eddy/mountcontrol
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

...

Browse Source
This commit is contained in:
Timur A. Fatkhullin 2025-09-10 18:07:22 +03:00
parent 00354d9b41
commit ab49f927fb
10 changed files with 154 additions and 27 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
CMakeLists.txt
View File

@ -12,6 +12,6 @@ set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
#
# ******* C++ PART OF THE PROJECT *******
add_subdirectory(cxx)
# add_subdirectory(cxx)
add_subdirectory(mcc)
add_subdirectory(asibfm700)

3
asibfm700/CMakeLists.txt
View File

@ -11,5 +11,6 @@ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake")
set(ASIBFM700_LIB_SRC asibfm700_common.h asibfm700_servocontroller.h asibfm700_servocontroller.cpp)
set(ASIBFM700_LIB asibfm700mount)
add_library(${ASIBFM700_LIB} STATIC ${ASIBFM700_LIB_SRC})
add_library(${ASIBFM700_LIB} STATIC ${ASIBFM700_LIB_SRC}
asibfm700_mount.h asibfm700_mount.cpp)
target_link_libraries(${ASIBFM700_LIB} PRIVATE mcc1)

29
asibfm700/asibfm700_common.h
View File

@ -5,9 +5,38 @@
/* COMMON LIBRARY DEFINITIONS */
#include <mcc_moving_model_common.h>
#include <mcc_pcm.h>
#include "asibfm700_servocontroller.h"
namespace asibfm700
{
static constexpr mcc::MccMountType asibfm700MountType = mcc::MccMountType::FORK_TYPE;
struct Asibfm700MountConfig {
std::chrono::milliseconds hardwarePollingPeriod{100}; // main cycle period
// CCTE-related configuration
double siteLatitude{43.646711_degs};
double siteLongitude{41.440732_degs};
double siteElevation{2100.0};
double refractWavelength{0.55};
std::string leapSecondFilename{};
std::string bulletinAFilename{};
// PCM-related configuration
mcc::MccDefaultPCM<asibfm700MountType>::pcm_data_t pcmData{
.type = mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY,
.siteLatitude = siteLatitude,
.geomCoefficients = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}};
AsibFM700ServoController::hardware_config_t servoControllerConfig{};
mcc::MccSimpleMovingModelParams movingModelParams{};
};
} // namespace asibfm700

20
asibfm700/asibfm700_mount.cpp Normal file
View File

@ -0,0 +1,20 @@
#include "asibfm700_mount.h"
namespace asibfm700
{
Asibfm700Mount::Asibfm700Mount(Asibfm700MountConfig const& config,
std::shared_ptr<spdlog::logger> logger,
const auto& pattern_range)
: mcc::ccte::erfa::MccCCTE_ERFA({.meteo{.temperature = 10.0, .humidity = 0.5, .pressure = 1010.0},
.wavelength = config.refractWavelength,
.lat = config.siteLatitude,
.lon = config.siteLongitude,
.elev = config.siteElevation}),
mcc::MccDefaultPCM<asibfm700MountType>(config.pcmData),
base_gm_class_t(AsibFM700ServoController{config.servoControllerConfig}, mcc::MccTelemetry{this});
{
}
} // namespace asibfm700

52
asibfm700/asibfm700_mount.h Normal file
View File

@ -0,0 +1,52 @@
#pragma once
#include <mcc_ccte_erfa.h>
#include <mcc_generic_mount.h>
#include <mcc_pcm.h>
#include <mcc_pzone_container.h>
#include <mcc_slewing_model.h>
#include <mcc_spdlog.h>
#include <mcc_telemetry.h>
#include <mcc_tracking_model.h>
#include "asibfm700_common.h"
namespace asibfm700
{
class Asibfm700Mount : protected mcc::ccte::erfa::MccCCTE_ERFA,
protected mcc::MccDefaultPCM<asibfm700MountType>,
protected AsibFM700ServoController,
public mcc::MccGenericMountFSM<AsibFM700ServoController,
mcc::MccTelemetry,
mcc::MccPZoneContainer<mcc::MccTimeDuration>,
mcc::MccSimpleSlewingModel,
mcc::MccSimpleTrackingModel,
mcc::utils::MccSpdlogLogger>
{
typedef mcc::MccGenericMountFSM<AsibFM700ServoController,
mcc::MccTelemetry,
mcc::MccPZoneContainer<mcc::MccTimeDuration>,
mcc::MccSimpleSlewingModel,
mcc::MccSimpleTrackingModel,
mcc::utils::MccSpdlogLogger>
base_gm_class_t;
public:
using mcc::ccte::erfa::MccCCTE_ERFA::setStateERFA;
using mcc::ccte::erfa::MccCCTE_ERFA::updateBulletinA;
using mcc::ccte::erfa::MccCCTE_ERFA::updateLeapSeconds;
using mcc::ccte::erfa::MccCCTE_ERFA::updateMeteoERFA;
Asibfm700Mount(Asibfm700MountConfig const& config,
std::shared_ptr<spdlog::logger> logger,
const auto& pattern_range = LOGGER_DEFAULT_FORMAT);
~Asibfm700Mount();
};
} // namespace asibfm700

