.

rewrite AsibFM700ServoController methods according to new time point
representation in LibSidServo

CMakeLists.txt

@@ -2,16 +2,21 @@ cmake_minimum_required(VERSION 3.14)
 
 
 #**********************************************
-#  Astrosib(c) BM-700 mount control software  *
+#  Astrosib(c) FM-700 mount control software  *
 #**********************************************
 
-project(ASIB_BM700 LANGUAGES C CXX)
+project(ASIB_FM700 LANGUAGES C CXX)
 
 set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
 
 #
 # ******* C++ PART OF THE PROJECT *******
 
+set(EXAMPLES OFF CACHE BOOL "" FORCE)
+# set(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_BUILD_TYPE "Debug")
+add_subdirectory(LibSidServo)
+
 # add_subdirectory(cxx)
 add_subdirectory(mcc)
 add_subdirectory(asibfm700)

LibSidServo/.qtcreator/libsidservo.creator.user

@@ -0,0 +1,218 @@
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LibSidServo/.qtcreator/libsidservo.creator.user.cf63021

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+    <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">По умолчанию</value>
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+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
+     </valuemap>
+     <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
+     <valuemap type="QVariantMap" key="ProjectExplorer.DeployConfiguration.CustomData"/>
+     <value type="bool" key="ProjectExplorer.DeployConfiguration.CustomDataEnabled">false</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
+    </valuemap>
+    <value type="qlonglong" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
+    <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
+     <value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
+     <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
+     <value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
+     <value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
+     <value type="QList&lt;int&gt;" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
+     <valuelist type="QVariantList" key="CustomOutputParsers"/>
+     <value type="int" key="PE.EnvironmentAspect.Base">2</value>
+     <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
+     <value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
+     <value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
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+     <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
+     <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
+     <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
+     <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
+    </valuemap>
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+   <valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
+    <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
+     <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
+    </valuemap>
+    <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
+    <valuemap type="QVariantMap" key="ProjectExplorer.DeployConfiguration.CustomData"/>
+    <value type="bool" key="ProjectExplorer.DeployConfiguration.CustomDataEnabled">false</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
+   </valuemap>
+   <value type="qlonglong" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
+   <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
+    <value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
+    <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
+    <value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
+    <value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
+    <value type="QList&lt;int&gt;" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
+    <valuelist type="QVariantList" key="CustomOutputParsers"/>
+    <value type="int" key="PE.EnvironmentAspect.Base">2</value>
+    <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
+    <value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
+    <value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
+    <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
+    <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
+    <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
+    <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
+    <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
+   </valuemap>
+   <value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.TargetCount</variable>
+  <value type="qlonglong">1</value>
+ </data>
+ <data>
+  <variable>Version</variable>
+  <value type="int">22</value>
+ </data>
+</qtcreator>

LibSidServo/PID.c

@@ -84,49 +84,51 @@ typedef struct{
  * @return calculated new speed or -1 for max speed
  */
 static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t *axis){
-    if(tagpos->t < axis->position.t || tagpos->t - axis->position.t > MCC_PID_MAX_DT){
+    double dt = timediff(&tagpos->t, &axis->position.t);
-        DBG("target time: %g, axis time: %g - too big! (%g)", tagpos->t, axis->position.t, MCC_PID_MAX_DT);
+    if(dt < 0 || dt > Conf.PIDMaxDt){
+        DBG("target time: %ld, axis time: %ld - too big! (tag-ax=%g)", tagpos->t.tv_sec, axis->position.t.tv_sec, dt);
         return axis->speed.val; // data is too old or wrong
     }
     double error = tagpos->val - axis->position.val, fe = fabs(error);
+    DBG("error: %g", error);
     PIDController_t *pid = NULL;
     switch(axis->state){
         case AXIS_SLEWING:
-            if(fe < MCC_MAX_POINTING_ERR){
+            if(fe < Conf.MaxPointingErr){
                 axis->state = AXIS_POINTING;
                 DBG("--> Pointing");
                 pid = pidpair->PIDC;
             }else{
                 DBG("Slewing...");
-                return -1.; // max speed for given axis
+                return NAN; // max speed for given axis
             }
             break;
         case AXIS_POINTING:
-            if(fe < MCC_MAX_GUIDING_ERR){
+            if(fe < Conf.MaxFinePointingErr){
                 axis->state = AXIS_GUIDING;
                 DBG("--> Guiding");
                 pid = pidpair->PIDV;
-            }else if(fe > MCC_MAX_POINTING_ERR){
+            }else if(fe > Conf.MaxPointingErr){
                 DBG("--> Slewing");
                 axis->state = AXIS_SLEWING;
-                return -1.;
+                return NAN;
             } else pid = pidpair->PIDC;
             break;
         case AXIS_GUIDING:
             pid = pidpair->PIDV;
-            if(fe > MCC_MAX_GUIDING_ERR){
+            if(fe > Conf.MaxFinePointingErr){
                 DBG("--> Pointing");
                 axis->state = AXIS_POINTING;
                 pid = pidpair->PIDC;
-            }else if(fe < MCC_MAX_ATTARGET_ERR){
+            }else if(fe < Conf.MaxGuidingErr){
                 DBG("At target");
                 // TODO: we can point somehow that we are at target or introduce new axis state
             }else DBG("Current error: %g", fe);
             break;
         case AXIS_STOPPED: // start pointing to target; will change speed next time
-            DBG("AXIS STOPPED!!!!");
+            DBG("AXIS STOPPED!!!! --> Slewing");
             axis->state = AXIS_SLEWING;
-            return -1.;
+            return getspeed(tagpos, pidpair, axis);
         case AXIS_ERROR:
             DBG("Can't move from erroneous state");
             return 0.;
@@ -135,16 +137,16 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
         DBG("WTF? Where is a PID?");
         return axis->speed.val;
     }
-    if(tagpos->t < pid->prevT || tagpos->t - pid->prevT > MCC_PID_MAX_DT){
+    double dtpid = timediff(&tagpos->t, &pid->prevT);
+    if(dtpid < 0 || dtpid > Conf.PIDMaxDt){
         DBG("time diff too big: clear PID");
         pid_clear(pid);
     }
-    double dt = tagpos->t - pid->prevT;
+    if(dtpid > Conf.PIDMaxDt) dtpid = Conf.PIDCycleDt;
-    if(dt > MCC_PID_MAX_DT) dt = MCC_PID_CYCLE_TIME;
     pid->prevT = tagpos->t;
-    DBG("CALC PID (er=%g, dt=%g), state=%d", error, dt, axis->state);
+    DBG("CALC PID (er=%g, dt=%g), state=%d", error, dtpid, axis->state);
-    double tagspeed = pid_calculate(pid, error, dt);
+    double tagspeed = pid_calculate(pid, error, dtpid);
-    if(axis->state == AXIS_GUIDING) return axis->speed.val + tagspeed / dt; // velocity-based
+    if(axis->state == AXIS_GUIDING) return axis->speed.val + tagspeed / dtpid; // velocity-based
     return tagspeed; // coordinate-based
 }
 
@@ -154,22 +156,23 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
  * @param endpoint - stop point (some far enough point to stop in case of hang)
  * @return error code
  */
-mcc_errcodes_t correct2(const coordval_pair_t *target, const coordpair_t *endpoint){
+mcc_errcodes_t correct2(const coordval_pair_t *target){
     static PIDpair_t pidX = {0}, pidY = {0};
     if(!pidX.PIDC){
-        pidX.PIDC = pid_create(&Conf.XPIDC, MCC_PID_CYCLE_TIME / MCC_PID_REFRESH_DT);
+        pidX.PIDC = pid_create(&Conf.XPIDC, Conf.PIDCycleDt / Conf.PIDRefreshDt);
         if(!pidX.PIDC) return MCC_E_FATAL;
-        pidX.PIDV = pid_create(&Conf.XPIDV, MCC_PID_CYCLE_TIME / MCC_PID_REFRESH_DT);
+        pidX.PIDV = pid_create(&Conf.XPIDV, Conf.PIDCycleDt / Conf.PIDRefreshDt);
         if(!pidX.PIDV) return MCC_E_FATAL;
     }
     if(!pidY.PIDC){
-        pidY.PIDC = pid_create(&Conf.YPIDC, MCC_PID_CYCLE_TIME / MCC_PID_REFRESH_DT);
+        pidY.PIDC = pid_create(&Conf.YPIDC, Conf.PIDCycleDt / Conf.PIDRefreshDt);
         if(!pidY.PIDC) return MCC_E_FATAL;
-        pidY.PIDV = pid_create(&Conf.YPIDV, MCC_PID_CYCLE_TIME / MCC_PID_REFRESH_DT);
+        pidY.PIDV = pid_create(&Conf.YPIDV, Conf.PIDCycleDt / Conf.PIDRefreshDt);
         if(!pidY.PIDV) return MCC_E_FATAL;
     }
     mountdata_t m;
-    coordpair_t tagspeed;
+    coordpair_t tagspeed; // absolute value of speed
+    double Xsign = 1., Ysign = 1.; // signs of speed (for target calculation)
     if(MCC_E_OK != Mount.getMountData(&m)) return MCC_E_FAILED;
     axisdata_t axis;
     DBG("state: %d/%d", m.Xstate, m.Ystate);
@@ -177,20 +180,42 @@ mcc_errcodes_t correct2(const coordval_pair_t *target, const coordpair_t *endpoi
     axis.position = m.encXposition;
     axis.speed = m.encXspeed;
     tagspeed.X = getspeed(&target->X, &pidX, &axis);
-    if(tagspeed.X < 0.) tagspeed.X = -tagspeed.X;
+    if(isnan(tagspeed.X)){ // max speed
-    if(tagspeed.X > MCC_MAX_X_SPEED) tagspeed.X = MCC_MAX_X_SPEED;
+        if(target->X.val < axis.position.val) Xsign = -1.;
+        tagspeed.X = Xlimits.max.speed;
+    }else{
+        if(tagspeed.X < 0.){ tagspeed.X = -tagspeed.X; Xsign = -1.; }
+        if(tagspeed.X > Xlimits.max.speed) tagspeed.X = Xlimits.max.speed;
+    }
     axis_status_t xstate = axis.state;
     axis.state = m.Ystate;
     axis.position = m.encYposition;
     axis.speed = m.encYspeed;
     tagspeed.Y = getspeed(&target->Y, &pidY, &axis);
-    if(tagspeed.Y < 0.) tagspeed.Y = -tagspeed.Y;
+    if(isnan(tagspeed.Y)){ // max speed
-    if(tagspeed.Y > MCC_MAX_Y_SPEED) tagspeed.Y = MCC_MAX_Y_SPEED;
+        if(target->Y.val < axis.position.val) Ysign = -1.;
+        tagspeed.Y = Ylimits.max.speed;
+    }else{
+        if(tagspeed.Y < 0.){ tagspeed.Y = -tagspeed.Y; Ysign = -1.; }
+        if(tagspeed.Y > Ylimits.max.speed) tagspeed.Y = Ylimits.max.speed;
+    }
     axis_status_t ystate = axis.state;
     if(m.Xstate != xstate || m.Ystate != ystate){
         DBG("State changed");
         setStat(xstate, ystate);
     }
-    DBG("TAG speeds: %g/%g", tagspeed.X, tagspeed.Y);
+    coordpair_t endpoint;
-    return Mount.moveWspeed(endpoint, &tagspeed);
+    // allow at least PIDMaxDt moving with target speed
+    double dv = fabs(tagspeed.X - m.encXspeed.val);
+    double adder = dv/Xlimits.max.accel * (m.encXspeed.val + dv / 2.) // distanse with changing speed
+                   + Conf.PIDMaxDt * tagspeed.X // PIDMaxDt const speed moving
+                   + tagspeed.X * tagspeed.X / Xlimits.max.accel / 2.; // stopping
+    endpoint.X = m.encXposition.val + Xsign * adder;
+    dv = fabs(tagspeed.Y - m.encYspeed.val);
+    adder = dv/Ylimits.max.accel * (m.encYspeed.val + dv / 2.)
+            + Conf.PIDMaxDt * tagspeed.Y
+            + tagspeed.Y * tagspeed.Y / Ylimits.max.accel / 2.;
+    endpoint.Y = m.encYposition.val + Ysign * adder;
+    DBG("TAG speeds: %g/%g (deg/s); TAG pos: %g/%g (deg)", tagspeed.X/M_PI*180., tagspeed.Y/M_PI*180., endpoint.X/M_PI*180., endpoint.Y/M_PI*180.);
+    return Mount.moveWspeed(&endpoint, &tagspeed);
 }

LibSidServo/PID.h

@@ -27,7 +27,7 @@ typedef struct {
     double prev_error;  // Previous error
     double integral;    // Integral term
     double *pidIarray;  // array for Integral
-    double prevT;       // time of previous correction
+    struct timespec prevT; // time of previous correction
     size_t pidIarrSize; // it's size
     size_t curIidx;     // and index of current element
 } PIDController_t;
@@ -37,4 +37,4 @@ void pid_clear(PIDController_t *pid);
 void pid_delete(PIDController_t **pid);
 double pid_calculate(PIDController_t *pid, double error, double dt);
 
-mcc_errcodes_t  correct2(const coordval_pair_t *target, const coordpair_t *endpoint);
+mcc_errcodes_t  correct2(const coordval_pair_t *target);

LibSidServo/TODO

@@ -1,2 +1,3 @@
-1. PID: slew2
+fix encoders opening for several tries
-
+encoderthread2() - change main cycle (remove pause, read data independently, ask for new only after timeout after last request)
+Read HW config even in model mode

LibSidServo/dbg.h

@@ -1,64 +0,0 @@
-/*
- * This file is part of the libsidservo project.
- * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#pragma once
-
-#include <stdlib.h>
-
-#include "sidservo.h"
-
-extern conf_t Conf;
-
-// unused arguments of functions
-#define _U_         __attribute__((__unused__))
-// break absent in `case`
-#define FALLTHRU    __attribute__ ((fallthrough))
-// and synonym for FALLTHRU
-#define NOBREAKHERE __attribute__ ((fallthrough))
-// weak functions
-#define WEAK        __attribute__ ((weak))
-
-#ifndef DBL_EPSILON
-#define DBL_EPSILON        (2.2204460492503131e-16)
-#endif
-
-#ifndef FALSE
-#define FALSE (0)
-#endif
-
-#ifndef TRUE
-#define TRUE (1)
-#endif
-
-
-#ifdef EBUG
-#include <stdio.h>
-    #define COLOR_RED           "\033[1;31;40m"
-    #define COLOR_GREEN         "\033[1;32;40m"
-    #define COLOR_OLD           "\033[0;0;0m"
-    #define FNAME() do{ fprintf(stderr, COLOR_GREEN "\n%s " COLOR_OLD, __func__); \
-    fprintf(stderr, "(%s, line %d)\n", __FILE__, __LINE__);} while(0)
-    #define DBG(...) do{ fprintf(stderr, COLOR_RED "\n%s " COLOR_OLD, __func__); \
-        fprintf(stderr, "(%s, line %d): ", __FILE__, __LINE__); \
-        fprintf(stderr, __VA_ARGS__);           \
-        fprintf(stderr, "\n");} while(0)
-
-#else  // EBUG
-    #define FNAME()
-    #define DBG(...)
-#endif // EBUG

LibSidServo/examples/SSIIconf.c

@@ -34,7 +34,9 @@ typedef struct{
 
 static hardware_configuration_t HW = {0};
 
-static parameters G = {0};
+static parameters G = {
+    .conffile = "servo.conf",
+};
 
 static sl_option_t cmdlnopts[] = {
     {"help",        NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
@@ -53,7 +55,7 @@ static sl_option_t confopts[] = {
 
 static void dumpaxis(char axis, axis_config_t *c){
 #define STRUCTPAR(p)    (c)->p
-#define DUMP(par) do{printf("%c%s=%g\n", axis, #par, STRUCTPAR(par));}while(0)
+#define DUMP(par) do{printf("%c%s=%.10g\n", axis, #par, STRUCTPAR(par));}while(0)
 #define DUMPD(par) do{printf("%c%s=%g\n", axis, #par, RAD2DEG(STRUCTPAR(par)));}while(0)
     DUMPD(accel);
     DUMPD(backlash);
@@ -64,6 +66,8 @@ static void dumpaxis(char axis, axis_config_t *c){
     DUMP(outplimit);
     DUMP(currlimit);
     DUMP(intlimit);
+    DUMP(motor_stepsperrev);
+    DUMP(axis_stepsperrev);
 #undef DUMP
 #undef DUMPD
 }

LibSidServo/examples/conf.c

@@ -24,25 +24,32 @@
 static conf_t Config = {
     .MountDevPath = "/dev/ttyUSB0",
     .MountDevSpeed = 19200,
-    .EncoderXDevPath = "/dev/encoderX0",
+    .EncoderXDevPath = "/dev/encoder_X0",
-    .EncoderYDevPath = "/dev/encoderY0",
+    .EncoderYDevPath = "/dev/encoder_Y0",
     .EncoderDevSpeed = 153000,
     .MountReqInterval = 0.1,
-    .EncoderReqInterval = 0.05,
+    .EncoderReqInterval = 0.001,
     .SepEncoder = 2,
-    .EncoderSpeedInterval = 0.1,
+    .EncoderSpeedInterval = 0.05,
-    .XPIDC.P = 0.8,
+    .EncodersDisagreement = 1e-5, // 2''
+    .PIDMaxDt = 1.,
+    .PIDRefreshDt = 0.1,
+    .PIDCycleDt = 5.,
+    .XPIDC.P = 0.5,
     .XPIDC.I = 0.1,
-    .XPIDC.D = 0.3,
+    .XPIDC.D = 0.2,
-    .XPIDV.P = 1.,
+    .XPIDV.P = 0.09,
-    .XPIDV.I = 0.01,
+    .XPIDV.I = 0.0,
-    .XPIDV.D = 0.2,
+    .XPIDV.D = 0.05,
-    .YPIDC.P = 0.8,
+    .YPIDC.P = 0.5,
     .YPIDC.I = 0.1,
-    .YPIDC.D = 0.3,
+    .YPIDC.D = 0.2,
-    .YPIDV.P = 0.5,
+    .YPIDV.P = 0.09,
-    .YPIDV.I = 0.2,
+    .YPIDV.I = 0.0,
-    .YPIDV.D = 0.5,
+    .YPIDV.D = 0.05,
+    .MaxPointingErr = 0.13962634,
+    .MaxFinePointingErr = 0.026179939,
+    .MaxGuidingErr = 4.8481368e-7,
 };
 
 static sl_option_t opts[] = {
@@ -50,13 +57,17 @@ static sl_option_t opts[] = {
     {"MountDevSpeed",   NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.MountDevSpeed),    "serial speed of mount device"},
     {"EncoderDevPath",  NEED_ARG,   NULL,   0,  arg_string, APTR(&Config.EncoderDevPath),   "path to encoder device"},
     {"EncoderDevSpeed", NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.EncoderDevSpeed),  "serial speed of encoder device"},
-    {"MountReqInterval",NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.MountReqInterval), "interval of mount requests (not less than 0.05s)"},
+    {"SepEncoder",      NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.SepEncoder),       "encoder is separate device (1 - one device, 2 - two devices)"},
-    {"EncoderReqInterval",NEED_ARG, NULL,   0,  arg_double, APTR(&Config.EncoderReqInterval),"interval of encoder requests (in case of sep=2)"},
-    {"SepEncoder",      NO_ARGS,    NULL,   0,  arg_int,    APTR(&Config.SepEncoder),       "encoder is separate device (1 - one device, 2 - two devices)"},
     {"EncoderXDevPath", NEED_ARG,   NULL,   0,  arg_string, APTR(&Config.EncoderXDevPath),  "path to X encoder (/dev/encoderX0)"},
     {"EncoderYDevPath", NEED_ARG,   NULL,   0,  arg_string, APTR(&Config.EncoderYDevPath),  "path to Y encoder (/dev/encoderY0)"},
+    {"EncodersDisagreement", NEED_ARG,NULL, 0,  arg_double, APTR(&Config.EncodersDisagreement),"acceptable disagreement between motor and axis encoders"},
+    {"MountReqInterval",NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.MountReqInterval), "interval of mount requests (not less than 0.05s)"},
+    {"EncoderReqInterval",NEED_ARG, NULL,   0,  arg_double, APTR(&Config.EncoderReqInterval),"interval of encoder requests (in case of sep=2)"},
     {"EncoderSpeedInterval", NEED_ARG,NULL, 0,  arg_double, APTR(&Config.EncoderSpeedInterval),"interval of speed calculations, s"},
     {"RunModel",        NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.RunModel),         "instead of real hardware run emulation"},
+    {"PIDMaxDt",        NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.PIDMaxDt),         "maximal PID refresh time interval (if larger all old data will be cleared)"},
+    {"PIDRefreshDt",    NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.PIDRefreshDt),     "normal PID refresh interval by master process"},
+    {"PIDCycleDt",      NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.PIDCycleDt),       "PID I cycle time (analog of \"RC\" for PID on opamps)"},
     {"XPIDCP",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.XPIDC.P),          "P of X PID (coordinate driven)"},
     {"XPIDCI",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.XPIDC.I),          "I of X PID (coordinate driven)"},
     {"XPIDCD",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.XPIDC.D),          "D of X PID (coordinate driven)"},
@@ -69,6 +80,12 @@ static sl_option_t opts[] = {
     {"YPIDVP",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.YPIDV.P),          "P of Y PID (velocity driven)"},
     {"YPIDVI",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.YPIDV.I),          "I of Y PID (velocity driven)"},
     {"YPIDVD",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.YPIDV.D),          "D of Y PID (velocity driven)"},
+    {"MaxPointingErr",  NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.MaxPointingErr),   "if angle < this, change state from \"slewing\" to \"pointing\" (coarse pointing): 8 degrees"},
+    {"MaxFinePointingErr",NEED_ARG, NULL,   0,  arg_double, APTR(&Config.MaxFinePointingErr), "if angle < this, chane state from \"pointing\" to \"guiding\" (fine poinging): 1.5 deg"},
+    {"MaxGuidingErr",   NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.MaxGuidingErr),    "if error less than this value we suppose that target is captured and guiding is good (true guiding): 0.1''"},
+    {"XEncZero",        NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.XEncZero),         "X axis encoder approximate zero position"},
+    {"YEncZero",        NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.YEncZero),         "Y axis encoder approximate zero position"},
+    // {"",NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.), ""},
     end_option
 };
 
@@ -93,5 +110,19 @@ void dumpConf(){
 }
 
 void confHelp(){
-    sl_showhelp(-1, opts);
+    sl_conf_showhelp(-1, opts);
+}
+
+const char* errcodes[MCC_E_AMOUNT] = {
+    [MCC_E_OK] = "OK",
+    [MCC_E_FATAL] = "Fatal error",
+    [MCC_E_BADFORMAT] = "Wrong data format",
+    [MCC_E_ENCODERDEV] = "Encoder error",
+    [MCC_E_MOUNTDEV] = "Mount error",
+    [MCC_E_FAILED] = "Failed to run"
+};
+// return string with error code
+const char *EcodeStr(mcc_errcodes_t e){
+    if(e >= MCC_E_AMOUNT) return "Wrong error code";
+    return errcodes[e];
 }

LibSidServo/examples/conf.h

@@ -25,3 +25,4 @@
 void confHelp();
 conf_t *readServoConf(const char *filename);
 void dumpConf();
+const char *EcodeStr(mcc_errcodes_t e);

LibSidServo/examples/dump.c

@@ -23,6 +23,9 @@
 #include "dump.h"
 #include "simpleconv.h"
 
+// starting dump time (to conform different logs)
+static struct timespec dumpT0 = {0};
+
 #if 0
 // amount of elements used for encoders' data filtering
 #define NFILT	(10)
@@ -59,6 +62,12 @@ static double filter(double val, int idx){
 }
 #endif
 
+// return starting time of dump
+void dumpt0(struct timespec *t){
+    if(t) *t = dumpT0;
+}
+
+
 /**
  * @brief logmnt - log mount data into file
  * @param fcoords - file to dump
@@ -68,12 +77,12 @@ void logmnt(FILE *fcoords, mountdata_t *m){
     if(!fcoords) return;
     //DBG("LOG %s", m ? "data" : "header");
     if(!m){ // write header
-        fprintf(fcoords, "#     time    Xmot(deg)   Ymot(deg) Xenc(deg)  Yenc(deg)   VX(d/s)    VY(d/s)     millis\n");
+        fprintf(fcoords, "      time    Xmot(deg)   Ymot(deg) Xenc(deg)  Yenc(deg)   VX(d/s)    VY(d/s)     millis\n");
         return;
-    }
+    }else if(dumpT0.tv_sec == 0) dumpT0 = m->encXposition.t;
     // write data
     fprintf(fcoords, "%12.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10u\n",
-            m->encXposition.t, RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
+            Mount.timeDiff(&m->encXposition.t, &dumpT0), RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
             RAD2DEG(m->encXposition.val), RAD2DEG(m->encYposition.val),
             RAD2DEG(m->encXspeed.val), RAD2DEG(m->encYspeed.val),
             m->millis);
@@ -99,16 +108,17 @@ void dumpmoving(FILE *fcoords, double t, int N){
         LOGWARN("Can't get mount data");
     }
     uint32_t mdmillis = mdata.millis;
-    double enct = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
+    struct timespec encXt = mdata.encXposition.t;
     int ctr = -1;
     double xlast = mdata.motXposition.val, ylast = mdata.motYposition.val;
-    double t0 = Mount.currentT();
+    double t0 = Mount.timeFromStart();
-    while(Mount.currentT() - t0 < t && ctr < N){
+    while(Mount.timeFromStart() - t0 < t && ctr < N){
         usleep(1000);
         if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
-        double tmsr = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
+        //double tmsr = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
-        if(tmsr == enct) continue;
+        struct timespec msrt = mdata.encXposition.t;
-        enct = tmsr;
+        if(msrt.tv_nsec == encXt.tv_nsec) continue;
+        encXt = msrt;
         if(fcoords) logmnt(fcoords, &mdata);
         if(mdata.millis == mdmillis) continue;
         //DBG("ctr=%d, motpos=%g/%g", ctr, mdata.motXposition.val, mdata.motYposition.val);
@@ -119,7 +129,7 @@ void dumpmoving(FILE *fcoords, double t, int N){
             ctr = 0;
         }else ++ctr;
     }
-    DBG("Exit dumping; tend=%g, tmon=%g", t, Mount.currentT() - t0);
+    DBG("Exit dumping; tend=%g, tmon=%g", t, Mount.timeFromStart() - t0);
 }
 
 /**
@@ -130,17 +140,15 @@ void waitmoving(int N){
     mountdata_t mdata;
     int ctr = -1;
     uint32_t millis = 0;
-    double xlast = 0., ylast = 0.;
+    //double xlast = 0., ylast = 0.;
+    DBG("Wait moving for %d stopped times", N);
     while(ctr < N){
         usleep(10000);
         if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
         if(mdata.millis == millis) continue;
         millis = mdata.millis;
-        if(mdata.motXposition.val != xlast || mdata.motYposition.val != ylast){
+        if(mdata.Xstate != AXIS_STOPPED || mdata.Ystate != AXIS_STOPPED) ctr = 0;
-            xlast = mdata.motXposition.val;
+        else ++ctr;
-            ylast = mdata.motYposition.val;
-            ctr = 0;
-        }else ++ctr;
     }
 }
 

LibSidServo/examples/dump.h

@@ -27,3 +27,4 @@ void dumpmoving(FILE *fcoords, double t, int N);
 void waitmoving(int N);
 int getPos(coordval_pair_t *mot, coordval_pair_t *enc);
 void chk0(int ncycles);
+void dumpt0(struct timespec *t);

LibSidServo/examples/dumpmoving.c

@@ -73,6 +73,7 @@ int main(int argc, char **argv){
     conf_t *Config = readServoConf(G.conffile);
     if(!Config){
         dumpConf();
+        confHelp();
         return 1;
     }
     if(G.coordsoutput){

LibSidServo/examples/dumpmoving_dragNtrack.c

@@ -139,8 +139,10 @@ static mcc_errcodes_t return2zero(){
     short_command_t cmd = {0};
     DBG("Try to move to zero");
     cmd.Xmot = 0.; cmd.Ymot = 0.;
-    cmd.Xspeed = MCC_MAX_X_SPEED;
+    coordpair_t maxspd;
-    cmd.Yspeed = MCC_MAX_Y_SPEED;
+    if(MCC_E_OK != Mount.getMaxSpeed(&maxspd)) return MCC_E_FAILED;
+    cmd.Xspeed = maxspd.X;
+    cmd.Yspeed = maxspd.Y;
     /*cmd.xychange = 1;
     cmd.XBits = 100;
     cmd.YBits = 20;*/
@@ -216,7 +218,7 @@ int main(int argc, char **argv){
     sleep(5);
     // return to zero and wait
     green("Return 2 zero and wait\n");
-    if(!return2zero()) ERRX("Can't return");
+    if(MCC_E_OK != return2zero()) ERRX("Can't return");
     Wait(0., 0);
     Wait(0., 1);
     // wait moving ends

LibSidServo/examples/dumpswing.c

@@ -83,7 +83,7 @@ void waithalf(double t){
     uint32_t millis = 0;
     double xlast = 0., ylast = 0.;
     while(ctr < 5){
-        if(Mount.currentT() >= t) return;
+        if(Mount.timeFromStart() >= t) return;
         usleep(1000);
         if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
         if(mdata.millis == millis) continue;
@@ -110,16 +110,28 @@ int main(int argc, char **argv){
         return 1;
     }
     if(G.coordsoutput){
-        if(!(fcoords = fopen(G.coordsoutput, "w")))
+        if(!(fcoords = fopen(G.coordsoutput, "w"))){
-            ERRX("Can't open %s", G.coordsoutput);
+            WARNX("Can't open %s", G.coordsoutput);
+            return 1;
+        }
     }else fcoords = stdout;
-    if(G.Ncycles < 7) ERRX("Ncycles should be >7");
+    if(G.Ncycles < 2){
+        WARNX("Ncycles should be >2");
+        return 1;
+    }
     double absamp = fabs(G.amplitude);
-    if(absamp < 0.01 || absamp > 45.)
+    if(absamp < 0.01 || absamp > 45.){
-        ERRX("Amplitude should be from 0.01 to 45 degrees");
+        WARNX("Amplitude should be from 0.01 to 45 degrees");
-    if(G.period < 0.1 || G.period > 900.)
+        return 1;
-        ERRX("Period should be from 0.1 to 900s");
+    }
-    if(G.Nswings < 1) ERRX("Nswings should be more than 0");
+    if(G.period < 0.1 || G.period > 900.){
+        WARNX("Period should be from 0.1 to 900s");
+        return 1;
+    }
+    if(G.Nswings < 1){
+        WARNX("Nswings should be more than 0");
+        return 1;
+    }
     conf_t *Config = readServoConf(G.conffile);
     if(!Config){
         dumpConf();
@@ -146,24 +158,24 @@ int main(int argc, char **argv){
     }else{
         tagX = 0.; tagY = DEG2RAD(G.amplitude);
     }
-    double t = Mount.currentT(), t0 = t;
+    double t = Mount.timeFromStart(), t0 = t;
     coordpair_t tag = {.X = tagX, .Y = tagY}, rtag = {.X = -tagX, .Y = -tagY};
     double divide = 2.;
     for(int i = 0; i < G.Nswings; ++i){
         Mount.moveTo(&tag);
-        DBG("CMD: %g", Mount.currentT()-t0);
+        DBG("CMD: %g", Mount.timeFromStart()-t0);
         t += G.period / divide;
         divide = 1.;
         waithalf(t);
         DBG("Moved to +, t=%g", t-t0);
-        DBG("CMD: %g", Mount.currentT()-t0);
+        DBG("CMD: %g", Mount.timeFromStart()-t0);
         Mount.moveTo(&rtag);
         t += G.period;
         waithalf(t);
         DBG("Moved to -, t=%g", t-t0);
-        DBG("CMD: %g", Mount.currentT()-t0);
+        DBG("CMD: %g", Mount.timeFromStart()-t0);
     }
-    green("Move to zero @ %g\n", Mount.currentT());
+    green("Move to zero @ %g\n", Mount.timeFromStart());
     tag = (coordpair_t){0};
     // be sure to move @ 0,0
     if(MCC_E_OK != Mount.moveTo(&tag)){

LibSidServo/examples/goto.c

@@ -91,11 +91,10 @@ int main(int _U_ argc, char _U_ **argv){
     if(MCC_E_OK != Mount.init(Config)) ERRX("Can't init mount");
     coordval_pair_t M, E;
     if(!getPos(&M, &E)) ERRX("Can't get current position");
+    printf("Current time: %.10f\n", Mount.timeFromStart());
     if(G.coordsoutput){
-        if(!G.wait) green("When logging I should wait until moving ends; added '-w'");
+        if(!G.wait) green("When logging I should wait until moving ends; added '-w'\n");
         G.wait = 1;
-    }
-    if(G.coordsoutput){
         if(!(fcoords = fopen(G.coordsoutput, "w")))
             ERRX("Can't open %s", G.coordsoutput);
         logmnt(fcoords, NULL);
@@ -121,7 +120,11 @@ int main(int _U_ argc, char _U_ **argv){
     }
     printf("Moving to X=%gdeg, Y=%gdeg\n", G.X, G.Y);
     tag.X = DEG2RAD(G.X); tag.Y = DEG2RAD(G.Y);
-    Mount.moveTo(&tag);
+    mcc_errcodes_t e = Mount.moveTo(&tag);
+    if(MCC_E_OK != e){
+        WARNX("Cant go to given coordinates: %s\n", EcodeStr(e));
+        goto out;
+    }
     if(G.wait){
         sleep(1);
         waitmoving(G.Ncycles);
@@ -133,7 +136,9 @@ out:
     if(G.coordsoutput) pthread_join(dthr, NULL);
     DBG("QUIT");
     if(G.wait){
-        if(getPos(&M, NULL)) printf("Mount position: X=%g, Y=%g\n", RAD2DEG(M.X.val), RAD2DEG(M.Y.val));
+        usleep(250000); // pause to refresh coordinates
+        if(getPos(&M, &E)) printf("Mount position: X=%g, Y=%g; encoders: X=%g, Y=%g\n", RAD2DEG(M.X.val), RAD2DEG(M.Y.val),
+            RAD2DEG(E.X.val), RAD2DEG(E.Y.val));
         Mount.quit();
     }
     return 0;

LibSidServo/examples/scmd_traectory.c

@@ -44,6 +44,7 @@ typedef struct{
     char *conffile;
 } parameters;
 
+static conf_t *Config = NULL;
 static FILE *fcoords = NULL, *errlog = NULL;
 static pthread_t dthr;
 static parameters G = {
@@ -96,35 +97,35 @@ static void runtraectory(traectory_fn tfn){
     if(!tfn) return;
     coordval_pair_t telXY;
     coordval_pair_t target;
-    coordpair_t traectXY, endpoint;
+    coordpair_t traectXY;
-    endpoint.X = G.Xmax, endpoint.Y = G.Ymax;
+    double tlast = 0., tstart = Mount.timeFromStart();
-    double t0 = Mount.currentT(), tlast = 0.;
+    long tlastXnsec = 0, tlastYnsec = 0;
-    double tlastX = 0., tlastY = 0.;
+    struct timespec tcur, t0 = {0};
+    dumpt0(&t0);
     while(1){
         if(!telpos(&telXY)){
             WARNX("No next telescope position");
             return;
         }
-        if(telXY.X.t == tlastX && telXY.Y.t == tlastY) continue; // last measure - don't mind
+        if(!Mount.currentT(&tcur)) continue;
-        DBG("\n\nTELPOS: %g'/%g' (%.6f/%.6f) measured @ %.6f/%.6f", RAD2AMIN(telXY.X.val), RAD2AMIN(telXY.Y.val), RAD2DEG(telXY.X.val), RAD2DEG(telXY.Y.val), telXY.X.t, telXY.Y.t);
+        if(telXY.X.t.tv_nsec == tlastXnsec && telXY.Y.t.tv_nsec == tlastYnsec) continue; // last measure - don't mind
-        tlastX = telXY.X.t; tlastY = telXY.Y.t;
+        DBG("\n\nTELPOS: %g'/%g' (%.6f/%.6f)", RAD2AMIN(telXY.X.val), RAD2AMIN(telXY.Y.val), RAD2DEG(telXY.X.val), RAD2DEG(telXY.Y.val));
-        double t = Mount.currentT();
+        tlastXnsec = telXY.X.t.tv_nsec; tlastYnsec = telXY.Y.t.tv_nsec;
-        if(fabs(telXY.X.val) > G.Xmax || fabs(telXY.Y.val) > G.Ymax || t - t0 > G.tmax) break;
+        double t = Mount.timeFromStart();
+        if(fabs(telXY.X.val) > G.Xmax || fabs(telXY.Y.val) > G.Ymax || t - tstart > G.tmax) break;
         if(!traectory_point(&traectXY, t)) break;
         target.X.val = traectXY.X; target.Y.val = traectXY.Y;
-        target.X.t = target.Y.t = t;
+        target.X.t = target.Y.t = tcur;
-        // check whether we should change direction
+        if(t0.tv_nsec == 0 && t0.tv_sec == 0) dumpt0(&t0);
-        if(telXY.X.val > traectXY.X) endpoint.X = -G.Xmax;
+        else{
-        else if(telXY.X.val < traectXY.X) endpoint.X = G.Xmax;
-        if(telXY.Y.val > traectXY.Y) endpoint.Y = -G.Ymax;
-        else if(telXY.Y.val < traectXY.Y) endpoint.Y = G.Ymax;
             //DBG("target: %g'/%g'", RAD2AMIN(traectXY.X), RAD2AMIN(traectXY.Y));
-        DBG("%g: dX=%.4f'', dY=%.4f''", t-t0, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
+            DBG("%g: dX=%.4f'', dY=%.4f''", t-tstart, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
             //DBG("Correct to: %g/%g with EP %g/%g", RAD2DEG(target.X.val), RAD2DEG(target.Y.val), RAD2DEG(endpoint.X), RAD2DEG(endpoint.Y));
             if(errlog)
-            fprintf(errlog, "%10.4g  %10.4g  %10.4g\n", t, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
+                fprintf(errlog, "%10.4f  %10.4f  %10.4f\n", Mount.timeDiff(&telXY.X.t, &t0), RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
-        if(MCC_E_OK != Mount.correctTo(&target, &endpoint)) WARNX("Error of correction!");
+        }
-        while((t = Mount.currentT()) - tlast < MCC_PID_REFRESH_DT) usleep(50);
+        if(MCC_E_OK != Mount.correctTo(&target)) WARNX("Error of correction!");
+        while((t = Mount.timeFromStart()) - tlast < Config->PIDRefreshDt) usleep(500);
         tlast = t;
     }
     WARNX("No next traectory point or emulation ends");
@@ -150,7 +151,7 @@ int main(int argc, char **argv){
         if(!(fcoords = fopen(G.coordsoutput, "w")))
             ERRX("Can't open %s", G.coordsoutput);
     }else fcoords = stdout;
-    conf_t *Config = readServoConf(G.conffile);
+    Config = readServoConf(G.conffile);
     if(!Config || G.dumpconf){
         dumpConf();
         return 1;

LibSidServo/examples/servo.conf

@@ -1,4 +1,4 @@
-Current configuration:
+# Current configuration
 MountDevPath=/dev/ttyUSB0
 MountDevSpeed=19200
 EncoderDevPath=(null)

LibSidServo/examples/traectories.c

@@ -41,7 +41,7 @@ int init_traectory(traectory_fn f, coordpair_t *XY0){
     if(!f || !XY0) return FALSE;
     cur_traectory = f;
     XYstart = *XY0;
-    tstart = Mount.currentT();
+    tstart = Mount.timeFromStart();
     mountdata_t mdata;
     int ntries = 0;
     for(; ntries < 10; ++ntries){
@@ -98,7 +98,7 @@ int Linear(coordpair_t *nextpt, double t){
 int SinCos(coordpair_t *nextpt, double t){
     coordpair_t pt;
     pt.X = XYstart.X + ASEC2RAD(5.) * sin((t-tstart)/30.*2*M_PI);
-    pt.Y = XYstart.Y + AMIN2RAD(10.)* cos((t-tstart)/200.*2*M_PI);
+    pt.Y = XYstart.Y + AMIN2RAD(1.)* cos((t-tstart)/200.*2*M_PI);
     if(nextpt) *nextpt = pt;
     return TRUE;
 }

LibSidServo/libsidservo.creator.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 17.0.0, 2025-07-30T17:30:52. -->
+<!-- Written by QtCreator 18.0.0, 2026-03-11T12:36:26. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
@@ -86,6 +86,7 @@
     <valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/>
     <value type="bool" key="ClangTools.UseGlobalSettings">true</value>
    </valuemap>
+   <value type="int" key="RcSync">0</value>
   </valuemap>
  </data>
  <data>
@@ -110,8 +111,8 @@
       <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
      </valuemap>
      <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Сборка</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Build</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Сборка</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Build</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
     </valuemap>
     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.1">
@@ -123,8 +124,8 @@
       <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
      </valuemap>
      <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Очистка</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Clean</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Очистка</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Clean</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
     </valuemap>
     <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
@@ -139,8 +140,8 @@
     <valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
      <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
       <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
-      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Развёртывание</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
-      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Развёртывание</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
       <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
      </valuemap>
      <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
@@ -164,6 +165,7 @@
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
      <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
      <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
+     <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
      <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
      <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
     </valuemap>
@@ -173,8 +175,8 @@
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
      <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Развёртывание</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Развёртывание</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
     </valuemap>
     <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
@@ -198,6 +200,7 @@
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
     <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
     <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
+    <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
     <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
     <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
    </valuemap>
@@ -208,10 +211,6 @@
   <variable>ProjectExplorer.Project.TargetCount</variable>
   <value type="qlonglong">1</value>
  </data>
- <data>
-  <variable>ProjectExplorer.Project.Updater.FileVersion</variable>
-  <value type="int">22</value>
- </data>
  <data>
   <variable>Version</variable>
   <value type="int">22</value>

LibSidServo/libsidservo.files

@@ -22,6 +22,7 @@ examples/traectories.h
 main.h
 movingmodel.c
 movingmodel.h
+polltest/main.c
 ramp.c
 ramp.h
 serial.h

LibSidServo/main.c

@@ -25,6 +25,7 @@
 #include <time.h>
 #include <stdio.h>
 #include <stdlib.h>
+#include <unistd.h>
 
 #include "main.h"
 #include "movingmodel.h"
@@ -32,40 +33,82 @@
 #include "ssii.h"
 #include "PID.h"
 
+// adder for monotonic time by realtime: inited any call of init()
+static struct timespec timeadder = {0}, // adder of CLOCK_REALTIME to CLOCK_MONOTONIC
+    t0 = {0},           // curtime() for initstarttime() call
+    starttime = {0};    // starting time by monotonic (for timefromstart())
+
 conf_t Conf = {0};
 // parameters for model
 static movemodel_t *Xmodel, *Ymodel;
+// limits for model and/or real mount (in latter case data should be read from mount on init)
 // radians, rad/sec, rad/sec^2
-static limits_t
+// max speeds (rad/s): xs=10 deg/s, ys=8 deg/s
+// accelerations: xa=12.6 deg/s^2, ya= 9.5 deg/s^2
+limits_t
     Xlimits = {
         .min = {.coord = -3.1241, .speed = 1e-10, .accel = 1e-6},
-        .max = {.coord = 3.1241, .speed = MCC_MAX_X_SPEED, .accel = MCC_X_ACCELERATION}},
+        .max = {.coord = 3.1241, .speed = 0.174533, .accel = 0.219911}},
     Ylimits = {
         .min = {.coord = -3.1241, .speed = 1e-10, .accel = 1e-6},
-        .max = {.coord = 3.1241, .speed = MCC_MAX_Y_SPEED, .accel = MCC_Y_ACCELERATION}}
+        .max = {.coord = 3.1241, .speed = 0.139626, .accel = 0.165806}}
 ;
 static mcc_errcodes_t shortcmd(short_command_t *cmd);
+static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig);
 
 /**
- * @brief nanotime - monotonic time from first run
+ * @brief curtime - monotonic time from first run
- * @return time in seconds
+ * @param t - struct timespec by CLOCK_MONOTONIC but with setpoint by CLOCK_REALTIME on observations start
+ * @return TRUE if all OK
+ * FIXME: double -> struct timespec; on init: init t0 by CLOCK_REALTIME
  */
-double nanotime(){
+int curtime(struct timespec *t){
-    static struct timespec *start = NULL;
     struct timespec now;
-    if(!start){
+    if(clock_gettime(CLOCK_MONOTONIC, &now)) return FALSE;
-        start = malloc(sizeof(struct timespec));
+    now.tv_sec += timeadder.tv_sec;
-        if(!start) return -1.;
+    now.tv_nsec += timeadder.tv_nsec;
-        if(clock_gettime(CLOCK_MONOTONIC, start)) return -1.;
+    if(now.tv_nsec > 999999999L){
+        ++now.tv_sec;
+        now.tv_nsec -= 1000000000L;
     }
+    if(t) *t = now;
+    return TRUE;
+}
+
+// init starttime; @return TRUE if all OK
+static int initstarttime(){
+    struct timespec start;
+    if(clock_gettime(CLOCK_MONOTONIC, &starttime)) return FALSE;
+    if(clock_gettime(CLOCK_REALTIME, &start)) return FALSE;
+    timeadder.tv_sec = start.tv_sec - starttime.tv_sec;
+    timeadder.tv_nsec = start.tv_nsec - starttime.tv_nsec;
+    if(timeadder.tv_nsec < 0){
+        --timeadder.tv_sec;
+        timeadder.tv_nsec += 1000000000L;
+    }
+    curtime(&t0);
+    return TRUE;
+}
+
+// return difference (in seconds) between time1 and time0
+double timediff(const struct timespec *time1, const struct timespec *time0){
+    if(!time1 || !time0) return -1.;
+    return (time1->tv_sec - time0->tv_sec) + (time1->tv_nsec - time0->tv_nsec) / 1e9;
+}
+// difference between given time and  last initstarttime() call
+double timediff0(const struct timespec *time1){
+    return timediff(time1, &t0);
+}
+// time from last initstarttime() call
+double timefromstart(){
+    struct timespec now;
     if(clock_gettime(CLOCK_MONOTONIC, &now)) return -1.;
-    double nd = ((double)now.tv_nsec - (double)start->tv_nsec) * 1e-9;
+    return (now.tv_sec - starttime.tv_sec) + (now.tv_nsec - starttime.tv_nsec) / 1e9;
-    double sd = (double)now.tv_sec - (double)start->tv_sec;
-    return sd + nd;
 }
 
 /**
  * @brief quit - close all opened and return to default state
+ * TODO: close serial devices even in "model" mode
  */
 static void quit(){
     if(Conf.RunModel) return;
@@ -75,18 +118,19 @@ static void quit(){
     DBG("Exit");
 }
 
-void getModData(coordval_pair_t *c){
+void getModData(coordpair_t *c, movestate_t *xst, movestate_t *yst){
     if(!c || !Xmodel || !Ymodel) return;
-    double tnow = nanotime();
+    double tnow = timefromstart();
     moveparam_t Xp, Yp;
     movestate_t Xst = Xmodel->get_state(Xmodel, &Xp);
     //DBG("Xstate = %d", Xst);
     if(Xst == ST_MOVE) Xst = Xmodel->proc_move(Xmodel, &Xp, tnow);
     movestate_t Yst = Ymodel->get_state(Ymodel, &Yp);
     if(Yst == ST_MOVE) Yst = Ymodel->proc_move(Ymodel, &Yp, tnow);
-    c->X.t = c->Y.t = tnow;
+    c->X = Xp.coord;
-    c->X.val = Xp.coord;
+    c->Y = Yp.coord;
-    c->Y.val =  Yp.coord;
+    if(xst) *xst = Xst;
+    if(yst) *yst = Yst;
 }
 
 /**
@@ -117,6 +161,8 @@ double LS_calc_slope(less_square_t *l, double x, double t){
     if(!l) return 0.;
     size_t idx = l->idx;
     double oldx = l->x[idx], oldt = l->t[idx], oldt2 = l->t2[idx], oldxt = l->xt[idx];
+    /*DBG("old: x=%g, t=%g, t2=%g, xt=%g; sum: %g, t=%g, t2=%g, xt=%g", oldx, oldt, oldt2, oldxt,
+        l->xsum, l->tsum, l->t2sum, l->xtsum);*/
     double t2 = t * t, xt = x * t;
     l->x[idx] = x; l->t2[idx] = t2;
     l->t[idx] = t; l->xt[idx] = xt;
@@ -128,14 +174,13 @@ double LS_calc_slope(less_square_t *l, double x, double t){
     l->xtsum += xt - oldxt;
     double n = (double)l->arraysz;
     double denominator = n * l->t2sum - l->tsum * l->tsum;
-    //DBG("idx=%zd, arrsz=%zd, den=%g", l->idx, l->arraysz, denominator);
     if(fabs(denominator) < 1e-7) return 0.;
     double numerator = n * l->xtsum - l->xsum * l->tsum;
+    //DBG("x=%g, t=%g; idx=%zd, arrsz=%zd, den=%g; xsum=%g, num=%g", x, t, l->idx, l->arraysz, denominator, l->xsum, numerator);
     // point: (sum_x  - slope * sum_t) / n;
     return (numerator / denominator);
 }
 
-
 /**
  * @brief init - open serial devices and do other job
  * @param c - initial configuration
@@ -144,15 +189,20 @@ double LS_calc_slope(less_square_t *l, double x, double t){
 static mcc_errcodes_t init(conf_t *c){
     FNAME();
     if(!c) return MCC_E_BADFORMAT;
+    if(!initstarttime()) return MCC_E_FAILED;
     Conf = *c;
     mcc_errcodes_t ret = MCC_E_OK;
     Xmodel = model_init(&Xlimits);
     Ymodel = model_init(&Ylimits);
+    if(Conf.MountReqInterval > 1. || Conf.MountReqInterval < 0.05){
+        DBG("Bad value of MountReqInterval");
+        ret = MCC_E_BADFORMAT;
+    }
     if(Conf.RunModel){
         if(!Xmodel || !Ymodel || !openMount()) return MCC_E_FAILED;
         return MCC_E_OK;
     }
-    if(!Conf.MountDevPath || Conf.MountDevSpeed < 1200){
+    if(!Conf.MountDevPath || Conf.MountDevSpeed < MOUNT_BAUDRATE_MIN){
         DBG("Define mount device path and speed");
         ret = MCC_E_BADFORMAT;
     }else if(!openMount()){
@@ -168,41 +218,47 @@ static mcc_errcodes_t init(conf_t *c){
             ret = MCC_E_ENCODERDEV;
         }
     }
-    if(Conf.MountReqInterval > 1. || Conf.MountReqInterval < 0.05){
+    // TODO: read hardware configuration on init
-        DBG("Bad value of MountReqInterval");
-        ret = MCC_E_BADFORMAT;
-    }
     if(Conf.EncoderSpeedInterval < Conf.EncoderReqInterval * MCC_CONF_MIN_SPEEDC || Conf.EncoderSpeedInterval > MCC_CONF_MAX_SPEEDINT){
         DBG("Wrong speed interval");
         ret = MCC_E_BADFORMAT;
     }
-    //uint8_t buf[1024];
-    //data_t d = {.buf = buf, .len = 0, .maxlen = 1024};
     if(!SSrawcmd(CMD_EXITACM, NULL)) ret = MCC_E_FAILED;
     if(ret != MCC_E_OK) return ret;
-    return updateMotorPos();
+    // read HW config to update constants
+    hardware_configuration_t HW;
+    if(MCC_E_OK != get_hwconf(&HW)) return MCC_E_FAILED;
+    // make a pause for actual encoder's values
+    double t0 = timefromstart();
+    while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(1000);
+    mcc_errcodes_t e = updateMotorPos();
+    // and refresh data after updating
+    DBG("Wait for next mount reading");
+    t0 = timefromstart();
+    while(timefromstart() - t0 < Conf.MountReqInterval * 3.) usleep(1000);
+    return e;
 }
 
 // check coordinates (rad) and speeds (rad/s); return FALSE if failed
 // TODO fix to real limits!!!
 static int chkX(double X){
-    if(X > 2.*M_PI || X < -2.*M_PI) return FALSE;
+    if(X > Xlimits.max.coord || X < Xlimits.min.coord) return FALSE;
     return TRUE;
 }
 static int chkY(double Y){
-    if(Y > 2.*M_PI || Y < -2.*M_PI) return FALSE;
+    if(Y > Ylimits.max.coord || Y < Ylimits.min.coord) return FALSE;
     return TRUE;
 }
 static int chkXs(double s){
-    if(s < 0. || s > MCC_MAX_X_SPEED) return FALSE;
+    if(s < Xlimits.min.speed || s > Xlimits.max.speed) return FALSE;
     return TRUE;
 }
 static int chkYs(double s){
-    if(s < 0. || s > MCC_MAX_Y_SPEED) return FALSE;
+    if(s < Ylimits.min.speed || s > Ylimits.max.speed) return FALSE;
     return TRUE;
 }
 
-// set SLEWING state if axis was stopped later
+// set SLEWING state if axis was stopped
 static void setslewingstate(){
     //FNAME();
     mountdata_t d;
@@ -218,19 +274,6 @@ static void setslewingstate(){
     }else DBG("CAN't GET MOUNT DATA!");
 }
 
-/*
-static mcc_errcodes_t slew2(const coordpair_t *target, slewflags_t flags){
-    (void)target;
-    (void)flags;
-    //if(Conf.RunModel) return ... ;
-    if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
-    //...
-    setStat(AXIS_SLEWING, AXIS_SLEWING);
-    //...
-    return MCC_E_FAILED;
-}
-*/
-
 /**
  * @brief move2 - simple move to given point and stop
  * @param X - new X coordinate (radians: -pi..pi) or NULL
@@ -245,12 +288,13 @@ static mcc_errcodes_t move2(const coordpair_t *target){
     DBG("x,y: %g, %g", target->X, target->Y);
     cmd.Xmot = target->X;
     cmd.Ymot = target->Y;
-    cmd.Xspeed = MCC_MAX_X_SPEED;
+    cmd.Xspeed = Xlimits.max.speed;
-    cmd.Yspeed = MCC_MAX_Y_SPEED;
+    cmd.Yspeed = Ylimits.max.speed;
-    mcc_errcodes_t r = shortcmd(&cmd);
+    /*mcc_errcodes_t r = shortcmd(&cmd);
     if(r != MCC_E_OK) return r;
     setslewingstate();
-    return MCC_E_OK;
+    return MCC_E_OK;*/
+    return shortcmd(&cmd);
 }
 
 /**
@@ -279,6 +323,7 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
     if(!target || !speed) return MCC_E_BADFORMAT;
     if(!chkX(target->X) || !chkY(target->Y)) return MCC_E_BADFORMAT;
     if(!chkXs(speed->X) || !chkYs(speed->Y)) return MCC_E_BADFORMAT;
+    // updateMotorPos() here can make a problem; TODO: remove?
     if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
     short_command_t cmd = {0};
     cmd.Xmot = target->X;
@@ -298,7 +343,7 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
 static mcc_errcodes_t emstop(){
     FNAME();
     if(Conf.RunModel){
-        double curt = nanotime();
+        double curt = timefromstart();
         Xmodel->emergency_stop(Xmodel, curt);
         Ymodel->emergency_stop(Ymodel, curt);
         return MCC_E_OK;
@@ -310,7 +355,7 @@ static mcc_errcodes_t emstop(){
 static mcc_errcodes_t stop(){
     FNAME();
     if(Conf.RunModel){
-        double curt = nanotime();
+        double curt = timefromstart();
         Xmodel->stop(Xmodel, curt);
         Ymodel->stop(Ymodel,curt);
         return MCC_E_OK;
@@ -327,7 +372,7 @@ static mcc_errcodes_t stop(){
 static mcc_errcodes_t shortcmd(short_command_t *cmd){
     if(!cmd) return MCC_E_BADFORMAT;
     if(Conf.RunModel){
-        double curt = nanotime();
+        double curt = timefromstart();
         moveparam_t param = {0};
         param.coord = cmd->Xmot; param.speed = cmd->Xspeed;
         if(!model_move2(Xmodel, &param, curt)) return MCC_E_FAILED;
@@ -359,7 +404,7 @@ static mcc_errcodes_t shortcmd(short_command_t *cmd){
 static mcc_errcodes_t longcmd(long_command_t *cmd){
     if(!cmd) return MCC_E_BADFORMAT;
     if(Conf.RunModel){
-        double curt = nanotime();
+        double curt = timefromstart();
         moveparam_t param = {0};
         param.coord = cmd->Xmot; param.speed = cmd->Xspeed;
         if(!model_move2(Xmodel, &param, curt)) return MCC_E_FAILED;
@@ -386,6 +431,7 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
     if(!hwConfig) return MCC_E_BADFORMAT;
     if(Conf.RunModel) return MCC_E_FAILED;
     SSconfig config;
+    DBG("Read HW configuration");
     if(!cmdC(&config, FALSE)) return MCC_E_FAILED;
     // Convert acceleration (ticks per loop^2 to rad/s^2)
     hwConfig->Xconf.accel = X_MOTACC2RS(config.Xconf.accel);
@@ -425,8 +471,8 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
     // Copy ticks per revolution
     hwConfig->Xsetpr = __bswap_32(config.Xsetpr);
     hwConfig->Ysetpr = __bswap_32(config.Ysetpr);
-    hwConfig->Xmetpr = __bswap_32(config.Xmetpr) / 4; // as documentation said, real ticks are 4 times less
+    hwConfig->Xmetpr = __bswap_32(config.Xmetpr); // as documentation said, real ticks are 4 times less
-    hwConfig->Ymetpr = __bswap_32(config.Ymetpr) / 4;
+    hwConfig->Ymetpr = __bswap_32(config.Ymetpr);
     // Convert slew rates (ticks per loop to rad/s)
     hwConfig->Xslewrate = X_MOTSPD2RS(config.Xslewrate);
     hwConfig->Yslewrate = Y_MOTSPD2RS(config.Yslewrate);
@@ -444,6 +490,30 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
     hwConfig->locsspeed = (double)config.locsspeed * M_PI / (180.0 * 3600.0);
     // Convert backlash speed (ticks per loop to rad/s)
     hwConfig->backlspd = X_MOTSPD2RS(config.backlspd);
+    // now read text commands
+    int64_t i64;
+    double Xticks, Yticks;
+    DBG("SERIAL");
+    // motor's encoder ticks per rev
+    if(!SSgetint(CMD_MEPRX, &i64)) return MCC_E_FAILED;
+    Xticks = ((double) i64); // divide by 4 as these values stored ???
+    if(!SSgetint(CMD_MEPRY, &i64)) return MCC_E_FAILED;
+    Yticks = ((double) i64);
+    X_ENC_ZERO = Conf.XEncZero;
+    Y_ENC_ZERO = Conf.YEncZero;
+    DBG("xyrev: %d/%d", config.xbits.motrev, config.ybits.motrev);
+    X_MOT_STEPSPERREV = hwConfig->Xconf.motor_stepsperrev = Xticks; // (config.xbits.motrev) ? -Xticks : Xticks;
+    Y_MOT_STEPSPERREV = hwConfig->Yconf.motor_stepsperrev = Yticks; //(config.ybits.motrev) ? -Yticks : Yticks;
+    DBG("zero: %d/%d; motsteps: %.10g/%.10g", X_ENC_ZERO, Y_ENC_ZERO, X_MOT_STEPSPERREV, Y_MOT_STEPSPERREV);
+    // axis encoder ticks per rev
+    if(!SSgetint(CMD_AEPRX, &i64)) return MCC_E_FAILED;
+    Xticks = (double) i64;
+    if(!SSgetint(CMD_AEPRY, &i64)) return MCC_E_FAILED;
+    Yticks = (double) i64;
+    DBG("xyencrev: %d/%d", config.xbits.encrev, config.ybits.encrev);
+    X_ENC_STEPSPERREV = hwConfig->Xconf.axis_stepsperrev = (config.xbits.encrev) ? -Xticks : Xticks;
+    Y_ENC_STEPSPERREV = hwConfig->Yconf.axis_stepsperrev = (config.ybits.encrev) ? -Yticks : Yticks;
+    DBG("encsteps: %.10g/%.10g", X_ENC_STEPSPERREV, Y_ENC_STEPSPERREV);
     return MCC_E_OK;
 }
 
@@ -499,17 +569,37 @@ static mcc_errcodes_t write_hwconf(hardware_configuration_t *hwConfig){
     config.Ysetpr = __bswap_32(hwConfig->Ysetpr);
     config.Xmetpr = __bswap_32(hwConfig->Xmetpr);
     config.Ymetpr = __bswap_32(hwConfig->Ymetpr);
+    // todo - also write text params
     // TODO - next
     (void) config;
     return MCC_E_OK;
 }
 
+// getters of max/min speed and acceleration
+mcc_errcodes_t maxspeed(coordpair_t *v){
+    if(!v) return MCC_E_BADFORMAT;
+    v->X = Xlimits.max.speed;
+    v->Y = Ylimits.max.speed;
+    return MCC_E_OK;
+}
+mcc_errcodes_t minspeed(coordpair_t *v){
+    if(!v) return MCC_E_BADFORMAT;
+    v->X = Xlimits.min.speed;
+    v->Y = Ylimits.min.speed;
+    return MCC_E_OK;
+}
+mcc_errcodes_t acceleration(coordpair_t *a){
+    if(!a) return MCC_E_BADFORMAT;
+    a->X = Xlimits.max.accel;
+    a->Y = Ylimits.max.accel;
+    return MCC_E_OK;
+}
+
 // init mount class
 mount_t Mount = {
     .init = init,
     .quit = quit,
     .getMountData = getMD,
-//    .slewTo = slew2,
     .moveTo = move2,
     .moveWspeed = move2s,
     .setSpeed = setspeed,
@@ -519,7 +609,13 @@ mount_t Mount = {
     .longCmd = longcmd,
     .getHWconfig = get_hwconf,
     .saveHWconfig = write_hwconf,
-    .currentT = nanotime,
+    .currentT = curtime,
+    .timeFromStart = timefromstart,
+    .timeDiff = timediff,
+    .timeDiff0 = timediff0,
     .correctTo = correct2,
+    .getMaxSpeed = maxspeed,
+    .getMinSpeed = minspeed,
+    .getAcceleration = acceleration,
 };
 

LibSidServo/main.h

@@ -24,11 +24,16 @@
 
 #include <stdlib.h>
 
+#include "movingmodel.h"
 #include "sidservo.h"
 
 extern conf_t Conf;
-double nanotime();
+extern limits_t Xlimits, Ylimits;
-void getModData(coordval_pair_t *c);
+int curtime(struct timespec *t);
+double timediff(const struct timespec *time1, const struct timespec *time0);
+double timediff0(const struct timespec *time1);
+double timefromstart();
+void getModData(coordpair_t *c, movestate_t *xst, movestate_t *yst);
 typedef struct{
     double *x, *t, *t2, *xt; // arrays of coord/time and multiply
     double xsum, tsum, t2sum, xtsum; // sums of coord/time and their multiply
@@ -42,10 +47,6 @@ double LS_calc_slope(less_square_t *l, double x, double t);
 
 // unused arguments of functions
 #define _U_         __attribute__((__unused__))
-// break absent in `case`
-#define FALLTHRU    __attribute__ ((fallthrough))
-// and synonym for FALLTHRU
-#define NOBREAKHERE __attribute__ ((fallthrough))
 // weak functions
 #define WEAK        __attribute__ ((weak))
 

LibSidServo/movingmodel.c

@@ -60,9 +60,14 @@ movemodel_t *model_init(limits_t *l){
 
 int model_move2(movemodel_t *model, moveparam_t *target, double t){
     if(!target || !model) return FALSE;
-    //DBG("MOVE to %g at speed %g", target->coord, target->speed);
+    DBG("MOVE to %g (deg) at speed %g (deg/s)", target->coord/M_PI*180., target->speed/M_PI*180.);
     // only positive velocity
     if(target->speed < 0.) target->speed = -target->speed;
+    if(fabs(target->speed) < model->Min.speed){
+        DBG("STOP");
+        model->stop(model, t);
+        return TRUE;
+    }
     // don't mind about acceleration - user cannot set it now
     return model->calculate(model, target, t);
 }

LibSidServo/movingmodel.h

@@ -44,7 +44,7 @@ typedef struct{
 typedef struct{
     moveparam_t min;
     moveparam_t max;
-    double acceleration;
+    //double acceleration;
 } limits_t;
 
 typedef enum{

LibSidServo/polltest/main.c

@@ -0,0 +1,197 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <fcntl.h>
+#include <poll.h>
+#include <signal.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <usefull_macros.h>
+
+// suppose that we ONLY poll data
+#define XYBUFSZ     (128)
+
+struct{
+    int help;
+    char *Xpath;
+    char *Ypath;
+    double dt;
+} G = {
+    .Xpath = "/dev/encoder_X0",
+    .Ypath = "/dev/encoder_Y0",
+    .dt = 0.001,
+};
+
+sl_option_t options[] = {
+    {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
+    {"Xpath",   NEED_ARG,   NULL,   'X',    arg_string, APTR(&G.Xpath),     "path to X encoder"},
+    {"Ypath",   NEED_ARG,   NULL,   'Y',    arg_string, APTR(&G.Ypath),     "path to Y encoder"},
+    {"dt",      NEED_ARG,   NULL,   'd',    arg_double, APTR(&G.dt),        "request interval (1e-4..10s)"},
+};
+
+typedef struct{
+    char buf[XYBUFSZ+1];
+    int len;
+} buf_t;
+
+static int Xfd = -1, Yfd = -1;
+
+void signals(int sig){
+    if(sig){
+        signal(sig, SIG_IGN);
+        DBG("Get signal %d, quit.\n", sig);
+    }
+    DBG("close");
+    if(Xfd > 0){ close(Xfd); Xfd = -1; }
+    if(Yfd > 0){ close(Yfd); Yfd = -1; }
+    exit(sig);
+}
+
+static int op(const char *nm){
+    int fd = open(nm, O_RDWR|O_NOCTTY|O_NONBLOCK);
+    if(fd < 0) ERR("Can't open %s", nm);
+    struct termios2 tty;
+    if(ioctl(fd, TCGETS2, &tty)) ERR("Can't read TTY settings");
+    tty.c_lflag     = 0; // ~(ICANON | ECHO | ECHOE | ISIG)
+    tty.c_iflag     = 0; // don't do any changes in input stream
+    tty.c_oflag     = 0; // don't do any changes in output stream
+    tty.c_cflag     = BOTHER | CS8 | CREAD | CLOCAL; // other speed, 8bit, RW, ignore line ctrl
+    tty.c_ispeed = 1000000;
+    tty.c_ospeed = 1000000;
+    if(ioctl(fd, TCSETS2, &tty)) ERR("Can't set TTY settings");
+    // try to set exclusive
+    if(ioctl(fd, TIOCEXCL)){DBG("Can't make exclusive");}
+    return fd;
+}
+
+// write to buffer next data portion; return FALSE in case of error
+static int readstrings(buf_t *buf, int fd){
+    FNAME();
+    if(!buf){WARNX("Empty buffer"); return FALSE;}
+    int L = XYBUFSZ - buf->len;
+    if(L == 0){
+        DBG("buffer  overfull!", buf->len);
+        char *lastn = strrchr(buf->buf, '\n');
+        if(lastn){
+            fprintf(stderr, "BUFOVR: _%s_", buf->buf);
+            ++lastn;
+            buf->len = XYBUFSZ - (lastn - buf->buf);
+            DBG("Memmove %d", buf->len);
+            memmove(lastn, buf->buf, buf->len);
+            buf->buf[buf->len] = 0;
+        }else buf->len = 0;
+        L = XYBUFSZ - buf->len;
+    }
+    int got = read(fd, &buf->buf[buf->len], L);
+    if(got < 0){
+        WARN("read()");
+        return FALSE;
+    }else if(got == 0){ DBG("NO data"); return TRUE; }
+    buf->len += got;
+    buf->buf[buf->len] = 0;
+    DBG("buf[%d]: %s", buf->len, buf->buf);
+    return TRUE;
+}
+// return TRUE if got, FALSE if no data found
+static int getdata(buf_t *buf, long *out){
+    if(!buf || buf->len < 1) return FALSE;
+    // read record between last '\n' and previous (or start of string)
+    char *last = &buf->buf[buf->len - 1];
+    //DBG("buf: _%s_", buf->buf);
+    if(*last != '\n') return FALSE;
+    *last = 0;
+    //DBG("buf: _%s_", buf->buf);
+    char *prev = strrchr(buf->buf, '\n');
+    if(!prev) prev = buf->buf;
+    else{
+        fprintf(stderr, "MORETHANONE: _%s_", buf->buf);
+        ++prev; // after last '\n'
+    }
+    if(out) *out = atol(prev);
+    // clear buffer
+    buf->len = 0;
+    return TRUE;
+}
+// try to write '\n' asking new data portion; return FALSE if failed
+static int asknext(int fd){
+    FNAME();
+    if(fd < 0) return FALSE;
+    int i = 0;
+    for(; i < 5; ++i){
+        int l = write(fd, "\n", 1);
+        //DBG("l=%d", l);
+        if(1 == l) return TRUE;
+        usleep(100);
+    }
+    DBG("5 tries... failed!");
+    return FALSE;
+}
+
+int main(int argc, char **argv){
+    buf_t xbuf, ybuf;
+    long xlast, ylast;
+    double xtlast, ytlast;
+    sl_init();
+    sl_parseargs(&argc, &argv, options);
+    if(G.help) sl_showhelp(-1, options);
+    if(G.dt < 1e-4) ERRX("dx too small");
+    if(G.dt > 10.) ERRX("dx too big");
+    Xfd = op(G.Xpath);
+    Yfd = op(G.Ypath);
+    struct pollfd pfds[2];
+    pfds[0].fd = Xfd; pfds[0].events = POLLIN;
+    pfds[1].fd = Yfd; pfds[1].events = POLLIN;
+    double t0x, t0y, tstart;
+    asknext(Xfd); asknext(Yfd);
+    t0x = t0y = tstart = sl_dtime();
+    DBG("Start");
+    do{ // main cycle
+        if(poll(pfds, 2, 0) < 0){
+            WARN("poll()");
+            break;
+        }
+        if(pfds[0].revents && POLLIN){
+            DBG("got X");
+            if(!readstrings(&xbuf, Xfd)) break;
+        }
+        if(pfds[1].revents && POLLIN){
+            DBG("got Y");
+            if(!readstrings(&ybuf, Yfd)) break;
+        }
+        double curt = sl_dtime();
+        if(getdata(&xbuf, &xlast)) xtlast = curt;
+        if(curt - t0x >= G.dt){ // get last records
+            if(curt - xtlast < 1.5*G.dt)
+                printf("%-14.4fX=%ld\n", xtlast-tstart, xlast);
+            if(!asknext(Xfd)) break;
+            t0x = (curt - t0x < 2.*G.dt) ? t0x + G.dt : curt;
+        }
+        curt = sl_dtime();
+        if(getdata(&ybuf, &ylast)) ytlast = curt;
+        if(curt - t0y >= G.dt){ // get last records
+            if(curt - ytlast < 1.5*G.dt)
+                printf("%-14.4fY=%ld\n", ytlast-tstart, ylast);
+            if(!asknext(Yfd)) break;
+            t0y = (curt - t0y < 2.*G.dt) ? t0y + G.dt : curt;
+        }
+    }while(Xfd > 0 && Yfd > 0);
+    DBG("OOps: disconnected");
+    signals(0);
+    return 0;
+}

