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This commit is contained in:
Timur A. Fatkhullin 2025-08-07 02:23:58 +03:00
parent 2fee216924
commit f0ab4ae770
9 changed files with 153 additions and 55 deletions
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4
cxx/CMakeLists.txt
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@ -137,7 +137,9 @@ target_include_directories(${MCC_LIBRARY} INTERFACE ${FITPACK_INCLUDE_DIR})
set(ASIBFM700_LIB_SRC asibfm700_common.h asibfm700_hardware.h asibfm700_hardware.cpp)
set(ASIBFM700_LIB asibfm700)
add_library(${ASIBFM700_LIB} STATIC ${ASIBFM700_LIB_SRC})
add_library(${ASIBFM700_LIB} STATIC ${ASIBFM700_LIB_SRC}
asibfm700_mount.h asibfm700_mount.cpp
asibfm700_config.h)
target_include_directories(${ASIBFM700_LIB} PRIVATE ${FITPACK_INCLUDE_DIR})
# set(MOUNT_SERVER_APP_SRC mount.h mount_state.h mount_server.cpp comm_server.h comm_server_endpoint.h comm_server_configfile.h mount_astrom.h

16
cxx/asibfm700_common.h
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@ -6,13 +6,14 @@
#include "asibfm700_hardware.h"
#include "mcc_fsm_mount.h"
// #include "mcc_fsm_mount.h"
#include "mcc_guiding_model.h"
#include "mcc_mount_astro_erfa.h"
#include "mcc_mount_pec.h"
#include "mcc_mount_pz.h"
#include "mcc_mount_telemetry.h"
#include "mcc_slew_model.h"
// #include "mcc_spdlog.h"
namespace asibfm700
{
@ -33,8 +34,8 @@ static_assert(std::movable<AsibFM700Telemetry>);
static_assert(std::movable<AsibFM700AstromEngine>);
static_assert(std::movable<mcc::MccAltLimitPZ<>>);
// typedef mcc::MccSimpleSlewModel<> AsibFM700SlewModel;
// typedef mcc::MccSimpleGuidingModel<> AsibFM700GuidingModel;
// typedef mcc::MccSimpleSlewModel<mcc::utils::MccSpdlogLogger> AsibFM700SlewModel;
// typedef mcc::MccSimpleGuidingModel<mcc::utils::MccSpdlogLogger> AsibFM700GuidingModel;
template <mcc::traits::mcc_logger_c LoggerT>
@ -43,6 +44,7 @@ using AsibFM700SlewModel = mcc::MccSimpleSlewModel<LoggerT>;
template <mcc::traits::mcc_logger_c LoggerT>
using AsibFM700GuidingModel = mcc::MccSimpleGuidingModel<LoggerT>;
/*
template <mcc::traits::mcc_logger_c LoggerT>
struct AsibFM700MountControls {
@ -65,12 +67,6 @@ static_assert(mcc::traits::mcc_mount_controls_c<AsibFM700MountControls<mcc::util
// global mount configuration
struct AsibFM700Config {
std::chrono::milliseconds hardwarePollingPeriod{100}; // main cycle period
// mount hardware config
AsibFM700Hardware::hardware_config_t hardwareConfig;
};
class AsibFM700Mount : public mcc::MccMount<AsibFM700MountControls<mcc::utils::MccSpdlogLogger>>
@ -81,5 +77,5 @@ class AsibFM700Mount : public mcc::MccMount<AsibFM700MountControls<mcc::utils::M
public:
};
*/
} // namespace asibfm700

34
cxx/asibfm700_config.h Normal file
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@ -0,0 +1,34 @@
#pragma once
/* AstroSIB-FM700 FORK MOUNT CONTROL LIBRARY */
/* MOUNT CONFIGURATION DEFINITION */
#include "asibfm700_common.h"
namespace asibfm700
{
struct AsibFM700Config {
std::chrono::milliseconds hardwarePollingPeriod{100}; // main cycle period
// mount hardware config
AsibFM700Hardware::hardware_config_t hardwareConfig;
// astrometry engine
AsibFM700AstromEngine::engine_state_t astromEngineState;
std::string leapSecondFilename;
std::string bulletinAFilename;
// PEC
AsibFM700PointingErrorCorrection::pec_data_t pecData;
// slew and guiding
mcc::MccSlewAndGuidingPoint::slew_guiding_params_t slewGuidingParams;
};
} // namespace asibfm700

