eddy/mountcontrol
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

...

Browse Source
This commit is contained in:
Timur A. Fatkhullin 2025-05-20 01:05:31 +03:00
parent 88d4b30a58
commit f03e38466e
2 changed files with 165 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

73
cxx/mount.h
View File

@ -43,6 +43,12 @@ concept mcc_mount_state_c = requires(T t, const T t_const) {
{ t.enter() } -> std::same_as<void>;
{ t.exit() } -> std::same_as<void>;
{ t.stop() } -> std::same_as<void>;
typename T::state_data_t;
{ t.stateData() } -> std::same_as<typename T::state_data_t>;
requires std::movable<T>;
};
} // namespace traits
@ -51,6 +57,46 @@ concept mcc_mount_state_c = requires(T t, const T t_const) {
/* SOME BASIC DATA STRUCTURES DEFINITIONS */
// coordinate system related constants
enum class MccCoordKind : uint8_t {
COORDS_KIND_RA_IRCS, // IRCS right ascension
COORDS_KIND_RA_APP, // apparent right ascension
COORDS_KIND_HA, // hour angle
COORDS_KIND_AZ, // azimuth
COORDS_KIND_X, // co-longitude coordinate
COORDS_KIND_DEC_IRCS, // IRCS declination
COORDS_KIND_DEC_APP, // apparent declination
COORDS_KIND_ALT, // altitude
COORDS_KIND_ZD, // zenithal distance
COORDS_KIND_Y // co-latitude coordinate
};
enum class MccCoordPairKind : uint16_t {
// catalog's
COORDS_KIND_RADEC_IRCS = (int)MccCoordKind::COORDS_KIND_RA_IRCS + ((int)MccCoordKind::COORDS_KIND_DEC_IRCS << 8),
// apparent RA and DEC
COORDS_KIND_RADEC_APP = (int)MccCoordKind::COORDS_KIND_RA_APP + ((int)MccCoordKind::COORDS_KIND_DEC_APP << 8),
// apparent HA (hour angle) and DEC
COORDS_KIND_HADEC_APP = (int)MccCoordKind::COORDS_KIND_HA + ((int)MccCoordKind::COORDS_KIND_DEC_APP << 8),
// Azimuth and Altitude
COORDS_KIND_AZALT = (int)MccCoordKind::COORDS_KIND_AZ + ((int)MccCoordKind::COORDS_KIND_ALT << 8),
// Azimuth and Zenithal distance
COORDS_KIND_AZZD = (int)MccCoordKind::COORDS_KIND_AZ + ((int)MccCoordKind::COORDS_KIND_ZD << 8),
// co-longitude and co-latitude (e.g. mount hardware drive/axis encoders)
COORDS_KIND_XY = (int)MccCoordKind::COORDS_KIND_X + ((int)MccCoordKind::COORDS_KIND_Y << 8),
};
template <MccCoordPairKind KIND>
static constexpr std::string_view MccCoordPairKindStr =
KIND == MccCoordPairKind::COORDS_KIND_RADEC_IRCS ? "RADEC-IRCS"
: KIND == MccCoordPairKind::COORDS_KIND_RADEC_APP ? "RADEC-APP"
: KIND == MccCoordPairKind::COORDS_KIND_HADEC_APP ? "HADEC-APP"
: KIND == MccCoordPairKind::COORDS_KIND_AZALT ? "Azimuth-Altitude"
: KIND == MccCoordPairKind::COORDS_KIND_AZZD ? "AzimuthZendist"
: KIND == MccCoordPairKind::COORDS_KIND_XY ? "XY"
: "UNKNOWN";
// meteo parameters (e.g. to compute refraction)
struct MccMountMeteo {
typedef double temp_t;
@ -201,6 +247,31 @@ public:
DT time_from{DT::min()};
};
/* mount state base class */
class MccMountState
{
public:
MccMountState(MccMount& mount) : _mount(mount) {}
virtual ~MccMountState() = default;
void enter(this std::derived_from<MccMountState> auto&& self)
{
std::forward<decltype(self)>(self).enter();
}
void exit(std::derived_from<MccMountState> auto next_state)
requires std::movable<decltype(next_state)>
{
_mount.setMountState(std::move(next_state));
}
protected:
MccMount& _mount;
};
/* Constructors and destructor */
MccMount(traits::mcc_input_char_range auto const& logger_mark = "[MOUNT]",
@ -229,7 +300,7 @@ public:
/* Public methods */
template <traits::mcc_mount_state_c StateT>
void setMountState(StateT& state)
void setMountState(StateT state)
{
_exitCurrentState(); // exit from current state
_exitCurrentState = [&state]() { state.exit(); };