LibSidServo/ramp.c

@@ -23,12 +23,14 @@
 
 #include "main.h"
 #include "ramp.h"
-/*
+
 #ifdef EBUG
 #undef DBG
 #define DBG(...)
+#undef FNAME
+#define FNAME()
 #endif
-*/
+
 static double coord_tolerance = COORD_TOLERANCE_DEFAULT;
 
 static void emstop(movemodel_t *m, double _U_ t){

LibSidServo/serial.c

@@ -20,6 +20,7 @@
 #include <errno.h>
 #include <fcntl.h>
 #include <math.h>
+#include <poll.h>
 #include <pthread.h>
 #include <signal.h>
 #include <stdint.h>
@@ -48,7 +49,7 @@ static pthread_mutex_t  mntmutex = PTHREAD_MUTEX_INITIALIZER,
 // encoders thread and mount thread
 static pthread_t encthread, mntthread;
 // max timeout for 1.5 bytes of encoder and 2 bytes of mount - for `select`
-static struct timeval encRtmout = {.tv_sec = 0, .tv_usec = 50000}, mntRtmout = {.tv_sec = 0, .tv_usec = 50000};
+static struct timeval encRtmout = {.tv_sec = 0, .tv_usec = 100}, mntRtmout = {.tv_sec = 0, .tv_usec = 50000};
 // encoders raw data
 typedef struct __attribute__((packed)){
     uint8_t magick;
@@ -64,20 +65,12 @@ void getXspeed(){
         ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
         if(!ls) return;
     }
-    pthread_mutex_lock(&datamutex);
+    double dt = timediff0(&mountdata.encXposition.t);
-    double speed = LS_calc_slope(ls, mountdata.encXposition.val, mountdata.encXposition.t);
+    double speed = LS_calc_slope(ls, mountdata.encXposition.val, dt);
-    if(fabs(speed) < 1.5 * MCC_MAX_X_SPEED){
+    if(fabs(speed) < 1.5 * Xlimits.max.speed){
         mountdata.encXspeed.val = speed;
         mountdata.encXspeed.t = mountdata.encXposition.t;
     }
-    pthread_mutex_unlock(&datamutex);
-    //DBG("Xspeed=%g", mountdata.encXspeed.val);
-#if 0
-    mountdata.encXspeed.val = (mountdata.encXposition.val - lastXenc.val) / (t - lastXenc.t);
-    mountdata.encXspeed.t = (lastXenc.t + mountdata.encXposition.t) / 2.;
-    lastXenc.val = mountdata.encXposition.val;
-    lastXenc.t = t;
-#endif
 }
 void getYspeed(){
     static less_square_t *ls = NULL;
@@ -85,19 +78,12 @@ void getYspeed(){
         ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
         if(!ls) return;
     }
-    pthread_mutex_lock(&datamutex);
+    double dt = timediff0(&mountdata.encYposition.t);
-    double speed = LS_calc_slope(ls, mountdata.encYposition.val, mountdata.encYposition.t);
+    double speed = LS_calc_slope(ls, mountdata.encYposition.val, dt);
-    if(fabs(speed) < 1.5 * MCC_MAX_Y_SPEED){
+    if(fabs(speed) < 1.5 * Ylimits.max.speed){
         mountdata.encYspeed.val = speed;
         mountdata.encYspeed.t = mountdata.encYposition.t;
     }
-    pthread_mutex_unlock(&datamutex);
-#if 0
-    mountdata.encYspeed.val = (mountdata.encYposition.val - lastYenc.val) / (t - lastYenc.t);
-    mountdata.encYspeed.t = (lastYenc.t + mountdata.encYposition.t) / 2.;
-    lastYenc.val = mountdata.encYposition.val;
-    lastYenc.t = t;
-#endif
 }
 
 /**
@@ -105,7 +91,8 @@ void getYspeed(){
  * @param databuf - input buffer with 13 bytes of data
  * @param t - time when databuf[0] got
  */
-static void parse_encbuf(uint8_t databuf[ENC_DATALEN], double t){
+static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timespec *t){
+    if(!t) return;
     enc_t *edata = (enc_t*) databuf;
 /*
 #ifdef EBUG
@@ -140,18 +127,17 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], double t){
         return;
     }
     pthread_mutex_lock(&datamutex);
-    mountdata.encXposition.val = X_ENC2RAD(edata->encX);
+    mountdata.encXposition.val = Xenc2rad(edata->encX);
-    mountdata.encYposition.val = Y_ENC2RAD(edata->encY);
+    mountdata.encYposition.val = Yenc2rad(edata->encY);
     DBG("Got positions X/Y= %.6g / %.6g", mountdata.encXposition.val, mountdata.encYposition.val);
-    mountdata.encXposition.t = t;
+    mountdata.encXposition.t = *t;
-    mountdata.encYposition.t = t;
+    mountdata.encYposition.t = *t;
-    //if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed();
-    //if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed();
     getXspeed(); getYspeed();
     pthread_mutex_unlock(&datamutex);
     //DBG("time = %zd+%zd/1e6, X=%g deg, Y=%g deg", tv->tv_sec, tv->tv_usec, mountdata.encposition.X*180./M_PI, mountdata.encposition.Y*180./M_PI);
 }
 
+#if 0
 /**
  * @brief getencval - get uint64_t data from encoder
  * @param fd - encoder fd
@@ -159,33 +145,53 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], double t){
  * @param t - measurement time
  * @return amount of data read or 0 if problem
  */
-static int getencval(int fd, double *val, double *t){
+static int getencval(int fd, double *val, struct timespec *t){
-    if(fd < 0) return FALSE;
+    if(fd < 0){
+        DBG("Encoder fd < 0!");
+        return FALSE;
+    }
     char buf[128];
     int got = 0, Lmax = 127;
-    double t0 = nanotime();
+    double t0 = timefromstart();
+    //DBG("start: %.6g", t0);
     do{
         fd_set rfds;
         FD_ZERO(&rfds);
         FD_SET(fd, &rfds);
         struct timeval tv = encRtmout;
         int retval = select(fd + 1, &rfds, NULL, NULL, &tv);
-        if(!retval) continue;
+        if(!retval){
+            //DBG("select()==0 - timeout, %.6g", timefromstart());
+            break;
+        }
         if(retval < 0){
-            if(errno == EINTR) continue;
+            if(errno == EINTR){
+                DBG("EINTR");
+                continue;
+            }
+            DBG("select() < 0");
             return 0;
         }
         if(FD_ISSET(fd, &rfds)){
             ssize_t l = read(fd, &buf[got], Lmax);
-            if(l < 1) return 0; // disconnected ??
+            if(l < 1){
+                DBG("read() < 0");
+                return 0; // disconnected ??
+            }
             got += l; Lmax -= l;
             buf[got] = 0;
         } else continue;
-        if(strchr(buf, '\n')) break;
+        if(buf[got-1] == '\n') break; // got EOL as last symbol
-    }while(Lmax && nanotime() - t0 < Conf.EncoderReqInterval);
+    }while(Lmax && timefromstart() - t0 < Conf.EncoderReqInterval / 5.);
-    if(got == 0) return 0; // WTF?
+    if(got == 0){
+        //DBG("No data from encoder, tfs=%.6g", timefromstart());
+        return 0;
+    }
     char *estr = strrchr(buf, '\n');
-    if(!estr) return 0;
+    if(!estr){
+        DBG("No EOL");
+        return 0;
+    }
     *estr = 0;
     char *bgn = strrchr(buf, '\n');
     if(bgn) ++bgn;
@@ -197,9 +203,11 @@ static int getencval(int fd, double *val, double *t){
         return 0; // wrong number
     }
     if(val) *val = (double) data;
-    if(t) *t = t0;
+    if(t){ if(!curtime(t)){ DBG("Can't get time"); return 0; }}
     return got;
 }
+#endif
+
 // try to read 1 byte from encoder; return -1 if nothing to read or -2 if device seems to be disconnected
 static int getencbyte(){
     if(encfd[0] < 0) return -1;
@@ -261,8 +269,6 @@ static void clrmntbuf(){
     if(mntfd < 0) return;
     uint8_t byte;
     fd_set rfds;
-    //double t0 = nanotime();
-    //int n = 0;
     do{
         FD_ZERO(&rfds);
         FD_SET(mntfd, &rfds);
@@ -276,10 +282,8 @@ static void clrmntbuf(){
         if(FD_ISSET(mntfd, &rfds)){
             ssize_t l = read(mntfd, &byte, 1);
             if(l != 1) break;
-            //++n;
         } else break;
     }while(1);
-    //DBG("Cleared by %g (got %d bytes)", nanotime() - t0, n);
 }
 
 // main encoder thread (for separate encoder): read next data and make parsing
@@ -287,7 +291,7 @@ static void *encoderthread1(void _U_ *u){
     if(Conf.SepEncoder != 1) return NULL;
     uint8_t databuf[ENC_DATALEN];
     int wridx = 0, errctr = 0;
-    double t = 0.;
+    struct timespec tcur;
     while(encfd[0] > -1 && errctr < MAX_ERR_CTR){
         int b = getencbyte();
         if(b == -2) ++errctr;
@@ -298,15 +302,16 @@ static void *encoderthread1(void _U_ *u){
             if((uint8_t)b == ENC_MAGICK){
 //                DBG("Got magic -> start filling packet");
                 databuf[wridx++] = (uint8_t) b;
-                t = nanotime();
             }
             continue;
         }else databuf[wridx++] = (uint8_t) b;
         if(wridx == ENC_DATALEN){
-            parse_encbuf(databuf, t);
+            if(curtime(&tcur)){
+                parse_encbuf(databuf, &tcur);
                 wridx = 0;
             }
         }
+    }
     if(encfd[0] > -1){
         close(encfd[0]);
         encfd[0] = -1;
@@ -314,53 +319,138 @@ static void *encoderthread1(void _U_ *u){
     return NULL;
 }
 
+#define XYBUFSZ     (128)
+typedef struct{
+    char buf[XYBUFSZ+1];
+    int len;
+} buf_t;
+
+// write to buffer next data portion; return FALSE in case of error
+static int readstrings(buf_t *buf, int fd){
+    if(!buf){DBG("Empty buffer"); return FALSE;}
+    int L = XYBUFSZ - buf->len;
+    if(L < 0){
+        DBG("buf not initialized!");
+        buf->len = 0;
+    }
+    if(L == 0){
+        DBG("buffer  overfull: %d!", buf->len);
+        char *lastn = strrchr(buf->buf, '\n');
+        if(lastn){
+            fprintf(stderr, "BUFOVR: _%s_", buf->buf);
+            ++lastn;
+            buf->len = XYBUFSZ - (lastn - buf->buf);
+            DBG("Memmove %d", buf->len);
+            memmove(lastn, buf->buf, buf->len);
+            buf->buf[buf->len] = 0;
+        }else buf->len = 0;
+        L = XYBUFSZ - buf->len;
+    }
+    //DBG("read %d bytes from %d", L, fd);
+    int got = read(fd, &buf->buf[buf->len], L);
+    if(got < 0){
+        DBG("read()");
+        return FALSE;
+    }else if(got == 0){ DBG("NO data"); return TRUE; }
+    buf->len += got;
+    buf->buf[buf->len] = 0;
+    //DBG("buf[%d]: %s", buf->len, buf->buf);
+    return TRUE;
+}
+
+// return TRUE if got, FALSE if no data found
+static int getdata(buf_t *buf, long *out){
+    if(!buf || buf->len < 1 || buf->len > (XYBUFSZ+1)) return FALSE;
+    // read record between last '\n' and previous (or start of string)
+    char *last = &buf->buf[buf->len - 1];
+    //DBG("buf: _%s_", buf->buf);
+    if(*last != '\n') return FALSE;
+    *last = 0;
+    //DBG("buf: _%s_", buf->buf);
+    char *prev = strrchr(buf->buf, '\n');
+    if(!prev) prev = buf->buf;
+    else{
+        fprintf(stderr, "MORETHANONE: _%s_", buf->buf);
+        ++prev; // after last '\n'
+    }
+    if(out) *out = atol(prev);
+    // clear buffer
+    buf->len = 0;
+    return TRUE;
+}
+
+// try to write '\n' asking new data portion; return FALSE if failed
+static int asknext(int fd){
+    //FNAME();
+    if(fd < 0) return FALSE;
+    int i = 0;
+    for(; i < 5; ++i){
+        int l = write(fd, "\n", 1);
+        //DBG("l=%d", l);
+        if(1 == l) return TRUE;
+        usleep(100);
+    }
+    DBG("5 tries... failed!");
+    return FALSE;
+}
+
 // main encoder thread for separate encoders as USB devices /dev/encoder_X0 and /dev/encoder_Y0
 static void *encoderthread2(void _U_ *u){
     if(Conf.SepEncoder != 2) return NULL;
     DBG("Thread started");
+    struct pollfd pfds[2];
+    pfds[0].fd = encfd[0]; pfds[0].events = POLLIN;
+    pfds[1].fd = encfd[1]; pfds[1].events = POLLIN;
+    double t0[2], tstart;
+    buf_t strbuf[2] = {0};
+    long msrlast[2]; // last encoder data
+    double mtlast[2]; // last measurement time
+    asknext(encfd[0]); asknext(encfd[1]);
+    t0[0] = t0[1] = tstart = timefromstart();
     int errctr = 0;
-    double t0 = nanotime();
+    do{ // main cycle
-    const char *req = "\n";
+        if(poll(pfds, 2, 0) < 0){
-    int need2ask = 0; // need or not to ask encoder for new data
+            DBG("poll()");
-    while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR){
+            break;
-        if(need2ask){
-            if(1 != write(encfd[0], req, 1)) { ++errctr; continue; }
-            else if(1 != write(encfd[1], req, 1)) { ++errctr; continue; }
         }
-        double v, t;
+        int got = 0;
-        if(getencval(encfd[0], &v, &t)){
+        for(int i = 0; i < 2; ++i){
+            if(pfds[i].revents && POLLIN){
+                if(!readstrings(&strbuf[i], encfd[i])){
+                    ++errctr;
+                    break;
+                }
+            }
+            double curt = timefromstart();
+            if(getdata(&strbuf[i], &msrlast[i])) mtlast[i] = curt;
+            if(curt - t0[i] >= Conf.EncoderReqInterval){ // get last records
+                if(curt - mtlast[i] < 1.5*Conf.EncoderReqInterval){
                     pthread_mutex_lock(&datamutex);
-            mountdata.encXposition.val = X_ENC2RAD(v);
+                    if(i == 0){
-            //DBG("encX(%g) = %g", t, mountdata.encXposition.val);
+                        mountdata.encXposition.val = Xenc2rad((double)msrlast[i]);
-            mountdata.encXposition.t = t;
+                        curtime(&mountdata.encXposition.t);
-            pthread_mutex_unlock(&datamutex);
+                        /*DBG("msrlast=%ld, Xpos.val=%g, t=%zd; XEzero=%d, SPR=%g",
-            //if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed();
+                            msrlast[i], mountdata.encXposition.val, mountdata.encXposition.t.tv_sec,
+                            X_ENC_ZERO, X_ENC_STEPSPERREV);*/
                         getXspeed();
-            if(getencval(encfd[1], &v, &t)){
+                    }else{
-                pthread_mutex_lock(&datamutex);
+                        mountdata.encYposition.val = Yenc2rad((double)msrlast[i]);
-                mountdata.encYposition.val = Y_ENC2RAD(v);
+                        curtime(&mountdata.encYposition.t);
-                //DBG("encY(%g) = %g", t, mountdata.encYposition.val);
-                mountdata.encYposition.t = t;
-                pthread_mutex_unlock(&datamutex);
-                //if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed();
                         getYspeed();
-                errctr = 0;
-                need2ask = 0;
-            } else {
-                if(need2ask) ++errctr;
-                else need2ask = 1;
-                continue;
                     }
-        } else {
+                    pthread_mutex_unlock(&datamutex);
-            if(need2ask) ++errctr;
-            else need2ask = 1;
-            continue;
                 }
-        while(nanotime() - t0 < Conf.EncoderReqInterval){ usleep(50); }
+                if(!asknext(encfd[i])){
-        //DBG("DT=%g (RI=%g)", nanotime()-t0, Conf.EncoderReqInterval);
+                    ++errctr;
-        t0 = nanotime();
+                    break;
                 }
-    DBG("ERRCTR=%d", errctr);
+                t0[i] = (curt - t0[i] < 2.*Conf.EncoderReqInterval) ? t0[i] + Conf.EncoderReqInterval : curt;
+                ++got;
+            }
+        }
+        if(got == 2) errctr = 0;
+    }while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR);
+    DBG("\n\nEXIT: ERRCTR=%d", errctr);
     for(int i = 0; i < 2; ++i){
         if(encfd[i] > -1){
             close(encfd[i]);
@@ -386,33 +476,67 @@ void data_free(data_t **x){
     *x = NULL;
 }
 
+static void chkModStopped(double *prev, double cur, int *nstopped, axis_status_t *stat){
+    if(!prev || !nstopped || !stat) return;
+    if(isnan(*prev)){
+        *stat = AXIS_STOPPED;
+        DBG("START");
+    }else if(*stat != AXIS_STOPPED){
+        if(fabs(*prev - cur) < DBL_EPSILON && ++(*nstopped) > MOTOR_STOPPED_CNT){
+            *stat = AXIS_STOPPED;
+            DBG("AXIS stopped; prev=%g, cur=%g; nstopped=%d", *prev/M_PI*180., cur/M_PI*180., *nstopped);
+        }
+    }else if(*prev != cur){
+        DBG("AXIS moving");
+        *nstopped = 0;
+    }
+    *prev = cur;
+}
+
 // main mount thread
 static void *mountthread(void _U_ *u){
     int errctr = 0;
     uint8_t buf[2*sizeof(SSstat)];
     SSstat *status = (SSstat*) buf;
     bzero(&mountdata, sizeof(mountdata));
-    double t0 = nanotime();
+    double t0 = timefromstart(), tstart = t0, tcur = t0;
-    static double oldmt = -100.; // old `millis measurement` time
+    double oldmt = -100.; // old `millis measurement` time
     static uint32_t oldmillis = 0;
-    if(Conf.RunModel) while(1){
+    if(Conf.RunModel){
-        coordval_pair_t c;
+        double Xprev = NAN, Yprev = NAN; // previous coordinates
+        int xcnt = 0, ycnt = 0;
+        while(1){
+            coordpair_t c;
+            movestate_t xst, yst;
             // now change data
-        getModData(&c);
+            getModData(&c, &xst, &yst);
+            struct timespec tnow;
+            if(!curtime(&tnow) || (tcur = timefromstart()) < 0.) continue;
             pthread_mutex_lock(&datamutex);
-        double tnow = c.X.t;
+            mountdata.encXposition.t = mountdata.encYposition.t = tnow;
-        mountdata.motXposition.t = mountdata.encXposition.t = mountdata.motYposition.t = mountdata.encYposition.t = tnow;
+            mountdata.encXposition.val = c.X + (drand48() - 0.5)*1e-6; // .2arcsec error
-        mountdata.motXposition.val = mountdata.encXposition.val  = c.X.val;
+            mountdata.encYposition.val = c.Y + (drand48() - 0.5)*1e-6;
-        mountdata.motYposition.val  = mountdata.encYposition.val  = c.Y.val;
             //DBG("t=%g, X=%g, Y=%g", tnow, c.X.val, c.Y.val);
-        if(tnow - oldmt > Conf.MountReqInterval){
+            if(tcur - oldmt > Conf.MountReqInterval){
-            oldmillis = mountdata.millis = (uint32_t)(tnow * 1e3);
+                oldmillis = mountdata.millis = (uint32_t)((tcur - tstart) * 1e3);
-            oldmt = tnow;
+                mountdata.motYposition.t = mountdata.motXposition.t = tnow;
+                if(xst == ST_MOVE)
+                    mountdata.motXposition.val = c.X + (c.X - mountdata.motXposition.val)*(drand48() - 0.5)/100.;
+                //else
+                //    mountdata.motXposition.val = c.X;
+                if(yst == ST_MOVE)
+                    mountdata.motYposition.val = c.Y + (c.Y - mountdata.motYposition.val)*(drand48() - 0.5)/100.;
+                //else
+                //    mountdata.motYposition.val = c.Y;
+                oldmt = tcur;
             }else mountdata.millis = oldmillis;
-        pthread_mutex_unlock(&datamutex);
+            chkModStopped(&Xprev, c.X, &xcnt, &mountdata.Xstate);
+            chkModStopped(&Yprev, c.Y, &ycnt, &mountdata.Ystate);
             getXspeed(); getYspeed();
-        while(nanotime() - t0 < Conf.EncoderReqInterval) usleep(50);
+            pthread_mutex_unlock(&datamutex);
-        t0 = nanotime();
+            while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(50);
+            t0 = timefromstart();
+        }
     }
     // data to get
     data_t d = {.buf = buf, .maxlen = sizeof(buf)};
@@ -421,31 +545,8 @@ static void *mountthread(void _U_ *u){
     if(!cmd_getstat) goto failed;
     while(mntfd > -1 && errctr < MAX_ERR_CTR){
         // read data to status
-        double t0 = nanotime();
+        struct timespec tcur;
-#if 0
+        if(!curtime(&tcur)) continue;
-// 127 milliseconds to get answer on X/Y commands!!!
-        int64_t ans;
-        int ctr = 0;
-        if(SSgetint(CMD_MOTX, &ans)){
-            pthread_mutex_lock(&datamutex);
-            mountdata.motXposition.t = tgot;
-            mountdata.motXposition.val = X_MOT2RAD(ans);
-            pthread_mutex_unlock(&datamutex);
-            ++ctr;
-        }
-        tgot = nanotime();
-        if(SSgetint(CMD_MOTY, &ans)){
-            pthread_mutex_lock(&datamutex);
-            mountdata.motXposition.t = tgot;
-            mountdata.motXposition.val = X_MOT2RAD(ans);
-            pthread_mutex_unlock(&datamutex);
-            ++ctr;
-        }
-        if(ctr == 2){
-            mountdata.millis = (uint32_t)(1e3 * tgot);
-            DBG("Got both coords; millis=%d", mountdata.millis);
-        }
-#endif
         // 80 milliseconds to get answer on GETSTAT
         if(!MountWriteRead(cmd_getstat, &d) || d.len != sizeof(SSstat)){
 #ifdef EBUG
@@ -462,14 +563,13 @@ static void *mountthread(void _U_ *u){
         errctr = 0;
         pthread_mutex_lock(&datamutex);
         // now change data
-        SSconvstat(status, &mountdata, t0);
+        SSconvstat(status, &mountdata, &tcur);
         pthread_mutex_unlock(&datamutex);
-        //DBG("GOT FULL stat by %g", nanotime() - t0);
         // allow writing & getters
         do{
             usleep(500);
-        }while(nanotime() - t0 < Conf.MountReqInterval);
+        }while(timefromstart() - t0 < Conf.MountReqInterval);
-        t0 = nanotime();
+        t0 = timefromstart();
     }
     data_free(&cmd_getstat);
 failed:
@@ -485,8 +585,15 @@ static int ttyopen(const char *path, speed_t speed){
     int fd = -1;
     struct termios2 tty;
     DBG("Try to open %s @ %d", path, speed);
-    if((fd = open(path, O_RDWR|O_NOCTTY)) < 0) return -1;
+    if((fd = open(path, O_RDWR|O_NOCTTY)) < 0){
-    if(ioctl(fd, TCGETS2, &tty)){ close(fd); return -1; }
+        DBG("Can't open device %s: %s", path, strerror(errno));
+        return -1;
+    }
+    if(ioctl(fd, TCGETS2, &tty)){
+        DBG("Can't read TTY settings");
+        close(fd);
+        return -1;
+    }
     tty.c_lflag     = 0; // ~(ICANON | ECHO | ECHOE | ISIG)
     tty.c_iflag     = 0; // don't do any changes in input stream
     tty.c_oflag     = 0; // don't do any changes in output stream
@@ -495,7 +602,11 @@ static int ttyopen(const char *path, speed_t speed){
     tty.c_ospeed = speed;
     //tty.c_cc[VMIN]  = 0;  // non-canonical mode
     //tty.c_cc[VTIME] = 5;
-    if(ioctl(fd, TCSETS2, &tty)){ close(fd); return -1; }
+    if(ioctl(fd, TCSETS2, &tty)){
+        DBG("Can't set TTY settings");
+        close(fd);
+        return -1;
+    }
     DBG("Check speed: i=%d, o=%d", tty.c_ispeed, tty.c_ospeed);
     if(tty.c_ispeed != (speed_t) speed || tty.c_ospeed != (speed_t)speed){ close(fd); return -1; }
     // try to set exclusive
@@ -528,7 +639,7 @@ int openEncoder(){
             if(encfd[i] < 0) return FALSE;
         }
         encRtmout.tv_sec = 0;
-        encRtmout.tv_usec = 1000; // 1ms
+        encRtmout.tv_usec = 100000000 / Conf.EncoderDevSpeed;
         if(pthread_create(&encthread, NULL, encoderthread2, NULL)){
             for(int i = 0; i < 2; ++i){
                 close(encfd[i]);
@@ -575,6 +686,7 @@ create_thread:
 
 // close all opened serial devices and quit threads
 void closeSerial(){
+    // TODO: close devices in "model" mode too!
     if(Conf.RunModel) return;
     if(mntfd > -1){
         DBG("Cancel mount thread");
@@ -606,6 +718,8 @@ mcc_errcodes_t getMD(mountdata_t  *d){
     pthread_mutex_lock(&datamutex);
     *d = mountdata;
     pthread_mutex_unlock(&datamutex);
+    //DBG("ENCpos: %.10g/%.10g", d->encXposition.val, d->encYposition.val);
+    //DBG("millis: %u, encxt: %zd (time: %zd)", d->millis, d->encXposition.t.tv_sec, time(NULL));
     return MCC_E_OK;
 }
 
@@ -624,30 +738,24 @@ static int wr(const data_t *out, data_t *in, int needeol){
         return FALSE;
     }
     clrmntbuf();
-    //double t0 = nanotime();
     if(out){
         if(out->len != (size_t)write(mntfd, out->buf, out->len)){
             DBG("written bytes not equal to need");
             return FALSE;
         }
-        //DBG("Send to mount %zd bytes: %s", out->len, out->buf);
         if(needeol){
             int g = write(mntfd, "\r", 1); // add EOL
             (void) g;
         }
+        usleep(50000); // add little pause so that the idiot has time to swallow
     }
-    //DBG("sent by %g", nanotime() - t0);
-    //uint8_t buf[256];
-    //data_t dumb = {.buf = buf, .maxlen = 256};
     if(!in) return TRUE;
-    //if(!in) in = &dumb; // even if user don't ask for answer, try to read to clear trash
     in->len = 0;
     for(size_t i = 0; i < in->maxlen; ++i){
         int b = getmntbyte();
         if(b < 0) break; // nothing to read -> go out
         in->buf[in->len++] = (uint8_t) b;
     }
-    //DBG("got %zd bytes by %g", in->len, nanotime() - t0);
     while(getmntbyte() > -1);
     return TRUE;
 }
@@ -751,16 +859,23 @@ int cmdC(SSconfig *conf, int rw){
     }else{ // read
         data_t d;
         d.buf = (uint8_t *) conf;
+        d.len = 0; d.maxlen = 0;
+        ret = wr(rcmd, &d, 1);
+        DBG("write command: %s", ret ? "TRUE" : "FALSE");
+        if(!ret) goto rtn;
+        // make a huge pause for stupid SSII
+        usleep(100000);
         d.len = 0;  d.maxlen = sizeof(SSconfig);
         ret = wr(rcmd, &d, 1);
         DBG("wr returned %s; got %zd bytes of %zd", ret ? "TRUE" : "FALSE", d.len, d.maxlen);
-        if(d.len != d.maxlen) return FALSE;
+        if(d.len != d.maxlen){ ret = FALSE; goto rtn; }
         // simplest checksum
         uint16_t sum = 0;
         for(uint32_t i = 0; i < sizeof(SSconfig)-2; ++i) sum += d.buf[i];
         if(sum != conf->checksum){
             DBG("got sum: %u, need: %u", conf->checksum, sum);
-            return FALSE;
+            ret = FALSE;
+            goto rtn;
         }
     }
 rtn:

LibSidServo/sidservo.h

@@ -32,38 +32,13 @@ extern "C"
 #include <stdint.h>
 #include <sys/time.h>
 
-// acceptable position error - 0.1''
+// minimal serial speed of mount device
-#define MCC_POSITION_ERROR      (5e-7)
+#define MOUNT_BAUDRATE_MIN      (1200)
-// acceptable disagreement between motor and axis encoders - 2''
-#define MCC_ENCODERS_ERROR      (1e-7)
-
-// max speeds (rad/s): xs=10 deg/s, ys=8 deg/s
-#define MCC_MAX_X_SPEED         (0.174533)
-#define MCC_MAX_Y_SPEED         (0.139626)
-// accelerations by both axis (for model); TODO: move speeds/accelerations into config?
-// xa=12.6 deg/s^2, ya= 9.5 deg/s^2
-#define MCC_X_ACCELERATION      (0.219911)
-#define MCC_Y_ACCELERATION      (0.165806)
-
 // max speed interval, seconds
 #define MCC_CONF_MAX_SPEEDINT   (2.)
 // minimal speed interval in parts of EncoderReqInterval
 #define MCC_CONF_MIN_SPEEDC     (3.)
-// PID I cycle time (analog of "RC" for PID on opamps)
+
-#define MCC_PID_CYCLE_TIME      (5.)
-// maximal PID refresh time interval (if larger all old data will be cleared)
-#define MCC_PID_MAX_DT          (1.)
-// normal PID refresh interval
-#define MCC_PID_REFRESH_DT      (0.1)
-// boundary conditions for axis state: "slewing/pointing/guiding"
-// if angle < MCC_MAX_POINTING_ERR, change state from "slewing" to "pointing": 8 degrees
-//#define MCC_MAX_POINTING_ERR    (0.20943951)
-//#define MCC_MAX_POINTING_ERR    (0.08726646)
-#define MCC_MAX_POINTING_ERR    (0.13962634)
-// if angle < MCC_MAX_GUIDING_ERR, chane state from "pointing" to "guiding": 1.5 deg
-#define MCC_MAX_GUIDING_ERR     (0.026179939)
-// if error less than this value we suppose that target is captured and guiding is good: 0.1''
-#define MCC_MAX_ATTARGET_ERR    (4.8481368e-7)
 
 // error codes
 typedef enum{
@@ -73,6 +48,7 @@ typedef enum{
     MCC_E_ENCODERDEV,   // encoder device error or can't open
     MCC_E_MOUNTDEV,     // mount device error or can't open
     MCC_E_FAILED,       // failed to run command - protocol error
+    MCC_E_AMOUNT        // Just amount of errors
 } mcc_errcodes_t;
 
 typedef struct{
@@ -87,14 +63,23 @@ typedef struct{
     int     SepEncoder;             // ==1 if encoder works as separate serial device, ==2 if there's new version with two devices
     char*   EncoderXDevPath;        // paths to new controller devices
     char*   EncoderYDevPath;
+    double  EncodersDisagreement;   // acceptable disagreement between motor and axis encoders
     double  MountReqInterval;       // interval between subsequent mount requests (seconds)
     double  EncoderReqInterval;     // interval between subsequent encoder requests (seconds)
     double  EncoderSpeedInterval;   // interval between speed calculations
     int     RunModel;               // == 1 if you want to use model instead of real mount
+    double  PIDMaxDt;               // maximal PID refresh time interval (if larger all old data will be cleared)
+    double  PIDRefreshDt;           // normal PID refresh interval
+    double  PIDCycleDt;             // PID I cycle time (analog of "RC" for PID on opamps)
     PIDpar_t XPIDC;                 // gain parameters of PID for both axiss (C - coordinate driven, V - velocity driven)
     PIDpar_t XPIDV;
     PIDpar_t YPIDC;
     PIDpar_t YPIDV;
+    double  MaxPointingErr;         // if angle < this, change state from "slewing" to "pointing" (coarse pointing): 8 degrees
+    double  MaxFinePointingErr;     // if angle < this, chane state from "pointing" to "guiding" (fine poinging): 1.5 deg
+    double  MaxGuidingErr;          // if error less than this value we suppose that target is captured and guiding is good (true guiding): 0.1''
+    int     XEncZero;               // encoders' zero position
+    int     YEncZero;
 } conf_t;
 
 // coordinates/speeds in degrees or d/s: X, Y
@@ -105,7 +90,7 @@ typedef struct{
 // coordinate/speed and time of last measurement
 typedef struct{
     double val;
-    double t;
+    struct timespec t;
 } coordval_t;
 
 typedef struct{
@@ -206,6 +191,9 @@ typedef struct{
     double outplimit;   // Output Limit, percent (0..100)
     double currlimit;   // Current Limit (A)
     double intlimit;    // Integral Limit (???)
+    // these params are taken from mount by text commands (don't save negative values - better save these marks in xybits
+    double motor_stepsperrev;// encoder's steps per revolution: motor and axis
+    double axis_stepsperrev; // negative sign of these values means reverse direction
 } __attribute__((packed)) axis_config_t;
 
 // hardware configuration
@@ -247,7 +235,7 @@ typedef struct{
     void            (*quit)(); // deinit
     mcc_errcodes_t  (*getMountData)(mountdata_t *d); // get last data
 //    mcc_errcodes_t  (*slewTo)(const coordpair_t *target, slewflags_t flags);
-    mcc_errcodes_t  (*correctTo)(const coordval_pair_t *target, const coordpair_t *endpoint);
+    mcc_errcodes_t  (*correctTo)(const coordval_pair_t *target);
     mcc_errcodes_t  (*moveTo)(const coordpair_t *target); // move to given position and stop
     mcc_errcodes_t  (*moveWspeed)(const coordpair_t *target, const  coordpair_t *speed); // move with given max speed
     mcc_errcodes_t  (*setSpeed)(const coordpair_t *tagspeed); // set speed
@@ -257,7 +245,13 @@ typedef struct{
     mcc_errcodes_t  (*longCmd)(long_command_t *cmd); // send/get long command
     mcc_errcodes_t  (*getHWconfig)(hardware_configuration_t *c); // get hardware configuration
     mcc_errcodes_t  (*saveHWconfig)(hardware_configuration_t *c); // save hardware configuration
-    double          (*currentT)(); // current time
+    int             (*currentT)(struct timespec *t); // current time
+    double          (*timeFromStart)(); // amount of seconds from last init
+    double          (*timeDiff)(const struct timespec *time1, const struct timespec *time0); // difference of times
+    double          (*timeDiff0)(const struct timespec *time1); // difference between current time and last init time
+    mcc_errcodes_t  (*getMaxSpeed)(coordpair_t *v); // maximal speed by both axis
+    mcc_errcodes_t  (*getMinSpeed)(coordpair_t *v); // minimal -//-
+    mcc_errcodes_t  (*getAcceleration)(coordpair_t *a); // acceleration/deceleration
 } mount_t;
 
 extern mount_t Mount;

LibSidServo/ssii.c

@@ -26,6 +26,13 @@
 #include "serial.h"
 #include "ssii.h"
 
+int X_ENC_ZERO = 0, Y_ENC_ZERO = 0;
+// defaults until read from controller
+double  X_MOT_STEPSPERREV = 13312000.,
+        Y_MOT_STEPSPERREV = 17578668.,
+        X_ENC_STEPSPERREV = 67108864.,
+        Y_ENC_STEPSPERREV = 67108864.;
+
 uint16_t SScalcChecksum(uint8_t *buf, int len){
     uint16_t checksum = 0;
     for(int i = 0; i < len; i++){
@@ -67,17 +74,18 @@ static void ChkStopped(const SSstat *s, mountdata_t *m){
  * @param m (o) - output
  * @param t - measurement time
  */
-void SSconvstat(const SSstat *s, mountdata_t *m, double t){
+void SSconvstat(const SSstat *s, mountdata_t *m, struct timespec *t){
-    if(!s || !m) return;
+    if(!s || !m || !t) return;
     m->motXposition.val = X_MOT2RAD(s->Xmot);
     m->motYposition.val = Y_MOT2RAD(s->Ymot);
     ChkStopped(s, m);
-    m->motXposition.t = m->motYposition.t = t;
+    m->motXposition.t = m->motYposition.t = *t;
     // fill encoder data from here, as there's no separate enc thread
     if(!Conf.SepEncoder){
-        m->encXposition.val = X_ENC2RAD(s->Xenc);
+        m->encXposition.val = Xenc2rad(s->Xenc);
-        m->encYposition.val = Y_ENC2RAD(s->Yenc);
+        DBG("encx: %g", m->encXposition.val);
-        m->encXposition.t = m->encYposition.t = t;
+        m->encYposition.val = Yenc2rad(s->Yenc);
+        m->encXposition.t = m->encYposition.t = *t;
         getXspeed(); getYspeed();
     }
     m->keypad = s->keypad;
@@ -176,33 +184,39 @@ int SSstop(int emerg){
 mcc_errcodes_t updateMotorPos(){
     mountdata_t md = {0};
     if(Conf.RunModel) return MCC_E_OK;
-    double t0 = nanotime(), t = 0.;
+    double t0 = timefromstart(), t = 0.;
+    struct timespec curt;
     DBG("start @ %g", t0);
     do{
-        t = nanotime();
+        t = timefromstart();
-        if(MCC_E_OK == getMD(&md)){
+        if(!curtime(&curt)){
-            if(md.encXposition.t == 0 || md.encYposition.t == 0){
+            usleep(10000);
-                DBG("Just started, t-t0 = %g!", t - t0);
-                sleep(1);
-                DBG("t-t0 = %g", nanotime() - t0);
-                //usleep(10000);
             continue;
         }
-            DBG("got; t pos x/y: %g/%g; tnow: %g", md.encXposition.t, md.encYposition.t, t);
+        //DBG("XENC2RAD: %g (xez=%d, xesr=%.10g)", Xenc2rad(32424842), X_ENC_ZERO, X_ENC_STEPSPERREV);
+        if(MCC_E_OK == getMD(&md)){
+            if(md.encXposition.t.tv_sec == 0 || md.encYposition.t.tv_sec == 0){
+                DBG("Just started? t-t0 = %g!", t - t0);
+                usleep(10000);
+                continue;
+            }
+            if(md.Xstate != AXIS_STOPPED || md.Ystate != AXIS_STOPPED) return MCC_E_OK;
+            DBG("got; t pos x/y: %ld/%ld; tnow: %ld", md.encXposition.t.tv_sec, md.encYposition.t.tv_sec, curt.tv_sec);
             mcc_errcodes_t OK = MCC_E_OK;
-            if(fabs(md.motXposition.val - md.encXposition.val) > MCC_ENCODERS_ERROR && md.Xstate == AXIS_STOPPED){
+            if(fabs(md.motXposition.val - md.encXposition.val) > Conf.EncodersDisagreement && md.Xstate == AXIS_STOPPED){
-                DBG("NEED to sync X: motors=%g, axiss=%g", md.motXposition.val, md.encXposition.val);
+                DBG("NEED to sync X: motors=%g, axis=%g", md.motXposition.val, md.encXposition.val);
+                DBG("new motsteps: %d", X_RAD2MOT(md.encXposition.val));
                 if(!SSsetterI(CMD_MOTXSET, X_RAD2MOT(md.encXposition.val))){
                     DBG("Xpos sync failed!");
                     OK = MCC_E_FAILED;
-                }else DBG("Xpos sync OK, Dt=%g", nanotime() - t0);
+                }else DBG("Xpos sync OK, Dt=%g", t - t0);
             }
-            if(fabs(md.motYposition.val - md.encYposition.val) > MCC_ENCODERS_ERROR && md.Xstate == AXIS_STOPPED){
+            if(fabs(md.motYposition.val - md.encYposition.val) > Conf.EncodersDisagreement && md.Ystate == AXIS_STOPPED){
-                DBG("NEED to sync Y: motors=%g, axiss=%g", md.motYposition.val, md.encYposition.val);
+                DBG("NEED to sync Y: motors=%g, axis=%g", md.motYposition.val, md.encYposition.val);
                 if(!SSsetterI(CMD_MOTYSET, Y_RAD2MOT(md.encYposition.val))){
                     DBG("Ypos sync failed!");
                     OK = MCC_E_FAILED;
-                }else DBG("Ypos sync OK, Dt=%g", nanotime() - t0);
+                }else DBG("Ypos sync OK, Dt=%g", t - t0);
             }
             if(MCC_E_OK == OK){
                 DBG("Encoders synced");

LibSidServo/ssii.h

@@ -173,64 +173,74 @@
 #define SITECH_LOOP_FREQUENCY   (1953.)
 
 // amount of consequent same coordinates to detect stop
-#define MOTOR_STOPPED_CNT       (4)
+#define MOTOR_STOPPED_CNT       (19)
+
+// replace macros with global variables inited when config read
+extern int X_ENC_ZERO, Y_ENC_ZERO;
+extern double X_MOT_STEPSPERREV, Y_MOT_STEPSPERREV, X_ENC_STEPSPERREV, Y_ENC_STEPSPERREV;
 
 // TODO: take it from settings?
 // steps per revolution (SSI - x4 - for SSI)
-#define X_MOT_STEPSPERREV_SSI   (13312000.)
+// -> hwconf.Xconf.mot/enc_stepsperrev
+//#define X_MOT_STEPSPERREV_SSI   (13312000.)
 // 13312000 / 4 = 3328000
-#define X_MOT_STEPSPERREV   (3328000.)
+//#define X_MOT_STEPSPERREV   (3328000.)
-#define Y_MOT_STEPSPERREV_SSI (17578668.)
+//#define Y_MOT_STEPSPERREV_SSI (17578668.)
 // 17578668 / 4 = 4394667
-#define Y_MOT_STEPSPERREV   (4394667.)
+//#define Y_MOT_STEPSPERREV   (4394667.)
 
 // encoder per revolution
-#define X_ENC_STEPSPERREV   (67108864.)
+//#define X_ENC_STEPSPERREV   (67108864.)
-#define Y_ENC_STEPSPERREV   (67108864.)
+//#define Y_ENC_STEPSPERREV   (67108864.)
 // encoder zero position
-#define X_ENC_ZERO          (61245239)
+// -> conf.XEncZero/YEncZero
-#define Y_ENC_ZERO          (36999830)
+//#define X_ENC_ZERO          (61245239)
-// encoder reversed (no: +1)
+//#define Y_ENC_ZERO          (36999830)
-#define X_ENC_SIGN          (-1.)
+// encoder reversed (no: +1) -> sign of ...stepsperrev
-#define Y_ENC_SIGN          (-1.)
+//#define X_ENC_SIGN          (-1.)
+//#define Y_ENC_SIGN          (-1.)
+
+
 // encoder position to radians and back
-#define X_ENC2RAD(n)    ang2half(X_ENC_SIGN * 2.*M_PI * ((double)((n)-X_ENC_ZERO)) / X_ENC_STEPSPERREV)
+#define Xenc2rad(n)    ang2half(2.*M_PI * ((double)((n)-(X_ENC_ZERO))) / (X_ENC_STEPSPERREV))
-#define Y_ENC2RAD(n)    ang2half(Y_ENC_SIGN * 2.*M_PI * ((double)((n)-Y_ENC_ZERO)) / Y_ENC_STEPSPERREV)
+#define Yenc2rad(n)    ang2half(2.*M_PI * ((double)((n)-(Y_ENC_ZERO))) / (Y_ENC_STEPSPERREV))
-#define X_RAD2ENC(r)    ((uint32_t)((r) / 2./M_PI * X_ENC_STEPSPERREV))
+#define Xrad2enc(r)    ((uint32_t)((r) / 2./M_PI * (X_ENC_STEPSPERREV)))
-#define Y_RAD2ENC(r)    ((uint32_t)((r) / 2./M_PI * Y_ENC_STEPSPERREV))
+#define Yrad2enc(r)    ((uint32_t)((r) / 2./M_PI * (Y_ENC_STEPSPERREV)))
 
 // convert angle in radians to +-pi
-static inline double ang2half(double ang){
+static inline __attribute__((always_inline)) double ang2half(double ang){
+    ang = fmod(ang, 2.*M_PI);
     if(ang < -M_PI) ang += 2.*M_PI;
     else if(ang > M_PI) ang -= 2.*M_PI;
     return ang;
 }
 // convert to only positive: 0..2pi
-static inline double ang2full(double ang){
+static inline __attribute__((always_inline)) double ang2full(double ang){
+    ang = fmod(ang, 2.*M_PI);
     if(ang < 0.) ang += 2.*M_PI;
     else if(ang > 2.*M_PI) ang -= 2.*M_PI;
     return ang;
 }
 
 // motor position to radians and back
-#define X_MOT2RAD(n)    ang2half(2. * M_PI * ((double)(n)) / X_MOT_STEPSPERREV)
+#define X_MOT2RAD(n)    ang2half(2. * M_PI * ((double)(n)) / (X_MOT_STEPSPERREV))
-#define Y_MOT2RAD(n)    ang2half(2. * M_PI * ((double)(n)) / Y_MOT_STEPSPERREV)
+#define Y_MOT2RAD(n)    ang2half(2. * M_PI * ((double)(n)) / (Y_MOT_STEPSPERREV))
-#define X_RAD2MOT(r)    ((int32_t)((r) / (2. * M_PI) * X_MOT_STEPSPERREV))
+#define X_RAD2MOT(r)    ((int32_t)((r) / (2. * M_PI) * (X_MOT_STEPSPERREV)))
-#define Y_RAD2MOT(r)    ((int32_t)((r) / (2. * M_PI) * Y_MOT_STEPSPERREV))
+#define Y_RAD2MOT(r)    ((int32_t)((r) / (2. * M_PI) * (Y_MOT_STEPSPERREV)))
 // motor speed in rad/s and back
-#define X_MOTSPD2RS(n)  (X_MOT2RAD(n) / 65536. * SITECH_LOOP_FREQUENCY)
+#define X_MOTSPD2RS(n)  (X_MOT2RAD(n) / 65536. * (SITECH_LOOP_FREQUENCY))
-#define Y_MOTSPD2RS(n)  (Y_MOT2RAD(n) / 65536. * SITECH_LOOP_FREQUENCY)
+#define Y_MOTSPD2RS(n)  (Y_MOT2RAD(n) / 65536. * (SITECH_LOOP_FREQUENCY))
-#define X_RS2MOTSPD(r)  ((int32_t)(X_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY))
+#define X_RS2MOTSPD(r)  ((int32_t)(X_RAD2MOT(r) * 65536. / (SITECH_LOOP_FREQUENCY)))
-#define Y_RS2MOTSPD(r)  ((int32_t)(Y_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY))
+#define Y_RS2MOTSPD(r)  ((int32_t)(Y_RAD2MOT(r) * 65536. / (SITECH_LOOP_FREQUENCY)))
 // motor acceleration -//-
-#define X_MOTACC2RS(n)  (X_MOT2RAD(n) / 65536. * SITECH_LOOP_FREQUENCY * SITECH_LOOP_FREQUENCY)
+#define X_MOTACC2RS(n)  (X_MOT2RAD(n) / 65536. * (SITECH_LOOP_FREQUENCY) * (SITECH_LOOP_FREQUENCY))
-#define Y_MOTACC2RS(n)  (Y_MOT2RAD(n) / 65536. * SITECH_LOOP_FREQUENCY * SITECH_LOOP_FREQUENCY)
+#define Y_MOTACC2RS(n)  (Y_MOT2RAD(n) / 65536. * (SITECH_LOOP_FREQUENCY) * (SITECH_LOOP_FREQUENCY))
-#define X_RS2MOTACC(r)  ((int32_t)(X_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY / SITECH_LOOP_FREQUENCY))
+#define X_RS2MOTACC(r)  ((int32_t)(X_RAD2MOT(r) * 65536. / (SITECH_LOOP_FREQUENCY) / (SITECH_LOOP_FREQUENCY)))
-#define Y_RS2MOTACC(r)  ((int32_t)(Y_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY / SITECH_LOOP_FREQUENCY))
+#define Y_RS2MOTACC(r)  ((int32_t)(Y_RAD2MOT(r) * 65536. / (SITECH_LOOP_FREQUENCY) / (SITECH_LOOP_FREQUENCY)))
 
 // adder time to seconds vice versa
-#define ADDER2S(a)  ((a) / SITECH_LOOP_FREQUENCY)
+#define ADDER2S(a)  ((a) / (SITECH_LOOP_FREQUENCY))
-#define S2ADDER(s)  ((s) * SITECH_LOOP_FREQUENCY)
+#define S2ADDER(s)  ((s) * (SITECH_LOOP_FREQUENCY))
 
 // encoder's tolerance (ticks)
 #define YencTOL    (25.)
@@ -331,7 +341,7 @@ typedef struct{
 } __attribute__((packed)) SSconfig;
 
 uint16_t SScalcChecksum(uint8_t *buf, int len);
-void SSconvstat(const SSstat *status, mountdata_t *mountdata, double t);
+void SSconvstat(const SSstat *status, mountdata_t *mountdata, struct timespec *t);
 int SStextcmd(const char *cmd, data_t *answer);
 int SSrawcmd(const char *cmd, data_t *answer);
 int SSgetint(const char *cmd, int64_t *ans);

asibfm700/CMakeLists.txt

@@ -8,9 +8,81 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake")
 
 
+# find_package(ASIO QUIET CONFIG)
+find_package(ASIO QUIET)
+if (ASIO_FOUND)
+    message(STATUS "ASIO library was found in the host system")
+else()
+    message(STATUS "ASIO library was not found! Try to download it!")
+
+    include(FetchContent)
+    include(ExternalProject)
+
+    FetchContent_Declare(asio_lib
+         SOURCE_DIR ${CMAKE_BINARY_DIR}/asio_lib
+         BINARY_DIR ${CMAKE_BINARY_DIR}
+         GIT_REPOSITORY "https://github.com/chriskohlhoff/asio"
+         GIT_TAG "asio-1-32-0"
+         GIT_SHALLOW TRUE
+         GIT_SUBMODULES ""
+         GIT_PROGRESS TRUE
+    )
+    FetchContent_MakeAvailable(asio_lib)
+    # FetchContent_GetProperties(asio_lib SOURCE_DIR asio_SOURCE_DIR)
+
+    set(ASIO_INSTALL_DIR ${CMAKE_BINARY_DIR}/asio_lib/asio)
+    find_package(ASIO)
+endif()
+
+find_package(cxxopts QUIET CONFIG)
+if (cxxopts_FOUND)
+    message(STATUS "CXXOPTS library was found in the host system")
+else()
+    message(STATUS "CXXOPTS library was not found! Try to download it!")
+
+    include(FetchContent)
+    include(ExternalProject)
+
+    FetchContent_Declare(cxxopts_lib
+        PREFIX ${CMAKE_BINARY_DIR}/cxxopts_lib
+        # SOURCE_DIR ${CMAKE_BINARY_DIR}/cxxopts_lib
+        # BINARY_DIR ${CMAKE_BINARY_DIR}
+        GIT_REPOSITORY "https://github.com/jarro2783/cxxopts.git"
+        GIT_TAG "v3.3.1"
+        GIT_SHALLOW TRUE
+        GIT_SUBMODULES ""
+        GIT_PROGRESS TRUE
+        OVERRIDE_FIND_PACKAGE
+    )
+    FetchContent_MakeAvailable(cxxopts_lib)
+    find_package(cxxopts CONFIG)
+endif()
+
 set(ASIBFM700_LIB_SRC asibfm700_common.h asibfm700_servocontroller.h asibfm700_servocontroller.cpp)
 
 set(ASIBFM700_LIB asibfm700mount)
 add_library(${ASIBFM700_LIB} STATIC ${ASIBFM700_LIB_SRC}
-    asibfm700_mount.h asibfm700_mount.cpp)
+    asibfm700_mount.h asibfm700_mount.cpp
-target_link_libraries(${ASIBFM700_LIB} PRIVATE mcc1)
+    asibfm700_configfile.h
+    asibfm700_netserver.cpp
+    asibfm700_netserver.h
+)
+
+target_include_directories(${ASIBFM700_LIB} PUBLIC mcc spdlog ${ERFA_INCLUDE_DIR})
+# target_link_libraries(${ASIBFM700_LIB} PUBLIC mcc spdlog ${ERFA_LIBFILE})
+target_link_libraries(${ASIBFM700_LIB} PUBLIC mcc ASIO::ASIO spdlog ERFA_LIB bsplines sidservo)
+
+
+set(ASIBFM700_NETSERVER_APP asibfm700_netserver)
+add_executable(${ASIBFM700_NETSERVER_APP} asibfm700_netserver_main.cpp)
+target_link_libraries(${ASIBFM700_NETSERVER_APP} PRIVATE cxxopts::cxxopts ${ASIBFM700_LIB})
+
+option(WITH_TESTS "Build tests" ON)
+
+if (WITH_TESTS)
+     set(CFG_TEST_APP cfg_test)
+     add_executable(${CFG_TEST_APP} tests/cfg_test.cpp)
+     target_link_libraries(${CFG_TEST_APP} PRIVATE mcc)
+
+     enable_testing()
+ endif()

asibfm700/asibfm700_common.h

@@ -11,38 +11,20 @@
 #include <mcc_pzone_container.h>
 #include <mcc_spdlog.h>
 
-#include "asibfm700_servocontroller.h"
+#include "mcc_ccte_erfa.h"
+#include "mcc_slewing_model.h"
+#include "mcc_tracking_model.h"
 
 namespace asibfm700
 {
 
 static constexpr mcc::MccMountType asibfm700MountType = mcc::MccMountType::FORK_TYPE;
 
-
+typedef mcc::ccte::erfa::MccCCTE_ERFA Asibfm700CCTE;
 typedef mcc::MccDefaultPCM<asibfm700MountType> Asibfm700PCM;
 typedef mcc::MccPZoneContainer<mcc::MccTimeDuration> Asibfm700PZoneContainer;
 typedef mcc::utils::MccSpdlogLogger Asibfm700Logger;
-
+typedef mcc::MccSimpleSlewingModel Asibfm700SlewingModel;
-struct Asibfm700MountConfig {
+typedef mcc::MccSimpleTrackingModel Asibfm700TrackingModel;
-    std::chrono::milliseconds hardwarePollingPeriod{100};  // main cycle period
-
-    // CCTE-related configuration
-    double siteLatitude{43.646711_degs};
-    double siteLongitude{41.440732_degs};
-    double siteElevation{2100.0};
-    double refractWavelength{0.55};
-
-    std::string leapSecondFilename{};
-    std::string bulletinAFilename{};
-
-
-    // PCM-related configuration
-    Asibfm700PCM::pcm_data_t pcmData{.type = mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY,
-                                     .siteLatitude = siteLatitude,
-                                     .geomCoefficients = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}};
-
-    AsibFM700ServoController::hardware_config_t servoControllerConfig{};
-    mcc::MccSimpleMovingModelParams movingModelParams{};
-};
 
