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This commit is contained in:
Timur A. Fatkhullin 2025-06-15 01:48:22 +03:00
parent 4c8e3f4caf
commit a8ef274d4c
3 changed files with 182 additions and 74 deletions
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84
cxx/mcc_mount.h
View File

@ -12,12 +12,12 @@
#include <string_view>
#include "spdlog/sinks/null_sink.h"
#include "mcc_coord.h"
#include "mcc_finite_state_machine.h"
#include "mcc_mount_coord.h"
#include "mcc_spdlog.h"
#include "mcc_traits.h"
#include "mount_astrom.h"
#include "mount_pz.h"
// #include "mount_astrom.h"
#include "mcc_mount_pz.h"
namespace mcc
@ -26,47 +26,6 @@ namespace mcc
/* BASIC DATA DEFINITIONS */
// coordinate system related constants
enum class MccCoordKind : uint8_t {
COORDS_KIND_RA_IRCS, // IRCS right ascension
COORDS_KIND_RA_APP, // apparent right ascension
COORDS_KIND_HA, // hour angle
COORDS_KIND_AZ, // azimuth
COORDS_KIND_X, // co-longitude coordinate
COORDS_KIND_DEC_IRCS, // IRCS declination
COORDS_KIND_DEC_APP, // apparent declination
COORDS_KIND_ALT, // altitude
COORDS_KIND_ZD, // zenithal distance
COORDS_KIND_Y // co-latitude coordinate
};
enum class MccCoordPairKind : uint16_t {
// catalog's
COORDS_KIND_RADEC_IRCS = (int)MccCoordKind::COORDS_KIND_RA_IRCS + ((int)MccCoordKind::COORDS_KIND_DEC_IRCS << 8),
// apparent RA and DEC
COORDS_KIND_RADEC_APP = (int)MccCoordKind::COORDS_KIND_RA_APP + ((int)MccCoordKind::COORDS_KIND_DEC_APP << 8),
// apparent HA (hour angle) and DEC
COORDS_KIND_HADEC_APP = (int)MccCoordKind::COORDS_KIND_HA + ((int)MccCoordKind::COORDS_KIND_DEC_APP << 8),
// Azimuth and Altitude
COORDS_KIND_AZALT = (int)MccCoordKind::COORDS_KIND_AZ + ((int)MccCoordKind::COORDS_KIND_ALT << 8),
// Azimuth and Zenithal distance
COORDS_KIND_AZZD = (int)MccCoordKind::COORDS_KIND_AZ + ((int)MccCoordKind::COORDS_KIND_ZD << 8),
// co-longitude and co-latitude (e.g. mount hardware drive/axis encoders)
COORDS_KIND_XY = (int)MccCoordKind::COORDS_KIND_X + ((int)MccCoordKind::COORDS_KIND_Y << 8),
};
template <MccCoordPairKind KIND>
static constexpr std::string_view MccCoordPairKindStr =
KIND == MccCoordPairKind::COORDS_KIND_RADEC_IRCS ? "RADEC-IRCS"
: KIND == MccCoordPairKind::COORDS_KIND_RADEC_APP ? "RADEC-APP"
: KIND == MccCoordPairKind::COORDS_KIND_HADEC_APP ? "HADEC-APP"
: KIND == MccCoordPairKind::COORDS_KIND_AZALT ? "Azimuth-Altitude"
: KIND == MccCoordPairKind::COORDS_KIND_AZZD ? "AzimuthZendist"
: KIND == MccCoordPairKind::COORDS_KIND_XY ? "XY"
: "UNKNOWN";
// meteo parameters (e.g. to compute refraction)
struct MccMountMeteo {
@ -151,8 +110,8 @@ struct MccMountConfig {
virtual ~MccMountConfig() = default;
astrom::MccLeapSeconds leapSeconds;
astrom::MccIersBulletinA iersBulletinA;
// astrom::MccLeapSeconds leapSeconds;
// astrom::MccIersBulletinA iersBulletinA;
MccMountSiteInfo siteInfo{.latitude = 0.0, .longitude = 0.0, .elevation = 0.0, .name{"ALL-ZERO"}};
@ -239,12 +198,29 @@ public:
/* prohibited zone related public methods */
template <traits::mcc_prohibited_zone_c ZT, traits::mcc_prohibited_zone_c... ZTs>
template <std::derived_from<MccProhibitedZone> ZT, std::derived_from<MccProhibitedZone>... ZTs>
size_t pzAddZone(ZT zone, ZTs... zones)
{
_pzInZoneFunc.emplace_back([zone = std::move(zone)](const MccAngle& x, const MccAngle& y, void* ctx) mutable {
auto context = *static_cast<typename ZT::pzcontext_t*>(ctx);
return zone.inZone(x, y, context);
