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This commit is contained in:
Timur A. Fatkhullin 2025-08-27 12:17:52 +03:00
parent 31cf0a45dd
commit 9fb33e5bec
1 changed files with 213 additions and 18 deletions
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231
mcc/mcc_generic_mount.h
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@ -130,6 +130,8 @@ protected:
base_gmount_t; base_gmount_t;
public: public:
typedef typename base_gmount_t::error_t error_t;
/* EVENTS AND STATES DEFINITION */ /* EVENTS AND STATES DEFINITION */
@ -163,8 +165,6 @@ public:
struct MccGenericMountEventError : MccGenericMountBaseEvent { struct MccGenericMountEventError : MccGenericMountBaseEvent {
static constexpr std::string_view ID = "MCC-MOUNT-ERROR-EVENT"; static constexpr std::string_view ID = "MCC-MOUNT-ERROR-EVENT";
typedef typename base_gmount_t::error_t error_t;
MccGenericMountEventError(MccGenericMountFSM& mount, const error_t& err) MccGenericMountEventError(MccGenericMountFSM& mount, const error_t& err)
: MccGenericMountBaseEvent(mount), _error(err) : MccGenericMountBaseEvent(mount), _error(err)
{ {
@ -257,14 +257,7 @@ public:
struct MccGenericMountStateUninit : MccGenericMountBaseState { struct MccGenericMountStateUninit : MccGenericMountBaseState {
// from uninitialized state only INIT-event is permitted! // from uninitialized state only INIT-event is permitted!
using transition_t = using transition_t = fsm::fsm_transition_table_t<std::pair<MccGenericMountEventInit, MccGenericMountStateInit>>;
fsm::fsm_transition_table_t<std::pair<MccGenericMountEventInit, MccGenericMountStateInit>,
std::pair<MccGenericMountEventIDLE, MccGenericMountStateUninit>,
std::pair<MccGenericMountEventError, MccGenericMountStateUninit>,
std::pair<MccGenericMountEventStop, MccGenericMountStateUninit>,
std::pair<MccGenericMountEventSlew, MccGenericMountStateUninit>,
std::pair<MccGenericMountEventTrack, MccGenericMountStateUninit>,
std::pair<MccGenericMountEventGuiding, MccGenericMountStateUninit>>;
template <std::derived_from<MccGenericMountBaseEvent> EvT> template <std::derived_from<MccGenericMountBaseEvent> EvT>
void exit(EvT& event) void exit(EvT& event)
@ -281,13 +274,15 @@ public:
struct MccGenericMountStateInit : MccGenericMountBaseState { struct MccGenericMountStateInit : MccGenericMountBaseState {
using transition_t = using transition_t =
fsm::fsm_transition_table_t<std::pair<MccGenericMountEventInit, MccGenericMountStateInit>, fsm::fsm_transition_table_t<std::pair<MccGenericMountEventIDLE, MccGenericMountStateIDLE>,
std::pair<MccGenericMountEventIDLE, MccGenericMountStateIDLE>, std::pair<MccGenericMountEventError, MccGenericMountStateError>>;
std::pair<MccGenericMountEventError, MccGenericMountStateError>, // fsm::fsm_transition_table_t<std::pair<MccGenericMountEventInit, MccGenericMountStateInit>,
std::pair<MccGenericMountEventStop, MccGenericMountStateInit>, // std::pair<MccGenericMountEventIDLE, MccGenericMountStateIDLE>,
std::pair<MccGenericMountEventSlew, MccGenericMountStateInit>, // std::pair<MccGenericMountEventError, MccGenericMountStateError>,
std::pair<MccGenericMountEventTrack, MccGenericMountStateInit>, // std::pair<MccGenericMountEventStop, MccGenericMountStateInit>,
std::pair<MccGenericMountEventGuiding, MccGenericMountStateInit>>; // std::pair<MccGenericMountEventSlew, MccGenericMountStateInit>,
// std::pair<MccGenericMountEventTrack, MccGenericMountStateInit>,
// std::pair<MccGenericMountEventGuiding, MccGenericMountStateInit>>;
template <std::derived_from<MccGenericMountBaseEvent> EvT> template <std::derived_from<MccGenericMountBaseEvent> EvT>
void exit(EvT& event) void exit(EvT& event)
@ -309,6 +304,153 @@ public:
} }
}; };
struct MccGenericMountStateIDLE : MccGenericMountBaseState {
using transition_t =
fsm::fsm_transition_table_t<std::pair<MccGenericMountEventInit, MccGenericMountStateInit>,
std::pair<MccGenericMountEventError, MccGenericMountStateError>,
std::pair<MccGenericMountEventStop, MccGenericMountStateStopping>,
std::pair<MccGenericMountEventSlew, MccGenericMountStateSlew>,
std::pair<MccGenericMountEventTrack, MccGenericMountStateTrack>>;
template <std::derived_from<MccGenericMountBaseEvent> EvT>
void exit(EvT& event)
{
this->exitLog(event);
}
template <std::derived_from<MccGenericMountBaseEvent> EvT>
void enter(EvT& event)
{
this->enterLog(event);
}
};
struct MccGenericMountStateStopping : MccGenericMountBaseState {
using transition_t =
fsm::fsm_transition_table_t<std::pair<MccGenericMountEventIDLE, MccGenericMountStateIDLE>,
std::pair<MccGenericMountEventError, MccGenericMountStateError>>;
template <std::derived_from<MccGenericMountBaseEvent> EvT>
