...

cxx/mcc_slew_model.h

@@ -24,6 +24,8 @@ enum class MccSimpleSlewModelErrorCode : int {
     ERROR_PEC_COMP,
     ERROR_HARDWARE_SETPOS,
     ERROR_HARDWARE_GETPOS,
+    ERROR_SLEW_STOPPED,
+    ERROR_SLEW_ADJ_MAXITER,
     ERROR_SLEW_TIMEOUT
 };
 
@@ -50,10 +52,7 @@ namespace mcc
 struct MccSimpleSlewModelCategory : public std::error_category {
     MccSimpleSlewModelCategory() : std::error_category() {}
 
-    const char* name() const noexcept
-    {
-        return "ADC_GENERIC_DEVICE";
-    }
+    const char* name() const noexcept { return "ADC_GENERIC_DEVICE"; }
 
     std::string message(int ec) const
     {
@@ -76,6 +75,12 @@ struct MccSimpleSlewModelCategory : public std::error_category {
                 return "slew model: cannot set position";
             case MccSimpleSlewModelErrorCode::ERROR_HARDWARE_GETPOS:
                 return "slew model: cannot get position";
+            case MccSimpleSlewModelErrorCode::ERROR_SLEW_STOPPED:
+                return "slew model: stopped";
+            case MccSimpleSlewModelErrorCode::ERROR_SLEW_ADJ_MAXITER:
+                return "slew model: max number of adjusting iteration was exceeded";
+            case MccSimpleSlewModelErrorCode::ERROR_SLEW_TIMEOUT:
+                return "slew model: timeout occured while slewing";
             default:
                 return "UNKNOWN";
         }
@@ -167,12 +172,20 @@ public:
 
     error_t slew(slew_point_t pars)
     {
+        _stopRequested = false;
         error_t res_err = _slewFunc(std::move(pars));
 
         return res_err;
     }
 
+    error_t stop()
+    {
+        _stopRequested = true;
+        return MccSimpleSlewModelErrorCode::ERROR_OK;
+    }
+
 protected:
+    std::atomic_bool _stopRequested{false};
     std::function<error_t(const slew_point_t&)> _slewFunc{};
 
     void init(auto& mount_controls)
@@ -288,6 +301,10 @@ protected:
             };
 
             auto cycle_func = [&](auto t_data) mutable {
+                if (_stopRequested) {
+                    res_err = MccSimpleSlewModelErrorCode::ERROR_SLEW_STOPPED;
+                }
+
                 // check for prohibited zones
                 auto t_err = mccCheckInZonePZTuple(*telemetry, p_mount_controls->prohibitedZones, in_zone_flag);
 
@@ -308,6 +325,10 @@ protected:
                 // t_data was updated in caller!!!
                 coord_diff2 = coord_diff_func(t_data);
 
+                if (_stopRequested) {
+                    res_err = MccSimpleSlewModelErrorCode::ERROR_SLEW_STOPPED;
+                }
+
                 if (coord_diff2 < adj_rad2) {  // adjusting mode
                     in_adj_mode = true;
                     hw_err = hardware->setPos(adj_ax_pos);
@@ -357,6 +378,9 @@ protected:
 
 
             while (true) {
+                t_err = telemetry.data(t_data);
+                cycle_func(t_data);
+
                 if ((std::chrono::steady_clock::now() - start_poll_tm) > slew_point.slewTimeout) {
                     logError("Waiting time for completion of slewing expired!");
                     return MccSimpleSlewModelErrorCode::ERROR_SLEW_TIMEOUT;