 }  // namespace asibfm700

asibfm700/asibfm700_configfile.h

@@ -0,0 +1,860 @@
+#pragma once
+
+/**/
+
+#include <expected>
+#include <filesystem>
+#include <fstream>
+
+#include <mcc_angle.h>
+#include <mcc_moving_model_common.h>
+#include <mcc_pcm.h>
+#include <mcc_utils.h>
+
+#include "asibfm700_common.h"
+#include "asibfm700_servocontroller.h"
+
+namespace asibfm700
+{
+
+
+/*    A SIMPLE "KEYWORD - VALUE" HOLDER CLASS SUITABLE TO STORE SOME APPLICATION CONFIGURATION    */
+
+
+// to follow std::variant requirements (not references, not array, not void)
+template <typename T>
+concept config_record_valid_type_c = requires { !std::is_array_v<T> && !std::is_void_v<T> && !std::is_reference_v<T>; };
+
+// simple minimal-requirement configuration record class
+template <config_record_valid_type_c T>
+struct simple_config_record_t {
+    std::string_view key;
+    T value;
+    std::vector<std::string_view> comment;
+};
+
+
+/*    ASTOROSIB FM700 MOUNT CONFIGURATION CLASS    */
+
+// configuration description and its defaults
+static auto Asibfm700MountConfigDefaults = std::make_tuple(
+    // main cycle period in millisecs
+    simple_config_record_t{"hardwarePollingPeriod", std::chrono::milliseconds{100}, {"main cycle period in millisecs"}},
+
+    /*    geographic coordinates of the observation site    */
+
+    // site latitude in degrees
+    simple_config_record_t{"siteLatitude", mcc::MccAngle(43.646711_degs), {"site latitude in degrees"}},
+
+    // site longitude  in degrees
+    simple_config_record_t{"siteLongitude", mcc::MccAngle(41.440732_degs), {"site longitude  in degrees"}},
+
+    // site elevation in meters
+    simple_config_record_t{"siteElevation", 2070.0, {"site elevation in meters"}},
+
+    /*    celestial coordinate transformation    */
+
+    // wavelength at which refraction is calculated (in mkm)
+    simple_config_record_t{"refractWavelength", 0.55, {"wavelength at which refraction is calculated (in mkm)"}},
+
+    // an empty filename means default precompiled string
+    simple_config_record_t{"leapSecondFilename", std::string(), {"an empty filename means default precompiled string"}},
+
+    // an empty filename means default precompiled string
+    simple_config_record_t{"bulletinAFilename", std::string(), {"an empty filename means default precompiled string"}},
+
+    /*    pointing correction model    */
+
+    // PCM default type
+    simple_config_record_t{"pcmType",
+                           mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY,
+                           {"PCM type:", "GEOMETRY - 'classic' geometry-based correction coefficients",
+                            "GEOMETRY-BSPLINE - previous one and additional 2D B-spline corrections",
+                            "BSPLINE - pure 2D B-spline corrections"}},
+
+    // PCM geometrical coefficients
+    simple_config_record_t{"pcmGeomCoeffs",
+                           std::vector<double>{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+                           {"PCM geometrical coefficients"}},
+
+    // PCM B-spline degrees
+    simple_config_record_t{"pcmBsplineDegree", std::vector<size_t>{3, 3}, {"PCM B-spline degrees"}},
+
+    // PCM B-spline knots along X-axis (HA-angle or azimuth). By default from 0 to 2*PI radians
+    // NOTE: The first and last values are interpretated as border knots!!!
+    //       Thus the array length must be equal to or greater than 2!
+    simple_config_record_t{"pcmBsplineXknots",
+                           std::vector<double>{0.0, 0.6981317, 1.3962634, 2.0943951, 2.7925268, 3.4906585, 4.1887902,
+                                               4.88692191, 5.58505361, 6.28318531},
+                           {"PCM B-spline knots along X-axis (HA-angle or azimuth). By default from 0 to 2*PI radians",
+                            "NOTE: The first and last values are interpretated as border knots!!!",
+                            "      Thus the array length must be equal to or greater than 2!"}},
+
+    // PCM B-spline knots along Y-axis (declination or zenithal distance). By default from -PI/6 to PI/2 radians
+    // NOTE: The first and last values are interpretated as border knots!!!
+    //       Thus the array length must be equal to or greater than 2!
+    simple_config_record_t{
+        "pcmBsplineYknots",
+        std::vector<double>{-0.52359878, -0.29088821, -0.05817764, 0.17453293, 0.40724349, 0.63995406, 0.87266463,
+                            1.10537519, 1.33808576, 1.57079633},
+        {"PCM B-spline knots along Y-axis (declination or zenithal distance). By default from -PI/6 to PI/2 radians",
+         "NOTE: The first and last values are interpretated as border knots!!!",
+         "      Thus the array length must be equal to or greater than 2!"}},
+
+    // PCM B-spline coeffs for along X-axis (HA-angle or azimuth)
+    simple_config_record_t{"pcmBsplineXcoeffs",
+                           std::vector<double>{},
+                           {"PCM B-spline coeffs for along X-axis (HA-angle)"}},
+
+    // PCM B-spline coeffs for along Y-axis (declination or zenithal distance)
+    simple_config_record_t{"pcmBsplineYcoeffs",
+                           std::vector<double>{},
+                           {"PCM B-spline coeffs for along Y-axis (declination angle)"}},
+
+
+    /*    slewing and tracking parameters    */
+
+    // // arcseconds per second
+    // simple_config_record_t{"sideralRate", 15.0410686},
+
+    // timeout for telemetry updating in milliseconds
+    simple_config_record_t{"telemetryTimeout",
+                           std::chrono::milliseconds(3000),
+                           {"timeout for telemetry updating in milliseconds"}},
+
+    // minimal allowed time in seconds to prohibited zone
+    simple_config_record_t{"minTimeToPZone",
+                           std::chrono::seconds(10),
+                           {"minimal allowed time in seconds to prohibited zone"}},
+
+    // a time interval to update prohibited zones related quantities (millisecs)
+    simple_config_record_t{"updatingPZoneInterval",
+                           std::chrono::milliseconds(5000),
+                           {"a time interval to update prohibited zones related quantities (millisecs)"}},
+
+    // coordinates difference in arcsecs to stop slewing
+    simple_config_record_t{"slewToleranceRadius", 5.0, {"coordinates difference in arcsecs to stop slewing"}},
+
+    simple_config_record_t{"slewingTelemetryInterval",
+                           std::chrono::milliseconds(100),
+                           {"telemetry request interval (in millisecs) in slewing mode"}},
+
+    simple_config_record_t{"slewingPathFilename",
+                           std::string(),
+                           {"slewing trajectory filename", "if it is an empty - just skip saving"}},
+
+    // target-mount coordinate difference in arcsecs to start adjusting of slewing
+    simple_config_record_t{"adjustCoordDiff",
+                           50.0,
+                           {"target-mount coordinate difference in arcsecs to start adjusting of slewing"}},
+
+    // minimum time in millisecs between two successive adjustments
+    simple_config_record_t{"adjustCycleInterval",
+                           std::chrono::milliseconds(300),
+                           {"minimum time in millisecs between two successive adjustments"}},
+
+    // slew process timeout in seconds
+    simple_config_record_t{"slewTimeout", std::chrono::seconds(3600), {"slew process timeout in seconds"}},
+
+    // a time shift into future to compute target position in future (UT1-scale time duration, millisecs)
+    simple_config_record_t{
+        "timeShiftToTargetPoint",
+        std::chrono::milliseconds(10000),
+        {"a time shift into future to compute target position in future (UT1-scale time duration, millisecs)"}},
+
+
+    simple_config_record_t{"trackingTelemetryInterval",
+                           std::chrono::milliseconds(100),
+                           {"telemetry request interval (in millisecs) in tracking mode"}},
+
+
+    // minimum time in millisecs between two successive tracking corrections
+    simple_config_record_t{"trackingCycleInterval",
+                           std::chrono::milliseconds(300),
+                           {"minimum time in millisecs between two successive tracking corrections"}},
+
+    // maximal valid target-to-mount distance for tracking process (arcsecs)
+    // if current distance is greater than assume current mount coordinate as target point
+    simple_config_record_t{"trackingMaxCoordDiff",
+                           20.0,
+                           {"maximal valid target-to-mount distance for tracking process (arcsecs)",
+                            "if current distance is greater than assume current mount coordinate as target point"}},
+
+    simple_config_record_t{"trackingPathFilename",
+                           std::string(),
+                           {"tracking trajectory filename", "if it is an empty - just skip saving"}},
+
+
+    /*    prohibited zones    */
+
+    // minimal altitude
+    simple_config_record_t{"pzMinAltitude", mcc::MccAngle(10.0_degs), {"minimal altitude"}},
+
+    // HA-axis limit switch minimal value
+    simple_config_record_t{"pzLimitSwitchHAMin", mcc::MccAngle(-270.0_degs), {"HA-axis limit switch minimal value"}},
+
+    // HA-axis limit switch maximal value
+    simple_config_record_t{"pzLimitSwitchHAMax", mcc::MccAngle(270.0_degs), {"HA-axis limit switch maximal value"}},
+
+    // DEC-axis limit switch minimal value
+    simple_config_record_t{"pzLimitSwitchDecMin", mcc::MccAngle(-90.0_degs), {"DEC-axis limit switch minimal value"}},
+
+    // DEC-axis limit switch maximal value
+    simple_config_record_t{"pzLimitSwitchDecMax", mcc::MccAngle(90.0_degs), {"DEC-axis limit switch maximal value"}},
+
+
+    /*    hardware-related    */
+
+    // hardware mode: 1 - model mode, otherwise real mode
+    simple_config_record_t{"RunModel", 0, {"hardware mode: 1 - model mode, otherwise real mode"}},
+
+    // mount serial device paths
+    simple_config_record_t{"MountDevPath", std::string("/dev/ttyUSB0"), {"mount serial device paths"}},
+
+    // mount serial device speed
+    simple_config_record_t{"MountDevSpeed", 19200, {"mount serial device speed"}},
+
+    // motor encoders serial device path
+    simple_config_record_t{"EncoderDevPath", std::string(""), {"motor encoders serial device path"}},
+
+    //  X-axis encoder serial device path
+    simple_config_record_t{"EncoderXDevPath", std::string("/dev/encoderX0"), {"X-axis encoder serial device path"}},
+
+    //  Y-axis encoder serial device path
+    simple_config_record_t{"EncoderYDevPath", std::string("/dev/encoderY0"), {"Y-axis encoder serial device path"}},
+
+    // encoders serial device speed
+    simple_config_record_t{"EncoderDevSpeed", 153000, {"encoders serial device speed"}},
+
+    // ==1 if encoder works as separate serial device, ==2 if there's new version with two devices
+    simple_config_record_t{
+        "SepEncoder",
+        2,
+        {"==1 if encoder works as separate serial device, ==2 if there's new version with two devices"}},
+
+
+    // mount polling interval in millisecs
+    simple_config_record_t{"MountReqInterval", std::chrono::milliseconds(100), {"mount polling interval in millisecs"}},
+
+    // encoders polling interval in millisecs
+    simple_config_record_t{"EncoderReqInterval",
+                           std::chrono::milliseconds(1),
+                           {"encoders polling interval in millisecs"}},
+
+    // mount axes rate calculation interval in millisecs
+    simple_config_record_t{"EncoderSpeedInterval",
+                           std::chrono::milliseconds(50),
+                           {"mount axes rate calculation interval in millisecs"}},
+
+    simple_config_record_t{"PIDMaxDt",
+                           std::chrono::milliseconds(1000),
+                           {"maximal PID refresh time interval in millisecs",
+                            "NOTE: if PID data will be refreshed with interval longer than this value (e.g. user polls "
+                            "encoder data too rarely)",
+                            "then the PID 'expired' data will be cleared and new computing loop is started"}},
+
+    simple_config_record_t{"PIDRefreshDt", std::chrono::milliseconds(100), {"PID refresh interval"}},
+
+    simple_config_record_t{"PIDCycleDt",
+                           std::chrono::milliseconds(5000),
+                           {"PID I cycle time (analog of 'RC' for PID on opamps)"}},
+
+
+
+    // X-axis coordinate PID P,I,D-params
+    simple_config_record_t{"XPIDC", std::vector<double>{0.5, 0.1, 0.2}, {"X-axis coordinate PID P,I,D-params"}},
+
+    // X-axis rate PID P,I,D-params
+    simple_config_record_t{"XPIDV", std::vector<double>{0.09, 0.0, 0.05}, {"X-axis rate PID P,I,D-params"}},
+
+    // Y-axis coordinate PID P, I, D-params
+    simple_config_record_t{"YPIDC", std::vector<double>{0.5, 0.1, 0.2}, {"Y-axis coordinate PID P, I, D-params"}},
+
+    // Y-axis rate PID P,I,D-params
+    simple_config_record_t{"YPIDV", std::vector<double>{0.09, 0.0, 0.05}, {"Y-axis rate PID P,I,D-params"}},
+
+
+    // maximal moving rate (degrees per second) along HA-axis  (Y-axis of Sidereal servo microcontroller)
+    simple_config_record_t{
+        "hwMaxRateHA",
+        mcc::MccAngle(8.0_degs),
+        {"maximal moving rate (degrees per second) along HA-axis  (Y-axis of Sidereal servo microcontroller)"}},
+
+    // maximal moving rate (degrees per second) along DEC-axis (X-axis of Sidereal servo microcontroller)
+    simple_config_record_t{
+        "hwMaxRateDEC",
+        mcc::MccAngle(10.0_degs),
+        {"maximal moving rate (degrees per second) along DEC-axis (X-axis of Sidereal servo microcontroller)"}},
+
+    simple_config_record_t{"MaxPointingErr",
+                           mcc::MccAngle(8.0_degs),
+                           {"slewing-to-pointing mode angular limit in degrees"}},
+
+    simple_config_record_t{"MaxFinePointingErr",
+                           mcc::MccAngle(1.5_degs),
+                           {"pointing-to-guiding mode angular limit in degrees"}},
+
+    simple_config_record_t{"MaxGuidingErr",
+                           mcc::MccAngle(0.5_arcsecs),
+                           {"guiding 'good'-flag error cirle radius (mount-to-target distance) in degrees"}},
+
+    simple_config_record_t{"XEncZero", mcc::MccAngle(0.0_degs), {"X-axis encoder zero-point in degrees"}},
+
+    simple_config_record_t{"YEncZero", mcc::MccAngle(0.0_degs), {"Y-axis encoder zero-point in degrees"}}
+
+);
+
+
+class Asibfm700MountConfig : public mcc::utils::KeyValueHolder<decltype(Asibfm700MountConfigDefaults)>
+{
+    using base_t = mcc::utils::KeyValueHolder<decltype(Asibfm700MountConfigDefaults)>;
+
+protected:
+    inline static auto deserializer = []<typename VT>(std::string_view str, VT& value) {
+        std::error_code ec{};
+
+        mcc::utils::MccSimpleDeserializer deser;
+        deser.setRangeDelim(base_t::VALUE_ARRAY_DELIM);
+
+        if constexpr (std::is_arithmetic_v<VT> || mcc::traits::mcc_output_char_range<VT> || std::ranges::range<VT> ||
+                      mcc::traits::mcc_time_duration_c<VT>) {
+            // ec = base_t::defaultDeserializeFunc(str, value);
+            ec = deser(str, value);
+        } else if constexpr (std::same_as<VT, mcc::MccAngle>) {  // assume here all angles are in degrees
+            double vd;
+            // ec = base_t::defaultDeserializeFunc(str, vd);
+            ec = deser(str, vd);
+            if (!ec) {
+                value = mcc::MccAngle(vd, mcc::MccDegreeTag{});
+            }
+        } else if constexpr (std::same_as<VT, mcc::MccDefaultPCMType>) {
+            std::string vstr;
+            // ec = base_t::defaultDeserializeFunc(str, vstr);
+            ec = deser(str, vstr);
+
+            if (!ec) {
+                auto s = mcc::utils::trimSpaces(vstr);
+
+                if (s == mcc::MccDefaultPCMTypeString<mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY>) {
+                    value = mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY;
+                } else if (s == mcc::MccDefaultPCMTypeString<mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY_BSPLINE>) {
+                    value = mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY;
+                } else if (s == mcc::MccDefaultPCMTypeString<mcc::MccDefaultPCMType::PCM_TYPE_BSPLINE>) {
+                    value = mcc::MccDefaultPCMType::PCM_TYPE_BSPLINE;
+                } else {
+                    ec = std::make_error_code(std::errc::invalid_argument);
+                }
+            }
+        } else {
+            ec = std::make_error_code(std::errc::invalid_argument);
+        }
+
+        return ec;
+    };
+
+
+public:
+    /*  the most usefull config fields  */
+
+    template <mcc::traits::mcc_time_duration_c DT>
+    DT hardwarePollingPeriod() const
+    {
+        return std::chrono::duration_cast<DT>(
+            getValue<std::chrono::milliseconds>("hardwarePollingPeriod").value_or(std::chrono::milliseconds{}));
+    };
+
+    std::chrono::milliseconds hardwarePollingPeriod() const
+    {
+        return hardwarePollingPeriod<std::chrono::milliseconds>();
+    };
+
+    template <mcc::mcc_angle_c T>
+    T siteLatitude() const
+    {
+        return static_cast<double>(getValue<mcc::MccAngle>("siteLatitude").value_or(mcc::MccAngle{}));
+    };
+
+    mcc::MccAngle siteLatitude() const
+    {
+        return siteLatitude<mcc::MccAngle>();
+    };
+
+    template <mcc::mcc_angle_c T>
+    T siteLongitude() const
+    {
+        return static_cast<double>(getValue<mcc::MccAngle>("siteLongitude").value_or(mcc::MccAngle{}));
+    };
+
+    mcc::MccAngle siteLongitude() const
+    {
+        return siteLongitude<mcc::MccAngle>();
+    };
+
+    template <typename T>
+    T siteElevation() const
+        requires std::is_arithmetic_v<T>
+    {
+        return getValue<double>("siteElevation").value_or(0.0);
+    }
+
+    double siteElevation() const
+    {
+        return getValue<double>("siteElevation").value_or(0.0);
+    };
+
+    template <typename T>
+    T refractWavelength() const
+        requires std::is_arithmetic_v<T>
+    {
+        return getValue<double>("refractWavelength").value_or(0.0);
+    }
+
+    double refractWavelength() const
+    {
+        return getValue<double>("refractWavelength").value_or(0.0);
+    };
+
+    template <mcc::traits::mcc_output_char_range R>
+    R leapSecondFilename() const
+    {
+        R r;
+
+        std::string val = getValue<std::string>("leapSecondFilename").value_or("");
+        std::ranges::copy(val, std::back_inserter(r));
+
+        return r;
+    }
+
+    std::string leapSecondFilename() const
+    {
+        return leapSecondFilename<std::string>();
+    };
+
+    template <mcc::traits::mcc_output_char_range R>
+    R bulletinAFilename() const
+    {
+        R r;
+        std::string val = getValue<std::string>("bulletinAFilename").value_or("");
+        std::ranges::copy(val, std::back_inserter(r));
+
+        return r;
+    }
+
+    std::string bulletinAFilename() const
+    {
+        return bulletinAFilename<std::string>();
+    };
+
+
+    template <mcc::mcc_angle_c T>
+    T pzMinAltitude() const
+    {
+        return static_cast<double>(getValue<mcc::MccAngle>("pzMinAltitude").value_or(mcc::MccAngle{}));
+    };
+
+    mcc::MccAngle pzMinAltitude() const
+    {
+        return pzMinAltitude<mcc::MccAngle>();
+    };
+
+    template <mcc::mcc_angle_c T>
+    T pzLimitSwitchHAMin() const
+    {
+        return static_cast<double>(getValue<mcc::MccAngle>("pzLimitSwitchHAMin").value_or(mcc::MccAngle{}));
+    };
+
+    mcc::MccAngle pzLimitSwitchHAMin() const
+    {
+        return pzLimitSwitchHAMin<mcc::MccAngle>();
+    };
+
+    template <mcc::mcc_angle_c T>
+    T pzLimitSwitchHAMax() const
+    {
+        return static_cast<double>(getValue<mcc::MccAngle>("pzLimitSwitchHAMax").value_or(mcc::MccAngle{}));
+    };
+
+    mcc::MccAngle pzLimitSwitchHAMax() const
+    {
+        return pzLimitSwitchHAMax<mcc::MccAngle>();
+    };
+
+
+    AsibFM700ServoController::hardware_config_t servoControllerConfig() const
+    {
+        AsibFM700ServoController::hardware_config_t hw_cfg;
+
+        hw_cfg.hwConfig = {};
+
+        hw_cfg.MountDevPath = getValue<std::string>("MountDevPath").value_or(std::string{});
+        hw_cfg.EncoderDevPath = getValue<std::string>("EncoderDevPath").value_or(std::string{});
+        hw_cfg.EncoderXDevPath = getValue<std::string>("EncoderXDevPath").value_or(std::string{});
+        hw_cfg.EncoderYDevPath = getValue<std::string>("EncoderYDevPath").value_or(std::string{});
+
+        hw_cfg.devConfig.MountDevPath = hw_cfg.MountDevPath.data();
+        hw_cfg.devConfig.EncoderDevPath = hw_cfg.EncoderDevPath.data();
+        hw_cfg.devConfig.EncoderXDevPath = hw_cfg.EncoderXDevPath.data();
+        hw_cfg.devConfig.EncoderYDevPath = hw_cfg.EncoderYDevPath.data();
+
+        hw_cfg.devConfig.RunModel = getValue<int>("RunModel").value_or(int{});
+        hw_cfg.devConfig.MountDevSpeed = getValue<int>("MountDevSpeed").value_or(int{});
+        hw_cfg.devConfig.EncoderDevSpeed = getValue<int>("EncoderDevSpeed").value_or(int{});
+        hw_cfg.devConfig.SepEncoder = getValue<int>("SepEncoder").value_or(int{});
+
+        std::chrono::duration<double> secs;  // seconds as floating-point
+
+        secs = getValue<std::chrono::milliseconds>("MountReqInterval").value_or(std::chrono::milliseconds{});
+        hw_cfg.devConfig.MountReqInterval = secs.count();
+
+        secs = getValue<std::chrono::milliseconds>("EncoderReqInterval").value_or(std::chrono::milliseconds{});
+        hw_cfg.devConfig.EncoderReqInterval = secs.count();
+
+        secs = getValue<std::chrono::milliseconds>("EncoderSpeedInterval").value_or(std::chrono::milliseconds{});
+        hw_cfg.devConfig.EncoderSpeedInterval = secs.count();
+
+        secs = getValue<std::chrono::milliseconds>("PIDMaxDt").value_or(std::chrono::milliseconds{1000});
+        hw_cfg.devConfig.PIDMaxDt = secs.count();
+
+        secs = getValue<std::chrono::milliseconds>("PIDRefreshDt").value_or(std::chrono::milliseconds{100});
+        hw_cfg.devConfig.PIDRefreshDt = secs.count();
+
+        secs = getValue<std::chrono::milliseconds>("PIDCycleDt").value_or(std::chrono::milliseconds{5000});
+        hw_cfg.devConfig.PIDCycleDt = secs.count();
+
+
+        std::vector<double> pid = getValue<std::vector<double>>("XPIDC").value_or(std::vector<double>{});
+        if (pid.size() > 2) {
+            hw_cfg.devConfig.XPIDC.P = pid[0];
+            hw_cfg.devConfig.XPIDC.I = pid[1];
+            hw_cfg.devConfig.XPIDC.D = pid[2];
+        }
+
+        pid = getValue<std::vector<double>>("XPIDV").value_or(std::vector<double>{});
+        if (pid.size() > 2) {
+            hw_cfg.devConfig.XPIDV.P = pid[0];
+            hw_cfg.devConfig.XPIDV.I = pid[1];
+            hw_cfg.devConfig.XPIDV.D = pid[2];
+        }
+
+        pid = getValue<std::vector<double>>("YPIDC").value_or(std::vector<double>{});
+        if (pid.size() > 2) {
+            hw_cfg.devConfig.YPIDC.P = pid[0];
+            hw_cfg.devConfig.YPIDC.I = pid[1];
+            hw_cfg.devConfig.YPIDC.D = pid[2];
+        }
+
+        pid = getValue<std::vector<double>>("YPIDV").value_or(std::vector<double>{});
+        if (pid.size() > 2) {
+            hw_cfg.devConfig.YPIDV.P = pid[0];
+            hw_cfg.devConfig.YPIDV.I = pid[1];
+            hw_cfg.devConfig.YPIDV.D = pid[2];
+        }
+
+        double ang = getValue<mcc::MccAngle>("MaxPointingErr").value_or(mcc::MccAngle(8.0_degs));
+        hw_cfg.devConfig.MaxPointingErr = ang;
+
+        ang = getValue<mcc::MccAngle>("MaxFinePointingErr").value_or(mcc::MccAngle(1.5_degs));
+        hw_cfg.devConfig.MaxFinePointingErr = ang;
+
+        ang = getValue<mcc::MccAngle>("MaxGuidingErr").value_or(mcc::MccAngle(0.5_arcsecs));
+        hw_cfg.devConfig.MaxGuidingErr = ang;
+
+        ang = getValue<mcc::MccAngle>("XEncZero").value_or(mcc::MccAngle(0.0_degs));
+        hw_cfg.devConfig.XEncZero = ang;
+
+
+        ang = getValue<mcc::MccAngle>("YEncZero").value_or(mcc::MccAngle(0.0_degs));
+        hw_cfg.devConfig.YEncZero = ang;
+
+
+
+        return hw_cfg;
+    }
+
+
+    mcc::MccSimpleMovingModelParams movingModelParams() const
+    {
+        static constexpr double arcsecs2rad = std::numbers::pi / 180.0 / 3600.0;  // arcseconds to radians
+
+        mcc::MccSimpleMovingModelParams pars;
+
+        auto get_value = [&pars, this]<typename VT>(std::string_view name, VT& val) {
+            val = getValue<VT>(name).value_or(val);
+        };
+
+        pars.telemetryTimeout =
+            getValue<decltype(pars.telemetryTimeout)>("telemetryTimeout").value_or(pars.telemetryTimeout);
+
+        pars.minTimeToPZone = getValue<decltype(pars.minTimeToPZone)>("minTimeToPZone").value_or(pars.minTimeToPZone);
+
+        pars.updatingPZoneInterval = getValue<decltype(pars.updatingPZoneInterval)>("updatingPZoneInterval")
+                                         .value_or(pars.updatingPZoneInterval);
+
+        pars.slewToleranceRadius =
+            getValue<decltype(pars.slewToleranceRadius)>("slewToleranceRadius").value_or(pars.slewToleranceRadius) *
+            arcsecs2rad;
+
+        get_value("slewingTelemetryInterval", pars.slewingTelemetryInterval);
+
+        pars.slewRateX = getValue<decltype(pars.slewRateX)>("hwMaxRateHA").value_or(pars.slewRateX);
+        pars.slewRateY = getValue<decltype(pars.slewRateY)>("hwMaxRateDEC").value_or(pars.slewRateY);
+
+        pars.adjustCoordDiff =
+            getValue<decltype(pars.adjustCoordDiff)>("adjustCoordDiff").value_or(pars.adjustCoordDiff) * arcsecs2rad;
+
+        pars.adjustCycleInterval =
+            getValue<decltype(pars.adjustCycleInterval)>("adjustCycleInterval").value_or(pars.adjustCycleInterval);
+
+        pars.slewTimeout = getValue<decltype(pars.slewTimeout)>("slewTimeout").value_or(pars.slewTimeout);
+
+        pars.slewingPathFilename =
+            getValue<decltype(pars.slewingPathFilename)>("slewingPathFilename").value_or(std::string());
+
+        get_value("trackingTelemetryInterval", pars.trackingTelemetryInterval);
+
+        pars.timeShiftToTargetPoint = getValue<decltype(pars.timeShiftToTargetPoint)>("timeShiftToTargetPoint")
+                                          .value_or(pars.timeShiftToTargetPoint);
+
+        pars.trackingCycleInterval = getValue<decltype(pars.trackingCycleInterval)>("trackingCycleInterval")
+                                         .value_or(pars.trackingCycleInterval);
+
+        pars.trackingMaxCoordDiff =
+            getValue<decltype(pars.trackingMaxCoordDiff)>("trackingMaxCoordDiff").value_or(pars.trackingMaxCoordDiff) *
+            arcsecs2rad;
+
+        pars.trackingPathFilename =
+            getValue<decltype(pars.trackingPathFilename)>("trackingPathFilename").value_or(std::string());
+
+        return pars;
+    }
+
+    Asibfm700PCM::pcm_data_t pcmData() const
+    {
+        Asibfm700PCM::pcm_data_t pcm_data;
+
+        std::vector<double> empty_vec;
+
+        pcm_data.type = getValue<decltype(pcm_data.type)>("pcmType").value_or(pcm_data.type);
+
+        pcm_data.siteLatitude = getValue<mcc::MccAngle>("siteLatitude").value_or(pcm_data.siteLatitude);
+
+        std::vector<double> vec = getValue<std::vector<double>>("pcmGeomCoeffs").value_or(empty_vec);
+        if (vec.size() >= 9) {  // must be 9 coefficients
+            pcm_data.geomCoefficients = {.zeroPointX = vec[0],
+                                         .zeroPointY = vec[1],
+                                         .collimationErr = vec[2],
+                                         .nonperpendErr = vec[3],
+                                         .misalignErr1 = vec[4],
+                                         .misalignErr2 = vec[5],
+                                         .tubeFlexure = vec[6],
+                                         .forkFlexure = vec[7],
+                                         .DECaxisFlexure = vec[8]};
+        }
+
+        std::vector<size_t> dd = getValue<decltype(dd)>("pcmBsplineDegree").value_or(dd);
+        if (dd.size() >= 2) {
+            pcm_data.bspline.bsplDegreeX = dd[0] > 0 ? dd[0] : 3;
+            pcm_data.bspline.bsplDegreeY = dd[1] > 0 ? dd[1] : 3;
+        }
+
+        vec = getValue<std::vector<double>>("pcmBsplineXknots").value_or(empty_vec);
+        // pid must contains interior and border (single point for each border) knots so minimal length must be 2
+        if (vec.size() >= 2) {
+            // generate full knots array (with border knots)
+            size_t Nknots = vec.size() + pcm_data.bspline.bsplDegreeX * 2 - 2;
+            pcm_data.bspline.knotsX.resize(Nknots);
+
+            for (size_t i = 0; i <= pcm_data.bspline.bsplDegreeX; ++i) {  // border knots
+                pcm_data.bspline.knotsX[i] = vec[0];
+                pcm_data.bspline.knotsX[Nknots - i - 1] = vec.back();
+            }
+            for (size_t i = 0; i < (vec.size() - 2); ++i) {  // interior knots
+                pcm_data.bspline.knotsX[i + pcm_data.bspline.bsplDegreeX] = vec[1 + i];
+            }
+        }
+
+        vec = getValue<std::vector<double>>("pcmBsplineYknots").value_or(empty_vec);
+        // pid must contains interior and border (single point for each border) knots so minimal length must be 2
+        if (vec.size() >= 2) {
+            // generate full knots array (with border knots)
+            size_t Nknots = vec.size() + pcm_data.bspline.bsplDegreeY * 2 - 2;
+            pcm_data.bspline.knotsY.resize(Nknots);
+
+            for (size_t i = 0; i <= pcm_data.bspline.bsplDegreeY; ++i) {  // border knots
+                pcm_data.bspline.knotsY[i] = vec[0];
+                pcm_data.bspline.knotsY[Nknots - i - 1] = vec.back();
+            }
+            for (size_t i = 0; i < (vec.size() - 2); ++i) {  // interior knots
+                pcm_data.bspline.knotsY[i + pcm_data.bspline.bsplDegreeY] = vec[1 + i];
+            }
+        }
+
+        // minimal allowed number of B-spline coefficients
+        size_t Ncoeffs = pcm_data.type == mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY
+                             ? 0
+                             : (pcm_data.bspline.knotsX.size() - pcm_data.bspline.bsplDegreeX - 1) *
+                                   (pcm_data.bspline.knotsY.size() - pcm_data.bspline.bsplDegreeY - 1);
+
+        vec = getValue<std::vector<double>>("pcmBsplineXcoeffs").value_or(empty_vec);
+
+        if (vec.size() >= Ncoeffs) {
+            pcm_data.bspline.coeffsX.resize(Ncoeffs);
+            for (size_t i = 0; i < Ncoeffs; ++i) {
+                pcm_data.bspline.coeffsX[i] = vec[i];
+            }
+        }
+
+        vec = getValue<std::vector<double>>("pcmBsplineYcoeffs").value_or(empty_vec);
+
+        if (vec.size() >= Ncoeffs) {
+            pcm_data.bspline.coeffsY.resize(Ncoeffs);
+            for (size_t i = 0; i < Ncoeffs; ++i) {
+                pcm_data.bspline.coeffsY[i] = vec[i];
+            }
+        }
+
+        return pcm_data;
+    }
+
+
+    Asibfm700MountConfig() : base_t(Asibfm700MountConfigDefaults) {}
+
+    ~Asibfm700MountConfig() = default;
+
+    std::error_code load(const std::filesystem::path& path)
+    {
+        std::string buffer;
+
+        std::error_code ec;
+        auto sz = std::filesystem::file_size(path, ec);
+
+        if (!ec && sz) {
+            std::ifstream fst(path);
+
+            try {
+                buffer.resize(sz);
+
+                fst.read(buffer.data(), sz);
+
+                fst.close();
+
+                ec = base_t::fromCharRange(buffer, deserializer);
+                if (!ec) {
+                    // remove possible spaces in filenames
+
+                    std::string val = getValue<std::string>("leapSecondFilename").value_or("");
+                    auto fname = mcc::utils::trimSpaces(val);
+                    setValue("leapSecondFilename", fname);
+
+
+                    val = getValue<std::string>("bulletinAFilename").value_or("");
+                    fname = mcc::utils::trimSpaces(val);
+                    setValue("bulletinAFilename", fname);
+
+                    val = getValue<std::string>("MountDevPath").value_or(std::string{});
+                    fname = mcc::utils::trimSpaces(val);
+                    setValue("MountDevPath", fname);
+
+                    val = getValue<std::string>("EncoderDevPath").value_or(std::string{});
+                    fname = mcc::utils::trimSpaces(val);
+                    setValue("EncoderDevPath", fname);
+
+                    val = getValue<std::string>("EncoderXDevPath").value_or(std::string{});
+                    fname = mcc::utils::trimSpaces(val);
+                    setValue("EncoderXDevPath", fname);
+
+                    val = getValue<std::string>("EncoderYDevPath").value_or(std::string{});
+                    fname = mcc::utils::trimSpaces(val);
+                    setValue("EncoderYDevPath", fname);
+
+                    val = getValue<std::string>("slewingPathFilename").value_or(std::string{});
+                    fname = mcc::utils::trimSpaces(val);
+                    setValue("slewingPathFilename", fname);
+
+                    val = getValue<std::string>("trackingPathFilename").value_or(std::string{});
+                    fname = mcc::utils::trimSpaces(val);
+                    setValue("trackingPathFilename", fname);
+                }
+            } catch (std::ios_base::failure const& ex) {
+                ec = ex.code();
+            } catch (std::length_error const& ex) {
+                ec = std::make_error_code(std::errc::no_buffer_space);
+            } catch (std::bad_alloc const& ex) {
+                ec = std::make_error_code(std::errc::not_enough_memory);
+            } catch (...) {
+                ec = std::make_error_code(std::errc::operation_canceled);
+            }
+        }
+
+        return ec;
+    }
+
+    bool dumpDefaultsToFile(const std::filesystem::path& path)
+    {
+        std::ofstream fst(path);
+        if (!fst.is_open()) {
+            return false;
+        }
+
+        fst << "#\n";
+        fst << "# ASTROSIB FM-700 MOUNT CONFIGURATION\n" << "#\n";
+        fst << "#        (created at " << std::format("{:%FT%T UTC}", std::chrono::system_clock::now()) << ")\n";
+        fst << "#\n";
+
+        auto wrec = [&fst, this]<size_t I>() {
+            fst << "\n";
+            for (size_t i = 0; i < std::get<I>(_keyValue).comment.size(); ++i) {
+                fst << "# " << std::get<I>(_keyValue).comment[i] << "\n";
+            }
+            fst << std::get<I>(_keyValue).key << " = ";
+            auto v = std::get<I>(_keyValue).value;
+            using v_t = std::remove_cvref_t<decltype(v)>;
+
+            if constexpr (std::is_arithmetic_v<v_t> || mcc::traits::mcc_char_range<v_t>) {
+                fst << std::format("{}", v);
+            } else if constexpr (mcc::traits::mcc_time_duration_c<v_t>) {
+                fst << std::format("{}", v.count());
+            } else if constexpr (mcc::mcc_angle_c<v_t>) {
+                fst << std::format("{}", mcc::MccAngle(static_cast<double>(v)).degrees());
+            } else if constexpr (std::same_as<v_t, mcc::MccDefaultPCMType>) {
+                if (v == mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY) {
+                    fst << mcc::MccDefaultPCMTypeString<mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY>;
+                } else if (v == mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY_BSPLINE) {
+                    fst << mcc::MccDefaultPCMTypeString<mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY_BSPLINE>;
+                } else if (v == mcc::MccDefaultPCMType::PCM_TYPE_BSPLINE) {
+                    fst << mcc::MccDefaultPCMTypeString<mcc::MccDefaultPCMType::PCM_TYPE_BSPLINE>;
+                }
+            } else if constexpr (std::ranges::range<v_t> && std::formattable<std::ranges::range_value_t<v_t>, char>) {
+                size_t sz = std::ranges::size(v);
+                if (!sz) {
+                    return;
+                }
+                --sz;
+
+                auto it = v.begin();
+                for (size_t j = 0; j < sz; ++j, ++it) {
+                    fst << std::format("{}", *it) << base_t::VALUE_ARRAY_DELIM;
+                }
+                fst << std::format("{}", *it);
+            } else if constexpr (std::formattable<v_t, char>) {
+                fst << std::format("{}", v);
+            } else {
+                static_assert(false, "INVALID TYPE!");
+            }
+
+            fst << "\n";
+        };
+
+        [&wrec]<size_t... Is>(std::index_sequence<Is...>) {
+            (wrec.operator()<Is>(), ...);
+        }(std::make_index_sequence<std::tuple_size_v<decltype(Asibfm700MountConfigDefaults)>>());
+
+        fst.close();
+
+        return true;
+    };
+};
+
+
+
+}  // namespace asibfm700

asibfm700/asibfm700_mount.cpp

@@ -1,27 +1,63 @@
 #include "asibfm700_mount.h"
 
+#include <mcc_pzone.h>
+
 namespace asibfm700
 {
 
 
-Asibfm700Mount::Asibfm700Mount(Asibfm700MountConfig const& config,
+/*    CONSTRUCTOR AND DESTRUCTOR    */
-                               std::shared_ptr<spdlog::logger> logger,
+
-                               const auto& pattern_range)
+Asibfm700Mount::Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_ptr<spdlog::logger> logger)
     : mcc::ccte::erfa::MccCCTE_ERFA({.meteo{.temperature = 10.0, .humidity = 0.5, .pressure = 1010.0},
-                                     .wavelength = config.refractWavelength,
+                                     .wavelength = config.refractWavelength(),
-                                     .lat = config.siteLatitude,
+                                     .lat = config.siteLatitude(),
-                                     .lon = config.siteLongitude,
+                                     .lon = config.siteLongitude(),
-                                     .elev = config.siteElevation}),
+                                     .elev = config.siteElevation()}),
-      Asibfm700PCM(config.pcmData),
+      Asibfm700PCM(config.pcmData()),
-      base_gm_class_t(AsibFM700ServoController{config.servoControllerConfig},
+      gm_class_t(std::make_tuple(config.servoControllerConfig()),
-                      mcc::MccTelemetry{this},
+                 std::make_tuple(this),
-                      Asibfm700PZoneContainer{},
+                 std::make_tuple(),
-                      mcc::MccSimpleSlewingModel{this},
+                 std::make_tuple(this, Asibfm700Logger{logger}),
-                      mcc::MccSimpleTrackingModel{this},
+                 std::make_tuple(this, Asibfm700Logger{logger}),
-                      Asibfm700Logger{std::move(logger), pattern_range})
+                 std::make_tuple(logger, Asibfm700Logger::LOGGER_DEFAULT_FORMAT)),
+      // base_gm_class_t(Asibfm700StartState{},
+      //                 std::make_tuple(config.servoControllerConfig()),
+      //                 std::make_tuple(this),
+      //                 std::make_tuple(),
+      //                 std::make_tuple(this),
+      //                 std::make_tuple(this),
+      //                 std::make_tuple(logger, Asibfm700Logger::LOGGER_DEFAULT_FORMAT)),
+      _mountConfig(config),
+      _mountConfigMutex(new std::mutex)
 {
+    gm_class_t::addMarkToPatternIdx("[ASIB-MOUNT]");
+
     logDebug("Create Asibfm700Mount class instance ({})", this->getThreadId());
+
+    initMount();
 }
+// Asibfm700Mount::Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_ptr<spdlog::logger> logger)
+//     : mcc::ccte::erfa::MccCCTE_ERFA({.meteo{.temperature = 10.0, .humidity = 0.5, .pressure = 1010.0},
+//                                      .wavelength = config.refractWavelength(),
+//                                      .lat = config.siteLatitude(),
+//                                      .lon = config.siteLongitude(),
+//                                      .elev = config.siteElevation()}),
+//       Asibfm700PCM(config.pcmData()),
+//       base_gm_class_t(
+//           gm_class_t{AsibFM700ServoController{config.servoControllerConfig()}, mcc::MccTelemetry{this},
+//                      Asibfm700PZoneContainer{}, mcc::MccSimpleSlewingModel{this}, mcc::MccSimpleTrackingModel{this},
+//                      Asibfm700Logger{std::move(logger), Asibfm700Logger::LOGGER_DEFAULT_FORMAT}},
+//           Asibfm700StartState{}),
+//       _mountConfig(config),
+//       _mountConfigMutex(new std::mutex)
+// {
+//     addMarkToPatternIdx("ASIB-MOUNT");
+
+//     logDebug("Create Asibfm700Mount class instance ({})", this->getThreadId());
+
+//     initMount();
+// }
 
 
 Asibfm700Mount::~Asibfm700Mount()
@@ -29,4 +65,291 @@ Asibfm700Mount::~Asibfm700Mount()
     logDebug("Delete Asibfm700Mount class instance ({})", this->getThreadId());
 }
 
+
+
+/*    PUBIC METHODS    */
+
+Asibfm700Mount::error_t Asibfm700Mount::initMount()
+{
+    std::lock_guard lock{*_mountConfigMutex};
+
+    logInfo("Stop telemetry data updating");
+    stopInternalTelemetryDataUpdating();
+
+    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("");
+    logDebug("Delete previously defined prohobited zones");
+    clearPZones();
+    logInfo("Add prohibited zones ...");
+
+    logInfo("    Add MccAltLimitPZ zone: min alt = {}, lat = {} (pzone type: '{}')",
+            _mountConfig.pzMinAltitude().degrees(), _mountConfig.siteLatitude().degrees(),
+            "Minimal altitude prohibited zone");
+    addPZone(mcc::MccAltLimitPZ<mcc::MccAltLimitKind::MIN_ALT_LIMIT>{_mountConfig.pzMinAltitude(),
+                                                                     _mountConfig.siteLatitude(), this});
+
+    logInfo("    Add MccAxisLimitSwitchPZ zone: min value = {}, max value = {} (pzone type: '{}')",
+            _mountConfig.pzLimitSwitchHAMin().degrees(), _mountConfig.pzLimitSwitchHAMax().degrees(),
+            "HA-axis limit switch");
+    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);
+
+    auto mpars = _mountConfig.movingModelParams();
+
+    using secs_t = std::chrono::duration<double>;
+    auto to_msecs = [](double secs) {
+        auto s = secs_t{secs};
+        return std::chrono::duration_cast<std::chrono::milliseconds>(s);
+    };
+
+    auto hw_cfg = _mountConfig.servoControllerConfig();
+    logInfo("");
+    logInfo("Hardware initialization ...");
+    logInfo("     set hardware configuration:");
+    logInfo("         RunModel: {}", hw_cfg.devConfig.RunModel == 1 ? "MODEL-MODE" : "REAL-MODE");
+    logInfo("         mount dev path: {}", hw_cfg.MountDevPath);
+    logInfo("         encoder dev path: {}", hw_cfg.EncoderDevPath);
+    logInfo("         encoder X-dev path: {}", hw_cfg.EncoderXDevPath);
+    logInfo("         encoder Y-dev path: {}", hw_cfg.EncoderYDevPath);
+
+    logInfo("         EncoderDevSpeed: {}", hw_cfg.devConfig.EncoderDevSpeed);
+    logInfo("         SepEncoder: {}", hw_cfg.devConfig.SepEncoder);
+    logInfo("         MountReqInterval: {}", to_msecs(hw_cfg.devConfig.MountReqInterval));
+    logInfo("         EncoderReqInterval: {}", to_msecs(hw_cfg.devConfig.EncoderReqInterval));
+    logInfo("         EncoderSpeedInterval: {}", to_msecs(hw_cfg.devConfig.EncoderSpeedInterval));
+    logInfo("         PIDMaxDt: {}", to_msecs(hw_cfg.devConfig.PIDMaxDt));
+    logInfo("         PIDRefreshDt: {}", to_msecs(hw_cfg.devConfig.PIDRefreshDt));
+    logInfo("         PIDCycleDt: {}", to_msecs(hw_cfg.devConfig.PIDCycleDt));
+
+    logInfo("         XPIDC: [P: {}, I: {}, D: {}]", hw_cfg.devConfig.XPIDC.P, hw_cfg.devConfig.XPIDC.I,
+            hw_cfg.devConfig.XPIDC.D);
+    logInfo("         XPIDV: [P: {}, I: {}, D: {}]", hw_cfg.devConfig.XPIDV.P, hw_cfg.devConfig.XPIDV.I,
+            hw_cfg.devConfig.XPIDV.D);
+    logInfo("         YPIDC: [P: {}, I: {}, D: {}]", hw_cfg.devConfig.YPIDC.P, hw_cfg.devConfig.YPIDC.I,
+            hw_cfg.devConfig.YPIDC.D);
+    logInfo("         YPIDV: [P: {}, I: {}, D: {}]", hw_cfg.devConfig.YPIDV.P, hw_cfg.devConfig.YPIDV.I,
+            hw_cfg.devConfig.YPIDV.D);
+    logInfo("         XEncZero: {}", hw_cfg.devConfig.XEncZero);
+    logInfo("         YEncZero: {}", hw_cfg.devConfig.YEncZero);
+
+    // actually, only set this->_hardwareConfig.devConfig part and paths!!!
+    this->_hardwareConfig = hw_cfg;
+
+    logInfo("");
+    logInfo("     EEPROM data:");
+
+    if (hw_cfg.devConfig.RunModel != 1) {  // load EEPROM only in REAL HARDWARE mode
+        // load EEPROM part
+        auto cfg_err = this->hardwareUpdateConfig();
+        if (cfg_err) {
+            errorLogging("Cannot load EEPROM data:", cfg_err);
+            return cfg_err;
+        }
+
+        mcc::MccAngle ang{_hardwareConfig.hwConfig.Yconf.accel};  // Sidereal defines HA-axis as Y-axis
+
+        logInfo("         HA-axis accel: {} degs/s^2", ang.degrees());
+        ang = _hardwareConfig.hwConfig.Xconf.accel;  // Sidereal defines DEC-axis as X-axis
+        logInfo("         DEC-axis accel: {} degs/s^2", ang.degrees());
+        logInfo("         HA-axis backlash: {}", (double)_hardwareConfig.hwConfig.Yconf.backlash);
+        logInfo("         DEC-axis backlash: {}", (double)_hardwareConfig.hwConfig.Xconf.backlash);
+
+        logInfo("         HA-axis encoder ticks per revolution: {}",
+                _hardwareConfig.hwConfig.Ysetpr);  // Sidereal defines HA-axis as Y-axis
+        logInfo("         DEC-axis encoder ticks per revolution: {}",
+                _hardwareConfig.hwConfig.Xsetpr);  // Sidereal defines DEC-axis as X-axis
+        logInfo("         HA-motor encoder ticks per revolution: {}",
+                _hardwareConfig.hwConfig.Ymetpr);  // Sidereal defines HA-axis as Y-axis
+        logInfo("         DEC-motor encoder ticks per revolution: {}",
+                _hardwareConfig.hwConfig.Xmetpr);  // Sidereal defines DEC-axis as X-axis
+
+        ang = _hardwareConfig.hwConfig.Yslewrate;  // Sidereal defines HA-axis as Y-axis
+        logInfo("         HA-axis slew rate: {} degs/s", ang.degrees());
+        ang = _hardwareConfig.hwConfig.Xslewrate;  // Sidereal defines DEC-axis as X-axis
+        logInfo("         DEC-axis slew rate: {} degs/s", ang.degrees());
+    } else {
+        logWarn("         MODEL-MODE, no EEPROM data!");
+    }
+
+    logInfo("");
+    logInfo("Setup slewing and tracking parameters ...");
+    mpars.slewRateX = _mountConfig.getValue<mcc::MccAngle>("hwMaxRateHA").value_or(0.0);
+    mpars.slewRateY = _mountConfig.getValue<mcc::MccAngle>("hwMaxRateDEC").value_or(0.0);
+    if (hw_cfg.devConfig.RunModel != 1) {
+        mpars.brakingAccelX = _hardwareConfig.hwConfig.Yconf.accel;  // Sidereal defines HA-axis as Y-axis
+        mpars.brakingAccelY = _hardwareConfig.hwConfig.Xconf.accel;  // Sidereal defines DEC-axis as X-axis
+    } else {
+        mpars.brakingAccelX = 0.165806;  // Sidereal defines HA-axis as Y-axis
+        mpars.brakingAccelY = 0.219911;  // Sidereal defines DEC-axis as X-axis
+    }
+
+    auto max_dt_intvl = _mountConfig.getValue<std::chrono::milliseconds>("PIDMaxDt").value_or({});
+    auto min_dt_intvl = _mountConfig.getValue<std::chrono::milliseconds>("PIDRefreshDt").value_or({});
+
+    // check for polling interval consistency
+    auto intvl = mpars.slewingTelemetryInterval;
+    if (intvl > max_dt_intvl) {
+        mpars.slewingTelemetryInterval = max_dt_intvl;
+        logWarn(
+            "        slewingTelemetryInterval user value ({} ms) is greater than allowed! Set it to maximal "
+            "allowed one: {} ms",
+            intvl.count(), max_dt_intvl.count());
+    }
+    if (intvl < min_dt_intvl) {
+        mpars.slewingTelemetryInterval = min_dt_intvl;
+        logWarn(
+            "        slewingTelemetryInterval user value ({} ms) is lesser than allowed! Set it to minimal allowed "
+            "one: {} ms",
+            intvl.count(), min_dt_intvl.count());
+    }
+
+    intvl = mpars.trackingTelemetryInterval;
+    if (intvl > max_dt_intvl) {
+        mpars.trackingTelemetryInterval = max_dt_intvl;
+        logWarn(
+            "        trackingTelemetryInterval user value ({} ms) is greater than allowed! Set it to maximal "
+            "allowed one: {} ms",
+            intvl.count(), max_dt_intvl.count());
+    }
+    if (intvl < min_dt_intvl) {
+        mpars.trackingTelemetryInterval = min_dt_intvl;
+        logWarn(
+            "        trackingTelemetryInterval user value ({} ms) is lesser than allowed! Set it to minimal "
+            "allowed one: {} ms",
+            intvl.count(), min_dt_intvl.count());
+    }
+
+
+    auto st_err = setSlewingParams(mpars);
+    if (st_err) {
+        errorLogging("    An error occured while setting slewing parameters: ", st_err);
+    } else {
+        logInfo("    Max HA-axis speed: {} degs/s", mcc::MccAngle(mpars.slewRateX).degrees());
+        logInfo("    Max DEC-axis speed: {} degs/s", mcc::MccAngle(mpars.slewRateY).degrees());
+        logInfo("    HA-axis stop acceleration braking: {} degs/s^2", mcc::MccAngle(mpars.brakingAccelX).degrees());
+        logInfo("    DEC-axis stop acceleration braking: {} degs/s^2", mcc::MccAngle(mpars.brakingAccelY).degrees());
+
+        logInfo("    Slewing telemetry polling interval: {} millisecs", mpars.slewingTelemetryInterval.count());
+    }
+    st_err = setTrackingParams(_mountConfig.movingModelParams());
+    if (st_err) {
+        errorLogging("    An error occured while setting tracking parameters: ", st_err);
+    } else {
+        logInfo("    Tracking telemetry polling interval: {} millisecs", mpars.trackingTelemetryInterval.count());
+    }
+    logInfo("Slewing and tracking parameters have been set successfully");
+
+
+
+    // call base class initMount method
+    auto hw_err = gm_class_t::initMount();
+    // auto hw_err = base_gm_class_t::initMount();
+    if (hw_err) {
+        errorLogging("", hw_err);
+        return hw_err;
+    } else {
+        logInfo("Hardware initialization was performed sucessfully!");
+    }
+
+    logInfo("ERFA engine initialization ...");
+
+
+    // set ERFA state
+    Asibfm700CCTE::engine_state_t ccte_state{
+        .meteo = Asibfm700CCTE::_currentState.meteo,  // just use of previous values
+        .wavelength = _mountConfig.refractWavelength(),
+        .lat = _mountConfig.siteLatitude(),
+        .lon = _mountConfig.siteLongitude(),
+        .elev = _mountConfig.siteElevation()};
+
+
+    if (_mountConfig.leapSecondFilename().size()) {  // load leap seconds file
+        logInfo("Loading leap second file: '{}' ...", _mountConfig.leapSecondFilename());
+        bool ok = ccte_state._leapSeconds.load(_mountConfig.leapSecondFilename());
+        if (ok) {
+            logInfo("Leap second file was loaded successfully (expire date: {})", ccte_state._leapSeconds.expireDate());
+        } else {
+            logError("Leap second file loading failed! Using hardcoded defauls (expire date: {})",
+                     ccte_state._leapSeconds.expireDate());
+        }
+    } else {
+        logInfo("Using hardcoded leap seconds defauls (expire date: {})", ccte_state._leapSeconds.expireDate());
+    }
+
+    if (_mountConfig.bulletinAFilename().size()) {  // load IERS Bulletin A file
+        logInfo("Loading IERS Bulletin A file: '{}' ...", _mountConfig.bulletinAFilename());
+        bool ok = ccte_state._bulletinA.load(_mountConfig.bulletinAFilename());
+        if (ok) {
+            logInfo("IERS Bulletin A file was loaded successfully (date range: {} - {})",
+                    ccte_state._bulletinA.dateRange().begin, ccte_state._bulletinA.dateRange().end);
+        } else {
+            logError("IERS Bulletin A file loading failed! Using hardcoded defauls (date range: {} - {})",
+                     ccte_state._bulletinA.dateRange().begin, ccte_state._bulletinA.dateRange().end);
+        }
+    } else {
+        logInfo("Using hardcoded IERS Bulletin A defauls (date range: {} - {})",
+                ccte_state._bulletinA.dateRange().begin, ccte_state._bulletinA.dateRange().end);
+    }
+
+    setStateERFA(std::move(ccte_state));
+
+    // setTelemetryDataUpdateInterval(_mountConfig.hardwarePollingPeriod());
+    setTelemetryUpdateTimeout(_mountConfig.movingModelParams().telemetryTimeout);
+    startInternalTelemetryDataUpdating();
+
+    // std::this_thread::sleep_for(std::chrono::milliseconds(100));
+
+    bool ok = isInternalTelemetryDataUpdating();
+    if (ok) {
+        logInfo("Start updating telemetry data ...");
+        mcc::MccTelemetryData tdata;
+        auto err = waitForTelemetryData(&tdata, _mountConfig.movingModelParams().telemetryTimeout);
+        if (err) {
+            logError("Cannot update telemetry data (err = {} [{}, {}])!", err.message(), err.value(),
+                     err.category().name());
+        }
+    } else {
+        auto err = lastUpdateError();
+        logError("Cannot update telemetry data (err = {} [{}, {}])!", err.message(), err.value(),
+                 err.category().name());
+    }
+
+    return mcc::MccGenericMountErrorCode::ERROR_OK;
+}
+
+
+Asibfm700Mount::error_t Asibfm700Mount::updateMountConfig(const Asibfm700MountConfig& cfg)
+{
+    std::lock_guard lock{*_mountConfigMutex};
+
+    _mountConfig = cfg;
+
+    auto hw_cfg = _mountConfig.servoControllerConfig();
+    hardwareUpdateConfig(hw_cfg.devConfig);
+    hardwareUpdateConfig(hw_cfg.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

asibfm700/asibfm700_mount.h

@@ -1,9 +1,7 @@
 #pragma once
 
 
-#include <mcc_ccte_erfa.h>
 #include <mcc_generic_mount.h>
-#include <mcc_pcm.h>
 #include <mcc_pzone_container.h>
 #include <mcc_slewing_model.h>
 #include <mcc_spdlog.h>
@@ -11,52 +9,77 @@
 #include <mcc_tracking_model.h>
 
 #include "asibfm700_common.h"
-
+#include "asibfm700_configfile.h"
 
 
 namespace asibfm700
 {
 
-class Asibfm700Mount : public mcc::ccte::erfa::MccCCTE_ERFA,
+
-                       public mcc::MccDefaultPCM<asibfm700MountType>,
+class Asibfm700Mount : public Asibfm700CCTE,
-                       public mcc::MccGenericMountFSM<AsibFM700ServoController,
+                       public Asibfm700PCM,
+                       public mcc::MccGenericMount<AsibFM700ServoController,
                                                    mcc::MccTelemetry,
                                                    Asibfm700PZoneContainer,
-                                                      mcc::MccSimpleSlewingModel,
+                                                   Asibfm700SlewingModel,
-                                                      mcc::MccSimpleTrackingModel,
+                                                   Asibfm700TrackingModel,
                                                    Asibfm700Logger>
 {
-    typedef mcc::MccGenericMountFSM<AsibFM700ServoController,
+    typedef mcc::MccGenericMount<AsibFM700ServoController,
                                  mcc::MccTelemetry,
                                  Asibfm700PZoneContainer,
-                                    mcc::MccSimpleSlewingModel,
+                                 Asibfm700SlewingModel,
-                                    mcc::MccSimpleTrackingModel,
+                                 Asibfm700TrackingModel,
                                  Asibfm700Logger>
-        base_gm_class_t;
+        gm_class_t;
 
 public:
-    using base_gm_class_t::error_t;
+    using gm_class_t::error_t;
 
-    using mcc::ccte::erfa::MccCCTE_ERFA::setStateERFA;
+    using Asibfm700CCTE::setStateERFA;
-    using mcc::ccte::erfa::MccCCTE_ERFA::updateBulletinA;
+    using Asibfm700CCTE::updateBulletinA;
-    using mcc::ccte::erfa::MccCCTE_ERFA::updateLeapSeconds;
+    using Asibfm700CCTE::updateLeapSeconds;
-    using mcc::ccte::erfa::MccCCTE_ERFA::updateMeteoERFA;
+    using Asibfm700CCTE::updateMeteoERFA;
 
-    using Asibfm700Logger::logCritical;
+    using gm_class_t::logCritical;
-    using Asibfm700Logger::logDebug;
+    using gm_class_t::logDebug;
-    using Asibfm700Logger::logError;
+    using gm_class_t::logError;
-    using Asibfm700Logger::logInfo;
+    using gm_class_t::logInfo;
-    using Asibfm700Logger::logWarn;
+    using gm_class_t::logWarn;
+    // using Asibfm700Logger::logCritical;
+    // using Asibfm700Logger::logDebug;
+    // using Asibfm700Logger::logError;
+    // using Asibfm700Logger::logInfo;
+    // using Asibfm700Logger::logWarn;
 
-    Asibfm700Mount(Asibfm700MountConfig const& config,
+    // using Asibfm700PZoneContainer::addPZone;
-                   std::shared_ptr<spdlog::logger> logger,
+
-                   const auto& pattern_range = mcc::utils::MccSpdlogLogger::LOGGER_DEFAULT_FORMAT);
+    Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_ptr<spdlog::logger> logger);
 
     ~Asibfm700Mount();
+
+    Asibfm700Mount(Asibfm700Mount&&) = default;
+    Asibfm700Mount& operator=(Asibfm700Mount&&) = default;
+
+    Asibfm700Mount(const Asibfm700Mount&) = delete;
+    Asibfm700Mount& operator=(const Asibfm700Mount&) = delete;
+
+    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&);
 };
 
-class Asibfm700Mount1 : public mcc::ccte::erfa::MccCCTE_ERFA,
+
-                        public mcc::MccDefaultPCM<asibfm700MountType>,
+/*
+class Asibfm700Mount : public Asibfm700CCTE,
+                       public Asibfm700PCM,
                        public mcc::MccGenericFsmMount<mcc::MccGenericMount<AsibFM700ServoController,
                                                                            mcc::MccTelemetry,
                                                                            Asibfm700PZoneContainer,
@@ -64,6 +87,14 @@ class Asibfm700Mount1 : public mcc::ccte::erfa::MccCCTE_ERFA,
                                                                            mcc::MccSimpleTrackingModel,
                                                                            Asibfm700Logger>>
 {
+    typedef mcc::MccGenericMount<AsibFM700ServoController,
+                                 mcc::MccTelemetry,
+                                 Asibfm700PZoneContainer,
+                                 mcc::MccSimpleSlewingModel,
+                                 mcc::MccSimpleTrackingModel,
+                                 Asibfm700Logger>
+        gm_class_t;
+
     typedef mcc::MccGenericFsmMount<mcc::MccGenericMount<AsibFM700ServoController,
                                                          mcc::MccTelemetry,
                                                          Asibfm700PZoneContainer,
@@ -72,13 +103,52 @@ class Asibfm700Mount1 : public mcc::ccte::erfa::MccCCTE_ERFA,
                                                          Asibfm700Logger>>
         base_gm_class_t;
 
+protected:
+    struct Asibfm700ErrorState : base_gm_class_t::MccGenericFsmMountBaseState {
+        static constexpr std::string_view ID{"ASIBFM700-MOUNT-ERROR-STATE"};
+
+        // void exit(MccGenericFsmMountErrorEvent& event)
+        // {
+        //     event.mount()->logWarn("The mount already in error state!");
+        // }
+
+        void enter(MccGenericFsmMountErrorEvent& event)
+        {
+            enterLog(event);
+
+            // event.mount()->logWarn("The mount already in error state!");
+            auto err = event.eventData();
+            event.mount()->logError("An error occured: {} [{} {}]", err.message(), err.value(), err.category().name());
+        }
+
+        void exit(mcc::fsm::traits::fsm_event_c auto& event)
+        {
+            exitLog(event);
+        }
+
+        void enter(mcc::fsm::traits::fsm_event_c auto& event)
+        {
+            enterLog(event);
+
+            // ...
+        }
+
+        using transition_t = mcc::fsm::fsm_transition_table_t<
+            std::pair<MccGenericFsmMountErrorEvent, Asibfm700ErrorState>,
+            std::pair<MccGenericFsmMountInitEvent, MccGenericFsmMountInitState<Asibfm700ErrorState>>,
+            std::pair<MccGenericFsmMountIdleEvent, MccGenericFsmMountIdleState<Asibfm700ErrorState>>>;
+    };
+
+
+    typedef base_gm_class_t::MccGenericFsmMountStartState<Asibfm700ErrorState> Asibfm700StartState;
+
 public:
     using base_gm_class_t::error_t;
 
-    using mcc::ccte::erfa::MccCCTE_ERFA::setStateERFA;
+    using Asibfm700CCTE::setStateERFA;
-    using mcc::ccte::erfa::MccCCTE_ERFA::updateBulletinA;
+    using Asibfm700CCTE::updateBulletinA;
-    using mcc::ccte::erfa::MccCCTE_ERFA::updateLeapSeconds;
+    using Asibfm700CCTE::updateLeapSeconds;
-    using mcc::ccte::erfa::MccCCTE_ERFA::updateMeteoERFA;
+    using Asibfm700CCTE::updateMeteoERFA;
 
     using Asibfm700Logger::logCritical;
     using Asibfm700Logger::logDebug;
@@ -86,17 +156,34 @@ public:
     using Asibfm700Logger::logInfo;
     using Asibfm700Logger::logWarn;
 
-    Asibfm700Mount1(Asibfm700MountConfig const& config,
+    // using Asibfm700PZoneContainer::addPZone;
-                    std::shared_ptr<spdlog::logger> logger,
-                    const auto& pattern_range = mcc::utils::MccSpdlogLogger::LOGGER_DEFAULT_FORMAT);
 
-    ~Asibfm700Mount1();
+    Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_ptr<spdlog::logger> logger);
+
+    ~Asibfm700Mount();
+
+    Asibfm700Mount(Asibfm700Mount&&) = default;
+    Asibfm700Mount& operator=(Asibfm700Mount&&) = default;
+
+    Asibfm700Mount(const Asibfm700Mount&) = delete;
+    Asibfm700Mount& operator=(const Asibfm700Mount&) = delete;
+
+    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_all_controls_c<Asibfm700Mount>, "");
 
 static_assert(mcc::mcc_generic_mount_c<Asibfm700Mount>, "");
-static_assert(mcc::mcc_generic_fsm_log_mount_c<Asibfm700Mount>, "");
 
 }  // namespace asibfm700

asibfm700/asibfm700_netserver.cpp

@@ -0,0 +1,59 @@
+#include "asibfm700_netserver.h"
+
+
+namespace asibfm700
+{
+
+Asibfm700MountNetServer::Asibfm700MountNetServer(asio::io_context& ctx,
+                                                 Asibfm700Mount& mount,
+                                                 std::shared_ptr<spdlog::logger> logger)
+    : base_t(ctx, mount, std::move(logger), Asibfm700Logger::LOGGER_DEFAULT_FORMAT)
+{
+    addMarkToPatternIdx("[ASIB-NETSERVER]");
+
+    // to avoid possible compiler optimization (one needs to catch 'mount' strictly by reference)
+    auto* mount_ptr = &mount;
+
+    base_t::_handleMessageFunc = [mount_ptr, this](std::string_view command) {
+        // using mount_error_t = typename Asibfm700Mount::error_t;
+        std::error_code err{};
+
+        Asibfm700NetMessage input_msg;
+        using output_msg_t = Asibfm700NetMessage<handle_message_func_result_t>;
+        output_msg_t output_msg;
+
+        auto nn = std::this_thread::get_id();
+
+        auto ec = parseMessage(command, input_msg);
+
+        if (ec) {
+            output_msg.construct(mcc::network::MCC_COMMPROTO_KEYWORD_SERVER_ERROR_STR, ec);
+        } else {
+            if (input_msg.withKey(ASIBFM700_COMMPROTO_KEYWORD_METEO_STR)) {
+                // what is operation type (set or get)?
+                if (input_msg.paramSize()) {  // set operation
+                    auto vp = input_msg.paramValue<Asibfm700CCTE::meteo_t>(0);
+                    if (vp) {
+                        mount_ptr->updateMeteoERFA(vp.value());
+
+                        output_msg.construct(mcc::network::MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, input_msg.byteRepr());
+                    } else {
+                        output_msg.construct(mcc::network::MCC_COMMPROTO_KEYWORD_SERVER_ERROR_STR, vp.error());
+                    }
+                } else {  // get operation
+                    output_msg.construct(mcc::network::MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR,
+                                         ASIBFM700_COMMPROTO_KEYWORD_METEO_STR, mount_ptr->getStateERFA().meteo);
+                }
+            } else {
+                // basic network message processing
+                output_msg = base_t::handleMessage<output_msg_t>(input_msg, mount_ptr);
+            }
+        }
+
+        return output_msg.template byteRepr<typename base_t::handle_message_func_result_t>();
+    };
+}
+
+Asibfm700MountNetServer::~Asibfm700MountNetServer() {}
+
+}  // namespace asibfm700

asibfm700/asibfm700_netserver.h

@@ -0,0 +1,146 @@
+#pragma once
+
+#include <mcc_netserver.h>
+#include <mcc_netserver_proto.h>
+
+#include "asibfm700_common.h"
+#include "asibfm700_mount.h"
+
+namespace asibfm700
+{
+
+namespace details
+{
+
+template <typename VT, size_t N1, size_t N2>
+static constexpr auto merge_arrays(const std::array<VT, N1>& arr1, const std::array<VT, N2>& arr2)
+{
+    constexpr auto N = N1 + N2;
+    std::array<VT, N> res;
+
+    for (size_t i = 0; i < N1; ++i) {
+        res[i] = arr1[i];
+    }
+
+    for (size_t i = N1; i < N; ++i) {
+        res[i] = arr2[i - N1];
+    }
+
+    return res;
+}
+
+}  // namespace details
+
+constexpr static std::string_view ASIBFM700_COMMPROTO_KEYWORD_METEO_STR{"METEO"};
+
+struct Asibfm700NetMessageValidKeywords {
+    static constexpr std::array NETMSG_VALID_KEYWORDS =
+        details::merge_arrays(mcc::network::MccNetMessageValidKeywords::NETMSG_VALID_KEYWORDS,
+                              std::array{ASIBFM700_COMMPROTO_KEYWORD_METEO_STR});
+
+    // hashes of valid keywords
+    static constexpr std::array NETMSG_VALID_KEYWORD_HASHES = []<size_t... Is>(std::index_sequence<Is...>) {
+        return std::array{mcc::utils::FNV1aHash(NETMSG_VALID_KEYWORDS[Is])...};
+    }(std::make_index_sequence<NETMSG_VALID_KEYWORDS.size()>());
+
+    constexpr static const size_t* isKeywordValid(std::string_view key)
+    {
+        const auto hash = mcc::utils::FNV1aHash(key);
+
+        for (auto const& h : NETMSG_VALID_KEYWORD_HASHES) {
+            if (h == hash) {
+                return &h;
+            }
+        }
+
+        return nullptr;
+    }
+};
+
+template <mcc::traits::mcc_char_range BYTEREPR_T = std::string_view>
+class Asibfm700NetMessage : public mcc::network::MccNetMessage<BYTEREPR_T, Asibfm700NetMessageValidKeywords>
+{
+protected:
+    using base_t = mcc::network::MccNetMessage<BYTEREPR_T, Asibfm700NetMessageValidKeywords>;
+
+    class serializer_t : public base_t::DefaultSerializer
+    {
+    public:
+        template <typename T, mcc::traits::mcc_output_char_range OR>
+        void operator()(const T& value, OR& bytes)
+        {
+            if constexpr (std::same_as<T, Asibfm700CCTE::meteo_t>) {
+                // serialize just like a vector
+                std::vector<double> meteo{value.temperature, value.humidity, value.pressure};
+                base_t::DefaultSerializer::operator()(meteo, bytes);
+            } else {
+                base_t::DefaultSerializer::operator()(value, bytes);
+            }
+        }
+    } _serializer;
+
+
+    class deserializer_t : public base_t::DefaultDeserializer
+    {
+    public:
+        template <mcc::traits::mcc_input_char_range IR, typename VT>
+        std::error_code operator()(IR&& bytes, VT& value) const
+        {
+            if constexpr (std::same_as<VT, Asibfm700CCTE::meteo_t>) {
+                // deserialize just like a vector
+
+                std::vector<double> v;
+                auto ec = base_t::DefaultDeserializer::operator()(std::forward<IR>(bytes), v);
+                if (ec) {
+                    return ec;
+                }
+
+                if (v.size() < 3) {
+                    return std::make_error_code(std::errc::invalid_argument);
+                }
+
+                value.temperature = v[0];
+                value.humidity = v[1];
+                value.pressure = v[2];
+
+                return {};
+            } else {
+                return base_t::DefaultDeserializer::operator()(std::forward<IR>(bytes), value);
+            }
+        }
+    } _deserializer;
+
+
+
+public:
+    using base_t::base_t;
+
+    template <typename T>
+    std::expected<T, std::error_code> paramValue(size_t idx) const
+    {
+        return base_t::template paramValue<T>(idx, _deserializer);
+    }
+
+
+
+    template <mcc::traits::mcc_input_char_range KT, typename... PTs>
+    std::error_code construct(KT&& key, PTs&&... params)
+        requires mcc::traits::mcc_output_char_range<BYTEREPR_T>
+    {
+        return base_t::construct(_serializer, std::forward<KT>(key), std::forward<PTs>(params)...);
+    }
+};
+
+
+
+class Asibfm700MountNetServer : public mcc::network::MccGenericMountNetworkServer<Asibfm700Logger>
+{
+    using base_t = mcc::network::MccGenericMountNetworkServer<Asibfm700Logger>;
+
+public:
+    Asibfm700MountNetServer(asio::io_context& ctx, Asibfm700Mount& mount, std::shared_ptr<spdlog::logger> logger);
+
+    ~Asibfm700MountNetServer();
+};
+
+}  // namespace asibfm700

asibfm700/asibfm700_netserver_endpoint.h

@@ -0,0 +1,507 @@
+#pragma once
+
+#include <algorithm>
+#include <array>
+#include <charconv>
+#include <cstdint>
+#include <filesystem>
+#include <ranges>
+#include <string_view>
+
+#include "mcc_traits.h"
+
+namespace asibfm700
+{
+
+namespace utils
+{
+
+static constexpr bool charSubrangeCompare(const mcc::traits::mcc_char_view auto& what,
+                                          const mcc::traits::mcc_char_view auto& where,
+                                          bool case_insensitive = false)
+{
+    if (std::ranges::size(what) == std::ranges::size(where)) {
+        if (case_insensitive) {
+            auto f = std::ranges::search(where,
+                                         std::views::transform(what, [](const char& ch) { return std::tolower(ch); }));
+            return !f.empty();
+        } else {
+            auto f = std::ranges::search(where, what);
+            return !f.empty();
+        }
+    }
+
+    return false;
+}
+
+}  // namespace utils
+
+/*
+ *  Very simple various protocols endpoint parser and holder class
+ *
+ *  endpoint:  proto_mark://host_name:port_num/path
+ *             where "part" is optional for all non-local protocol kinds;
+ *
+ *             for local kind of protocols the endpoint must be given as:
+ *               local://stream/PATH
+ *               local://seqpacket/PATH
+ *               local://serial/PATH
+ *             where 'stream' and 'seqpacket' "host_name"-field marks the
+ *             stream-type and seqpacket-type UNIX domain sockets protocols;
+ *             'serial' marks a serial (RS232/485) protocol.
+ *             here, possible "port_num" field is allowed but ignored.
+ *
+ *             NOTE: "proto_mark" and "host_name" (for local kind) fields are parsed in case-insensitive manner!
+ *
+ *             EXAMPLES: tcp://192.168.70.130:3131
+ *                       local://serial/dev/ttyS1
+ *                       local://seqpacket/tmp/BM70_SERVER_SOCK
+ *
+ *
+ */
+
+
+class Asibfm700NetserverEndpoint
+{
+public:
+    static constexpr std::string_view protoHostDelim = "://";
+    static constexpr std::string_view hostPortDelim = ":";
+    static constexpr std::string_view portPathDelim = "/";
+
+    enum proto_id_t : uint8_t {
+        PROTO_ID_LOCAL,
+        PROTO_ID_SEQLOCAL,
+        PROTO_ID_SERLOCAL,
+        PROTO_ID_TCP,
+        PROTO_ID_TLS,
+        PROTO_ID_UNKNOWN
+    };
+
+    static constexpr std::string_view protoMarkLocal{"local"};  // UNIX domain
+    static constexpr std::string_view protoMarkTCP{"tcp"};      // TCP
+    static constexpr std::string_view protoMarkTLS{"tls"};      // TLS
+
+    static constexpr std::array validProtoMarks{protoMarkLocal, protoMarkTCP, protoMarkTLS};
+
+
+    static constexpr std::string_view localProtoTypeStream{"stream"};        // UNIX domain stream
+    static constexpr std::string_view localProtoTypeSeqpacket{"seqpacket"};  // UNIX domain seqpacket
+    static constexpr std::string_view localProtoTypeSerial{"serial"};        // serial (RS232/485)
+
+    static constexpr std::array validLocalProtoTypes{localProtoTypeStream, localProtoTypeSeqpacket,
+                                                     localProtoTypeSerial};
+
+
+    template <mcc::traits::mcc_input_char_range R>
+    Asibfm700NetserverEndpoint(const R& ept)
+    {
+        fromRange(ept);
+    }
+
+    Asibfm700NetserverEndpoint(const Asibfm700NetserverEndpoint& other)
+    {
+        copyInst(other);
+    }
+
+    Asibfm700NetserverEndpoint(Asibfm700NetserverEndpoint&& other)
+    {
+        moveInst(std::move(other));
+    }
+
+    virtual ~Asibfm700NetserverEndpoint() = default;
+
+
+    Asibfm700NetserverEndpoint& operator=(const Asibfm700NetserverEndpoint& other)
+    {
+        copyInst(other);
+
+        return *this;
+    }
+
+
+    Asibfm700NetserverEndpoint& operator=(Asibfm700NetserverEndpoint&& other)
+    {
+        moveInst(std::move(other));
+
+        return *this;
+    }
+
+    template <mcc::traits::mcc_input_char_range R>
+        requires std::ranges::contiguous_range<R>
+    bool fromRange(const R& ept)
+    {
+        _isValid = false;
+
+        // at least 'ws://a' (proto, proto-host delimiter and at least a single character of hostname)
+        if (std::ranges::size(ept) < 6) {
+            return _isValid;
+        }
+
+        if constexpr (std::is_array_v<std::remove_cvref_t<R>>) {
+            _endpoint = ept;
+        } else {
+            _endpoint.clear();
+            std::ranges::copy(ept, std::back_inserter(_endpoint));
+        }
+
+        auto found = std::ranges::search(_endpoint, protoHostDelim);
+        if (found.empty()) {
+            return _isValid;
+        }
+
+
+        ssize_t idx;
+        if ((idx = checkProtoMark(std::string_view{_endpoint.begin(), found.begin()})) < 0) {
+            return _isValid;
+        }
+
+        _proto = validProtoMarks[idx];
+
+        _host = std::string_view{found.end(), _endpoint.end()};
+
+        auto f1 = std::ranges::search(_host, portPathDelim);
+        // std::string_view port_sv;
+        if (f1.empty() && isLocal()) {  // no path, but it is mandatory for 'local'!
+            return _isValid;
+        } else {
+            _host = std::string_view(_host.begin(), f1.begin());
+
+            _path = std::string_view(f1.end(), &*_endpoint.end());
+
+            f1 = std::ranges::search(_host, hostPortDelim);
+            if (f1.empty() && !isLocal()) {  // no port, but it is mandatory for non-local!
+                return _isValid;
+            }
+
+            _portView = std::string_view(f1.end(), _host.end());
+            if (_portView.size()) {
+                _host = std::string_view(_host.begin(), f1.begin());
+
+                if (!isLocal()) {
+                    // convert port string to int
+                    auto end_ptr = _portView.data() + _portView.size();
+
+                    auto [ptr, ec] = std::from_chars(_portView.data(), end_ptr, _port);
+                    if (ec != std::errc() || ptr != end_ptr) {
+                        return _isValid;
+                    }
+                } else {  // ignore for local
+                    _port = -1;
+                }
+            } else {
+                _port = -1;
+            }
+
+            if (isLocal()) {  // check for special values
+                idx = 0;
+                if (std::ranges::any_of(validLocalProtoTypes, [&idx, this](const auto& el) {
+                        bool ok = utils::charSubrangeCompare(_host, el, true);
+                        if (!ok) {
+                            ++idx;
+                        }
+                        return ok;
+                    })) {
+                    _host = validLocalProtoTypes[idx];
+                } else {
+                    return _isValid;
+                }
+            }
+        }
+
+        _isValid = true;
+
+        return _isValid;
+    }
+
+
+    bool isValid() const
+    {
+        return _isValid;
+    }
+
+
+    auto endpoint() const
+    {
+        return _endpoint;
+    }
+
+    template <mcc::traits::mcc_view_or_output_char_range R>
+    R proto() const
+    {
+        return part<R>(PROTO_PART);
+    }
+
+    std::string_view proto() const
+    {
+        return proto<std::string_view>();
+    }
+
+    template <mcc::traits::mcc_view_or_output_char_range R>
+    R host() const
+    {
+        return part<R>(HOST_PART);
+    }
+
+    std::string_view host() const
+    {
+        return host<std::string_view>();
+    }
+
+    int port() const
+    {
+        return _port;
+    }
+
+    template <mcc::traits::mcc_view_or_output_char_range R>
+    R portView() const
+    {
+        return part<R>(PORT_PART);
+    }
+
+    std::string_view portView() const
+    {
+        return portView<std::string_view>();
+    }
+
+    template <mcc::traits::mcc_output_char_range R, mcc::traits::mcc_input_char_range RR = std::string_view>
+    R path(RR&& root_path) const
+    {
+        if (_path.empty()) {
+            if constexpr (mcc::traits::mcc_output_char_range<R>) {
+                R res;
+                std::ranges::copy(std::forward<RR>(root_path), std::back_inserter(res));
+
+                return res;
+            } else {  // can't add root path!!!
+                return part<R>(PATH_PART);
+            }
+        }
+
+        auto N = std::ranges::distance(root_path.begin(), root_path.end());
+
+        if (N) {
+            R res;
+            std::filesystem::path pt(root_path.begin(), root_path.end());
+
+            if (isLocal() && _path[0] == '\0') {
+                std::ranges::copy(std::string_view(" "), std::back_inserter(res));
+                pt /= _path.substr(1);
+                std::ranges::copy(pt.string(), std::back_inserter(res));
+                *res.begin() = '\0';
+            } else {
+                pt /= _path;
+                std::ranges::copy(pt.string(), std::back_inserter(res));
+            }
+
+            return res;
+        } else {
+            return part<R>(PATH_PART);
+        }
+    }
+
+    template <mcc::traits::mcc_input_char_range RR = std::string_view>
+    std::string path(RR&& root_path) const
+    {
+        return path<std::string, RR>(std::forward<RR>(root_path));
+    }
+
+    template <mcc::traits::mcc_view_or_output_char_range R>
+    R path() const
+    {
+        return part<R>(PATH_PART);
+    }
+
+    std::string_view path() const
+    {
+        return path<std::string_view>();
+    }
+
+
+    bool isLocal() const
+    {
+        return proto() == protoMarkLocal;
+    }
+
+    bool isLocalStream() const
+    {
+        return host() == localProtoTypeStream;
+    }
+
+    bool isLocalSerial() const
+    {
+        return host() == localProtoTypeSerial;
+    }
+
+    bool isLocalSeqpacket() const
+    {
+        return host() == localProtoTypeSeqpacket;
+    }
+
+
+    bool isTCP() const
+    {
+        return proto() == protoMarkTCP;
+    }
+
+    bool isTLS() const
+    {
+        return proto() == protoMarkTLS;
+    }
+
+
+    // add '\0' char (or replace special-meaning char/char-sequence) to construct UNIX abstract namespace
+    // endpoint path
+    template <typename T = std::nullptr_t>
+    Asibfm700NetserverEndpoint& makeAbstract(const T& mark = nullptr)
+        requires(mcc::traits::mcc_input_char_range<T> || std::same_as<std::remove_cv_t<T>, char> ||
+                 std::is_null_pointer_v<std::remove_cv_t<T>>)
+    {
+        if (!(isLocalStream() || isLocalSeqpacket())) {  // only local proto is valid!
+            return *this;
+        }
+
+        if constexpr (std::is_null_pointer_v<T>) {  // just insert '\0'
+            auto it = _endpoint.insert(std::string::const_iterator(_path.begin()), '\0');
+            _path = std::string_view(it, _endpoint.end());
+        } else if constexpr (std::same_as<std::remove_cv_t<T>, char>) {  // replace a character (mark)
+            auto pos = std::distance(_endpoint.cbegin(), std::string::const_iterator(_path.begin()));
+            if (_endpoint[pos] == mark) {
+                _endpoint[pos] = '\0';
+            }
+        } else {  // replace a character range (mark)
+            if (std::ranges::equal(_path | std::views::take(std::ranges::size(mark), mark))) {
+                auto pos = std::distance(_endpoint.cbegin(), std::string::const_iterator(_path.begin()));
+                _endpoint.replace(pos, std::ranges::size(mark), 1, '\0');
+                _path = std::string_view(_endpoint.begin() + pos, _endpoint.end());
+            }
+        }
+
+        return *this;
+    }
+
+protected:
+    std::string _endpoint;
+    std::string_view _proto, _host, _path, _portView;
+    int _port;
+    bool _isValid;
+
+
+    virtual ssize_t checkProtoMark(std::string_view proto_mark)
+    {
+        ssize_t idx = 0;
+
+        // case-insensitive look-up
+        bool found =
+            std::ranges::any_of(Asibfm700NetserverEndpoint::validProtoMarks, [&idx, &proto_mark](const auto& el) {
+                bool ok = utils::charSubrangeCompare(proto_mark, el, true);
+
+                if (!ok) {
+                    ++idx;
+                }
+
+                return ok;
+            });
+
+        return found ? idx : -1;
+    }
+
+    enum EndpointPart { PROTO_PART, HOST_PART, PATH_PART, PORT_PART };
+
+    template <mcc::traits::mcc_view_or_output_char_range R>
+    R part(EndpointPart what) const
+    {
+        R res;
+
+        // if (!_isValid) {
+        //     return res;
+        // }
+
+        auto part = _proto;
+
+        switch (what) {
+            case PROTO_PART:
+                part = _proto;
+                break;
+            case HOST_PART:
+                part = _host;
+                break;
+            case PATH_PART:
+                part = _path;
+                break;
+            case PORT_PART:
+                part = _portView;
+                break;
+            default:
+                break;
+        }
+
+        if constexpr (std::ranges::view<R>) {
+            return {part.begin(), part.end()};
+        } else {
+            std::ranges::copy(part, std::back_inserter(res));
+        }
+
+        return res;
+    }
+
+    void copyInst(const Asibfm700NetserverEndpoint& other)
+    {
+        if (&other != this) {
+            if (other._isValid) {
+                _isValid = other._isValid;
+                _endpoint = other._endpoint;
+                _proto = other._proto;
+
+                std::iterator_traits<const char*>::difference_type idx;
+                if (other.isLocal()) {  // for 'local' host is one of static class constants
+                    _host = other._host;
+                } else {
+                    idx = std::distance(other._endpoint.c_str(), other._host.data());
+                    _host = std::string_view(_endpoint.c_str() + idx, other._host.size());
+                }
+
+                idx = std::distance(other._endpoint.c_str(), other._path.data());
+                _path = std::string_view(_endpoint.c_str() + idx, other._path.size());
+
+                idx = std::distance(other._endpoint.c_str(), other._portView.data());
+                _portView = std::string_view(_endpoint.c_str() + idx, other._portView.size());
+
+                _port = other._port;
+            } else {
+                _isValid = false;
+                _endpoint = std::string();
+                _proto = std::string_view();
+                _host = std::string_view();
+                _path = std::string_view();
+                _portView = std::string_view();
+                _port = -1;
+            }
+        }
+    }
+
+
+    void moveInst(Asibfm700NetserverEndpoint&& other)
+    {
+        if (&other != this) {
+            if (other._isValid) {
+                _isValid = std::move(other._isValid);
+                _endpoint = std::move(other._endpoint);
+                _proto = other._proto;
+                _host = std::move(other._host);
+                _path = std::move(other._path);
+                _port = std::move(other._port);
+                _portView = std::move(other._portView);
+            } else {
+                _isValid = false;
+                _endpoint = std::string();
+                _proto = std::string_view();
+                _host = std::string_view();
+                _path = std::string_view();
+                _portView = std::string_view();
+                _port = -1;
+            }
+        }
+    }
+};
+
+}  // namespace asibfm700

