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This commit is contained in:
Timur A. Fatkhullin
2025-07-23 19:44:05 +03:00
parent 14f3bb7a83
commit fd67d04ca2
8 changed files with 423 additions and 163 deletions
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117
cxx/mcc_mount_concepts.h
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@@ -72,6 +72,15 @@ struct MccNullLogger {
void logInfo(const std::string&) {};
};
struct MccCelestialPoint {
typedef double coord_t;
MccCoordPairKind coordPairKind{MccCoordPairKind::COORDS_KIND_RADEC_ICRS};
coord_t x{0.0}, y{0.0};
};
} // namespace mcc
@@ -98,6 +107,7 @@ concept mcc_logger_c = requires(T t, const T t_const) {
{ t.logInfo(std::declval<const std::string&>()) };
};
/* ASTROMETRY-RELATED COMPUTATION ENGINE */
template <typename T>
@@ -165,6 +175,9 @@ concept mcc_astrom_engine_c = requires(T t, const T t_const) {
/* time-related methods */
// this static method must return a current time point
{ T::timePointNow() } -> std::same_as<typename T::time_point_t>;
// Gregorian Calendar time point to Julian Date: greg2jul(time_point, jd)
{
t.greg2jul(std::declval<typename T::time_point_t>(), std::declval<typename T::juldate_t&>())
@@ -202,20 +215,48 @@ concept mcc_mount_hardware_c = !std::copyable<T> && std::movable<T> && requires(
{ t_const.id() } -> mcc_formattable;
// a type that defines at least HW_STATE_STOP, HW_STATE_SLEW, HW_STATE_TRACK
// compile-time constants
// e.g. an implementations can be as follows:
// enum class HW_STATE: int {HW_STATE_STOP, HW_STATE_SLEW, HW_STATE_TRACK}
//
// struct HW_STATE {
// uint8_t HW_STATE_STOP = 100;
// uint8_t HW_STATE_SLEW = 200;
// uint8_t HW_STATE_TRACK = 300;
// }
requires requires(typename T::hw_state_t state) {
[]() {
// hardware is in stop state (no any moving)
static constexpr auto v1 = T::hw_state_t::HW_STATE_STOP;
// hardware is in slew state (move to given celestial point)
static constexpr auto v2 = T::hw_state_t::HW_STATE_SLEW;
// hardware is in track state (track given celestial point)
static constexpr auto v3 = T::hw_state_t::HW_STATE_TRACK;
}();
};
// a class that contains at least time of measurement, coordinates for x,y axes and its moving rates
requires requires(typename T::axes_pos_t pos) {
requires std::same_as<decltype(pos.time_point), typename T::time_point_t>;
requires std::same_as<decltype(pos.time_point), typename T::time_point_t>; // time point of measurement
requires std::same_as<decltype(pos.x), typename T::coord_t>;
requires std::same_as<decltype(pos.y), typename T::coord_t>;
requires std::same_as<decltype(pos.x), typename T::coord_t>; // co-longitude coordinate
requires std::same_as<decltype(pos.y), typename T::coord_t>; // co-latitude coordinate
requires std::same_as<decltype(pos.xrate), typename T::coord_t>;
requires std::same_as<decltype(pos.yrate), typename T::coord_t>;
requires std::same_as<decltype(pos.state), typename T::hw_state_t>; // hardware state
};
{ t.setPos(std::declval<typename T::axes_pos_t>()) } -> std::same_as<typename T::error_t>;
{ t.getPos(std::declval<typename T::axes_pos_t&>()) } -> std::same_as<typename T::error_t>;
{ t_const.getState(std::declval<typename T::hw_state_t&>()) } -> std::same_as<typename T::error_t>;
{ t.stop() } -> std::same_as<typename T::error_t>;
{ t.init() } -> std::same_as<typename T::error_t>;
};
@@ -302,11 +343,11 @@ concept mcc_mount_telemetry_c = requires(T t, const T t_const) {
};
/* A CONCEPT FOR CLASS TO REPRESENT CELESTIAL POINT */
/* SLEW PARAMETERS */
template <typename T>
concept mcc_slew_params_c = std::movable<T> && requires(T t) {
concept mcc_celestial_point_c = requires(T t) {
// input coordinates pair type (e.g. IRCS RA,DEC, Az,Alt and so on)
requires std::same_as<decltype(t.coordPairKind), MccCoordPairKind>;
@@ -317,37 +358,49 @@ concept mcc_slew_params_c = std::movable<T> && requires(T t) {
// co-latitude (e.g. DEC or ZD)
