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This commit is contained in:
Timur A. Fatkhullin 2025-11-25 08:49:43 +03:00
parent acced75fa2
commit a42f6dbc98
2 changed files with 83 additions and 5 deletions
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2
mcc/mcc_slewing_model.h
View File

@ -204,7 +204,7 @@ public:
mcc::MccAngle{tdata.target.ZD}.sexagesimal(),
mcc::MccAngle{tdata.target.ALT}.sexagesimal()));
logger.logError(std::format(" X-enc, Y-enc: {}, {}", mcc::MccAngle{tdata.target.X}.sexagesimal(),
logger.logError(std::format(" hardware X, Y: {}, {}", mcc::MccAngle{tdata.target.X}.sexagesimal(),
mcc::MccAngle{tdata.target.Y}.sexagesimal()));
return MccSimpleSlewingModelErrorCode::ERROR_TARGET_IN_PZONE;

86
mcc/mcc_tracking_model.h
View File

@ -22,6 +22,7 @@ enum class MccSimpleTrackingModelErrorCode : int {
ERROR_DIST_TELEMETRY,
ERROR_PZONE_CONTAINER_COMP,
ERROR_NEAR_PZONE,
ERROR_IN_PZONE,
ERROR_ALREADY_TRACK,
ERROR_ALREADY_STOPPED,
ERROR_STOPPED
@ -78,6 +79,8 @@ struct MccSimpleTrackingModelCategory : public std::error_category {
return "pzone container computation error";
case MccSimpleTrackingModelErrorCode::ERROR_NEAR_PZONE:
return "near prohibited zone";
case MccSimpleTrackingModelErrorCode::ERROR_IN_PZONE:
return "in prohibited zone";
case MccSimpleTrackingModelErrorCode::ERROR_ALREADY_TRACK:
return "already tracking";
case MccSimpleTrackingModelErrorCode::ERROR_ALREADY_STOPPED:
@ -121,7 +124,7 @@ public:
*_stopTracking = true;
_trackingFunc = [logger = std::move(logger), controls, this]() -> error_t {
_trackingFunc = [logger = std::move(logger), controls, this]() mutable -> error_t {
typename CONTROLS_T::hardware_state_t hw_state;
MccTelemetryData tdata;
@ -133,7 +136,7 @@ public:
} else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
target_in_future_pt.pair_kind = MccCoordPairKind::COORDS_KIND_AZZD;
} else {
static_assert(false, "UNKNOW MOUNT TYPE!");
static_assert(false, "UNKNOWN MOUNT TYPE!");
}
// double dist, dx, dy;
@ -148,6 +151,28 @@ public:
return mcc_deduce_error_code(t_err, MccSimpleTrackingModelErrorCode::ERROR_GET_TELEMETRY);
}
bool in_zone;
auto pz_err = controls->inPZone(tdata, &in_zone);
if (pz_err) {
return mcc_deduce_error_code(pz_err, MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
}
if (in_zone) {
logger.logError("mount current coordinates are in prohibited zone:");
logger.logError(std::format(
" RA-APP, DEC-APP, HA, LST: {}, {}, {}, {}", mcc::MccAngle{tdata.RA_APP}.sexagesimal(true),
mcc::MccAngle{tdata.DEC_APP}.sexagesimal(), mcc::MccAngle{tdata.HA}.sexagesimal(true),
mcc::MccAngle{tdata.LST}.sexagesimal(true)));
logger.logError(std::format(" AZ, ZD, ALT: {}, {}, {}", mcc::MccAngle{tdata.target.AZ}.sexagesimal(),
mcc::MccAngle{tdata.ZD}.sexagesimal(),
mcc::MccAngle{tdata.ALT}.sexagesimal()));
logger.logError(std::format(" hardware X, Y: {}, {}", mcc::MccAngle{tdata.X}.sexagesimal(),
mcc::MccAngle{tdata.Y}.sexagesimal()));
return MccSimpleTrackingModelErrorCode::ERROR_IN_PZONE;
}
bool no_intersects = false;
@ -177,7 +202,7 @@ public:
no_intersects = true;
}
} else {
static_assert(false, "UNKNOW MOUNT TYPE!");
static_assert(false, "UNKNOWN MOUNT TYPE!");
}
return MccSimpleTrackingModelErrorCode::ERROR_OK;
@ -233,7 +258,7 @@ public:
};
auto pz_err = update_pzones_ipoint();
pz_err = update_pzones_ipoint();
if (pz_err) {
*_stopTracking = true;
