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 2025-09-18 17:44:23 +03:00
parent 83b7e0d924
commit f5039a329b
4 changed files with 155 additions and 24 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

126
asibfm700/asibfm700_mount.cpp
View File

@ -6,6 +6,7 @@ namespace asibfm700
{ {
/* CONSTRUCTOR AND DESTRUCTOR */
Asibfm700Mount::Asibfm700Mount(Asibfm700MountConfig const& config, Asibfm700Mount::Asibfm700Mount(Asibfm700MountConfig const& config,
std::shared_ptr<spdlog::logger> logger, std::shared_ptr<spdlog::logger> logger,
@ -19,30 +20,13 @@ Asibfm700Mount::Asibfm700Mount(Asibfm700MountConfig const& config,
base_gm_class_t(gm_class_t{AsibFM700ServoController{config.servoControllerConfig}, mcc::MccTelemetry{this}, base_gm_class_t(gm_class_t{AsibFM700ServoController{config.servoControllerConfig}, mcc::MccTelemetry{this},
Asibfm700PZoneContainer{}, mcc::MccSimpleSlewingModel{this}, Asibfm700PZoneContainer{}, mcc::MccSimpleSlewingModel{this},
mcc::MccSimpleTrackingModel{this}, Asibfm700Logger{std::move(logger), pattern_range}}, mcc::MccSimpleTrackingModel{this}, Asibfm700Logger{std::move(logger), pattern_range}},
Asibfm700StartState{}) Asibfm700StartState{}),
_mountConfig(config),
_mountConfigMutex(new std::mutex)
{ {
logDebug("Create Asibfm700Mount class instance ({})", this->getThreadId()); logDebug("Create Asibfm700Mount class instance ({})", this->getThreadId());
logInfo("Init AstroSib FM-700 mount with configuration:"); initMount();
logInfo(" site latitude: {}", config.siteLatitude.sexagesimal());
logInfo(" site longitude: {}", config.siteLongitude.sexagesimal());
logInfo(" site elevation: {} meters", config.siteElevation);
logInfo(" refraction wavelength: {} mkm", config.refractWavelength);
logInfo(" leap seconds filename: {}", config.leapSecondFilename);
logInfo(" IERS Bulletin A filename: {}", config.bulletinAFilename);
logInfo("Add prohibited zones ...");
logInfo("Add MccAltLimitPZ zone: min alt = {}, lat = {}", config.pzMinAltitude.degrees(),
config.siteLatitude.degrees());
addPZone(mcc::MccAltLimitPZ<mcc::MccAltLimitKind::MIN_ALT_LIMIT>{config.pzMinAltitude, config.siteLatitude, this});
logInfo("Add MccAxisLimitSwitchPZ zone: min value = {}, max value = {}", config.pzLimitSwitchHAMin,
config.pzLimitSwitchHAMax);
size_t pz_num = addPZone(mcc::MccAxisLimitSwitchPZ<mcc::MccCoordKind::COORDS_KIND_HA>{
config.pzLimitSwitchHAMin, config.pzLimitSwitchHAMax, this});
logInfo("{} prohibited zones were added", pz_num);
} }
@ -51,4 +35,104 @@ Asibfm700Mount::~Asibfm700Mount()
logDebug("Delete Asibfm700Mount class instance ({})", this->getThreadId()); logDebug("Delete Asibfm700Mount class instance ({})", this->getThreadId());
} }
/* PUBIC METHODS */
Asibfm700Mount::error_t Asibfm700Mount::initMount()
{
std::lock_guard lock{*_mountConfigMutex};
logInfo("Init AstroSib FM-700 mount with configuration:");
logInfo(" site latitude: {}", _mountConfig.siteLatitude.sexagesimal());
logInfo(" site longitude: {}", _mountConfig.siteLongitude.sexagesimal());
logInfo(" site elevation: {} meters", _mountConfig.siteElevation);
logInfo(" refraction wavelength: {} mkm", _mountConfig.refractWavelength);
logInfo(" leap seconds filename: {}", _mountConfig.leapSecondFilename);
logInfo(" IERS Bulletin A filename: {}", _mountConfig.bulletinAFilename);
logInfo("");
clearPZones();
logInfo("Add prohibited zones ...");
logInfo(" Add MccAltLimitPZ zone: min alt = {}, lat = {}", _mountConfig.pzMinAltitude.degrees(),
_mountConfig.siteLatitude.degrees());
addPZone(mcc::MccAltLimitPZ<mcc::MccAltLimitKind::MIN_ALT_LIMIT>{_mountConfig.pzMinAltitude,
