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cxx/mcc_slew_model.h
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212
cxx/mcc_slew_model.h
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#pragma once
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/* MOUNT CONTROL COMPONENTS LIBRARY */
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/* A VERY SIMPLE SLEW MODEL GENERIC IMPLEMENTATION */
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#include "mcc_mount_concepts.h"
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namespace mcc
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{
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/*
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* WARNING: it is assumed that coordinates are in radians!
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* but this fact is only used if slew coordinate pair are given as
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* [azimuth, zenithal distance] (see sources code below)
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*/
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template <traits::mcc_mount_telemetry_c TELEMETRY_T>
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class MccSimpleSlewModel
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{
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public:
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typedef std::error_code error_t;
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struct slew_params_t {
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typedef mcc::MccAngle coord_t;
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mcc::MccCoordPairKind coordPairKind{mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP};
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coord_t x{0.0};
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coord_t y{0.0};
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bool stop{false};
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};
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template <traits::mcc_mount_hardware_c HARDWARE_T,
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traits::mcc_astrom_engine_c ASTROM_T,
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traits::mcc_mount_pec_c PEC_T>
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MccSimpleSlewModel(HARDWARE_T& hardware, ASTROM_T& astrom_engine, PEC_T& pec)
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{
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const auto p_hardware = &hardware;
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const auto p_astrom_engine = &astrom_engine;
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const auto p_pec = &pec;
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_slewFunc = [p_hardware, p_astrom_engine, p_pec](this auto&& self, const slew_params_t& slew_pars,
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TELEMETRY_T& telemetry) {
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using coord_t = typename ASTROM_T::coord_t;
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using jd_t = typename ASTROM_T::juldate_t;
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typename HARDWARE_T::axes_pos_t ax_pos;
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error_t res_err;
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typename ASTROM_T::error_t ast_err;
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if (slew_pars.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_XY) {
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// trivial case (the pair is interpretated as raw encoder coordinates)
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ax_pos.x = slew_pars.x;
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ax_pos.y = slew_pars.y;
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} else if (slew_pars.coordPairKind ==
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mcc::MccCoordPairKind::COORDS_KIND_RADEC_ICRS) { // catalog coordinates
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jd_t jd;
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coord_t ra_app, dec_app, ha, az, alt;
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typename ASTROM_T::eo_t eo;
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ast_err = p_astrom_engine->greg2jul(std::chrono::system_clock::now(), jd);
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if (!ast_err) {
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ast_err = p_astrom_engine->icrs2obs(slew_pars.x, slew_pars.y, jd, ra_app, dec_app, ha, az, alt, eo);
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if (!ast_err) {
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if constexpr (mccIsEquatorialMount(PEC_T::mountType)) {
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res_err = self({.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP,
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.x = ha,
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.y = dec_app,
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.stop = slew_pars.stop},
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telemetry);
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} else if constexpr (mccIsAltAzMount(PEC_T::mountType)) {
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res_err = self({.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_AZALT,
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.x = az,
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.y = alt,
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.stop = slew_pars.stop},
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telemetry);
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} else {
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static_assert(false, "UNKNOWN MOUNT TYPE!");
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}
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}
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}
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} else if (slew_pars.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_RADEC_APP) { // apparent
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jd_t jd;
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typename ASTROM_T::eo_t eo;
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ast_err = p_astrom_engine->greg2jul(std::chrono::system_clock::now(), jd);
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if (!ast_err) {
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typename ASTROM_T::sideral_time_t lst;
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ast_err = p_astrom_engine->apparentSiderTime(jd, lst, true);
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if (!ast_err) {
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ast_err = p_astrom_engine->eqOrigins(jd, eo);
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if (!ast_err) {
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res_err = self({.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP,
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.x = lst - slew_pars.x + eo, // HA = LST - RA_APP + EO
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.y = slew_pars.y,
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.stop = slew_pars.stop},
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telemetry);
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}
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}
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}
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} else if (slew_pars.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP) { // apparent
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if constexpr (mccIsEquatorialMount(PEC_T::mountType)) { // compute encoder coordinates
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coord_t eps = 1.0 / 3600.0 * std::numbers::pi / 180.0;
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typename PEC_T::pec_result_t pec_res;
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auto err = p_pec->reverseCompute(slew_pars.x, slew_pars.y, pec_res, eps, 10);
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if (!err) {
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res_err = self({.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_XY,
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.x = slew_pars.x - pec_res.dx,
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.y = slew_pars.y - pec_res.dy,
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.stop = slew_pars.stop},
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telemetry);
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}
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} else if constexpr (mccIsAltAzMount(PEC_T::mountType)) {
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coord_t az, alt;
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ast_err = p_astrom_engine->hadec2azalt(slew_pars.x, slew_pars.y, az, alt);
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if (!ast_err) {
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res_err = self({.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_AZALT,
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.x = az,
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.y = alt,
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.stop = slew_pars.stop},
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telemetry);
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}
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} else {
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static_assert(false, "UNKNOWN MOUNT TYPE!");
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}
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} else if (slew_pars.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_AZALT) {
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if constexpr (mccIsEquatorialMount(PEC_T::mountType)) {
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coord_t ha, dec;
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ast_err = p_astrom_engine->azalt2hadec(slew_pars.x, slew_pars.y, ha, dec);
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if (!ast_err) {
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res_err = self({.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP,
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.x = ha,
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.y = dec,
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.stop = slew_pars.stop},
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telemetry);
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}
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} else if constexpr (mccIsAltAzMount(PEC_T::mountType)) { // compute encoder coordinates
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coord_t eps = 1.0 / 3600.0 * std::numbers::pi / 180.0;
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typename PEC_T::pec_result_t pec_res;
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auto err = p_pec->reverseCompute(slew_pars.x, slew_pars.y, pec_res, eps, 10);
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if (!err) {
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res_err = self({.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_XY,
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.x = slew_pars.x - pec_res.dx,
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.y = slew_pars.y - pec_res.dy,
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.stop = slew_pars.stop},
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telemetry);
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}
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} else {
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static_assert(false, "UNKNOWN MOUNT TYPE!");
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}
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} else if (slew_pars.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_AZZD) {
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//
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// WARNING: it is assumed that coordinates are in radians!
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//
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res_err = self({.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_AZALT,
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.x = slew_pars.x,
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.y = std::numbers::pi / 2.0 - slew_pars.y,
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.stop = slew_pars.stop},
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telemetry);
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}
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if (res_err) {
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return res_err;
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}
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if (!ast_err) {
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auto err = p_hardware->setPos(std::move(ax_pos));
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while (true) {
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}
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}
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};
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}
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error_t slew(const slew_params_t& pars, TELEMETRY_T& telemetry)
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{
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error_t res_err = _slewFunc(pars, telemetry);
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return res_err;
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}
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protected:
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std::function<error_t(const slew_params_t&, TELEMETRY_T&)> _slewFunc{};
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};
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// static_assert(traits::mcc_slew_model_c<>);
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} // namespace mcc
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