...

mcc/mcc_generic_mount.h

@@ -19,7 +19,8 @@ enum class MccGenericMountErrorCode : int {
     ERROR_HW_STOP,
     ERROR_HW_GETSTATE,
     ERROR_SET_TARGET,
-    ERROR_MOUNT_SLEW
+    ERROR_MOUNT_SLEW,
+    ERROR_MOUNT_TRACK
 };
 
 enum class MccGenericFsmMountErrorCode : int { ERROR_OK, ERROR_INVALID_OPERATION, ERROR_UNKNOWN_EVENT };
@@ -152,6 +153,9 @@ public:
     using typename SlewModelT::slewing_params_t;
     using typename TrackModelT::tracking_params_t;
 
+
+    enum class mount_status_t : int { IDLE, INITIALIZATION, STOPPED, SLEWING, ADJUSTING, TRACKING, ERROR };
+
     MccGenericMount(HardwareT hardware,
                     TelemetryT telemetry,
                     PZoneContT pzone_cont,
@@ -163,8 +167,10 @@ public:
           PZoneContT(std::move(pzone_cont)),
           SlewModelT(std::move(slew_model)),
           TrackModelT(std::move(track_model)),
-          LoggerT(std::move(logger))
+          LoggerT(std::move(logger)),
+          _mountStatus(new mount_status_t)
     {
+        *_mountStatus = mount_status_t::IDLE;
     }
 
     MccGenericMount(MccGenericMount&&) = default;
@@ -173,7 +179,10 @@ public:
     MccGenericMount& operator=(MccGenericMount&&) = default;
     MccGenericMount& operator=(const MccGenericMount&) = delete;
 
-    virtual ~MccGenericMount() = default;
+    virtual ~MccGenericMount()
+    {
+        stopMount();
+    };
 
     error_t stopMount()
     {
@@ -184,11 +193,15 @@ public:
 
         auto hw_err = this->hardwareStop();
         if (hw_err) {
+            *_mountStatus = mount_status_t::ERROR;
+
             return mcc_deduce_error_code(hw_err, MccGenericMountErrorCode::ERROR_HW_STOP);
         }
 
         logInfo("Stop command was sent");
 
+        *_mountStatus = mount_status_t::STOPPED;
+
         return MccGenericMountErrorCode::ERROR_OK;
     }
 
@@ -196,13 +209,19 @@ public:
     {
         logInfo("Start generic mount initialization ...");
 
+        *_mountStatus = mount_status_t::INITIALIZATION;
+
         auto hw_err = this->hardwareInit();
         if (hw_err) {
+            *_mountStatus = mount_status_t::ERROR;
+
             return mcc_deduce_error_code(hw_err, MccGenericMountErrorCode::ERROR_HW_STOP);
         }
 
         logInfo("Generic mount initialization was performed");
 
+        *_mountStatus = mount_status_t::IDLE;
+
         return MccGenericMountErrorCode::ERROR_OK;
     }
 
@@ -231,17 +250,66 @@ public:
     // re-implements SlewModelT::slewToTarget to fetch input target coordinates from intermediate buffer
     error_t slewToTarget(bool slew_and_stop = false)
     {
+        *_mountStatus = mount_status_t::SLEWING;
+
         auto err = TelemetryT::setPointingTarget(_enteredTargetCoordiniates);
         if (err) {
+            *_mountStatus = mount_status_t::ERROR;
+
             return mcc_deduce_error_code(err, MccGenericMountErrorCode::ERROR_SET_TARGET);
         }
 
+        if (slew_and_stop) {
+            *_mountStatus = mount_status_t::IDLE;
+        }
+
         return mcc_deduce_error_code(SlewModelT::slewToTarget(slew_and_stop),
                                      MccGenericMountErrorCode::ERROR_MOUNT_SLEW);
     }
 
+    error_t trackTarget()
+    {
+        auto err = TrackModelT::traclTarget();
+        if (err) {
+            *_mountStatus = mount_status_t::ERROR;
+
+            return mcc_deduce_error_code(err, MccGenericMountErrorCode::ERROR_MOUNT_TRACK);
+        }
+
+        *_mountStatus = mount_status_t::TRACKING;
+
+        return MccGenericMountErrorCode::ERROR_OK;
+    }
+
+
+    error_t stopSlewing()
+    {
+        *_mountStatus = mount_status_t::IDLE;
+
+        SlewModelT::stopSlewing();
+
+        return MccGenericMountErrorCode::ERROR_OK;
+    }
+
+    error_t stopTracking()
+    {
+        *_mountStatus = mount_status_t::IDLE;
+
+        TrackModelT::stopTracking();
+
+        return MccGenericMountErrorCode::ERROR_OK;
+    }
+
+
+    MccGenericMount::mount_status_t mountStatus() const
+    {
+        return _mountStatus.get();
+    }
+
 protected:
-    MccCelestialPoint _enteredTargetCoordiniates;
+    MccCelestialPoint _enteredTargetCoordiniates{};
+
+    std::unique_ptr<std::atomic<MccGenericMount::mount_status_t>> _mountStatus;
 };