_mountConfig.siteLatitude, this});
logInfo(" Add MccAxisLimitSwitchPZ zone: min value = {}, max value = {}",
_mountConfig.pzLimitSwitchHAMin.degrees(), _mountConfig.pzLimitSwitchHAMax.degrees());
size_t pz_num = addPZone(mcc::MccAxisLimitSwitchPZ<mcc::MccCoordKind::COORDS_KIND_HA>{
_mountConfig.pzLimitSwitchHAMin, _mountConfig.pzLimitSwitchHAMax, this});
logInfo("{} prohibited zones were added successfully", pz_num);
logInfo("");
logInfo("Setup slewing and tracking parameters ...");
auto st_err = setSlewingParams(_mountConfig.movingModelParams);
if (st_err) {
errorLogging(" An error occured while setting slewing parameters: ", st_err);
}
st_err = setTrackingParams(_mountConfig.movingModelParams);
if (st_err) {
errorLogging(" An error occured while setting tracking parameters: ", st_err);
}
logInfo("Slewing and tracking parameters have been set successfully");
logInfo("");
logInfo("Hardware initialization ...");
logInfo(" set hardware configuration:");
logInfo(" RunModel: {}",
_mountConfig.servoControllerConfig.devConfig.RunModel == 1 ? "MODEL-MODE" : "REAL-MODE");
logInfo(" mount dev path: {}", _mountConfig.servoControllerConfig.MountDevPath);
logInfo(" encoder dev path: {}", _mountConfig.servoControllerConfig.EncoderDevPath);
logInfo(" encoder X-dev path: {}", _mountConfig.servoControllerConfig.EncoderXDevPath);
logInfo(" encoder Y-dev path: {}", _mountConfig.servoControllerConfig.EncoderYDevPath);
logInfo(" EncoderDevSpeed: {}", _mountConfig.servoControllerConfig.devConfig.EncoderDevSpeed);
logInfo(" SepEncoder: {}", _mountConfig.servoControllerConfig.devConfig.SepEncoder);
logInfo(" MountReqInterval: {}", _mountConfig.servoControllerConfig.devConfig.MountReqInterval);
logInfo(" EncoderReqInterval: {}", _mountConfig.servoControllerConfig.devConfig.EncoderReqInterval);
logInfo(" EncoderSpeedInterval: {}", _mountConfig.servoControllerConfig.devConfig.EncoderSpeedInterval);
logInfo(" XPIDC: [P: {}, I: {}, D: {}]", _mountConfig.servoControllerConfig.devConfig.XPIDC.P,
_mountConfig.servoControllerConfig.devConfig.XPIDC.I, _mountConfig.servoControllerConfig.devConfig.XPIDC.D);
logInfo(" XPIDV: [P: {}, I: {}, D: {}]", _mountConfig.servoControllerConfig.devConfig.XPIDV.P,
_mountConfig.servoControllerConfig.devConfig.XPIDV.I, _mountConfig.servoControllerConfig.devConfig.XPIDV.D);
logInfo(" YPIDC: [P: {}, I: {}, D: {}]", _mountConfig.servoControllerConfig.devConfig.YPIDC.P,
_mountConfig.servoControllerConfig.devConfig.YPIDC.I, _mountConfig.servoControllerConfig.devConfig.YPIDC.D);
logInfo(" YPIDV: [P: {}, I: {}, D: {}]", _mountConfig.servoControllerConfig.devConfig.YPIDV.P,
_mountConfig.servoControllerConfig.devConfig.YPIDV.I, _mountConfig.servoControllerConfig.devConfig.YPIDV.D);
auto hw_err = hardwareInit();
if (hw_err) {
errorLogging("", hw_err);
}
return mcc::MccGenericMountErrorCode::ERROR_OK;
}
Asibfm700Mount::error_t Asibfm700Mount::updateMountConfig(const Asibfm700MountConfig& cfg)
{
std::lock_guard lock{*_mountConfigMutex};
hardwareUpdateConfig(_mountConfig.servoControllerConfig.devConfig);
hardwareUpdateConfig(_mountConfig.servoControllerConfig.hwConfig);
return AsibFM700ServoControllerErrorCode::ERROR_OK;
}
/* PROTECTED METHODS */
void Asibfm700Mount::errorLogging(const std::string& msg, const std::error_code& err)
{
if (msg.empty()) {
logError("{}::{} ({})", err.category().name(), err.value(), err.message());
} else {
logError("{}: {}::{} ({})", msg, err.category().name(), err.value(), err.message());
}
}
} // namespace asibfm700 } // namespace asibfm700