asibfm700/asibfm700_netserver_main.cpp

@@ -0,0 +1,172 @@
+#include <spdlog/sinks/basic_file_sink.h>
+#include <spdlog/sinks/stdout_color_sinks.h>
+
+#include <cxxopts.hpp>
+#include <iostream>
+
+#include <asio/thread_pool.hpp>
+
+#include <mcc_netserver_endpoint.h>
+#include "asibfm700_netserver.h"
+
+
+int main(int argc, char* argv[])
+{
+    /*  COMMANDLINE OPTS  */
+    cxxopts::Options options(argv[0], "Astrosib (c) BM700 mount server\n");
+
+    options.allow_unrecognised_options();
+
+    options.add_options()("h,help", "Print usage");
+
+    options.add_options()("D,daemon", "Demonize server");
+
+    options.add_options()("l,log", "Log filename (use stdout and stderr for standard output and error stream)",
+                          cxxopts::value<std::string>()->default_value(""));
+
+    options.add_options()("level", "Log level (see SPDLOG package description for valid values)",
+                          cxxopts::value<std::string>()->default_value("info"));
+
+    options.add_options()("c,config", "Mount configuration filename (by default use of hardcoded one)",
+                          cxxopts::value<std::string>()->default_value(""));
+
+    options.add_options()("dump", "Dump mount default configuration to file and exit",
+                          cxxopts::value<std::string>()->default_value(""));
+
+    options.add_options()(
+        "endpoints",
+        "endpoints server will be listening for. For 'local' endpoint the '@' symbol at the beginning of the path "
+        "means "
+        "abstract namespace socket.",
+        cxxopts::value<std::vector<std::string>>()->default_value("local://stream/@FM700_SERVER"));
+
+
+    options.positional_help("[endpoint0] [enpoint1] ... [endpointN]");
+    options.parse_positional({"endpoints"});
+
+    asio::io_context ctx(8);
+    // asio::io_context ctx;
+
+
+    try {
+        auto opt_result = options.parse(argc, argv);
+
+        if (opt_result["help"].count()) {
+            std::cout << options.help();
+            std::cout << "\n";
+            std::cout << "[endpoint0] [enpoint1] ... [endpointN] - endpoints server will be listening for. For 'local' "
+                         "endpoint the '@' symbol at the beginning of the path "
+                         "means abstract namespace socket (e.g. local://stream/@ASIBFM700_SERVER)."
+                      << "\n";
+            return 0;
+        }
+
+        asibfm700::Asibfm700MountConfig mount_cfg;
+
+        std::string fname = opt_result["dump"].as<std::string>();
+        if (fname.size()) {
+            bool ok = mount_cfg.dumpDefaultsToFile(fname);
+            if (!ok) {
+                return 255;
+            }
+
+            return 0;
+        } else {
+            // just ignore
+        }
+
+        auto logname = opt_result["log"].as<std::string>();
+
+        auto logger = [&logname]() {
+            if (logname == "stdout") {
+                return spdlog::stdout_color_mt("console");
+            } else if (logname == "stderr") {
+                return spdlog::stderr_color_mt("stderr");
+            } else if (logname == "") {
+                return spdlog::null_logger_mt("FM700_SERVER_NULL_LOGGER");
+            } else {
+                return spdlog::basic_logger_mt(logname, logname);
+            }
+        }();
+
+        std::string level_str = opt_result["level"].as<std::string>();
+        std::ranges::transform(level_str, level_str.begin(), [](const char& c) { return std::tolower(c); });
+
+        auto log_level = spdlog::level::from_str(level_str);
+        logger->set_level(log_level);
+        logger->flush_on(spdlog::level::trace);
+
+
+        logger->set_pattern("%v");
+        int w = 90;
+        // const std::string fmt = std::format("{{:*^{}}}", w);
+        constexpr std::string_view fmt = "{:*^90}";
+        logger->info("\n\n\n");
+        logger->info(fmt, "");
+        logger->info(fmt, " ASTROSIB FM700 MOUNT SERVER ");
+        auto zt = std::chrono::zoned_time(std::chrono::current_zone(),
+                                          std::chrono::floor<std::chrono::seconds>(std::chrono::system_clock::now()));
+        logger->info(fmt, std::format(" {} ", zt));
+        logger->info(fmt, "");
+        logger->info("\n");
+
+
+        logger->set_pattern("[%Y-%m-%d %T.%e][%l]: %v");
+        std::string mount_cfg_fname = opt_result["config"].as<std::string>();
+        if (mount_cfg_fname.size()) {
+            logger->info("Try to load mount configuration from file: {}", mount_cfg_fname);
+            auto err = mount_cfg.load(mount_cfg_fname);
+            if (err) {
+                logger->error("Cannot load mount configuration (err = {})! Use of defaults!", err.message());
+            } else {
+                logger->info("Mount configuration was loaded successfully!");
+            }
+            logger->info("\n");
+        }
+
+        asibfm700::Asibfm700Mount mount(mount_cfg, logger);
+        asibfm700::Asibfm700MountNetServer server(ctx, mount, logger);
+
+        server.setupSignals();
+
+        if (opt_result["daemon"].count()) {
+            server.daemonize();
+        }
+
+        // mcc::MccServerEndpoint epn(std::string_view("local://seqpacket/tmp/BM700_SERVER_SOCK"));
+        // mcc::MccServerEndpoint epn(std::string_view("local://stream/tmp/BM700_SERVER_SOCK"));
+        // mcc::MccServerEndpoint epn(std::string_view("local://stream/@tmp/BM700_SERVER_SOCK"));
+        // mcc::MccServerEndpoint epn(std::string_view("tcp://localhost:12345"));
+
+        // asio::co_spawn(ctx, server.listen(epn), asio::detached);
+
+        auto epnts = opt_result["endpoints"].as<std::vector<std::string>>();
+
+        for (auto& epnt : epnts) {
+            mcc::network::MccNetServerEndpoint ep(epnt);
+
+            if (ep.isValid()) {
+                ep.makeAbstract('@');
+
+                asio::co_spawn(ctx, server.listen(ep), asio::detached);
+            } else {
+                std::cerr << "Unrecognized endpoint: '" << epnt << "'! Ignore!\n";
+            }
+        }
+
+
+        // asio::thread_pool pool(5);
+
+        // asio::post(pool, [&ctx]() { ctx.run(); });
+
+        // pool.join();
+        ctx.run();
+
+    } catch (const std::system_error& ex) {
+        std::cerr << "An error occured: " << ex.code().message() << "\n";
+        return ex.code().value();
+    } catch (...) {
+        std::cerr << "Unhandled exceptions!\n";
+        return 255;
+    }
+}

asibfm700/asibfm700_servocontroller.cpp

@@ -3,6 +3,47 @@
 namespace asibfm700
 {
 
+const char* AsibFM700ServoControllerErrorCategory::name() const noexcept
+{
+    return "ASIBFM700-SERVOCONTROLLER-ERROR-CATEGORY";
+}
+
+std::string AsibFM700ServoControllerErrorCategory::message(int ec) const
+{
+    AsibFM700ServoControllerErrorCode err = static_cast<AsibFM700ServoControllerErrorCode>(ec);
+
+    switch (err) {
+        case AsibFM700ServoControllerErrorCode::ERROR_OK:
+            return "OK";
+        case AsibFM700ServoControllerErrorCode::ERROR_FATAL:
+            return "LibSidServo fatal error";
+        case AsibFM700ServoControllerErrorCode::ERROR_BADFORMAT:
+            return "LibSidServo wrong arguments of function";
+        case AsibFM700ServoControllerErrorCode::ERROR_ENCODERDEV:
+            return "LibSidServo encoder device error or can't open";
+        case AsibFM700ServoControllerErrorCode::ERROR_MOUNTDEV:
+            return "LibSidServo mount device error or can't open";
+        case AsibFM700ServoControllerErrorCode::ERROR_FAILED:
+            return "LibSidServo failed to run command";
+        case AsibFM700ServoControllerErrorCode::ERROR_NULLPTR:
+            return "nullptr argument";
+        case AsibFM700ServoControllerErrorCode::ERROR_POLLING_TIMEOUT:
+            return "polling timeout";
+
+        default:
+            return "UNKNOWN";
+    }
+}
+
+
+const AsibFM700ServoControllerErrorCategory& AsibFM700ServoControllerErrorCategory::get()
+{
+    static const AsibFM700ServoControllerErrorCategory constInst;
+    return constInst;
+}
+
+
+
 AsibFM700ServoController::AsibFM700ServoController() : _hardwareConfig(), _setStateMutex(new std::mutex) {}
 
 AsibFM700ServoController::AsibFM700ServoController(hardware_config_t config) : AsibFM700ServoController()
@@ -16,6 +57,9 @@ AsibFM700ServoController::AsibFM700ServoController(hardware_config_t config) : A
 }
 
 
+AsibFM700ServoController::~AsibFM700ServoController() {}
+
+
 constexpr std::string_view AsibFM700ServoController::hardwareName() const
 {
     return "Sidereal-ServoControllerII";
@@ -62,21 +106,71 @@ AsibFM700ServoController::error_t AsibFM700ServoController::hardwareInit()
 
 AsibFM700ServoController::error_t AsibFM700ServoController::hardwareSetState(hardware_state_t state)
 {
+    std::lock_guard lock{*_setStateMutex};
+
+    if (state.moving_state == hardware_moving_state_t::HW_MOVE_STOPPED) {  // stop!
+        error_t err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.stop());
+        if (err) {
+            return err;
+        }
+
+        hardware_state_t hw_state;
+
+        auto start_tp = std::chrono::steady_clock::now();
+
+        // poll hardware till stopped-state detected ...
+        while (true) {
+            err = hardwareGetState(&hw_state);
+            if (err) {
+                return err;
+            }
+
+            if (hw_state.moving_state == hardware_moving_state_t::HW_MOVE_STOPPED) {
+                break;
+            }
+
+            if ((std::chrono::steady_clock::now() - start_tp) > _hardwareConfig.pollingTimeout) {
+                err = AsibFM700ServoControllerErrorCode::ERROR_POLLING_TIMEOUT;
+                break;
+            }
+
+            std::this_thread::sleep_for(_hardwareConfig.pollingInterval);
+        }
+
+        return err;
+    }
+
+    // static thread_local coordval_pair_t cvalpair{.X{0.0, 0.0}, .Y{0.0, 0.0}};
+    // static thread_local coordpair_t cpair{.X = 0.0, .Y = 0.0};
+
+    // cvalpair.X = {.val = state.Y, .t = tp};
+    // cvalpair.Y = {.val = state.X, .t = tp};
+
+    // cpair.X = state.tagY;
+    // cpair.Y = state.tagX;
+
     // time point from sidservo library is 'double' number represented UNIXTIME with
     // microseconds/nanoseconds precision
-    double tp = std::chrono::duration<double>(state.time_point.time_since_epoch()).count();
+    // double tp = std::chrono::duration<double>(state.time_point.time_since_epoch()).count();
 
-    std::lock_guard lock{*_setStateMutex};
+
+    // 2025-12-04: coordval_pair_t.X.t is now of type struct timespec
+    auto ns = std::chrono::duration_cast<std::chrono::nanoseconds>(state.time_point.time_since_epoch());
+    auto secs = std::chrono::floor<std::chrono::seconds>(ns);
+    ns -= secs;
+    std::timespec tp{.tv_sec = secs.count(), .tv_nsec = ns.count()};
 
     // according to"SiTech protocol notes" X is DEC-axis and Y is HA-axis
     coordval_pair_t cvalpair{.X{.val = state.Y, .t = tp}, .Y{.val = state.X, .t = tp}};
-    coordpair_t cpair{.X = state.Y, .Y = state.X};
+    // coordpair_t cpair{.X = state.endptY, .Y = state.endptX};
+
 
     // correctTo is asynchronous function!!!
     //
     // according to the Eddy's implementation of the LibSidServo library it is safe
     // to pass the addresses of 'cvalpair' and 'cpair' automatic variables
-    auto err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.correctTo(&cvalpair, &cpair));
+    // auto err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.correctTo(&cvalpair, &cpair));
+    auto err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.correctTo(&cvalpair));
 
     return err;
 }
@@ -96,10 +190,24 @@ AsibFM700ServoController::error_t AsibFM700ServoController::hardwareGetState(har
         // time point from sidservo library is 'double' number represented UNIXTIME with
         // microseconds/nanoseconds precision (must be equal for encXposition and encYposition)
 
-        using secs_t = std::chrono::duration<double>;
+        // using secs_t = std::chrono::duration<double>;
 
-        secs_t secs = secs_t{mdata.encXposition.t};
+        // secs_t secs = secs_t{mdata.encXposition.t};
-        state->time_point = tp_t{std::chrono::duration_cast<tp_t::duration>(secs)};
+        // state->time_point = tp_t{std::chrono::duration_cast<tp_t::duration>(secs)};
+
+        // 2025-12-04: coordval_pair_t.X.t is now of type struct timespec
+        auto dr = std::chrono::duration_cast<decltype(state->time_point)::duration>(
+            std::chrono::seconds(mdata.encXposition.t.tv_sec) + std::chrono::nanoseconds(mdata.encXposition.t.tv_nsec));
+        state->time_point = decltype(state->time_point){dr};
+
+
+        // if (mcc::utils::isEqual(secs.count(), 0.0)) {  // model mode?
+        //     state->time_point = decltype(state->time_point)::clock::now();
+        // } else {
+        //     state->time_point = tp_t{std::chrono::duration_cast<tp_t::duration>(secs)};
+        // }
+        // WARNING: TEMPORARY (WAIT FOR Eddy fix its implementation of LibSidServo)!!!
+        //        state->time_point = decltype(state->time_point)::clock::now();
 
         // according to "SiTech protocol notes" X is DEC-axis and Y is HA-axis
         state->X = mdata.encYposition.val;
@@ -108,9 +216,12 @@ AsibFM700ServoController::error_t AsibFM700ServoController::hardwareGetState(har
         state->speedX = mdata.encYspeed.val;
         state->speedY = mdata.encXspeed.val;
 
-        state->stateX = mdata.Xstate;
+        state->stateX = mdata.Ystate;
-        state->stateY = mdata.Ystate;
+        state->stateY = mdata.Xstate;
 
+        if (mdata.Xstate == AXIS_ERROR || mdata.Ystate == AXIS_ERROR) {
+            state->moving_state = hardware_moving_state_t::HW_MOVE_ERROR;
+        } else {
             if (mdata.Xstate == AXIS_STOPPED) {
                 if (mdata.Ystate == AXIS_STOPPED) {
                     state->moving_state = hardware_moving_state_t::HW_MOVE_STOPPED;
@@ -120,26 +231,62 @@ AsibFM700ServoController::error_t AsibFM700ServoController::hardwareGetState(har
                     state->moving_state = hardware_moving_state_t::HW_MOVE_ADJUSTING;
                 } else if (mdata.Ystate == AXIS_GUIDING) {
                     state->moving_state = hardware_moving_state_t::HW_MOVE_GUIDING;
-            } else if (mdata.Ystate == AXIS_ERROR) {
-                state->moving_state = hardware_moving_state_t::HW_MOVE_ERROR;
                 } else {
                     state->moving_state = hardware_moving_state_t::HW_MOVE_UNKNOWN;
                 }
             } else if (mdata.Xstate == AXIS_SLEWING) {
                 state->moving_state = hardware_moving_state_t::HW_MOVE_SLEWING;
             } else if (mdata.Xstate == AXIS_POINTING) {
+                if (mdata.Ystate == AXIS_SLEWING) {
+                    state->moving_state = hardware_moving_state_t::HW_MOVE_SLEWING;
+                } else {
                     state->moving_state = hardware_moving_state_t::HW_MOVE_ADJUSTING;
+                }
             } else if (mdata.Xstate == AXIS_GUIDING) {
+                if (mdata.Ystate == AXIS_SLEWING) {
+                    state->moving_state = hardware_moving_state_t::HW_MOVE_SLEWING;
+                } else if (mdata.Ystate == AXIS_POINTING) {
+                    state->moving_state = hardware_moving_state_t::HW_MOVE_ADJUSTING;
+                } else {
                     state->moving_state = hardware_moving_state_t::HW_MOVE_GUIDING;
-        } else if (mdata.Xstate == AXIS_ERROR) {
+                }
-            state->moving_state = hardware_moving_state_t::HW_MOVE_ERROR;
             } else {
                 state->moving_state = hardware_moving_state_t::HW_MOVE_UNKNOWN;
             }
         }
+    }
 
     return err;
 }
 
 
+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::getHardwareConfig() const
+{
+    return _hardwareConfig;
+}
+
 }  // namespace asibfm700

asibfm700/asibfm700_servocontroller.h

@@ -25,17 +25,17 @@ enum class AsibFM700ServoControllerErrorCode : int {
 };
 
 // error category
-struct AsibFM700HardwareErrorCategory : public std::error_category {
+struct AsibFM700ServoControllerErrorCategory : public std::error_category {
     const char* name() const noexcept;
     std::string message(int ec) const;
 
-    static const AsibFM700HardwareErrorCategory& get();
+    static const AsibFM700ServoControllerErrorCategory& get();
 };
 
 
 static inline std::error_code make_error_code(AsibFM700ServoControllerErrorCode ec)
 {
-    return std::error_code(static_cast<int>(ec), AsibFM700HardwareErrorCategory::get());
+    return std::error_code(static_cast<int>(ec), AsibFM700ServoControllerErrorCategory::get());
 }
 
 }  // namespace asibfm700
@@ -78,6 +78,12 @@ public:
         axis_status_t stateX, stateY;  // Eddy's LibSidServo axis state
 
         hardware_moving_state_t moving_state;
+
+        // endpoint: a point on the trajectory of movement behind the guidance point (X,Y), taking into account
+        // the movement vector (i.e. sign of movement speed)
+        // this point is needed as Sidereal controller commands require not only moving speed but
+        // also 'target' point (point at which mount will stop)
+        // double endptX, endptY;
     };
 
 
@@ -89,8 +95,8 @@ public:
         std::string EncoderXDevPath;
         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 pollingTimeout{30000};  // hardware polling timeout
@@ -105,10 +111,10 @@ public:
     AsibFM700ServoController(const AsibFM700ServoController&) = delete;
     AsibFM700ServoController& operator=(const AsibFM700ServoController&) = delete;
 
-    AsibFM700ServoController(AsibFM700ServoController&&);
+    AsibFM700ServoController(AsibFM700ServoController&&) = default;
-    AsibFM700ServoController& operator=(AsibFM700ServoController&&);
+    AsibFM700ServoController& operator=(AsibFM700ServoController&&) = default;
 
-    ~AsibFM700ServoController();
+    virtual ~AsibFM700ServoController();
 
     /*  public methods  */
 
@@ -121,9 +127,15 @@ public:
     error_t hardwareInit();
 
     void hardwareUpdateConfig(conf_t cfg);
-    void hardwareUpdateConfig(hardware_configuration_t cfg);
 
-private:
+    // save config to EEPROM
+    error_t hardwareUpdateConfig(hardware_configuration_t cfg);
+    // load config from EEPROM
+    error_t hardwareUpdateConfig();
+
+    hardware_config_t getHardwareConfig() const;
+
+protected:
     hardware_config_t _hardwareConfig;
 
     std::unique_ptr<std::mutex> _setStateMutex;

asibfm700/tests/cfg_test.cpp

@@ -0,0 +1,69 @@
+#include <iostream>
+
+#include "../asibfm700_configfile.h"
+
+template <typename VT>
+struct rec_t {
+    std::string_view key;
+    VT value;
+};
+
+static std::string_view cfg_str = R"--(A   = 11
+   B=3.3
+   # this is comment
+C =  WWWWWeeeWWWW
+
+E = 10,20, 40, 32
+)--";
+
+int main()
+{
+    auto desc = std::make_tuple(rec_t{"A", 1}, rec_t{"B", 2.2}, rec_t{"C", std::string("EEE")}, rec_t{"D", 3.3},
+                                rec_t{"E", std::vector<int>{1, 2, 3}});
+
+    std::error_code err;
+
+    asibfm700::Asibfm700MountConfig acfg;
+    bool ok = acfg.dumpDefaultsToFile("/tmp/cfg.cfg");
+    if (!ok) {
+        std::cerr << "Cannot dump default configuration!\n";
+        exit(10);
+    }
+
+    auto ec = acfg.load("/tmp/cfg.cfg");
+    std::cout << "EC (load) = " << ec.message() << "\n";
+
+    std::cout << "refr w: " << acfg.refractWavelength() << "\n";
+
+    acfg.setValue("refractWavelength", 0.3);
+
+    auto e = acfg.getValue<double>("refractWavelength");
+    std::cout << "refr w: " << e.value_or(0.0) << "\n";
+    std::cout << "refr w: " << acfg.refractWavelength() << "\n";
+
+
+    mcc::utils::KeyValueHolder kvh(desc);
+    err = kvh.setValue("C", "ewlkjfde");
+    if (err) {
+        std::cout << "cannot set value: " << err.message() << "\n";
+    } else {
+        auto vs = kvh.getValue<std::string>("C");
+        std::cout << "kvh[C] = " << vs.value_or("<no value>") << "\n";
+    }
+
+    ec = kvh.fromCharRange(cfg_str);
+    if (ec) {
+        std::cout << "EC = " << ec.message() << "\n";
+    } else {
+        auto v3 = kvh.getValue<std::vector<int>>("E");
+        std::cout << "[";
+        for (auto& el : v3.value_or(std::vector<int>{0, 0, 0})) {
+            std::cout << el << " ";
+        }
+        std::cout << "]\n";
+    }
+
+
+
+    return 0;
+}

cmake/FindASIO.cmake

@@ -6,13 +6,22 @@ set(ASIO_FOUND FALSE)
 
 find_package(Threads REQUIRED)
 
-find_path(ASIO_DIR asio.hpp HINTS ${ASIO_INSTALL_DIR} PATH_SUFFIXES include)
+set(ASIO_INSTALL_DIR "" CACHE STRING "ASIO install dir")
+set(ASIO_INSTALL_DIR_INTERNAL "" CACHE STRING "ASIO install dir")
+if(NOT "${ASIO_INSTALL_DIR}" STREQUAL "${ASIO_INSTALL_DIR_INTERNAL}") # ASIO_INSTALL_DIR is given in command-line
+    unset(ASIO_INCLUDE_DIR CACHE)
+    find_path(ASIO_DIR asio.hpp HINTS ${ASIO_INSTALL_DIR} PATH_SUFFIXES include)
+else() # in system path
+    find_path(ASIO_DIR asio.hpp PATH_SUFFIXES include)
+endif()
+
+
 
 if (NOT ASIO_DIR)
     message(WARNING "Cannot find ASIO library headers!")
     set(ASIO_FOUND FALSE)
 else()
-    message(STATUS "Found ASIO: TRUE (${ASIO_DIR})")
+    message(STATUS "Found ASIO: (${ASIO_DIR})")
 
     # ASIO is header-only library so it is IMPORTED target
     add_library(ASIO::ASIO INTERFACE IMPORTED GLOBAL)

mcc/CMakeLists.txt

@@ -7,6 +7,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake")
 
+find_package(Threads REQUIRED)
 
 # ******* SPDLOG LIBRARY *******
 
@@ -16,8 +17,10 @@ include(ExternalProject)
 set(SPDLOG_USE_STD_FORMAT ON CACHE INTERNAL "Use of C++20 std::format")
 set(SPDLOG_FMT_EXTERNAL OFF CACHE INTERNAL "Turn off external fmt library")
 
-FetchContent_Declare(spdlog
+find_package(spdlog CONFIG)
-# ExternalProject_Add(spdlog
+if (NOT ${spdlog_FOUND})
+    FetchContent_Declare(spdlog
+    # ExternalProject_Add(spdlog
          # SOURCE_DIR ${CMAKE_BINARY_DIR}/spdlog_lib
          # BINARY_DIR ${CMAKE_BINARY_DIR}/spdlog_lib/build
          GIT_REPOSITORY "https://github.com/gabime/spdlog.git"
@@ -32,10 +35,9 @@ FetchContent_Declare(spdlog
          # UPDATE_COMMAND ""
          # SOURCE_SUBDIR cmake # turn off building
          OVERRIDE_FIND_PACKAGE
-)
+    )
-find_package(spdlog CONFIG)
+    find_package(spdlog CONFIG)
-
+endif()
-
 
 # ******* ERFA LIBRARY *******
 
@@ -55,30 +57,33 @@ ExternalProject_Add(erfalib
     INSTALL_COMMAND meson install -C <BINARY_DIR>
     BUILD_BYPRODUCTS ${CMAKE_BINARY_DIR}/erfa_lib/liberfa.a
 )
-add_library(ERFA_LIB STATIC IMPORTED)
+add_library(ERFA_LIB STATIC IMPORTED GLOBAL)
 set_target_properties(ERFA_LIB PROPERTIES IMPORTED_LOCATION ${CMAKE_BINARY_DIR}/erfa_lib/liberfa.a)
 add_dependencies(ERFA_LIB erfalib)
 set(ERFA_INCLUDE_DIR ${CMAKE_BINARY_DIR}/erfa_lib)
-# include_directories(${ERFA_INCLUDE_DIR})
+# set(ERFA_LIBFILE ${CMAKE_BINARY_DIR}/erfa_lib/liberfa.a PARENT_SCOPE)
-
+include_directories(${ERFA_INCLUDE_DIR})
-message(STATUS ${ERFA_INCLUDE_DIR})
+message(STATUS "ERFA INCLUDE DIR: " ${ERFA_INCLUDE_DIR})
 
 add_subdirectory(bsplines)
 message(STATUS "BSPLINES_INCLUDE_DIR: " ${BSPLINES_INCLUDE_DIR})
 include_directories(${BSPLINES_INCLUDE_DIR})
 
-set(MCC_LIBRARY_SRC1 mcc_generics.h mcc_defaults.h mcc_traits.h mcc_utils.h
+set(MCC_LIBRARY_SRC mcc_generics.h mcc_defaults.h mcc_traits.h mcc_utils.h
     mcc_ccte_iers.h mcc_ccte_iers_default.h mcc_ccte_erfa.h mcc_pcm.h mcc_telemetry.h
     mcc_angle.h mcc_pzone.h mcc_pzone_container.h mcc_finite_state_machine.h
-    mcc_generic_mount.h mcc_tracking_model.h mcc_slewing_model.h mcc_moving_model_common.h)
+    mcc_generic_mount.h mcc_tracking_model.h mcc_slewing_model.h mcc_moving_model_common.h
+    mcc_netserver_endpoint.h mcc_netserver.h mcc_netserver_proto.h)
 
-list(APPEND MCC_LIBRARY_SRC1 mcc_spdlog.h)
+list(APPEND MCC_LIBRARY_SRC mcc_spdlog.h)
 
-set(MCC_LIBRARY1 mcc1)
+set(MCC_LIBRARY mcc)
-add_library(${MCC_LIBRARY1} INTERFACE ${MCC_LIBRARY_SRC1})
+add_library(${MCC_LIBRARY} INTERFACE ${MCC_LIBRARY_SRC})
-target_compile_features(${MCC_LIBRARY1} INTERFACE cxx_std_23)
+target_compile_features(${MCC_LIBRARY} INTERFACE cxx_std_23)
-target_include_directories(${MCC_LIBRARY1} INTERFACE ${ERFA_INCLUDE_DIR} ${BSPLINES_INCLUDE_DIR})
+target_compile_definitions(${MCC_LIBRARY} INTERFACE SPDLOG_USE_STD_FORMAT=1 SPDLOG_FMT_EXTERNAL=0)
-target_include_directories(${MCC_LIBRARY1} INTERFACE
+target_link_libraries(${MCC_LIBRARY} INTERFACE spdlog Threads::Threads atomic ${ERFA_LIB})
+target_include_directories(${MCC_LIBRARY} INTERFACE ${ERFA_INCLUDE_DIR} ${BSPLINES_INCLUDE_DIR})
+target_include_directories(${MCC_LIBRARY} INTERFACE
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
     $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}/mcc>
 )
@@ -92,5 +97,14 @@ if (WITH_TESTS)
      target_include_directories(${CTTE_TEST_APP} PRIVATE ${ERFA_INCLUDE_DIR})
      target_link_libraries(${CTTE_TEST_APP} ERFA_LIB bsplines)
 
+     set(NETMSG_TESTS_APP netmsg_test)
+     add_executable(${NETMSG_TESTS_APP} tests/netmsg_test.cpp)
+     target_link_libraries(${NETMSG_TESTS_APP} mcc)
+
+
+     set(MCCCOORD_TEST_APP mcc_coord_test)
+     add_executable(${MCCCOORD_TEST_APP} tests/mcc_coord_test.cpp)
+     target_link_libraries(${MCCCOORD_TEST_APP} mcc ERFA_LIB)
+
      enable_testing()
- endif()
+endif()

mcc/mcc_angle.h

@@ -459,11 +459,31 @@ class MccAngleDEC_APP : public MccAngle
     using MccAngle::MccAngle;
 };
 
+class MccAngleRA_OBS : public MccAngle
+{
+    using MccAngle::MccAngle;
+};
+
+class MccAngleDEC_OBS : public MccAngle
+{
+    using MccAngle::MccAngle;
+};
+
 class MccAngleHA : public MccAngle
 {
     using MccAngle::MccAngle;
 };
 
+class MccAngleHA_APP : public MccAngle
+{
+    using MccAngle::MccAngle;
+};
+
+class MccAngleHA_OBS : public MccAngle
+{
+    using MccAngle::MccAngle;
+};
+
 class MccAngleAZ : public MccAngle
 {
     using MccAngle::MccAngle;
@@ -504,6 +524,11 @@ class MccAngleLON : public MccAngle
     using MccAngle::MccAngle;
 };
 
+class MccAngleUnknown : public MccAngle
+{
+    using MccAngle::MccAngle;
+};
+
 
 enum class MccCoordKind : size_t {
     COORDS_KIND_GENERIC = traits::mcc_type_hash<MccAngle>,
@@ -511,38 +536,147 @@ enum class MccCoordKind : size_t {
     COORDS_KIND_DEC_ICRS = traits::mcc_type_hash<MccAngleDEC_ICRS>,
     COORDS_KIND_RA_APP = traits::mcc_type_hash<MccAngleRA_APP>,
     COORDS_KIND_DEC_APP = traits::mcc_type_hash<MccAngleDEC_APP>,
+    COORDS_KIND_RA_OBS = traits::mcc_type_hash<MccAngleRA_OBS>,
+    COORDS_KIND_DEC_OBS = traits::mcc_type_hash<MccAngleDEC_OBS>,
     COORDS_KIND_HA = traits::mcc_type_hash<MccAngleHA>,
+    COORDS_KIND_HA_APP = traits::mcc_type_hash<MccAngleHA_APP>,
+    COORDS_KIND_HA_OBS = traits::mcc_type_hash<MccAngleHA_OBS>,
     COORDS_KIND_AZ = traits::mcc_type_hash<MccAngleAZ>,
     COORDS_KIND_ZD = traits::mcc_type_hash<MccAngleZD>,
     COORDS_KIND_ALT = traits::mcc_type_hash<MccAngleALT>,
     COORDS_KIND_X = traits::mcc_type_hash<MccAngleX>,
     COORDS_KIND_Y = traits::mcc_type_hash<MccAngleY>,
     COORDS_KIND_LAT = traits::mcc_type_hash<MccAngleLAT>,
-    COORDS_KIND_LON = traits::mcc_type_hash<MccAngleLON>
+    COORDS_KIND_LON = traits::mcc_type_hash<MccAngleLON>,
+    COORDS_KIND_UKNOWN = traits::mcc_type_hash<MccAngleUnknown>
 };
 
 enum class MccCoordPairKind : size_t {
     COORDS_KIND_GENERIC = traits::mcc_type_pair_hash<MccAngle, MccAngle>(),
     COORDS_KIND_RADEC_ICRS = traits::mcc_type_pair_hash<MccAngleRA_ICRS, MccAngleDEC_ICRS>(),
     COORDS_KIND_RADEC_APP = traits::mcc_type_pair_hash<MccAngleRA_APP, MccAngleDEC_APP>(),
+    COORDS_KIND_RADEC_OBS = traits::mcc_type_pair_hash<MccAngleRA_OBS, MccAngleDEC_OBS>(),
     COORDS_KIND_HADEC_APP = traits::mcc_type_pair_hash<MccAngleHA, MccAngleDEC_APP>(),
+    // COORDS_KIND_HADEC_APP = traits::mcc_type_pair_hash<MccAngleHA_APP, MccAngleDEC_APP>(),
+    COORDS_KIND_HADEC_OBS = traits::mcc_type_pair_hash<MccAngleHA_OBS, MccAngleDEC_OBS>(),
     COORDS_KIND_AZZD = traits::mcc_type_pair_hash<MccAngleAZ, MccAngleZD>(),
     COORDS_KIND_AZALT = traits::mcc_type_pair_hash<MccAngleAZ, MccAngleALT>(),
     COORDS_KIND_XY = traits::mcc_type_pair_hash<MccAngleX, MccAngleY>(),
-    COORDS_KIND_LATLON = traits::mcc_type_pair_hash<MccAngleLAT, MccAngleLON>()
+    COORDS_KIND_LONLAT = traits::mcc_type_pair_hash<MccAngleLON, MccAngleLAT>(),
+    COORDS_KIND_UNKNOWN = traits::mcc_type_pair_hash<MccAngleUnknown, MccAngleUnknown>()
+};
+
+template <MccCoordPairKind PK>
+static constexpr bool mccIsObsCoordPairKind =
+    (PK == MccCoordPairKind::COORDS_KIND_RADEC_OBS || PK == MccCoordPairKind::COORDS_KIND_HADEC_OBS ||
+     PK == MccCoordPairKind::COORDS_KIND_AZZD || PK == MccCoordPairKind::COORDS_KIND_AZALT);
+
+static constexpr bool mcc_is_obs_coordpair(MccCoordPairKind kind)
+{
+    return kind == MccCoordPairKind::COORDS_KIND_RADEC_OBS || kind == MccCoordPairKind::COORDS_KIND_HADEC_OBS ||
+           kind == MccCoordPairKind::COORDS_KIND_AZZD || kind == MccCoordPairKind::COORDS_KIND_AZALT;
+};
+
+template <MccCoordPairKind PK>
+static constexpr bool mccIsAppCoordPairKind =
+    (PK == MccCoordPairKind::COORDS_KIND_RADEC_APP || PK == MccCoordPairKind::COORDS_KIND_HADEC_APP);
+
+static constexpr bool mcc_is_app_coordpair(MccCoordPairKind kind)
+{
+    return kind == MccCoordPairKind::COORDS_KIND_RADEC_APP || kind == MccCoordPairKind::COORDS_KIND_HADEC_APP;
 };
 
 
+static constexpr std::string_view MCC_COORDPAIR_KIND_RADEC_ICRS_STR = "RADEC-IRCS";
+static constexpr std::string_view MCC_COORDPAIR_KIND_RADEC_APP_STR = "RADEC-APP";
+static constexpr std::string_view MCC_COORDPAIR_KIND_RADEC_OBS_STR = "RADEC-OBS";
+static constexpr std::string_view MCC_COORDPAIR_KIND_HADEC_APP_STR = "HADEC-APP";
+static constexpr std::string_view MCC_COORDPAIR_KIND_HADEC_OBS_STR = "HADEC-OBS";
+static constexpr std::string_view MCC_COORDPAIR_KIND_AZALT_STR = "AZALT";
+static constexpr std::string_view MCC_COORDPAIR_KIND_AZZD_STR = "AZZD";
+static constexpr std::string_view MCC_COORDPAIR_KIND_XY_STR = "XY";
+static constexpr std::string_view MCC_COORDPAIR_KIND_LATLON_STR = "LATLON";
+static constexpr std::string_view MCC_COORDPAIR_KIND_GENERIC_STR = "GENERIC";
+static constexpr std::string_view MCC_COORDPAIR_KIND_UNKNOWN_STR = "UNKNOWN";
+
 template <MccCoordPairKind KIND>
 static constexpr std::string_view MccCoordPairKindStr =
-    KIND == MccCoordPairKind::COORDS_KIND_RADEC_ICRS  ? "RADEC-IRCS"
+    KIND == MccCoordPairKind::COORDS_KIND_RADEC_ICRS  ? MCC_COORDPAIR_KIND_RADEC_ICRS_STR
-    : KIND == MccCoordPairKind::COORDS_KIND_RADEC_APP ? "RADEC-APP"
+    : KIND == MccCoordPairKind::COORDS_KIND_RADEC_APP ? MCC_COORDPAIR_KIND_RADEC_APP_STR
-    : KIND == MccCoordPairKind::COORDS_KIND_HADEC_APP ? "HADEC-APP"
+    : KIND == MccCoordPairKind::COORDS_KIND_RADEC_OBS ? MCC_COORDPAIR_KIND_RADEC_OBS_STR
-    : KIND == MccCoordPairKind::COORDS_KIND_AZALT     ? "Azimuth-Altitude"
+    : KIND == MccCoordPairKind::COORDS_KIND_HADEC_APP ? MCC_COORDPAIR_KIND_HADEC_APP_STR
-    : KIND == MccCoordPairKind::COORDS_KIND_AZZD      ? "Azimuth-Zendist"
+    : KIND == MccCoordPairKind::COORDS_KIND_HADEC_OBS ? MCC_COORDPAIR_KIND_HADEC_OBS_STR
-    : KIND == MccCoordPairKind::COORDS_KIND_XY        ? "X-Y"
+    : KIND == MccCoordPairKind::COORDS_KIND_AZALT     ? MCC_COORDPAIR_KIND_AZALT_STR
-    : KIND == MccCoordPairKind::COORDS_KIND_LATLON    ? "Latitude-Longitude"
+    : KIND == MccCoordPairKind::COORDS_KIND_AZZD      ? MCC_COORDPAIR_KIND_AZZD_STR
-                                                      : "UNKNOWN";
+    : KIND == MccCoordPairKind::COORDS_KIND_XY        ? MCC_COORDPAIR_KIND_XY_STR
+    : KIND == MccCoordPairKind::COORDS_KIND_LONLAT    ? MCC_COORDPAIR_KIND_LATLON_STR
+    : KIND == MccCoordPairKind::COORDS_KIND_GENERIC   ? MCC_COORDPAIR_KIND_GENERIC_STR
+                                                      : MCC_COORDPAIR_KIND_UNKNOWN_STR;
 
 
+static constexpr std::string_view MccCoordPairKindToStr(MccCoordPairKind KIND)
+{
+    return KIND == MccCoordPairKind::COORDS_KIND_RADEC_ICRS  ? MCC_COORDPAIR_KIND_RADEC_ICRS_STR
+           : KIND == MccCoordPairKind::COORDS_KIND_RADEC_APP ? MCC_COORDPAIR_KIND_RADEC_APP_STR
+           : KIND == MccCoordPairKind::COORDS_KIND_RADEC_OBS ? MCC_COORDPAIR_KIND_RADEC_OBS_STR
+           : KIND == MccCoordPairKind::COORDS_KIND_HADEC_APP ? MCC_COORDPAIR_KIND_HADEC_APP_STR
+           : KIND == MccCoordPairKind::COORDS_KIND_HADEC_OBS ? MCC_COORDPAIR_KIND_HADEC_OBS_STR
+           : KIND == MccCoordPairKind::COORDS_KIND_AZALT     ? MCC_COORDPAIR_KIND_AZALT_STR
+           : KIND == MccCoordPairKind::COORDS_KIND_AZZD      ? MCC_COORDPAIR_KIND_AZZD_STR
+           : KIND == MccCoordPairKind::COORDS_KIND_XY        ? MCC_COORDPAIR_KIND_XY_STR
+           : KIND == MccCoordPairKind::COORDS_KIND_LONLAT    ? MCC_COORDPAIR_KIND_LATLON_STR
+           : KIND == MccCoordPairKind::COORDS_KIND_GENERIC   ? MCC_COORDPAIR_KIND_GENERIC_STR
+                                                             : MCC_COORDPAIR_KIND_UNKNOWN_STR;
+}
+
+
+template <mcc::traits::mcc_char_range R>
+static constexpr MccCoordPairKind MccCoordStrToPairKind(R&& spair)
+{
+    if constexpr (std::is_pointer_v<std::decay_t<R>>) {
+        return MccCoordStrToPairKind(std::string_view{spair});
+    }
+
+    const auto hash = mcc::utils::FNV1aHash(std::forward<R>(spair));
+
+    return hash == mcc::utils::FNV1aHash(MCC_COORDPAIR_KIND_RADEC_ICRS_STR)  ? MccCoordPairKind::COORDS_KIND_RADEC_ICRS
+           : hash == mcc::utils::FNV1aHash(MCC_COORDPAIR_KIND_RADEC_APP_STR) ? MccCoordPairKind::COORDS_KIND_RADEC_APP
+           : hash == mcc::utils::FNV1aHash(MCC_COORDPAIR_KIND_RADEC_OBS_STR) ? MccCoordPairKind::COORDS_KIND_RADEC_OBS
+           : hash == mcc::utils::FNV1aHash(MCC_COORDPAIR_KIND_HADEC_APP_STR) ? MccCoordPairKind::COORDS_KIND_HADEC_APP
+           : hash == mcc::utils::FNV1aHash(MCC_COORDPAIR_KIND_HADEC_OBS_STR) ? MccCoordPairKind::COORDS_KIND_HADEC_OBS
+           : hash == mcc::utils::FNV1aHash(MCC_COORDPAIR_KIND_AZALT_STR)     ? MccCoordPairKind::COORDS_KIND_AZALT
+           : hash == mcc::utils::FNV1aHash(MCC_COORDPAIR_KIND_AZZD_STR)      ? MccCoordPairKind::COORDS_KIND_AZZD
+           : hash == mcc::utils::FNV1aHash(MCC_COORDPAIR_KIND_XY_STR)        ? MccCoordPairKind::COORDS_KIND_XY
+           : hash == mcc::utils::FNV1aHash(MCC_COORDPAIR_KIND_LATLON_STR)    ? MccCoordPairKind::COORDS_KIND_LONLAT
+           : hash == mcc::utils::FNV1aHash(MCC_COORDPAIR_KIND_GENERIC_STR)   ? MccCoordPairKind::COORDS_KIND_GENERIC
+                                                                             : MccCoordPairKind::COORDS_KIND_UNKNOWN;
+}
+
+
+std::string MccAngleFancyString(std::convertible_to<MccAngle> auto const& ang,
+                                std::format_string<double> val_fmt = "{}")
+{
+    std::string s;
+
+    double abs_ang;
+    if constexpr (std::is_arithmetic_v<std::decay_t<decltype(ang)>>) {
+        abs_ang = std::abs(ang);
+    } else {
+        abs_ang = std::abs(MccAngle{ang});
+    }
+
+    if (abs_ang < 1.0_arcmins) {
+        std::format_to(std::back_inserter(s), val_fmt, MccAngle{ang}.arcsecs());
+        s += " arcsecs";
+    } else if (abs_ang < 1.0_degs) {
+        std::format_to(std::back_inserter(s), val_fmt, MccAngle{ang}.arcmins());
+        s += " arcmins";
+    } else {
+        std::format_to(std::back_inserter(s), val_fmt, MccAngle{ang}.degrees());
+        s += " degs";
+    }
+
+    return s;
+}
+
 }  // namespace mcc

mcc/mcc_ccte_erfa.h

@@ -334,7 +334,9 @@ public:
         *st = eraGst06a(ERFA_DJM0, ut1, ERFA_DJM0, tt);
 
         if (islocal) {
-            *st += _currentState.lon;
+            // *st += _currentState.lon;
+            // *st = MccAngle(*st + _currentState.lon).normalize<MccAngle::NORM_KIND_0_360>();
+            *st = eraAnp(*st + _currentState.lon);
         }
 
 
@@ -394,8 +396,20 @@ public:
 
 
     // coordinates transformations
+    template <typename ResT>
+    error_t transformCoordinates(mcc_celestial_point_c auto from_pt, ResT* to_pt)
+        requires(mcc_eqt_hrz_coord_c<ResT> || mcc_celestial_point_c<ResT>)
+    {
+        if constexpr (mcc_eqt_hrz_coord_c<ResT>) {
+            return transformCoordinatesEQHR(std::move(from_pt), to_pt);
+        } else if constexpr (mcc_celestial_point_c<ResT>) {
+            return transformCoordinatesCP(std::move(from_pt), to_pt);
+        } else {
+            static_assert(false, "UNSUPPORTED TYPE!");
+        }
+    }
 
-    error_t transformCoordinates(mcc_celestial_point_c auto from_pt, mcc_celestial_point_c auto* to_pt)
+    error_t transformCoordinatesCP(mcc_celestial_point_c auto from_pt, mcc_celestial_point_c auto* to_pt)
     {
         error_t ret = MccCCTE_ERFAErrorCode::ERROR_OK;
 
@@ -491,7 +505,8 @@ public:
                 // first, compute HA from CIO-based RA!!!
                 lst_eo();
                 if (!ret) {
-                    ha = lst - from_pt.X + eo;
+                    ha = MccAngle(lst - from_pt.X + eo).normalize<MccAngle::NORM_KIND_0_360>();
+                    // ha = MccAngle(lst - from_pt.X - eo).normalize<MccAngle::NORM_KIND_180_180>();
                 } else {
                     return ret;
                 }
@@ -519,6 +534,7 @@ public:
                     lst_eo();
                     if (!ret) {
                         to_pt->X = MccAngle(lst - from_pt.X + eo).normalize<MccAngle::NORM_KIND_0_360>();
+                        // to_pt->X = MccAngle(lst - from_pt.X - eo).normalize<MccAngle::NORM_KIND_0_360>();
                         to_pt->Y = from_pt.Y;
                     } else {
                         return ret;
@@ -543,6 +559,7 @@ public:
                     lst_eo();
                     if (!ret) {
                         to_pt->X = MccAngle(lst - to_pt->X + eo).normalize<MccAngle::NORM_KIND_0_360>();
+                        // to_pt->X = MccAngle(lst - to_pt->X - eo).normalize<MccAngle::NORM_KIND_0_360>();
                     }
                 } else {
                     ret = MccCCTE_ERFAErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
@@ -557,7 +574,7 @@ public:
     }
 
 
-    error_t transformCoordinates(mcc_celestial_point_c auto from_pt, mcc_eqt_hrz_coord_c auto* to_pt)
+    error_t transformCoordinatesEQHR(mcc_celestial_point_c auto from_pt, mcc_eqt_hrz_coord_c auto* to_pt)
     {
         error_t ret = MccCCTE_ERFAErrorCode::ERROR_OK;
 
@@ -573,7 +590,24 @@ public:
 
         // the main scenario: from ICRS to apparent
         if (from_pt.pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
+            to_pt->RA_ICRS = from_pt.X;
+            to_pt->DEC_ICRS = from_pt.Y;
+
             return icrs2obs(from_pt, to_pt);
+        } else {  // from apparent (2025-12-18: according to addition of RA/DEC_OCRS to mcc_eqt_hrz_coord_c)
+            cpt.pair_kind = MccCoordPairKind::COORDS_KIND_RADEC_ICRS;
+            ret = transformCoordinates(from_pt, &cpt);  // to ICRS
+            if (ret) {
+                return ret;
+            }
+
+            to_pt->RA_ICRS = cpt.X;
+            to_pt->DEC_ICRS = cpt.Y;
+            // if (!ret) {
+            //     ret = transformCoordinates(cpt, to_pt); // from ICRS to observed
+            // }
+
+            // return ret;
         }
 
         // from apparent: copy corresponded coordinates and compute other ones (ignore to_pt->pair_kind)

mcc/mcc_ccte_erfa_new.h

@@ -0,0 +1,838 @@
+#pragma once
+
+#include <erfa.h>
+#include <erfam.h>
+#include <mutex>
+
+#include "mcc_ccte_iers.h"
+// #include "mcc_coord.h"
+#include "mcc_generics.h"
+
+namespace mcc::ccte::erfa
+{
+
+
+enum class MccCCTE_ERFAErrorCode : int {
+    ERROR_OK = 0,
+    ERROR_NULLPTR,
+    ERROR_INVALID_INPUT_ARG,
+    ERROR_julday_INVALID_YEAR,
+    ERROR_julday_INVALID_MONTH,
+    ERROR_julday_INVALID_DAY,
+    ERROR_UNSUPPORTED_COORD_PAIR,
+    ERROR_BULLETINA_OUT_OF_RANGE,
+    ERROR_LEAPSECONDS_OUT_OF_RANGE,
+    ERROR_DUBIOUS_YEAR,
+    ERROR_UNACCEPTABLE_DATE,
+    ERROR_UPDATE_LEAPSECONDS,
+    ERROR_UPDATE_BULLETINA,
+    ERROR_UNEXPECTED
+};
+
+}  // namespace mcc::ccte::erfa
+
+
+namespace std
+{
+
+template <>
+class is_error_code_enum<mcc::ccte::erfa::MccCCTE_ERFAErrorCode> : public true_type
+{
+};
+
+}  // namespace std
+
+
+
+namespace mcc::ccte::erfa
+{
+
+/*  error category definition  */
+
+// error category
+struct MccCCTE_ERFACategory : public std::error_category {
+    MccCCTE_ERFACategory() : std::error_category() {}
+
+    const char* name() const noexcept
+    {
+        return "CCTE-ERFA";
+    }
+
+    std::string message(int ec) const
+    {
+        MccCCTE_ERFAErrorCode err = static_cast<MccCCTE_ERFAErrorCode>(ec);
+
+        switch (err) {
+            case MccCCTE_ERFAErrorCode::ERROR_OK:
+                return "OK";
+            case MccCCTE_ERFAErrorCode::ERROR_NULLPTR:
+                return "input argument is the nullptr";
+            case MccCCTE_ERFAErrorCode::ERROR_INVALID_INPUT_ARG:
+                return "invalid argument";
+            case MccCCTE_ERFAErrorCode::ERROR_julday_INVALID_YEAR:
+                return "invalid year number";
+            case MccCCTE_ERFAErrorCode::ERROR_julday_INVALID_MONTH:
+                return "invalid month number";
+            case MccCCTE_ERFAErrorCode::ERROR_julday_INVALID_DAY:
+                return "invalid day number";
+            case MccCCTE_ERFAErrorCode::ERROR_UNSUPPORTED_COORD_PAIR:
+                return "unsupported coordinate pair";
+            case MccCCTE_ERFAErrorCode::ERROR_BULLETINA_OUT_OF_RANGE:
+                return "time point is out of range";
+            case MccCCTE_ERFAErrorCode::ERROR_LEAPSECONDS_OUT_OF_RANGE:
+                return "time point is out of range";
+            case MccCCTE_ERFAErrorCode::ERROR_DUBIOUS_YEAR:
+                return "dubious year";
+            case MccCCTE_ERFAErrorCode::ERROR_UNACCEPTABLE_DATE:
+                return "unacceptable date";
+            case MccCCTE_ERFAErrorCode::ERROR_UPDATE_LEAPSECONDS:
+                return "leap seconds update error";
+            case MccCCTE_ERFAErrorCode::ERROR_UPDATE_BULLETINA:
+                return "bulletin A update error";
+            case MccCCTE_ERFAErrorCode::ERROR_UNEXPECTED:
+                return "unexpected error value";
+            default:
+                return "UNKNOWN";
+        }
+    }
+
+    static const MccCCTE_ERFACategory& get()
+    {
+        static const MccCCTE_ERFACategory constInst;
+        return constInst;
+    }
+};
+
+
+inline std::error_code make_error_code(MccCCTE_ERFAErrorCode ec)
+{
+    return std::error_code(static_cast<int>(ec), MccCCTE_ERFACategory::get());
+}
+
+
+class MccCCTE_ERFA
+{
+    static constexpr double PI_2 = std::numbers::pi / 2.0;
+
+public:
+    static constexpr double DEFAULT_WAVELENGTH = 0.55;  // default observed wavelength in mkm
+
+    typedef std::error_code error_t;
+
+    struct refract_model_t {
+        static constexpr std::string_view name()
+        {
+            return "ERFA";
+        }
+
+        double refa, refb;
+    };
+
+
+    // meteo parameters (to compute refraction)
+    struct meteo_t {
+        typedef double temp_t;
+        typedef double humid_t;
+        typedef double press_t;
+
+        temp_t temperature;  // Temperature in C
+        humid_t humidity;    // humidity in % ([0.0, 1.0])
+        press_t pressure;    // atmospheric presure in hPa=mB
+    };
+
+    // celestial object addition parameters
+    struct obj_pars_t {
+        double pm_RA = 0.0;   // rads/year
+        double pm_DEC = 0.0;  // rads/year
+        double parallax;      // in arcsecs
+        double radvel;        // radial velocity (signed, km/s)
+    };
+
+    struct engine_state_t {
+        meteo_t meteo{.temperature = 0.0, .humidity = 0.5, .pressure = 1010.0};
+
+        double wavelength = DEFAULT_WAVELENGTH;  // observed wavelength in mkm
+
+        double lat = 0.0;   // site latitude
+        double lon = 0.0;   // site longitude
+        double elev = 0.0;  // site elevation (in meters)
+
+        mcc::ccte::iers::MccLeapSeconds _leapSeconds{};
+        mcc::ccte::iers::MccIersBulletinA _bulletinA{};
+    };
+
+    MccCCTE_ERFA() : _stateMutex(new std::mutex) {}
+
+    MccCCTE_ERFA(engine_state_t state) : _currentState(std::move(state)), _stateMutex(new std::mutex) {}
+
+    MccCCTE_ERFA(const MccCCTE_ERFA&) = delete;
+    MccCCTE_ERFA& operator=(const MccCCTE_ERFA&) = delete;
+
+    MccCCTE_ERFA(MccCCTE_ERFA&&) = default;
+    MccCCTE_ERFA& operator=(MccCCTE_ERFA&&) = default;
+
+    virtual ~MccCCTE_ERFA() = default;
+
+
+    std::string_view nameCCTE() const
+    {
+        return "ERFA-CCTE-ENGINE";
+    }
+
+    // engine state related methods
+
+    void setStateERFA(engine_state_t state)
+    {
+        std::lock_guard lock{*_stateMutex};
+
+        _currentState = std::move(state);
+    }
+
+    engine_state_t getStateERFA() const
+    {
+        std::lock_guard lock{*_stateMutex};
+
+        return _currentState;
+    }
+
+    void updateMeteoERFA(meteo_t meteo)
+    {
+        std::lock_guard lock{*_stateMutex};
+
+        _currentState.meteo = std::move(meteo);
+    }
+
+    error_t updateLeapSeconds(std::derived_from<std::basic_istream<char>> auto& stream, char comment_sym = '#')
+    {
+        std::lock_guard lock{*_stateMutex};
+
+        if (!_currentState._leapSeconds.load(stream, comment_sym)) {
+            return MccCCTE_ERFAErrorCode::ERROR_UPDATE_LEAPSECONDS;
+        }
+
+        return MccCCTE_ERFAErrorCode::ERROR_OK;
+    }
+
+
+    error_t updateLeapSeconds(traits::mcc_input_char_range auto const& filename, char comment_sym = '#')
+    {
+        std::lock_guard lock{*_stateMutex};
+
+        if (!_currentState._leapSeconds.load(filename, comment_sym)) {
+            return MccCCTE_ERFAErrorCode::ERROR_UPDATE_LEAPSECONDS;
+        }
+
+        return MccCCTE_ERFAErrorCode::ERROR_OK;
+    }
+
+
+    error_t updateBulletinA(std::derived_from<std::basic_istream<char>> auto& stream, char comment_sym = '*')
+    {
+        std::lock_guard lock{*_stateMutex};
+
+        if (!_currentState._bulletinA.load(stream, comment_sym)) {
+            return MccCCTE_ERFAErrorCode::ERROR_UPDATE_BULLETINA;
+        }
+
+        return MccCCTE_ERFAErrorCode::ERROR_OK;
+    }
+
+
+    error_t updateBulletinA(traits::mcc_input_char_range auto const& filename, char comment_sym = '*')
+    {
+        std::lock_guard lock{*_stateMutex};
+
+        if (!_currentState._bulletinA.load(filename, comment_sym)) {
+            return MccCCTE_ERFAErrorCode::ERROR_UPDATE_BULLETINA;
+        }
+
+        return MccCCTE_ERFAErrorCode::ERROR_OK;
+    }
+
+
+    // apparent sideral time (Greenwitch or local)
+    error_t apparentSideralTime(mcc_coord_epoch_c auto const& epoch, mcc_angle_c auto* st, bool islocal = false)
+    {
+        error_t ret = MccCCTE_ERFAErrorCode::ERROR_OK;
+
+        if (st == nullptr) {
+            return MccCCTE_ERFAErrorCode::ERROR_NULLPTR;
+        }
+
+        using real_days_t = std::chrono::duration<double, std::ratio<86400>>;
+
+        double ut1 = epoch.MJD();
+        double tt = epoch.MJD();
+
+        std::lock_guard lock{*_stateMutex};
+
+        auto dut1 = _currentState._bulletinA.DUT1(epoch.MJD());
+
+        if (dut1.has_value()) {
+            ut1 += std::chrono::duration_cast<real_days_t>(dut1.value()).count();
+        } else {  // out of range
+            return MccCCTE_ERFAErrorCode::ERROR_BULLETINA_OUT_OF_RANGE;
+        }
+
+        auto tai_utc = _currentState._leapSeconds[epoch.MJD()];
+        if (tai_utc.has_value()) {
+            tt += std::chrono::duration_cast<real_days_t>(tai_utc.value()).count();
+        } else {
+            return MccCCTE_ERFAErrorCode::ERROR_LEAPSECONDS_OUT_OF_RANGE;
+        }
+
+
+        auto tt_tai = _currentState._bulletinA.TT_TAI();
+        tt += std::chrono::duration_cast<real_days_t>(tt_tai).count();
+
+        *st = eraGst06a(ERFA_DJM0, ut1, ERFA_DJM0, tt);
+
+        if (islocal) {
+            *st = eraAnp(*st + _currentState.lon);
+        }
+
+        return ret;
+    }
+
+
+    // ICRS to observed
+    // returned azimuth is counted from the South through the West
+    error_t icrsToObs(mcc_angle_c auto const& ra_icrs,
+                      mcc_angle_c auto const& dec_icrs,
+                      mcc_coord_epoch_c auto const& epoch,
+                      mcc_angle_c auto* ra_obs,
+                      mcc_angle_c auto* dec_obs,
+                      mcc_angle_c auto* ha_obs,
+                      mcc_angle_c auto* az,
+                      mcc_angle_c auto* zd,
+                      obj_pars_t* obj_params = nullptr)
+    {
+        return icrsTo(true, ra_icrs, dec_icrs, epoch, ra_obs, dec_obs, ha_obs, az, zd, obj_params);
+    }
+
+    // error_t icrsToObs(MccSkyRADEC_ICRS const& radec_icrs,
+    //                   MccSkyRADEC_OBS* radec_obs,
+    //                   MccSkyAZZD* azzd,
+    //                   mcc_angle_c auto* ha_obs,
+    //                   obj_pars_t* obj_params = nullptr)
+    // {
+    //     double ra_obs, dec_obs, az, zd, ha;
+
+    //     auto err =
+    //         icrsToObs(radec_icrs.x(), radec_icrs.y(), radec_icrs.epoch(), &ra_obs, &dec_obs, &ha, &az, &zd,
+    //         obj_params);
+
+    //     if (!err) {
+    //         if (radec_obs) {
+    //             radec_obs->setX(ra_obs);
+    //             radec_obs->setY(dec_obs);
+    //         }
+
+    //         if (azzd) {
+    //             azzd->setEpoch(radec_obs->epoch());
+    //             azzd->setX(az);
+    //             azzd->setY(zd);
+    //         }
+
+    //         if (ha_obs) {
+    //             *ha_obs = ha;
+    //         }
+    //     }
+
+    //     return err;
+    // };
+
+
+    // ICRS to apparent (in vacuo)
+    // returned azimuth is counted from the South through the West
+    error_t icrsToApp(mcc_angle_c auto const& ra_icrs,
+                      mcc_angle_c auto const& dec_icrs,
+                      mcc_coord_epoch_c auto const& epoch,
+                      mcc_angle_c auto* ra_app,
+                      mcc_angle_c auto* dec_app,
+                      mcc_angle_c auto* ha_app,
+                      mcc_angle_c auto* az,
+                      mcc_angle_c auto* zd,  // should be interpretated as zenithal distance corrected for refraction
+                      obj_pars_t* obj_params = nullptr)
+    {
+        return icrsTo(false, ra_icrs, dec_icrs, epoch, ra_app, dec_app, ha_app, az, zd, obj_params);
+    }
+
+
+    // error_t icrsToApp(MccSkyRADEC_ICRS const& radec_icrs,
+    //                   MccSkyRADEC_OBS* radec_app,
+    //                   MccSkyAZZD* azzd,
+    //                   mcc_angle_c auto* ha_app,
+    //                   obj_pars_t* obj_params = nullptr)
+    // {
+    //     double ra_app, dec_app, az, zd, ha;
+
+    //     auto err =
+    //         icrsToApp(radec_icrs.x(), radec_icrs.y(), radec_icrs.epoch(), &ra_app, &dec_app, &ha, &az, &zd,
+    //         obj_params);
+
+    //     if (!err) {
+    //         if (radec_app) {
+    //             radec_app->setX(ra_app);
+    //             radec_app->setY(dec_app);
+    //         }
+
+    //         if (azzd) {
+    //             azzd->setEpoch(radec_app->epoch());
+    //             azzd->setX(az);
+    //             azzd->setY(zd);
+    //         }
+
+    //         if (ha_app) {
+    //             *ha_app = ha;
+    //         }
+    //     }
+
+    //     return err;
+    // }
+
+
+    error_t obsToICRS(MccCoordPairKind obs_type,
+                      mcc_coord_epoch_c auto const& epoch,
+                      mcc_angle_c auto const& co_lon,
+                      mcc_angle_c auto const& co_lat,
+                      mcc_angle_c auto* ra_icrs,
+                      mcc_angle_c auto* dec_icrs)
+    {
+        return toICRS(true, obs_type, epoch, co_lon, co_lat, ra_icrs, dec_icrs);
+    }
+
+
+    // error_t obsToICRS(mcc_coord_pair_c auto const& xy_obs, MccSkyRADEC_ICRS* radec_icrs)
+    // {
+    //     double ra, dec;
+
+    //     auto err = obsToICRS(xy_obs.pair_kind, xy_obs.epoch(), xy_obs.x(), xy_obs.y(), &ra, &dec);
+    //     if (err) {
+    //         return err;
+    //     }
+
+    //     if (radec_icrs) {
+    //         radec_icrs->setX(ra);
+    //         radec_icrs->setY(dec);
+    //     }
+
+    //     return err;
+    // }
+
+
+    error_t appToICRS(MccCoordPairKind app_type,
+                      mcc_coord_epoch_c auto const& epoch,
+                      mcc_angle_c auto const& co_lon,
+                      mcc_angle_c auto const& co_lat,
+                      mcc_angle_c auto* ra_icrs,
+                      mcc_angle_c auto* dec_icrs)
+    {
+        return toICRS(false, app_type, epoch, co_lon, co_lat, ra_icrs, dec_icrs);
+    }
+
+
+    // error_t appToICRS(mcc_coord_pair_c auto const& xy_app, MccSkyRADEC_ICRS* radec_icrs)
+    // {
+    //     double ra, dec;
+
+    //     auto err = appToICRS(xy_app.pair_kind, xy_app.epoch(), xy_app.x(), xy_app.y(), &ra, &dec);
+    //     if (!err) {
+    //         if (radec_icrs) {
+    //             radec_icrs->setX(ra);
+    //             radec_icrs->setY(dec);
+    //         }
+    //     }
+
+    //     return err;
+    // }
+
+
+    error_t equationOrigins(mcc_coord_epoch_c auto const& epoch, mcc_angle_c auto* eo)
+    {
+        if (eo == nullptr) {
+            return MccCCTE_ERFAErrorCode::ERROR_NULLPTR;
+        }
+
+        error_t ret = MccCCTE_ERFAErrorCode::ERROR_OK;
+
+        std::lock_guard lock{*_stateMutex};
+
+        using real_days_t = std::chrono::duration<double, std::ratio<86400>>;
+
+        double mjd = epoch.MJD();
+
+        auto tai_utc = _currentState._leapSeconds[mjd];
+        if (tai_utc.has_value()) {
+            double tt = mjd;
+            tt += std::chrono::duration_cast<real_days_t>(tai_utc.value()).count();
+
+            auto tt_tai = _currentState._bulletinA.TT_TAI();
+            tt += +std::chrono::duration_cast<real_days_t>(tt_tai).count();
+
+            *eo = eraEo06a(ERFA_DJM0, tt);
+        } else {
+            ret = MccCCTE_ERFAErrorCode::ERROR_LEAPSECONDS_OUT_OF_RANGE;
+        }
+
+        return ret;
+    }
+
+    // refraction
+
+    error_t refractionModel(refract_model_t* model)
+    {
+        if (model == nullptr) {
+            return MccCCTE_ERFAErrorCode::ERROR_NULLPTR;
+        }
+
+        std::lock_guard lock{*_stateMutex};
+
+        eraRefco(_currentState.meteo.pressure, _currentState.meteo.temperature, _currentState.meteo.humidity,
+                 _currentState.wavelength, &model->refa, &model->refb);
+
+        return MccCCTE_ERFAErrorCode::ERROR_OK;
+    }
+
+    // Zobs must be observed zenithal distance (Zapp = Zobs + dZ -- corrected (in vacuo) zenithal distance)
+    template <typename ZAPP_T = std::nullptr_t>
+    error_t refractionCorrection(mcc_angle_c auto Zobs, mcc_angle_c auto* dZ, ZAPP_T Zapp = nullptr)
+        requires(std::is_null_pointer_v<ZAPP_T> ||
+                 (std::is_pointer_v<ZAPP_T> && mcc_angle_c<std::remove_pointer_t<ZAPP_T>>))
+    {
+        error_t ret = MccCCTE_ERFAErrorCode::ERROR_OK;
+
+        if (dZ == nullptr) {
+            return MccCCTE_ERFAErrorCode::ERROR_NULLPTR;
+        }
+
+        refract_model_t rmodel;
+        ret = refractionModel(&rmodel);
+
+        if (!ret) {
+            ret = refractionCorrection(rmodel, Zobs, dZ, Zapp);
+        }
+
+        return ret;
+    }
+
+    // Zobs must be observed zenithal distance (Zapp = Zobs + dZ -- corrected (in vacuo) zenithal distance)
+    template <typename ZAPP_T = std::nullptr_t>
+    error_t refractionCorrection(const refract_model_t& rmodel,
+                                 mcc_angle_c auto Zobs,
+                                 mcc_angle_c auto* dZ,
+                                 ZAPP_T Zapp = nullptr)
+        requires(std::is_null_pointer_v<ZAPP_T> ||
+                 (std::is_pointer_v<ZAPP_T> && mcc_angle_c<std::remove_pointer_t<ZAPP_T>>))
+    {
+        error_t ret = MccCCTE_ERFAErrorCode::ERROR_OK;
+
+        if (dZ == nullptr) {
+            return MccCCTE_ERFAErrorCode::ERROR_NULLPTR;
+        }
+
+
+        if (Zobs >= std::numbers::pi / 2.0) {
+            *dZ = 35.4 / 60.0 * std::numbers::pi / 180.0;  // 35.4 arcminutes
+        } else {
+            auto tanZ = tan(Zobs);
+            *dZ = rmodel.refa * tanZ + rmodel.refb * tanZ * tanZ * tanZ;
+        }
+
+        if constexpr (!std::is_null_pointer_v<ZAPP_T>) {
+            *Zapp = Zobs + *dZ;
+        }
+
+        return ret;
+    }
+
+
+    // Zapp must be topocentric (in vacuo) zenithal distance (Zobs = Zapp - dZ -- observed, i.e. affected by refraction,
+    // zenithal distance)
+    template <typename ZOBS_T = std::nullptr_t>
+    error_t refractionReverseCorrection(mcc_angle_c auto Zapp, mcc_angle_c auto* dZ, ZOBS_T Zobs = nullptr)
+        requires(std::is_null_pointer_v<ZOBS_T> ||
+                 (std::is_pointer_v<ZOBS_T> && mcc_angle_c<std::remove_pointer_t<ZOBS_T>>))
+    {
+        error_t ret = MccCCTE_ERFAErrorCode::ERROR_OK;
+
+        if (dZ == nullptr) {
+            return MccCCTE_ERFAErrorCode::ERROR_NULLPTR;
+        }
+
+        refract_model_t rmodel;
+        ret = refractionModel(&rmodel);
+
+        if (!ret) {
+            ret = refractionReverseCorrection(rmodel, Zapp, dZ, Zobs);
+        }
+
+        return ret;
+    }
+
+
+    // Zapp must be topocentric (in vacuo) zenithal distance (Zobs = Zapp - dZ -- observed, i.e. affected by refraction,
+    // zenithal distance)
+    template <typename ZOBS_T = std::nullptr_t>
+    error_t refractionReverseCorrection(const refract_model_t& rmodel,
+                                        mcc_angle_c auto Zapp,
+                                        mcc_angle_c auto* dZ,
+                                        ZOBS_T Zobs = nullptr)
+        requires(std::is_null_pointer_v<ZOBS_T> ||
+                 (std::is_pointer_v<ZOBS_T> && mcc_angle_c<std::remove_pointer_t<ZOBS_T>>))
+    {
+        error_t ret = MccCCTE_ERFAErrorCode::ERROR_OK;
+
+        if (dZ == nullptr) {
+            return MccCCTE_ERFAErrorCode::ERROR_NULLPTR;
+        }
+
+
+        if (Zapp >= std::numbers::pi / 2.0) {
+            *dZ = 35.4 / 60.0 * std::numbers::pi / 180.0;  // 35.4 arcminutes
+        } else {
+            auto tanZ = tan(Zapp);
+            auto tanZ2 = tanZ * tanZ;
+            auto b3 = 3.0 * rmodel.refb;
+
+            // with Newton-Raphson correction
+            *dZ = (rmodel.refa * tanZ + rmodel.refb * tanZ * tanZ2) /
+                  (1.0 + rmodel.refa + tanZ2 * (rmodel.refa + b3) + b3 * tanZ2 * tanZ2);
+        }
+
+        if constexpr (!std::is_null_pointer_v<ZOBS_T>) {
+            *Zobs = Zapp - *dZ;
+        }
+
+        return ret;
+    }
+
+
+    /*  helper mathods  */
+
+    auto leapSecondsExpireDate() const
+    {
+        return _currentState._leapSeconds.expireDate();
+    }
+
+    auto leapSecondsExpireMJD() const
+    {
+        return _currentState._leapSeconds.expireMJD();
+    }
+
+
+    auto bulletinADateRange() const
+    {
+        return _currentState._bulletinA.dateRange();
+    }
+
+    auto bulletinADateRangeMJD() const
+    {
+        return _currentState._bulletinA.dateRangeMJD();
+    }
+
+
+protected:
+    engine_state_t _currentState{};
+
+    std::unique_ptr<std::mutex> _stateMutex;
+
+
+    error_t icrsTo(bool observed,  // true - observed, false - apparent
+                   mcc_angle_c auto const& ra_icrs,
+                   mcc_angle_c auto const& dec_icrs,
+                   mcc_coord_epoch_c auto const& epoch,
+                   mcc_angle_c auto* ra,
+                   mcc_angle_c auto* dec,
+                   mcc_angle_c auto* ha,
+                   mcc_angle_c auto* az,
+                   mcc_angle_c auto* zd,
+                   obj_pars_t* obj_params = nullptr)
+    {
+        int err;
+        double r, d, h, a, z, eo;
+        double pressure = 0.0;  // 0 for apparent coordinates type (see ERFA's refco.c: if pressure is zero then
+        // refraction is also zero)
+
+
+        error_t ret = MccCCTE_ERFAErrorCode::ERROR_OK;
+
+        std::lock_guard lock{*_stateMutex};
+
+        if (observed) {
+            pressure = _currentState.meteo.pressure;
+        }
+
+        auto dut1 = _currentState._bulletinA.DUT1(epoch.MJD());
+
+        if (!dut1.has_value()) {
+            return MccCCTE_ERFAErrorCode::ERROR_BULLETINA_OUT_OF_RANGE;
+        }
+
+        auto pol_pos = _currentState._bulletinA.polarCoords(epoch.MJD());
+        if (!pol_pos.has_value()) {
+            return MccCCTE_ERFAErrorCode::ERROR_BULLETINA_OUT_OF_RANGE;
+        }
+
+        // const auto arcsec2rad = std::numbers::pi / 180 / 3600;
+        const auto arcsec2rad = 1.0_arcsecs;
+        pol_pos->x *= arcsec2rad;
+        pol_pos->y *= arcsec2rad;
+
+        if (obj_params) {
+            err = eraAtco13(ra_icrs, dec_icrs, obj_params->pm_RA, obj_params->pm_DEC, obj_params->parallax,
+                            obj_params->radvel, ERFA_DJM0, epoch.MJD(), dut1->count(), _currentState.lon,
+                            _currentState.lat, _currentState.elev, pol_pos->x, pol_pos->y, pressure,
+                            _currentState.meteo.temperature, _currentState.meteo.humidity, _currentState.wavelength, &a,
+                            &z, &h, &d, &r, &eo);
+        } else {
+            err = eraAtco13(ra_icrs, dec_icrs, 0.0, 0.0, 0.0, 0.0, ERFA_DJM0, epoch.MJD(), dut1->count(),
+                            _currentState.lon, _currentState.lat, _currentState.elev, pol_pos->x, pol_pos->y, pressure,
+                            _currentState.meteo.temperature, _currentState.meteo.humidity, _currentState.wavelength, &a,
+                            &z, &h, &d, &r, &eo);
+        }
+
+        if (err == 1) {
+            ret = MccCCTE_ERFAErrorCode::ERROR_DUBIOUS_YEAR;
+        } else if (err == -1) {
+            ret = MccCCTE_ERFAErrorCode::ERROR_UNACCEPTABLE_DATE;
+        }
+
+
+        if (ra) {
+            *ra = r;
+        }
+
+        if (dec) {
+            *dec = d;
+        }
+
+        if (ha) {
+            *ha = h;
+        }
+
+        if (az) {
+            // NOTE: according to definition of astronomical azimuth it is counted from the South through the West, but
+            // in the ERFA the azimuth is counted from the North through the East!!!
+            //
+            *az = MccAngle(a - std::numbers::pi).normalize<MccAngle::NORM_KIND_0_360>();
+            // *az = MccAngle(a + std::numbers::pi).normalize<MccAngle::NORM_KIND_0_360>();
+        }
+
+        if (zd) {
+            *zd = z;
+        }
+
+        return ret;
+    }
+
+    error_t toICRS(bool observed,  // true - observed, false - apparent
+                   MccCoordPairKind pair_type,
+                   mcc_coord_epoch_c auto const& epoch,
+                   mcc_angle_c auto const& co_lon,
+                   mcc_angle_c auto const& co_lat,
+                   mcc_angle_c auto* ra_icrs,
+                   mcc_angle_c auto* dec_icrs)
+    {
+        error_t ret = MccCCTE_ERFAErrorCode::ERROR_OK;
+
+        // check coordinate pair consistency
+        if (mcc_is_app_coordpair(pair_type) && observed) {
+            return MccCCTE_ERFAErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
+        }
+        if (mcc_is_obs_coordpair(pair_type) && !observed) {
+            return MccCCTE_ERFAErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
+        }
+
+        std::lock_guard lock{*_stateMutex};
+
+        auto dut1 = _currentState._bulletinA.DUT1(epoch.MJD());
+
+        if (!dut1.has_value()) {
+            return MccCCTE_ERFAErrorCode::ERROR_BULLETINA_OUT_OF_RANGE;
+        }
+
+        auto pol_pos = _currentState._bulletinA.polarCoords(epoch.MJD());
+        if (!pol_pos.has_value()) {
+            return MccCCTE_ERFAErrorCode::ERROR_BULLETINA_OUT_OF_RANGE;
+        }
+
+        // const auto arcsec2rad = std::numbers::pi / 180 / 3600;
+        const auto arcsec2rad = 1.0_arcsecs;
+        pol_pos->x *= arcsec2rad;
+        pol_pos->y *= arcsec2rad;
+
+        std::string type;
+        double x, y, ra, dec;
+        double pressure = 0.0;
+
+        if (observed) {
+            pressure = _currentState.meteo.pressure;
+        }
+
+        switch (pair_type) {
+            case mcc::MccCoordPairKind::COORDS_KIND_AZZD:
+                // NOTE: according to definition of astronomical azimuth it is counted from the South through the West,
+                // but in the ERFA the azimuth is counted from the North through the East!!!
+                //
+                x = co_lon + std::numbers::pi;
+                y = co_lat;
+                type = "A";
+                break;
+            case mcc::MccCoordPairKind::COORDS_KIND_AZALT:
+                // NOTE: according to definition of astronomical azimuth it is counted from the South through the West,
+                // but in the ERFA the azimuth is counted from the North through the East!!!
+                //
+                x = co_lon + std::numbers::pi;
+                y = MccCCTE_ERFA::PI_2 - co_lat;  // altitude to zenithal distance
+                type = "A";
+                break;
+            case mcc::MccCoordPairKind::COORDS_KIND_HADEC_OBS:
+                type = "H";
+                x = co_lon;
+                y = co_lat;
+                break;
+            case mcc::MccCoordPairKind::COORDS_KIND_RADEC_OBS:
+                type = "R";
+                x = co_lon;
+                y = co_lat;
+                break;
+            case mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP:
+                type = "H";
+                x = co_lon;
+                y = co_lat;
+                break;
+            case mcc::MccCoordPairKind::COORDS_KIND_RADEC_APP:
+                type = "R";
+                x = co_lon;
+                y = co_lat;
+                break;
+            default:
+                return MccCCTE_ERFAErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
+        };
+
+        int err =
+            eraAtoc13(type.c_str(), x, y, ERFA_DJM0, epoch.MJD(), dut1->count(), _currentState.lon, _currentState.lat,
+                      _currentState.elev, pol_pos->x, pol_pos->y, pressure, _currentState.meteo.temperature,
+                      _currentState.meteo.humidity, _currentState.wavelength, &ra, &dec);
+
+        if (err == 1) {
+            ret = MccCCTE_ERFAErrorCode::ERROR_DUBIOUS_YEAR;
+        } else if (err == -1) {
+            ret = MccCCTE_ERFAErrorCode::ERROR_UNACCEPTABLE_DATE;
+        }
+
+        if (ra) {
+            *ra_icrs = ra;
+        }
+
+        if (dec) {
+            *dec_icrs = dec;
+        }
+
+        return ret;
+    }
+};
+
+
+}  // namespace mcc::ccte::erfa

