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This commit is contained in:
Timur A. Fatkhullin 2025-07-22 18:13:18 +03:00
parent 85e99151a8
commit fc943abe03
2 changed files with 95 additions and 14 deletions
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19
cxx/mcc_mount_concepts.h
View File

@ -53,6 +53,25 @@ static consteval bool mccIsAltAzMount(const MccMountType type)
: false;
};
/* NULL-LOGGER CLASS */
struct MccNullLogger {
typedef int loglevel_t;
void setLogLevel(loglevel_t){};
loglevel_t getLogLevel() const
{
return 0;
};
void logMessage(loglevel_t, const std::string&) {};
void logError(const std::string&) {};
void logDebug(const std::string&) {};
void logWarn(const std::string&) {};
void logInfo(const std::string&) {};
};
} // namespace mcc

90
cxx/mcc_slew_model.h
View File

@ -93,8 +93,15 @@ inline std::error_code make_error_code(MccSimpleSlewModelErrorCode ec)
* [azimuth, zenithal distance] (see sources code below)
*/
class MccSimpleSlewModel
template <traits::mcc_logger_c LoggerT = MccNullLogger>
class MccSimpleSlewModel : public LoggerT
{
using LoggerT::logDebug;
using LoggerT::logError;
using LoggerT::logInfo;
using LoggerT::logMessage;
using LoggerT::logWarn;
public:
typedef std::error_code error_t;
@ -126,9 +133,39 @@ public:
std::chrono::seconds timeout{300};
};
template <traits::mcc_mount_controls_c MOUNT_CONTROLS_T, typename... LoggerCtorArgTs>
MccSimpleSlewModel(MOUNT_CONTROLS_T& mount_controls, context_t context, LoggerCtorArgTs&&... ctor_args)
requires(!std::same_as<LoggerT, MccNullLogger>)
: LoggerT(std::forward<LoggerCtorArgTs>(ctor_args)...)
{
logDebug(std::format("Create 'MccSimpleSlewModel' class instance ({})", (void*)this));
init(mount_controls, std::move(context));
}
template <traits::mcc_mount_controls_c MOUNT_CONTROLS_T>
MccSimpleSlewModel(MOUNT_CONTROLS_T& mount_controls, context_t context)
requires(std::same_as<LoggerT, MccNullLogger>)
{
init(mount_controls, std::move(context));
}
virtual ~MccSimpleSlewModel()
{
logDebug(std::format("Delete 'MccSimpleSlewModel' class instance ({})", (void*)this));
}
error_t slew(slew_params_t pars)
{
error_t res_err = _slewFunc(std::move(pars));
return res_err;
}
protected:
std::function<error_t(const slew_params_t&)> _slewFunc{};
void init(auto& mount_controls, context_t context)
{
// deduce controls types
using astrom_engine_t = decltype(mount_controls.astrometryEngine);
@ -176,7 +213,6 @@ public:
return ret;
};
_slewFunc = [p_mount_controls, context = std::move(context), check_zones](this auto&& self,
slew_params_t slew_pars) {
auto& astrom_engine = p_mount_controls->astrometryEngine;
@ -193,6 +229,10 @@ public:
typename astrom_engine_t::error_t ast_err;
typename pec_t::error_t pec_err;
typename telemetry_t::error_t t_err;
typename telemetry_t::mount_telemetry_data_t t_data;
if (slew_pars.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_XY) {
// trivial case (the pair is interpretated as raw encoder coordinates)
ax_pos.x = slew_pars.x;
@ -206,6 +246,8 @@ public:
coord_t ra_app, dec_app, ha, az, alt;
typename astrom_engine_t::eo_t eo;
logDebug("Input slew coordinates are ICRS RA-DEC: convert it to apparent ...");
ast_err = astrom_engine->greg2jul(std::chrono::system_clock::now(), jd);
if (!ast_err) {
@ -234,6 +276,8 @@ public:
jd_t jd;
typename astrom_engine_t::eo_t eo;
logDebug("Input slew coordinates are apparent RA-DEC: convert it to apparent HA-DEC ...");
ast_err = astrom_engine->greg2jul(std::chrono::system_clock::now(), jd);
if (!ast_err) {
typename astrom_engine_t::sideral_time_t lst;
@ -251,6 +295,8 @@ public:
}
} else if (slew_pars.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP) { // apparent
if constexpr (mccIsEquatorialMount(pec_t::mountType)) { // compute encoder coordinates