12
asibfm700/asibfm700_mount.h
View File

@ -100,6 +100,18 @@ public:
const auto& pattern_range = mcc::utils::MccSpdlogLogger::LOGGER_DEFAULT_FORMAT); const auto& pattern_range = mcc::utils::MccSpdlogLogger::LOGGER_DEFAULT_FORMAT);
~Asibfm700Mount(); ~Asibfm700Mount();
error_t initMount();
error_t updateMountConfig(Asibfm700MountConfig const&);
Asibfm700MountConfig currentMountConfig();
protected:
Asibfm700MountConfig _mountConfig;
std::unique_ptr<std::mutex> _mountConfigMutex;
void errorLogging(const std::string&, const std::error_code&);
}; };
static_assert(mcc::mcc_position_controls_c<Asibfm700Mount>, ""); static_assert(mcc::mcc_position_controls_c<Asibfm700Mount>, "");

29
asibfm700/asibfm700_servocontroller.cpp
View File

@ -142,4 +142,33 @@ AsibFM700ServoController::error_t AsibFM700ServoController::hardwareGetState(har
} }
void AsibFM700ServoController::hardwareUpdateConfig(conf_t cfg)
{
_hardwareConfig.devConfig = std::move(cfg);
_hardwareConfig.devConfig.MountDevPath = const_cast<char*>(_hardwareConfig.MountDevPath.c_str());
_hardwareConfig.devConfig.EncoderDevPath = const_cast<char*>(_hardwareConfig.EncoderDevPath.c_str());
_hardwareConfig.devConfig.EncoderXDevPath = const_cast<char*>(_hardwareConfig.EncoderXDevPath.c_str());
_hardwareConfig.devConfig.EncoderYDevPath = const_cast<char*>(_hardwareConfig.EncoderYDevPath.c_str());
}
AsibFM700ServoController::error_t AsibFM700ServoController::hardwareUpdateConfig(hardware_configuration_t cfg)
{
_hardwareConfig.hwConfig = std::move(cfg);
return static_cast<AsibFM700ServoControllerErrorCode>(Mount.saveHWconfig(&_hardwareConfig.hwConfig));
}
AsibFM700ServoController::error_t AsibFM700ServoController::hardwareUpdateConfig()
{
return static_cast<AsibFM700ServoControllerErrorCode>(Mount.getHWconfig(&_hardwareConfig.hwConfig));
}
AsibFM700ServoController::hardware_config_t AsibFM700ServoController::hardwareConfig() const
{
return _hardwareConfig;
}
} // namespace asibfm700 } // namespace asibfm700

12
asibfm700/asibfm700_servocontroller.h
View File

@ -89,8 +89,8 @@ public:
std::string EncoderXDevPath; std::string EncoderXDevPath;
std::string EncoderYDevPath; std::string EncoderYDevPath;
conf_t devConfig; conf_t devConfig; // devices paths and PIDs parameters
hardware_configuration_t hwConfig; hardware_configuration_t hwConfig; // EEPROM-located configuration
std::chrono::milliseconds pollingInterval{300}; // hardware polling interval std::chrono::milliseconds pollingInterval{300}; // hardware polling interval
std::chrono::milliseconds pollingTimeout{30000}; // hardware polling timeout std::chrono::milliseconds pollingTimeout{30000}; // hardware polling timeout
@ -121,7 +121,13 @@ public:
error_t hardwareInit(); error_t hardwareInit();
void hardwareUpdateConfig(conf_t cfg); void hardwareUpdateConfig(conf_t cfg);
void hardwareUpdateConfig(hardware_configuration_t cfg);
// save config to EEPROM
error_t hardwareUpdateConfig(hardware_configuration_t cfg);
// load config from EEPROM
error_t hardwareUpdateConfig();
hardware_config_t hardwareConfig() const;
private: private:
hardware_config_t _hardwareConfig; hardware_config_t _hardwareConfig;