mcc/mcc_ccte_iers.h

@@ -134,7 +134,12 @@ public:
 
     bool load(traits::mcc_input_char_range auto const& filename, char comment_sym = '#')
     {
-        std::ifstream fst(filename);
+        std::ifstream fst;
+        if constexpr (std::same_as<std::remove_cvref_t<decltype(filename)>, std::string>) {
+            fst.open(filename);
+        } else {
+            fst.open(std::string{filename.begin(), filename.end()});
+        }
 
         bool ok = fst.is_open();
         if (!ok) {
@@ -436,7 +441,12 @@ public:
 
     bool load(traits::mcc_input_char_range auto const& filename, char comment_sym = '*')
     {
-        std::ifstream fst(filename);
+        std::ifstream fst;
+        if constexpr (std::same_as<std::remove_cvref_t<decltype(filename)>, std::string>) {
+            fst.open(filename);
+        } else {
+            fst.open(std::string{filename.begin(), filename.end()});
+        }
 
         bool ok = fst.is_open();
         if (!ok) {

mcc/mcc_ccte_iers_default.h

@@ -15,10 +15,10 @@ static std::string MCC_DEFAULT_LEAP_SECONDS_FILE = R"--(
 #  Value of TAI-UTC in second valid beetween the initial value until
 #  the epoch given on the next line. The last line reads that NO
 #  leap second was introduced since the corresponding date 
-#  Updated through IERS Bulletin 70 issued in July 2025
+#  Updated through IERS Bulletin 71 issued in January 2026
 #  
 #
-#  File expires on 28 June 2026
+#  File expires on 28 December 2026
 #
 #
 #    MJD        Date        TAI-UTC (s)
@@ -67,7 +67,7 @@ static std::string MCC_DEFAULT_IERS_BULLETIN_A_FILE = R"--(
       *                                                                    *   
       *           Rapid Service/Prediction of Earth Orientation            *   
       **********************************************************************   
-      14 August 2025                                    Vol. XXXVIII No. 033   
+      8 January 2026                                      Vol. XXXIX No. 002   
       ______________________________________________________________________   
       GENERAL INFORMATION:                                                     
          MJD = Julian Date - 2 400 000.5 days                                  
@@ -83,7 +83,7 @@ static std::string MCC_DEFAULT_IERS_BULLETIN_A_FILE = R"--(
      * ANNOUNCEMENTS:                                                      *
      *                                                                     *
      * There will NOT be a leap second introduced in UTC                   *
-     * at the end of December 2025.                                        *
+     * at the end of June 2026.                                            *
      *                                                                     *
      * The primary source for IERS Rapid Service/Prediction Center (RS/PC) *
      * data products is the official IERS RS/PC website:                   *
@@ -116,13 +116,47 @@ static std::string MCC_DEFAULT_IERS_BULLETIN_A_FILE = R"--(
                               IERS Rapid Service                               
               MJD      x    error     y    error   UT1-UTC   error             
                        "      "       "      "        s        s               
-   25  8  8  60895 0.21521 .00009 0.41904 .00009  0.069826 0.000016          
+   26  1  2  61042 0.10962 .00009 0.33249 .00009  0.074152 0.000020          
-   25  8  9  60896 0.21558 .00009 0.41771 .00009  0.070764 0.000016          
+   26  1  3  61043 0.10827 .00009 0.33355 .00009  0.074367 0.000021          
-   25  8 10  60897 0.21616 .00009 0.41640 .00009  0.071442 0.000017          
+   26  1  4  61044 0.10690 .00009 0.33455 .00009  0.074487 0.000020          
-   25  8 11  60898 0.21726 .00009 0.41513 .00009  0.071836 0.000016          
+   26  1  5  61045 0.10554 .00009 0.33551 .00009  0.074361 0.000015          
-   25  8 12  60899 0.21832 .00009 0.41407 .00009  0.071996 0.000017          
+   26  1  6  61046 0.10404 .00009 0.33628 .00009  0.073991 0.000015          
-   25  8 13  60900 0.21871 .00009 0.41314 .00009  0.072040 0.000013          
+   26  1  7  61047 0.10253 .00009 0.33692 .00009  0.073470 0.000012          
-   25  8 14  60901 0.21892 .00009 0.41223 .00009  0.072161 0.000011          
+   26  1  8  61048 0.10121 .00009 0.33746 .00009  0.072861 0.000008          
+                                                                               
+                              IERS Final Values                                
+                               MJD        x        y      UT1-UTC              
+                                          "        "         s                 
+           25 11  2           60981    0.1750   0.3194   0.09220       
+           25 11  3           60982    0.1735   0.3187   0.09112       
+           25 11  4           60983    0.1718   0.3187   0.09005       
+           25 11  5           60984    0.1699   0.3183   0.08916       
+           25 11  6           60985    0.1679   0.3182   0.08854       
+           25 11  7           60986    0.1659   0.3179   0.08822       
+           25 11  8           60987    0.1640   0.3171   0.08814       
+           25 11  9           60988    0.1630   0.3163   0.08819       
+           25 11 10           60989    0.1625   0.3158   0.08820       
+           25 11 11           60990    0.1615   0.3153   0.08801       
+           25 11 12           60991    0.1602   0.3151   0.08763       
+           25 11 13           60992    0.1583   0.3154   0.08711       
+           25 11 14           60993    0.1564   0.3157   0.08644       
+           25 11 15           60994    0.1545   0.3160   0.08566       
+           25 11 16           60995    0.1530   0.3163   0.08494       
+           25 11 17           60996    0.1511   0.3167   0.08433       
+           25 11 18           60997    0.1491   0.3165   0.08390       
+           25 11 19           60998    0.1474   0.3163   0.08366       
+           25 11 20           60999    0.1456   0.3161   0.08357       
+           25 11 21           61000    0.1437   0.3157   0.08363       
+           25 11 22           61001    0.1419   0.3149   0.08381       
+           25 11 23           61002    0.1398   0.3143   0.08403       
+           25 11 24           61003    0.1380   0.3136   0.08426       
+           25 11 25           61004    0.1373   0.3137   0.08431       
+           25 11 26           61005    0.1360   0.3146   0.08417       
+           25 11 27           61006    0.1351   0.3149   0.08377       
+           25 11 28           61007    0.1343   0.3153   0.08305       
+           25 11 29           61008    0.1334   0.3153   0.08209       
+           25 11 30           61009    0.1325   0.3157   0.08097       
+           25 12  1           61010    0.1316   0.3160   0.07984       
                                                                                
       _______________________________________________________________________  
                                                                                
@@ -130,387 +164,481 @@ static std::string MCC_DEFAULT_IERS_BULLETIN_A_FILE = R"--(
       The following formulas will not reproduce the predictions given below,   
       but may be used to extend the predictions beyond the end of this table.  
                                                                                
-      x =  0.1410 + 0.1141 cos A + 0.0905 sin A - 0.0377 cos C - 0.0594 sin C  
+      x =  0.1611 - 0.0626 cos A - 0.1221 sin A + 0.0025 cos C + 0.0585 sin C  
-      y =  0.3821 + 0.0927 cos A - 0.1005 sin A - 0.0594 cos C + 0.0377 sin C  
+      y =  0.3836 - 0.1091 cos A + 0.0516 sin A + 0.0585 cos C - 0.0025 sin C  
-         UT1-UTC =  0.0478 + 0.00010 (MJD - 60909) - (UT2-UT1)                 
+         UT1-UTC =  0.0617 + 0.00005 (MJD - 61056) - (UT2-UT1)                 
                                                                                
-      where A = 2*pi*(MJD-60901)/365.25 and C = 2*pi*(MJD-60901)/435.          
+      where A = 2*pi*(MJD-61048)/365.25 and C = 2*pi*(MJD-61048)/435.          
                                                                                
-         TAI-UTC(MJD 60902) = 37.0                                             
+         TAI-UTC(MJD 61049) = 37.0                                             
       The accuracy may be estimated from the expressions:                      
-      S x,y = 0.00068 (MJD-60901)**0.80   S t = 0.00025 (MJD-60901)**0.75      
+      S x,y = 0.00068 (MJD-61048)**0.80   S t = 0.00025 (MJD-61048)**0.75      
       Estimated accuracies are:  Predictions     10 d   20 d   30 d   40 d     
                                  Polar coord's  0.004  0.007  0.010  0.013     
                                  UT1-UTC        0.0014 0.0024 0.0032 0.0040    
                                                                                
                     MJD      x(arcsec)   y(arcsec)   UT1-UTC(sec)              
-       2025  8 15  60902       0.2191      0.4112      0.07241         
+       2026  1  9  61049       0.1001      0.3380      0.07228         
-       2025  8 16  60903       0.2193      0.4101      0.07289         
+       2026  1 10  61050       0.0993      0.3385      0.07180         
-       2025  8 17  60904       0.2196      0.4090      0.07364         
+       2026  1 11  61051       0.0985      0.3390      0.07149         
-       2025  8 18  60905       0.2200      0.4078      0.07462         
+       2026  1 12  61052       0.0978      0.3396      0.07136         
-       2025  8 19  60906       0.2205      0.4066      0.07573         
+       2026  1 13  61053       0.0971      0.3403      0.07142         
-       2025  8 20  60907       0.2210      0.4054      0.07685         
+       2026  1 14  61054       0.0964      0.3411      0.07168         
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-       2026  6  6  61197       0.1483      0.4475      0.04322         
+       2026 10 31  61344       0.1699      0.2792      0.09250         
-       2026  6  7  61198       0.1497      0.4474      0.04372         
+       2026 11  1  61345       0.1683      0.2788      0.09272         
-       2026  6  8  61199       0.1512      0.4474      0.04404         
+       2026 11  2  61346       0.1667      0.2784      0.09267         
-       2026  6  9  61200       0.1526      0.4473      0.04420         
+       2026 11  3  61347       0.1651      0.2780      0.09243         
-       2026  6 10  61201       0.1541      0.4472      0.04427         
+       2026 11  4  61348       0.1635      0.2777      0.09199         
-       2026  6 11  61202       0.1555      0.4471      0.04441         
+       2026 11  5  61349       0.1619      0.2773      0.09144         
-       2026  6 12  61203       0.1570      0.4470      0.04471         
+       2026 11  6  61350       0.1603      0.2770      0.09088         
-       2026  6 13  61204       0.1584      0.4468      0.04527         
+       2026 11  7  61351       0.1587      0.2767      0.09046         
-       2026  6 14  61205       0.1598      0.4467      0.04607         
+       2026 11  8  61352       0.1571      0.2765      0.09016         
-       2026  6 15  61206       0.1613      0.4465      0.04699         
+       2026 11  9  61353       0.1554      0.2763      0.09004         
-       2026  6 16  61207       0.1627      0.4462      0.04805         
+       2026 11 10  61354       0.1538      0.2760      0.09011         
-       2026  6 17  61208       0.1641      0.4460      0.04907         
+       2026 11 11  61355       0.1521      0.2759      0.09033         
-       2026  6 18  61209       0.1655      0.4457      0.04991         
+       2026 11 12  61356       0.1505      0.2757      0.09067         
-       2026  6 19  61210       0.1669      0.4454      0.05056         
+       2026 11 13  61357       0.1488      0.2756      0.09106         
-       2026  6 20  61211       0.1683      0.4451      0.05105         
+       2026 11 14  61358       0.1471      0.2755      0.09148         
-       2026  6 21  61212       0.1697      0.4448      0.05136         
+       2026 11 15  61359       0.1455      0.2754      0.09178         
-       2026  6 22  61213       0.1711      0.4444      0.05165         
+       2026 11 16  61360       0.1438      0.2753      0.09198         
-       2026  6 23  61214       0.1725      0.4440      0.05210         
+       2026 11 17  61361       0.1421      0.2753      0.09203         
-       2026  6 24  61215       0.1738      0.4436      0.05266         
+       2026 11 18  61362       0.1405      0.2753      0.09194         
-       2026  6 25  61216       0.1752      0.4432      0.05340         
+       2026 11 19  61363       0.1388      0.2753      0.09161         
-       2026  6 26  61217       0.1765      0.4428      0.05430         
+       2026 11 20  61364       0.1371      0.2754      0.09115         
-       2026  6 27  61218       0.1779      0.4423      0.05539         
+       2026 11 21  61365       0.1354      0.2755      0.09063         
-       2026  6 28  61219       0.1792      0.4418      0.05654         
+       2026 11 22  61366       0.1338      0.2756      0.09016         
-       2026  6 29  61220       0.1805      0.4413      0.05779         
+       2026 11 23  61367       0.1321      0.2757      0.08988         
-       2026  6 30  61221       0.1818      0.4408      0.05910         
+       2026 11 24  61368       0.1304      0.2759      0.08982         
-       2026  7  1  61222       0.1831      0.4402      0.06048         
+       2026 11 25  61369       0.1287      0.2760      0.09000         
-       2026  7  2  61223       0.1844      0.4397      0.06171         
+       2026 11 26  61370       0.1271      0.2762      0.09038         
-       2026  7  3  61224       0.1856      0.4391      0.06280         
+       2026 11 27  61371       0.1254      0.2765      0.09073         
-       2026  7  4  61225       0.1869      0.4385      0.06369         
+       2026 11 28  61372       0.1237      0.2767      0.09096         
-       2026  7  5  61226       0.1881      0.4378      0.06434         
+       2026 11 29  61373       0.1221      0.2770      0.09110         
-       2026  7  6  61227       0.1893      0.4372      0.06480         
+       2026 11 30  61374       0.1204      0.2773      0.09103         
-       2026  7  7  61228       0.1905      0.4365      0.06523         
+       2026 12  1  61375       0.1188      0.2777      0.09070         
-       2026  7  8  61229       0.1917      0.4358      0.06572         
+       2026 12  2  61376       0.1171      0.2780      0.09027         
-       2026  7  9  61230       0.1929      0.4351      0.06633         
+       2026 12  3  61377       0.1155      0.2784      0.08987         
-       2026  7 10  61231       0.1941      0.4344      0.06723         
+       2026 12  4  61378       0.1139      0.2788      0.08951         
-       2026  7 11  61232       0.1952      0.4336      0.06843         
+       2026 12  5  61379       0.1122      0.2793      0.08932         
-       2026  7 12  61233       0.1964      0.4329      0.06985         
+       2026 12  6  61380       0.1106      0.2797      0.08929         
-       2026  7 13  61234       0.1975      0.4321      0.07146         
+       2026 12  7  61381       0.1090      0.2802      0.08941         
-       2026  7 14  61235       0.1986      0.4313      0.07292         
+       2026 12  8  61382       0.1074      0.2807      0.08977         
-       2026  7 15  61236       0.1996      0.4304      0.07413         
+       2026 12  9  61383       0.1058      0.2813      0.09031         
-       2026  7 16  61237       0.2007      0.4296      0.07502         
+       2026 12 10  61384       0.1042      0.2819      0.09092         
-       2026  7 17  61238       0.2018      0.4288      0.07557         
+       2026 12 11  61385       0.1026      0.2824      0.09153         
-       2026  7 18  61239       0.2028      0.4279      0.07596         
+       2026 12 12  61386       0.1011      0.2831      0.09210         
-       2026  7 19  61240       0.2038      0.4270      0.07629         
+       2026 12 13  61387       0.0995      0.2837      0.09261         
-       2026  7 20  61241       0.2048      0.4261      0.07668         
+       2026 12 14  61388       0.0980      0.2844      0.09296         
-       2026  7 21  61242       0.2058      0.4252      0.07728         
+       2026 12 15  61389       0.0964      0.2851      0.09308         
-       2026  7 22  61243       0.2067      0.4242      0.07807         
+       2026 12 16  61390       0.0949      0.2858      0.09298         
-       2026  7 23  61244       0.2076      0.4233      0.07908         
+       2026 12 17  61391       0.0934      0.2865      0.09271         
-       2026  7 24  61245       0.2085      0.4223      0.08036         
+       2026 12 18  61392       0.0919      0.2873      0.09223         
-       2026  7 25  61246       0.2094      0.4213      0.08180         
+       2026 12 19  61393       0.0904      0.2881      0.09183         
-       2026  7 26  61247       0.2103      0.4203      0.08338         
+       2026 12 20  61394       0.0889      0.2889      0.09151         
-       2026  7 27  61248       0.2112      0.4193      0.08491         
+       2026 12 21  61395       0.0875      0.2897      0.09140         
-       2026  7 28  61249       0.2120      0.4183      0.08647         
+       2026 12 22  61396       0.0860      0.2906      0.09146         
-       2026  7 29  61250       0.2128      0.4173      0.08786         
+       2026 12 23  61397       0.0846      0.2914      0.09172         
-       2026  7 30  61251       0.2136      0.4162      0.08904         
+       2026 12 24  61398       0.0832      0.2923      0.09217         
-       2026  7 31  61252       0.2143      0.4151      0.08998         
+       2026 12 25  61399       0.0818      0.2933      0.09256         
-       2026  8  1  61253       0.2151      0.4141      0.09076         
+       2026 12 26  61400       0.0804      0.2942      0.09281         
-       2026  8  2  61254       0.2158      0.4130      0.09130         
+       2026 12 27  61401       0.0791      0.2952      0.09278         
-       2026  8  3  61255       0.2165      0.4119      0.09180         
+       2026 12 28  61402       0.0777      0.2962      0.09251         
-       2026  8  4  61256       0.2172      0.4108      0.09232         
+       2026 12 29  61403       0.0764      0.2972      0.09213         
-       2026  8  5  61257       0.2178      0.4096      0.09294         
+       2026 12 30  61404       0.0751      0.2982      0.09173         
-       2026  8  6  61258       0.2184      0.4085      0.09372         
+       2026 12 31  61405       0.0738      0.2993      0.09140         
-       2026  8  7  61259       0.2190      0.4074      0.09466         
+       2027  1  1  61406       0.0725      0.3004      0.09123         
-       2026  8  8  61260       0.2196      0.4062      0.09591         
+       2027  1  2  61407       0.0713      0.3015      0.09132         
-       2026  8  9  61261       0.2202      0.4050      0.09728         
+       2027  1  3  61408       0.0700      0.3026      0.09160         
-       2026  8 10  61262       0.2207      0.4039      0.09868         
+       2027  1  4  61409       0.0688      0.3037      0.09200         
-       2026  8 11  61263       0.2212      0.4027      0.09988         
+       2027  1  5  61410       0.0676      0.3049      0.09264         
-       2026  8 12  61264       0.2217      0.4015      0.10077         
+       2027  1  6  61411       0.0665      0.3061      0.09344         
-       2026  8 13  61265       0.2221      0.4003      0.10141         
+       2027  1  7  61412       0.0653      0.3072      0.09426         
-       2026  8 14  61266       0.2226      0.3991      0.10182         
+       2027  1  8  61413       0.0642      0.3085      0.09509         
       These predictions are based on all announced leap seconds.               
                                                                                
+      CELESTIAL POLE OFFSET SERIES:                                            
+                           NEOS Celestial Pole Offset Series                   
+                       MJD      dpsi    error     deps    error                
+                                        (msec. of arc)                         
+                      61026  -114.45    1.33   -7.19    0.16   
+                      61027  -114.43    1.33   -7.42    0.16   
+                      61028  -114.48    1.33   -7.64    0.16   
+                      61029  -114.51    1.19   -7.67    0.18   
+                      61030  -114.39    1.19   -7.49    0.18   
+                      61031  -114.09    1.24   -7.26    0.16   
+                      61032  -113.74    1.35   -7.13    0.06   
+                      61033  -113.52    1.35   -7.11    0.06   
+                                                                               
+                     IERS Celestial Pole Offset Final Series                   
+                           MJD          dpsi      deps                         
+                                        (msec. of arc)                         
+                          60981      -117.6      -9.0                      
+                          60982      -117.8      -8.8                      
+                          60983      -118.0      -8.6                      
+                          60984      -117.8      -8.6                      
+                          60985      -117.5      -8.8                      
+                          60986      -117.1      -8.9                      
+                          60987      -116.8      -8.7                      
+                          60988      -116.9      -8.5                      
+                          60989      -117.0      -8.6                      
+                          60990      -116.9      -8.8                      
+                          60991      -116.6      -8.8                      
+                          60992      -116.5      -8.5                      
+                          60993      -116.5      -8.0                      
+                          60994      -116.6      -7.7                      
+                          60995      -116.6      -7.6                      
+                          60996      -116.4      -7.5                      
+                          60997      -116.1      -7.5                      
+                          60998      -115.6      -7.8                      
+                          60999      -115.5      -8.3                      
+                          61000      -115.9      -8.6                      
+                          61001      -116.0      -8.6                      
+                          61002      -115.9      -8.5                      
+                          61003      -115.7      -8.3                      
+                          61004      -115.4      -8.2                      
+                          61005      -115.1      -8.2                      
+                          61006      -114.7      -8.1                      
+                          61007      -114.4      -7.9                      
+                          61008      -114.3      -7.9                      
+                          61009      -114.6      -7.8                      
+                          61010      -115.2      -7.6                      
+                                                            
+                     IAU2000A Celestial Pole Offset Series  
+                      MJD      dX     error     dY     error
+                                    (msec. of arc)          
+                      61026    0.512  0.531   -0.092   0.161          
+                      61027    0.519  0.531   -0.101   0.161          
+                      61028    0.523  0.531   -0.107   0.161          
+                      61029    0.527  0.474   -0.112   0.176          
+                      61030    0.530  0.474   -0.114   0.176          
+                      61031    0.533  0.494   -0.114   0.156          
+                      61032    0.536  0.536   -0.113   0.059          
+                      61033    0.539  0.536   -0.111   0.059          
+                                                                               
+                                                                               
+                 IAU2000A Celestial Pole Offset Final Series 
+                             MJD     dX         dY           
+                             (msec. of arc)          
+                           60981     0.40       0.03
+                           60982     0.38       0.02
+                           60983     0.37       0.00
+                           60984     0.42      -0.05
+                           60985     0.41      -0.05
+                           60986     0.34      -0.00
+                           60987     0.33       0.01
+                           60988     0.36      -0.01
+                           60989     0.41      -0.04
+                           60990     0.46      -0.06
+                           60991     0.45      -0.05
+                           60992     0.42      -0.02
+                           60993     0.39       0.01
+                           60994     0.33       0.07
+                           60995     0.29       0.12
+                           60996     0.30       0.14
+                           60997     0.38       0.10
+                           60998     0.59      -0.02
+                           60999     0.62      -0.11
+                           61000     0.51      -0.14
+                           61001     0.41      -0.14
+                           61002     0.35      -0.10
+                           61003     0.32      -0.06
+                           61004     0.33      -0.03
+                           61005     0.38      -0.07
+                           61006     0.47      -0.10
+                           61007     0.57      -0.11
+                           61008     0.57      -0.10
+                           61009     0.48      -0.08
+                           61010     0.35      -0.06
+                                                                               
 )--";
 
 

mcc/mcc_configfile.h

@@ -0,0 +1,233 @@
+#pragma once
+
+/*    MOUNT CONTRO: COMPONENTS    */
+
+
+#include <concepts>
+#include <cstddef>
+#include <filesystem>
+#include <fstream>
+#include <unordered_map>
+#include <variant>
+
+#include "mcc_traits.h"
+#include "mcc_utils.h"
+
+namespace mcc
+{
+
+
+/*
+ *  A VERY SIMPLE CONFIG-FILE READER-PARSER
+ *
+ *  format:
+ *      key = value1, value2, ...
+ *
+ *      a line beginning from '#' symbol is a comment and will be skipped
+ *      a line containing from only ' ' is skipped
+ */
+
+class MccConfigFile
+{
+public:
+    static constexpr char COMMENT_SYMBOL = '#';
+    static constexpr char KEY_VALUE_DELIM = '=';
+    static constexpr char VALUE_VALUE_DELIM = ',';
+
+
+    typedef std::variant<std::monostate, std::string, std::vector<std::string>> config_value_t;
+    typedef std::unordered_map<std::string, config_value_t> config_t;
+    // typedef std::unordered_map<std::string, std::variant<std::monostate, std::string, std::vector<std::string>>>
+    //     config_t;
+
+    MccConfigFile(const config_t& init_config = {})
+        : _currentFilename(), _currentConfig(init_config) {
+
+          };
+
+    MccConfigFile(std::derived_from<std::basic_istream<char>> auto const& stream, const config_t& init_config = {})
+        : MccConfigFile(init_config)
+    {
+        load(stream);
+    }
+
+    MccConfigFile(traits::mcc_input_char_range auto const& filename, const config_t& init_config = {})
+        : MccConfigFile(init_config)
+    {
+        load(filename);
+    }
+
+
+    config_value_t& operator[](traits::mcc_input_char_range auto&& key)
+    {
+        if constexpr (std::convertible_to<std::decay_t<decltype(key)>, typename config_t::key_type>) {
+            return _currentConfig[key];
+        } else {
+            typename config_t::key_type skey;
+            std::ranges::copy(std::forward<decltype(key)>(key), std::back_inserter(skey));
+            return _currentConfig[key];
+        }
+    }
+
+    const config_value_t& operator[](traits::mcc_input_char_range auto&& key) const
+    {
+        return const_cast<const MccConfigFile&>(*this).operator[](std::forward<decltype(key)>(key));
+    }
+
+
+    std::error_code load(std::derived_from<std::basic_istream<char>> auto& stream)
+    {
+        _currentConfig.clear();
+
+        // read line-by-line
+        for (std::string line; std::getline(stream, line);) {
+            if (line.empty()) {
+                continue;
+            }
+
+            auto sv = utils::trimSpaces(line, utils::TrimType::TRIM_LEFT);
+
+            if (sv.size()) {
+                if (sv[0] == COMMENT_SYMBOL) {  // comment string
+                    continue;
+                }
+
+                auto it = std::ranges::find(sv, KEY_VALUE_DELIM);
+                if (it == sv.begin()) {  // empty key! skip!
+                    continue;
+                }
+                auto key = utils::trimSpaces(std::string_view{sv.begin(), it}, utils::TrimType::TRIM_RIGHT);
+                std::string skey = {key.begin(), key.end()};
+
+                if (it == sv.end()) {  // only key
+                    _currentConfig[skey] = {};
+                } else {  // key and value
+                    auto vals = utils::trimSpaces(std::string_view{it + 1, sv.end()});
+                    auto it_dlm = std::ranges::find(vals, VALUE_VALUE_DELIM);
+
+                    if (it_dlm == vals.end()) {  // scalar value
+                        _currentConfig[skey] = std::string{vals.begin(), vals.end()};
+                    } else {  // vector of values
+                        std::vector<std::string> elems;
+                        // while (it_dlm != vals.end()) {
+                        //     auto el = utils::trimSpaces(std::string_view{vals.begin(), it_dlm});
+                        //     elems.emplace_back(el.begin(), el.end());
+
+                        //     vals = {it_dlm + 1, vals.end()};
+                        //     it_dlm = std::ranges::find(vals, VALUE_VALUE_DELIM);
+                        // }
+
+                        for (const auto& el :
+                             std::views::split(vals, VALUE_VALUE_DELIM) |
+                                 std::views::transform([](const auto& sv) { return utils::trimSpaces(sv); })) {
+                            elems.emplace_back(el.begin(), el.end());
+                        }
+                        _currentConfig[skey] = elems;
+                    }
+                }
+            } else {  // the string contains from only spaces
+                continue;
+            }
+        }
+
+        return {};
+    }
+
+    std::error_code load(traits::mcc_input_char_range auto const& filename)
+    {
+        std::filesystem::path pt(filename.begin(), filename.end());
+
+        // first, check file existence
+
+        std::error_code ec;
+        auto pt_cn = std::filesystem::canonical(pt, ec);
+        if (ec) {
+            return ec;
+        }
+
+        std::ifstream fin(pt_cn);
+
+        if (!fin.is_open()) {
+            return std::make_error_code(std::errc::no_such_file_or_directory);
+            // return std::make_error_code(std::errc::permission_denied);
+        }
+
+        _currentFilename = pt_cn.string();
+
+        load(fin);
+
+        fin.close();
+
+        return {};
+    }
+
+
+    std::error_code save() const
+    {
+        std::ofstream fst(_currentFilename, std::ios::trunc);
+
+        if (!fst.is_open()) {
+            return std::make_error_code(std::errc::no_such_file_or_directory);
+        }
+
+        const std::time_t now = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now());
+
+        fst << "#\n";
+        fst << "# Created by MccConfigFile class (" << std::put_time(std::localtime(&now), "[%F %T]") << ")\n";
+        fst << "#\n";
+
+        for (auto& [key, value] : _currentConfig) {
+            fst << key;
+
+            if (auto v_str = std::get_if<1>(&value)) {
+                fst << " = " << *v_str;
+            } else if (auto v_vec = std::get_if<2>(&value)) {
+                fst << " = " << (*v_vec)[0];
+                for (size_t i = 1; i < v_vec->size(); ++i) {
+                    fst << ", " << (*v_vec)[i];
+                }
+            }  // std::monostate here
+
+            fst << "\n";
+        }
+
+        fst.close();
+
+        return {};
+    }
+
+
+    std::error_code save(traits::mcc_input_char_range auto const& filename)
+    {
+        if (std::distance(filename.begin(), filename.end()) == 0) {
+            return std::make_error_code(std::errc::no_such_file_or_directory);
+        }
+
+        std::ranges::copy(filename, std::back_inserter(_currentFilename));
+
+        return save();
+    }
+
+
+    std::string currentFilename() const
+    {
+        return _currentFilename;
+    }
+
+    const config_t& config() const
+    {
+        return _currentConfig;
+    }
+
+    // config_t& config()
+    // {
+    //     return _currentConfig;
+    // }
+
+private:
+    std::string _currentFilename;
+
+    config_t _currentConfig;
+};
+
+}  // namespace mcc

mcc/mcc_coord.h

@@ -0,0 +1,619 @@
+#pragma once
+
+#include "mcc_angle.h"
+#include "mcc_ccte_erfa_new.h"
+#include "mcc_defaults.h"
+#include "mcc_generics.h"
+
+#include <erfa.h>
+
+namespace mcc
+{
+
+
+template <mcc_angle_c CO_LON_T, mcc_angle_c CO_LAT_T>
+class MccCoordPair
+{
+public:
+    typedef CO_LON_T x_t;
+    typedef CO_LAT_T y_t;
+
+    static constexpr MccCoordPairKind pairKind =
+        !(std::derived_from<CO_LON_T, MccAngle> ||
+          std::derived_from<CO_LAT_T, MccAngle>)  // unknown type (possibly just double or float)
+            ? MccCoordPairKind::COORDS_KIND_GENERIC
+            : (std::same_as<CO_LON_T, MccAngle> || std::same_as<CO_LAT_T, MccAngle>)  // one of the types is MccAngle
+                  ? MccCoordPairKind::COORDS_KIND_GENERIC
+                  // ICRS RA and DEC
+                  : (std::same_as<CO_LON_T, MccAngleRA_ICRS> && std::same_as<CO_LAT_T, MccAngleDEC_ICRS>)
+                        ? MccCoordPairKind::COORDS_KIND_RADEC_ICRS
+                    // apparent RA and DEC
+                    : (std::same_as<CO_LON_T, MccAngleRA_APP> && std::same_as<CO_LAT_T, MccAngleDEC_APP>)
+                        ? MccCoordPairKind::COORDS_KIND_RADEC_APP
+                    // observed RA and DEC
+                    : (std::same_as<CO_LON_T, MccAngleRA_OBS> && std::same_as<CO_LAT_T, MccAngleDEC_OBS>)
+                        ? MccCoordPairKind::COORDS_KIND_RADEC_OBS
+                    // apparent HA and DEC
+                    : (std::same_as<CO_LON_T, MccAngleHA_APP> && std::same_as<CO_LAT_T, MccAngleDEC_APP>)
+                        ? MccCoordPairKind::COORDS_KIND_HADEC_APP
+                    // observed HA and DEC
+                    : (std::same_as<CO_LON_T, MccAngleHA_OBS> && std::same_as<CO_LAT_T, MccAngleDEC_OBS>)
+                        ? MccCoordPairKind::COORDS_KIND_HADEC_OBS
+                    // apparent AZ and ZD
+                    : (std::same_as<CO_LON_T, MccAngleAZ> && std::same_as<CO_LAT_T, MccAngleZD>)
+                        ? MccCoordPairKind::COORDS_KIND_AZZD
+                    // apparent AZ and ALT
+                    : (std::same_as<CO_LON_T, MccAngleAZ> && std::same_as<CO_LAT_T, MccAngleALT>)
+                        ? MccCoordPairKind::COORDS_KIND_AZALT
+                    // general purpose X and Y
+                    : (std::same_as<CO_LON_T, MccAngleX> && std::same_as<CO_LAT_T, MccAngleY>)
+                        ? MccCoordPairKind::COORDS_KIND_XY
+                    // geographical longitude and latitude
+                    : (std::same_as<CO_LON_T, MccAngleLON> && std::same_as<CO_LAT_T, MccAngleLAT>)
+                        ? MccCoordPairKind::COORDS_KIND_LONLAT
+                        : MccCoordPairKind::COORDS_KIND_UNKNOWN;
+
+    template <mcc_coord_epoch_c EpT = MccCelestialCoordEpoch>
+    MccCoordPair(CO_LON_T const& x, CO_LAT_T const& y, EpT const& epoch = EpT::now()) : _x(x), _y(y), _epoch(epoch)
+    {
+    }
+
+    MccCoordPair(const MccCoordPair&) = default;
+    MccCoordPair(MccCoordPair&&) = default;
+
+    MccCoordPair& operator=(const MccCoordPair&) = default;
+    MccCoordPair& operator=(MccCoordPair&&) = default;
+
+    virtual ~MccCoordPair() = default;
+
+    CO_LON_T x() const
+    {
+        return _x;
+    }
+
+    CO_LAT_T y() const
+    {
+        return _y;
+    }
+
+    MccCelestialCoordEpoch epoch() const
+    {
+        return _epoch;
+    }
+
+
+    double MJD() const
+    {
+        return _epoch.MJD();
+    }
+
+    // for something like:
+    //    auto [ra, dec, epoch] = coord_pair;
+    operator std::tuple<CO_LON_T, CO_LAT_T, MccCelestialCoordEpoch>() const
+    {
+        return {_x, _y, _epoch};
+    }
+
+    void setX(const CO_LON_T& x)
+    {
+        _x = x;
+    }
+
+    void setY(const CO_LAT_T& y)
+    {
+        _y = y;
+    }
+
+    void setEpoch(mcc_coord_epoch_c auto const& ep)
+    {
+        _epoch = ep;
+    }
+
+protected:
+    CO_LON_T _x;
+    CO_LAT_T _y;
+
+    MccCelestialCoordEpoch _epoch;
+};
+
+
+template <typename T>
+concept mcc_coord_pair_c = requires {
+    requires mcc_angle_c<typename T::x_t>;
+    requires mcc_angle_c<typename T::y_t>;
+
+    requires std::derived_from<T, MccCoordPair<typename T::x_t, typename T::y_t>>;
+};
+
+
+/*  predefined coordinate pairs  */
+
+template <mcc_angle_c CO_LON_T, mcc_angle_c CO_LAT_T>
+    requires(std::derived_from<CO_LON_T, MccAngle> && std::derived_from<CO_LAT_T, MccAngle>)
+class MccNamedCoordPair : public MccCoordPair<CO_LON_T, CO_LAT_T>
+{
+public:
+    MccNamedCoordPair() : MccCoordPair<CO_LON_T, CO_LAT_T>(CO_LON_T{0.0}, CO_LAT_T{0.0}, MccCelestialCoordEpoch::now())
+    {
+    }
+
+
+    template <typename CxT, typename CyT, mcc_coord_epoch_c EpT = MccCelestialCoordEpoch>
+        requires(std::is_arithmetic_v<CxT> && std::is_arithmetic_v<CyT>)
+    MccNamedCoordPair(CxT const& x, CyT const& y, EpT const& epoch = EpT::now())
+        : MccCoordPair<CO_LON_T, CO_LAT_T>(CO_LON_T{(double)x}, CO_LAT_T{(double)y}, epoch)
+    {
+    }
+
+    template <mcc_coord_epoch_c EpT = MccCelestialCoordEpoch>
+    MccNamedCoordPair(MccAngle const& x, MccAngle const& y, EpT const& epoch = EpT::now())
+        : MccCoordPair<CO_LON_T, CO_LAT_T>(CO_LON_T{(double)x}, CO_LAT_T{(double)y}, epoch)
+    {
+    }
+
+    MccNamedCoordPair(const MccNamedCoordPair&) = default;
+    MccNamedCoordPair(MccNamedCoordPair&&) = default;
+
+    MccNamedCoordPair& operator=(const MccNamedCoordPair&) = default;
+    MccNamedCoordPair& operator=(MccNamedCoordPair&&) = default;
+
+
+    virtual ~MccNamedCoordPair() = default;
+};
+
+struct MccSkyRADEC_ICRS : MccNamedCoordPair<MccAngleRA_ICRS, MccAngleDEC_ICRS> {
+    template <typename CxT, typename CyT>
+        requires(std::is_arithmetic_v<CxT> && std::is_arithmetic_v<CyT>)
+    MccSkyRADEC_ICRS(CxT const& x, CyT const& y)
+        : MccNamedCoordPair<MccAngleRA_ICRS, MccAngleDEC_ICRS>(x, y, MccCelestialCoordEpoch{})
+    {
+    }
+
+    MccSkyRADEC_ICRS(MccAngle const& x, MccAngle const& y) : MccSkyRADEC_ICRS((double)x, (double)y) {}
+
+    // ignore epoch setting (it is always J2000.0)
+    void setEpoch(mcc_coord_epoch_c auto const&)
+    {
+        static_assert(false, "CANNOT SET EPOCH FOR ICRS-KIND COORDINATE PAIR!!!");
+    }
+};
+
+
+struct MccSkyRADEC_APP : MccNamedCoordPair<MccAngleRA_APP, MccAngleDEC_APP> {
+    using MccNamedCoordPair<MccAngleRA_APP, MccAngleDEC_APP>::MccNamedCoordPair;
+};
+
+typedef MccNamedCoordPair<MccAngleRA_OBS, MccAngleDEC_OBS> MccSkyRADEC_OBS;
+// struct MccSkyRADEC_OBS : MccNamedCoordPair<MccAngleRA_OBS, MccAngleDEC_OBS> {
+//     using MccNamedCoordPair<MccAngleRA_OBS, MccAngleDEC_OBS>::MccNamedCoordPair;
+// };
+
+
+struct MccSkyHADEC_APP : MccNamedCoordPair<MccAngleHA_APP, MccAngleDEC_APP> {
+    using MccNamedCoordPair<MccAngleHA_APP, MccAngleDEC_APP>::MccNamedCoordPair;
+};
+
+
+struct MccSkyHADEC_OBS : MccNamedCoordPair<MccAngleHA_OBS, MccAngleDEC_OBS> {
+    using MccNamedCoordPair<MccAngleHA_OBS, MccAngleDEC_OBS>::MccNamedCoordPair;
+};
+
+
+struct MccSkyAZZD : MccNamedCoordPair<MccAngleAZ, MccAngleZD> {
+    using MccNamedCoordPair<MccAngleAZ, MccAngleZD>::MccNamedCoordPair;
+};
+
+
+struct MccSkyAZALT : MccNamedCoordPair<MccAngleAZ, MccAngleALT> {
+    using MccNamedCoordPair<MccAngleAZ, MccAngleALT>::MccNamedCoordPair;
+};
+
+
+struct MccGenXY : MccNamedCoordPair<MccAngleX, MccAngleY> {
+    using MccNamedCoordPair<MccAngleX, MccAngleY>::MccNamedCoordPair;
+};
+
+
+struct MccGeoLONLAT : MccNamedCoordPair<MccAngleLON, MccAngleLAT> {
+    using MccNamedCoordPair<MccAngleLON, MccAngleLAT>::MccNamedCoordPair;
+};
+
+
+struct mcc_skypoint_interface_t {
+    virtual ~mcc_skypoint_interface_t() = default;
+
+    // template <std::derived_from<mcc_skypoint_interface_t> SelfT, mcc_angle_c XT, mcc_angle_c YT>
+    // SelfT& from(this SelfT&& self, XT&& x, YT&& y)
+    // {
+    //     return std::forward<SelfT>(self).from(std::forward<XT>(x), std::forward<YT>(y));
+    // }
+
+    template <std::derived_from<mcc_skypoint_interface_t> SelfT, mcc_coord_pair_c PT>
+    auto from(this SelfT&& self, PT&& cpair)
+    {
+        return std::forward<SelfT>(self).from(std::forward<PT>(cpair));
+    }
+
+    template <std::derived_from<mcc_skypoint_interface_t> SelfT, mcc_coord_pair_c PT>
+    auto operator=(this SelfT&& self, PT&& cpair)
+    {
+        return std::forward<SelfT>(self).operator=(std::forward<PT>(cpair));
+    }
+
+
+    template <std::derived_from<mcc_skypoint_interface_t> SelfT, mcc_coord_pair_c PT, mcc_coord_pair_c... PTs>
+    auto to(this SelfT&& self, PT& cpair, PTs&... cpairs)
+    {
+        return std::forward<SelfT>(self).to(cpair, cpairs...);
+    }
+
+    template <std::derived_from<mcc_skypoint_interface_t> SelfT, mcc_coord_pair_c PT>
+    operator PT(this SelfT&& self)
+    {
+        return std::forward<SelfT>(self).operator PT();
+    }
+};
+
+template <typename T>
+concept mcc_skypoint_c = std::derived_from<T, mcc_skypoint_interface_t> && requires(T t) {
+    typename T::meteo_t;
+    { T::meteo(std::declval<typename T::meteo_t const&>()) };
+};
+
+
+
+/*                          MCC-LIBRARY DEFAULT GENERIC SKY POINT CLASS IMPLEMENTATION                    */
+
+
+template <typename CCTE_T>
+class MccGenericSkyPoint : public mcc_skypoint_interface_t
+{
+public:
+    typedef CCTE_T ccte_t;
+
+    static constexpr double MJD0 = 2400000.5;
+
+    inline static CCTE_T cctEngine{};  // celestial coordinates transformation engine
+
+    MccGenericSkyPoint() {}
+
+    template <mcc_coord_pair_c PT>
+    MccGenericSkyPoint(const PT& coord_pair) : MccGenericSkyPoint()
+    {
+        auto self = from(coord_pair);
+    }
+
+    MccGenericSkyPoint(const MccGenericSkyPoint&) = default;
+    MccGenericSkyPoint(MccGenericSkyPoint&&) = default;
+
+    MccGenericSkyPoint& operator=(const MccGenericSkyPoint&) = default;
+    MccGenericSkyPoint& operator=(MccGenericSkyPoint&&) = default;
+
+    virtual ~MccGenericSkyPoint() = default;
+
+    MccCelestialCoordEpoch epoch() const
+    {
+        return _epoch;
+    }
+
+    template <mcc_coord_pair_c PT>
+    MccGenericSkyPoint& from(const PT& coord_pair)
+    {
+        _x = coord_pair.x();
+        _y = coord_pair.y();
+
+        _pairKind = coord_pair.pairKind;
+
+        if constexpr (PT::pairKind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
+            _epoch = MccCelestialCoordEpoch();  // J2000.0
+        } else {
+            _epoch.fromMJD(coord_pair.MJD());
+        }
+
+        return *this;
+    }
+
+    MccGenericSkyPoint& operator=(mcc_coord_pair_c auto const& coord_pair)
+    {
+        return from(coord_pair);
+    }
+
+
+    template <mcc_coord_pair_c PT, mcc_coord_pair_c... PTs>
+    auto to(PT& cpair, PTs&... cpairs) const
+    {
+        toHelper(cpair);
+
+        if constexpr (sizeof...(PTs)) {
+            to(cpairs...);
+        }
+    }
+
+
+    template <mcc_coord_pair_c PT>
+    operator PT()
+    {
+        PT res;
+        to(res);
+
+        return res;
+    }
+
+protected:
+    double _x{0.0}, _y{0.0};
+    MccCoordPairKind _pairKind{MccCoordPairKind::COORDS_KIND_RADEC_ICRS};
+    MccCelestialCoordEpoch _epoch{};  // J2000.0
+
+    template <mcc_coord_pair_c PT>
+    auto toHelper(PT& cpair) const
+    {
+        static constexpr double half_pi = std::numbers::pi / 2.0;
+
+        // HA, DEC to AZ, ALT (AZ from the South through the West)
+        auto hadec2azalt = [](double ha, double dec, double phi, double& az, double& alt) {
+            const auto cos_phi = std::cos(phi), sin_phi = std::sin(phi);
+            const auto cos_dec = std::cos(dec), sin_dec = std::sin(dec);
+            const auto cos_ha = std::cos(ha), sin_ha = std::sin(ha);
+
+            auto x = sin_phi * cos_dec * cos_ha - cos_phi * sin_dec;
+            auto y = -cos_dec * sin_ha;
+            auto z = cos_phi * cos_dec * cos_ha + sin_phi * sin_dec;
+
+            auto xx = x * x, yy = y * y;
+            decltype(x) r;
+            if (xx < yy) {
+                r = yy * sqrt(1.0 + xx / yy);
+            } else {
+                r = xx * sqrt(1.0 + yy / xx);
+            }
+
+            az = utils::isEqual(r, 0.0) ? 0.0 : std::atan2(y, x);
+            if (az < 0.0) {
+                az += std::numbers::pi * 2.0;  // to range of [0, 2*PI]
+            }
+
+            alt = std::atan2(z, r);
+        };
+
+        // AZ, ALT to HA, DEC (AZ from the South through the West)
+        auto azalt2hadec = [](double az, double alt, double phi, double& ha, double& dec) {
+            const auto cos_phi = std::cos(phi), sin_phi = std::sin(phi);
+            const auto cos_az = std::cos(az), sin_az = std::sin(az);
+            const auto cos_alt = std::cos(alt), sin_alt = std::sin(alt);
+
+            auto x = sin_phi * cos_alt * cos_az + cos_phi * sin_alt;
+            auto y = cos_alt * sin_az;
+            auto z = -cos_phi * cos_alt * cos_az + sin_phi * sin_alt;
+
+            auto xx = x * x, yy = y * y;
+            decltype(x) r;
+            if (xx < yy) {
+                r = yy * sqrt(1.0 + xx / yy);
+            } else {
+                r = xx * sqrt(1.0 + yy / xx);
+            }
+
+            ha = utils::isEqual(r, 0.0) ? 0.0 : std::atan2(y, x);
+            dec = std::atan2(z, r);
+        };
+
+        typename CCTE_T::error_t ccte_err;
+
+        double phi = cctEngine.getStateERFA().lat;
+        double ra_icrs, dec_icrs, ra, dec, ha, az, zd, alt, lst, eo;
+
+        static_assert(PT::pairKind != MccCoordPairKind::COORDS_KIND_GENERIC, "UNSUPPORTED SKY POINT TRANSFORMATION!");
+        static_assert(PT::pairKind != MccCoordPairKind::COORDS_KIND_UNKNOWN, "UNSUPPORTED SKY POINT TRANSFORMATION!");
+
+
+        if (_pairKind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS &&
+            PT::pairKind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {  // from ICRS to ICRS - just copy and exit
+            cpair = PT(typename PT::x_t(_x), typename PT::y_t(_y));
+
+            return;
+        }
+
+        // just copy coordinates and exit
+        if (_pairKind == PT::pairKind && utils::isEqual(_epoch.MJD(), cpair.MJD())) {
+            // cpair = PT(typename PT::x_t(_x), typename PT::y_t(_y), _epoch);
+            cpair.setX(_x);
+            cpair.setY(_y);
+            return;
+        }
+
+
+        // if epochs are not the same then
+        // 1) convert stored coordinates to ICRS ones
+        // 2) convert from the computed ICRS coordinates to required ones
+        MccCoordPairKind pkind = _pairKind;
+        if (!utils::isEqual(_epoch.MJD(), cpair.MJD())) {  // convert stored pair to ICRS one (ra_icrs, dec_icrs)
+            if (_pairKind != MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
+                pkind = MccCoordPairKind::COORDS_KIND_RADEC_ICRS;
+
+                if (mcc_is_obs_coordpair(_pairKind)) {
+                    ccte_err = cctEngine.obsToICRS(_pairKind, _epoch, _x, _y, &ra_icrs, &dec_icrs);
+                } else if (mcc_is_app_coordpair(_pairKind)) {
+                    ccte_err = cctEngine.appToICRS(_pairKind, _epoch, _x, _y, &ra_icrs, &dec_icrs);
+                } else {  // unsupported transformation!!!
+                    return;
+                }
+
+                if (ccte_err) {
+                    return;
+                }
+            } else {
+                ra_icrs = _x;
+                dec_icrs = _y;
+            }
+        }
+
+        // here, from APP or OBS to ICRS and exit
+        if (pkind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS &&
+            PT::pairKind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
+            cpair = PT(typename PT::x_t(ra_icrs), typename PT::y_t(dec_icrs));
+            return;
+        }
+
+        // here, the input coordinates and stored one are at the same epoch
+
+        ccte_err = cctEngine.equationOrigins(cpair.epoch(), &eo);
+        if (ccte_err) {
+            return;
+        }
+
+        ccte_err = cctEngine.apparentSideralTime(cpair.epoch(), &lst, true);
+        if (ccte_err) {
+            return;
+        }
+
+
+        if (pkind == MccCoordPairKind::COORDS_KIND_RADEC_APP || pkind == MccCoordPairKind::COORDS_KIND_RADEC_OBS) {
+            ra = _x;
+            dec = _y;
+        } else if (pkind == MccCoordPairKind::COORDS_KIND_HADEC_APP ||
+                   pkind == MccCoordPairKind::COORDS_KIND_HADEC_OBS) {
+            ha = _x;
+            dec = _y;
+        } else if (pkind == MccCoordPairKind::COORDS_KIND_AZZD) {
+            az = _x;
+            zd = _y;
+        } else if (pkind == MccCoordPairKind::COORDS_KIND_AZALT) {
+            az = _x;
+            alt = _y;
+        }
+        // else if (pkind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
+        //     ra_icrs = _x;
+        //     dec_icrs = _y;
+        // } else {  // unsupported transformation!!!
+        //     return;
+        // }
+
+        // coordinate transformation lambda (possibly recursive!!!)
+        auto comp_func = [&](this auto&& self, MccCoordPairKind cp_kind) -> void {
+            if (cp_kind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
+                if constexpr (mccIsAppCoordPairKind<PT::pairKind>) {
+                    ccte_err = cctEngine.icrsToApp(ra_icrs, dec_icrs, cpair.epoch(), &ra, &dec, &ha, &az, &zd);
+                } else if constexpr (mccIsObsCoordPairKind<PT::pairKind>) {
+                    ccte_err = cctEngine.icrsToObs(ra_icrs, dec_icrs, cpair.epoch(), &ra, &dec, &ha, &az, &zd);
+                } else {
+                    static_assert(true, "UNSUPPORTED SKY POINT TRANSFORMATION!");
+                }
+
+                if constexpr (PT::pairKind == MccCoordPairKind::COORDS_KIND_RADEC_APP ||
+                              PT::pairKind == MccCoordPairKind::COORDS_KIND_RADEC_OBS) {
+                    cpair.setX(ra);
+                    cpair.setY(dec);
+                } else if constexpr (PT::pairKind == MccCoordPairKind::COORDS_KIND_HADEC_APP ||
+                                     PT::pairKind == MccCoordPairKind::COORDS_KIND_HADEC_OBS) {
+                    cpair.setX(ha);
+                    cpair.setY(dec);
+                } else if constexpr (PT::pairKind == MccCoordPairKind::COORDS_KIND_AZZD) {
+                    cpair.setX(az);
+                    cpair.setY(zd);
+                } else if constexpr (PT::pairKind == MccCoordPairKind::COORDS_KIND_AZALT) {
+                    cpair.setX(az);
+                    cpair.setY(half_pi - zd);
+                } else {
+                    static_assert(true, "UNSUPPORTED SKY POINT TRANSFORMATION!");
+                }
+            } else if (cp_kind == MccCoordPairKind::COORDS_KIND_AZALT) {
+                if constexpr (PT::pairKind == MccCoordPairKind::COORDS_KIND_AZZD) {
+                    zd = half_pi - alt;
+                    cpair.setX(az);
+                    cpair.setY(zd);
+                } else {
+                    if constexpr (mccIsAppCoordPairKind<PT::pairKind>) {
+                        // correct for refraction: alt -= dz_refr
+                        double dZ;
+                        ccte_err = cctEngine.refractionCorrection(half_pi - alt, &dZ);
+                        alt -= dZ;
+                    }
+
+                    azalt2hadec(az, alt, phi, ha, dec);
+                    cpair.setY(dec);
+
+                    if constexpr (PT::pairKind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
+                        ra = lst + eo - ha;
+                        cpair.setX(ra);
+                    } else if constexpr (PT::pairKind == MccCoordPairKind::COORDS_KIND_RADEC_OBS) {
+                        ra = lst + eo - ha;
+                        cpair.setX(ra);
+                    } else if constexpr (PT::pairKind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
+                        cpair.setX(ha);
+                    } else if constexpr (PT::pairKind == MccCoordPairKind::COORDS_KIND_HADEC_OBS) {
+                        cpair.setX(ha);
+                    } else {  // unsupported transformation!!!
+                        return;
+                    }
+                }
+            } else if (cp_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
+                alt = half_pi - zd;
+                if constexpr (PT::pairKind == MccCoordPairKind::COORDS_KIND_AZALT) {
+                    cpair.setX(az);
+                    cpair.setY(alt);
+                } else {
+                    self(MccCoordPairKind::COORDS_KIND_AZALT);
+                }
+            } else if (cp_kind == MccCoordPairKind::COORDS_KIND_HADEC_OBS) {
+                if constexpr (PT::pairKind == MccCoordPairKind::COORDS_KIND_RADEC_OBS) {
+                    ra = lst + eo - ha;
+                    cpair.setX(ra);
+                    cpair.setY(dec);
+                } else {
+                    hadec2azalt(ha, dec, phi, az, alt);
+                    if constexpr (mccIsAppCoordPairKind<PT::pairKind>) {  // RADEC_APP, HADEC_APP
+                        self(MccCoordPairKind::COORDS_KIND_AZALT);
+                    } else {  // AZALT, AZZD
+                        cpair.setX(az);
+                        if constexpr (PT::pairKind == MccCoordPairKind::COORDS_KIND_AZZD) {
+                            zd = half_pi - alt;
+                            cpair.setY(zd);
+                        } else {
+                            cpair.setY(alt);
+                        }
+                    }
+                }
+            } else if (cp_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
+                if constexpr (PT::pairKind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
+                    ra = lst + eo - ha;
+                    cpair.setX(ra);
+                    cpair.setY(dec);
+                } else {
+                    hadec2azalt(ha, dec, phi, az, alt);
+                    if constexpr (mccIsObsCoordPairKind<PT::pairKind>) {  // RADEC_OBS, HADEC_OBS, AZALT, AZZD
+                        // correct for refraction: alt += dz_refr
+                        double dZ;
+                        ccte_err = cctEngine.refractionReverseCorrection(half_pi - alt, &dZ);
+                        alt += dZ;
+                        self(MccCoordPairKind::COORDS_KIND_AZALT);
+                    }
+                }
+            } else if (cp_kind == MccCoordPairKind::COORDS_KIND_RADEC_OBS) {
+                ha = lst + eo - ra;
+                if constexpr (PT::pairKind == MccCoordPairKind::COORDS_KIND_HADEC_OBS) {
+                    cpair.setX(ha);
+                    cpair.setY(dec);
+                } else {
+                    self(MccCoordPairKind::COORDS_KIND_HADEC_OBS);
+                }
+            } else if (cp_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
+                ha = lst + eo - ra;
+                if constexpr (PT::pairKind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
+                    cpair.setX(ha);
+                    cpair.setY(dec);
+                } else {
+                    self(MccCoordPairKind::COORDS_KIND_HADEC_APP);
+                }
+            }
+        };
+
+        comp_func(pkind);  // ran transformation
+    }
+};
+
+
+/*              MCC-LIBRARY DEFAULT SKY POINT CLASS WITH ERFA-LIBRARY BASED ENGINE                  */
+
+typedef MccGenericSkyPoint<ccte::erfa::MccCCTE_ERFA> MccSkyPoint;
+
+}  // end namespace mcc

mcc/mcc_finite_state_machine.h

@@ -317,6 +317,7 @@ protected:
     std::vector<std::function<void(const MccFiniteStateMachine*)>> _destroyFunc{};
 
     std::string_view _currentStateID;
+    std::string_view _previousStateID;
     std::vector<std::string_view> _stateID{};
     std::vector<std::string_view> _eventID{};
 
@@ -367,7 +368,7 @@ protected:
 
 public:
     template <traits::fsm_state_c InitStateT>
-    constexpr MccFiniteStateMachine(InitStateT) : _currentStateID(InitStateT::ID)
+    constexpr MccFiniteStateMachine(InitStateT) : _currentStateID(InitStateT::ID), _previousStateID(InitStateT::ID)
     {
         using states_t = deduce_states_t<InitStateT>;
         auto states = std::make_shared<states_t>();
@@ -396,10 +397,6 @@ public:
                           [p_event, states, currentState, this]<traits::fsm_state_c curr_state_t>(curr_state_t*) {
                               using to_state_t = curr_state_t::transition_t::template find_state_by_event_t<EvT>;
 
-                              if constexpr (std::holds_alternative<to_state_t>(*currentState)) {
-                                  // ?!!!!  from self
-                              }
-
                               if constexpr (!std::is_void_v<to_state_t>) {
                                   std::lock_guard lock(_transitionMutex);
 
@@ -421,6 +418,7 @@ public:
                                       p_event->onTransit();
                                   }
 
