...

cxx/mount.h

@@ -3,10 +3,21 @@
 /*  MOUNT CONTROL COMPONENTS LIBRARY  */
 
 #include <atomic>
+#include <chrono>
 #include <concepts>
 #include <cstdint>
 #include <functional>
 #include <string_view>
+#include "spdlog/sinks/null_sink.h"
+
+
+// low-level functions
+namespace lowlevel
+{
+#include "../LibSidServo/sidservo.h"
+}  // namespace lowlevel
+
+
 
 namespace mcc
 {
@@ -19,9 +30,8 @@ template <typename T>
 concept mcc_mount_state_c = requires(T t, const T t_const) {
     { t_const.ident() } -> std::same_as<std::string_view>;
 
-    typename T::context_t;
-    { t.enter(std::declval<const typename T::context_t&>()) } -> std::same_as<void>;
-    { t.exit(std::declval<const typename T::context_t&>()) } -> std::same_as<void>;
+    { t.enter() } -> std::same_as<void>;
+    { t.exit() } -> std::same_as<void>;
 };
 
 
@@ -37,12 +47,19 @@ class MccMount
 public:
     static constexpr MccMountType mountType = MOUNT_TYPE;
 
-    /*  mount main-cycle variable quantities */
-    struct mount_state_t {
-        // time-related
-        time_point_t siderTime;  // sideral time
+    /*  low-level hardware related constants  */
 
-        // target (user-input) current coordinates (in radians)
+    // number of attempts to get low-level hardware data before emit an error
+    static constexpr uint8_t LOWLEVEL_HW_POLL_ATTEMPTS = 10;
+
+    /*  mount main-cycle variable quantities (mount orientation)  */
+    struct mount_orient_t {
+        // time-related
+        std::chrono::system_clock::time_point utc;
+        time_point_t mjd;        // modified Julian date
+        time_point_t siderTime;  // sideral time (in radians)
+
+        // apparent target (user-input) current coordinates (in radians)
         mnt_coord_t tagRA, tagDEC;
         mnt_coord_t tagHA;
         mnt_coord_t tagAZ, tagZD;
@@ -66,10 +83,15 @@ public:
     };
 
 
+    struct mount_config_t {
+        uint8_t hw_poll_attempts = LOWLEVEL_HW_POLL_ATTEMPTS;
+    };
 
-    MccMount()
+
+
+    MccMount(std::shared_ptr<spdlog::logger> logger = spdlog::null_logger_mt("NULL"))
+        : _mountLogger(logger), _exitCurrentState([]() {})
     {
-        _exitCurrentState = []() {};  // do nothing
     }
 
     virtual ~MccMount() {}
@@ -78,17 +100,46 @@ public:
     void setMountState(StateT& state)
     {
         _exitCurrentState();  // exit from current state
-        _exitCurrentState = [&state, this]() { state.exit(this); };
+        _exitCurrentState = [&state]() { state.exit(); };
 
-        state.enter(this);
+        state.enter();
+    }
+
+
+    mount_orient_t getMountData() const noexcept
+    {
+        return _currentMountOrient.load();
     }
 
 protected:
+    mount_config_t _mountCurrentConfig;
+
+    std::shared_ptr<spdlog::logger> _mountLogger;
     std::function<void()> _exitCurrentState;
 
-    std::atomic<mount_state_t> _mountCurrentState;
+    std::atomic<mount_orient_t> _currentMountOrient;
 
-    void updateMountState() {}
+    void updateMountState()
+    {
+        mount_orient_t orient;
+        lowlevel::mountdata_t hw_mdata;
+
+        // get data from encoders
+        decltype(mount_config_t::hw_poll_attempts) n_attempts = 0;
+        do {
+            auto ret_code = lowlevel::Mount.getMountData(&hw_mdata);
+            if (ret_code != lowlevel::MCC_E_OK) {
+                ++n_attempts;
+            }
+        } while (n_attempts < _mountCurrentConfig.hw_poll_attempts);
+
+        if (n_attempts >= _mountCurrentConfig.hw_poll_attempts) {
+            // log error heres
+            return;
+        }
+
+        _currentMountOrient.store(orient);
+    }
 };
 
 }  // namespace mcc