMaxRateDEC").value_or(0.0);
auto st_err = setSlewingParams(mpars);
if (st_err) {
errorLogging(" An error occured while setting slewing parameters: ", st_err);

2
asibfm700/asibfm700_netserver.cpp
View File

@ -22,6 +22,8 @@ Asibfm700MountNetServer::Asibfm700MountNetServer(asio::io_context& ctx,
using output_msg_t = Asibfm700NetMessage<handle_message_func_result_t>;
output_msg_t output_msg;
auto nn = std::this_thread::get_id();
auto ec = parseMessage(command, input_msg);
if (ec) {

7
mcc/mcc_generic_mount.h
View File

@ -640,15 +640,18 @@ protected:
return;
}
bool slew_and_stop = event.eventData();
auto nn = std::this_thread::get_id();
// call base-class slewToTarget method!
auto err = static_cast<MOUNT_T*>(mount_ptr)->slewToTarget();
auto err = static_cast<MOUNT_T*>(mount_ptr)->slewToTarget(slew_and_stop);
if (err) {
mount_ptr->dispatchEvent(MccGenericFsmMountErrorEvent{mount_ptr, err});
return;
}
bool slew_and_stop = event.eventData();
if (slew_and_stop) { // after slewing switch to IDLE state
mount_ptr->dispatchEvent(MccGenericFsmMountIdleEvent{mount_ptr});
} else { // after slewing switch to tracking state

2
mcc/mcc_generics.h
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@ -916,7 +916,7 @@ concept mcc_slewing_model_c = requires(T t) {
// { t.setSlewingParams(std::declval<typename T::slewing_params_t>()) } -> std::same_as<typename T::error_t>;
{ t.getSlewingParams() } -> std::same_as<typename T::slewing_params_t>;
{ t.slewingCurrentError() } -> mcc_error_c;
// { t.slewingCurrentError() } -> mcc_error_c;
};

5
mcc/mcc_netserver.h
View File

@ -362,6 +362,7 @@ public:
auto sock = co_await acc.async_accept(asio::use_awaitable);
// start new client session
asio::co_spawn(_asioContext, startSession(std::move(sock)), asio::detached);
logDebug(std::format("session was spawned, start accepting new connections ..."));
}
@ -883,6 +884,8 @@ protected:
}
logInfo(std::format("Close client session: remote endpoint <{}> (thread ID = {})", r_epn, thr_id));
co_return;
}
};
@ -906,6 +909,8 @@ public:
using mount_error_t = typename MountT::error_t;
mount_error_t m_err;
auto nn = std::this_thread::get_id();
MccNetMessage input_msg;
using output_msg_t = MccNetMessage<handle_message_func_result_t>;
output_msg_t output_msg;

