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This commit is contained in:
Timur A. Fatkhullin 2025-07-25 09:03:29 +03:00
parent 1d49077d7b
commit c71cf98dd9
2 changed files with 11 additions and 7 deletions
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7
cxx/mcc_mount_concepts.h
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@ -222,8 +222,8 @@ concept mcc_mount_hardware_c = !std::copyable<T> && std::movable<T> && requires(
[]() {
// hardware is in stop state (no any moving)
static constexpr auto v1 = T::hw_state_t::HW_STATE_STOP;
// hardware is in slew state (move to given celestial point)
// hardware is in slew state (move to given celestial point)
static constexpr auto v2 = T::hw_state_t::HW_STATE_SLEW;
// hardware is in track state (track given celestial point)
@ -234,7 +234,7 @@ concept mcc_mount_hardware_c = !std::copyable<T> && std::movable<T> && requires(
// a class that contains at least time of measurement, coordinates for x,y axes and its moving rates
requires requires(typename T::axes_pos_t pos) {
requires std::same_as<decltype(pos.time_point), typename T::time_point_t>; // time point of measurement
requires std::same_as<decltype(pos.time_point), typename T::time_point_t>; // time point
requires std::same_as<decltype(pos.x), typename T::coord_t>; // co-longitude coordinate
requires std::same_as<decltype(pos.y), typename T::coord_t>; // co-latitude coordinate
@ -252,6 +252,9 @@ concept mcc_mount_hardware_c = !std::copyable<T> && std::movable<T> && requires(
{ t.stop() } -> std::same_as<typename T::error_t>; // stop any moving
{ t.init() } -> std::same_as<typename T::error_t>; // initialize hardware
{ t.slewTo(std::declval<typename T::axes_pos_t>()) } -> std::same_as<typename T::error_t>;
{ t.correctTo(std::declval<typename T::axes_pos_t>()) } -> std::same_as<typename T::error_t>;
};

11
cxx/mcc_slew_model.h
View File

@ -96,9 +96,10 @@ inline std::error_code make_error_code(MccSimpleSlewModelErrorCode ec)
/*
* WARNING: it is assumed that coordinates are in radians!
* but this fact is only used if slew coordinate pair are given as
* [azimuth, zenithal distance] (see sources code below)
* It is very simple slew model!
* There are no any complex routes (bypass of prohibited),
* just a strait path from current point to target
*
*/
template <traits::mcc_logger_c LoggerT = MccNullLogger>
@ -123,7 +124,7 @@ public:
// coordinates polling interval in seconds
std::chrono::duration<double> coordPollingInterval{0.1};
bool stopAfterSlew{false};
std::chrono::seconds timeout{3600};
std::chrono::seconds slewTimeout{3600};
};
@ -367,7 +368,7 @@ protected:
prev_time_point = t_data.time_point;
if ((std::chrono::steady_clock::now() - start_poll_tm) > slew_point.timeout) {
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;
}