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@ -49,10 +49,7 @@ namespace mcc
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struct MccTelemetryCategory : public std::error_category {
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MccTelemetryCategory() : std::error_category() {}
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const char* name() const noexcept
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{
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return "ALTITUDE-LIMIT-PZ";
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}
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const char* name() const noexcept { return "ALTITUDE-LIMIT-PZ"; }
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std::string message(int ec) const
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{
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@ -126,6 +123,109 @@ public:
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using pcm_t = std::remove_cvref_t<decltype(*controls)>;
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using hardware_t = std::remove_cvref_t<decltype(*controls)>;
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_updateTargetFunc = [controls, this](std::stop_token stop_token) -> error_t {
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MccPCMResult pcm_res;
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mcc_tp2tp(_data.time_point, _data.target.time_point);
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bool hw_coords = _data.target.pair_kind == MccCoordPairKind::COORDS_KIND_XY;
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MccCelestialPoint hw_cp{.pair_kind = MccCoordPairKind::COORDS_KIND_XY};
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mcc_tp2tp(_data.time_point, hw_cp.time_point);
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if (hw_coords) { // compute corresponded apparent coordinates
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hw_cp.X = _data.target.X;
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hw_cp.Y = _data.target.Y;
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auto pcm_err = controls->computePCM(_data.target, &pcm_res, &_data.target);
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if (pcm_err) {
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return mcc_deduce_error_code(pcm_err, MccTelemetryErrorCode::ERROR_PCM_COMP);
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}
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if (stop_token.stop_requested()) {
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return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
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}
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if constexpr (mccIsEquatorialMount(pcm_t::mountType)) {
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_data.target.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
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} else if constexpr (mccIsAltAzMount(pcm_t::mountType)) {
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_data.target.pair_kind = MccCoordPairKind::COORDS_KIND_AZZD;
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} else {
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static_assert(false, "UNKNOWN MOUNT TYPE!!!");
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}
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}
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if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
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_data.target.X = _data.target.RA_ICRS;
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_data.target.Y = _data.target.DEC_ICRS;
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}
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auto ccte_err = controls->transformCoordinates(_data.target, &_data.target);
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if (ccte_err) {
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if (hw_coords) { // restore coordinates pair kind
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_data.target.pair_kind = MccCoordPairKind::COORDS_KIND_XY;
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}
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return mcc_deduce_error_code(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
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}
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if (stop_token.stop_requested()) {
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return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
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}
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if (_data.target.pair_kind != MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
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// fixed apparent coordinates (AZZD or HADEC)
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// needs to compute ICRS
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if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
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_data.target.X = _data.target.AZ;
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_data.target.Y = _data.target.ZD;
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} else if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_AZALT) {
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_data.target.X = _data.target.AZ;
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_data.target.Y = _data.target.ALT;
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} else if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
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_data.target.X = _data.target.HA;
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_data.target.Y = _data.target.DEC_APP;
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} else if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
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_data.target.X = _data.target.RA_APP;
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_data.target.Y = _data.target.DEC_APP;
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} else {
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return MccTelemetryErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
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}
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MccCelestialPoint pt{.pair_kind = MccCoordPairKind::COORDS_KIND_RADEC_ICRS};
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ccte_err = controls->transformCoordinates(_data.target, &pt);
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if (ccte_err) {
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if (hw_coords) { // restore coordinates pair kind
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_data.target.pair_kind = MccCoordPairKind::COORDS_KIND_XY;
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_data.target.X = hw_cp.X;
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_data.target.Y = hw_cp.Y;
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}
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return mcc_deduce_error_code(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
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}
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_data.target.RA_ICRS = pt.X;
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_data.target.DEC_ICRS = pt.Y;
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} // from ICRS to apparent calculation is already performed above
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if (stop_token.stop_requested()) {
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return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
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}
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// hardware coordinates
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if (!hw_coords) {