2
cxx/asibfm700_hardware.h
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@ -118,8 +118,6 @@ public:
private:
hardware_config_t _hardwareConfig;
std::jthread _statePollingThread;
double _sideralRate2; // square of sideral rate
double _sideralRateEps2;
};

20
cxx/asibfm700_mount.cpp Normal file
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@ -0,0 +1,20 @@
#include "asibfm700_mount.h"
namespace asibfm700
{
template <mcc::traits::mcc_range_of_input_char_range R>
AsibFM700Mount::AsibFM700Mount(AsibFM700Config config, std::shared_ptr<spdlog::logger> logger, const R& pattern_range)
: mcc::utils::MccSpdlogLogger(std::move(logger), pattern_range),
_currentConfig(std::move(config)),
base_gm_t(std::make_tuple(_currentConfig.astromEngineState),
std::make_tuple(_currentConfig.hardwareConfig),
std::make_tuple(_currentConfig.pecData),
std::make_tuple(std::ref(_astromEngine), std::ref(_pec), std::ref(_hardware)),
std::make_tuple(std::ref(_telemetry), std::ref(_hardware), std::ref(_pzFuncs)),
std::make_tuple(std::ref(_telemetry), std::ref(_hardware), std::ref(_pzFuncs)))
{
}
} // namespace asibfm700

45
cxx/asibfm700_mount.h Normal file
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@ -0,0 +1,45 @@
#pragma once
/* AstroSIB-FM700 FORK MOUNT CONTROL LIBRARY */
#include "asibfm700_common.h"
#include "asibfm700_config.h"
#include "mcc_generic_mount.h"
#include "mcc_spdlog.h"
namespace asibfm700
{
class AsibFM700Mount : public mcc::utils::MccSpdlogLogger,
public mcc::MccGenericMount<AsibFM700AstromEngine,
AsibFM700Hardware,
AsibFM700PointingErrorCorrection,
AsibFM700Telemetry,
AsibFM700SlewModel<mcc::utils::MccSpdlogLogger>,
AsibFM700GuidingModel<mcc::utils::MccSpdlogLogger>>
{
using base_gm_t = mcc::MccGenericMount<AsibFM700AstromEngine,
AsibFM700Hardware,
AsibFM700PointingErrorCorrection,
AsibFM700Telemetry,
AsibFM700SlewModel<mcc::utils::MccSpdlogLogger>,
AsibFM700GuidingModel<mcc::utils::MccSpdlogLogger>>;
public:
template <mcc::traits::mcc_range_of_input_char_range R = decltype(LOGGER_DEFAULT_FORMAT)>
AsibFM700Mount(AsibFM700Config config,
std::shared_ptr<spdlog::logger> logger,
const R& pattern_range = LOGGER_DEFAULT_FORMAT);
~AsibFM700Mount();
private:
AsibFM700Config _currentConfig;
};
} // namespace asibfm700

40
cxx/mcc_generic_mount.h
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@ -40,29 +40,43 @@ template <traits::mcc_astrom_engine_c ASTROM_ENGINE_T,
traits::mcc_mount_pec_c PEC_T,
traits::mcc_mount_telemetry_c TELEMETRY_T,
traits::mcc_slew_model_c SLEWMODEL_T,
traits::mcc_guiding_model_c GUIDEMODEL_T,
traits::mcc_logger_c LOGGER_T>
class MccGenericMount : public LOGGER_T
traits::mcc_guiding_model_c GUIDINGMODEL_T>
class MccGenericMount
{
typedef LOGGER_T logger_t;
using logger_t::logDebug;
using logger_t::logError;
using logger_t::logInfo;
using logger_t::logWarn;
public:
typedef ASTROM_ENGINE_T astrom_engine_t;
typedef HARDWARE_T hardware_t;
typedef PEC_T pec_t;
typedef TELEMETRY_T telemetry_t;
typedef typename TELEMETRY_T::telemetry_data_t telemetry_data_t;
typedef typename TELEMETRY_T::mount_telemetry_data_t telemetry_data_t;
typedef SLEWMODEL_T slew_model_t;
typedef GUIDEMODEL_T guiding_model_t;
typedef GUIDINGMODEL_T guiding_model_t;
typedef typename MccPZoneWrapper<telemetry_data_t>::duration_t pz_duration_t;
static constexpr MccMountType mountType = pec_t::mountType;
template <traits::mcc_tuple_c ASTROM_ENGINE_CTOR_T,
traits::mcc_tuple_c HARDWARE_CTOR_T,
traits::mcc_tuple_c PEC_CTOR_T,
traits::mcc_tuple_c TELEMETRY_CTOR_T,
traits::mcc_tuple_c SLEWMODEL_CTOR_T,
traits::mcc_tuple_c GUIDINGMODEL_CTOR_T>
MccGenericMount(ASTROM_ENGINE_CTOR_T aengine_ctor_args,
HARDWARE_CTOR_T hw_ctor_args,
PEC_CTOR_T pec_ctor_args,
TELEMETRY_CTOR_T t_ctor_args,
SLEWMODEL_CTOR_T smodel_ctor_args,
GUIDINGMODEL_CTOR_T gmodel_ctor_args)
: _astromEngine(std::make_from_tuple<ASTROM_ENGINE_T>(std::move(aengine_ctor_args))),
_hardware(std::make_from_tuple<HARDWARE_T>(std::move(hw_ctor_args))),
_pec(std::make_from_tuple<PEC_T>(std::move(pec_ctor_args))),
_telemetry(std::make_from_tuple<TELEMETRY_T>(std::move(t_ctor_args))),
_slewModel(std::make_from_tuple<SLEWMODEL_T>(std::move(smodel_ctor_args))),
_guidingModel(std::make_from_tuple<GUIDINGMODEL_T>(std::move(gmodel_ctor_args)))
{
}
virtual ~MccGenericMount() = default;
// get telemetry data
@ -227,7 +241,7 @@ protected:
PEC_T _pec;
TELEMETRY_T _telemetry;
SLEWMODEL_T _slewModel;
GUIDEMODEL_T _gudingModel;
GUIDINGMODEL_T _guidingModel;
std::vector<MccPZoneWrapper<telemetry_data_t>> _pzFuncs{};
};

