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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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2
CMakeLists.txt
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@ -13,7 +13,7 @@ set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
# ******* C++ PART OF THE PROJECT *******
set(EXAMPLES OFF CACHE BOOL "" FORCE)
set(CMAKE_BUILD_TYPE "Release")
# set(CMAKE_BUILD_TYPE "Release")
add_subdirectory(LibSidServo)
set(CMAKE_BUILD_TYPE "Debug")

4
asibfm700/asibfm700_configfile.h
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@ -183,10 +183,10 @@ static auto Asibfm700MountConfigDefaults = std::make_tuple(
simple_config_record_t{"pzMinAltitude", mcc::MccAngle(10.0_degs), {"minimal altitude"}},
// HA-axis limit switch minimal value
simple_config_record_t{"pzLimitSwitchHAMin", mcc::MccAngle(-170.0_degs), {"HA-axis limit switch minimal value"}},
simple_config_record_t{"pzLimitSwitchHAMin", mcc::MccAngle(-270.0_degs), {"HA-axis limit switch minimal value"}},
// HA-axis limit switch maximal value
simple_config_record_t{"pzLimitSwitchHAMax", mcc::MccAngle(170.0_degs), {"HA-axis limit switch maximal value"}},
simple_config_record_t{"pzLimitSwitchHAMax", mcc::MccAngle(270.0_degs), {"HA-axis limit switch maximal value"}},
// DEC-axis limit switch minimal value
simple_config_record_t{"pzLimitSwitchDecMin", mcc::MccAngle(-90.0_degs), {"DEC-axis limit switch minimal value"}},

8
asibfm700/asibfm700_mount.cpp
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@ -263,7 +263,13 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
bool ok = isInternalTelemetryDataUpdating();
if (ok) {
logInfo("Start updating telemetry data");
logInfo("Start updating telemetry data ...");
mcc::MccTelemetryData tdata;
auto err = waitForTelemetryData(&tdata, _mountConfig.movingModelParams().telemetryTimeout);
if (err) {
logError("Cannot update telemetry data (err = {} [{}, {}])!", err.message(), err.value(),
err.category().name());
}
} else {
auto err = lastUpdateError();
logError("Cannot update telemetry data (err = {} [{}, {}])!", err.message(), err.value(),

2
asibfm700/asibfm700_servocontroller.cpp
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@ -115,7 +115,7 @@ AsibFM700ServoController::error_t AsibFM700ServoController::hardwareSetState(har
// according to"SiTech protocol notes" X is DEC-axis and Y is HA-axis
coordval_pair_t cvalpair{.X{.val = state.Y, .t = tp}, .Y{.val = state.X, .t = tp}};
coordpair_t cpair{.X = state.Y, .Y = state.X};
// coordpair_t cpair{.X = state.Y, .Y = state.X + mcc::MccAngle(10.0_arcsecs)};
// coordpair_t cpair{.X = state.Y, .Y = state.X + mcc::MccAngle(1.0_degs)};
// correctTo is asynchronous function!!!
//

36
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) {
@ -442,10 +467,17 @@ public:
return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
}
{
std::lock_guard lock{*_currentParamsMutex};
logger.logDebug(" the 'hardwareSetState' method performed successfully!");
}
}
// sleep here
std::this_thread::sleep_for(_currentParams.slewingTelemetryInterval);
}
*_stopSlewing = true;
logger.logInfo("Slewing finished");

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();
}
}
}
};