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This commit is contained in:
Timur A. Fatkhullin
2025-11-24 18:00:46 +03:00
parent e529265a63
commit e548451617
6 changed files with 120 additions and 35 deletions
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38
mcc/mcc_slewing_model.h
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@@ -174,7 +174,8 @@ public:
}
bool in_zone;
auto pz_err = controls->inPZone(tdata.target, &in_zone);
std::vector<bool> in_zone_vec;
auto pz_err = controls->inPZone(tdata.target, &in_zone, &in_zone_vec);
if (pz_err) {
*_stopSlewing = true;
return mcc_deduce_error_code(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
@@ -183,7 +184,14 @@ public:
if (in_zone) {
*_stopSlewing = true;
logger.logError("target point is in prohibited zone! Entered target coordinates:");
size_t i = 0;
for (; i < in_zone_vec.size(); ++i) {
if (in_zone_vec[i]) {
break;
}
}
logger.logError("target point is in prohibited zone (zone index: {})! Entered target coordinates:", i);
logger.logError(std::format(" RA-APP, DEC-APP, HA, LST: {}, {}, {}, {}",
mcc::MccAngle{tdata.target.RA_APP}.sexagesimal(true),
mcc::MccAngle{tdata.target.DEC_APP}.sexagesimal(),
@@ -193,6 +201,9 @@ public:
mcc::MccAngle{tdata.target.ZD}.sexagesimal(),
mcc::MccAngle{tdata.target.ALT}.sexagesimal()));
logger.logError(std::format(" X-enc, Y-enc: {}, {}", mcc::MccAngle{tdata.target.X}.sexagesimal(),
mcc::MccAngle{tdata.target.Y}.sexagesimal()));
return MccSimpleSlewingModelErrorCode::ERROR_TARGET_IN_PZONE;
}
@@ -310,6 +321,20 @@ public:
std::pair<double, double> distXY;
if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
if (tdata.target.pair_kind != MccCoordPairKind::COORDS_KIND_HADEC_APP) {
// here, HA and DEC are changed during slewing process!!
slew_and_stop = false;
}
} else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
if (!(tdata.target.pair_kind == MccCoordPairKind::COORDS_KIND_AZALT &&
tdata.target.pair_kind == MccCoordPairKind::COORDS_KIND_AZZD)) {
slew_and_stop = false;
}
}
// main loop (simply monitors the current position taking into account the prohibited zones, as well as the
// timeout of the entire process)
while (!*_stopSlewing) {
@@ -442,8 +467,15 @@ public:
return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
}
logger.logDebug(" the 'hardwareSetState' method performed successfully!");
{
std::lock_guard lock{*_currentParamsMutex};
logger.logDebug(" the 'hardwareSetState' method performed successfully!");
}
}
// sleep here
std::this_thread::sleep_for(_currentParams.slewingTelemetryInterval);
}
*_stopSlewing = true;