25
cxx/mcc_guiding_model.h
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@ -96,31 +96,6 @@ inline std::error_code make_error_code(MccSimpleGuidingModelErrorCode ec)
/* */
class MccCelestialPointTrack final
{
public:
template <traits::mcc_astrom_engine_c ASTROM_ENGINE_T, traits::mcc_time_duration_c DT>
MccCelestialPointTrack(ASTROM_ENGINE_T& astrom_engine,
typename ASTROM_ENGINE_T::juldate_t start,
DT step,
size_t Npoints)
{
const auto p_astrom_engine = &astrom_engine;
_compFunc = []() {
};
}
private:
std::function<size_t()> _compFunc;
};
/* */
template <traits::mcc_logger_c LoggerT = MccNullLogger>
class MccSimpleGuidingModel : public LoggerT
{

22
cxx/mcc_slew_guiding_model_common.h
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@ -27,7 +27,8 @@ static_assert(traits::mcc_celestial_point_c<MccCelestialPoint>, "MccCelestialPoi
/* COMMON SLEW-AND-GUIDING POINT CLASS DEFINITION */
struct MccSlewAndGuidingPoint : MccCelestialPoint {
template <typename coord_t>
struct MccSimpleSlewAndGuidingModelParams {
// ******* default constants *******
static constexpr size_t defaultWithinToleranceCycleNumber = 10;
@ -74,6 +75,11 @@ struct MccSlewAndGuidingPoint : MccCelestialPoint {
bool dualAxisGuiding{true}; // mount must be of an equatorial type: false means guiding along only HA-axis
};
struct MccSlewAndGuidingPoint : MccCelestialPoint,
MccSimpleSlewAndGuidingModelParams<typename MccCelestialPoint::coord_t> {
typedef MccSimpleSlewAndGuidingModelParams<typename MccCelestialPoint::coord_t> slew_guiding_params_t;
};
/* CHECK FOR CURRENT MOUNT POSITION IN PROHIBITED ZONES */
@ -100,24 +106,32 @@ template <traits::mcc_mount_telemetry_data_c TelemetryDataT,
std::ranges::output_range<bool> ResT>
auto mccCheckInZonePZRange(const TelemetryDataT& telemetry_data, const RT& pzones, ResT& result)
{
bool in_zone = false;
auto Npz = std::ranges::distance(pzones);
if (!Npz) {
return;
return in_zone;
}
auto res_sz = std::ranges::distance(result);
bool ok;
size_t i = 1;
auto res_iter = result.begin();
for (auto& el : pzones) {
ok = el.inZone(telemetry_data);
in_zone |= ok;
if (i > res_sz) {
std::back_inserter(result) = el.inZone(telemetry_data);
std::back_inserter(result) = ok;
} else {
std::ranges::advance(res_iter, 1);
*res_iter = el.inZone(telemetry_data);
*res_iter = ok;
}
++i;
}
return in_zone;
}
} // namespace mcc