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This commit is contained in:
Timur A. Fatkhullin 2025-12-01 02:49:01 +03:00
parent a825a6935b
commit cca58e8ba9
1 changed files with 63 additions and 32 deletions
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95
mcc/mcc_slewing_model.h
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@ -51,10 +51,7 @@ namespace mcc
struct MccSimpleSlewingModelCategory : public std::error_category { struct MccSimpleSlewingModelCategory : public std::error_category {
MccSimpleSlewingModelCategory() : std::error_category() {} MccSimpleSlewingModelCategory() : std::error_category() {}
const char* name() const noexcept const char* name() const noexcept { return "SIMPLE-SLEWING-MODEL"; }
{
return "SIMPLE-SLEWING-MODEL";
}
std::string message(int ec) const std::string message(int ec) const
{ {
@ -120,7 +117,9 @@ public:
template <mcc_all_controls_c CONTROLS_T, mcc_logger_c LoggerT = MccNullLogger> template <mcc_all_controls_c CONTROLS_T, mcc_logger_c LoggerT = MccNullLogger>
MccSimpleSlewingModel(CONTROLS_T* controls, LoggerT logger) MccSimpleSlewingModel(CONTROLS_T* controls, LoggerT logger)
: _stopSlewing(new std::atomic_bool()), _currentParamsMutex(new std::mutex) : _stopSlewing(new std::atomic_bool()),
_currentParamsMutex(new std::mutex),
_lastError(MccSimpleSlewingModelErrorCode::ERROR_OK)
{ {
std::ostringstream os; std::ostringstream os;
os << std::this_thread::get_id(); os << std::this_thread::get_id();
@ -163,6 +162,9 @@ public:
}; };
_slewingFunc = [controls, logger = std::move(logger), this](bool slew_and_stop) mutable -> error_t { _slewingFunc = [controls, logger = std::move(logger), this](bool slew_and_stop) mutable -> error_t {
// reset error
_lastError = MccSimpleSlewingModelErrorCode::ERROR_OK;
// first, check target coordinates // first, check target coordinates
typename CONTROLS_T::error_t t_err; typename CONTROLS_T::error_t t_err;
MccTelemetryData tdata; MccTelemetryData tdata;
@ -172,7 +174,8 @@ public:
t_err = controls->telemetryData(&tdata); t_err = controls->telemetryData(&tdata);
if (t_err) { if (t_err) {
return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY); return _lastError =
mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
} }
} }
@ -181,7 +184,8 @@ public:
auto pz_err = controls->inPZone(tdata.target, &in_zone, &in_zone_vec); auto pz_err = controls->inPZone(tdata.target, &in_zone, &in_zone_vec);
if (pz_err) { if (pz_err) {
*_stopSlewing = true; *_stopSlewing = true;
return mcc_deduce_error_code(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP); return _lastError =
mcc_deduce_error_code(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
} }
if (in_zone) { if (in_zone) {
@ -211,7 +215,7 @@ public:
} }
if (*_stopSlewing) { if (*_stopSlewing) {
return MccSimpleSlewingModelErrorCode::ERROR_STOPPED; return _lastError = MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
} }
double braking_accelX, braking_accelY; double braking_accelX, braking_accelY;
@ -259,7 +263,7 @@ public:
auto hw_err = controls->hardwareGetState(&hw_state); auto hw_err = controls->hardwareGetState(&hw_state);
if (hw_err) { if (hw_err) {
*_stopSlewing = true; *_stopSlewing = true;
return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE); return _lastError = mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
} }
hw_state.X = (double)tdata.target.X; hw_state.X = (double)tdata.target.X;
@ -277,7 +281,7 @@ public:
if (*_stopSlewing) { if (*_stopSlewing) {
logger.logDebug("slewing was stopped!"); logger.logDebug("slewing was stopped!");
return MccSimpleSlewingModelErrorCode::ERROR_STOPPED; return _lastError = MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
} }
// start slewing // start slewing
@ -302,7 +306,7 @@ public:
hw_err = controls->hardwareSetState(hw_state); hw_err = controls->hardwareSetState(hw_state);
if (hw_err) { if (hw_err) {
*_stopSlewing = true; *_stopSlewing = true;
return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE); return _lastError = mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
} }
logger.logDebug(" the 'hardwareSetState' method performed successfully!"); logger.logDebug(" the 'hardwareSetState' method performed successfully!");
@ -348,13 +352,17 @@ public:
t_err = controls->waitForTelemetryData(&tdata, _currentParams.telemetryTimeout); t_err = controls->waitForTelemetryData(&tdata, _currentParams.telemetryTimeout);
if (t_err) { if (t_err) {
*_stopSlewing = true; _lastError = mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY); break;
// *_stopSlewing = true;
// return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
} }
} }
if (*_stopSlewing) { if (*_stopSlewing) {
return MccSimpleSlewingModelErrorCode::ERROR_STOPPED; _lastError = MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
break;
// return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
} }
distXY = mcc_compute_distance(tdata, min_time_to_pzone_in_secs, braking_accelX, braking_accelY); distXY = mcc_compute_distance(tdata, min_time_to_pzone_in_secs, braking_accelX, braking_accelY);
@ -412,8 +420,11 @@ public:
in_zone_vec.clear(); in_zone_vec.clear();
pz_err = controls->inPZone(cpt, &in_zone, &in_zone_vec); pz_err = controls->inPZone(cpt, &in_zone, &in_zone_vec);
if (pz_err) { if (pz_err) {