2
asibfm700/asibfm700_servocontroller.h
View File

@ -53,7 +53,7 @@ class is_error_code_enum<asibfm700::AsibFM700ServoControllerErrorCode> : public
namespace asibfm700
{
class AsibFM700ServoController final
class AsibFM700ServoController
{
public:
typedef std::error_code error_t;

32
mcc/CMakeLists.txt
View File

@ -39,22 +39,22 @@ find_package(spdlog CONFIG)
# ******* ERFA LIBRARY *******
# ExternalProject_Add(erfalib
# PREFIX ${CMAKE_BINARY_DIR}/erfa_lib
# GIT_REPOSITORY "https://github.com/liberfa/erfa.git"
# GIT_TAG "v2.0.1"
# UPDATE_COMMAND ""
# PATCH_COMMAND ""
# # BINARY_DIR erfa_build
# # SOURCE_DIR erfa
# # INSTALL_DIR
# LOG_CONFIGURE 1
# CONFIGURE_COMMAND meson setup --reconfigure -Ddefault_library=static -Dbuildtype=release
# -Dprefix=${CMAKE_BINARY_DIR}/erfa_lib -Dlibdir= -Dincludedir= -Ddatadir= <SOURCE_DIR>
# BUILD_COMMAND ninja -C <BINARY_DIR>
# INSTALL_COMMAND meson install -C <BINARY_DIR>
# BUILD_BYPRODUCTS ${CMAKE_BINARY_DIR}/erfa_lib/liberfa.a
# )
ExternalProject_Add(erfalib
PREFIX ${CMAKE_BINARY_DIR}/erfa_lib
GIT_REPOSITORY "https://github.com/liberfa/erfa.git"
GIT_TAG "v2.0.1"
UPDATE_COMMAND ""
PATCH_COMMAND ""
# BINARY_DIR erfa_build
# SOURCE_DIR erfa
# INSTALL_DIR
LOG_CONFIGURE 1
CONFIGURE_COMMAND meson setup --reconfigure -Ddefault_library=static -Dbuildtype=release
-Dprefix=${CMAKE_BINARY_DIR}/erfa_lib -Dlibdir= -Dincludedir= -Ddatadir= <SOURCE_DIR>
BUILD_COMMAND ninja -C <BINARY_DIR>
INSTALL_COMMAND meson install -C <BINARY_DIR>
BUILD_BYPRODUCTS ${CMAKE_BINARY_DIR}/erfa_lib/liberfa.a
)
add_library(ERFA_LIB STATIC IMPORTED)
set_target_properties(ERFA_LIB PROPERTIES IMPORTED_LOCATION ${CMAKE_BINARY_DIR}/erfa_lib/liberfa.a)
add_dependencies(ERFA_LIB erfalib)

4
mcc/mcc_defaults.h
View File

@ -13,11 +13,13 @@ namespace mcc
{
/* DEFAULT TIME POINT CLASS */
/* DEFAULT TIME-RELATED CLASSES */
typedef std::chrono::system_clock::time_point MccTimePoint;
typedef std::chrono::duration<double> MccTimeDuration; // seconds as floating-point value
template <traits::mcc_time_duration_c DT>
static constexpr DT mcc_infinite_duration_v =
std::floating_point<typename DT::rep> ? DT{std::numeric_limits<typename DT::rep>::infinity()}

13
mcc/mcc_generics.h
View File

@ -181,7 +181,8 @@ concept mcc_refract_model_c = requires(const T t_const) {
template <typename T>
concept mcc_celestial_point_c = requires(T t) {
requires std::same_as<decltype(t.pair_kind), MccCoordPairKind>; // type of given coordinate pair
requires std::same_as<std::remove_const_t<decltype(t.pair_kind)>,
MccCoordPairKind>; // type of given coordinate pair (it may be even static constexpr value)
requires mcc_time_point_c<decltype(t.time_point)>; // time point for given coordinates
@ -416,11 +417,11 @@ concept mcc_hardware_c = requires(T t, const T t_const) {
{ t_const.hardwareName() } -> std::formattable<char>;
// the 'T' class must contain static constexpr member of 'MccMountType' type
requires std::same_as<decltype(T::mountType), const MccMountType>;
[]() {
static constexpr MccMountType val = T::mountType;
return val;
}(); // to ensure 'mountType' can be used in compile-time context
// requires std::same_as<decltype(T::mountType), const MccMountType>;
// []() {
// static constexpr MccMountType val = T::mountType;
// return val;
// }(); // to ensure 'mountType' can be used in compile-time context
// a type that defines at least HW_MOVE_STOPPED, HW_MOVE_SLEWING, HW_MOVE_ADJUSTING, HW_MOVE_TRACKING