void exit(EvT& event)
{
this->exitLog(event);
}
template <std::derived_from<MccGenericMountBaseEvent> EvT>
void enter(EvT& event)
{
this->enterLog(event);
error_t err = event.mount()._stopMount();
if (err) {
event.mount().dispatchEvent(MccGenericMountEventError{event.mount(), err});
} else {
event.mount().dispatchEvent(MccGenericMountEventIDLE{event.mount()});
}
}
};
struct MccGenericMountStateSlew : MccGenericMountBaseState {
using transition_t =
fsm::fsm_transition_table_t<std::pair<MccGenericMountEventIDLE, MccGenericMountStateIDLE>,
std::pair<MccGenericMountEventStop, MccGenericMountStateStopping>,
std::pair<MccGenericMountEventError, MccGenericMountStateError>,
std::pair<MccGenericMountEventTrack, MccGenericMountStateTrack>>;
template <std::derived_from<MccGenericMountBaseEvent> EvT>
void exit(EvT& event)
{
error_t err = event.mount()._stopSlewingMount();
if (err) {
event.mount().dispatchEvent(MccGenericMountEventError{event.mount(), err});
}
this->exitLog(event);
}
template <std::derived_from<MccGenericMountBaseEvent> EvT>
void enter(EvT& event)
{
this->enterLog(event);
error_t err = event.mount()._slewMount();
if (err) {
event.mount().dispatchEvent(MccGenericMountEventError{event.mount(), err});
} else {
auto slew_pars = event.mount().getSlewingParams();
if (slew_pars.slewAndStop) {
event.mount().dispatchEvent(MccGenericMountEventIDLE{event.mount()});
} else {
event.mount().dispatchEvent(MccGenericMountEventTrack{event.mount()});
}
}
}
};
struct MccGenericMountStateTrack : MccGenericMountBaseState {
using transition_t =
fsm::fsm_transition_table_t<std::pair<MccGenericMountEventStop, MccGenericMountStateStopping>,
std::pair<MccGenericMountEventError, MccGenericMountStateError>,
std::pair<MccGenericMountEventGuiding, MccGenericMountStateGuiding>>;
template <std::derived_from<MccGenericMountBaseEvent> EvT>
void exit(EvT& event)
{
error_t err = event.mount()._stopTrackingMount();
if (err) {
event.mount().dispatchEvent(MccGenericMountEventError{event.mount(), err});
}
this->exitLog(event);
}
template <std::derived_from<MccGenericMountBaseEvent> EvT>
void enter(EvT& event)
{
this->enterLog(event);
error_t err = event.mount()._trackMount();
if (err) {
event.mount().dispatchEvent(MccGenericMountEventError{event.mount(), err});
}
}
};
struct MccGenericMountStateGuiding : MccGenericMountBaseState {
using transition_t =
fsm::fsm_transition_table_t<std::pair<MccGenericMountEventStop, MccGenericMountStateStopping>,
std::pair<MccGenericMountEventError, MccGenericMountStateError>,
std::pair<MccGenericMountEventTrack, MccGenericMountStateTrack>>;
template <std::derived_from<MccGenericMountBaseEvent> EvT>
void exit(EvT& event)
{
error_t err = event.mount()._stopGuidingMount();
if (err) {
event.mount().dispatchEvent(MccGenericMountEventError{event.mount(), err});
}
this->exitLog(event);
}
template <std::derived_from<MccGenericMountBaseEvent> EvT>
void enter(EvT& event)
{
this->enterLog(event);
error_t err = event.mount()._startGuidingMount();
if (err) {
event.mount().dispatchEvent(MccGenericMountEventError{event.mount(), err});
}
}
};
/* CONSTRUCTORS AND DESTRUCTOR */ /* CONSTRUCTORS AND DESTRUCTOR */
MccGenericMountFSM(HardwareT hardware, MccGenericMountFSM(HardwareT hardware,
@ -332,17 +474,48 @@ public:
virtual ~MccGenericMountFSM() = default; virtual ~MccGenericMountFSM() = default;
// reimplementation of base-class methods to adapt it to FSM-behavior
auto initMount() auto initMount()
{ {
this->dispatchEvent(MccGenericMountEventInit{*this}); this->dispatchEvent(MccGenericMountEventInit{*this});
} }
auto stopMount() auto stopMount()
{ {
this->dispatchEvent(MccGenericMountEventStop{*this}); this->dispatchEvent(MccGenericMountEventStop{*this});
} }
auto slewToTarget()
{
this->dispatchEvent(MccGenericMountEventSlew{*this});
}
auto stopSlewing()
{
this->dispatchEvent(MccGenericMountEventStop{*this});
}
auto trackTarget()
{
this->dispatchEvent(MccGenericMountEventTrack{*this});
}
auto stopTracking()
{
this->dispatchEvent(MccGenericMountEventIDLE{*this});
}
auto startGuidingTarget()
{
this->dispatchEvent(MccGenericMountEventGuiding{*this});
}
auto stopGuidingTarget()
{
this->dispatchEvent(MccGenericMountEventTrack{*this});
}
protected: protected:
// wrappers // wrappers
@ -356,6 +529,28 @@ protected:
{ {
return base_gmount_t::stopMount(); return base_gmount_t::stopMount();
} }
auto _slewToTarget()
{
return base_gmount_t::slewToTarget();
}
auto _trackTarget()
{
return base_gmount_t::trackTarget();
}
auto _startGuidingTarget()
{
return base_gmount_t::startGuidingTarget();
}
auto _stopGuidingTarget()
{
return base_gmount_t::stopGuidingTarget();
}
}; };