...

cxx/mcc_mount_events_states.h

@@ -28,10 +28,7 @@ public:
 
     virtual ~MccMountEventBase() = default;
 
-    mount_t& mount() const
-    {
-        return _mount;
-    }
+    mount_t& mount() const { return _mount; }
 
 protected:
     MccMountEventBase(mount_t& mount) : _mount(mount) {}
@@ -78,10 +75,7 @@ struct MccMountEventError : public MccMountEventBase<MountT> {
 
     using event_data_t = std::error_code;
 
-    event_data_t eventData() const
-    {
-        return _error;
-    }
+    event_data_t eventData() const { return _error; }
 
     MccMountEventError(MountT& mount, const event_data_t& error) : base_t(mount), _error(error) {}
 
@@ -98,12 +92,9 @@ struct MccMountEventSlew : public MccMountEventBase<MountT> {
 
     static constexpr std::string_view ID = "MCC-MOUNT-SLEW-EVENT";
 
-    using event_data_t = typename MountT::slew_params_t;
+    using event_data_t = typename MountT::slew_model_t::slew_point_t;
 
-    event_data_t eventData() const
-    {
-        return _eventData;
-    }
+    event_data_t eventData() const { return _eventData; }
 
     MccMountEventSlew(MountT& mount, const event_data_t& ev_data) : base_t(mount), _eventData(ev_data) {}
 
@@ -120,9 +111,14 @@ struct MccMountEventGuiding : public MccMountEventBase<MountT> {
 
     static constexpr std::string_view ID = "MCC-MOUNT-GUIDING-EVENT";
 
-    // CTAD does not work for clang++ (at least till v. 20 and -std=c++23)!
-    // so, one must explicitly define constructor here
-    MccMountEventGuiding(MountT& mount) : base_t(mount) {}
+    using event_data_t = typename MountT::guiding_model_t::guiding_point_t;
+
+    event_data_t eventData() const { return _eventData; }
+
+    MccMountEventGuiding(MountT& mount, const event_data_t& ev_data) : base_t(mount), _eventData(ev_data) {}
+
+protected:
+    event_data_t _eventData;
 };
 
 
@@ -139,10 +135,7 @@ struct MccMountEventStop : public MccMountEventBase<MountT> {
         EVENT_STOP_BUTTON   // hardware button
     };
 
-    event_data_t eventData() const
-    {
-        return _reason;
-    }
+    event_data_t eventData() const { return _reason; }
 
     std::string_view reason() const
     {
@@ -286,7 +279,10 @@ struct MccMountStateStop : MccMountStateBase<MountT> {
 
         auto mount = event.mount();
 
-        mount.stopMount();
+        // should one check current state (slewing, guiding)?
+        mount.slewModel.stop();
+        mount.guidingModel.stop();
+        mount.hardware.stop();
 
         if constexpr (std::same_as<EvT, MccMountEventStop<MountT>>) {
             mount.logInfo(std::format("Stop reason: {}", event.reason()));
@@ -446,7 +442,8 @@ struct MccMountStateShutdown : MccMountStateBase<MountT> {
 
 
 // slew state
-
+// WARNING: It must be a friend to 'MountT' class if it inherits it base class mount_controls_t
+//          as protected or private!!!
 template <traits::mcc_fsm_log_mount_c MountT>
 struct MccMountStateSlew : MccMountStateBase<MountT> {
     static constexpr std::string_view ID = "MCC-MOUNT-SLEW-STATE";
@@ -472,7 +469,18 @@ struct MccMountStateSlew : MccMountStateBase<MountT> {
     {
         this->enterLog(event);
 
-        event.mount().slewMount(event.eventData());
+        auto slew_err = event.mount().slewModel.slew(event.eventData());
+        if (slew_err) {
+            if constexpr (std::same_as<decltype(slew_err), std::error_code>) {
+                event.mount().dispatchEvent(MccMountEventError<MountT>{event.mount(), slew_err});
+            } else {
+                // ...
+            }
+            return;
+        }
+
+        // switch to IDLE state
+        event.mount().template dispatchEvent<MccMountEventIDLE<MountT>>({event.mount()});
     }
 };
 
@@ -505,7 +513,17 @@ struct MccMountStateGuiding : MccMountStateBase<MountT> {
     {
         this->enterLog(event);
 
-        event.mount().startGuiding();
+        auto err = event.mount().guidingModel.guiding(event.eventData());
+        if (err) {
+            if constexpr (std::same_as<decltype(err), std::error_code>) {
+                event.mount().dispatchEvent(MccMountEventError<MountT>{event.mount(), err});
+            } else {
+                // ...
+            }
+        }
+
+        // switch to IDLE state
+        event.mount().template dispatchEvent<MccMountEventIDLE<MountT>>({event.mount()});
     }
 };