static constexpr auto pi2 = std::numbers::pi / 2.0;
_pzRequestFunc.emplace_back([zone = std::move(zone), this]() {
mount_telemetry_t data = _mountTelemetry.load();
if constexpr (ZT::preferedCoordKind == MccCoordPairKind::COORDS_KIND_AZALT) {
return zone.request(MccAngleAZ(data.tagAZ), MccAngleALT(pi2 - data.tagZD));
} else if constexpr (ZT::preferedCoordKind == MccCoordPairKind::COORDS_KIND_AZZD) {
return zone.request(MccAngleAZ(data.tagAZ), MccAngleZD(data.tagZD));
} else if constexpr (ZT::preferedCoordKind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
return zone.request(MccAngleRA_APP(data.tagRA), MccAngleDEC_APP(data.tagDEC));
} else if constexpr (ZT::preferedCoordKind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
return zone.request(MccAngleHA_APP(data.tagHA), MccAngleDEC_APP(data.tagDEC));
} else if constexpr (ZT::preferedCoordKind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
return zone.request(MccAngleRA_APP(data.tagRA), MccAngleDEC_APP(data.tagDEC));
} else if constexpr (ZT::preferedCoordKind == MccCoordPairKind::COORDS_KIND_XY) {
return zone.request(MccAngleX(data.mntPosX), MccAngleY(data.mntPosY));
} else {
static_assert(false, "UNKNOWN COORDINATE SYSTEM!!!");
}
});
@ -252,12 +228,12 @@ public:
psAddZone(std::move(zones)...);
}
return _pzInZoneFunc.size();
return _pzRequestFunc.size();
}
void pzClearZone()
{
_pzInZoneFunc.clear();
_pzRequestFunc.clear();
}
@ -267,9 +243,7 @@ protected:
typedef std::chrono::duration<double> pz_duration_t;
std::vector<std::function<bool(const MccAngle&, const MccAngle&, void*)>> _pzInZoneFunc;
std::vector<std::function<pz_duration_t(const MccAngle&, const MccAngle&, void*)>> _pzTimeToZoneFunc;
std::vector<std::function<pz_duration_t(const MccAngle&, const MccAngle&, void*)>> _pzTimeFromZoneFunc;
std::vector<std::function<MccProhibitedZone::pz_request_t()>> _pzRequestFunc{};
}; // end of MccMount class

46
cxx/mcc_mount_coord.h
View File

@ -324,17 +324,32 @@ class MccAngleAZ : public MccAngle
using MccAngle::MccAngle;
};
class MccAngleALT;
class MccAngleZD : public MccAngle
{
using MccAngle::MccAngle;
MccAngleZD(const MccAngleALT&);
};
class MccAngleALT : public MccAngle
{
using MccAngle::MccAngle;
MccAngleALT(const MccAngleZD& zd)
{
_angleInRads = std::numbers::pi / 2.0 - (double)zd;
}
};
MccAngleZD::MccAngleZD(const MccAngleALT& alt)
{
_angleInRads = std::numbers::pi / 2.0 - (double)alt;
}
class MccAngleX : public MccAngle // some co-longitude coordinate
{
using MccAngle::MccAngle;
@ -358,15 +373,44 @@ class MccAngleLON : public MccAngle
};
enum class MccCoordKind : size_t {
COORDS_KIND_GENERIC = traits::mcc_type_hash<MccAngle>,
COORDS_KIND_RA_ICRS = traits::mcc_type_hash<MccAngleRA_ICRS>,
COORDS_KIND_DEC_ICRS = traits::mcc_type_hash<MccAngleDEC_ICRS>,
COORDS_KIND_RA_APP = traits::mcc_type_hash<MccAngleRA_APP>,
COORDS_KIND_DEC_APP = traits::mcc_type_hash<MccAngleDEC_APP>,
COORDS_KIND_HA = traits::mcc_type_hash<MccAngleHA>,
COORDS_KIND_AZ = traits::mcc_type_hash<MccAngleAZ>,
COORDS_KIND_ZD = traits::mcc_type_hash<MccAngleZD>,
COORDS_KIND_ALT = traits::mcc_type_hash<MccAngleALT>,
COORDS_KIND_X = traits::mcc_type_hash<MccAngleX>,
COORDS_KIND_Y = traits::mcc_type_hash<MccAngleY>,
COORDS_KIND_LAT = traits::mcc_type_hash<MccAngleLAT>,
COORDS_KIND_LON = traits::mcc_type_hash<MccAngleLON>
};
enum class MccCoordPairKind : size_t {
COORDS_KIND_GENERIC = traits::mcc_type_pair_hash<MccAngle, MccAngle>(),