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auto pcm_err = controls->computeInversePCM(_data.target, &pcm_res, &_data.target);
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if (pcm_err) {
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return mcc_deduce_error_code(pcm_err, MccTelemetryErrorCode::ERROR_PCM_COMP);
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}
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} else { // restore coordinates pair kind
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_data.target.pair_kind = MccCoordPairKind::COORDS_KIND_XY;
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_data.target.X = hw_cp.X;
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_data.target.Y = hw_cp.Y;
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}
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return MccTelemetryErrorCode::ERROR_OK;
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};
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/*
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_updateTargetFunc = [controls, this](bool only_hw, std::stop_token stop_token) -> error_t {
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if (!only_hw) {
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//
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@ -193,6 +293,7 @@ public:
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return MccTelemetryErrorCode::ERROR_OK;
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};
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*/
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_updateFunc = [controls, this](std::stop_token stop_token) {
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// first, update mount quantities
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@ -303,7 +404,9 @@ public:
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// update target (assuming target ICRS coordinates are already set)
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auto ret = _updateTargetFunc(false, stop_token);
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// auto ret = _updateTargetFunc(false, stop_token);
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// update target according to its .pair_kind!
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auto ret = _updateTargetFunc(stop_token);
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if (ret) {
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return ret;
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}
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@ -327,6 +430,7 @@ public:
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};
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/*
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_setTargetFunc = [controls, this](MccCelestialPoint const& pt) {
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// in the case of apparent input coordinates
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// one must ensure the same time points
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@ -359,6 +463,7 @@ public:
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return mcc_deduce_error_code(ret, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
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};
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*/
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}
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@ -471,10 +576,7 @@ public:
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}
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bool isInternalTelemetryDataUpdating() const
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{
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return *_internalUpdating;
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}
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bool isInternalTelemetryDataUpdating() const { return *_internalUpdating; }
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error_t updateTelemetryData(traits::mcc_time_duration_c auto const& timeout)
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@ -542,9 +644,40 @@ public:
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error_t setPointingTarget(mcc_celestial_point_c auto pt)
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{
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/*
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* If apparent coordinates are specified (e.g. AZZD),
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* they are assumed to be fixed in time,
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* and other coordinates will be calculated from them
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*/
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std::lock_guard lock{*_updateMutex};
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return _setTargetFunc(pt);
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_data.target.pair_kind = pt.pair_kind;
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if (pt.pair_kind == MccCoordPairKind::COORDS_KIND_AZALT) {
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_data.target.AZ = pt.X;
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_data.target.ALT = pt.Y;
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} else if (pt.pair_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
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_data.target.AZ = pt.X;
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_data.target.ZD = pt.Y;
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} else if (pt.pair_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
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_data.target.HA = pt.X;
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_data.target.DEC_APP = pt.Y;
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} else if (pt.pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
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_data.target.RA_APP = pt.X;
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_data.target.DEC_APP = pt.Y;
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} else if (pt.pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
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_data.target.RA_ICRS = pt.X;
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_data.target.DEC_ICRS = pt.Y;
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} else if (pt.pair_kind == MccCoordPairKind::COORDS_KIND_XY) {
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_data.target.X = pt.X;
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_data.target.Y = pt.Y;
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} else {
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return MccTelemetryErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
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}
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return _updateTargetFunc({});
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// return _setTargetFunc(pt);
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}
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@ -603,7 +736,8 @@ protected:
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std::future<error_t> _internalUpdatingFuture{};
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std::stop_source _internalUpdatingStopSource{};
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std ::function<error_t(bool, std::stop_token)> _updateTargetFunc{};
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std ::function<error_t(std::stop_token)> _updateTargetFunc{};
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// std ::function<error_t(bool, std::stop_token)> _updateTargetFunc{};
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std::function<error_t(std::stop_token)> _updateFunc{};
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std::function<error_t()> _setTargetFunc{};
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