+                                  _previousStateID = curr_state_t::ID;
                                   *currentState = &std::get<to_state_t>(*states);
                                   _currentStateID = to_state_t::ID;
 
@@ -529,6 +527,11 @@ public:
         return _currentStateID;
     }
 
+    std::string_view previousStateID() const
+    {
+        return _previousStateID;
+    }
+
 
     // returns IDs of all deduced unique states
 

mcc/mcc_generics.h

@@ -78,6 +78,7 @@ concept mcc_logger_c = requires(T t, const T t_const) {
     { t.logDebug(std::declval<const std::string&>()) };
     { t.logWarn(std::declval<const std::string&>()) };
     { t.logInfo(std::declval<const std::string&>()) };
+    { t.logTrace(std::declval<const std::string&>()) };
 };
 
 
@@ -86,6 +87,7 @@ struct MccNullLogger {
     void logDebug(const std::string&) {}
     void logWarn(const std::string&) {}
     void logInfo(const std::string&) {}
+    void logTrace(const std::string&) {}
 };
 
 
@@ -140,7 +142,8 @@ static constexpr void mcc_tp2tp(const T1& from_tp1, T2& to_tp)
 /*                          JULIAN DAY CLASS CONCEPT                            */
 
 template <typename T>
-concept mcc_julday_c = mcc_fp_type_like_c<T> && requires(const T v) {
+concept mcc_julday_c = mcc_fp_type_like_c<T> || requires(const T v) {
+    // concept mcc_julday_c = mcc_fp_type_like_c<T> && requires(const T v) {
     // modified Julian Day
     { v.MJD() } -> std::convertible_to<double>;
     // comparison operators
@@ -148,10 +151,60 @@ concept mcc_julday_c = mcc_fp_type_like_c<T> && requires(const T v) {
 };
 
 
+/*                          CELESTIAL COORDINATES EPOCH CLASS CONCEPT                           */
+
+struct mcc_coord_epoch_interface_t {
+    static constexpr double MJD0 = 2400000.5;
+
+    template <std::derived_from<mcc_coord_epoch_interface_t> SelfT, traits::mcc_input_char_range IR>
+    bool fromCharRange(this SelfT&& self, IR&& str)
+    {
+        return std::forward<decltype(self)>(self).fromCharRange(std::forward<IR>(str));
+    }
+
+    template <std::derived_from<mcc_coord_epoch_interface_t> SelfT, typename ClockT, typename DurT>
+    bool fromTimePoint(this SelfT&& self, std::chrono::time_point<ClockT, DurT>&& tp)
+    {
+        return std::forward<decltype(self)>(self).fromTimePoint(std::forward<decltype(tp)>(tp));
+    }
+
+    template <std::derived_from<mcc_coord_epoch_interface_t> SelfT, typename VT>
+    bool fromMJD(this SelfT&& self, VT&& mjd)
+        requires std::is_arithmetic_v<VT>
+    {
+        return std::forward<decltype(self)>(self).fromMJD(std::forward<VT>(mjd));
+    }
+
+    template <std::derived_from<mcc_coord_epoch_interface_t> SelfT, traits::mcc_time_duration_c DT>
+    SelfT& operator+=(this SelfT& self, DT&& dt)
+    {
+        return std::forward<decltype(self)>(self).operator+=(std::forward<DT>(dt));
+    }
+
+    template <std::derived_from<mcc_coord_epoch_interface_t> SelfT, traits::mcc_time_duration_c DT>
+    SelfT& operator-=(this SelfT& self, DT&& dt)
+    {
+        return std::forward<decltype(self)>(self).operator-=(std::forward<DT>(dt));
+    }
+};
+
+template <typename T>
+concept mcc_coord_epoch_c = std::derived_from<T, mcc_coord_epoch_interface_t> && requires(T t1, T t2, const T t_const) {
+    { t_const.MJD() } -> std::convertible_to<double>;
+    { t_const.UTC() } -> traits::mcc_systime_c;
+    { t_const.JEpoch() } -> traits::mcc_output_char_range;
+
+    { t1 <=> t2 };
+
+    { T::now() } -> std::same_as<T>;
+};
+
+
 /*                          ERROR CLASS CONCEPT                            */
 
 template <typename T>
 concept mcc_error_c = std::default_initializable<T> && (std::convertible_to<T, bool> || requires(const T t) {
+                          { t.value() } -> std::formattable<char>;
                           { t.operator bool() };
                           (bool)T() == false;  // default constucted value must be a "non-error"!
                       });
@@ -167,6 +220,17 @@ static constexpr ErrT mcc_deduce_error(const DErrT& err, const ErrT& default_err
     }
 }
 
+template <typename ErrT, typename DErrT>
+static constexpr std::error_code mcc_deduce_error_code(const DErrT& err, const ErrT& default_err)
+    requires(std::is_error_code_enum_v<ErrT> || std::same_as<ErrT, std::error_code>)
+{
+    if constexpr (std::is_error_code_enum_v<DErrT> || std::same_as<DErrT, std::error_code>) {
+        return err;
+    } else {
+        return default_err;
+    }
+}
+
 
 
 /*                          ATMOSPHERIC REFRACTION MODEL CLASS CONCEPT                            */
@@ -218,6 +282,9 @@ static constexpr void mcc_copy_celestial_point(mcc_celestial_point_c auto const&
 
 template <typename T>
 concept mcc_eqt_hrz_coord_c = mcc_celestial_point_c<T> && requires(T t) {
+    requires mcc_angle_c<decltype(t.RA_ICRS)>;   // ICRS right ascention
+    requires mcc_angle_c<decltype(t.DEC_ICRS)>;  // ICRS declination
+
     requires mcc_angle_c<decltype(t.RA_APP)>;   // right ascension
     requires mcc_angle_c<decltype(t.DEC_APP)>;  // declination
     requires mcc_angle_c<decltype(t.HA)>;       // hour angle
@@ -248,6 +315,9 @@ static constexpr void mcc_copy_eqt_hrz_coord(mcc_eqt_hrz_coord_c auto const& fro
     to_pt->X = (double)from_pt.X;
     to_pt->Y = (double)from_pt.Y;
 
+    to_pt->RA_ICRS = (double)from_pt.RA_ICRS;
+    to_pt->DEC_ICRS = (double)from_pt.DEC_ICRS;
+
     to_pt->RA_APP = (double)from_pt.RA_APP;
     to_pt->DEC_APP = (double)from_pt.DEC_APP;
 
@@ -258,6 +328,14 @@ static constexpr void mcc_copy_eqt_hrz_coord(mcc_eqt_hrz_coord_c auto const& fro
 }
 
 
+// nullptr_t or pointer to celestial/equatorial and horizontal coordinates class
+template <typename T>
+concept mcc_coord_pointer_or_nullptr =
+    std::is_null_pointer_v<T> ||
+    (std::is_pointer_v<std::decay_t<T>> && (mcc_celestial_point_c<std::remove_pointer_t<std::decay_t<T>>> ||
+                                            mcc_eqt_hrz_coord_c<std::remove_pointer_t<std::decay_t<T>>>));
+
+
 /*                          CELESTIAL COORDINATES TRANSFORMATION ENGINE     */
 
 
@@ -284,6 +362,20 @@ struct mcc_CCTE_interface_t {
         return std::forward<SelfT>(self).timepointToAppSideral(std::move(jd), st, islocal);
     }
 
+    // EQUATION OF THE ORIGINS (ERA-GST)
+
+    template <std::derived_from<mcc_CCTE_interface_t> SelfT>
+    RetT equationOrigins(this SelfT&& self, mcc_time_point_c auto const& tp, mcc_angle_c auto* eo)
+    {
+        return std::forward<SelfT>(self).equationOrigins(std::move(tp), eo);
+    }
+
+    template <std::derived_from<mcc_CCTE_interface_t> SelfT>
+    RetT equationOrigins(this SelfT&& self, mcc_julday_c auto const& jd, mcc_angle_c auto* eo)
+    {
+        return std::forward<SelfT>(self).equationOrigins(std::move(jd), eo);
+    }
+
     // NOTE: ASSUMING THE AZINUTH IS COUNTED FROM THE SOUTH THROUGH THE WEST!!!
     template <std::derived_from<mcc_CCTE_interface_t> SelfT>
     RetT transformCoordinates(this SelfT&& self, mcc_celestial_point_c auto from_pt, mcc_celestial_point_c auto* to_pt)
@@ -426,19 +518,19 @@ concept mcc_hardware_c = requires(T t, const T t_const) {
 
     // a type that defines at least HW_MOVE_ERROR, HW_MOVE_STOPPED, HW_MOVE_SLEWING, HW_MOVE_ADJUSTING, HW_MOVE_TRACKING
     // and HW_MOVE_GUIDING compile-time constants. The main purpose of this type is a
-    // possible tunning of hardware hardwareSetState-related commands and detect stop-state
+    // possible tunning of hardware hardwareSetState-related commands and detect stop end error states from hardware
     //
     // e.g. an implementations can be as follows:
     //     enum class hardware_moving_state_t: int {HW_MOVE_ERROR = -1, HW_MOVE_STOPPED = 0, HW_MOVE_SLEWING,
     //     HW_MOVE_ADJUSTING, HW_MOVE_TRACKING, HW_MOVE_GUIDING}
     //
     //     struct hardware_moving_state_t {
-    //         uint16_t HW_MOVE_STOPPED = 0;
+    //         static constexpr uint16_t HW_MOVE_STOPPED = 0;
-    //         uint16_t HW_MOVE_SLEWING = 111;
+    //         static constexpr uint16_t HW_MOVE_SLEWING = 111;
-    //         uint16_t HW_MOVE_ADJUSTING = 222;
+    //         static constexpr uint16_t HW_MOVE_ADJUSTING = 222;
-    //         uint16_t HW_MOVE_TRACKING = 333;
+    //         static constexpr uint16_t HW_MOVE_TRACKING = 333;
-    //         uint16_t HW_MOVE_GUIDING = 444;
+    //         static constexpr uint16_t HW_MOVE_GUIDING = 444;
-    //         uint16_t HW_MOVE_ERROR = 555;
+    //         static constexpr uint16_t HW_MOVE_ERROR = 555;
     //     }
     requires requires(typename T::hardware_moving_state_t type) {
         []() {
@@ -497,55 +589,17 @@ concept mcc_hardware_c = requires(T t, const T t_const) {
 
 /*                          MOUNT TELEMETRY DATA CLASS CONCEPT  */
 
-template <typename T>
-concept mcc_pointing_target_coord_c = mcc_eqt_hrz_coord_c<T> && requires(T t) {
-    requires mcc_angle_c<decltype(t.RA_ICRS)>;   // ICRS right ascention
-    requires mcc_angle_c<decltype(t.DEC_ICRS)>;  // ICRS declination
-};
-
-
-static constexpr void mcc_copy_pointing_target_coord(mcc_pointing_target_coord_c auto const& from_pt,
-                                                     mcc_pointing_target_coord_c auto* to_pt)
-{
-    if (to_pt == nullptr) {
-        return;
-    }
-
-    using from_pt_t = std::remove_cvref_t<decltype(from_pt)>;
-    using to_pt_t = std::remove_cvref_t<decltype(*to_pt)>;
-
-    if constexpr (std::derived_from<to_pt_t, from_pt_t> && std::copyable<to_pt_t>) {
-        *to_pt = from_pt;
-        return;
-    }
-
-    to_pt->pair_kind = from_pt.pair_kind;
-    to_pt->time_point =
-        std::chrono::time_point_cast<typename decltype(to_pt->time_point)::duration>(from_pt.time_point);
-    to_pt->X = (double)from_pt.X;
-    to_pt->Y = (double)from_pt.Y;
-
-    to_pt->RA_ICRS = (double)from_pt.RA_ICRS;
-    to_pt->DEC_ICRS = (double)from_pt.DEC_ICRS;
-
-    to_pt->RA_APP = (double)from_pt.RA_APP;
-    to_pt->DEC_APP = (double)from_pt.DEC_APP;
-
-    to_pt->HA = (double)from_pt.HA;
-    to_pt->AZ = (double)from_pt.AZ;
-    to_pt->ZD = (double)from_pt.ZD;
-    to_pt->ALT = (double)from_pt.ALT;
-}
-
-
 
 template <typename T>
 concept mcc_telemetry_data_c = mcc_eqt_hrz_coord_c<T> && std::default_initializable<T> && requires(T t) {
+    // user entered target coordinates
+    requires mcc_celestial_point_c<decltype(t.entered_target)>;
+
     // target target coordinates
-    requires mcc_pointing_target_coord_c<decltype(t.target)>;
+    requires mcc_eqt_hrz_coord_c<decltype(t.target)>;
 
     // t.X and t.Y (from mcc_celestial_point_c) are encoder coordinates
-    // t.* from mcc_eqt_hrz_coord_c are apparent mount pointing coordinates
+    // t.* from mcc_eqt_hrz_coord_c are current mount coordinates
     requires mcc_angle_c<decltype(t.speedX)>;  // speed along X from hardware encoder
     requires mcc_angle_c<decltype(t.speedY)>;  // speed along Y from hardware encoder
 
@@ -555,6 +609,34 @@ concept mcc_telemetry_data_c = mcc_eqt_hrz_coord_c<T> && std::default_initializa
 
     // atmospheric refraction correction for current zenithal distance
     requires mcc_angle_c<decltype(t.refCorr)>;  // for current .ZD
+
+    // equation of the origins (ERA-GST)
+    requires mcc_angle_c<decltype(t.EO)>;
+};
+
+
+// minimal library-wide telemetry data
+template <typename T>
+concept mcc_tlm_data_c = mcc_eqt_hrz_coord_c<T> && std::default_initializable<T> && requires(T t) {
+    // user entered target coordinates
+    requires mcc_celestial_point_c<decltype(t.entered_target)>;
+
+    // target target coordinates
+    requires mcc_eqt_hrz_coord_c<decltype(t.target)>;
+
+    // t.X and t.Y (from mcc_celestial_point_c) are encoder coordinates
+    // t.* from mcc_eqt_hrz_coord_c are current mount coordinates
+
+    requires mcc_PCM_result_c<decltype(t.pcm)>;  // PCM correction
+
+    // atmospheric refraction correction for current zenithal distance
+    requires mcc_angle_c<decltype(t.refCorr)>;  // for current .ZD
+
+    // equation of the origins (ERA-GST)
+    requires mcc_angle_c<decltype(t.EO)>;
+
+    // local sideral time
+    requires mcc_angle_c<decltype(t.LST)>;
 };
 
 
@@ -582,6 +664,9 @@ static constexpr void mcc_copy_telemetry_data(mcc_telemetry_data_c auto const& f
     to_pt->speedX = (double)from_pt.speedX;
     to_pt->speedY = (double)from_pt.speedY;
 
+    to_pt->RA_ICRS = (double)from_pt.RA_ICRS;
+    to_pt->DEC_ICRS = (double)from_pt.DEC_ICRS;
+
     to_pt->RA_APP = (double)from_pt.RA_APP;
     to_pt->DEC_APP = (double)from_pt.DEC_APP;
 
@@ -595,7 +680,9 @@ static constexpr void mcc_copy_telemetry_data(mcc_telemetry_data_c auto const& f
 
     to_pt->refCorr = (double)from_pt.refCorr;
 
-    mcc_copy_pointing_target_coord(from_pt.target, &to_pt->target);
+    mcc_copy_eqt_hrz_coord(from_pt.target, &to_pt->target);
+
+    mcc_copy_celestial_point(from_pt.entered_target, &to_pt->entered_target);
 }
 
 
@@ -642,7 +729,7 @@ struct mcc_telemetry_interface_t {
     template <std::derived_from<mcc_telemetry_interface_t> SelfT>
     RetT setPointingTarget(this SelfT&& self, mcc_celestial_point_c auto pt)
     {
-        return std::forward<SelfT>(self).telemetryData(std::move(pt));
+        return std::forward<SelfT>(self).setPointingTarget(std::move(pt));
     }
 
 
@@ -671,6 +758,24 @@ template <typename T>
 concept mcc_telemetry_c = std::derived_from<T, mcc_telemetry_interface_t<typename T::error_t>>;
 
 
+// template <typename T, typename VT>
+// concept mcc_retval_c = requires(T t) {
+//     //
+//     []<mcc_error_c ErrT>(std::expected<VT, ErrT>) {}(t);
+// };
+
+template <typename T>
+concept mcc_telemetry_controls_c = requires(T t) {
+    requires mcc_telemetry_data_c<typename T::telemetry_data_t>;
+
+    { t.telemetryData(std::declval<typename T::telemetry_data_t*>()) } -> mcc_error_c;
+    // { t.telemetryData() } -> mcc_retval_c<typename T::telemetry_data_t>;
+
+    {
+        t.setPointingTarget(std::declval<decltype(std::declval<typename T::telemetry_data_t>().entered_target)>())
+    } -> mcc_error_c;
+};
+
 
 /*                          PROHIBITED ZONE CLASS CONCEPT                           */
 
@@ -825,19 +930,27 @@ concept mcc_slewing_model_c = requires(T t) {
     // requires mcc_error_c<typename T::error_t>;
 
     // a class of slewing process parameters
-    requires requires(typename T::slewing_params_t pars) {
+    typename T::slewing_params_t;
-        // slew mount to target and stop
+    // requires requires(typename T::slewing_params_t pars) {
-        requires std::convertible_to<decltype(pars.slewAndStop), bool>;
+    //     // slew mount to target and stop
-    };
+    //     requires std::convertible_to<decltype(pars.slewAndStop), bool>;
+    // };
 
     // { t.slewToTarget() } -> std::same_as<typename T::error_t>;
     // { t.stopSlewing() } -> std::same_as<typename T::error_t>;
-    { t.slewToTarget() } -> mcc_error_c;
+
+    // the method signature:
+    //     slewToTarget(bool slew_and_stop)
+    //         slew_and_stop == true, slew mount and stop
+    //         slew_and_stop == false, slew mount and track
+    { t.slewToTarget(std::declval<bool>()) } -> mcc_error_c;
     { t.stopSlewing() } -> mcc_error_c;
 
     { t.setSlewingParams(std::declval<typename T::slewing_params_t>()) } -> mcc_error_c;
     // { t.setSlewingParams(std::declval<typename T::slewing_params_t>()) } -> std::same_as<typename T::error_t>;
     { t.getSlewingParams() } -> std::same_as<typename T::slewing_params_t>;
+
+    // { t.slewingCurrentError() } -> mcc_error_c;
 };
 
 
@@ -879,6 +992,21 @@ concept mcc_tracking_model_c = requires(T t) {
 // };
 
 
+
+// a concept of a class of mount moving control methods
+template <typename T>
+concept mcc_moving_controls_c = requires(T t) {
+    typename T::moving_params_t;
+
+    { t.slewToTarget(std::declval<bool>()) } -> mcc_error_c;
+    { t.trackTarget() } -> mcc_error_c;
+
+    { t.setMovingParams(std::declval<typename T::moving_params_t>()) } -> mcc_error_c;
+    { t.getMovingParams() } -> std::same_as<typename T::moving_params_t>;
+
+    { t.stopMount() } -> mcc_error_c;
+};
+
 /*                          GENERIC MOUNT CLASS CONCEPT                         */
 
 
@@ -898,27 +1026,54 @@ concept mcc_all_controls_c = mcc_position_controls_c<T> && mcc_telemetry_c<T> &&
 //     2) prohibited zones related methods
 //     3) slewing and tracking, stop and init mount methods
 template <typename T>
-concept mcc_generic_mount_c = mcc_telemetry_c<T> && mcc_pzone_container_c<T> && requires(T t) {
+concept mcc_generic_mount_c = mcc_telemetry_c<T> && mcc_pzone_container_c<T> && requires(T t, const T t_const) {
-    // requires mcc_error_c<typename T::error_t>;
+    // slew mount to target (it is assumed that the target coordinates are determined in the telemetry data)
-
+    { t.slewToTarget(std::declval<bool>()) };
-    // slew mount to target (target coordinates were defined in telemetry data)
-    { t.slewToTarget() };
-    // { t.slewToTarget() } -> std::same_as<typename T::error_t>;
 
     // track target, i.e., the mount moves with celestial speed
     { t.trackTarget() };
-    // { t.trackTarget() } -> std::same_as<typename T::error_t>;
-
-
-    // { t.startGuidingTarget() } -> std::same_as<typename T::error_t>;
-    // { t.stopGuidingTarget() } -> std::same_as<typename T::error_t>;
 
     // stop any movement
     { t.stopMount() };
-    // { t.stopMount() } -> std::same_as<typename T::error_t>;
 
     // init mount
     { t.initMount() };
+
+    //
+    // minimal set of mount status mnemonic constants
+    //
+    requires requires(typename T::mount_status_t type) {
+        requires std::formattable<
+            std::conditional_t<std::is_enum_v<typename T::mount_status_t>,
+                               std::underlying_type_t<typename T::mount_status_t>, typename T::mount_status_t>,
+            char>;
+
+        []() {
+            // mount initialization
+            static constexpr auto v1 = T::mount_status_t::INITIALIZATION;
+
+            // IDLE
+            static constexpr auto v2 = T::mount_status_t::IDLE;
+
+            // mount is in state after the stopMount() method invoking
+            static constexpr auto v3 = T::mount_status_t::STOPPED;
+
+            // mount is slewing (move to given celestial point)
+            static constexpr auto v4 = T::mount_status_t::SLEWING;
+
+            // mount is adjusting its position in the end of slewing
+            // (adjusting actual mount position to align with target celestial point at the end of slewing process)
+            static constexpr auto v5 = T::mount_status_t::ADJUSTING;
+
+            // mount is tracking
+            static constexpr auto v6 = T::mount_status_t::TRACKING;
+
+            // an error occured while mount operation
+            static constexpr auto v7 = T::mount_status_t::ERROR;
+        }();
+    };
+
+    { t_const.mountStatus() } -> std::same_as<typename T::mount_status_t>;
 };
 
 
@@ -934,6 +1089,4 @@ concept mcc_generic_fsm_mount_c = mcc_generic_mount_c<T> && std::derived_from<T,
 template <typename T>
 concept mcc_generic_fsm_log_mount_c =
     mcc_generic_mount_c<T> && mcc_logger_c<T> && std::derived_from<T, fsm::MccFiniteStateMachine>;
-
-
 }  // namespace mcc

mcc/mcc_moving_controls.h

@@ -0,0 +1,814 @@
+#pragma once
+
+#include <fstream>
+
+#include "mcc_defaults.h"
+#include "mcc_generics.h"
+#include "mcc_moving_model_common.h"
+
+namespace mcc
+{
+
+enum class MccSimpleMovingControlsErrorCode : int {
+    ERROR_OK,
+    ERROR_HW_GETSTATE,
+    ERROR_HW_SETSTATE,
+    ERROR_PCM_COMP,
+    ERROR_GET_TELEMETRY,
+    ERROR_DIST_TELEMETRY,
+    ERROR_PZONE_CONTAINER_COMP,
+    ERROR_TARGET_IN_PZONE,
+    ERROR_NEAR_PZONE,
+    ERROR_TIMEOUT,
+    ERROR_ALREADY_SLEW,
+    ERROR_ALREADY_STOPPED,
+    ERROR_STOPPED
+};
+
+}  // namespace mcc
+
+
+namespace std
+{
+
+template <>
+class is_error_code_enum<mcc::MccSimpleMovingControlsErrorCode> : public true_type
+{
+};
+
+}  // namespace std
+
+
+
+namespace mcc
+{
+
+// error category
+struct MccSimpleMovingControlsCategory : public std::error_category {
+    MccSimpleMovingControlsCategory() : std::error_category() {}
+
+    const char* name() const noexcept
+    {
+        return "SIMPLE-SLEWING-MODEL";
+    }
+
+    std::string message(int ec) const
+    {
+        MccSimpleMovingControlsErrorCode err = static_cast<MccSimpleMovingControlsErrorCode>(ec);
+
+        switch (err) {
+            case MccSimpleMovingControlsErrorCode::ERROR_OK:
+                return "OK";
+            case MccSimpleMovingControlsErrorCode::ERROR_HW_GETSTATE:
+                return "cannot get hardware state";
+            case MccSimpleMovingControlsErrorCode::ERROR_HW_SETSTATE:
+                return "cannot set hardware state";
+            case MccSimpleMovingControlsErrorCode::ERROR_PCM_COMP:
+                return "PCM computation error";
+            case MccSimpleMovingControlsErrorCode::ERROR_GET_TELEMETRY:
+                return "cannot get telemetry";
+            case MccSimpleMovingControlsErrorCode::ERROR_DIST_TELEMETRY:
+                return "cannot get target-to-mount-position distance";
+            case MccSimpleMovingControlsErrorCode::ERROR_PZONE_CONTAINER_COMP:
+                return "pzone container computation error";
+            case MccSimpleMovingControlsErrorCode::ERROR_TARGET_IN_PZONE:
+                return "target is in prohibited zone";
+            case MccSimpleMovingControlsErrorCode::ERROR_NEAR_PZONE:
+                return "near prohibited zone";
+            case MccSimpleMovingControlsErrorCode::ERROR_TIMEOUT:
+                return "a timeout occured while slewing";
+            case MccSimpleMovingControlsErrorCode::ERROR_ALREADY_SLEW:
+                return "already slewing";
+            case MccSimpleMovingControlsErrorCode::ERROR_ALREADY_STOPPED:
+                return "slewing is already stopped";
+            case MccSimpleMovingControlsErrorCode::ERROR_STOPPED:
+                return "slewing was stopped";
+            default:
+                return "UNKNOWN";
+        }
+    }
+
+    static const MccSimpleMovingControlsCategory& get()
+    {
+        static const MccSimpleMovingControlsCategory constInst;
+        return constInst;
+    }
+};
+
+
+inline std::error_code make_error_code(MccSimpleMovingControlsErrorCode ec)
+{
+    return std::error_code(static_cast<int>(ec), MccSimpleMovingControlsCategory::get());
+}
+
+
+
+class MccSimpleMovingControls
+{
+    static constexpr auto DEG90INRADS = std::numbers::pi / 2.0;
+
+    class PathFile
+    {
+    public:
+        PathFile(const std::string& filename = "") : _filename(filename), _st() {}
+
+        void setFilename(const std::string& filename)
+        {
+            _filename = filename;
+        }
+
+        std::string getFilename() const
+        {
+            return _filename;
+        }
+
+        ~PathFile()
+        {
+            save();
+        }
+
+        friend PathFile& operator<<(PathFile& pf, auto&& v)
+        {
+            pf._st << std::forward<decltype(v)>(v);
+
+            return pf;
+        }
+
+        bool save()
+        {
+            std::fstream fst;
+
+            if (_filename.empty()) {
+                return false;
+            }
+
+            if (_st.str().empty()) {  // nothing to save
+                return true;
+            }
+
+            fst.open(_filename);
+
+            if (!fst.is_open()) {
+                return false;
+            }
+
+            fst << _st.str();
+            _st.str("");
+
+            _filename.clear();
+
+            return true;
+        }
+
+    private:
+        std::string _filename;
+        std::istringstream _st;
+    };
+
+public:
+    typedef std::error_code error_t;
+
+    typedef MccSimpleMovingModelParams moving_params_t;
+
+    enum Mode { MOVING_MODE_SLEW, MOVING_MODE_TRACK, MOVING_MODE_ERROR };
+
+    //     typedef std::CallbackFuncTion<void(Mode mode)> mode_switch_callback_t;
+
+    // protected:
+    //     constexpr static auto defaultModeSwitchCallback = [](Mode) {};
+
+    // public:
+
+    template <mcc_generic_mount_c MountT,
+              std::invocable<typename MountT::mount_status_t> CallbackFuncT =
+                  decltype([](typename MountT::mount_status_t) {})>
+    MccSimpleMovingControls(
+        MountT* mount,
+        CallbackFuncT&& mode_switch_callback = [](typename MountT::mount_status_t) {})
+        : _stopMoving(new std::atomic_bool), _currentParamsMutex(new std::mutex), _lastError(new std::atomic<error_t>)
+    {
+        auto send_to_hardware = [mount](typename MountT::hardware_state_t const& hw_state) {
+            mount->logDebug(std::format("Send to hardware: X = {} degs, Y = {} degs",
+                                        mcc::MccAngle{hw_state.X}.degrees(), mcc::MccAngle{hw_state.Y}.degrees()));
+
+            auto hw_err = mount->hardwareSetState(hw_state);
+            if (hw_err) {
+                return mcc_deduce_error_code(hw_err, MccSimpleMovingControlsErrorCode::ERROR_HW_SETSTATE);
+            }
+
+            mount->logDebug("    the 'hardwareSetState' method performed successfully!");
+
+            return MccSimpleMovingControlsErrorCode::ERROR_OK;
+        };
+
+
+        auto check_pzones = [mount, this](MccTelemetryData const& tdata, double min_time_to_pzone_in_secs,
+                                          double braking_accelX, double braking_accelY) {
+            bool in_zone;
+            std::vector<bool> in_zone_vec;
+            MccCelestialPoint cpt;
+
+            auto distXY = mcc_compute_distance(tdata, min_time_to_pzone_in_secs, braking_accelX, braking_accelY);
+
+            mount->logTrace(
+                std::format("    the distance that will be covered in the next {} seconds: X-axis: {}, Y-axis: {}",
+                            min_time_to_pzone_in_secs, mcc::MccAngleFancyString(distXY.first),
+                            mcc::MccAngleFancyString(distXY.second)));
+
+            // calculate coordinates at current speed '_currentParams.minTimeToPZone' seconds ahead
+            // and check them for getting into the prohibited zones
+            if constexpr (mccIsEquatorialMount(MountT::mountType)) {
+                cpt.X = tdata.HA + distXY.first;
+                cpt.Y = tdata.DEC_APP + distXY.second;
+
+                if (cpt.Y > DEG90INRADS) {
+                    cpt.Y = DEG90INRADS;
+                }
+                if (cpt.Y < -DEG90INRADS) {
+                    cpt.Y = -DEG90INRADS;
+                }
+
+            } else if constexpr (mccIsAltAzMount(MountT::mountType)) {
+                cpt.X = tdata.AZ + distXY.first;
+                cpt.Y = tdata.ZD + distXY.second;
+                if (cpt.Y < 0.0) {
+                    cpt.Y = 0.0;
+                }
+                if (cpt.Y > std::numbers::pi) {
+                    cpt.Y = std::numbers::pi;
+                }
+            }
+            mcc_tp2tp(tdata.time_point, cpt.time_point);
+
+            mount->logTrace(std::format("    mount:  speedX = {}/s, speedY = {}/s",
+                                        mcc::MccAngleFancyString(tdata.speedX),
+                                        mcc::MccAngleFancyString(tdata.speedY)));
+
+            in_zone_vec.clear();
+            auto pz_err = mount->inPZone(cpt, &in_zone, &in_zone_vec);
+            if (pz_err) {
+                return mcc_deduce_error_code(pz_err, MccSimpleMovingControlsErrorCode::ERROR_PZONE_CONTAINER_COMP);
+            }
+
+            if (in_zone) {
+                size_t i = 0;
+                for (; i < in_zone_vec.size(); ++i) {
+                    if (in_zone_vec[i]) {
+                        break;
+                    }
+                }
+
+                mount->logError("target point is near prohibited zone (zone index: {})! Entered target coordinates:",
+                                i);
+                mount->logError(std::format(
+                    "    RA-APP, DEC-APP, HA, LST: {}, {}, {}, {}", mcc::MccAngle{tdata.RA_APP}.sexagesimal(true),
+                    mcc::MccAngle{tdata.DEC_APP}.sexagesimal(), mcc::MccAngle{tdata.HA}.sexagesimal(true),
+                    mcc::MccAngle{tdata.LST}.sexagesimal(true)));
+                mount->logError(std::format("    AZ, ZD, ALT: {}, {}, {}", mcc::MccAngle{tdata.AZ}.sexagesimal(),
+                                            mcc::MccAngle{tdata.ZD}.sexagesimal(),
+                                            mcc::MccAngle{tdata.ALT}.sexagesimal()));
+
+                mount->logError(std::format("    hardware X, Y: {}, {}", mcc::MccAngle{tdata.X}.sexagesimal(),
+                                            mcc::MccAngle{tdata.Y}.sexagesimal()));
+
+                return MccSimpleMovingControlsErrorCode::ERROR_NEAR_PZONE;
+            }
+
+            return MccSimpleMovingControlsErrorCode::ERROR_OK;
+        };
+
+        auto log_pos = [mount, this](typename MountT::hardware_state_t const& hw_state, MccTelemetryData const& tdata) {
+            if constexpr (mccIsEquatorialMount(MountT::mountType)) {
+                mount->logTrace(std::format("    current target: HA = {}, DEC = {}",
+                                            mcc::MccAngle(tdata.target.HA).sexagesimal(true),
+                                            mcc::MccAngle(tdata.target.DEC_APP).sexagesimal()));
+                mount->logTrace(std::format("    current mount:  HA = {}, DEC = {}",
+                                            mcc::MccAngle(tdata.HA).sexagesimal(true),
+                                            mcc::MccAngle(tdata.DEC_APP).sexagesimal()));
+
+                _pathFile << tdata.time_point.time_since_epoch().count() << " " << tdata.target.HA << " "
+                          << tdata.target.DEC_APP << " " << tdata.HA << " " << tdata.DEC_APP << " "
+                          << (tdata.target.HA - tdata.HA) << " " << (tdata.target.DEC_APP - tdata.DEC_APP) << " "
+                          << (int)hw_state.moving_state << "\n";
+
+            } else if constexpr (mccIsAltAzMount(MountT::mountType)) {
+                mount->logTrace(std::format("    target: AZ = {}, ZD = {}",
+                                            mcc::MccAngle(tdata.target.AZ).sexagesimal(),
+                                            mcc::MccAngle(tdata.target.ZD).sexagesimal()));
+                mount->logTrace(std::format("    mount:  AZ = {}, ZD = {}", mcc::MccAngle(tdata.AZ).sexagesimal(),
+                                            mcc::MccAngle(tdata.ZD).sexagesimal()));
+
+                _pathFile << tdata.time_point.time_since_epoch().count() << " " << tdata.target.AZ << " "
+                          << tdata.target.ZD << " " << tdata.AZ << " " << tdata.ZD << " "
+                          << (tdata.target.AZ - tdata.AZ) << " " << (tdata.target.ZD - tdata.ZD) << " "
+                          << (int)hw_state.moving_state << "\n";
+            }
+        };
+
+        *_stopMoving = true;
+        *_lastError = MccSimpleMovingControlsErrorCode::ERROR_OK;
+
+        using cb_func_t = std::function<void(typename MountT::mount_status_t)>;
+        auto cb_sptr = std::shared_ptr<cb_func_t>(new cb_func_t(std::forward<CallbackFuncT>(mode_switch_callback)));
+
+
+        /*  stop moving function */
+
+        _stopMovingFunc = [mount, this]() {
+            typename MountT::hardware_state_t hw_state;
+            hw_state.moving_state == MountT::hardware_moving_state_t::HW_MOVE_STOPPED;
+
+            *_stopMoving = true;
+
+            *_lastError = send_to_hardware(hw_state);
+        };
+
+
+        /*  slewing function */
+
+        _slewingFunc = [mount, cb_sptr, send_to_hardware, check_pzones, log_pos, this](bool slew_and_stop) {
+            double braking_accelX, braking_accelY;
+            double min_time_to_pzone_in_secs;
+
+
+            {
+                // std::lock_guard lock{*_currentParamsMutex};
+                if (mcc::utils::isEqual(_currentParams.brakingAccelX, 0.0)) {
+                    braking_accelX = std::numeric_limits<double>::min();
+                } else {
+                    braking_accelX = std::abs(_currentParams.brakingAccelX);
+                }
+
+                if (mcc::utils::isEqual(_currentParams.brakingAccelY, 0.0)) {
+                    braking_accelY = std::numeric_limits<double>::min();
+                } else {
+                    braking_accelY = std::abs(_currentParams.brakingAccelY);
+                }
+
+                min_time_to_pzone_in_secs =
+                    std::chrono::duration_cast<std::chrono::duration<double>>(_currentParams.minTimeToPZone).count();
+
+                if (!_currentParams.slewingPathFilename.empty()) {  // open slewing trajectory file
+                    _pathFile.setFilename(_currentParams.slewingPathFilename);
+                } else {
+                    mount->logError("Slewing path filename is empty! Do not save it!");
+                }
+            }
+
+            mount->logInfo(
+                std::format("Start slewing in mode '{}'", (slew_and_stop ? "SLEW-AND-STOP" : "SLEW-AND-TRACK")));
+            mount->logInfo(std::format("    slewing process timeout: {} secs", _currentParams.slewTimeout.count()));
+            if (!slew_and_stop) {
+                mount->logInfo(std::format("    slewing tolerance radius: {} arcsecs",
+                                           mcc::MccAngle{_currentParams.slewToleranceRadius}.arcsecs()));
+            }
+            mount->logInfo(std::format("    braking acceleration X: {} degs/s^2 (in config: {} rads/s^2)",
+                                       mcc::MccAngle(braking_accelX).degrees(), _currentParams.brakingAccelX));
+            mount->logInfo(std::format("    braking acceleration Y: {} degs/s^2 (in config: {} rads/s^2)",
+                                       mcc::MccAngle(braking_accelY).degrees(), _currentParams.brakingAccelY));
+            mount->logInfo(std::format("    min time to prohibited zone: {} seconds", min_time_to_pzone_in_secs));
+
+
+            _pathFile << "# \n";
+            _pathFile << "# Slewing trajectory, " << std::chrono::system_clock::now() << "\n";
+            _pathFile << "# Config:\n";
+            _pathFile << "#     slewing tolerance radius: "
+                      << mcc::MccAngle{_currentParams.slewToleranceRadius}.arcsecs() << " arcsecs\n";
+            _pathFile << "#     slewing process timeout: " << _currentParams.slewTimeout.count() << " secs\n";
+            _pathFile << "# \n";
+            _pathFile << "# Format (time is in nanoseconds, coordinates are in radians): \n";
+            _pathFile << "#     <UNIXTIME> <target X> <target Y> <mount X> <mount Y> <dX_{target-mount}> "
+                         "<dY_{target-mount}> <moving state>\n";
+
+
+            typename MountT::error_t t_err;
+            MccTelemetryData tdata;
+
+            {
+                std::lock_guard lock{*_currentParamsMutex};
+                t_err = mount->telemetryData(&tdata);
+
+                if (t_err) {
+                    *_lastError = mcc_deduce_error_code(t_err, MccSimpleMovingControlsErrorCode::ERROR_GET_TELEMETRY);
+                    return;
+                }
+            }
+
+            auto last_hw_time = tdata.time_point;
+
+            // bool in_zone;
+            // std::vector<bool> in_zone_vec;
+
+            // MccCelestialPoint cpt;
+
+            // if constexpr (mccIsEquatorialMount(MountT::mountType)) {
+            //     cpt.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
+            // } else if constexpr (mccIsAltAzMount(MountT::mountType)) {
+            //     cpt.pair_kind = MccCoordPairKind::COORDS_KIND_AZZD;
+            // } else {
+            //     static_assert(false, "UNKNOWN MOUNT TYPE!");
+            // }
+
+            typename MountT::hardware_state_t hw_state;
+
+            auto hw_err = mount->hardwareGetState(&hw_state);
+            if (hw_err) {
+                *_stopMoving = true;
+                *_lastError = mcc_deduce_error_code(hw_err, MccSimpleMovingControlsErrorCode::ERROR_HW_GETSTATE);
+                return;
+            }
+
+
+            hw_state.X = (double)tdata.target.X;
+            hw_state.Y = (double)tdata.target.Y;
+
+            {
+                std::lock_guard lock{*_currentParamsMutex};
+
+                hw_state.speedX = _currentParams.slewRateX;
+                hw_state.speedY = _currentParams.slewRateY;
+            }
+            hw_state.moving_state = MountT::hardware_moving_state_t::HW_MOVE_SLEWING;
+
+            // start slewing ...
+            error_t err = send_to_hardware(hw_state);
+            if (err) {
+                *_lastError = err;
+                mount->logError(std::format("start slewing: an error occured while sending hardware state: {} {} {}",
+                                            err.value(), err.category().name(), err.message()));
+                return;
+            }
+
+            *cb_sptr(MountT::mount_status_t::SLEWING);  // send the status to the mount
+
+
+            double dist;
+
+
+            std::chrono::steady_clock::time_point start_slewing_tp, last_adjust_tp;
+            start_slewing_tp = std::chrono::steady_clock::now();
+            last_adjust_tp = start_slewing_tp;
+
+            std::pair<double, double> distXY;
+            bool tag_var_coord = true;
+
+            if (tdata.target.pair_kind == MccCoordPairKind::COORDS_KIND_AZALT ||
+                tdata.target.pair_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
+                tag_var_coord = false;
+            }
+
+            auto start_point = tdata.time_point;  // needed for trajectory file
+
+            // main loop (simply monitors the current position taking into account the prohibited zones, as well as the
+            // timeout of the entire process)
+            while (!*_stopMoving) {
+                // wait for updated telemetry data
+                {
+                    std::lock_guard lock{*_currentParamsMutex};
+
+                    t_err = mount->waitForTelemetryData(&tdata, _currentParams.telemetryTimeout);
+
+                    if (t_err) {
+                        *_lastError =
+                            mcc_deduce_error_code(t_err, MccSimpleMovingControlsErrorCode::ERROR_GET_TELEMETRY);
+                        break;
+                    }
+
+                    last_hw_time = tdata.time_point;
+                }
+
+                hw_err = mount->hardwareGetState(&hw_state);
+                if (hw_err) {
+                    *_lastError = mcc_deduce_error_code(hw_err, MccSimpleMovingControlsErrorCode::ERROR_HW_GETSTATE);
+                    break;
+                }
+
+                log_pos(hw_state, tdata);
+
+                if (*_stopMoving) {
+                    *_lastError = MccSimpleMovingControlsErrorCode::ERROR_STOPPED;
+                    break;
+                }
+
+                err = check_pzones(tdata, min_time_to_pzone_in_secs, braking_accelX, braking_accelY);
+                if (err) {
+                    *_lastError = err;
+                    break;
+                }
+
+                {
+                    std::lock_guard lock{*_currentParamsMutex};
+
+                    if ((std::chrono::steady_clock::now() - start_slewing_tp) > _currentParams.slewTimeout) {
+                        mount->logError("slewing process timeout!");
+                        *_lastError = MccSimpleMovingControlsErrorCode::ERROR_TIMEOUT;
+                        break;
+                    }
+                }
+
+                if (slew_and_stop && !tag_var_coord) {  // just wait for mount to be stopped
+                    if (hw_state.moving_state == MountT::hardware_moving_state_t::HW_MOVE_STOPPED) {
+                        mount->logInfo("mount moving state is STOPPED - exit!");
+                        break;
+                    }
+                } else {
+                    if (last_hw_time == tdata.time_point) {
+                        mount->logTrace("Same hardware timepoint! Just continue to polling!\n\n\n\n");
+                        continue;
+                    }
+
+                    last_hw_time = tdata.time_point;
+
+                    t_err = mount->targetToMountDist(&dist);
+                    if (t_err) {
+                        *_lastError =
+                            mcc_deduce_error_code(t_err, MccSimpleMovingControlsErrorCode::ERROR_DIST_TELEMETRY);
+                        break;
+                    }
+
+                    mount->logTrace(std::format("    target-to-mount distance: {}", mcc::MccAngleFancyString(dist)));
+
+                    if ((dist <= _currentParams.slewToleranceRadius) &&
+                        (hw_state.moving_state ==
+                         MountT::hardware_moving_state_t::HW_MOVE_GUIDING)) {  // stop slewing and exit from
+                        // cycle
+                        mount->logInfo("target-to-mount distance is lesser than slew tolerance radius - exit!");
+
+                        if (slew_and_stop) {
+                            stopMount();
+                        }
+
+                        break;
+                    }
+
+
+                    if (*_stopMoving) {
+                        *_lastError = MccSimpleMovingControlsErrorCode::ERROR_STOPPED;
+                        break;
+                        // return MccSimpleMovingControlsErrorCode::ERROR_STOPPED;
+                    }
+
+
+                    // resend new position since target coordinates are changed in time
+                    hw_state.X = (double)tdata.target.X;
+                    hw_state.Y = (double)tdata.target.Y;
+
+                    err = send_to_hardware(hw_state);
+                    if (err) {
+                        *_lastError = err;
+                        break;
+                    }
+                }
+
+                if (*_stopMoving) {
+                    *_lastError = MccSimpleMovingControlsErrorCode::ERROR_STOPPED;
+                    break;
+                }
+
+                // sleep here
+                std::this_thread::sleep_for(_currentParams.slewingTelemetryInterval);
+            }
+
+            *_stopMoving = true;
+
+            mount->logInfo("Slewing finished");
+            err = *_lastError;
+            mount->logInfo(std::format("    exit code: {} {} {}", err.value(), err.category().name(), err.message()));
+
+            _pathFile.save();
+
+            // get final position
+
+            if (!err) {
+                // wait for updated telemetry data
+                {
+                    std::lock_guard lock{*_currentParamsMutex};
+
+                    t_err = mount->waitForTelemetryData(&tdata, _currentParams.telemetryTimeout);
+
+                    if (t_err) {
+                        *_lastError =
+                            mcc_deduce_error_code(t_err, MccSimpleMovingControlsErrorCode::ERROR_GET_TELEMETRY);
+                        return;
+                    }
+                }
+
+                t_err = mount->targetToMountDist(&dist);
+                if (t_err) {
+                    *_lastError = mcc_deduce_error_code(t_err, MccSimpleMovingControlsErrorCode::ERROR_DIST_TELEMETRY);
+                    return;
+                }
+
+                log_pos(hw_state, tdata);
+
+                mount->logDebug(std::format("    target-to-mount distance {}", mcc::MccAngleFancyString(dist)));
+
+                if (!slew_and_stop) {  // start tracking
+                    _trackingFunc();
+                } else {
+                    *_lastError = MccSimpleMovingControlsErrorCode::ERROR_OK;
+                }
+            }
+        };
+
+
+        /*  tracking function  */
+
+        _trackingFunc = [mount, cb_sptr, check_pzones, send_to_hardware, log_pos, this]() {
+            double braking_accelX, braking_accelY;
+            double min_time_to_pzone_in_secs;
+
+
+            {
+                // std::lock_guard lock{*_currentParamsMutex};
+                if (mcc::utils::isEqual(_currentParams.brakingAccelX, 0.0)) {
+                    braking_accelX = std::numeric_limits<double>::min();
+                } else {
+                    braking_accelX = std::abs(_currentParams.brakingAccelX);
+                }
+
+                if (mcc::utils::isEqual(_currentParams.brakingAccelY, 0.0)) {
+                    braking_accelY = std::numeric_limits<double>::min();
+                } else {
+                    braking_accelY = std::abs(_currentParams.brakingAccelY);
+                }
+
+                min_time_to_pzone_in_secs =
+                    std::chrono::duration_cast<std::chrono::duration<double>>(_currentParams.minTimeToPZone).count();
+
+                if (!_currentParams.trackingPathFilename.empty()) {  // open slewing trajectory file
+                    _pathFile.setFilename(_currentParams.trackingPathFilename);
+                } else {
+                    mount->logError("Tracking path filename is empty! Do not save it!");
+                }
+            }
+
+            mount->logInfo("Start tracking");
+            mount->logInfo(std::format("    braking acceleration X: {} degs/s^2 (in config: {} rads/s^2)",
+                                       mcc::MccAngle(braking_accelX).degrees(), _currentParams.brakingAccelX));
+            mount->logInfo(std::format("    braking acceleration Y: {} degs/s^2 (in config: {} rads/s^2)",
+                                       mcc::MccAngle(braking_accelY).degrees(), _currentParams.brakingAccelY));
+            mount->logInfo(std::format("    min time to prohibited zone: {} seconds", min_time_to_pzone_in_secs));
+
+
+            _pathFile << "# \n";
+            _pathFile << "# Tracking trajectory, " << std::chrono::system_clock::now() << "\n";
+            _pathFile << "# \n";
+            _pathFile << "# Format (time is in nanoseconds, coordinates are in radians): \n";
+            _pathFile << "#     <UNIXTIME> <target X> <target Y> <mount X> <mount Y> <dX_{target-mount}> "
+                         "<dY_{target-mount}> <moving state>\n";
+
+
+            typename MountT::hardware_state_t hw_state;
+
+            error_t err;
+            MccTelemetryData tdata;
+            double dist;
+
+            auto last_hw_time = tdata.time_point;
+
+            *cb_sptr(MountT::mount_status_t::TRACKING);  // send the status to the mount
+
+            while (!*_stopMoving) {
+                // wait for updated telemetry data
+                {
+                    std::lock_guard lock{*_currentParamsMutex};
+
+                    auto t_err = mount->waitForTelemetryData(&tdata, _currentParams.telemetryTimeout);
+
+                    if (t_err) {
+                        *_lastError =
+                            mcc_deduce_error_code(t_err, MccSimpleMovingControlsErrorCode::ERROR_GET_TELEMETRY);
+                        break;
+                    }
+
+                    last_hw_time = tdata.time_point;
+                }
+
+                auto hw_err = mount->hardwareGetState(&hw_state);
+                if (hw_err) {
+                    *_lastError = mcc_deduce_error_code(hw_err, MccSimpleMovingControlsErrorCode::ERROR_HW_GETSTATE);
+                    break;
+                }
+
+                log_pos(hw_state, tdata);
+
+                if (*_stopMoving) {
+                    *_lastError = MccSimpleMovingControlsErrorCode::ERROR_STOPPED;
+                    break;
+                }
+
+                err = check_pzones(tdata, min_time_to_pzone_in_secs, braking_accelX, braking_accelY);
+                if (err) {
+                    *_lastError = err;
+                    break;
+                }
+
+                if (last_hw_time == tdata.time_point) {
+                    mount->logTrace("Same hardware timepoint! Just continue to polling!\n\n\n\n");
+                    continue;
+                }
+
+                last_hw_time = tdata.time_point;
+
+                auto t_err = mount->targetToMountDist(&dist);
+                if (t_err) {
+                    *_lastError = mcc_deduce_error_code(t_err, MccSimpleMovingControlsErrorCode::ERROR_DIST_TELEMETRY);
+                    break;
+                }
+
+                mount->logTrace(std::format("    target-to-mount distance: {}", mcc::MccAngleFancyString(dist)));
+
+                // resend new position since target coordinates are changed in time
+                hw_state.X = (double)tdata.target.X;
+                hw_state.Y = (double)tdata.target.Y;
+
+                err = send_to_hardware(hw_state);
+                if (err) {
+                    *_lastError = err;
+                    break;
+                }
+
+                if (*_stopMoving) {
+                    *_lastError = MccSimpleMovingControlsErrorCode::ERROR_STOPPED;
+                    break;
+                }
+
+                // sleep here
+                std::this_thread::sleep_for(_currentParams.trackingTelemetryInterval);
+            }
+
+            *_stopMoving = true;
+
+            mount->logInfo("Tracking finished");
+            err = *_lastError;
+            mount->logInfo(std::format("    exit code: {} {} {}", err.value(), err.category().name(), err.message()));
+
+            _pathFile.save();
+        };
+    }
+
+    virtual ~MccSimpleMovingControls()
+    {
+        *_stopMoving = true;
+    }
+
+    error_t slewToTarget(bool slew_and_stop = false)
+    {
+        return *_lastError;
+    }
+
+    error_t trackTarget()
+    {
+        return *_lastError;
+    }
+
+
+    error_t stopMount()
+    {
+        if (*_stopMoving) {
+            *_lastError = MccSimpleMovingControlsErrorCode::ERROR_ALREADY_STOPPED;
+        } else {
+            _stopMovingFunc();
+        }
+
+        return *_lastError;
+    }
+
+    error_t setMovingParams(moving_params_t params)
+    {
+        std::lock_guard lock{*_currentParamsMutex};
+
+        _currentParams = std::move(params);
+
+        return MccSimpleMovingControlsErrorCode::ERROR_OK;
+    }
+
+    moving_params_t getMovingParams() const
+    {
+        std::lock_guard lock{*_currentParamsMutex};
+
+        return _currentParams;
+    }
+
+    error_t mountMovingLastError() const
+    {
+        return *_lastError;
+    }
+
+protected:
+    std::function<void(bool)> _slewingFunc{};
+    std::function<void()> _trackingFunc{};
+    std::function<void()> _stopMovingFunc{};
+
+    std::unique_ptr<std::atomic_bool> _stopMoving;
+
+    std::unique_ptr<std::mutex> _currentParamsMutex;
+    moving_params_t _currentParams{};
+
+    std::unique_ptr<std::atomic<error_t>> _lastError;
+
+    PathFile _pathFile{};
+};
+
+}  // namespace mcc

mcc/mcc_moving_model_common.h

@@ -21,7 +21,7 @@ struct MccSimpleMovingModelParams {
     static constexpr double sideralRate = 15.0410686_arcsecs;  // in radians per second
 
     // timeout to telemetry updating
-    std::chrono::seconds telemetryTimeout{3};
+    std::chrono::milliseconds telemetryTimeout{3000};
 
     // minimal time to prohibited zone (at current speed in slewing mode). if it is lesser then exit with error
     std::chrono::seconds minTimeToPZone{10};
@@ -37,30 +37,51 @@ struct MccSimpleMovingModelParams {
     // coordinates difference to stop slewing (in radians)
     double slewToleranceRadius{5.0_arcsecs};
 
+    // telemetry request interval
+    std::chrono::milliseconds slewingTelemetryInterval{100};
+
     // target-mount coordinate difference to start adjusting of slewing (in radians)
     double adjustCoordDiff{slewToleranceRadius * 10.0};
 
     // slew process timeout
     std::chrono::seconds slewTimeout{3600};
 
-    double slewRateX{0.0};  // maximal slewing rate (0 means move with maximal allowed rate)
+    double slewRateX{0.0};  // maximal slewing rate (0 means move with maximal allowed rate????!!!!!)
-    double slewRateY{0.0};  // maximal slewing rate (0 means move with maximal allowed rate)
+    double slewRateY{0.0};  // maximal slewing rate (0 means move with maximal allowed rate????!!!!!)
 
     std::chrono::milliseconds adjustCycleInterval{500};  // minimum time between two successive adjustments
 
     double adjustRateX{5.0_arcmins};  // maximal adjusting rate (a rate at the final slewing stage)
     double adjustRateY{5.0_arcmins};  // maximal adjusting rate (a rate at the final slewing stage)
 
+    // braking acceleration after execution of mount stopping command (in rads/s^2)
+    // it must be given as non-negative value!!!
+    double brakingAccelX{0.0};
+    double brakingAccelY{0.0};
+
+    // slewing trajectory file. if empty - just skip saving
+    std::string slewingPathFilename{};
+
 
     // *******    tracking mode    *******
 
+    // telemetry request interval
+    std::chrono::milliseconds trackingTelemetryInterval{100};
+
     double trackSpeedX{};
     double trackSpeedY{};
     std::chrono::milliseconds trackingCycleInterval{500};  // minimum time between two successive tracking corrections
     bool dualAxisTracking{true};  // mount must be of an equatorial type: false means guiding along only HA-axis
 
     // time shift into future to compute target position in future (UT1-scale time duration)
-    std::chrono::duration<double> timeShiftToTargetPoint{10.0};
+    std::chrono::milliseconds timeShiftToTargetPoint{10000};
+    // maximal target-to-mount difference for tracking process (in arcsecs)
+    // it it is greater then the current mount coordinates are used as target one
+    double trackingMaxCoordDiff{20.0};
+
+    // tracking trajectory file. if empty - just skip saving
+    std::string trackingPathFilename{};
+
 
     // *******    guiding mode    *******
 
@@ -70,9 +91,52 @@ struct MccSimpleMovingModelParams {
 };
 
 
+// calculate the distances along the X and Y axes that the mount will travel at the current speed in a given time,
+// taking into account the braking acceleration
+//
+// WARNING:
+//    It is assumed that the given braking accelerations are non-negative,
+//    while speeds may have a sign according to motion direction.
+//    The latter means that returned distances can be negative!
+std::pair<double, double> mcc_compute_distance(mcc_telemetry_data_c auto const& tdata,
+                                               double time_in_secs,
+                                               mcc_angle_c auto const& braking_accelX,
+                                               mcc_angle_c auto const& braking_accelY)
+{
+    std::pair<double, double> res;
+
+    // first, check if the mount stops before time_in_secs
+    //
+    // the time to stop mount: (V_ini - a*t) = 0 => t = V_ini/a
+    //
+    // the traveled path: s = V_ini*t - a*t*t/2, V_ini - initial speed, a - braking accel, t - the time
+    //
+
+
+    // time to stop mount with given current speed and braking acceleration
+    double tx_stop = std::abs(tdata.speedX) / braking_accelX;
+    double ty_stop = std::abs(tdata.speedY) / braking_accelY;
+
+    double tx = time_in_secs;
+    double ty = time_in_secs;
+
+    if (std::isfinite(tx_stop) && (time_in_secs > tx_stop)) {
+        tx = tx_stop;
+    }
+    if (std::isfinite(ty_stop) && (time_in_secs > ty_stop)) {
+        ty = ty_stop;
+    }
+
+    // here, one must take into account the sign of the speed!!!
+    res.first = tdata.speedX * tx - std::copysign(braking_accelX, tdata.speedX) * tx * tx / 2.0;
+    res.second = tdata.speedY * ty - std::copysign(braking_accelY, tdata.speedY) * ty * ty / 2.0;
+
+    return res;
+}
+
 template <mcc_pzone_container_c PZoneContT>
 bool mcc_is_near_pzones(PZoneContT* pz_cont,
-                        mcc_telemetry_c auto const& tdata,
+                        mcc_telemetry_data_c auto const& tdata,
                         traits::mcc_time_duration_c auto const& min_timeto,
                         typename PZoneContT::error_t& err)
 {
@@ -97,7 +161,7 @@ bool mcc_is_near_pzones(PZoneContT* pz_cont,
 
 template <mcc_pzone_container_c PZoneContT>
 typename PZoneContT::error_t mcc_find_closest_pzone(PZoneContT* pz_cont,
-                                                    mcc_telemetry_c auto const& tdata,
+                                                    mcc_telemetry_data_c auto const& tdata,
                                                     mcc_eqt_hrz_coord_c auto* closest_coords)
 {
     using res_t = std::decay_t<decltype(*closest_coords)>;

mcc/mcc_netserver_endpoint.h

@@ -0,0 +1,512 @@
+#pragma once
+
+/*                          MOUNT CONTROL COMPONENTS LIBRARY                            */
+
+
+
+/*                          NETWORK SERVER ENDPOINT CLASS IMPLEMENTATION                          */
+
+#include <algorithm>
+#include <array>
+#include <charconv>
+#include <cstdint>
+#include <filesystem>
+#include <ranges>
+#include <string_view>
+
+#include "mcc_traits.h"
+
+namespace mcc::network
+{
+
+namespace utils
+{
+
+static constexpr bool mcc_char_range_compare(const traits::mcc_char_view auto& what,
+                                             const traits::mcc_char_view auto& where,
+                                             bool case_insensitive = false)
+{
+    if (std::ranges::size(what) == std::ranges::size(where)) {
+        if (case_insensitive) {
+            auto f = std::ranges::search(where,
+                                         std::views::transform(what, [](const char& ch) { return std::tolower(ch); }));
+            return !f.empty();
+        } else {
+            auto f = std::ranges::search(where, what);
+            return !f.empty();
+        }
+    }
+
+    return false;
+}
+
+}  // namespace utils
+
+/*
+ *  Very simple various protocols endpoint parser and holder class
+ *
+ *  endpoint:  proto_mark://host_name:port_num/path
+ *             where "path" is optional for all non-local protocol kinds;
+ *
+ *             for local kind of protocols the endpoint must be given as:
+ *               local://stream/PATH
+ *               local://seqpacket/PATH
+ *               local://serial/PATH
+ *             where 'stream' and 'seqpacket' "host_name"-field marks the
+ *             stream-type and seqpacket-type UNIX domain sockets protocols;
+ *             'serial' marks a serial (RS232/485) protocol.
+ *             here, possible "port_num" field is allowed but ignored.
+ *
+ *             NOTE: "proto_mark" and "host_name" (for local kind) fields are parsed in case-insensitive manner!
+ *
+ *             EXAMPLES: tcp://192.168.70.130:3131
+ *                       local://serial/dev/ttyS1
+ *                       local://seqpacket/tmp/BM70_SERVER_SOCK
+ *
+ *
+ */
+
+
+class MccNetServerEndpoint
+{
+public:
+    static constexpr std::string_view protoHostDelim = "://";
+    static constexpr std::string_view hostPortDelim = ":";
+    static constexpr std::string_view portPathDelim = "/";
+
+    enum proto_id_t : uint8_t {
+        PROTO_ID_LOCAL,
+        PROTO_ID_SEQLOCAL,
+        PROTO_ID_SERLOCAL,
+        PROTO_ID_TCP,
+        PROTO_ID_TLS,
+        PROTO_ID_UNKNOWN
+    };
+
+    static constexpr std::string_view protoMarkLocal{"local"};  // UNIX domain
+    static constexpr std::string_view protoMarkTCP{"tcp"};      // TCP
+    static constexpr std::string_view protoMarkTLS{"tls"};      // TLS
+
+    static constexpr std::array validProtoMarks{protoMarkLocal, protoMarkTCP, protoMarkTLS};
+
+
+    static constexpr std::string_view localProtoTypeStream{"stream"};        // UNIX domain stream
+    static constexpr std::string_view localProtoTypeSeqpacket{"seqpacket"};  // UNIX domain seqpacket
+    static constexpr std::string_view localProtoTypeSerial{"serial"};        // serial (RS232/485)
+
+    static constexpr std::array validLocalProtoTypes{localProtoTypeStream, localProtoTypeSeqpacket,
+                                                     localProtoTypeSerial};
+
+
+    template <traits::mcc_input_char_range R>
+    MccNetServerEndpoint(const R& ept)
+    {
+        fromRange(ept);
+    }
+
+    MccNetServerEndpoint(const MccNetServerEndpoint& other)
+    {
+        copyInst(other);
+    }
+
+    MccNetServerEndpoint(MccNetServerEndpoint&& other)
+    {
+        moveInst(std::move(other));
+    }
+
+    virtual ~MccNetServerEndpoint() = default;
+
+
+    MccNetServerEndpoint& operator=(const MccNetServerEndpoint& other)
+    {
+        copyInst(other);
+
+        return *this;
+    }
+
+
+    MccNetServerEndpoint& operator=(MccNetServerEndpoint&& other)
+    {
+        moveInst(std::move(other));
+
+        return *this;
+    }
+
+    template <traits::mcc_input_char_range R>
+        requires std::ranges::contiguous_range<R>
+    bool fromRange(const R& ept)
+    {
+        _isValid = false;
+
+        // at least 'ws://a' (proto, proto-host delimiter and at least a single character of hostname)
+        if (std::ranges::size(ept) < 6) {
+            return _isValid;
+        }
+
+        if constexpr (std::is_array_v<std::remove_cvref_t<R>>) {
+            _endpoint = ept;
+        } else {
+            _endpoint.clear();
+            std::ranges::copy(ept, std::back_inserter(_endpoint));
+        }
+
+        auto found = std::ranges::search(_endpoint, protoHostDelim);
+        if (found.empty()) {
+            return _isValid;
+        }
+
+
+        ssize_t idx;
+        if ((idx = checkProtoMark(std::string_view{_endpoint.begin(), found.begin()})) < 0) {
+            return _isValid;
+        }
+
+        _proto = validProtoMarks[idx];
+
+        _host = std::string_view{found.end(), _endpoint.end()};
+
+        auto f1 = std::ranges::search(_host, portPathDelim);
+        // std::string_view port_sv;
+        if (f1.empty() && isLocal()) {  // no path, but it is mandatory for 'local'!
+            return _isValid;
+        } else {
+            _host = std::string_view(_host.begin(), f1.begin());
+
+            _path = std::string_view(f1.end(), &*_endpoint.end());
+
+            f1 = std::ranges::search(_host, hostPortDelim);
+            if (f1.empty() && !isLocal()) {  // no port, but it is mandatory for non-local!
+                return _isValid;
+            }
+
+            _portView = std::string_view(f1.end(), _host.end());
+            if (_portView.size()) {
+                _host = std::string_view(_host.begin(), f1.begin());
+
+                if (!isLocal()) {
+                    // convert port string to int
+                    auto end_ptr = _portView.data() + _portView.size();
+
+                    auto [ptr, ec] = std::from_chars(_portView.data(), end_ptr, _port);
+                    if (ec != std::errc() || ptr != end_ptr) {
+                        return _isValid;
+                    }
+                } else {  // ignore for local
+                    _port = -1;
+                }
+            } else {
+                _port = -1;
+            }
+
+            if (isLocal()) {  // check for special values
+                idx = 0;
+                if (std::ranges::any_of(validLocalProtoTypes, [&idx, this](const auto& el) {
+                        bool ok = utils::mcc_char_range_compare(_host, el, true);
+                        if (!ok) {
+                            ++idx;
+                        }
+                        return ok;
+                    })) {
+                    _host = validLocalProtoTypes[idx];
+                } else {
+                    return _isValid;
+                }
+            }
+        }
+
+        _isValid = true;
+
+        return _isValid;
+    }
+
+
+    bool isValid() const
+    {
+        return _isValid;
+    }
+
+
+    auto endpoint() const
+    {
+        return _endpoint;
+    }
+
+    template <traits::mcc_view_or_output_char_range R>
+    R proto() const
+    {
+        return part<R>(PROTO_PART);
+    }
+
+    std::string_view proto() const
+    {
+        return proto<std::string_view>();
+    }
+
+    template <traits::mcc_view_or_output_char_range R>
+    R host() const
+    {
+        return part<R>(HOST_PART);
+    }
+
+    std::string_view host() const
+    {
+        return host<std::string_view>();
+    }
+
+    int port() const
+    {
+        return _port;
+    }
+
+    template <traits::mcc_view_or_output_char_range R>
+    R portView() const
+    {
+        return part<R>(PORT_PART);
+    }
+
+    std::string_view portView() const
+    {
+        return portView<std::string_view>();
+    }
+
+    template <traits::mcc_output_char_range R, traits::mcc_input_char_range RR = std::string_view>
+    R path(RR&& root_path) const
+    {
+        if (_path.empty()) {
+            if constexpr (traits::mcc_output_char_range<R>) {
+                R res;
+                std::ranges::copy(std::forward<RR>(root_path), std::back_inserter(res));
+
+                return res;
+            } else {  // can't add root path!!!
+                return part<R>(PATH_PART);
+            }
+        }
+
+        auto N = std::ranges::distance(root_path.begin(), root_path.end());
+
+        if (N) {
+            R res;
+            std::filesystem::path pt(root_path.begin(), root_path.end());
+
+            if (isLocal() && _path[0] == '\0') {
+                std::ranges::copy(std::string_view(" "), std::back_inserter(res));
+                pt /= _path.substr(1);
+                std::ranges::copy(pt.string(), std::back_inserter(res));
+                *res.begin() = '\0';
+            } else {
+                pt /= _path;
+                std::ranges::copy(pt.string(), std::back_inserter(res));
+            }
+
+            return res;
+        } else {
+            return part<R>(PATH_PART);
+        }
+    }
+
+    template <traits::mcc_input_char_range RR = std::string_view>
+    std::string path(RR&& root_path) const
+    {
+        return path<std::string, RR>(std::forward<RR>(root_path));
+    }
+
+    template <traits::mcc_view_or_output_char_range R>
+    R path() const
+    {
+        return part<R>(PATH_PART);
+    }
+
+    std::string_view path() const
+    {
+        return path<std::string_view>();
+    }
+
+
+    bool isLocal() const
+    {
+        return proto() == protoMarkLocal;
+    }
+
+    bool isLocalStream() const
+    {
+        return host() == localProtoTypeStream;
+    }
+
+    bool isLocalSerial() const
+    {
+        return host() == localProtoTypeSerial;
+    }
+
+    bool isLocalSeqpacket() const
+    {
+        return host() == localProtoTypeSeqpacket;
+    }
+
+
+    bool isTCP() const
+    {
+        return proto() == protoMarkTCP;
+    }
+
+    bool isTLS() const
+    {
+        return proto() == protoMarkTLS;
+    }
+
+
+    // add '\0' char (or replace special-meaning char/char-sequence) to construct UNIX abstract namespace
+    // endpoint path
+    template <typename T = std::nullptr_t>
+    MccNetServerEndpoint& makeAbstract(const T& mark = nullptr)
+        requires(traits::mcc_input_char_range<T> || std::same_as<std::remove_cv_t<T>, char> ||
+                 std::is_null_pointer_v<std::remove_cv_t<T>>)
+    {
+        if (!(isLocalStream() || isLocalSeqpacket())) {  // only local proto is valid!
+            return *this;
+        }
+
+        if constexpr (std::is_null_pointer_v<T>) {  // just insert '\0'
+            auto it = _endpoint.insert(std::string::const_iterator(_path.begin()), '\0');
+            _path = std::string_view(it, _endpoint.end());
+        } else if constexpr (std::same_as<std::remove_cv_t<T>, char>) {  // replace a character (mark)
+            auto pos = std::distance(_endpoint.cbegin(), std::string::const_iterator(_path.begin()));
+            if (_endpoint[pos] == mark) {
+                _endpoint[pos] = '\0';
+            }
+        } else {  // replace a character range (mark)
+            if (std::ranges::equal(_path | std::views::take(std::ranges::size(mark), mark))) {
+                auto pos = std::distance(_endpoint.cbegin(), std::string::const_iterator(_path.begin()));
+                _endpoint.replace(pos, std::ranges::size(mark), 1, '\0');
+                _path = std::string_view(_endpoint.begin() + pos, _endpoint.end());
+            }
+        }
+
+        return *this;
+    }
+
+protected:
+    std::string _endpoint;
+    std::string_view _proto, _host, _path, _portView;
+    int _port;
+    bool _isValid;
+
+
+    virtual ssize_t checkProtoMark(std::string_view proto_mark)
+    {
+        ssize_t idx = 0;
+
+        // case-insensitive look-up
+        bool found = std::ranges::any_of(MccNetServerEndpoint::validProtoMarks, [&idx, &proto_mark](const auto& el) {
+            bool ok = utils::mcc_char_range_compare(proto_mark, el, true);
+
+            if (!ok) {
+                ++idx;
+            }
+
+            return ok;
+        });
+
+        return found ? idx : -1;
+    }
+
+    enum EndpointPart { PROTO_PART, HOST_PART, PATH_PART, PORT_PART };
+
+    template <traits::mcc_view_or_output_char_range R>
+    R part(EndpointPart what) const
+    {
+        R res;
+
+        // if (!_isValid) {
+        //     return res;
+        // }
+
+        auto part = _proto;
+
+        switch (what) {
+            case PROTO_PART:
+                part = _proto;
+                break;
+            case HOST_PART:
+                part = _host;
+                break;
+            case PATH_PART:
+                part = _path;
+                break;
+            case PORT_PART:
+                part = _portView;
+                break;
+            default:
+                break;
+        }
+
+        if constexpr (std::ranges::view<R>) {
+            return {part.begin(), part.end()};
+        } else {
+            std::ranges::copy(part, std::back_inserter(res));
+        }
+
+        return res;
+    }
+
+    void copyInst(const MccNetServerEndpoint& other)
+    {
+        if (&other != this) {
+            if (other._isValid) {
+                _isValid = other._isValid;
+                _endpoint = other._endpoint;
+                _proto = other._proto;
+
+                std::iterator_traits<const char*>::difference_type idx;
+                if (other.isLocal()) {  // for 'local' host is one of static class constants
+                    _host = other._host;
+                } else {
+                    idx = std::distance(other._endpoint.c_str(), other._host.data());
+                    _host = std::string_view(_endpoint.c_str() + idx, other._host.size());
+                }
+
+                idx = std::distance(other._endpoint.c_str(), other._path.data());
+                _path = std::string_view(_endpoint.c_str() + idx, other._path.size());
+
+                idx = std::distance(other._endpoint.c_str(), other._portView.data());
+                _portView = std::string_view(_endpoint.c_str() + idx, other._portView.size());
+
+                _port = other._port;
+            } else {
+                _isValid = false;
+                _endpoint = std::string();
+                _proto = std::string_view();
+                _host = std::string_view();
+                _path = std::string_view();
+                _portView = std::string_view();
+                _port = -1;
+            }
+        }
+    }
+
+
+    void moveInst(MccNetServerEndpoint&& other)
+    {
+        if (&other != this) {
+            if (other._isValid) {
+                _isValid = std::move(other._isValid);
+                _endpoint = std::move(other._endpoint);
+                _proto = other._proto;
+                _host = std::move(other._host);
+                _path = std::move(other._path);
+                _port = std::move(other._port);
+                _portView = std::move(other._portView);
+            } else {
+                _isValid = false;
+                _endpoint = std::string();
+                _proto = std::string_view();
+                _host = std::string_view();
+                _path = std::string_view();
+                _portView = std::string_view();
+                _port = -1;
+            }
+        }
+    }
+};
+
+}  // namespace mcc::network

