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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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58
mcc/mcc_slewing_model.h
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@@ -85,6 +85,8 @@ struct MccSimpleSlewingModelCategory : public std::error_category {
return "already slewing";
case MccSimpleSlewingModelErrorCode::ERROR_ALREADY_STOPPED:
return "slewing is already stopped";
case MccSimpleSlewingModelErrorCode::ERROR_STOPPED:
return "slewing was stopped";
default:
return "UNKNOWN";
}
@@ -176,6 +178,8 @@ public:
}
}
auto last_hw_time = tdata.time_point;
bool in_zone;
std::vector<bool> in_zone_vec;
auto pz_err = controls->inPZone(tdata.target, &in_zone, &in_zone_vec);
@@ -262,8 +266,12 @@ public:
return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
}
hw_state.X = (double)tdata.target.X;
hw_state.Y = (double)tdata.target.Y;
hw_state.endptX = (double)tdata.target.X;
hw_state.endptY = (double)tdata.target.Y;
{
std::lock_guard lock{*_currentParamsMutex};
@@ -313,7 +321,7 @@ public:
// double dist, dx, dy, sinY, rate2, xrate;
// std::chrono::duration<double> dtx, dty; // seconds in double
double dist;
double dist, dx, dy;
// bool adjust_mode = false;
// static constexpr auto sideral_rate2 = slewing_params_t::sideralRate * slewing_params_t::sideralRate;
@@ -323,18 +331,11 @@ public:
last_adjust_tp = start_slewing_tp;
std::pair<double, double> distXY;
bool tag_var_coord = true;
if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
if (tdata.target.pair_kind != MccCoordPairKind::COORDS_KIND_HADEC_APP) {
// here, HA and DEC are changed during slewing process!!
slew_and_stop = false;
}
} else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
if (!(tdata.target.pair_kind == MccCoordPairKind::COORDS_KIND_AZALT &&
tdata.target.pair_kind == MccCoordPairKind::COORDS_KIND_AZZD)) {
slew_and_stop = false;
}
if (tdata.target.pair_kind == MccCoordPairKind::COORDS_KIND_AZALT ||
tdata.target.pair_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
tag_var_coord = false;
}
@@ -463,12 +464,19 @@ public:
logger.logTrace(std::format("hw state was updated ({}, {})", MccAngle(hw_state.X).sexagesimal(true),
MccAngle(hw_state.Y).sexagesimal()));
if (slew_and_stop) { // just wait for mount to be stopped
if (slew_and_stop && !tag_var_coord) { // just wait for mount to be stopped
if (hw_state.moving_state == CONTROLS_T::hardware_moving_state_t::HW_MOVE_STOPPED) {
logger.logInfo("mount moving state is STOPPED - exit!");
break;
}
} else {
if (last_hw_time == tdata.time_point) {
logger.logTrace("Same hardware timepoint! Just continue to polling!\n\n\n\n");
continue;
}
last_hw_time = tdata.time_point;
t_err = controls->targetToMountDist(&dist);
if (t_err) {
*_stopSlewing = true;
@@ -477,10 +485,11 @@ public:
logger.logTrace(std::format(" target-to-mount distance: {}", mcc::MccAngleFancyString(dist)));
// if (dist < _currentParams.adjustCoordDiff) {
// if (dist < 1.0_degs) {
if (dist <= _currentParams.slewToleranceRadius) { // stop slewing and exit from cycle
logger.logInfo("target-to-mount distance is lesser than slew tolerance radius - exit!");
if (slew_and_stop) {
controls->hardwareStop();
}
break;
}
@@ -494,10 +503,18 @@ public:
hw_state.X = (double)tdata.target.X;
hw_state.Y = (double)tdata.target.Y;
logger.logTrace(
std::format("Send to hardware: X = {} degs, Y = {} degs ({}, {})",
mcc::MccAngle{hw_state.X}.degrees(), mcc::MccAngle{hw_state.Y}.degrees(),
MccAngle(hw_state.X).sexagesimal(true), MccAngle(hw_state.Y).sexagesimal()));
controls->targetToMountDiff(tdata.pair_kind, &dx, &dy);
// hw_state.endptX = hw_state.X + std::copysign(1.0_degs, dx);
// hw_state.endptY = hw_state.Y + std::copysign(1.0_degs, dy);
hw_state.endptX = hw_state.X + std::copysign(10.0_degs, dx);
hw_state.endptY = hw_state.Y + std::copysign(10.0_degs, dy);
logger.logTrace(std::format(
"Send to hardware: {}, {}, tag: {}, {} (X = {} degs, Y = {} degs)",
MccAngle(hw_state.X).sexagesimal(true), MccAngle(hw_state.Y).sexagesimal(),
MccAngle(hw_state.endptX).sexagesimal(true), MccAngle(hw_state.endptY).sexagesimal(),
mcc::MccAngle{hw_state.X}.degrees(), mcc::MccAngle{hw_state.Y}.degrees()));
hw_err = controls->hardwareSetState(hw_state);
if (hw_err) {
@@ -507,11 +524,10 @@ public:
logger.logDebug(" the 'hardwareSetState' method performed successfully!");
// }
// FOR DEBUG PURPOSE!!!!
std::this_thread::sleep_for(std::chrono::milliseconds(50));
// std::this_thread::sleep_for(std::chrono::milliseconds(50));
logger.logTrace(std::format("get hw state right after hardwareSetState ..."));
hw_err = controls->hardwareGetState(&hw_state);