24
mcc/mcc_tracking_model.h
View File

@ -26,6 +26,8 @@ enum class MccSimpleTrackingModelErrorCode : int {
ERROR_NEAR_PZONE,
ERROR_TIMEOUT,
ERROR_UNEXPECTED_AXIS_RATES,
ERROR_ALREADY_TRACK,
ERROR_ALREADY_STOPPED,
ERROR_STOPPED
};
@ -59,6 +61,8 @@ public:
MccSimpleTrackingModel(CONTROLS_T* controls)
: _stopTracking(new std::atomic_bool()), _currentParamsMutex(new std::mutex())
{
*_stopTracking = true;
_trackingFunc = [controls, this]() -> error_t {
typename CONTROLS_T::hardware_state_t hw_state;
@ -78,6 +82,7 @@ public:
auto t_err = controls->telemetryData(&tdata);
if (t_err) {
*_stopTracking = true;
return mcc_deduce_error<error_t>(t_err, MccSimpleTrackingModelErrorCode::ERROR_GET_TELEMETRY);
}
@ -165,6 +170,7 @@ public:
auto pz_err = update_pzones_ipoint();
if (pz_err) {
*_stopTracking = true;
return mcc_deduce_error<error_t>(pz_err, MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
}
@ -175,6 +181,7 @@ public:
auto ccte_err = target_point(&target_in_future_pt);
if (ccte_err) {
*_stopTracking = true;
return mcc_deduce_error(ccte_err, MccSimpleTrackingModelErrorCode::ERROR_CCTE);
}
@ -187,6 +194,7 @@ public:
// move mount
auto hw_err = controls->hardwareSetState(hw_state);
if (hw_err) {
*_stopTracking = true;
return mcc_deduce_error<error_t>(hw_err, MccSimpleTrackingModelErrorCode::ERROR_HW_SETSTATE);
}
@ -201,6 +209,7 @@ public:
t_err = controls->waitForTelemetryData(&tdata, _currentParams.telemetryTimeout);
if (t_err) {
*_stopTracking = true;
return mcc_deduce_error<error_t>(t_err, MccSimpleTrackingModelErrorCode::ERROR_GET_TELEMETRY);
}
}
@ -211,9 +220,11 @@ public:
// control prohibited zones
if (mcc_is_near_pzones(controls, tdata, _currentParams.minTimeToPZone, pz_err)) {
*_stopTracking = true;
return MccSimpleTrackingModelErrorCode::ERROR_NEAR_PZONE;
}
if (pz_err) {
*_stopTracking = true;
return mcc_deduce_error<error_t>(pz_err,
MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
}
@ -234,6 +245,7 @@ public:
if ((now - last_ipzone_update_tp) < _currentParams.updatingPZoneInterval) {
pz_err = update_pzones_ipoint();
if (pz_err) {
*_stopTracking = true;
return mcc_deduce_error<error_t>(
pz_err, MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
}
@ -242,6 +254,7 @@ public:
// compute new target-in-future point
auto ccte_err = target_point(&target_in_future_pt);
if (ccte_err) {
*_stopTracking = true;
return mcc_deduce_error(ccte_err, MccSimpleTrackingModelErrorCode::ERROR_CCTE);
}
}
@ -250,6 +263,7 @@ public:
hw_state.moving_state = CONTROLS_T::hardware_moving_state_t::HW_MOVE_Tracking;
hw_err = controls->hardwareSetState(hw_state);
if (hw_err) {
*_stopTracking = true;
return mcc_deduce_error<error_t>(hw_err, MccSimpleTrackingModelErrorCode::ERROR_HW_SETSTATE);
}
}
@ -266,13 +280,21 @@ public:
error_t trackTarget()
{
if (!(*_stopTracking)) { // already tracking
return MccSimpleTrackingModelErrorCode::ERROR_ALREADY_TRACK;
}
*_stopTracking = false;
return _trackingFunc();
}
error_t stoptTracking()
error_t stopTracking()
{
if (*_stopTracking) { // already stopped
return MccSimpleTrackingModelErrorCode::ERROR_ALREADY_STOPPED;
}
*_stopTracking = true;
return MccSimpleTrackingModelErrorCode::ERROR_OK;