...

CMakeLists.txt

@@ -13,7 +13,10 @@ set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
 # ******* C++ PART OF THE PROJECT *******
 
 set(EXAMPLES OFF CACHE BOOL "" FORCE)
+set(CMAKE_BUILD_TYPE "Release")
 add_subdirectory(LibSidServo)
+set(CMAKE_BUILD_TYPE "Debug")
+
 # add_subdirectory(cxx)
 add_subdirectory(mcc)
 add_subdirectory(asibfm700)

asibfm700/asibfm700_mount.cpp

@@ -200,7 +200,8 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
     if (ok) {
         logInfo("Start updating telemetry data");
     } else {
-        logError("Cannot update telemetry data!");
+        auto err = lastUpdateError();
+        logError("Cannot update telemetry data (err = {} [{}])!", err.message(), err.category().name());
     }
 
     return mcc::MccGenericMountErrorCode::ERROR_OK;

mcc/mcc_finite_state_machine.h

@@ -317,6 +317,7 @@ protected:
     std::vector<std::function<void(const MccFiniteStateMachine*)>> _destroyFunc{};
 
     std::string_view _currentStateID;
+    std::string_view _previousStateID;
     std::vector<std::string_view> _stateID{};
     std::vector<std::string_view> _eventID{};
 
@@ -367,7 +368,7 @@ protected:
 
 public:
     template <traits::fsm_state_c InitStateT>
-    constexpr MccFiniteStateMachine(InitStateT) : _currentStateID(InitStateT::ID)
+    constexpr MccFiniteStateMachine(InitStateT) : _currentStateID(InitStateT::ID), _previousStateID(InitStateT::ID)
     {
         using states_t = deduce_states_t<InitStateT>;
         auto states = std::make_shared<states_t>();
@@ -417,6 +418,7 @@ public:
                                       p_event->onTransit();
                                   }
 
+                                  _previousStateID = curr_state_t::ID;
                                   *currentState = &std::get<to_state_t>(*states);
                                   _currentStateID = to_state_t::ID;
 
@@ -525,6 +527,11 @@ public:
         return _currentStateID;
     }
 
+    std::string_view previousStateID() const
+    {
+        return _previousStateID;
+    }
+
 
     // returns IDs of all deduced unique states
 

mcc/mcc_generic_mount.h

@@ -469,6 +469,16 @@ protected:
         // only initialization is allowed here
         using transition_t = fsm::fsm_transition_table_t<
             std::pair<MccGenericFsmMountInitEvent, MccGenericFsmMountInitState<ERROR_STATE_T>>>;
+
+        void exit(fsm::traits::fsm_event_c auto& event)
+        {
+            this->exitLog(event);
+        }
+
+        void enter(fsm::traits::fsm_event_c auto& event)
+        {
+            this->enterLog(event);
+        }
     };
 
     // template <fsm::traits::fsm_state_c ERROR_STATE_T>
@@ -510,22 +520,23 @@ protected:
             std::pair<MccGenericFsmMountInitEvent, MccGenericFsmMountInitState>>;
 
 
-        void exit(MccGenericFsmMountInitEvent& event)
+        // void exit(MccGenericFsmMountInitEvent& event)
-        {
+        // {
-            if constexpr (mcc_generic_log_mount_c<MOUNT_T>) {
+        //     if constexpr (mcc_generic_log_mount_c<MOUNT_T>) {
-                event.mount()->logWarn("It seems a re-entering to the initializing state was asked! Ignore the event!");
+        //         event.mount()->logWarn("It seems a re-entering to the initializing state was asked! Ignore the
-            }
+        //         event!");
-        }
+        //     }
+        // }
 
-        void enter(MccGenericFsmMountInitEvent& event)
+        // void enter(MccGenericFsmMountInitEvent& event)
-        {
+        // {
-            if constexpr (mcc_generic_log_mount_c<MOUNT_T>) {
+        //     if constexpr (mcc_generic_log_mount_c<MOUNT_T>) {
-                event.mount()->logWarn(
+        //         event.mount()->logWarn(
-                    "It seems a re-entering to the initializing state was asked! Ignore the event and wait for the "
+        //             "It seems a re-entering to the initializing state was asked! Ignore the event and wait for the "
-                    "mount "
+        //             "mount "
-                    "to initialize!");
+        //             "to initialize!");
-            }
+        //     }
-        }
+        // }
 
         void exit(fsm::traits::fsm_event_c auto& event)
         {
@@ -534,14 +545,25 @@ protected:
 
         void enter(fsm::traits::fsm_event_c auto& event)
         {
-            enterLog(event);
+            this->enterLog(event);
+
+            event.mount()->logDebug(
+                std::format("Current ID: '{}', previous ID: '{}'", ID, event.mount()->previousStateID()));
+
+            if (event.mount()->previousStateID() == ID) {
+                event.mount()->logWarn(
+                    "It seems a re-entering to the initializing state was asked! Ignore the event and wait for the "
+                    "mount "
+                    "to initialize!");
+                return;
+            }
 
             auto* mount_ptr = event.mount();
 
             // call base-class initMount method!
             auto err = static_cast<MOUNT_T*>(mount_ptr)->initMount();
             if (err) {
-                mount_ptr->dispatchEvent(MccGenericFsmMountErrorEvent{mount_ptr});
+                mount_ptr->dispatchEvent(MccGenericFsmMountErrorEvent{mount_ptr, err});
                 return;
             }
 

mcc/mcc_telemetry.h

@@ -652,6 +652,10 @@ public:
         return MccTelemetryErrorCode::ERROR_OK;
     }
 
+    error_t lastUpdateError() const
+    {
+        return _lastUpdateError;
+    }
 
     error_t setPointingTarget(mcc_celestial_point_c auto pt)
     {