return mcc_deduce_error_code(pz_err, MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
@ -254,15 +279,31 @@ public:
hw_state.speedX = _currentParams.trackSpeedX;
hw_state.speedY = _currentParams.trackSpeedY;
}
logger.logTrace("The updated target point:");
if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
logger.logTrace(" HA, DEC: {} {}", MccAngle(target_in_future_pt.X).sexagesimal(true),
MccAngle(target_in_future_pt.Y).sexagesimal());
} else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
logger.logTrace(" AZ, ZD: {} {}", MccAngle(target_in_future_pt.X).sexagesimal(),
MccAngle(target_in_future_pt.Y).sexagesimal());
} else {
static_assert(false, "UNKNOWN MOUNT TYPE!");
}
}
// move mount
logger.logDebug(std::format("Send to hardware: X = {} degs, Y = {} degs",
mcc::MccAngle{hw_state.X}.degrees(), mcc::MccAngle{hw_state.Y}.degrees()));
auto hw_err = controls->hardwareSetState(hw_state);
if (hw_err) {
*_stopTracking = true;
return mcc_deduce_error_code(hw_err, MccSimpleTrackingModelErrorCode::ERROR_HW_SETSTATE);
}
logger.logDebug(" the 'hardwareSetState' method performed successfully!");
std::chrono::steady_clock::time_point last_corr_tp, last_ipzone_update_tp;
last_corr_tp = std::chrono::steady_clock::now();
@ -281,6 +322,26 @@ public:
}
}
if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
logger.logTrace(std::format(" current target: HA = {}, DEC = {}",
mcc::MccAngle(tdata.target.HA).sexagesimal(true),
mcc::MccAngle(tdata.target.DEC_APP).sexagesimal()));
logger.logTrace(std::format(" current mount: HA = {}, DEC = {}",
mcc::MccAngle(tdata.HA).sexagesimal(true),
mcc::MccAngle(tdata.DEC_APP).sexagesimal()));
} else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
logger.logTrace(std::format(" target: AZ = {}, ZD = {}",
mcc::MccAngle(tdata.target.AZ).sexagesimal(),
mcc::MccAngle(tdata.target.ZD).sexagesimal()));
logger.logTrace(std::format(" mount: AZ = {}, ZD = {}", mcc::MccAngle(tdata.AZ).sexagesimal(),
mcc::MccAngle(tdata.ZD).sexagesimal()));
}
logger.logTrace(std::format(" mount: speedX = {}/s, speedY = {}/s",
mcc::MccAngleFancyString(tdata.speedX),
mcc::MccAngleFancyString(tdata.speedY)));
if (*_stopTracking) {
break;
}
@ -320,10 +381,24 @@ public:
*_stopTracking = true;
return mcc_deduce_error_code(ccte_err, MccSimpleTrackingModelErrorCode::ERROR_CCTE);
}
logger.logTrace("The updated target point:");
if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
logger.logTrace(" HA, DEC: {} {}", MccAngle(target_in_future_pt.X).sexagesimal(true),
MccAngle(target_in_future_pt.Y).sexagesimal());
} else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
logger.logTrace(" AZ, ZD: {} {}", MccAngle(target_in_future_pt.X).sexagesimal(),
MccAngle(target_in_future_pt.Y).sexagesimal());
} else {
static_assert(false, "UNKNOWN MOUNT TYPE!");
}
}
}
// send corrections
logger.logDebug(std::format("Send to hardware: X = {} degs, Y = {} degs",
mcc::MccAngle{hw_state.X}.degrees(), mcc::MccAngle{hw_state.Y}.degrees()));
hw_state.moving_state = CONTROLS_T::hardware_moving_state_t::HW_MOVE_TRACKING;
hw_err = controls->hardwareSetState(hw_state);
if (hw_err) {
@ -331,6 +406,9 @@ public:
return mcc_deduce_error_code(hw_err, MccSimpleTrackingModelErrorCode::ERROR_HW_SETSTATE);
}
logger.logDebug(" the 'hardwareSetState' method performed successfully!");
// sleep here
{
std::lock_guard lock{*_currentParamsMutex};