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This commit is contained in:
Timur A. Fatkhullin
2025-08-01 17:55:55 +03:00
parent 750d29ceb9
commit 9bfe1c3ad5
9 changed files with 125 additions and 265 deletions
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41
cxx/mcc_slew_model.h
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@@ -121,35 +121,7 @@ public:
static constexpr size_t defaultAdjustSuccessCycles = 5;
struct slew_point_t : MccCelestialPoint {
// target-mount coordinate difference to start adjusting of slewing (in radians)
coord_t adjustCoordDiff{(double)MccAngle{10.0_degs}};
// coordinates difference to stop slewing (in radians)
coord_t slewToleranceRadius{(double)MccAngle{5.0_arcsecs}};
// slew process timeout
std::chrono::seconds slewTimeout{3600};
std::chrono::duration<double> telemetryPollingInterval{0.1};
// if true - stop mount after the slewing
bool stopAfterSlew{false};
coord_t slewXRate{0.0}; // maximal slewing rate (0 means move with maximal allowed rate)
coord_t slewYRate{0.0}; // maximal slewing rate (0 means move with maximal allowed rate)
coord_t adjustXRate{
(double)MccAngle{5.0_arcmins}}; // maximal adjusting rate (a rate at the final slewing stage)
coord_t adjustYRate{
(double)MccAngle{5.0_arcmins}}; // maximal adjusting rate (a rate at the final slewing stage)
// number of consecutive measurements within slewToleranceRadius radius to stop adjusting of slewing
size_t withinToleranceCycleNumber{10};
// maximal allowed number of adjusting cycles
size_t maxAdjustingCycleNumber{100};
};
using slew_point_t = MccSlewAndGuidingPoint;
template <traits::mcc_mount_controls_c MOUNT_CONTROLS_T, typename... LoggerCtorArgTs>
@@ -233,8 +205,8 @@ protected:
coord_t ra_icrs, dec_icrs;
if (slew_point.adjustSuccessCycles == 0) {
slew_point.adjustSuccessCycles = 5;
if (slew_point.withinToleranceCycleNumber == 0) {
slew_point.withinToleranceCycleNumber = MccSlewAndGuidingPoint::defaultWithinToleranceCycleNumber;
}
// first, compute encoder coordinates
@@ -392,16 +364,11 @@ protected:
auto start_poll_tm = std::chrono::steady_clock::now();
// auto timeout_point = std::chrono::steady_clock::now() + slew_point.slewTimeout;
auto wait_timeout = slew_point.slewTimeout / 5;
if (wait_timeout < std::chrono::seconds(1)) {
wait_timeout = std::chrono::seconds(1);
}
// NOTE: TARGET COORDINATES WILL BE UPDATED FOR CURRENT TIME-POINT IN TELEMETRY-CLASS!!!
while (true) {
t_err = telemetry.waitForUpdatedData(t_data, wait_timeout);
t_err = telemetry.waitForUpdatedData(t_data, slew_point.telemetryUpdateTimeout);
if (t_err) {
std::string err_str = "An error occured while waiting for updated telemetry";