COORDS_KIND_RADEC_ICRS = traits::mcc_type_pair_hash<MccAngleRA_ICRS, MccAngleDEC_ICRS>(),
COORDS_KIND_RADEC_APP = traits::mcc_type_pair_hash<MccAngleRA_APP, MccAngleDEC_APP>(),
COORDS_KIND_HADEC = traits::mcc_type_pair_hash<MccAngleHA, MccAngleDEC_APP>(),
COORDS_KIND_HADEC_APP = traits::mcc_type_pair_hash<MccAngleHA, MccAngleDEC_APP>(),
COORDS_KIND_AZZD = traits::mcc_type_pair_hash<MccAngleAZ, MccAngleZD>(),
COORDS_KIND_AZALT = traits::mcc_type_pair_hash<MccAngleAZ, MccAngleALT>(),
COORDS_KIND_XY = traits::mcc_type_pair_hash<MccAngleX, MccAngleY>(),
COORDS_KIND_LATLON = traits::mcc_type_pair_hash<MccAngleLAT, MccAngleLON>()
};
template <MccCoordPairKind KIND>
static constexpr std::string_view MccCoordPairKindStr =
KIND == MccCoordPairKind::COORDS_KIND_RADEC_ICRS ? "RADEC-IRCS"
: KIND == MccCoordPairKind::COORDS_KIND_RADEC_APP ? "RADEC-APP"
: KIND == MccCoordPairKind::COORDS_KIND_HADEC_APP ? "HADEC-APP"
: KIND == MccCoordPairKind::COORDS_KIND_AZALT ? "Azimuth-Altitude"
: KIND == MccCoordPairKind::COORDS_KIND_AZZD ? "Azimuth-Zendist"
: KIND == MccCoordPairKind::COORDS_KIND_XY ? "X-Y"
: KIND == MccCoordPairKind::COORDS_KIND_LATLON ? "Latitude-Longitude"
: "UNKNOWN";
} // namespace mcc

126
cxx/mcc_mount_pz.h
View File

@ -16,19 +16,21 @@ namespace mcc
class MccProhibitedZone
{
public:
static constexpr MccCoordPairKind preferedCoordKind = MccCoordPairKind::COORDS_KIND_AZALT;
// floating-point time duration (seconds)
typedef std::chrono::duration<double> pz_duration_t;
struct pz_request_t {
bool in_zone{false}; // true if given coordinates are within the zone
pz_duration_t time_to{0.0}; // a time duration to reach the zone
pz_duration_t time_from{0.0}; // a time duration to exit the zone
};
struct pz_context_t {
};
MccProhibitedZone(std::string_view name) : _name(name) {}
virtual ~MccProhibitedZone() = default;
std::string_view name() const
{
@ -37,62 +39,150 @@ public:
// check if given position (x,y) in the zone
template <std::derived_from<MccAngle> XT, std::derived_from<MccAngle> YT>
bool inZone(const XT& x,
bool inZone(this auto&& self,
const XT& x,
const YT& y,
const pz_context_t& context,
traits::mcc_systime_c auto const& utc = std::chrono::system_clock::now())
{
static constexpr size_t coord_kind = traits::mcc_type_pair_hash<XT, YT>();
return false;
return std::forward<decltype(self)>(self).inZoneImpl(x, y, utc);
}
// returns a time duration to reach the zone
// 0 - if already within
// Inf - if it never reaches the zone
template <std::derived_from<MccAngle> XT, std::derived_from<MccAngle> YT>
pz_duration_t timeTo(const XT& x,
pz_duration_t timeTo(this auto&& self,
const XT& x,
const YT& y,
const pz_context_t& context,
traits::mcc_systime_c auto const& utc = std::chrono::system_clock::now())
{
static constexpr size_t coord_kind = traits::mcc_type_pair_hash<XT, YT>();
return std::forward<decltype(self)>(self).timeToImpl(x, y, utc);
}
// returns a time duration to exit from the zone
// 0 - if given position (x,y) is out of the zone
// Inf - if (x,y) is always within the zone
template <std::derived_from<MccAngle> XT, std::derived_from<MccAngle> YT>
pz_duration_t timeFrom(const XT& x,
pz_duration_t timeFrom(this auto&& self,
const XT& x,
const YT& y,
const pz_context_t& context,
traits::mcc_systime_c auto const& utc = std::chrono::system_clock::now())
{
static constexpr size_t coord_kind = traits::mcc_type_pair_hash<XT, YT>();