logDebug("Input slew coordinates are apparent HA-DEC: convert it to hardware encoder ones ...");
coord_t eps = 1.0 / 3600.0 * std::numbers::pi / 180.0;
typename pec_t::pec_result_t pec_res;
@ -267,6 +313,8 @@ public:
} else if constexpr (mccIsAltAzMount(pec_t::mountType)) {
coord_t az, alt;
logDebug("Input slew coordinates are apparent HA-DEC: convert it to AZ-ALT ...");
ast_err = astrom_engine->hadec2azalt(slew_pars.x, slew_pars.y, az, alt);
if (!ast_err) {
@ -283,6 +331,8 @@ public:
if constexpr (mccIsEquatorialMount(pec_t::mountType)) {
coord_t ha, dec;
logDebug("Input slew coordinates are AZ-ALT: convert it to HA-DEC ...");
ast_err = astrom_engine->azalt2hadec(slew_pars.x, slew_pars.y, ha, dec);
if (!ast_err) {
@ -295,6 +345,8 @@ public:
} else if constexpr (mccIsAltAzMount(pec_t::mountType)) { // compute encoder coordinates
coord_t eps = 1.0 / 3600.0 * std::numbers::pi / 180.0;
logDebug("Input slew coordinates are AZ-ALT: convert it to hardware encoder ones ...");
typename pec_t::pec_result_t pec_res;
// pec_err = pec->reverseCompute(slew_pars.x, slew_pars.y, pec_res, context.eps, context.maxIter);
@ -314,6 +366,8 @@ public:
//
// WARNING: it is assumed that coordinates are in radians!
//
logDebug("Input slew coordinates are AZ-ZD: convert it to AZ-ALT ...");
slew_pars.y = std::numbers::pi / 2.0 - slew_pars.y;
res_err = self(std::move(slew_pars));
@ -325,30 +379,42 @@ public:
if (pec_err) {
if constexpr (std::same_as<decltype(pec_err), error_t>) {
logError(std::format("An PEC error occured: code = {} ({})", pec_err.value(), pec_err.message()));
return pec_err;
} else {
if constexpr (traits::mcc_formattable<decltype(pec_err)>) {
logError(std::format("An PEC error occured: code = {}", pec_err));
}
return MccSimpleSlewModelErrorCode::ERROR_PEC_COMP;
}
}
if (ast_err) {
if constexpr (std::same_as<decltype(ast_err), error_t>) {
logError(std::format("An error occured while performing astrometry computations: code = {} ({})",
ast_err.value(), ast_err.message()));
return ast_err;
} else {
if constexpr (traits::mcc_formattable<decltype(ast_err)>) {
logError(std::format("An error occured while performing astrometry computations: code = {}",
ast_err));
}
return MccSimpleSlewModelErrorCode::ERROR_ASTROM_COMP;
}
}
typename telemetry_t::error_t t_err;
typename telemetry_t::mount_telemetry_data_t t_data;
// move mount (it is assumed this is asynchronous operation!!!)
typename hardware_t::error_t err = hardware->setPos(ax_pos);
if (err) {
if constexpr (std::same_as<decltype(err), error_t>) {
logError(std::format("An hardware error occured: code = {} ({})", err.value(), err.message()));
return err;
} else {
if constexpr (traits::mcc_formattable<decltype(err)>) {
logError(std::format("An hardware error occured: code = {}", err));
}
return MccSimpleSlewModelErrorCode::ERROR_HARDWARE_SETPOS;
}
}
@ -377,8 +443,13 @@ public:
hardware.stop();
if constexpr (std::same_as<decltype(t_err), error_t>) {
logError(
std::format("An telemetry error occured: code = {} ({})", t_err.value(), t_err.message()));
return t_err;
} else {
if constexpr (traits::mcc_formattable<decltype(t_err)>) {
logError(std::format("An telemetry error occured: code = {}", t_err));
}
return MccSimpleSlewModelErrorCode::ERROR_TELEMETRY_DATA;
}
}
@ -414,6 +485,7 @@ public:
prev_time_point = t_data.time_point;
if ((std::chrono::high_resolution_clock::now() - start_poll_tm) > context.timeout) {
logError("Waiting time for completion of slewing expired!");
return MccSimpleSlewModelErrorCode::ERROR_SLEW_TIMEOUT;
}
}
@ -422,16 +494,6 @@ public:
return MccSimpleSlewModelErrorCode::ERROR_OK;
};
}
error_t slew(slew_params_t pars)
{
error_t res_err = _slewFunc(std::move(pars));
return res_err;
}
protected:
std::function<error_t(const slew_params_t&)> _slewFunc{};
};