mcc/mcc_netserver_proto.h

@@ -0,0 +1,821 @@
+#pragma once
+
+/*                          MOUNT CONTROL COMPONENTS LIBRARY                            */
+
+/*                          BASIC NETWORK PROTOCOL DEFINITIONS                          */
+
+
+
+#include <algorithm>
+#include <string_view>
+#include "mcc_angle.h"
+#include "mcc_defaults.h"
+#include "mcc_generics.h"
+#include "mcc_utils.h"
+
+namespace mcc::network
+{
+
+/*
+ *  The network protocol is the ASCII-based, case-sensitive textual protocol.
+ *  The "client-server" communication is performed through messages.
+ *  The message is a minimal unit of this communication.
+ *  The model of network communication is a simple "client-server" one, i.e.,
+ *  client asks - server responds.
+ *
+ *  network communication message format:
+ *      <keyword>[[<key-param-delim>]<param1>[<param-param-delim>][<param2>]...]<stop-seq>
+ *
+ *      where
+ *          <keyword> - mandatory message keyword (one or more ASCII symbols)
+ *          <key-param-delim>
+ *
+ *      e.g.
+ *      "TARGET 12:23:45.56 00:32:21.978\n"
+ */
+
+
+/*    low-level network message format definitions   */
+
+static constexpr std::string_view MCC_COMMPROTO_STOP_SEQ = "\n";
+static constexpr std::string_view MCC_COMMPROTO_KEYPARAM_DELIM_SEQ = " ";
+static constexpr std::string_view MCC_COMMPROTO_PARAMPARAM_DELIM_SEQ = ";";
+static constexpr std::string_view MCC_COMMPROTO_RANGEPARAM_DELIM_SEQ = ",";
+
+
+/*    server special keywords    */
+
+static constexpr std::string_view MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR = "ACK";      // ACK
+static constexpr std::string_view MCC_COMMPROTO_KEYWORD_SERVER_ERROR_STR = "ERROR";  // mount operational error
+// pre-defined errors
+static constexpr std::string_view MCC_COMMPROTO_SERVER_ERROR_INVKEY_STR = "INVKEY";  // invalid keyword
+static constexpr std::string_view MCC_COMMPROTO_SERVER_ERROR_INVPAR_STR = "INVPAR";  // invalid parameter
+
+
+/*    server control keywords     */
+
+static constexpr std::string_view MCC_COMMPROTO_KEYWORD_RESTART_SERVER_STR = "RESTART";  // restart server
+
+
+/*                  BELOW IS ONE OF THE PROTOCOL OPTIONS CORRESPONDING MCC_GENERIC_MOUNT_C CONCEPT */
+
+
+/*    predefined parameters    */
+
+static constexpr std::string_view MCC_COMMPROTO_COORD_KIND_RADEC_ICRS = "RADEC_ICRS";  // ICRS RA and DEC
+static constexpr std::string_view MCC_COMMPROTO_COORD_KIND_RADEC = "RADEC";            // apparent RA and DEC
+static constexpr std::string_view MCC_COMMPROTO_COORD_KIND_HADEC = "HADEC";            // apparent HA and DEC
+static constexpr std::string_view MCC_COMMPROTO_COORD_KIND_AZZD = "AZZD";              // azimuth and zenithal distance
+static constexpr std::string_view MCC_COMMPROTO_COORD_KIND_AZALT = "AZALT";            // azimuth and altitude
+static constexpr std::string_view MCC_COMMPROTO_COORD_KIND_XY = "XY";                  // hardware (encoder) coordinates
+
+
+// static constexpr MccCoordPairKind mcc_str2pairkind(std::string_view spair)
+// {
+//     return spair == MCC_COMMPROTO_COORD_KIND_RADEC_ICRS ? MccCoordPairKind::COORDS_KIND_RADEC_ICRS
+//            : spair == MCC_COMMPROTO_COORD_KIND_RADEC    ? MccCoordPairKind::COORDS_KIND_RADEC_APP
+//            : spair == MCC_COMMPROTO_COORD_KIND_HADEC    ? MccCoordPairKind::COORDS_KIND_HADEC_APP
+//            : spair == MCC_COMMPROTO_COORD_KIND_AZZD     ? MccCoordPairKind::COORDS_KIND_AZZD
+//            : spair == MCC_COMMPROTO_COORD_KIND_AZALT    ? MccCoordPairKind::COORDS_KIND_AZALT
+//            : spair == MCC_COMMPROTO_COORD_KIND_XY       ? MccCoordPairKind::COORDS_KIND_XY
+//                                                         : MccCoordPairKind::COORDS_KIND_GENERIC;
+// }
+
+template <mcc::traits::mcc_char_range R>
+static constexpr MccCoordPairKind mcc_str2pairkind(R&& spair)
+{
+    if constexpr (std::is_pointer_v<std::decay_t<R>>) {
+        return mcc_str2pairkind(std::string_view{spair});
+    }
+
+    const auto hash = mcc::utils::FNV1aHash(std::forward<R>(spair));
+
+    return hash == mcc::utils::FNV1aHash(MCC_COMMPROTO_COORD_KIND_RADEC_ICRS) ? MccCoordPairKind::COORDS_KIND_RADEC_ICRS
+           : hash == mcc::utils::FNV1aHash(MCC_COMMPROTO_COORD_KIND_RADEC)    ? MccCoordPairKind::COORDS_KIND_RADEC_APP
+           : hash == mcc::utils::FNV1aHash(MCC_COMMPROTO_COORD_KIND_HADEC)    ? MccCoordPairKind::COORDS_KIND_HADEC_APP
+           : hash == mcc::utils::FNV1aHash(MCC_COMMPROTO_COORD_KIND_AZZD)     ? MccCoordPairKind::COORDS_KIND_AZZD
+           : hash == mcc::utils::FNV1aHash(MCC_COMMPROTO_COORD_KIND_AZALT)    ? MccCoordPairKind::COORDS_KIND_AZALT
+           : hash == mcc::utils::FNV1aHash(MCC_COMMPROTO_COORD_KIND_XY)       ? MccCoordPairKind::COORDS_KIND_XY
+                                                                              : MccCoordPairKind::COORDS_KIND_GENERIC;
+}
+
+
+static constexpr std::string_view mcc_pairkind2str(MccCoordPairKind kind)
+{
+    return kind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS  ? MCC_COMMPROTO_COORD_KIND_RADEC_ICRS
+           : kind == MccCoordPairKind::COORDS_KIND_RADEC_APP ? MCC_COMMPROTO_COORD_KIND_RADEC
+           : kind == MccCoordPairKind::COORDS_KIND_HADEC_APP ? MCC_COMMPROTO_COORD_KIND_HADEC
+           : kind == MccCoordPairKind::COORDS_KIND_AZZD      ? MCC_COMMPROTO_COORD_KIND_AZZD
+           : kind == MccCoordPairKind::COORDS_KIND_AZALT     ? MCC_COMMPROTO_COORD_KIND_AZALT
+           : kind == MccCoordPairKind::COORDS_KIND_XY        ? MCC_COMMPROTO_COORD_KIND_XY
+                                                             : "UNKNOWN";
+}
+
+
+/*    keywords    */
+
+// NOTE: THE COORDINATES AND TIME-RELATED QUANTITIES CAN BE EXPRESSED IN THE TWO FORMATS:
+//       1) fixed-point real number, e.g. 123.43987537359 or -0.09775
+//       2) sexagesimal number, e.g. 10:43:43.12 or -123:54:12.435
+//
+//       IN THE FIRST CASE ALL NUMBERS MUST BE INTERPRETATED AS DEGREES,
+//       IN THE SECOND CASE NUMBERS MUST BE INTERPRETATED ACCORDING TO ITS TYPE:
+//           ALL TIME-RELATED QUANTITIES AND RA/HA COORDINATES MUST BE EXPRESSED
+//           IN FORMAT 'HOURS:MINUTES:SECONDS', WHILE DEC/ALT/AZ/ZD COORDINATES MUST
+//           BE EXPRESSED AS '+/-DEGREES:ARCMINUTES:ARCSECONDS'
+//
+//       USER-ENTERED (FROM NETWORK CLIENTS) COORDINATE PAIR CAN BE PROVIDED IN A MIXED FORM, I.E.,
+//           12.34436658678 10:32:11.432 or
+//           10:32:11.432 12.34436658678
+//
+//       SERVER-RESPONDED COORDINATES ARE ALWAYS IN THE SAME FORMAT, SEXAGESIMAL OR FIXED-POINT
+//
+
+// format of output coordinates:
+//    "COORDFMT FMT-type\n"
+//    e.g.:
+//    "COORDFMT SGM\n"
+//    "COORDFMT\n"
+//
+// server must return "ACK" or "ERROR INVPAR" in the case of 'set'-operation and
+// "ACK COORDFMT FMT-type" in the case of 'get'-operation
+//    e.g.:
+//    "COORDFMT FIX\n" -> "ACK\n"
+//    "COORDFMT SXT\n" -> "ERROR INVPAR\n" (invalid parameter of format type)
+//    "COORDFMT\n" -> "ACK COORDFMT FIX\n"
+//
+
+static constexpr std::string_view MCC_COMMPROTO_KEYWORD_COORDFMT_STR = "COORDFMT";
+static constexpr std::string_view MCC_COMMPROTO_KEYWORD_COORDFMT_SEXGM_STR = "SGM";  // sexagesimal
+static constexpr std::string_view MCC_COMMPROTO_KEYWORD_COORDFMT_FIXED_STR = "FIX";  // fixed point
+
+
+// precision (number of decimal places) of returned coordinates:
+//     "COORDPREC seconds-prec arcseconds-prec\n"
+//     seconds-prec - precision of hour-based coordinates (RA and HA) or time-related quantities
+//     arcseconds-prec - precision of degree-based coordinates (DEC, AZ, ZD, ALT)
+//         precision must be given as non-negative integer number
+//     e.g.
+//     "COORDPREC 2,1\n" (output sexagesimal RA=12:34:56.67, DEC=32:54:21.9)
+//
+static constexpr std::string_view MCC_COMMPROTO_KEYWORD_COORDPREC_STR = "COORDPREC";
+
+
+// set/get target coordinates
+//     "TARGET X-coord Y-coord XY-kind\n", if 'XY-kind' is omitted then one should assume RADEC_ICRS
+//     e.g.:
+//     "TARGET 12.7683487 10:23:09.75 AZZD\n"
+//     "TARGET HADEC\n"
+//     "TARGET\n"
+//
+// server must return "ACK" or "ERROR INVPAR" in the case of 'set'-operation and
+// "ACK TARGET X-coord Y-coord XY-kind" in the case of 'get'-operation
+//     e.g.:
+//     "TARGET 12.7683487 10:23:09.75 AZZD\n" -> "ACK\n"
+//     "TARGET 12.7683487 10:23:09.75 AZZE\n" -> "ERROR INVPAR\n" (invalid parameter of coordinates pair kind)
+//
+//     "TARGET HADEC\n" -> "ACK TARGET 20:21:56.32 -01:32:34.2 HADEC\n"
+//     "TARGET\n"  -> "ACK TARGET 20:21:56.32 -01:32:34.2 RADEC_ICRS\n"
+//
+
+static constexpr std::string_view MCC_COMMPROTO_KEYWORD_TARGET_STR = "TARGET";
+
+// get mount coordinates:
+//     "MOUNT coord-kind", if 'coord-kind' is omitted then coordinates are according to mount type,
+//                         i.e., HADEC for equathorial-type mount and AZZD for alt-azimuthal one
+//     e.g.:
+//     "MOUNT RADEC\n" (get current apparent RA and DEC mount coordinates)
+//
+// server must return "ACK MOUNT X-coord Y-coord XY-kind" or "ERROR INVPAR"
+//     e.g.
+//     "MOUNT AZALT\n" -> "ACK MOUNT 1.2332325 54.23321312 AZALT\n"
+//     "MOUNT AZAL\n" -> "ERROR INVPAR\n" (invalid parameter of coordinates pair kind)
+//     "MOUNT\n" -> "ACK MOUNT 1.2332325 54.23321312 AZZD\n" for alt-azimuthal mount
+//     "MOUNT\n" -> "ACK MOUNT 1.2332325 54.23321312 HADEC\n" for equathorial mount
+
+static constexpr std::string_view MCC_COMMPROTO_KEYWORD_MOUNT_STR = "MOUNT";
+
+
+static constexpr std::string_view MCC_COMMPROTO_KEYWORD_TELEMETRY_STR = "TELEMETRY";
+
+// init mount
+//     "INIT\n"
+static constexpr std::string_view MCC_COMMPROTO_KEYWORD_INIT_STR = "INIT";
+
+// stop any movements
+//     "STOP\n"
+static constexpr std::string_view MCC_COMMPROTO_KEYWORD_STOP_STR = "STOP";
+
+// slew mount and track target:
+//     "SLEW\n"
+static constexpr std::string_view MCC_COMMPROTO_KEYWORD_SLEW_STR = "SLEW";
+
+// slew mount and stop:
+//     "MOVE\n"
+static constexpr std::string_view MCC_COMMPROTO_KEYWORD_MOVE_STR = "MOVE";
+
+// track target
+//     "TRACK\n"
+static constexpr std::string_view MCC_COMMPROTO_KEYWORD_TRACK_STR = "TRACK";
+
+// get mount status
+//     "STATUS\n"
+static constexpr std::string_view MCC_COMMPROTO_KEYWORD_STATUS_STR = "STATUS";
+
+// valid keywords
+static constexpr std::array MCC_COMMPROTO_VALID_KEYS = {
+    MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, MCC_COMMPROTO_KEYWORD_SERVER_ERROR_STR, MCC_COMMPROTO_KEYWORD_COORDFMT_STR,
+    MCC_COMMPROTO_KEYWORD_COORDPREC_STR,  MCC_COMMPROTO_KEYWORD_TARGET_STR,       MCC_COMMPROTO_KEYWORD_MOUNT_STR,
+    MCC_COMMPROTO_KEYWORD_TELEMETRY_STR,  MCC_COMMPROTO_KEYWORD_INIT_STR,         MCC_COMMPROTO_KEYWORD_STOP_STR,
+    MCC_COMMPROTO_KEYWORD_SLEW_STR,       MCC_COMMPROTO_KEYWORD_MOVE_STR,         MCC_COMMPROTO_KEYWORD_TRACK_STR,
+    MCC_COMMPROTO_KEYWORD_STATUS_STR};
+
+
+// hashes of valid keywords
+static constexpr std::array MCC_COMMPROTO_VALID_KEYS_HASH = []<size_t... Is>(std::index_sequence<Is...>) {
+    return std::array{mcc::utils::FNV1aHash(MCC_COMMPROTO_VALID_KEYS[Is])...};
+}(std::make_index_sequence<MCC_COMMPROTO_VALID_KEYS.size()>());
+
+
+
+template <typename T>
+concept mcc_netmsg_valid_keys_c = requires(T t) {
+    // std::array of valid message keywords
+    []<size_t N>(std::array<std::string_view, N>) {
+        // to ensure T::NETMSG_VALID_KEYWORDS can be used as compile-time constant
+        static constexpr auto v0 = T::NETMSG_VALID_KEYWORDS[0];
+        return v0;
+    }(T::NETMSG_VALID_KEYWORDS);
+
+    // std::array of valid message keywords hashes
+    []<size_t N>(std::array<size_t, N>) {
+        // to ensure T::NETMSG_VALID_KEYWORD_HASHES can be used as compile-time constant
+        static constexpr auto v0 = T::NETMSG_VALID_KEYWORD_HASHES[0];
+        return v0;
+    }(T::NETMSG_VALID_KEYWORD_HASHES);
+
+    requires T::NETMSG_VALID_KEYWORDS.size() == T::NETMSG_VALID_KEYWORD_HASHES.size();
+};
+
+
+struct MccNetMessageValidKeywords {
+    static constexpr std::array NETMSG_VALID_KEYWORDS = {
+        MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, MCC_COMMPROTO_KEYWORD_SERVER_ERROR_STR,
+        MCC_COMMPROTO_KEYWORD_COORDFMT_STR,   MCC_COMMPROTO_KEYWORD_COORDPREC_STR,
+        MCC_COMMPROTO_KEYWORD_TARGET_STR,     MCC_COMMPROTO_KEYWORD_MOUNT_STR,
+        MCC_COMMPROTO_KEYWORD_TELEMETRY_STR,  MCC_COMMPROTO_KEYWORD_INIT_STR,
+        MCC_COMMPROTO_KEYWORD_STOP_STR,       MCC_COMMPROTO_KEYWORD_SLEW_STR,
+        MCC_COMMPROTO_KEYWORD_MOVE_STR,       MCC_COMMPROTO_KEYWORD_TRACK_STR,
+        MCC_COMMPROTO_KEYWORD_STATUS_STR};
+
+
+    // hashes of valid keywords
+    static constexpr std::array NETMSG_VALID_KEYWORD_HASHES = []<size_t... Is>(std::index_sequence<Is...>) {
+        return std::array{mcc::utils::FNV1aHash(NETMSG_VALID_KEYWORDS[Is])...};
+    }(std::make_index_sequence<NETMSG_VALID_KEYWORDS.size()>());
+
+    constexpr static const size_t* isKeywordValid(std::string_view key)
+    {
+        const auto hash = mcc::utils::FNV1aHash(key);
+
+        for (auto const& h : NETMSG_VALID_KEYWORD_HASHES) {
+            if (h == hash) {
+                return &h;
+            }
+        }
+
+        return nullptr;
+    }
+};
+
+static_assert(mcc_netmsg_valid_keys_c<MccNetMessageValidKeywords>, "");
+
+
+template <typename T>
+concept mcc_netmessage_c = requires(T t) { T(); };
+
+
+
+template <mcc::traits::mcc_char_range BYTEREPR_T = std::string_view,
+          mcc_netmsg_valid_keys_c BASE_T = MccNetMessageValidKeywords>
+class MccNetMessage
+{
+protected:
+    class DefaultDeserializer : protected mcc::utils::MccSimpleDeserializer
+    {
+    protected:
+        using base_t = mcc::utils::MccSimpleDeserializer;
+
+        inline static mcc::MccCelestialPointDeserializer _cpDeserializer{MCC_COMMPROTO_RANGEPARAM_DELIM_SEQ};
+        inline static mcc::MccEqtHrzCoordsDeserializer _eqhrDeserializer{MCC_COMMPROTO_RANGEPARAM_DELIM_SEQ};
+        inline static mcc::MccTelemetryDataDeserializer _telemetryDeserializer{MCC_COMMPROTO_RANGEPARAM_DELIM_SEQ};
+
+    public:
+        DefaultDeserializer() : base_t(MCC_COMMPROTO_RANGEPARAM_DELIM_SEQ) {}
+
+        template <traits::mcc_input_char_range IR, typename VT>
+        std::error_code operator()(IR&& bytes, VT& value) const
+        {
+            if constexpr (mcc_telemetry_data_c<VT>) {
+                return _telemetryDeserializer(std::forward<IR>(bytes), value);
+            } else if constexpr (mcc_eqt_hrz_coord_c<VT>) {
+                return _eqhrDeserializer(std::forward<IR>(bytes), value);
+            } else if constexpr (mcc_celestial_point_c<VT>) {
+                return _cpDeserializer(std::forward<IR>(bytes), value);
+            } else if constexpr (std::same_as<VT, MccCoordPairKind>) {
+                value = MccCoordStrToPairKind(bytes);
+                if (value == MccCoordPairKind::COORDS_KIND_UNKNOWN) {
+                    // return std::make_error_code(std::errc::invalid_argument);
+                    return MccCoordinateConvErrorCode::ERROR_INVALID_CPAIR;
+                }
+            } else if constexpr (std::same_as<VT, MccCoordinateSerializer::SerializedCoordFormat>) {
+                std::string v;
+                auto ec = (*this)(std::forward<IR>(bytes), v);
+                if (ec) {
+                    return ec;
+                }
+
+                if (v.compare(MCC_COMMPROTO_KEYWORD_COORDFMT_SEXGM_STR) == 0) {
+                    value = MccCoordinateSerializer::SerializedCoordFormat::CFMT_SGM;
+                } else if (v.compare(MCC_COMMPROTO_KEYWORD_COORDFMT_FIXED_STR) == 0) {
+                    value = MccCoordinateSerializer::SerializedCoordFormat::CFMT_DEGREES;
+                } else {
+                    // return std::make_error_code(std::errc::invalid_argument);
+                    return MccCoordinateConvErrorCode::ERROR_INVALID_COORD_FMT;
+                }
+            } else if constexpr (std::same_as<VT, MccCoordinateSerializer::SexagesimalCoordPrec>) {
+                std::vector<int64_t> v;
+                auto ec = (*this)(std::forward<IR>(bytes), v);
+                if (ec) {
+                    // return ec;
+                    return MccCoordinateConvErrorCode::ERROR_INVALID_COORD_PREC;
+                }
+
+                auto hprec = v[0];
+                value.hour_prec = hprec > 0 ? (hprec < std::numeric_limits<decltype(value.hour_prec)>::max()
+                                                   ? hprec
+                                                   : std::numeric_limits<decltype(value.hour_prec)>::max())
+                                            : 2;
+                if (v.size() == 1) {
+                    value.deg_prec = 1;
+                } else {
+                    auto dprec = v[1];
+                    value.deg_prec = dprec > 0 ? dprec < std::numeric_limits<decltype(value.deg_prec)>::max()
+                                                     ? dprec
+                                                     : std::numeric_limits<decltype(value.deg_prec)>::max()
+                                               : 1;
+                }
+            } else {
+                return base_t::operator()(std::forward<IR>(bytes), value);
+            }
+
+            return {};
+        }
+    };
+
+
+    class DefaultSerializer
+    {
+        friend class MccNetMessage;
+
+        MccCoordinateSerializer::SerializedCoordFormat _coordFmt{};
+        MccCoordinateSerializer::SexagesimalCoordPrec _coordPrec{};
+
+    public:
+        template <typename T, traits::mcc_output_char_range OR>
+        void operator()(const T& value, OR& bytes)
+        {
+            if constexpr (std::is_arithmetic_v<T>) {
+                std::format_to(std::back_inserter(bytes), "{}", value);
+            } else if constexpr (std::convertible_to<T, std::string>) {
+                std::ranges::copy(static_cast<std::string>(value), std::back_inserter(bytes));
+            } else if constexpr (std::constructible_from<std::string, T>) {
+                std::ranges::copy(std::string(value), std::back_inserter(bytes));
+            } else if constexpr (traits::mcc_char_range<T>) {
+                std::ranges::copy(std::string(value.begin(), value.end()), std::back_inserter(bytes));
+                // } else if constexpr (std::same_as<T, MccCoordPairKind>) {
+                //     std::ranges::copy(mcc_pairkind2str(value), std::back_inserter(bytes));
+            } else if constexpr (traits::mcc_time_duration_c<T>) {
+                (*this)(value.count(), bytes);
+            } else if constexpr (mcc_telemetry_data_c<T>) {
+                static MccTelemetryDataSerializer sr;
+
+                sr.setDelimiter(MCC_COMMPROTO_RANGEPARAM_DELIM_SEQ);
+                sr.setFormat(_coordFmt);
+                sr.setPrecision(_coordPrec);
+
+                sr(value, bytes);
+            } else if constexpr (mcc_eqt_hrz_coord_c<T>) {
+                static MccEqtHrzCoordsSerializer sr;
+
+                sr.setDelimiter(MCC_COMMPROTO_RANGEPARAM_DELIM_SEQ);
+                sr.setFormat(_coordFmt);
+                sr.setPrecision(_coordPrec);
+
+                sr(value, bytes);
+            } else if constexpr (mcc_celestial_point_c<T>) {
+                static MccCelestialPointSerializer sr;
+
+                sr.setDelimiter(MCC_COMMPROTO_RANGEPARAM_DELIM_SEQ);
+                sr.setFormat(_coordFmt);
+                sr.setPrecision(_coordPrec);
+
+                sr(value, bytes);
+            } else if constexpr (std::ranges::range<T>) {
+                auto sz = std::ranges::size(value);
+                if (sz == 0) {
+                    return;
+                }
+
+                (*this)(*value.begin(), bytes);  // the first element
+
+                if (sz > 1) {
+                    for (auto const& el : value | std::views::drop(1)) {
+                        std::ranges::copy(MCC_COMMPROTO_RANGEPARAM_DELIM_SEQ, std::back_inserter(bytes));
+                        (*this)(el, bytes);
+                    }
+                }
+            } else if constexpr (std::same_as<T, std::error_code>) {
+                std::format_to(std::back_inserter(bytes), "{}{}{}{}{}", value.value(),
+                               MCC_COMMPROTO_RANGEPARAM_DELIM_SEQ, value.message(), MCC_COMMPROTO_RANGEPARAM_DELIM_SEQ,
+                               value.category().name());
+            } else if constexpr (std::formattable<T, char>) {
+                std::format_to(std::back_inserter(bytes), "{}", value);
+            } else {
+                static_assert(false, "UNSUPPORTED TYPE!!!");
+            }
+        }
+    };
+
+
+public:
+    typedef BASE_T valid_keys_t;
+    typedef BYTEREPR_T byte_repr_t;
+
+    enum MccNetMessageError { ERROR_OK, ERROR_EMPTY_MESSAGE, ERROR_INVALID_KEYWORD, ERROR_EMPTY_KEYWORD };
+
+    MccNetMessage() = default;
+
+    template <traits::mcc_input_char_range KT, typename... PTs>
+    MccNetMessage(KT&& key, PTs&&... params)
+        requires traits::mcc_output_char_range<BYTEREPR_T>
+    {
+        construct(_defaultSerializer, std::forward<KT>(key), std::forward<PTs>(params)...);
+    }
+
+    template <traits::mcc_input_char_range R>
+    constexpr MccNetMessage(const R& msg)
+        requires traits::mcc_input_char_range<BYTEREPR_T>
+    {
+        fromCharRange(msg);
+    }
+
+    // constexpr MccNetMessage(const BYTEREPR_T& msg)
+    //     requires traits::mcc_input_char_range<BYTEREPR_T>
+    // {
+    //     fromCharRange(msg);
+    // }
+
+    virtual ~MccNetMessage() = default;
+
+    template <traits::mcc_input_char_range KT>
+    constexpr bool withKey(const KT& key) const
+    {
+        if constexpr (std::is_pointer_v<std::decay_t<KT>>) {
+            return withKey(std::string_view{key});
+        }
+
+        return mcc::utils::FNV1aHash(key) == _keywordHash;
+    }
+
+
+    template <traits::mcc_view_or_output_char_range R>
+    R keyword() const
+    {
+        if constexpr (traits::mcc_char_view<R>) {
+            return R{_keyword.begin(), _keyword.end()};
+        } else {
+            R r;
+            std::ranges::copy(_keyword, std::back_inserter(r));
+
+            return r;
+        }
+    }
+
+    std::string_view keyword() const
+    {
+        return _keyword;
+    }
+
+
+    size_t paramSize() const
+    {
+        return _params.size();
+    }
+
+    template <std::ranges::range R>
+    R params(size_t start_idx = 0, size_t Nelemes = std::numeric_limits<size_t>::max()) const
+        requires(traits::mcc_view_or_output_char_range<R> || traits::mcc_range_of_char_range<R>)
+    {
+        if (start_idx >= _params.size()) {
+            return R{};
+        }
+
+        auto stop_idx = start_idx + Nelemes - 1;
+        if (stop_idx >= _params.size()) {
+            stop_idx = _params.size() - 1;
+        }
+
+        if constexpr (traits::mcc_range_of_char_range<R>) {  // returm parameters as array
+            using el_t = std::ranges::range_value_t<R>;
+
+            R r;
+            if constexpr (traits::mcc_char_view<el_t> || traits::mcc_output_char_range<el_t>) {
+                for (size_t i = start_idx; i <= stop_idx; ++i) {
+                    auto& el = _params[i];
+                    std::back_inserter(r) = el_t{el.begin(), el.end()};
+                }
+            } else {
+                static_assert(false, "UNSUPPORTED RANGE TYPE!!!");
+            }
+
+            return r;
+        } else {
+            if constexpr (traits::mcc_char_view<R>) {  // return joined parameters as a single char-range
+                return R{_params[start_idx].begin(), _params[stop_idx].end()};
+            } else {
+                R r;
+                std::ranges::copy(std::string_view{_params[start_idx].begin(), _params[stop_idx].end()},
+                                  std::back_inserter(r));
+
+                return r;
+            }
+        }
+    }
+
+    std::string_view params(size_t start_idx = 0, size_t Nelemes = std::numeric_limits<size_t>::max()) const
+    {
+        return params<std::string_view>(start_idx, Nelemes);
+    }
+
+    template <traits::mcc_view_or_output_char_range R>
+    R param(size_t idx) const
+    {
+        if (idx >= _params.size()) {
+            return {};
+        }
+
+        if constexpr (traits::mcc_char_view<R>) {
+            return R{_params[idx].begin(), _params[idx].end()};
+        } else {
+            R r;
+            std::ranges::copy(_params[idx], std::back_inserter(r));
+
+            return r;
+        }
+    }
+
+    std::string_view param(size_t idx) const
+    {
+        if (idx >= _params.size()) {
+            return {};
+        }
+
+        return _params[idx];
+    }
+
+
+    template <typename T, typename DeserFuncT>
+    std::expected<T, std::error_code> paramValue(size_t idx, DeserFuncT&& deser_func) const
+    {
+        if (idx >= _params.size()) {
+            return std::unexpected{std::make_error_code(std::errc::value_too_large)};
+        }
+
+        T val;
+
+        auto ec = std::forward<DeserFuncT>(deser_func)(_params[idx], val);
+        if (ec) {
+            return std::unexpected(ec);
+        } else {
+            return val;
+        }
+    }
+
+    template <typename T>
+    std::expected<T, std::error_code> paramValue(size_t idx) const
+    {
+        return paramValue<T>(idx, _defaultDeserializer);
+    }
+
+
+    template <traits::mcc_view_or_output_char_range R>
+    R byteRepr() const
+    {
+        if constexpr (traits::mcc_char_view<R>) {
+            return R{_msgBuffer.begin(), _msgBuffer.end()};
+        } else {
+            R r;
+            std::ranges::copy(_msgBuffer, std::back_inserter(r));
+
+            return r;
+        }
+    }
+
+    std::string_view byteRepr() const
+    {
+        return byteRepr<std::string_view>();
+    }
+
+    template <traits::mcc_input_char_range KT, typename... PTs>
+    std::error_code construct(KT&& key, PTs&&... params)
+        requires traits::mcc_output_char_range<BYTEREPR_T>
+    {
+        return construct(_defaultSerializer, std::forward<KT>(key), std::forward<PTs>(params)...);
+    }
+
+    //
+    // serializing function SerFuncT - a callable with the signature:
+    //    template<typename T, mcc_output_char_range R>
+    //    void ser_func(const T& val, R&& buffer)
+    //
+    template <typename SerFuncT, traits::mcc_input_char_range KT, typename... PTs>
+    std::error_code construct(SerFuncT&& ser_func, KT&& key, PTs&&... params)
+        requires(traits::mcc_output_char_range<BYTEREPR_T> &&
+                 !traits::mcc_input_char_range<std::remove_cvref_t<SerFuncT>>)
+    {
+        if constexpr (std::is_pointer_v<std::decay_t<KT>>) {
+            return construct(std::forward<SerFuncT>(ser_func), std::string_view(key), std::forward<PTs>(params)...);
+        }
+
+
+        if (!std::ranges::size(key)) {
+            return std::make_error_code(std::errc::invalid_argument);
+        }
+
+        auto r = valid_keys_t::isKeywordValid(key);
+        if (!r) {
+            return std::make_error_code(std::errc::not_supported);
+        }
+
+        _keywordHash = *r;
+
+        _msgBuffer = BYTEREPR_T{};
+
+        std::ranges::copy(std::forward<KT>(key), std::back_inserter(_msgBuffer));
+        // _keyword = {_msgBuffer.begin(), _msgBuffer.end()};
+        size_t key_idx = std::distance(_msgBuffer.begin(), _msgBuffer.end());
+        std::vector<size_t> par_idx;
+
+        _params.clear();
+
+        if constexpr (sizeof...(PTs)) {
+            std::ranges::copy(MCC_COMMPROTO_KEYPARAM_DELIM_SEQ, std::back_inserter(_msgBuffer));
+
+            convertFunc(std::forward<SerFuncT>(ser_func), par_idx, std::forward<PTs>(params)...);
+
+            for (size_t i = 0; i < par_idx.size(); i += 2) {
+                _params.emplace_back(_msgBuffer.begin() + par_idx[i], _msgBuffer.begin() + par_idx[i + 1]);
+            }
+        }
+
+        _keyword = std::string_view{_msgBuffer.begin(), _msgBuffer.begin() + key_idx};
+
+        return {};
+    }
+
+    template <traits::mcc_input_char_range R>
+    constexpr MccNetMessageError fromCharRange(const R& r)
+    {
+        if constexpr (std::is_pointer_v<std::decay_t<R>>) {
+            return fromCharRange(std::string_view(r));
+        }
+
+
+        if (std::ranges::size(r) == 0) {
+            return ERROR_EMPTY_MESSAGE;
+        }
+
+        std::string_view key;
+
+        // auto prev_msg_buff = _msgBuffer;
+
+        if constexpr (traits::mcc_output_char_range<BYTEREPR_T>) {
+            _msgBuffer = BYTEREPR_T{};
+            std::ranges::copy(r, std::back_inserter(_msgBuffer));
+        } else {
+            _msgBuffer = {std::begin(r), std::end(r)};
+        }
+
+        auto found = std::ranges::search(_msgBuffer, MCC_COMMPROTO_KEYPARAM_DELIM_SEQ);
+
+        if (found.empty()) {  // only keyword
+            key = mcc::utils::trimSpaces(std::string_view{_msgBuffer.begin(), _msgBuffer.end()});
+        } else {
+            key = mcc::utils::trimSpaces(std::string_view{_msgBuffer.begin(), found.begin()});
+        }
+
+        auto kv = valid_keys_t::isKeywordValid(key);
+        if (!kv) {
+            // _msgBuffer = prev_msg_buff;  // restore previous netmessage state
+            return ERROR_INVALID_KEYWORD;
+        }
+
+        _keywordHash = *kv;
+        _keyword = key;
+
+        if (!found.empty()) {  // params ...
+            _params.clear();
+            auto pr =
+                std::views::split(std::string_view{found.end(), _msgBuffer.end()}, MCC_COMMPROTO_PARAMPARAM_DELIM_SEQ);
+            for (auto const& p : pr) {
+                _params.emplace_back(p.begin(), p.end());
+            }
+        }
+
+        return ERROR_OK;
+    }
+
+protected:
+    size_t _keywordHash{};
+    std::string_view _keyword{};
+    std::vector<std::string_view> _params{};
+
+    BYTEREPR_T _msgBuffer{};
+
+    inline static DefaultDeserializer _defaultDeserializer{};
+
+    DefaultSerializer _defaultSerializer{};
+
+    template <typename T, typename... Ts>
+    void convertFunc(std::vector<size_t>& idx, const T& par, const Ts&... pars)
+    {
+        if constexpr (std::same_as<T, MccCoordinateSerializer::SerializedCoordFormat>) {
+            _defaultSerializer._coordFmt = par;
+            if constexpr (sizeof...(Ts)) {
+                convertFunc(idx, pars...);
+            }
+        } else if constexpr (std::same_as<T, MccCoordinateSerializer::SexagesimalCoordPrec>) {
+            _defaultSerializer._coordPrec = par;
+            if constexpr (sizeof...(Ts)) {
+                convertFunc(idx, pars...);
+            }
+        } else {
+            convertFunc(_defaultSerializer, idx, par, pars...);
+            // idx.emplace_back(std::distance(_msgBuffer.begin(), _msgBuffer.end()));
+
+            // _defaultSerializer(par, _msgBuffer);
+
+            // idx.emplace_back(std::distance(_msgBuffer.begin(), _msgBuffer.end()));
+
+            // if constexpr (sizeof...(Ts)) {
+            //     std::ranges::copy(MCC_COMMPROTO_PARAMPARAM_DELIM_SEQ, std::back_inserter(_msgBuffer));
+
+            //     convertFunc(idx, pars...);
+            // }
+        }
+    };
+
+    template <typename SerFuncT, typename T, typename... Ts>
+    void convertFunc(SerFuncT&& ser_func, std::vector<size_t>& idx, const T& par, const Ts&... pars)
+        requires(!std::same_as<std::remove_cvref_t<SerFuncT>, std::vector<size_t>>)
+    {
+        if constexpr (std::derived_from<std::remove_cvref_t<SerFuncT>, DefaultSerializer>) {
+            if constexpr (std::same_as<T, MccCoordinateSerializer::SerializedCoordFormat>) {
+                // _defaultSerializer._coordFmt = par;
+                ser_func._coordFmt = par;
+            } else if constexpr (std::same_as<T, MccCoordinateSerializer::SexagesimalCoordPrec>) {
+                _defaultSerializer._coordPrec = par;
+            } else {
+                idx.emplace_back(std::distance(_msgBuffer.begin(), _msgBuffer.end()));
+
+                std::forward<SerFuncT>(ser_func)(par, _msgBuffer);
+
+                idx.emplace_back(std::distance(_msgBuffer.begin(), _msgBuffer.end()));
+
+                if constexpr (sizeof...(Ts)) {
+                    std::ranges::copy(MCC_COMMPROTO_PARAMPARAM_DELIM_SEQ, std::back_inserter(_msgBuffer));
+                }
+            }
+        } else {
+            idx.emplace_back(std::distance(_msgBuffer.begin(), _msgBuffer.end()));
+
+            std::forward<SerFuncT>(ser_func)(par, _msgBuffer);
+
+            idx.emplace_back(std::distance(_msgBuffer.begin(), _msgBuffer.end()));
+
+            if constexpr (sizeof...(Ts)) {
+                std::ranges::copy(MCC_COMMPROTO_PARAMPARAM_DELIM_SEQ, std::back_inserter(_msgBuffer));
+            }
+        }
+
+        if constexpr (sizeof...(Ts)) {
+            convertFunc(std::forward<SerFuncT>(ser_func), idx, pars...);
+        }
+    }
+};
+
+static_assert(MccNetMessage<std::string, MccNetMessageValidKeywords>{"ACK"}.withKey("ACK"));
+static_assert(MccNetMessage{"ACK"}.withKey("ACK"));
+
+}  // namespace mcc::network

mcc/mcc_pcm.h

@@ -9,6 +9,7 @@
 
 #include <mutex>
 #include "bsplines/mcc_bsplines.h"
+#include "mcc_defaults.h"
 #include "mcc_generics.h"
 
 namespace mcc
@@ -87,6 +88,13 @@ namespace mcc
 //     PCM_TYPE_BSPLINE - pure 2D B-spline corrections
 enum class MccDefaultPCMType { PCM_TYPE_GEOMETRY, PCM_TYPE_GEOMETRY_BSPLINE, PCM_TYPE_BSPLINE };
 
+template <MccDefaultPCMType TYPE>
+static constexpr std::string_view MccDefaultPCMTypeString =
+    TYPE == MccDefaultPCMType::PCM_TYPE_GEOMETRY           ? "GEOMETRY"
+    : TYPE == MccDefaultPCMType::PCM_TYPE_GEOMETRY_BSPLINE ? "GEOMETRY-BSPLINE"
+    : TYPE == MccDefaultPCMType::PCM_TYPE_GEOMETRY_BSPLINE ? "BSPLINE"
+                                                           : "UNKNOWN";
+
 template <MccMountType MOUNT_TYPE>
 class MccDefaultPCM : public mcc_PCM_interface_t<std::error_code>
 {
@@ -97,7 +105,7 @@ public:
     typedef double coord_t;
 
 
-    // "classic" geometric PEC coefficients
+    // "classic" geometric PCM coefficients
     struct pcm_geom_coeffs_t {
         typedef double coeff_t;
 
@@ -186,9 +194,9 @@ public:
     //     apparent_X = encoder_X + res.pcmX
     //     apparent_Y = encoder_Y + res.pcmY
     // so, input x and y are assumed to be mount axis encoder coordinates
-    template <typename T = std::nullptr_t>
+    template <typename T>
-    error_t computePCM(mcc_celestial_point_c auto pt, mcc_PCM_c auto* res, T* app_pt = nullptr)
+    error_t computePCM(mcc_celestial_point_c auto pt, mcc_PCM_result_c auto* res, T* app_pt = nullptr)
-        requires(mcc_celestial_point_c<T> || mcc_eqt_hrz_coord_c<T> || std::same_as<T, std::nullptr_t>)
+        requires(mcc_celestial_point_c<T> || mcc_eqt_hrz_coord_c<T>)
     {
         if (res == nullptr) {
             return MccDefaultPCMErrorCode::ERROR_NULLPTR;
@@ -267,7 +275,7 @@ public:
             static_assert(false, "UNSUPPORTED");
         }
 
-        if constexpr (!std::is_null_pointer_v<T>) {
+        if (app_pt != nullptr) {
             if constexpr (mcc_eqt_hrz_coord_c<T>) {
                 if constexpr (mccIsEquatorialMount(mountType)) {
                     app_pt->HA = pt.X + res->pcmX;
@@ -293,7 +301,19 @@ public:
         requires(mcc_celestial_point_c<T> || mcc_eqt_hrz_coord_c<T>)
     {
         // for small corrections only!!!
-        auto ret = computePCM(std::move(app_pt), result);
+        if constexpr (mcc_eqt_hrz_coord_c<T>) {
+            if constexpr (mcc_is_equatorial_mount<MOUNT_TYPE>) {
+                app_pt.X = app_pt.HA;
+                app_pt.Y = app_pt.DEC_APP;
+            } else if constexpr (mcc_is_altaz_mount<MOUNT_TYPE>) {
+                app_pt.X = app_pt.AZ;
+                app_pt.Y = app_pt.ZD;
+            }
+        }
+
+        MccCelestialPoint cp;
+        auto ret = computePCM(app_pt, result, &cp);
+        // auto ret = computePCM(std::move(app_pt), result, hw_pt);
         if (ret) {
             return ret;
         }

mcc/mcc_pzone.h

@@ -12,7 +12,7 @@ namespace mcc
 {
 
 
-enum MccAltLimitPZErrorCode : int { ERROR_OK, ERROR_NULLPTR, ERROR_COORD_TRANSFROM, ERROR_PCM_COMP };
+enum class MccAltLimitPZErrorCode : int { ERROR_OK, ERROR_NULLPTR, ERROR_COORD_TRANSFROM, ERROR_PCM_COMP };
 
 }  // namespace mcc
 
@@ -589,11 +589,7 @@ public:
                 return MccAltLimitPZErrorCode::ERROR_OK;
             }
 
-            if (std::same_as<decltype(err), error_t>) {
+            return mcc_deduce_error_code(err, MccAltLimitPZErrorCode::ERROR_COORD_TRANSFROM);
-                return err;
-            } else {
-                return MccAltLimitPZErrorCode::ERROR_COORD_TRANSFROM;
-            }
         };
 
         _transformCoordinatesEqtHrzCoords = [controls](MccCelestialPoint from_pt, MccEqtHrzCoords* to_pt) -> error_t {
@@ -617,7 +613,7 @@ public:
             MccPCMResult inv_res;
             auto err = controls->computeInversePCM(std::move(from_pt), &inv_res, to_pt);
             if (err) {
-                return mcc_deduce_error<error_t>(err, MccAltLimitPZErrorCode::ERROR_PCM_COMP);
+                return mcc_deduce_error_code(err, MccAltLimitPZErrorCode::ERROR_PCM_COMP);
             }
 
             return MccAltLimitPZErrorCode::ERROR_OK;
@@ -625,7 +621,7 @@ public:
     }
 
 
-    consteval std::string_view name()
+    consteval std::string_view name() const
     {
         return axisKind == MccCoordKind::COORDS_KIND_AZ   ? "AZ_AXIS-LIMITSWITCH_ZONE"
                : axisKind == MccCoordKind::COORDS_KIND_HA ? "HA_AXIS-LIMITSWITCH_ZONE"
@@ -643,10 +639,12 @@ public:
 
         if constexpr (mcc_eqt_hrz_coord_c<InputT>) {
             // assume here .X and are hardware encoder coordinate of corresponding axis
-            *result = (coords.X < _maxLimit) && (coords.X > _minLimit);
+            *result = (coords.X > _maxLimit) || (coords.X < _minLimit);
+            // *result = (coords.X < _maxLimit) && (coords.X > _minLimit);
         } else {                                                         // mcc_celestial_point_c
             if (coords.pair_kind == MccCoordPairKind::COORDS_KIND_XY) {  // hardware
-                *result = (coords.X < _maxLimit) && (coords.X > _minLimit);
+                // *result = (coords.X < _maxLimit) && (coords.X > _minLimit);
+                *result = (coords.X > _maxLimit) || (coords.X < _minLimit);
             } else {  // here one needs transform input coordinates to hardware encoder ones
                 MccCelestialPoint pt;
 
@@ -655,7 +653,8 @@ public:
                     return ret;
                 }
 
-                *result = (pt.X < _maxLimit) && (pt.X > _minLimit);
+                *result = (pt.X > _maxLimit) || (pt.X < _minLimit);
+                // *result = (pt.X < _maxLimit) && (pt.X > _minLimit);
             }
         }
 
@@ -754,6 +753,17 @@ public:
         requires((mcc_eqt_hrz_coord_c<InputT> || mcc_celestial_point_c<InputT>) &&
                  (mcc_eqt_hrz_coord_c<ResultT> || mcc_celestial_point_c<ResultT>))
     {
+        if (point == nullptr) {
+            return MccAltLimitPZErrorCode::ERROR_NULLPTR;
+        }
+
+        point->X = _minLimit;
+        // if constexpr (mcc_eqt_hrz_coord_c<ResultT>) {
+        //     point->X = _minLimit;
+        // } else { // mcc_celestial_point_c
+        //     point->X = _minLimit;
+        // }
+
         return MccAltLimitPZErrorCode::ERROR_OK;
     }
 

mcc/mcc_pzone_container.h

@@ -1,7 +1,5 @@
 #pragma once
 
-#pragma once
-
 /*                          MOUNT CONTROL COMPONENTS LIBRARY                            */
 
 
@@ -115,78 +113,120 @@ public:
     {
         auto sptr = std::make_shared<decltype(zone)>(std::move(zone));
 
-        _inZoneFuncCPT.emplace_back([sptr](const MccCelestialPoint& pt, bool* res) {
+        _inZoneFuncCPT.emplace_back([sptr](const MccCelestialPoint& pt, bool* res) -> error_t {
+            auto ret = sptr->inPZone(pt, res);
+            if (ret) {
+                return mcc_deduce_error_code(ret, MccPZoneContainerErrorCode::ERROR_INZONE_FUNC);
+            }
+            return mcc_deduce_error_code(ret, MccPZoneContainerErrorCode::ERROR_OK);
+        });
+
+        _inZoneFuncEHC.emplace_back([sptr](const MccEqtHrzCoords& pt, bool* res) -> error_t {
             auto ret = sptr->inPZone(pt, res);
 
-            return mcc_deduce_error(ret, mcc::make_error_code(MccPZoneContainerErrorCode::ERROR_INZONE_FUNC));
+            if (ret) {
-        });
+                return mcc_deduce_error_code(ret, MccPZoneContainerErrorCode::ERROR_INZONE_FUNC);
+            }
 
-        _inZoneFuncEHC.emplace_back([sptr](const MccEqtHrzCoords& pt, bool* res) {
+            return MccPZoneContainerErrorCode::ERROR_OK;
-            auto ret = sptr->inPZone(pt, res);
-
-            return mcc_deduce_error(ret, mcc::make_error_code(MccPZoneContainerErrorCode::ERROR_INZONE_FUNC));
         });
 
 
-        _timeToZoneFuncCPT.emplace_back([sptr](const MccCelestialPoint& pt, duration_t* res_time) {
+        _timeToZoneFuncCPT.emplace_back([sptr](const MccCelestialPoint& pt, duration_t* res_time) -> error_t {
             auto ret = sptr->timeToPZone(pt, res_time);
 
-            return mcc_deduce_error(ret, mcc::make_error_code(MccPZoneContainerErrorCode::ERROR_TIMETO_FUNC));
+            if (ret) {
+                return mcc_deduce_error_code(ret, MccPZoneContainerErrorCode::ERROR_TIMETO_FUNC);
+            }
+
+            return MccPZoneContainerErrorCode::ERROR_OK;
         });
 
-        _timeToZoneFuncEHC.emplace_back([sptr](const MccEqtHrzCoords& pt, duration_t* res_time) {
+        _timeToZoneFuncEHC.emplace_back([sptr](const MccEqtHrzCoords& pt, duration_t* res_time) -> error_t {
             auto ret = sptr->timeToPZone(pt, res_time);
 
-            return mcc_deduce_error(ret, mcc::make_error_code(MccPZoneContainerErrorCode::ERROR_TIMETO_FUNC));
+            if (ret) {
+                return mcc_deduce_error_code(ret, MccPZoneContainerErrorCode::ERROR_TIMETO_FUNC);
+            }
+
+            return MccPZoneContainerErrorCode::ERROR_OK;
         });
 
-        _timeFromZoneFuncCPT.emplace_back([sptr](const MccCelestialPoint& pt, duration_t* res_time) {
+        _timeFromZoneFuncCPT.emplace_back([sptr](const MccCelestialPoint& pt, duration_t* res_time) -> error_t {
             auto ret = sptr->timeFromPZone(pt, res_time);
 
-            return mcc_deduce_error(ret, mcc::make_error_code(MccPZoneContainerErrorCode::ERROR_TIMEFROM_FUNC));
+            if (ret) {
+                return mcc_deduce_error_code(ret, MccPZoneContainerErrorCode::ERROR_TIMEFROM_FUNC);
+            }
+
+            return MccPZoneContainerErrorCode::ERROR_OK;
         });
 
-        _timeFromZoneFuncEHC.emplace_back([sptr](const MccEqtHrzCoords& pt, duration_t* res_time) {
+        _timeFromZoneFuncEHC.emplace_back([sptr](const MccEqtHrzCoords& pt, duration_t* res_time) -> error_t {
             auto ret = sptr->timeFromPZone(pt, res_time);
 
-            return mcc_deduce_error(ret, mcc::make_error_code(MccPZoneContainerErrorCode::ERROR_TIMEFROM_FUNC));
+            if (ret) {
+                return mcc_deduce_error_code(ret, MccPZoneContainerErrorCode::ERROR_TIMEFROM_FUNC);
+            }
+
+            return MccPZoneContainerErrorCode::ERROR_OK;
         });
 
         // _intersectZoneFuncCPT.emplace_back([sptr](const MccCelestialPoint& pt, MccCelestialPoint* res_pt) {
         //     auto ret = sptr->intersectPZone(pt, res_pt);
 
-        //     return mcc_deduce_error(ret, mcc::make_error_code(MccPZoneContainerErrorCode::ERROR_INTERSECT_FUNC));
+        //     return mcc_deduce_error_code(ret,
+        //     mcc::make_error_code(MccPZoneContainerErrorCode::ERROR_INTERSECT_FUNC));
         // });
 
         // _intersectZoneFuncEHC.emplace_back([sptr](const MccEqtHrzCoords& pt, MccCelestialPoint* res_pt) {
         //     auto ret = sptr->intersectPZone(pt, res_pt);
 
-        //     return mcc_deduce_error(ret, mcc::make_error_code(MccPZoneContainerErrorCode::ERROR_INTERSECT_FUNC));
+        //     return mcc_deduce_error_code(ret,
+        //     mcc::make_error_code(MccPZoneContainerErrorCode::ERROR_INTERSECT_FUNC));
         // });
 
-        _intersectZoneFuncCPT2CPT.emplace_back([sptr](const MccCelestialPoint& pt, MccCelestialPoint* res_pt) {
+        _intersectZoneFuncCPT2CPT.emplace_back(
+            [sptr](const MccCelestialPoint& pt, MccCelestialPoint* res_pt) -> error_t {
                 auto ret = sptr->intersectPZone(pt, res_pt);
 
-            return mcc_deduce_error(ret, mcc::make_error_code(MccPZoneContainerErrorCode::ERROR_INTERSECT_FUNC));
+                if (ret) {
+                    return mcc_deduce_error_code(ret, MccPZoneContainerErrorCode::ERROR_INTERSECT_FUNC);
+                }
+
+                return MccPZoneContainerErrorCode::ERROR_OK;
             });
 
-        _intersectZoneFuncEHC2CPT.emplace_back([sptr](const MccEqtHrzCoords& pt, MccCelestialPoint* res_pt) {
+        _intersectZoneFuncEHC2CPT.emplace_back([sptr](const MccEqtHrzCoords& pt, MccCelestialPoint* res_pt) -> error_t {
             auto ret = sptr->intersectPZone(pt, res_pt);
 
-            return mcc_deduce_error(ret, mcc::make_error_code(MccPZoneContainerErrorCode::ERROR_INTERSECT_FUNC));
+            if (ret) {
+                return mcc_deduce_error_code(ret, MccPZoneContainerErrorCode::ERROR_INTERSECT_FUNC);
+            }
+
+            return MccPZoneContainerErrorCode::ERROR_OK;
         });
 
-        _intersectZoneFuncCPT2EHC.emplace_back([sptr](const MccCelestialPoint& pt, MccEqtHrzCoords* res_pt) {
+        _intersectZoneFuncCPT2EHC.emplace_back([sptr](const MccCelestialPoint& pt, MccEqtHrzCoords* res_pt) -> error_t {
             auto ret = sptr->intersectPZone(pt, res_pt);
 
-            return mcc_deduce_error(ret, mcc::make_error_code(MccPZoneContainerErrorCode::ERROR_INTERSECT_FUNC));
+            if (ret) {
+                return mcc_deduce_error_code(ret, MccPZoneContainerErrorCode::ERROR_INTERSECT_FUNC);
+            }
+
+            return MccPZoneContainerErrorCode::ERROR_OK;
         });
 
-        _intersectZoneFuncEHC2EHC.emplace_back([sptr](const MccEqtHrzCoords& pt, MccEqtHrzCoords* res_pt) {
+        _intersectZoneFuncEHC2EHC.emplace_back([sptr](const MccEqtHrzCoords& pt, MccEqtHrzCoords* res_pt) -> error_t {
             auto ret = sptr->intersectPZone(pt, res_pt);
 
-            return mcc_deduce_error(ret, mcc::make_error_code(MccPZoneContainerErrorCode::ERROR_INTERSECT_FUNC));
+            if (ret) {
+                return mcc_deduce_error_code(ret, MccPZoneContainerErrorCode::ERROR_INTERSECT_FUNC);
+            }
+
+            return MccPZoneContainerErrorCode::ERROR_OK;
         });
+
         return _inZoneFuncCPT.size();
     }
 
@@ -217,8 +257,8 @@ public:
     }
 
 
-    template <typename InputT>
+    template <typename InputT, std::ranges::output_range<bool> ResT = std::vector<bool>>
-    error_t inPZone(InputT coords, bool* common_result, std::ranges::output_range<bool> auto* result = nullptr)
+    error_t inPZone(InputT coords, bool* common_result, ResT* result = nullptr)
         requires(mcc_eqt_hrz_coord_c<InputT> || mcc_celestial_point_c<InputT>)
     {
         if (common_result == nullptr) {
@@ -384,7 +424,7 @@ public:
             std::ranges::advance(ptr, i);
 
             error_t ret;
-            if constexpr (mcc_eqt_hrz_coord_c<ResultT>) {
+            if constexpr (mcc_eqt_hrz_coord_c<std::ranges::range_value_t<ResultT>>) {
                 MccEqtHrzCoords pt;
 
                 mcc_tp2tp(ptr->time_point, pt.time_point);

mcc/mcc_slewing_model.h

@@ -6,6 +6,8 @@
 /*                          SIMPLE SLEWING MODEL IMPLEMENTATION                            */
 
 
+#include <fstream>
+
 #include "mcc_defaults.h"
 #include "mcc_generics.h"
 #include "mcc_moving_model_common.h"
@@ -20,13 +22,10 @@ enum class MccSimpleSlewingModelErrorCode : int {
     ERROR_PCM_COMP,
     ERROR_GET_TELEMETRY,
     ERROR_DIST_TELEMETRY,
-    ERROR_DIFF_TELEMETRY,
     ERROR_PZONE_CONTAINER_COMP,
     ERROR_TARGET_IN_PZONE,
-    ERROR_IN_PZONE,
     ERROR_NEAR_PZONE,
     ERROR_TIMEOUT,
-    ERROR_UNEXPECTED_AXIS_RATES,
     ERROR_ALREADY_SLEW,
     ERROR_ALREADY_STOPPED,
     ERROR_STOPPED
@@ -50,25 +49,215 @@ class is_error_code_enum<mcc::MccSimpleSlewingModelErrorCode> : public true_type
 namespace mcc
 {
 
+// error category
+struct MccSimpleSlewingModelCategory : public std::error_category {
+    MccSimpleSlewingModelCategory() : std::error_category() {}
+
+    const char* name() const noexcept
+    {
+        return "SIMPLE-SLEWING-MODEL";
+    }
+
+    std::string message(int ec) const
+    {
+        MccSimpleSlewingModelErrorCode err = static_cast<MccSimpleSlewingModelErrorCode>(ec);
+
+        switch (err) {
+            case MccSimpleSlewingModelErrorCode::ERROR_OK:
+                return "OK";
+            case MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE:
+                return "cannot get hardware state";
+            case MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE:
+                return "cannot set hardware state";
+            case MccSimpleSlewingModelErrorCode::ERROR_PCM_COMP:
+                return "PCM computation error";
+            case MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY:
+                return "cannot get telemetry";
+            case MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY:
+                return "cannot get target-to-mount-position distance";
+            case MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP:
+                return "pzone container computation error";
+            case MccSimpleSlewingModelErrorCode::ERROR_TARGET_IN_PZONE:
+                return "target is in prohibited zone";
+            case MccSimpleSlewingModelErrorCode::ERROR_NEAR_PZONE:
+                return "near prohibited zone";
+            case MccSimpleSlewingModelErrorCode::ERROR_TIMEOUT:
+                return "a timeout occured while slewing";
+            case MccSimpleSlewingModelErrorCode::ERROR_ALREADY_SLEW:
+                return "already slewing";
+            case MccSimpleSlewingModelErrorCode::ERROR_ALREADY_STOPPED:
+                return "slewing is already stopped";
+            case MccSimpleSlewingModelErrorCode::ERROR_STOPPED:
+                return "slewing was stopped";
+            default:
+                return "UNKNOWN";
+        }
+    }
+
+    static const MccSimpleSlewingModelCategory& get()
+    {
+        static const MccSimpleSlewingModelCategory constInst;
+        return constInst;
+    }
+};
+
+
+inline std::error_code make_error_code(MccSimpleSlewingModelErrorCode ec)
+{
+    return std::error_code(static_cast<int>(ec), MccSimpleSlewingModelCategory::get());
+}
+
+
+
 /*
     The target celestial point must be set in telemetry->target
  */
 
 class MccSimpleSlewingModel
 {
+    static constexpr auto DEG90INRADS = std::numbers::pi / 2.0;
+
 public:
     typedef std::error_code error_t;
 
     typedef MccSimpleMovingModelParams slewing_params_t;
 
-    template <mcc_all_controls_c CONTROLS_T>
+    template <mcc_all_controls_c CONTROLS_T, mcc_logger_c LoggerT = MccNullLogger>
-    MccSimpleSlewingModel(CONTROLS_T* controls)
+    MccSimpleSlewingModel(CONTROLS_T* controls, LoggerT logger)
-        : _stopSlewing(new std::atomic_bool()), _currentParamsMutex(new std::mutex)
+        : _stopSlewing(new std::atomic_bool()),
+          _currentParamsMutex(new std::mutex),
+          _lastError(new std::atomic<error_t>())
     {
-        *_stopSlewing = true;
+        std::ostringstream os;
+        os << std::this_thread::get_id();
+
+        logger.logDebug(std::format("Create MccSimpleSlewingModel class instance (thread: {})", os.str()));
+
+        *_stopSlewing = true;
+        *_lastError = MccSimpleSlewingModelErrorCode::ERROR_OK;
+
+        _checkTargetFunc = [controls, logger, this]() mutable -> error_t {
+            typename CONTROLS_T::error_t t_err;
+
+            MccTelemetryData tdata;
+            bool in_zone;
+            std::vector<bool> in_zone_vec;
+
+
+            // t_err = controls->telemetryData(&tdata);
+            {
+                std::lock_guard lock{*_currentParamsMutex};
+                t_err = controls->waitForTelemetryData(&tdata);
+
+                if (t_err) {
+                    return *_lastError =
+                               mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
+                }
+            }
+
+            if (t_err) {
+                return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
+            }
+            auto pz_err = controls->inPZone(tdata.target, &in_zone, &in_zone_vec);
+            if (pz_err) {
+                return mcc_deduce_error_code(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
+            }
+
+            if (in_zone) {
+                size_t i = 0;
+                for (; i < in_zone_vec.size(); ++i) {
+                    if (in_zone_vec[i]) {
+                        break;
+                    }
+                }
+
+                logger.logError("target point is in prohibited zone (zone index: {})! Entered target coordinates:", i);
+                logger.logError(std::format("    RA-APP, DEC-APP, HA, LST: {}, {}, {}, {}",
+                                            mcc::MccAngle{tdata.target.RA_APP}.sexagesimal(true),
+                                            mcc::MccAngle{tdata.target.DEC_APP}.sexagesimal(),
+                                            mcc::MccAngle{tdata.target.HA}.sexagesimal(true),
+                                            mcc::MccAngle{tdata.LST}.sexagesimal(true)));
+                logger.logError(std::format("    AZ, ZD, ALT: {}, {}, {}", mcc::MccAngle{tdata.target.AZ}.sexagesimal(),
+                                            mcc::MccAngle{tdata.target.ZD}.sexagesimal(),
+                                            mcc::MccAngle{tdata.target.ALT}.sexagesimal()));
+
+                logger.logError(std::format("    hardware X, Y: {}, {}", mcc::MccAngle{tdata.target.X}.sexagesimal(),
+                                            mcc::MccAngle{tdata.target.Y}.sexagesimal()));
+
+
+                return MccSimpleSlewingModelErrorCode::ERROR_TARGET_IN_PZONE;
+            }
+
+            return MccSimpleSlewingModelErrorCode::ERROR_OK;
+        };
+
+        _slewingFunc = [controls, logger = std::move(logger), this](bool slew_and_stop) mutable -> error_t {
+            // reset error
+            *_lastError = MccSimpleSlewingModelErrorCode::ERROR_OK;
+
+            double braking_accelX, braking_accelY;
+            double min_time_to_pzone_in_secs;
+
+            bool store_path = false;
+            std::ofstream fst;
+            using path_tp_t = std::chrono::duration<double>;  // seconds represented as double
+
+            {
+                // std::lock_guard lock{*_currentParamsMutex};
+                if (mcc::utils::isEqual(_currentParams.brakingAccelX, 0.0)) {
+                    braking_accelX = std::numeric_limits<double>::min();
+                } else {
+                    braking_accelX = std::abs(_currentParams.brakingAccelX);
+                }
+
+                if (mcc::utils::isEqual(_currentParams.brakingAccelY, 0.0)) {
+                    braking_accelY = std::numeric_limits<double>::min();
+                } else {
+                    braking_accelY = std::abs(_currentParams.brakingAccelY);
+                }
+
+                min_time_to_pzone_in_secs =
+                    std::chrono::duration_cast<std::chrono::duration<double>>(_currentParams.minTimeToPZone).count();
+
+                if (!_currentParams.slewingPathFilename.empty()) {  // open slewing trajectory file
+                    fst.open(_currentParams.slewingPathFilename);
+                    if (fst.is_open()) {
+                        store_path = true;
+                    } else {
+                        logger.logError(std::format("Cannot open slewing path file: {}! Do not save it!",
+                                                    _currentParams.slewingPathFilename));
+                    }
+                }
+            }
+
+            logger.logInfo(
+                std::format("Start slewing in mode '{}'", (slew_and_stop ? "SLEW-AND-STOP" : "SLEW-AND-TRACK")));
+            logger.logInfo(std::format("    slewing process timeout: {} secs", _currentParams.slewTimeout.count()));
+            if (!slew_and_stop) {
+                logger.logInfo(std::format("    slewing tolerance radius: {} arcsecs",
+                                           mcc::MccAngle{_currentParams.slewToleranceRadius}.arcsecs()));
+            }
+            logger.logInfo(std::format("    braking acceleration X: {} degs/s^2 (in config: {} rads/s^2)",
+                                       mcc::MccAngle(braking_accelX).degrees(), _currentParams.brakingAccelX));
+            logger.logInfo(std::format("    braking acceleration Y: {} degs/s^2 (in config: {} rads/s^2)",
+                                       mcc::MccAngle(braking_accelY).degrees(), _currentParams.brakingAccelY));
+            logger.logInfo(std::format("    min time to prohibited zone: {} seconds", min_time_to_pzone_in_secs));
+
+
+            if (store_path) {
+                fst << "# \n";
+                fst << "# Slewing trajectory, " << std::chrono::system_clock::now() << "\n";
+                fst << "# Config:\n";
+                fst << "#     slewing tolerance radius: " << mcc::MccAngle{_currentParams.slewToleranceRadius}.arcsecs()
+                    << " arcsecs\n";
+                fst << "#     slewing process timeout: " << _currentParams.slewTimeout.count() << " secs\n";
+                fst << "# \n";
+                fst << "# Format (time is in seconds, coordinates are in radians): \n";
+                fst << "#     <time-since-start> <target X> <target Y> <mount X> <mount Y> <dX_{target-mount}> "
+                       "<dY_{target-mount}> <moving state>\n";
+            }
+
 
-        _slewingFunc = [controls, this]() -> error_t {
-            // first, check target coordinates
             typename CONTROLS_T::error_t t_err;
             MccTelemetryData tdata;
 
@@ -77,28 +266,17 @@ public:
                 t_err = controls->telemetryData(&tdata);
 
                 if (t_err) {
-                    return mcc_deduce_error<error_t>(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
+                    return *_lastError =
+                               mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
                 }
             }
 
+            auto last_hw_time = tdata.time_point;
+
             bool in_zone;
-            auto pz_err = controls->inPZone(tdata.target, &in_zone);
+            std::vector<bool> in_zone_vec;
-            if (pz_err) {
-                *_stopSlewing = true;
-                return mcc_deduce_error<error_t>(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
-            }
-
-            if (in_zone) {
-                *_stopSlewing = true;
-                return MccSimpleSlewingModelErrorCode::ERROR_TARGET_IN_PZONE;
-            }
-
-            if (*_stopSlewing) {
-                return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
-            }
 
             MccCelestialPoint cpt;
-            double min_time_to_pzone_in_secs;
 
             if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
                 cpt.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
@@ -108,54 +286,90 @@ public:
                 static_assert(false, "UNKNOWN MOUNT TYPE!");
             }
 
-            if (*_stopSlewing) {
-                return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
-            }
-
             typename CONTROLS_T::hardware_state_t hw_state;
 
             auto hw_err = controls->hardwareGetState(&hw_state);
             if (hw_err) {
                 *_stopSlewing = true;
-                return mcc_deduce_error<error_t>(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
+                return *_lastError = mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
             }
 
