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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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101
mcc/mcc_telemetry.h
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@@ -9,6 +9,7 @@
#include <condition_variable>
#include <future>
#include <mutex>
#include <stop_token>
#include <thread>
#include "mcc_defaults.h"
@@ -150,7 +151,7 @@ public:
MccCelestialPoint hw_cp{.pair_kind = MccCoordPairKind::COORDS_KIND_XY};
mcc_tp2tp(_data.time_point, hw_cp.time_point);
if (hw_coords) { // compute corresponded apparent coordinates
if (hw_coords) { // compute corresponded observed coordinates
hw_cp.X = _data.target.X;
hw_cp.Y = _data.target.Y;
@@ -318,6 +319,7 @@ public:
MccCelestialPoint pt{.pair_kind = MccCoordPairKind::COORDS_KIND_AZALT, .time_point = _data.time_point};
if constexpr (mccIsEquatorialMount(pcm_t::mountType)) {
// NOTE: now it are OBSERVED (NOT APPARENT) RA, HA, DEC!!!
_data.RA_APP =
MccAngle((double)_data.LST - (double)_data.HA - eo).normalize<MccAngle::NORM_KIND_0_360>();
// MccAngle((double)_data.LST - (double)_data.HA + eo).normalize<MccAngle::NORM_KIND_0_360>();
@@ -367,18 +369,32 @@ public:
ccte_err = controls->refractionCorrection(_data, &_data.refCorr);
if (!ccte_err) {
// // compute APPARENT RA, HA and DEC from observer AZ, ZD
// _data.Y += _data.refCorr; // zenithal distance corrected for the refraction
// pt.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
// ccte_err = controls->transformCoordinates(_data, &pt);
// if (!ccte_err) {
// _data.HA = pt.X;
// _data.DEC_APP = pt.Y;
// _data.RA_APP =
// MccAngle((double)_data.LST - (double)_data.HA -
// eo).normalize<MccAngle::NORM_KIND_0_360>();
// restore hardware encoders coordinates
_data.X = (double)hw_pos.X;
_data.Y = (double)hw_pos.Y;
// update target (assuming target ICRS coordinates are already set)
// auto ret = _updateTargetFunc(false, stop_token);
// update target according to its .pair_kind!
auto ret = _updateTargetFunc(stop_token);
if (ret) {
return ret;
}
// }
}
}
@@ -407,32 +423,35 @@ public:
_dataUpdatingRequested->clear();
_dataUpdatingStart->clear();
_updatingFuture = std::async(
std::launch::async,
[controls, this](std::stop_token stoken) {
bool stop_flag = stoken.stop_requested();
// controls->logTrace(std::format("stop_requested() = {}", stop_flag));
// while (!stoken.stop_requested()) {
while (!stop_flag) {
_dataUpdatingRequested->wait(false);
_updatingFuture =
std::async(std::launch::async, &MccTelemetry::updateLoop, this, _internalUpdatingStopSource.get_token());
stop_flag = stoken.stop_requested();
if (!stop_flag) {
// if (!stoken.stop_requested()) {
*_internalUpdating = true;
std::lock_guard lock{*_timeoutMutex};
// _updatingFuture = std::async(
// std::launch::async,
// [controls, this](std::stop_token stoken) {
// bool stop_flag = stoken.stop_requested();
// // controls->logTrace(std::format("stop_requested() = {}", stop_flag));
// // while (!stoken.stop_requested()) {
// while (!stop_flag) {
// _dataUpdatingRequested->wait(false);
_dataUpdatingStart->test_and_set();
_dataUpdatingStart->notify_all();
// stop_flag = stoken.stop_requested();
// if (!stop_flag) {
// // if (!stoken.stop_requested()) {
// *_internalUpdating = true;
// std::lock_guard lock{*_timeoutMutex};
_lastUpdateError = _updateFunc(stoken);
// _dataUpdatingStart->test_and_set();
// _dataUpdatingStart->notify_all();
_dataUpdatingStart->clear();
_dataUpdatingRequested->clear();
}
}
},
_internalUpdatingStopSource.get_token());
// _lastUpdateError = _updateFunc(stoken);
// _dataUpdatingStart->clear();
// _dataUpdatingRequested->clear();
// }
// }
// },
// _internalUpdatingStopSource.get_token());
}
@@ -511,11 +530,14 @@ public:
_lastUpdateError = MccTelemetryErrorCode::ERROR_UPDATE_LOOP_WAIT;
}
startInternalTelemetryDataUpdating();
_updatingFuture = std::async(std::launch::async, &MccTelemetry::updateLoop, this,
_internalUpdatingStopSource.get_token());
*_internalUpdating = true;
} else {
startInternalTelemetryDataUpdating();
_updatingFuture = std::async(std::launch::async, &MccTelemetry::updateLoop, this,
_internalUpdatingStopSource.get_token());
*_internalUpdating = true;
}
@@ -728,6 +750,31 @@ protected:
std::unique_ptr<std::timed_mutex> _timeoutMutex{new std::timed_mutex()};
error_t _lastUpdateError{MccTelemetryErrorCode::ERROR_OK};
void updateLoop(std::stop_token stoken)
{
bool stop_flag = stoken.stop_requested();
// controls->logTrace(std::format("stop_requested() = {}", stop_flag));
while (!stoken.stop_requested()) {
// while (!stop_flag) {
_dataUpdatingRequested->wait(false);
// stop_flag = stoken.stop_requested();
// if (!stop_flag) {
if (!stoken.stop_requested()) {
*_internalUpdating = true;
std::lock_guard lock{*_timeoutMutex};
_dataUpdatingStart->test_and_set();
_dataUpdatingStart->notify_all();
_lastUpdateError = _updateFunc(stoken);
_dataUpdatingStart->clear();
_dataUpdatingRequested->clear();
}
}
}
};