170
mcc/mcc_slewing_model.h
View File

@ -53,7 +53,7 @@ struct MccSimpleSlewingModelCategory : public std::error_category {
const char* name() const noexcept
{
return "SIMPLE-TRACKING-MODEL";
return "SIMPLE-SLEWING-MODEL";
}
std::string message(int ec) const
@ -214,7 +214,9 @@ public:
start_slewing_tp = std::chrono::steady_clock::now();
last_adjust_tp = start_slewing_tp;
while (true) {
// main loop (simply monitors the current position taking into account the prohibited zones, as well as the
// timeout of the entire process)
while (!*_stopSlewing) {
// wait for updated telemetry data
{
std::lock_guard lock{*_currentParamsMutex};
@ -263,91 +265,115 @@ public:
}
}
hw_err = controls->hardwareGetState(&hw_state);
if (hw_err) {
*_stopSlewing = true;
return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
}
t_err = controls->targetToMountDist(&dist);
if (t_err) {
*_stopSlewing = true;
return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY);
}
if (*_stopSlewing) {
return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
}
{
std::lock_guard lock{*_currentParamsMutex};
// if (adjust_mode && !_currentParams.slewAndStop) {
if (adjust_mode && !slew_and_stop) {
// do not allow mount speed fall below sideral
if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
// turn on sideral rate only if the current position point catches up with the target
if ((tdata.target.HA - tdata.HA) <= 0.0 && tdata.speedX < slewing_params_t::sideralRate) {
hw_state.X = (double)tdata.target.X;
hw_state.Y = (double)tdata.target.Y;
hw_state.speedX = slewing_params_t::sideralRate;
hw_state.moving_state = CONTROLS_T::hardware_moving_state_t::HW_MOVE_TRACKING;
hw_err = controls->hardwareSetState(hw_state);
if (hw_err) {
*_stopSlewing = true;
return mcc_deduce_error_code(hw_err,
MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
}
}
} else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
} else {
static_assert(false, "UNKNOWN MOUNT TYPE!!");
}
if (slew_and_stop) {
if (hw_state.moving_state == CONTROLS_T::hardware_moving_state_t::HW_MOVE_STOPPED) {
break;
}
} else { // just wait for mount to be stopped
t_err = controls->targetToMountDist(&dist);
if (t_err) {
*_stopSlewing = true;
return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY);
}
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;
}
break;
}
if (dist <= _currentParams.adjustCoordDiff) { // adjust mount pointing
auto now = std::chrono::steady_clock::now();
if ((now - last_adjust_tp) < _currentParams.adjustCycleInterval) {
continue;
}
hw_state.X = (double)tdata.target.X;
hw_state.Y = (double)tdata.target.Y;
// resend new position since target coordinates are changed in time
hw_state.X = (double)tdata.target.X;
hw_state.Y = (double)tdata.target.Y;
hw_state.speedX = _currentParams.adjustRateX;
hw_state.speedY = _currentParams.adjustRateY;
hw_state.moving_state = CONTROLS_T::hardware_moving_state_t::HW_MOVE_ADJUSTING;
hw_err = controls->hardwareSetState(hw_state);
if (hw_err) {
*_stopSlewing = true;
return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
}
last_adjust_tp = now;
adjust_mode = true;
} else {
adjust_mode = false;
hw_err = controls->hardwareSetState(hw_state);
if (hw_err) {
*_stopSlewing = true;
return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
}
}
if (*_stopSlewing) {
return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
}
// if (*_stopSlewing) {
// return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
// }
// {
// std::lock_guard lock{*_currentParamsMutex};
// // if (adjust_mode && !_currentParams.slewAndStop) {
// if (adjust_mode && !slew_and_stop) {
// // do not allow mount speed fall below sideral
// if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
// // turn on sideral rate only if the current position point catches up with the target
// if ((tdata.target.HA - tdata.HA) <= 0.0 && tdata.speedX < slewing_params_t::sideralRate)
// {
// hw_state.X = (double)tdata.target.X;
// hw_state.Y = (double)tdata.target.Y;
// hw_state.speedX = slewing_params_t::sideralRate;
// hw_state.moving_state = CONTROLS_T::hardware_moving_state_t::HW_MOVE_TRACKING;
// hw_err = controls->hardwareSetState(hw_state);
// if (hw_err) {
// *_stopSlewing = true;
// return mcc_deduce_error_code(hw_err,
// MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
// }
// }
// } else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
// } else {
// static_assert(false, "UNKNOWN MOUNT TYPE!!");
// }
// }
// 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;
// }
// }
// if (dist <= _currentParams.adjustCoordDiff) { // adjust mount pointing
// auto now = std::chrono::steady_clock::now();
// if ((now - last_adjust_tp) < _currentParams.adjustCycleInterval) {
// continue;
// }
// hw_state.X = (double)tdata.target.X;
// hw_state.Y = (double)tdata.target.Y;
// hw_state.speedX = _currentParams.adjustRateX;
// hw_state.speedY = _currentParams.adjustRateY;
// hw_state.moving_state = CONTROLS_T::hardware_moving_state_t::HW_MOVE_ADJUSTING;
// hw_err = controls->hardwareSetState(hw_state);
// if (hw_err) {
// *_stopSlewing = true;
// return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
// }
// last_adjust_tp = now;
// adjust_mode = true;
// } else {
// adjust_mode = false;
// }
// }
// if (*_stopSlewing) {
// return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
// }
}
return MccSimpleSlewingModelErrorCode::ERROR_OK;

191
mcc/mcc_telemetry.h
View File

@ -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;
}