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This commit is contained in:
Timur A. Fatkhullin
2025-11-27 18:01:40 +03:00
parent a825a6935b
commit bf55a45cf9
3 changed files with 62 additions and 39 deletions
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37
asibfm700/asibfm700_servocontroller.cpp
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@@ -106,27 +106,26 @@ AsibFM700ServoController::error_t AsibFM700ServoController::hardwareInit()
AsibFM700ServoController::error_t AsibFM700ServoController::hardwareSetState(hardware_state_t state)
{
static thread_local coordval_pair_t cvalpair{.X{0.0, 0.0}, .Y{0.0, 0.0}};
static thread_local coordpair_t cpair{.X = 0.0, .Y = 0.0};
std::lock_guard lock{*_setStateMutex};
// static thread_local coordval_pair_t cvalpair{.X{0.0, 0.0}, .Y{0.0, 0.0}};
// static thread_local coordpair_t cpair{.X = 0.0, .Y = 0.0};
// cvalpair.X = {.val = state.Y, .t = tp};
// cvalpair.Y = {.val = state.X, .t = tp};
// cpair.X = state.tagY;
// cpair.Y = state.tagX;
// time point from sidservo library is 'double' number represented UNIXTIME with
// microseconds/nanoseconds precision
double tp = std::chrono::duration<double>(state.time_point.time_since_epoch()).count();
std::lock_guard lock{*_setStateMutex};
// according to"SiTech protocol notes" X is DEC-axis and Y is HA-axis
// coordval_pair_t cvalpair{.X{.val = state.Y, .t = tp}, .Y{.val = state.X, .t = tp}};
// coordpair_t cpair{.X = state.Y, .Y = state.X};
// coordpair_t cpair{.X = state.Y + mcc::MccAngle(1.0_degs), .Y = state.X + mcc::MccAngle(1.0_degs)};
coordval_pair_t cvalpair{.X{.val = state.Y, .t = tp}, .Y{.val = state.X, .t = tp}};
coordpair_t cpair{.X = state.endptY, .Y = state.endptX};
cvalpair.X = {.val = state.Y, .t = tp};
cvalpair.Y = {.val = state.X, .t = tp};
cpair.X = state.Y;
cpair.Y = state.X;
// correctTo is asynchronous function!!!
//
// according to the Eddy's implementation of the LibSidServo library it is safe
@@ -154,11 +153,13 @@ AsibFM700ServoController::error_t AsibFM700ServoController::hardwareGetState(har
using secs_t = std::chrono::duration<double>;
secs_t secs = secs_t{mdata.encXposition.t};
if (mcc::utils::isEqual(secs.count(), 0.0)) { // model mode?
state->time_point = decltype(state->time_point)::clock::now();
} else {
state->time_point = tp_t{std::chrono::duration_cast<tp_t::duration>(secs)};
}
state->time_point = tp_t{std::chrono::duration_cast<tp_t::duration>(secs)};
// if (mcc::utils::isEqual(secs.count(), 0.0)) { // model mode?
// state->time_point = decltype(state->time_point)::clock::now();
// } else {
// state->time_point = tp_t{std::chrono::duration_cast<tp_t::duration>(secs)};
// }
// WARNING: TEMPORARY (WAIT FOR Eddy fix its implementation of LibSidServo)!!!
// state->time_point = decltype(state->time_point)::clock::now();

6
asibfm700/asibfm700_servocontroller.h
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@@ -78,6 +78,12 @@ public:
axis_status_t stateX, stateY; // Eddy's LibSidServo axis state
hardware_moving_state_t moving_state;
// endpoint: a point on the trajectory of movement behind the guidance point (X,Y), taking into account
// the movement vector (i.e. sign of movement speed)
// this point is needed as Sidereal controller commands require not only moving speed but
// also 'target' point (point at which mount will stop)
double endptX, endptY;
};