101
cxx/mount_state.h
View File

@ -36,9 +36,12 @@ public:
static constexpr auto mcc_noop_callback = [](const mount_state_error_t&) {};
MccMountAbstractState(traits::mcc_mount_c auto* mount_ptr,
std::convertible_to<enter_callback_t> auto&& enter_callback,
std::convertible_to<exit_callback_t> auto&& exit_callback,
std::convertible_to<error_callback_t> auto&& error_callback)
std::convertible_to<enter_callback_t> auto&& enter_callback = mcc_noop_callback,
std::convertible_to<exit_callback_t> auto&& exit_callback = mcc_noop_callback,
std::convertible_to<error_callback_t> auto&& error_callback = mcc_noop_callback)
: _enterCallback(std::forward<enter_callback_t>(enter_callback)),
_exitCallback(std::forward<exit_callback_t>(exit_callback)),
_errorCallback(std::forward<error_callback_t>(error_callback))
{
_getMountDataFunc = [&mount_ptr, this]() { auto mstate = mount_ptr->getMountData(); };
}
@ -81,26 +84,108 @@ public:
};
/* */
class MccMountStateStoping
{
public:
typedef std::string state_data_t;
MccMountStateStoping(traits::mcc_input_char_range auto const& reason) : _reason({reason.begin(), reason.end()}) {}
MccMountStateStoping(const char* reason) : MccMountStateStoping(std::string_view{reason}) {}
std::string_view ident() const
{
return "MCC-MOUNT-STATE-STOPING";
}
void enter() {}
void exit() {}
void stop() {}
state_data_t stateData()
{
return _reason;
}
protected:
std::string _reason;
};
/* */
class MccMountStateStopped
{
public:
typedef std::string state_data_t;
MccMountStateStopped(traits::mcc_input_char_range auto const& reason) : _reason({reason.begin(), reason.end()}) {}
MccMountStateStopped(const char* reason) : MccMountStateStopped(std::string_view{reason}) {}
std::string_view ident() const
{
return "MCC-MOUNT-STATE-STOPPED";
}
void enter() {}
void exit() {}
void stop() {}
state_data_t stateData()
{
return _reason;
}
protected:
std::string _reason;
};
/* */
class MccMountStateSlew
{
public:
enum coords_kind_t { COORDS_KIND_RADEC_IRCS, COORDS_KIND_RADEC_APP, COORDS_KIND_HADEC_APP, COORDS_KIND_AZALT };
struct slew_state_params_t {
coords_kind_t coordKind{COORDS_KIND_RADEC_APP};
MccCoordPairKind coordKind{MccCoordPairKind::COORDS_KIND_RADEC_APP};
MccAngle x, y; // according to 'coordKind'
bool stop{false}; // stop after
};
MccMountStateSlew() {}
MccMountStateSlew(traits::mcc_mount_c auto& mount,
const slew_state_params_t& params,
std::string_view ident = "MCC-MOUNT-STATE-SLEW")
: _ident(ident)
{
_stopFunc = [&mount]() {
//
mount.setMountState(MccMountStateStopped("stop pointing"));
};
}
std::string_view ident() const
{
return "MCC-MOUNT-STATE-SLEW";
return _ident;
}
void enter() {}
void exit() {}
void stop() {}
protected:
std::string_view _ident;
std::function<void()> _stopFunc;
};
} // namespace mcc