*_stopSlewing = true; _lastError =
return mcc_deduce_error_code(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP); mcc_deduce_error_code(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
break;
// *_stopSlewing = true;
// return mcc_deduce_error_code(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
} }
if (in_zone) { if (in_zone) {
@ -437,8 +448,10 @@ public:
logger.logError(std::format(" hardware X, Y: {}, {}", mcc::MccAngle{tdata.X}.sexagesimal(), logger.logError(std::format(" hardware X, Y: {}, {}", mcc::MccAngle{tdata.X}.sexagesimal(),
mcc::MccAngle{tdata.Y}.sexagesimal())); mcc::MccAngle{tdata.Y}.sexagesimal()));
*_stopSlewing = true; _lastError = MccSimpleSlewingModelErrorCode::ERROR_NEAR_PZONE;
return MccSimpleSlewingModelErrorCode::ERROR_NEAR_PZONE; break;
// *_stopSlewing = true;
// return MccSimpleSlewingModelErrorCode::ERROR_NEAR_PZONE;
} }
@ -448,7 +461,9 @@ public:
if ((std::chrono::steady_clock::now() - start_slewing_tp) > _currentParams.slewTimeout) { if ((std::chrono::steady_clock::now() - start_slewing_tp) > _currentParams.slewTimeout) {
logger.logError("slewing process timeout!"); logger.logError("slewing process timeout!");
return MccSimpleSlewingModelErrorCode::ERROR_TIMEOUT; _lastError = MccSimpleSlewingModelErrorCode::ERROR_TIMEOUT;
break;
// return MccSimpleSlewingModelErrorCode::ERROR_TIMEOUT;
} }
} }
@ -456,8 +471,10 @@ public:
hw_err = controls->hardwareGetState(&hw_state); hw_err = controls->hardwareGetState(&hw_state);
if (hw_err) { if (hw_err) {
*_stopSlewing = true; _lastError = mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE); break;
// *_stopSlewing = true;
// return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
} }
logger.logTrace(std::format("hw state was updated ({}, {})", MccAngle(hw_state.X).sexagesimal(true), logger.logTrace(std::format("hw state was updated ({}, {})", MccAngle(hw_state.X).sexagesimal(true),
@ -471,8 +488,10 @@ public:
} else { } else {
t_err = controls->targetToMountDist(&dist); t_err = controls->targetToMountDist(&dist);
if (t_err) { if (t_err) {
*_stopSlewing = true; _lastError = mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY);
return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY); break;
// *_stopSlewing = true;
// return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY);
} }
logger.logTrace(std::format(" target-to-mount distance: {}", mcc::MccAngleFancyString(dist))); logger.logTrace(std::format(" target-to-mount distance: {}", mcc::MccAngleFancyString(dist)));
@ -486,7 +505,9 @@ public:
if (*_stopSlewing) { if (*_stopSlewing) {
return MccSimpleSlewingModelErrorCode::ERROR_STOPPED; _lastError = MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
break;
// return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
} }
@ -501,8 +522,10 @@ public:
hw_err = controls->hardwareSetState(hw_state); hw_err = controls->hardwareSetState(hw_state);
if (hw_err) { if (hw_err) {
*_stopSlewing = true; _lastError = MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE;
return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE); break;
// *_stopSlewing = true;
// return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
} }
@ -516,8 +539,10 @@ public:
hw_err = controls->hardwareGetState(&hw_state); hw_err = controls->hardwareGetState(&hw_state);
if (hw_err) { if (hw_err) {
*_stopSlewing = true; _lastError = MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE;
return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE); break;
// *_stopSlewing = true;
// return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
} }
logger.logTrace(std::format("hw state was updated ({}, {})", MccAngle(hw_state.X).sexagesimal(true), logger.logTrace(std::format("hw state was updated ({}, {})", MccAngle(hw_state.X).sexagesimal(true),
@ -525,7 +550,9 @@ public:
} }
if (*_stopSlewing) { if (*_stopSlewing) {
return MccSimpleSlewingModelErrorCode::ERROR_STOPPED; _lastError = MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
break;
// return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
} }
// sleep here // sleep here
@ -543,8 +570,8 @@ public:
t_err = controls->waitForTelemetryData(&tdata, _currentParams.telemetryTimeout); t_err = controls->waitForTelemetryData(&tdata, _currentParams.telemetryTimeout);
if (t_err) { if (t_err) {
*_stopSlewing = true; return _lastError =
return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY); mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
} }
} }
@ -564,7 +591,7 @@ public:
mcc::MccAngle{tdata.ZD}.sexagesimal())); mcc::MccAngle{tdata.ZD}.sexagesimal()));
} }
return MccSimpleSlewingModelErrorCode::ERROR_OK; return _lastError = MccSimpleSlewingModelErrorCode::ERROR_OK;
}; };
} }
@ -619,6 +646,8 @@ public:
return _currentParams; return _currentParams;
} }
error_t slewingLastError() const { return _lastError; }
protected: protected:
std::function<error_t(bool)> _slewingFunc{}; std::function<error_t(bool)> _slewingFunc{};
std::unique_ptr<std::atomic_bool> _stopSlewing; std::unique_ptr<std::atomic_bool> _stopSlewing;
@ -626,6 +655,8 @@ protected:
slewing_params_t _currentParams{}; slewing_params_t _currentParams{};
std::unique_ptr<std::mutex> _currentParamsMutex{}; std::unique_ptr<std::mutex> _currentParamsMutex{};
error_t _lastError;
}; };