From c71cf98dd90906f40901af803185bd40f7b75049 Mon Sep 17 00:00:00 2001
From: "Timur A. Fatkhullin" <timur@sao.ru>
Date: Fri, 25 Jul 2025 09:03:29 +0300
Subject: [PATCH] ...

---
 cxx/mcc_mount_concepts.h |  7 +++++--
 cxx/mcc_slew_model.h     | 11 ++++++-----
 2 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/cxx/mcc_mount_concepts.h b/cxx/mcc_mount_concepts.h
index c205288..748df08 100644
--- a/cxx/mcc_mount_concepts.h
+++ b/cxx/mcc_mount_concepts.h
@@ -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>;
 };
 
 
diff --git a/cxx/mcc_slew_model.h b/cxx/mcc_slew_model.h
index f9acdd5..f0fdaec 100644
--- a/cxx/mcc_slew_model.h
+++ b/cxx/mcc_slew_model.h
@@ -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;
                 }