return std::forward<decltype(self)>(self).timeFromImpl(x, y, utc);
}
// all-in-one request (call three methods above)
template <std::derived_from<MccAngle> XT, std::derived_from<MccAngle> YT>
pz_request_t request(const XT& x,
const YT& y,
const pz_context_t& context,
traits::mcc_systime_c auto const& utc = std::chrono::system_clock::now())
{
pz_request_t res{.in_zone = false, .time_to = pz_duration_t{0.0}, .time_from{0.0}};
res.in_zone = inZone(x, y, context, utc);
res.in_zone = inZone(x, y, utc);
if (res.in_zone) {
res.time_from = timeFrom(x, y, context, utc);
res.time_from = timeFrom(x, y, utc);
} else {
res.time_to = timeFrom(x, y, context, utc);
res.time_to = timeFrom(x, y, utc);
}
return res;
}
protected:
MccProhibitedZone(std::string_view name) : _name(name) {}
std::string_view _name;
template <std::derived_from<MccAngle> XT, std::derived_from<MccAngle> YT>
bool inZoneImpl(const XT&, const YT&, traits::mcc_systime_c auto const&)
{
return false;
}
template <std::derived_from<MccAngle> XT, std::derived_from<MccAngle> YT>
pz_duration_t timeToImpl(const XT&, const YT&, traits::mcc_systime_c auto const&)
{
return pz_duration_t{std::numeric_limits<double>::infinity()};
}
template <std::derived_from<MccAngle> XT, std::derived_from<MccAngle> YT>
pz_duration_t timeFromImpl(const XT&, const YT&, traits::mcc_systime_c auto const&)
{
return pz_duration_t{0.0};
}
};
/* SOME PROHIBITED ZONE IMPLEMENTATIONS */
// minimal or maximal altitude prohibited zones
enum class MccAltLimitKind { MIN_ALT_LIMIT, MAX_ALT_LIMIT };
template <MccAltLimitKind KIND = MccAltLimitKind::MIN_ALT_LIMIT>
class MccAltLimitPZ : public MccProhibitedZone
{
public:
static constexpr MccAltLimitKind altLimitKind = KIND;
MccAltLimitPZ(const MccAngle& alt_limit)
: MccProhibitedZone(KIND == MccAltLimitKind::MIN_ALT_LIMIT ? "MINALT-ZONE"
: KIND == MccAltLimitKind::MAX_ALT_LIMIT ? "MAXALT-ZONE"
: "ALTLIMIT-UNKNOWN"),
_altLimit(alt_limit)
{
_altLimit.normalize<MccAngle::NORM_KIND_90_90>();
}
private:
MccAngle _altLimit;
template <std::derived_from<MccAngle> XT, std::derived_from<MccAngle> YT>
bool inZoneImpl(const XT& x, const YT& y, traits::mcc_systime_c auto const& utc)
{
static constexpr MccCoordPairKind coord_kind = traits::mcc_type_pair_hash<XT, YT>();
if constexpr (coord_kind == MccCoordPairKind::COORDS_KIND_AZALT) { // trivial case
if constexpr (KIND == MccAltLimitKind::MIN_ALT_LIMIT) {
return y <= _altLimit;
} else if constexpr (KIND == MccAltLimitKind::MAX_ALT_LIMIT) {
return y >= _altLimit;
}
} else if constexpr (coord_kind == MccCoordPairKind::COORDS_KIND_AZZD) { // trivial case
return inZoneImpl(x, MccAngleALT(std::numbers::pi / 2 - (double)y), utc);
} else if constexpr (coord_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
// implementation ...
return false;
} else if constexpr (coord_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
// implementation ...
return false;
} else {
throw std::system_error(std::make_error_code(std::errc::operation_not_supported));
}
return false;
}
template <std::derived_from<MccAngle> XT, std::derived_from<MccAngle> YT>
pz_duration_t timeToImpl(const XT&, const YT&, traits::mcc_systime_c auto const&)
{
return pz_duration_t{std::numeric_limits<double>::infinity()};
}
template <std::derived_from<MccAngle> XT, std::derived_from<MccAngle> YT>
pz_duration_t timeFromImpl(const XT&, const YT&, traits::mcc_systime_c auto const&)
{
return pz_duration_t{0.0};
}
};
} // namespace mcc