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This commit is contained in:
Timur A. Fatkhullin
2025-07-30 22:47:55 +03:00
parent c39496ff25
commit ca9dcdfa68
2 changed files with 51 additions and 47 deletions
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30
cxx/mcc_slew_model.h
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@@ -187,6 +187,7 @@ public:
protected:
std::atomic_bool _stopRequested{false};
std::function<error_t(const slew_point_t&)> _slewFunc{};
std::mutex _updateMutex{};
void init(auto& mount_controls)
{
@@ -345,7 +346,7 @@ protected:
}
if (i_adj_cycle == slew_point.maxAdjustingCycleNumber) {
// res_err = max iter namber was exceeded
// res_err = max iter number was exceeded
return;
}
} else {
@@ -371,14 +372,33 @@ protected:
auto start_poll_tm = std::chrono::steady_clock::now();
// auto timeout_point = std::chrono::steady_clock::now() + slew_point.slewTimeout;
auto wait_timeout = slew_point.slewTimeout / 5;
if (wait_timeout < std::chrono::seconds(1)) {
wait_timeout = std::chrono::seconds(1);
}
// NOTE: TARGET COORDINATES WILL BE UPDATED FOR CURRENT TIME-POINT IN TELEMETRY-CLASS!!!
auto iter = telemetry.addCallbackFunc(cycle_func);
while (true) {
t_err = telemetry.data(t_data);
t_err = telemetry.waitForUpdatedData(t_data, wait_timeout);
if (t_err) {
std::string err_str = "An error occured while waiting for updated telemetry";
logError(std::format("An error occured while waiting for updated telemetry: {}", t_err));
if constexpr (std::same_as<decltype(t_err), error_t>) {
std::format_to(std::back_inserter(err_str), ": code = {} ({})", t_err.value(), t_err.message());
logError(err_str);
return t_err;
} else {
if constexpr (traits::mcc_formattable<decltype(t_err)>) {
std::format_to(std::back_inserter(err_str), ": code = {}", t_err.value());
}
logError(err_str);
return MccSimpleSlewModelErrorCode::ERROR_TELEMETRY_DATA;
}
}
cycle_func(t_data);
if ((std::chrono::steady_clock::now() - start_poll_tm) > slew_point.slewTimeout) {