requires std::same_as<decltype(t.y), typename T::coord_t>;
// stop after slewing
requires std::convertible_to<decltype(t.stop), bool>;
};
// /* SLEW PARAMETERS */
// template <typename T>
// concept mcc_slew_params_c = std::movable<T> && requires(T t) {
// // input coordinates pair type (e.g. IRCS RA,DEC, Az,Alt and so on)
// requires std::same_as<decltype(t.coordPairKind), MccCoordPairKind>;
// typename T::coord_t;
// // co-longitude (e.g. RA or Az)
// requires std::same_as<decltype(t.x), typename T::coord_t>;
// // co-latitude (e.g. DEC or ZD)
// requires std::same_as<decltype(t.y), typename T::coord_t>;
// // stop after slewing
// requires std::convertible_to<decltype(t.stop), bool>;
// };
/* GENERIC SLEW AND GUIDING MODEL */
template <typename T>
concept mcc_slew_model_c = requires(T t) {
requires mcc_error_c<typename T::error_t>;
requires mcc_slew_params_c<typename T::slew_params_t>;
// requires mcc_slew_params_c<typename T::slew_params_t>;
requires mcc_celestial_point_c<typename T::slew_point_t>;
{ t.slew(std::declval<typename T::slew_params_t>()) } -> std::same_as<typename T::error_t>;
// { t.slew(std::declval<typename T::slew_params_t>()) } -> std::same_as<typename T::error_t>;
{ t.slew(std::declval<typename T::slew_point_t>()) } -> std::same_as<typename T::error_t>;
};
// template <typename T, typename TelemetryT>
// concept mcc_slew_model_c = mcc_mount_telemetry_c<TelemetryT> && requires(T t) {
// requires mcc_error_c<typename T::error_t>;
// requires mcc_slew_params_c<typename T::slew_params_t>;
// {
// t.slew(std::declval<typename T::slew_params_t>(), std::declval<TelemetryT&>())
// } -> std::same_as<typename T::error_t>;
// };
template <typename T>
concept mcc_guiding_model_c = requires(T t) {
requires mcc_error_c<typename T::error_t>;
requires mcc_celestial_point_c<typename T::guiding_point_t>;
template <typename T, typename TelemetryT>
concept mcc_guiding_model_c = mcc_mount_telemetry_c<TelemetryT> && requires(T t) {
typename T::error_t;
{ t.guiding(std::declval<TelemetryT&>()) } -> std::same_as<typename T::error_t>;
// start process of guiding
{ t.guiding(std::declval<typename T::guiding_point_t>()) } -> std::same_as<typename T::error_t>;
};
@@ -438,7 +491,8 @@ concept mcc_mount_controls_c = std::move_constructible<T> && std::movable<T> &&
requires mcc_slew_model_c<decltype(t.slewModel)>;
// requires mcc_slew_model_c<decltype(t.slewModel), decltype(t.telemetry)>;
requires mcc_guiding_model_c<decltype(t.guidingModel), decltype(t.telemetry)>;
requires mcc_guiding_model_c<decltype(t.guidingModel)>;
// requires mcc_guiding_model_c<decltype(t.guidingModel), decltype(t.telemetry)>;
// a std::tuple of prohibited zones
[]<mcc_prohibited_zone_c<typename decltype(t.telemetry)::mount_telemetry_data_t>... Ts>(std::tuple<Ts...>) {
@@ -463,7 +517,8 @@ concept mcc_mount_c = requires(T t) {
requires mcc_mount_hardware_c<typename T::hardware_t>;
// requires mcc_slew_model_c<typename T::slew_model_t, typename T::mount_telemetry_t>;
requires mcc_slew_model_c<typename T::slew_model_t>;
requires mcc_guiding_model_c<typename T::guiding_model_t, typename T::mount_telemetry_t>;
// requires mcc_guiding_model_c<typename T::guiding_model_t, typename T::mount_telemetry_t>;
requires mcc_guiding_model_c<typename T::guiding_model_t>;
requires std::same_as<typename T::slew_params_t, typename T::slew_model_t::slew_params_t>;
@@ -481,3 +536,15 @@ template <typename T>
concept mcc_fsm_log_mount_c = std::derived_from<T, fsm::MccFiniteStateMachine> && mcc_log_mount_c<T>;
} // namespace mcc::traits
/* CHECK LIBRARY-WIDE CLASS DECLARATIONS FOR ITS CONCEPTS SATISFACTION */
namespace mcc
{
static_assert(traits::mcc_logger_c<MccNullLogger>, "MccNullLogger INVALID DECLARATION!");
static_assert(traits::mcc_celestial_point_c<MccCelestialPoint>, "MccCelestialPoint INVALID DECLARATION!");
} // namespace mcc