+
             hw_state.X = (double)tdata.target.X;
             hw_state.Y = (double)tdata.target.Y;
+            // hw_state.endptX = (double)tdata.target.X;
+            // hw_state.endptY = (double)tdata.target.Y;
+
             {
                 std::lock_guard lock{*_currentParamsMutex};
 
                 hw_state.speedX = _currentParams.slewRateX;
                 hw_state.speedY = _currentParams.slewRateY;
-
-                min_time_to_pzone_in_secs =
-                    std::chrono::duration_cast<std::chrono::duration<double>>(_currentParams.minTimeToPZone).count();
             }
             hw_state.moving_state = CONTROLS_T::hardware_moving_state_t::HW_MOVE_SLEWING;
 
             if (*_stopSlewing) {
-                return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
+                logger.logDebug("slewing was stopped!");
+                return *_lastError = MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
             }
 
             // start slewing
+            logger.logDebug(std::format("Send to hardware: X = {} degs, Y = {} degs",
+                                        mcc::MccAngle{hw_state.X}.degrees(), mcc::MccAngle{hw_state.Y}.degrees()));
+
+            auto start_point = tdata.time_point;  // needed for trajectory file
+
+            if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
+                logger.logDebug(std::format("    entered target: HA = {}, DEC = {}",
+                                            mcc::MccAngle{tdata.target.HA}.sexagesimal(true),
+                                            mcc::MccAngle{tdata.target.DEC_APP}.sexagesimal()));
+                logger.logDebug(std::format("    current mount:  HA = {}, DEC = {}",
+                                            mcc::MccAngle{tdata.HA}.sexagesimal(true),
+                                            mcc::MccAngle{tdata.DEC_APP}.sexagesimal()));
+
+                if (store_path) {
+                    fst << std::chrono::duration_cast<path_tp_t>(tdata.time_point - start_point).count() << " "
+                        << tdata.target.HA << " " << tdata.target.DEC_APP << " " << tdata.HA << " " << tdata.DEC_APP
+                        << " " << (tdata.target.HA - tdata.HA) << " " << (tdata.target.DEC_APP - tdata.DEC_APP) << " "
+                        << (int)hw_state.moving_state << "\n";
+                }
+            } else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
+                logger.logDebug(std::format("    entered target: AZ = {}, ZD = {}",
+                                            mcc::MccAngle{tdata.target.AZ}.sexagesimal(),
+                                            mcc::MccAngle{tdata.target.ZD}.sexagesimal()));
+                logger.logDebug(std::format("    current mount:  AZ = {}, ZD = {}",
+                                            mcc::MccAngle{tdata.AZ}.sexagesimal(),
+                                            mcc::MccAngle{tdata.ZD}.sexagesimal()));
+            }
+
             hw_err = controls->hardwareSetState(hw_state);
             if (hw_err) {
                 *_stopSlewing = true;
-                return mcc_deduce_error<error_t>(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
+                return *_lastError = mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
             }
 
-            std::chrono::steady_clock::time_point start_slewing_tp, last_adjust_tp;
+            logger.logDebug("    the 'hardwareSetState' method performed successfully!");
-            mcc_tp2tp(hw_state.time_point, start_slewing_tp);
-
-            // double dist, dx, dy, sinY, rate2, xrate;
-            // std::chrono::duration<double> dtx, dty;  // seconds in double
 
+            // double dist, dx, dy;
             double dist;
 
-            bool adjust_mode = false;
-            static constexpr auto sideral_rate2 = slewing_params_t::sideralRate * slewing_params_t::sideralRate;
 
-            while (true) {
+            std::chrono::steady_clock::time_point start_slewing_tp, last_adjust_tp;
+            start_slewing_tp = std::chrono::steady_clock::now();
+            last_adjust_tp = start_slewing_tp;
+
+            std::pair<double, double> distXY;
+            bool tag_var_coord = true;
+
+            if (tdata.target.pair_kind == MccCoordPairKind::COORDS_KIND_AZALT ||
+                tdata.target.pair_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
+                tag_var_coord = false;
+            }
+
+
+            // main loop (simply monitors the current position taking into account the prohibited zones, as well as the
+            // timeout of the entire process)
+            while (!*_stopSlewing) {
                 // wait for updated telemetry data
                 {
                     std::lock_guard lock{*_currentParamsMutex};
@@ -163,36 +377,106 @@ public:
                     t_err = controls->waitForTelemetryData(&tdata, _currentParams.telemetryTimeout);
 
                     if (t_err) {
-                        *_stopSlewing = true;
+                        *_lastError = mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
-                        return mcc_deduce_error<error_t>(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
+                        break;
+                        // *_stopSlewing = true;
+                        // return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
                     }
                 }
 
                 if (*_stopSlewing) {
-                    return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
+                    *_lastError = MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
+                    break;
+                    // return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
                 }
 
+                distXY = mcc_compute_distance(tdata, min_time_to_pzone_in_secs, braking_accelX, braking_accelY);
+
+                logger.logTrace(
+                    std::format("    the distance that will be covered in the next {} seconds: X-axis: {}, Y-axis: {}",
+                                min_time_to_pzone_in_secs, mcc::MccAngleFancyString(distXY.first),
+                                mcc::MccAngleFancyString(distXY.second)));
+
                 // calculate coordinates at current speed '_currentParams.minTimeToPZone' seconds ahead
                 // and check them for getting into the prohibited zones
                 if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
-                    cpt.X = tdata.HA + tdata.speedX * min_time_to_pzone_in_secs;
+                    cpt.X = tdata.HA + distXY.first;
-                    cpt.X = tdata.DEC_APP + tdata.speedY * min_time_to_pzone_in_secs;
+                    cpt.Y = tdata.DEC_APP + distXY.second;
+
+                    // cpt.X = tdata.HA + tdata.speedX * min_time_to_pzone_in_secs;
+                    // cpt.Y = tdata.DEC_APP + tdata.speedY * min_time_to_pzone_in_secs;
+                    if (cpt.Y > DEG90INRADS) {
+                        cpt.Y = DEG90INRADS;
+                    }
+                    if (cpt.Y < -DEG90INRADS) {
+                        cpt.Y = -DEG90INRADS;
+                    }
+
+                    logger.logTrace(std::format("    current target: HA = {}, DEC = {}",
+                                                mcc::MccAngle(tdata.target.HA).sexagesimal(true),
+                                                mcc::MccAngle(tdata.target.DEC_APP).sexagesimal()));
+                    logger.logTrace(std::format("    current mount:  HA = {}, DEC = {}",
+                                                mcc::MccAngle(tdata.HA).sexagesimal(true),
+                                                mcc::MccAngle(tdata.DEC_APP).sexagesimal()));
                 } else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
-                    cpt.X = tdata.AZ + tdata.speedX * min_time_to_pzone_in_secs;
+                    cpt.X = tdata.AZ + distXY.first;
-                    cpt.X = tdata.ZD + tdata.speedY * min_time_to_pzone_in_secs;
+                    cpt.Y = tdata.ZD + distXY.second;
+                    // cpt.X = tdata.AZ + tdata.speedX * min_time_to_pzone_in_secs;
+                    // cpt.Y = tdata.ZD + tdata.speedY * min_time_to_pzone_in_secs;
+                    if (cpt.Y < 0.0) {
+                        cpt.Y = 0.0;
+                    }
+                    if (cpt.Y > std::numbers::pi) {
+                        cpt.Y = std::numbers::pi;
+                    }
+
+                    logger.logTrace(std::format("    target: AZ = {}, ZD = {}",
+                                                mcc::MccAngle(tdata.target.AZ).sexagesimal(),
+                                                mcc::MccAngle(tdata.target.ZD).sexagesimal()));
+                    logger.logTrace(std::format("    mount:  AZ = {}, ZD = {}", mcc::MccAngle(tdata.AZ).sexagesimal(),
+                                                mcc::MccAngle(tdata.ZD).sexagesimal()));
                 }
                 mcc_tp2tp(tdata.time_point, cpt.time_point);
 
-                pz_err = controls->inPZone(cpt, &in_zone);
+                logger.logTrace(std::format("    mount:  speedX = {}/s, speedY = {}/s",
+                                            mcc::MccAngleFancyString(tdata.speedX),
+                                            mcc::MccAngleFancyString(tdata.speedY)));
+
+                in_zone_vec.clear();
+                auto pz_err = controls->inPZone(cpt, &in_zone, &in_zone_vec);
                 if (pz_err) {
-                    *_stopSlewing = true;
+                    *_lastError =
-                    return mcc_deduce_error<error_t>(pz_err,
+                        mcc_deduce_error_code(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
-                                                     MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
+                    break;
+                    // *_stopSlewing = true;
+                    // return mcc_deduce_error_code(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
                 }
 
                 if (in_zone) {
-                    *_stopSlewing = true;
+                    size_t i = 0;
-                    return MccSimpleSlewingModelErrorCode::ERROR_NEAR_PZONE;
+                    for (; i < in_zone_vec.size(); ++i) {
+                        if (in_zone_vec[i]) {
+                            break;
+                        }
+                    }
+
+                    logger.logError(
+                        "target point is near prohibited zone (zone index: {})! Entered target coordinates:", i);
+                    logger.logError(std::format(
+                        "    RA-APP, DEC-APP, HA, LST: {}, {}, {}, {}", mcc::MccAngle{tdata.RA_APP}.sexagesimal(true),
+                        mcc::MccAngle{tdata.DEC_APP}.sexagesimal(), mcc::MccAngle{tdata.HA}.sexagesimal(true),
+                        mcc::MccAngle{tdata.LST}.sexagesimal(true)));
+                    logger.logError(std::format("    AZ, ZD, ALT: {}, {}, {}", mcc::MccAngle{tdata.AZ}.sexagesimal(),
+                                                mcc::MccAngle{tdata.ZD}.sexagesimal(),
+                                                mcc::MccAngle{tdata.ALT}.sexagesimal()));
+
+                    logger.logError(std::format("    hardware X, Y: {}, {}", mcc::MccAngle{tdata.X}.sexagesimal(),
+                                                mcc::MccAngle{tdata.Y}.sexagesimal()));
+
+                    *_lastError = MccSimpleSlewingModelErrorCode::ERROR_NEAR_PZONE;
+                    break;
+                    // *_stopSlewing = true;
+                    // return MccSimpleSlewingModelErrorCode::ERROR_NEAR_PZONE;
                 }
 
 
@@ -201,97 +485,197 @@ public:
                     std::lock_guard lock{*_currentParamsMutex};
 
                     if ((std::chrono::steady_clock::now() - start_slewing_tp) > _currentParams.slewTimeout) {
-                        return MccSimpleSlewingModelErrorCode::ERROR_TIMEOUT;
+                        logger.logError("slewing process timeout!");
+                        *_lastError = MccSimpleSlewingModelErrorCode::ERROR_TIMEOUT;
+                        break;
+                        // return MccSimpleSlewingModelErrorCode::ERROR_TIMEOUT;
                     }
                 }
 
+                logger.logTrace(std::format("get hw state ..."));
+
                 hw_err = controls->hardwareGetState(&hw_state);
                 if (hw_err) {
+                    *_lastError = mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
+                    break;
+                    // *_stopSlewing = true;
+                    // return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
+                }
+
+                logger.logTrace(std::format("hw state was updated ({}, {} state = <{}>)",
+                                            MccAngle(hw_state.X).sexagesimal(true), MccAngle(hw_state.Y).sexagesimal(),
+                                            (int)hw_state.moving_state));
+
+                if (store_path) {
+                    fst << std::chrono::duration_cast<path_tp_t>(tdata.time_point - start_point).count() << " "
+                        << tdata.target.HA << " " << tdata.target.DEC_APP << " " << tdata.HA << " " << tdata.DEC_APP
+                        << " " << (tdata.target.HA - tdata.HA) << " " << (tdata.target.DEC_APP - tdata.DEC_APP) << " "
+                        << (int)hw_state.moving_state << "\n";
+                }
+
+
+                if (slew_and_stop && !tag_var_coord) {  // just wait for mount to be stopped
+                    if (hw_state.moving_state == CONTROLS_T::hardware_moving_state_t::HW_MOVE_STOPPED) {
+                        logger.logInfo("mount moving state is STOPPED - exit!");
+                        break;
+                    }
+                } else {
+                    if (last_hw_time == tdata.time_point) {
+                        logger.logTrace("Same hardware timepoint! Just continue to polling!\n\n\n\n");
+                        continue;
+                    }
+
+                    last_hw_time = tdata.time_point;
+
+                    t_err = controls->targetToMountDist(&dist);
+                    if (t_err) {
+                        *_lastError =
+                            mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY);
+                        break;
+                        // *_stopSlewing = true;
+                        // return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY);
+                    }
+
+                    logger.logTrace(std::format("    target-to-mount distance: {}", mcc::MccAngleFancyString(dist)));
+
+                    if ((dist <= _currentParams.slewToleranceRadius) &&
+                        (hw_state.moving_state ==
+                         CONTROLS_T::hardware_moving_state_t::HW_MOVE_GUIDING)) {  // stop slewing and exit from
+                                                                                   // cycle
+                        logger.logInfo("target-to-mount distance is lesser than slew tolerance radius - exit!");
+
+                        if (slew_and_stop) {
+                            controls->hardwareStop();
+                        }
+                        break;
+                    }
+
+
+                    if (*_stopSlewing) {
+                        *_lastError = MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
+                        break;
+                        // return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
+                    }
+
+
+                    // resend new position since target coordinates are changed in time
+                    hw_state.X = (double)tdata.target.X;
+                    hw_state.Y = (double)tdata.target.Y;
+
+                    // controls->targetToMountDiff(tdata.pair_kind, &dx, &dy);
+
+                    // // hw_state.endptX = hw_state.X + std::copysign(1.0_degs, dx);
+                    // // hw_state.endptY = hw_state.Y + std::copysign(1.0_degs, dy);
+                    // hw_state.endptX = hw_state.X + std::copysign(10.0_degs, dx);
+                    // hw_state.endptY = hw_state.Y + std::copysign(10.0_degs, dy);
+
+                    // logger.logTrace(std::format(
+                    //     "Send to hardware: {}, {}, tag: {}, {} (X = {} degs, Y = {} degs)",
+                    //     MccAngle(hw_state.X).sexagesimal(true), MccAngle(hw_state.Y).sexagesimal(),
+                    //     MccAngle(hw_state.endptX).sexagesimal(true), MccAngle(hw_state.endptY).sexagesimal(),
+                    //     mcc::MccAngle{hw_state.X}.degrees(), mcc::MccAngle{hw_state.Y}.degrees()));
+
+                    logger.logTrace(std::format("Send to hardware: {}, {}, (X = {} degs, Y = {} degs)",
+                                                MccAngle(hw_state.X).sexagesimal(true),
+                                                MccAngle(hw_state.Y).sexagesimal(), mcc::MccAngle{hw_state.X}.degrees(),
+                                                mcc::MccAngle{hw_state.Y}.degrees()));
+
+                    // hw_state.time_point += std::chrono::milliseconds(50);
+
+                    hw_err = controls->hardwareSetState(hw_state);
+                    if (hw_err) {
+                        *_lastError = MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE;
+                        break;
+                        // *_stopSlewing = true;
+                        // return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
+                    }
+
+
+                    logger.logDebug("    the 'hardwareSetState' method performed successfully!");
+
+
+                    // FOR DEBUG PURPOSE!!!!
+                    // std::this_thread::sleep_for(std::chrono::milliseconds(50));
+                    logger.logTrace(std::format("get hw state right after hardwareSetState ..."));
+
+                    hw_err = controls->hardwareGetState(&hw_state);
+                    if (hw_err) {
+                        *_lastError = MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE;
+                        break;
+                        // *_stopSlewing = true;
+                        // return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
+                    }
+
+                    logger.logTrace(std::format("hw state was updated ({}, {})", MccAngle(hw_state.X).sexagesimal(true),
+                                                MccAngle(hw_state.Y).sexagesimal()));
+                }
+
+                if (*_stopSlewing) {
+                    *_lastError = MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
+                    break;
+                    // return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
+                }
+
+                // sleep here
+                std::this_thread::sleep_for(_currentParams.slewingTelemetryInterval);
+            }
+
             *_stopSlewing = true;
-                    return mcc_deduce_error<error_t>(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
+
+            logger.logInfo("Slewing finished");
+            error_t err = *_lastError;
+            logger.logInfo(std::format("    exit code: {} {} {}", err.value(), err.category().name(), err.message()));
+
+
+            // get final position
+
+            // wait for updated telemetry data
+            {
+                std::lock_guard lock{*_currentParamsMutex};
+
+                t_err = controls->waitForTelemetryData(&tdata, _currentParams.telemetryTimeout);
+
+                if (t_err) {
+                    return *_lastError =
+                               mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
+                }
             }
 
             t_err = controls->targetToMountDist(&dist);
             if (t_err) {
-                    *_stopSlewing = true;
+                return *_lastError = mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY);
-                    return mcc_deduce_error<error_t>(t_err, MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY);
             }
 
-                if (*_stopSlewing) {
-                    return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
-                }
-
-                {
-                    std::lock_guard lock{*_currentParamsMutex};
-
-                    if (adjust_mode && !_currentParams.slewAndStop) {
-                        // do not allow mount speed fall below sideral
             if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
-                            // turn on sideral rate only if the current position point catches up with the target
+                logger.logDebug(std::format("    entered target: HA = {}, DEC = {}",
-                            if ((tdata.target.HA - tdata.HA) <= 0.0 && tdata.speedX < slewing_params_t::sideralRate) {
+                                            mcc::MccAngle{tdata.target.HA}.sexagesimal(true),
-                                hw_state.X = (double)tdata.target.X;
+                                            mcc::MccAngle{tdata.target.DEC_APP}.sexagesimal()));
-                                hw_state.Y = (double)tdata.target.Y;
+                logger.logDebug(std::format("    current mount:  HA = {}, DEC = {}",
+                                            mcc::MccAngle{tdata.HA}.sexagesimal(true),
+                                            mcc::MccAngle{tdata.DEC_APP}.sexagesimal()));
 
-                                hw_state.speedX = slewing_params_t::sideralRate;
+                if (store_path) {
-
+                    fst << std::chrono::duration_cast<path_tp_t>(tdata.time_point - start_point).count() << " "
-                                hw_state.moving_state = CONTROLS_T::hardware_moving_state_t::HW_MOVE_TRACKING;
+                        << tdata.target.HA << " " << tdata.target.DEC_APP << " " << tdata.HA << " " << tdata.DEC_APP
-
+                        << " " << (tdata.target.HA - tdata.HA) << " " << (tdata.target.DEC_APP - tdata.DEC_APP) << " "
-                                hw_err = controls->hardwareSetState(hw_state);
+                        << (int)hw_state.moving_state << "\n";
-                                if (hw_err) {
-                                    *_stopSlewing = true;
-                                    return mcc_deduce_error<error_t>(hw_err,
-                                                                     MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
-                                }
                 }
             } else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
-                        } else {
+                logger.logDebug(std::format("    entered target: AZ = {}, ZD = {}",
-                            static_assert(false, "UNKNOWN MOUNT TYPE!!");
+                                            mcc::MccAngle{tdata.target.AZ}.sexagesimal(),
-                        }
+                                            mcc::MccAngle{tdata.target.ZD}.sexagesimal()));
+                logger.logDebug(std::format("    current mount:  AZ = {}, ZD = {}",
+                                            mcc::MccAngle{tdata.AZ}.sexagesimal(),
+                                            mcc::MccAngle{tdata.ZD}.sexagesimal()));
             }
 
-                    if (dist <= _currentParams.slewToleranceRadius) {  // stop slewing and exit from cycle
+            logger.logDebug(std::format("    target-to-mount distance {}", mcc::MccAngleFancyString(dist)));
-                        if (hw_state.moving_state ==
+
-                            CONTROLS_T::hardware_moving_state_t::HW_MOVE_STOPPED) {  // mount was stopped
+            if (store_path) {
-                            *_stopSlewing = true;
+                fst.close();
-                            break;
-                        }
             }
 
-                    if (dist <= _currentParams.adjustCoordDiff) {  // adjust mount pointing
+            return *_lastError = MccSimpleSlewingModelErrorCode::ERROR_OK;
-                        auto now = std::chrono::steady_clock::now();
-                        if ((now - last_adjust_tp) < _currentParams.adjustCycleInterval) {
-                            continue;
-                        }
-
-                        hw_state.X = (double)tdata.target.X;
-                        hw_state.Y = (double)tdata.target.Y;
-
-                        hw_state.speedX = _currentParams.adjustRateX;
-                        hw_state.speedY = _currentParams.adjustRateY;
-
-                        hw_state.moving_state = CONTROLS_T::hardware_moving_state_t::HW_MOVE_ADJUSTING;
-
-                        hw_err = controls->hardwareSetState(hw_state);
-                        if (hw_err) {
-                            *_stopSlewing = true;
-                            return mcc_deduce_error<error_t>(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
-                        }
-
-                        last_adjust_tp = now;
-
-                        adjust_mode = true;
-
-                    } else {
-                        adjust_mode = false;
-                    }
-                }
-
-                if (*_stopSlewing) {
-                    return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
-                }
-            }
-
-            return MccSimpleSlewingModelErrorCode::ERROR_OK;
         };
     }
 
@@ -305,7 +689,7 @@ public:
 
     virtual ~MccSimpleSlewingModel() = default;
 
-    error_t slewToTarget()
+    error_t slewToTarget(bool slew_and_stop = false)
     {
         if (!(*_stopSlewing)) {
             return MccSimpleSlewingModelErrorCode::ERROR_ALREADY_SLEW;
@@ -313,7 +697,18 @@ public:
 
         *_stopSlewing = false;
 
-        return _slewingFunc();
+        // check for target in p-zone
+        *_lastError = _checkTargetFunc();
+        if (_lastError->load()) {  // return here immediately
+            return *_lastError;
+        }
+
+        // // asynchronous slewing process
+        // _slewFuncFuture = std::async(std::launch::async, _slewingFunc, slew_and_stop);
+
+        // return MccSimpleSlewingModelErrorCode::ERROR_OK;
+
+        return _slewingFunc(slew_and_stop);
     }
 
 
@@ -346,12 +741,21 @@ public:
         return _currentParams;
     }
 
+    error_t slewingLastError() const
+    {
+        return *_lastError;
+    }
+
 protected:
-    std::function<error_t()> _slewingFunc{};
+    std::function<error_t(bool)> _slewingFunc{};
     std::unique_ptr<std::atomic_bool> _stopSlewing;
+    std::function<error_t()> _checkTargetFunc{};
 
     slewing_params_t _currentParams{};
     std::unique_ptr<std::mutex> _currentParamsMutex{};
+
+    std::unique_ptr<std::atomic<error_t>> _lastError;
+    std::future<error_t> _slewFuncFuture{};
 };
 
 

mcc/mcc_spdlog.h

@@ -135,11 +135,6 @@ public:
         _loggerSPtr->log(spdlog::level::trace, fmt, std::forward<ArgTs>(args)...);
     }
 
-protected:
-    std::list<std::string> _currentLogPatternRange;
-    std::string _currentLogPattern;
-    std::shared_ptr<spdlog::logger> _loggerSPtr;
-
 
     // helper methods
 
@@ -180,6 +175,12 @@ protected:
     {
         addMarkToPatternIdx(std::string_view{mark}, after_idx);
     }
+
+
+protected:
+    std::list<std::string> _currentLogPatternRange;
+    std::string _currentLogPattern;
+    std::shared_ptr<spdlog::logger> _loggerSPtr;
 };
 
 }  // namespace mcc::utils

mcc/mcc_telemetry.h.bad

@@ -0,0 +1,734 @@
+#pragma once
+
+/*                          MOUNT CONTROL COMPONENTS LIBRARY                            */
+
+
+/*                          IMPLEMENTATION OF TELEMETRY CLASS                           */
+
+
+#include <condition_variable>
+#include <future>
+#include <mutex>
+#include <thread>
+
+#include "mcc_defaults.h"
+
+namespace mcc
+{
+
+enum class MccTelemetryErrorCode : int {
+    ERROR_OK,
+    ERROR_NULLPTR,
+    ERROR_COORD_TRANSFORM,
+    ERROR_PCM_COMP,
+    ERROR_HARDWARE_GETPOS,
+    ERROR_UPDATE_STOPPED,
+    ERROR_DATA_TIMEOUT,
+    ERROR_UNSUPPORTED_COORD_PAIR
+};
+
+}  // namespace mcc
+
+namespace std
+{
+
+template <>
+class is_error_code_enum<mcc::MccTelemetryErrorCode> : public true_type
+{
+};
+
+}  // namespace std
+
+
+namespace mcc
+{
+
+/*  error category definition  */
+
+// error category
+struct MccTelemetryCategory : public std::error_category {
+    MccTelemetryCategory() : std::error_category() {}
+
+    const char* name() const noexcept
+    {
+        return "MCC-TELEMETRY";
+    }
+
+    std::string message(int ec) const
+    {
+        MccTelemetryErrorCode err = static_cast<MccTelemetryErrorCode>(ec);
+
+        switch (err) {
+            case MccTelemetryErrorCode::ERROR_OK:
+                return "OK";
+            case MccTelemetryErrorCode::ERROR_NULLPTR:
+                return "nullptr input argument";
+            case MccTelemetryErrorCode::ERROR_COORD_TRANSFORM:
+                return "coordinate transformation error";
+            case MccTelemetryErrorCode::ERROR_PCM_COMP:
+                return "PCM computation error";
+            case MccTelemetryErrorCode::ERROR_HARDWARE_GETPOS:
+                return "cannot get hardware position";
+            case MccTelemetryErrorCode::ERROR_UPDATE_STOPPED:
+                return "telemetry update was stopped";
+            case MccTelemetryErrorCode::ERROR_DATA_TIMEOUT:
+                return "a timeout occured while waiting for new data";
+            case MccTelemetryErrorCode::ERROR_UNSUPPORTED_COORD_PAIR:
+                return "unsupported coordinate pair";
+            default:
+                return "UNKNOWN";
+        }
+    }
+
+    static const MccTelemetryCategory& get()
+    {
+        static const MccTelemetryCategory constInst;
+        return constInst;
+    }
+};
+
+
+inline std::error_code make_error_code(MccTelemetryErrorCode ec)
+{
+    return std::error_code(static_cast<int>(ec), MccTelemetryCategory::get());
+}
+
+
+
+class MccTelemetry : public mcc_telemetry_interface_t<std::error_code>
+{
+protected:
+    static constexpr uint16_t internalUpdatingIntervalDiv = 5;
+
+public:
+    static constexpr auto defaultUpdateInterval = std::chrono::milliseconds(100);
+    static constexpr auto defaultInternalUpdateTimeout = defaultUpdateInterval * 5;
+
+    typedef std::error_code error_t;
+
+
+    template <mcc_position_controls_c CONTROLS_T>
+    MccTelemetry(CONTROLS_T* controls)
+        : _isDataUpdated(new std::atomic_bool()),
+          _data(),
+          _userTarget(),
+          _internalUpdating(new std::atomic_bool),
+          _currentUpdateInterval(defaultUpdateInterval),
+          _currentUpdateIntervalMutex(new std::mutex),
+          _updateMutex(new std::mutex),
+          _updateCondVar(new std::condition_variable)
+    {
+        *_isDataUpdated = false;
+        *_internalUpdating = false;
+
+
+        // using ccte_t = std::remove_cvref_t<decltype(*ccte)>;
+        using pcm_t = std::remove_cvref_t<decltype(*controls)>;
+        using hardware_t = std::remove_cvref_t<decltype(*controls)>;
+
+        if constexpr (mccIsEquatorialMount(pcm_t::mountType)) {
+            _data.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
+            _data.target.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
+        } else if constexpr (mccIsAltAzMount(pcm_t::mountType)) {
+            _data.pair_kind = MccCoordPairKind::COORDS_KIND_AZZD;
+            _data.target.pair_kind = MccCoordPairKind::COORDS_KIND_AZZD;
+        } else {
+            static_assert(false, "UNKNOWN MOUNT TYPE!");
+        }
+
+        _updateTargetFunc = [controls, this](std::stop_token stop_token) -> error_t {
+            MccPCMResult pcm_res;
+
+            mcc_tp2tp(_data.time_point, _data.target.time_point);
+
+            bool hw_coords = _data.target.pair_kind == MccCoordPairKind::COORDS_KIND_XY;
+            MccCelestialPoint hw_cp{.pair_kind = MccCoordPairKind::COORDS_KIND_XY};
+            mcc_tp2tp(_data.time_point, hw_cp.time_point);
+
+            if (hw_coords) {  // compute corresponded apparent coordinates
+                hw_cp.X = _data.target.X;
+                hw_cp.Y = _data.target.Y;
+
+                auto pcm_err = controls->computePCM(_data.target, &pcm_res, &_data.target);
+                if (pcm_err) {
+                    return mcc_deduce_error_code(pcm_err, MccTelemetryErrorCode::ERROR_PCM_COMP);
+                }
+
+                if (stop_token.stop_requested()) {
+                    return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
+                }
+
+                if constexpr (mccIsEquatorialMount(pcm_t::mountType)) {
+                    _data.target.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
+                } else if constexpr (mccIsAltAzMount(pcm_t::mountType)) {
+                    _data.target.pair_kind = MccCoordPairKind::COORDS_KIND_AZZD;
+                } else {
+                    static_assert(false, "UNKNOWN MOUNT TYPE!!!");
+                }
+            }
+
+            if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
+                _data.target.X = _data.target.RA_ICRS;
+                _data.target.Y = _data.target.DEC_ICRS;
+            } else if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
+                _data.target.X = _data.target.AZ;
+                _data.target.Y = _data.target.ZD;
+            } else if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_AZALT) {
+                _data.target.X = _data.target.AZ;
+                _data.target.Y = _data.target.ALT;
+            } else if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
+                _data.target.X = _data.target.HA;
+                _data.target.Y = _data.target.DEC_APP;
+            } else if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
+                _data.target.X = _data.target.RA_APP;
+                _data.target.Y = _data.target.DEC_APP;
+            } else {
+                return MccTelemetryErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
+            }
+
+            auto ccte_err = controls->transformCoordinates(_data.target, &_data.target);
+            if (ccte_err) {
+                if (hw_coords) {  // restore coordinates pair kind
+                    _data.target.pair_kind = MccCoordPairKind::COORDS_KIND_XY;
+                }
+
+                return mcc_deduce_error_code(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
+            }
+
+            if (stop_token.stop_requested()) {
+                return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
+            }
+
+            if (_data.target.pair_kind != MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
+                // fixed apparent coordinates (AZZD or HADEC)
+                // needs to compute ICRS
+                // (.X and .Y are already assigned above!)
+
+
+                // if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
+                //     _data.target.X = _data.target.AZ;
+                //     _data.target.Y = _data.target.ZD;
+                // } else if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_AZALT) {
+                //     _data.target.X = _data.target.AZ;
+                //     _data.target.Y = _data.target.ALT;
+                // } else if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
+                //     _data.target.X = _data.target.HA;
+                //     _data.target.Y = _data.target.DEC_APP;
+                // } else if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
+                //     _data.target.X = _data.target.RA_APP;
+                //     _data.target.Y = _data.target.DEC_APP;
+                // } else {
+                //     return MccTelemetryErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
+                // }
+
+                MccCelestialPoint pt{.pair_kind = MccCoordPairKind::COORDS_KIND_RADEC_ICRS};
+                ccte_err = controls->transformCoordinates(_data.target, &pt);
+                if (ccte_err) {
+                    if (hw_coords) {  // restore coordinates pair kind
+                        _data.target.pair_kind = MccCoordPairKind::COORDS_KIND_XY;
+                        _data.target.X = hw_cp.X;
+                        _data.target.Y = hw_cp.Y;
+                    }
+
+                    return mcc_deduce_error_code(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
+                }
+                _data.target.RA_ICRS = pt.X;
+                _data.target.DEC_ICRS = pt.Y;
+            }  // from ICRS to apparent calculation is already performed above
+
+            if (stop_token.stop_requested()) {
+                return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
+            }
+
+            // hardware coordinates
+            if (!hw_coords) {
+                auto pcm_err = controls->computeInversePCM(_data.target, &pcm_res, &_data.target);
+                if (pcm_err) {
+                    return mcc_deduce_error_code(pcm_err, MccTelemetryErrorCode::ERROR_PCM_COMP);
+                }
+            } else {  // restore coordinates pair kind
+                _data.target.pair_kind = MccCoordPairKind::COORDS_KIND_XY;
+                _data.target.X = hw_cp.X;
+                _data.target.Y = hw_cp.Y;
+            }
+
+            return MccTelemetryErrorCode::ERROR_OK;
+        };
+
+        _updateFunc = [controls, this](std::stop_token stop_token) -> std::error_code {
+            // first, update mount quantities
+            typename hardware_t::hardware_state_t hw_pos;
+            auto hw_err = controls->hardwareGetState(&hw_pos);
+            if (hw_err) {
+                return mcc_deduce_error_code(hw_err, MccTelemetryErrorCode::ERROR_HARDWARE_GETPOS);
+            }
+
+            // if (stop_token.stop_requested()) {
+            //     return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
+            // }
+
+            double eo;
+
+            _data.time_point =
+                std::chrono::time_point_cast<typename decltype(_data.time_point)::duration>(hw_pos.time_point);
+
+            auto ccte_err = controls->timepointToJulday(_data.time_point, &_data.JD);
+            if (!ccte_err) {
+                if (stop_token.stop_requested()) {
+                    return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
+                }
+
+                ccte_err = controls->juldayToAppSideral(_data.JD, &_data.LST, true);
+                if (!ccte_err) {
+                    ccte_err = controls->equationOrigins(_data.JD, &eo);
+                    _data.EO = eo;
+                }
+            }
+
+            if (ccte_err) {
+                return mcc_deduce_error_code(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
+            }
+
+            // if (stop_token.stop_requested()) {
+            //     return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
+            // }
+
+            _data.X = (double)hw_pos.X;
+            _data.Y = (double)hw_pos.Y;
+            _data.speedX = (double)hw_pos.speedX;
+            _data.speedY = (double)hw_pos.speedY;
+
+            // fill _data.pcmX, _data.pcmY and corresponded apparent coordinates
+            auto pcm_err = controls->computePCM(_data, &_data, &_data);
+            if (pcm_err) {
+                return mcc_deduce_error_code(pcm_err, MccTelemetryErrorCode::ERROR_PCM_COMP);
+            }
+
+            // if (stop_token.stop_requested()) {
+            //     return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
+            // }
+
+            MccCelestialPoint pt{.pair_kind = MccCoordPairKind::COORDS_KIND_AZALT, .time_point = _data.time_point};
+
+            if constexpr (mccIsEquatorialMount(pcm_t::mountType)) {
+                _data.RA_APP =
+                    MccAngle((double)_data.LST - (double)_data.HA - eo).normalize<MccAngle::NORM_KIND_0_360>();
+                // MccAngle((double)_data.LST - (double)_data.HA + eo).normalize<MccAngle::NORM_KIND_0_360>();
+
+                _data.X = _data.HA;
+                _data.Y = _data.DEC_APP;
+
+                _data.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
+
+                ccte_err = controls->transformCoordinates(_data, &pt);
+                if (!ccte_err) {
+                    _data.AZ = pt.X;
+                    _data.ALT = pt.Y;
+                    _data.ZD = std::numbers::pi / 2.0 - _data.ALT;
+                }
+            } else if constexpr (mccIsAltAzMount(pcm_t::mountType)) {
+                _data.ALT = std::numbers::pi / 2.0 - _data.ZD;
+
+                _data.X = _data.AZ;
+                _data.Y = _data.ZD;
+
+                _data.pair_kind = MccCoordPairKind::COORDS_KIND_AZZD;
+
+                pt.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
+                ccte_err = controls->transformCoordinates(_data, &pt);
+                if (!ccte_err) {
+                    _data.HA = pt.X;
+                    _data.DEC_APP = pt.Y;
+                    _data.RA_APP =
+                        MccAngle((double)_data.LST - (double)_data.HA - eo).normalize<MccAngle::NORM_KIND_0_360>();
+                    // MccAngle((double)_data.LST - (double)_data.HA + eo).normalize<MccAngle::NORM_KIND_0_360>();
+                }
+
+            } else {
+                static_assert(false, "UNKNOWN MOUNT TYPE!");
+            }
+
+            if (!ccte_err) {
+                // if (stop_token.stop_requested()) {
+                //     return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
+                // }
+
+                // to compute refraction coefficients
+                _data.pair_kind = MccCoordPairKind::COORDS_KIND_AZZD;
+                _data.X = _data.AZ;
+                _data.Y = _data.ZD;
+
+                ccte_err = controls->refractionCorrection(_data, &_data.refCorr);
+                if (!ccte_err) {
+                    // restore hardware encoders coordinates
+                    _data.X = (double)hw_pos.X;
+                    _data.Y = (double)hw_pos.Y;
+
+                    // update target (assuming target ICRS coordinates are already set)
+
+                    // auto ret = _updateTargetFunc(false, stop_token);
+                    // update target according to its .pair_kind!
+                    auto ret = _updateTargetFunc(stop_token);
+                    if (ret) {
+                        return ret;
+                    }
+                }
+            }
+
+            // restore according to the mount type
+            if constexpr (mccIsEquatorialMount(pcm_t::mountType)) {
+                _data.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
+            } else if constexpr (mccIsAltAzMount(pcm_t::mountType)) {
+                _data.pair_kind = MccCoordPairKind::COORDS_KIND_AZALT;
+            } else {
+                static_assert(false, "UNKNOWN MOUNT TYPE!");
+            }
+
+
+            if (ccte_err) {
+                return mcc_deduce_error_code(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
+            }
+
+            return MccTelemetryErrorCode::ERROR_OK;
+        };
+    }
+
+
+    MccTelemetry(MccTelemetry&&) = default;
+    MccTelemetry& operator=(MccTelemetry&&) = default;
+
+    MccTelemetry(const MccTelemetry&) = delete;
+    MccTelemetry& operator=(const MccTelemetry&) = delete;
+
+
+    virtual ~MccTelemetry()
+    {
+        stopInternalTelemetryDataUpdating();
+
+        if (_internalUpdatingFuture.valid()) {
+            // try to exit correctly
+            // auto status = _internalUpdatingFuture.wait_for(std::chrono::seconds(1));
+            _internalUpdatingFuture.wait_for(std::chrono::seconds(1));
+            // _internalUpdatingFuture.get();
+        }
+    };
+
+
+    template <traits::mcc_time_duration_c DT>
+    DT telemetryDataUpdateInterval() const
+    {
+        std::lock_guard lock{*_currentUpdateIntervalMutex};
+
+        return std::chrono::duration_cast<DT>(_currentUpdateInterval);
+    }
+
+    std::chrono::milliseconds telemetryDataUpdateInterval() const
+    {
+        return telemetryDataUpdateInterval<std::chrono::milliseconds>();
+    }
+
+    void setTelemetryDataUpdateInterval(traits::mcc_time_duration_c auto const& interval)
+    {
+        using d_t = std::remove_cvref_t<decltype(interval)>;
+
+        std::lock_guard lock{*_currentUpdateIntervalMutex};
+
+        if constexpr (std::floating_point<typename d_t::rep>) {
+            _currentUpdateInterval = utils::isEqual(interval.count(), 0.0) ? defaultUpdateInterval : interval;
+        } else {
+            _currentUpdateInterval = interval.count() == 0 ? defaultUpdateInterval : interval;
+        }
+    }
+
+    void setTelemetryUpdateTimeout(traits::mcc_time_duration_c auto const& timeout)
+    {
+        if (timeout.count() > 0) {
+            _currentUpdateTimeout = std::chrono::duration_cast<decltype(_currentUpdateTimeout)>(timeout);
+        }
+    }
+
+    auto getTelemetryUpdateTimeout() const
+    {
+        return _currentUpdateTimeout;
+    }
+
+    // asynchronuosly periodicaly update telemetry data (internal synchronization)
+    void startInternalTelemetryDataUpdating()
+    {
+        using intv_t = std::remove_cvref_t<decltype(_currentUpdateInterval)>;
+
+        _internalUpdatingStopSource = std::stop_source{};  // reset state
+
+        *_internalUpdating = true;
+
+        _internalUpdatingFuture = std::async(
+            std::launch::async,
+            [this](std::stop_token stop_token) -> error_t {
+                while (!stop_token.stop_requested()) {
+                    // while (true) {
+                    _lastUpdateError = updateTelemetryData(_currentUpdateTimeout);
+                    if (_lastUpdateError) {
+                        *_internalUpdating = false;
+                        return _lastUpdateError;
+                    }
+
+                    // auto nn = std::this_thread::get_id();
+
+                    std::this_thread::sleep_for(_currentUpdateInterval);
+
+                    // {
+                    //     std::lock_guard lock{*_currentUpdateIntervalMutex};
+
+                    //     // compute it here because of possible changing _currentUpdateInterval
+                    //     auto sleep_td = _currentUpdateInterval / internalUpdatingIntervalDiv;
+
+                    //     for (uint16_t i = 0; i < internalUpdatingIntervalDiv - 1; ++i) {
+                    //         if (stop_token.stop_requested()) {
+                    //             break;
+                    //         }
+
+                    //         std::this_thread::sleep_for(sleep_td);
+                    //     }
+
+                    //     if (stop_token.stop_requested()) {
+                    //         break;
+                    //     }
+
+                    //     if constexpr (std::floating_point<intv_t>) {
+                    //         std::this_thread::sleep_for(sleep_td);
+                    //     } else {
+                    //         auto rem = _currentUpdateInterval % internalUpdatingIntervalDiv;
+
+                    //         if (rem.count()) {
+                    //             std::this_thread::sleep_for(rem);
+                    //         } else {
+                    //             std::this_thread::sleep_for(sleep_td);
+                    //         }
+                    //     }
+                    // }
+                }
+
+                *_internalUpdating = false;
+                return MccTelemetryErrorCode::ERROR_OK;
+            },
+            _internalUpdatingStopSource.get_token());
+    }
+
+
+    void stopInternalTelemetryDataUpdating()
+    {
+        _internalUpdatingStopSource.request_stop();
+        *_internalUpdating = false;
+    }
+
+
+    bool isInternalTelemetryDataUpdating() const
+    {
+        return *_internalUpdating;
+    }
+
+
+    error_t updateTelemetryData(traits::mcc_time_duration_c auto const& timeout)
+    {
+        {
+            std::lock_guard thread_lock{*_updateMutex};
+
+            std::stop_source stop_source;
+
+            *_isDataUpdated = false;
+
+            // std::future<error_t> update_ft = std::async(std::launch::async, _updateFunc, stop_source.get_token());
+            // // std::future<error_t> update_ft =
+            // //     std::async(std::launch::async, _updateFunc, _internalUpdatingStopSource.get_token());
+            // auto status = update_ft.wait_for(timeout);
+
+            // if (status == std::future_status::ready) {
+            //     *_isDataUpdated = true;
+            //     _lastUpdateError = update_ft.get();
+            // } else if (status == std::future_status::deferred) {  // std::async was invoked in this thread, get
+            // result
+            //     _lastUpdateError = update_ft.get();
+            //     if (!_lastUpdateError) {
+            //         *_isDataUpdated = true;
+            //     }
+            // } else {  // timeout
+            //     stop_source.request_stop();
+            //     _lastUpdateError = MccTelemetryErrorCode::ERROR_DATA_TIMEOUT;
+            // }
+
+            _lastUpdateError = _updateFunc(_internalUpdatingStopSource.get_token());
+            *_isDataUpdated = true;
+        }
+
+        // unblock waiting threads even in the case of timeout!
+        _updateCondVar->notify_all();
+
+        // *_isDataUpdated = false;
+
+        return _lastUpdateError;
+    }
+
+    // block the thread and wait for data to be ready (internal synchronization)
+    error_t waitForTelemetryData(mcc_telemetry_data_c auto* tdata, traits::mcc_time_duration_c auto const& timeout)
+    {
+        if (tdata == nullptr) {
+            return MccTelemetryErrorCode::ERROR_NULLPTR;
+        }
+
+        std::unique_lock ulock(*_updateMutex);
+
+        auto res = _updateCondVar->wait_for(ulock, timeout, [this]() -> bool { return *_isDataUpdated; });
+        if (!res) {
+            return MccTelemetryErrorCode::ERROR_DATA_TIMEOUT;
+        }
+
+        // std::lock_guard thread_lock{*_updateMutex};
+
+        if (!_lastUpdateError) {
+            mcc_copy_telemetry_data(_data, tdata);
+        }
+
+        return _lastUpdateError;
+    }
+
+    // just get current data
+    error_t telemetryData(mcc_telemetry_data_c auto* tdata)
+    {
+        if (tdata == nullptr) {
+            return MccTelemetryErrorCode::ERROR_NULLPTR;
+        }
+
+        std::lock_guard thread_lock{*_updateMutex};
+
+        mcc_copy_telemetry_data(_data, tdata);
+
+        return MccTelemetryErrorCode::ERROR_OK;
+    }
+
+    error_t lastUpdateError() const
+    {
+        return _lastUpdateError;
+    }
+
+    error_t setPointingTarget(mcc_celestial_point_c auto pt)
+    {
+        /*
+         *  If apparent coordinates are specified (e.g. AZZD),
+         *  they are assumed to be fixed in time (i.e. pt.time_point will be ignored),
+         *  and other coordinates will be calculated from them
+         */
+
+        std::lock_guard lock{*_updateMutex};
+
+        mcc_copy_celestial_point(pt, &_userTarget);
+
+
+        _data.target.pair_kind = pt.pair_kind;
+        if (pt.pair_kind == MccCoordPairKind::COORDS_KIND_AZALT) {
+            _data.target.AZ = pt.X;
+            _data.target.ALT = pt.Y;
+        } else if (pt.pair_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
+            _data.target.AZ = pt.X;
+            _data.target.ZD = pt.Y;
+        } else if (pt.pair_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
+            _data.target.HA = pt.X;
+            _data.target.DEC_APP = pt.Y;
+        } else if (pt.pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
+            _data.target.RA_APP = pt.X;
+            _data.target.DEC_APP = pt.Y;
+        } else if (pt.pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
+            _data.target.RA_ICRS = pt.X;
+            _data.target.DEC_ICRS = pt.Y;
+        } else if (pt.pair_kind == MccCoordPairKind::COORDS_KIND_XY) {
+            _data.target.X = pt.X;
+            _data.target.Y = pt.Y;
+        } else {
+            return MccTelemetryErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
+        }
+
+        return _updateTargetFunc({});
+
+        // return _setTargetFunc(pt);
+    }
+
+
+
+    error_t targetToMountDiff(MccCoordPairKind pair_kind, mcc_angle_c auto* dx, mcc_angle_c auto* dy)
+    {
+        std::lock_guard lock{*_updateMutex};
+
+        if (pair_kind == MccCoordPairKind::COORDS_KIND_AZALT || pair_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
+            *dx = (double)_data.target.AZ - (double)_data.AZ;
+            *dy = (double)_data.target.ALT - (double)_data.ALT;
+        } else if (pair_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP ||
+                   pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP ||
+                   pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
+            *dx = (double)_data.target.HA - (double)_data.HA;
+            *dy = (double)_data.target.DEC_APP - (double)_data.DEC_APP;
+        } else {
+            return MccTelemetryErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
+        }
+
+        return MccTelemetryErrorCode::ERROR_OK;
+    }
+
+
+    error_t targetToMountDist(mcc_angle_c auto* dist)
+    {
+        if (dist == nullptr) {
+            return MccTelemetryErrorCode::ERROR_NULLPTR;
+        }
+
+        std::lock_guard lock{*_updateMutex};
+
+        double dHA = _data.HA - _data.target.HA;
+        double cosDHA = cos(dHA);
+
+        double cosT = cos(_data.target.DEC_APP);
+        double sinT = sin(_data.target.DEC_APP);
+        double cosM = cos(_data.DEC_APP);
+        double sinM = sin(_data.DEC_APP);
+
+        double term1 = cosT * sin(dHA);
+        double term2 = cosM * sinT - sinM * cosT * cosDHA;
+
+        *dist = atan2(sqrt(term1 * term1 + term2 * term2), (sinM * sinT + cosM * cosT * cos(dHA)));
+
+        return MccTelemetryErrorCode::ERROR_OK;
+    }
+
+protected:
+    std::unique_ptr<std::atomic_bool> _isDataUpdated;
+    MccTelemetryData _data;
+
+    MccCelestialPoint _userTarget{};
+
+    std::unique_ptr<std::atomic_bool> _internalUpdating;
+    std::chrono::nanoseconds _currentUpdateInterval{std::chrono::milliseconds(100)};
+    std::unique_ptr<std::mutex> _currentUpdateIntervalMutex;
+    std::future<error_t> _internalUpdatingFuture{};
+    std::stop_source _internalUpdatingStopSource{};
+
+    std::chrono::nanoseconds _currentUpdateTimeout{defaultInternalUpdateTimeout};
+
+    std ::function<error_t(std::stop_token)> _updateTargetFunc{};
+    // std ::function<error_t(bool, std::stop_token)> _updateTargetFunc{};
+    std::function<error_t(std::stop_token)> _updateFunc{};
+    std::function<error_t()> _setTargetFunc{};
+
+    std::unique_ptr<std::mutex> _updateMutex;
+    std::unique_ptr<std::condition_variable> _updateCondVar;
+
+    // std::future<void> _internalUpdatingLoopFuture{};
+    // std::unique_ptr<std::mutex> _internalUpdatingLoopMutex{new std::mutex()};
+    // std::unique_ptr<std::condition_variable> _internalUpdatingLoopCondVar{new std::condition_variable()};
+    // std::unique_ptr<std::atomic_bool> _internalUpdatingLoopStop{new std::atomic_bool{false}};
+    // std::unique_ptr<std::atomic_bool> _dataUpdatingRequested{new std::atomic_bool{false}};
+
+    error_t _lastUpdateError{MccTelemetryErrorCode::ERROR_OK};
+};
+
+
+static_assert(mcc_telemetry_c<MccTelemetry>, "");
+
+}  // namespace mcc

mcc/mcc_telemetry.h.split

@@ -1,618 +0,0 @@
-#pragma once
-
-/*                          MOUNT CONTROL COMPONENTS LIBRARY                            */
-
-
-/*                          IMPLEMENTATION OF TELEMETRY CLASS                           */
-
-
-#include <condition_variable>
-#include <future>
-#include <mutex>
-#include <thread>
-
-#include "mcc_defaults.h"
-
-namespace mcc
-{
-
-enum MccTelemetryErrorCode : int {
-    ERROR_OK,
-    ERROR_NULLPTR,
-    ERROR_COORD_TRANSFORM,
-    ERROR_PCM_COMP,
-    ERROR_HARDWARE_GETPOS,
-    ERROR_UPDATE_STOPPED,
-    ERROR_DATA_TIMEOUT,
-    ERROR_UNSUPPORTED_COORD_PAIR
-};
-
-}  // namespace mcc
-
-namespace std
-{
-
-template <>
-class is_error_code_enum<mcc::MccTelemetryErrorCode> : public true_type
-{
-};
-
-}  // namespace std
-
-
-namespace mcc
-{
-
-/*  error category definition  */
-
-// error category
-struct MccTelemetryCategory : public std::error_category {
-    MccTelemetryCategory() : std::error_category() {}
-
-    const char* name() const noexcept
-    {
-        return "ALTITUDE-LIMIT-PZ";
-    }
-
-    std::string message(int ec) const
-    {
-        MccTelemetryErrorCode err = static_cast<MccTelemetryErrorCode>(ec);
-
-        switch (err) {
-            case MccTelemetryErrorCode::ERROR_OK:
-                return "OK";
-            case MccTelemetryErrorCode::ERROR_NULLPTR:
-                return "nullptr input argument";
-            case MccTelemetryErrorCode::ERROR_COORD_TRANSFORM:
-                return "coordinate transformation error";
-            case MccTelemetryErrorCode::ERROR_PCM_COMP:
-                return "PCM computation error";
-            case MccTelemetryErrorCode::ERROR_HARDWARE_GETPOS:
-                return "cannot get hardware position";
-            case MccTelemetryErrorCode::ERROR_UPDATE_STOPPED:
-                return "telemetry update was stopped";
-            case MccTelemetryErrorCode::ERROR_DATA_TIMEOUT:
-                return "a timeout occured while waiting for new data";
-            case MccTelemetryErrorCode::ERROR_UNSUPPORTED_COORD_PAIR:
-                return "unsupported coordinate pair";
-            default:
-                return "UNKNOWN";
-        }
-    }
-
-    static const MccTelemetryCategory& get()
-    {
-        static const MccTelemetryCategory constInst;
-        return constInst;
-    }
-};
-
-
-inline std::error_code make_error_code(MccTelemetryErrorCode ec)
-{
-    return std::error_code(static_cast<int>(ec), MccTelemetryCategory::get());
-}
-
-
-
-class MccTelemetry : public mcc_telemetry_interface_t<std::error_code>
-{
-protected:
-    static constexpr uint16_t internalUpdatingIntervalDiv = 5;
-
-public:
-    static constexpr auto defaultUpdateInterval = std::chrono::milliseconds(100);
-    static constexpr auto defaultInternalUpdateTimeout = defaultUpdateInterval * 5;
-
-    typedef std::error_code error_t;
-
-
-    MccTelemetry(mcc_ccte_c auto* ccte, mcc_PCM_c auto* pcm, mcc_hardware_c auto* hardware)
-        : _isDataUpdated(new std::atomic_bool()),
-          _data(),
-          _internalUpdating(new std::atomic_bool),
-          _currentUpdateInterval(defaultUpdateInterval),
-          _currentUpdateIntervalMutex(new std::mutex),
-          _updateMutex(new std::mutex),
-          _updateCondVar(new std::condition_variable)
-    {
-        *_isDataUpdated = false;
-        *_internalUpdating = false;
-
-        _data.target.pair_kind = MccCoordPairKind::COORDS_KIND_RADEC_ICRS;
-
-        // using ccte_t = std::remove_cvref_t<decltype(*ccte)>;
-        using pcm_t = std::remove_cvref_t<decltype(*pcm)>;
-        using hardware_t = std::remove_cvref_t<decltype(*hardware)>;
-
-        _updateTargetFunc = [ccte, pcm, this](bool only_hw, std::stop_token stop_token) -> error_t {
-            if (!only_hw) {
-                //
-                // compute apparent coordinates
-                // ICRS coordinates of the taget must be already set
-                //
-                _data.target.time_point =
-                    std::chrono::time_point_cast<typename decltype(_data.target.time_point)::duration>(
-                        _data.time_point);
-
-                _data.target.pair_kind = MccCoordPairKind::COORDS_KIND_RADEC_ICRS;
-                _data.target.X = _data.target.RA_ICRS;
-                _data.target.Y = _data.target.DEC_ICRS;
-
-                // update apparent cordinates
-                auto ccte_err = ccte->transformCoordinates(_data.target, &_data.target);
-                if (ccte_err) {
-                    return mcc_deduce_error<error_t>(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
-                }
-            }
-
-            if (stop_token.stop_requested()) {
-                return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
-            }
-
-
-            typename pcm_t::error_t pcm_err;
-
-            MccPCMResult pcm_res;
-
-            // MccCelestialPoint pt;
-            // pt.time_point =
-            //     std::chrono::time_point_cast<typename decltype(pt.time_point)::duration>(_data.target.time_point);
-
-            pcm_err = pcm->computeInversePCM(_data, &pcm_res, &_data);
-
-            // if constexpr (mccIsEquatorialMount(pcm_t::mountType)) {
-            //     pcm_err = pcm->computeInversePCM(_data, &pcm_res, &_data);
-
-            //     pt.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
-            //     pt.X = _data.target.HA;
-            //     pt.Y = _data.target.DEC_APP;
-            //     pcm_err = pcm->computeInversePCM(std::move(pt), &pcm_res);
-            //     if (!pcm_err) {
-            //         _data.target.X = _data.target.HA - pcm_res.pcmX;
-            //         _data.target.Y = _data.target.DEC_APP - pcm_res.pcmY;
-            //     }
-            // } else if constexpr (mccIsAltAzMount(pcm_t::mountType)) {
-            //     pt.pair_kind = MccCoordPairKind::COORDS_KIND_AZALT;
-            //     pt.X = _data.target.AZ;
-            //     pt.Y = _data.target.ALT;
-            //     pcm_err = pcm->computeInversePCM(std::move(pt), &pcm_res);
-            //     if (!pcm_err) {
-            //         _data.target.X = _data.target.AZ - pcm_res.pcmX;
-            //         _data.target.Y = _data.target.ALT - pcm_res.pcmY;
-            //     }
-            // } else {
-            //     static_assert(false, "UNKNOWN MOUNT TYPE!");
-            // }
-
-            if (pcm_err) {
-                return mcc_deduce_error<error_t>(pcm_err, MccTelemetryErrorCode::ERROR_PCM_COMP);
-            }
-
-
-            return MccTelemetryErrorCode::ERROR_OK;
-        };
-
-        _updateFunc = [ccte, pcm, hardware, this](std::stop_token stop_token) {
-            // first, update mount quantities
-            typename hardware_t::hardware_state_t hw_pos;
-            auto hw_err = hardware->hardwareGetState(&hw_pos);
-            if (hw_err) {
-                return mcc_deduce_error(hw_err, MccTelemetryErrorCode::ERROR_HARDWARE_GETPOS);
-            }
-
-            if (stop_token.stop_requested()) {
-                return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
-            }
-
-            double eo;
-
-            _data.time_point =
-                std::chrono::time_point_cast<typename decltype(_data.time_point)::duration>(hw_pos.time_point);
-
-            auto ccte_err = ccte->timepointToJulday(_data.time_point, &_data.JD);
-            if (!ccte_err) {
-                if (stop_token.stop_requested()) {
-                    return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
-                }
-
-                ccte_err = ccte->juldayToAppSideral(_data.JD, &_data.LST, true);
-                if (!ccte_err) {
-                    if (stop_token.stop_requested()) {
-                        return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
-                    }
-
-                    ccte_err = ccte->equationOrigins(_data.JD, &eo);
-                }
-            }
-
-            if (ccte_err) {
-                return mcc_deduce_error(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
-            }
-
-            if (stop_token.stop_requested()) {
-                return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
-            }
-
-            _data.X = (double)hw_pos.X;
-            _data.Y = (double)hw_pos.Y;
-            _data.speedX = (double)hw_pos.speedX;
-            _data.speedY = (double)hw_pos.speedY;
-
-            // fill _data.pcmX, _data.pcmY and corresponded apparent coordinates
-            auto pcm_err = pcm->computePCM(_data, &_data, &_data);
-            if (pcm_err) {
-                return mcc_deduce_error(pcm_err, MccTelemetryErrorCode::ERROR_PCM_COMP);
-            }
-
-            if (stop_token.stop_requested()) {
-                return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
-            }
-
-            MccCelestialPoint pt{.pair_kind = MccCoordPairKind::COORDS_KIND_AZALT, .time_point = _data.time_point};
-
-            if constexpr (mccIsEquatorialMount(pcm_t::mountType)) {
-                _data.RA_APP = (double)_data.LST - (double)_data.HA + eo;
-
-                _data.X = _data.HA;
-                _data.Y = _data.DEC_APP;
-
-                _data.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
-
-                ccte_err = ccte->transformCoordinates(_data, &pt);
-                if (!ccte_err) {
-                    _data.AZ = pt.X;
-                    _data.ALT = pt.Y;
-                    _data.ZD = std::numbers::pi / 2.0 - _data.ALT;
-                }
-            } else if constexpr (mccIsAltAzMount(pcm_t::mountType)) {
-                _data.ALT = std::numbers::pi / 2.0 - _data.ZD;
-
-                _data.X = _data.AZ;
-                _data.Y = _data.ZD;
-
-                _data.pair_kind = MccCoordPairKind::COORDS_KIND_AZZD;
-
-                pt.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
-                ccte_err = ccte->transformCoordinates(_data, &pt);
-                if (!ccte) {
-                    _data.HA = pt.X;
-                    _data.DEC_APP = pt.Y;
-                    _data.RA_APP = (double)_data.LST - (double)_data.HA + eo;
-                }
-
-            } else {
-                static_assert(false, "UNKNOWN MOUNT TYPE!");
-            }
-
-            if (!ccte_err) {
-                if (stop_token.stop_requested()) {
-                    return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
-                }
-
-                _data.pair_kind = MccCoordPairKind::COORDS_KIND_AZZD;
-                _data.X = _data.AZ;
-                _data.Y = _data.ZD;
-
-                ccte_err = ccte->refractionCorrection(_data, &_data.refCorr);
-                if (!ccte_err) {
-                    // restore hardware encoders coordinates
-                    _data.X = (double)hw_pos.X;
-                    _data.Y = (double)hw_pos.Y;
-
-                    // update target (assuming target ICRS coordinates are already set)
-
-                    auto ret = _updateTargetFunc(false, stop_token);
-                    if (ret) {
-                        return ret;
-                    }
-                }
-            }
-
-            if (ccte_err) {
-                return mcc_deduce_error(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
-            }
-
-            if constexpr (mccIsEquatorialMount(pcm_t::mountType)) {
-                _data.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
-            } else if constexpr (mccIsAltAzMount(pcm_t::mountType)) {
-                _data.pair_kind = MccCoordPairKind::COORDS_KIND_AZALT;
-            } else {
-                static_assert(false, "UNKNOWN MOUNT TYPE!");
-            }
-
-
-            return MccTelemetryErrorCode::ERROR_OK;
-        };
-
-
-        _setTargetFunc = [ccte, this](MccCelestialPoint const& pt) {
-            // in the case of apparent input coordinates
-            // one must ensure the same time points
-
-            _data.target.pair_kind = MccCoordPairKind::COORDS_KIND_RADEC_ICRS;
-            _data.target.time_point =
-                std::chrono::time_point_cast<typename decltype(_data.target.time_point)::duration>(pt.time_point);
-
-            auto ret = ccte->transformCoordinates(pt, &_data.target);
-
-            if (!ret) {
-                if (pt.pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
-                    _data.target.RA_ICRS = _data.target.X;
-                    _data.target.DEC_ICRS = _data.target.Y;
-
-                    // update apparent coordinates
-                    ret = _updateTargetFunc(false, {});
-                } else {  // apparent coordinates were computed above
-                    // compute ICRS coordinates
-                    MccCelestialPoint cpt{.pair_kind = MccCoordPairKind::COORDS_KIND_RADEC_ICRS};
-                    ret = ccte->transformCoordinates(pt, &cpt);
-
-                    _data.target.RA_ICRS = cpt.X;
-                    _data.target.DEC_ICRS = cpt.Y;
-
-                    // compute only hardware coordinates
-                    ret = _updateTargetFunc(true, {});
-                }
-            }
-
-            return mcc_deduce_error<error_t>(ret, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
-        };
-    }
-
-
-    MccTelemetry(MccTelemetry&&) = default;
-    MccTelemetry& operator=(MccTelemetry&&) = default;
-
-    MccTelemetry(const MccTelemetry&) = delete;
-    MccTelemetry& operator=(const MccTelemetry&) = delete;
-
-
-    virtual ~MccTelemetry()
-    {
-        stopInternalTelemetryDataUpdating();
-
-        if (_internalUpdatingFuture.valid()) {
-            // try to exit correctly
-            // auto status = _internalUpdatingFuture.wait_for(std::chrono::seconds(1));
-            _internalUpdatingFuture.wait_for(std::chrono::seconds(1));
-            // _internalUpdatingFuture.get();
-        }
-    };
-
-
-    template <traits::mcc_time_duration_c DT>
-    DT telemetryDataUpdateInterval() const
-    {
-        std::lock_guard lock{_currentUpdateIntervalMutex};
-
-        return std::chrono::duration_cast<DT>(_currentUpdateInterval);
-    }
-
-    std::chrono::milliseconds telemetryDataUpdateInterval() const
-    {
-        return telemetryDataUpdateInterval<std::chrono::milliseconds>();
-    }
-
-    void setTelemetryDataUpdateInterval(traits::mcc_time_duration_c auto const& interval)
-    {
-        using d_t = std::remove_cvref_t<decltype(interval)>;
-
-        std::lock_guard lock{_currentUpdateIntervalMutex};
-
-        if constexpr (std::floating_point<typename d_t::rep>) {
-            _currentUpdateInterval = utils::isEqual(interval.count(), 0.0) ? defaultUpdateInterval : interval;
-        } else {
-            _currentUpdateInterval = interval.count() == 0 ? defaultUpdateInterval : interval;
-        }
-    }
-
-    // asynchronuosly periodicaly update telemetry data (internal synchronization)
-    void startInternalTelemetryDataUpdating()
-    {
-        using intv_t = std::remove_cvref_t<decltype(_currentUpdateInterval)>;
-
-        *_internalUpdating = true;
-
-        _internalUpdatingFuture = std::async(
-            std::launch::async,
-            [this](std::stop_token stop_token) -> error_t {
-                while (!stop_token.stop_requested()) {
-                    _lastUpdateError = updateTelemetryData(defaultInternalUpdateTimeout);
-                    if (_lastUpdateError) {
-                        *_internalUpdating = false;
-                        return _lastUpdateError;
-                    }
-
-                    {
-                        std::lock_guard lock{_currentUpdateIntervalMutex};
-
-                        // compute it here because of possible changing _currentUpdateInterval
-                        auto sleep_td = _currentUpdateInterval / internalUpdatingIntervalDiv;
-
-                        for (uint16_t i = 0; i < internalUpdatingIntervalDiv - 1; ++i) {
-                            if (stop_token.stop_requested()) {
-                                break;
-                            }
-
-                            std::this_thread::sleep_for(sleep_td);
-                        }
-
-                        if (stop_token.stop_requested()) {
-                            break;
-                        }
-
-                        if constexpr (std::floating_point<intv_t>) {
-                            std::this_thread::sleep_for(sleep_td);
-                        } else {
-                            auto rem = _currentUpdateInterval % internalUpdatingIntervalDiv;
-
-                            if (rem.count()) {
-                                std::this_thread::sleep_for(rem);
-                            } else {
-                                std::this_thread::sleep_for(sleep_td);
-                            }
-                        }
-                    }
-                }
-
-                *_internalUpdating = false;
-                return MccTelemetryErrorCode::ERROR_OK;
-            },
-            _internalUpdatingStopSource.get_token());
-    }
-
-
-    void stopInternalTelemetryDataUpdating()
-    {
-        _internalUpdatingStopSource.request_stop();
-        *_internalUpdating = false;
-    }
-
-
-    bool isInternalTelemetryDataUpdating() const
-    {
-        return *_internalUpdating;
-    }
-
-
-    error_t updateTelemetryData(traits::mcc_time_duration_c auto const& timeout)
-    {
-        std::lock_guard thread_lock{*_updateMutex};
-
-        std::stop_source stop_source;
-
-        *_isDataUpdated = false;
-
-        std::future<error_t> update_ft = std::async(std::launch::async, _updateFunc, stop_source.get_token());
-        auto status = update_ft.wait_for(timeout);
-
-        if (status == std::future_status::ready) {
-            *_isDataUpdated = true;
-            _lastUpdateError = update_ft.get();
-        } else {
-            stop_source.request_stop();
-            _lastUpdateError = MccTelemetryErrorCode::ERROR_DATA_TIMEOUT;
-        }
-
-        // unblock waiting threads even in the case of timeout!
-        _updateCondVar->notify_all();
-
-        return _lastUpdateError;
-    }
-
-    // block the thread and wait for data to be ready (internal synchronization)
-    error_t waitForTelemetryData(mcc_telemetry_data_c auto* tdata, traits::mcc_time_duration_c auto const& timeout)
-    {
-        if (tdata == nullptr) {
-            return MccTelemetryErrorCode::ERROR_NULLPTR;
-        }
-
-        std::unique_lock ulock(*_updateMutex);
-
-        auto res = _updateCondVar->wait_for(ulock, timeout, [this]() { return *_isDataUpdated; });
-        if (res == std::cv_status::timeout) {
-            return MccTelemetryErrorCode::ERROR_DATA_TIMEOUT;
-        }
-
-        std::lock_guard thread_lock{*_updateMutex};
-
-        if (!_lastUpdateError) {
-            mcc_copy_telemetry_data(_data, tdata);
-        }
-
-        return _lastUpdateError;
-    }
-
-    // just get current data
-    error_t telemetryData(mcc_telemetry_data_c auto* tdata)
-    {
-        if (tdata == nullptr) {
-            return MccTelemetryErrorCode::ERROR_NULLPTR;
-        }
-
-        std::lock_guard thread_lock{*_updateMutex};
-
-        mcc_copy_telemetry_data(_data, tdata);
-
-        return MccTelemetryErrorCode::ERROR_OK;
-    }
-
-
-    error_t setPointingTarget(mcc_celestial_point_c auto pt)
-    {
-        std::lock_guard lock{*_updateMutex};
-
-        return _setTargetFunc(pt);
-    }
-
-
-
-    error_t targetToMountDiff(MccCoordPairKind pair_kind, mcc_angle_c auto* dx, mcc_angle_c auto* dy)
-    {
-        std::lock_guard lock{*_updateMutex};
-
-        if (pair_kind == MccCoordPairKind::COORDS_KIND_AZALT || pair_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
-            *dx = (double)_data.target.AZ - (double)_data.AZ;
-            *dy = (double)_data.target.ALT - (double)_data.ALT;
-        } else if (pair_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP ||
-                   pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP ||
-                   pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
-            *dx = (double)_data.target.HA - (double)_data.HA;
-            *dy = (double)_data.target.DEC_APP - (double)_data.DEC_APP;
-        } else {
-            return MccTelemetryErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
-        }
-
-        return MccTelemetryErrorCode::ERROR_OK;
-    }
-
-
-    error_t targetToMountDist(mcc_angle_c auto* dist)
-    {
-        if (dist == nullptr) {
-            return MccTelemetryErrorCode::ERROR_NULLPTR;
-        }
-
-        std::lock_guard lock{*_updateMutex};
-
-        double dHA = _data.HA - _data.target.HA;
-        double cosDHA = cos(dHA);
-
-        double cosT = cos(_data.target.DEC_APP);
-        double sinT = sin(_data.target.DEC_APP);
-        double cosM = cos(_data.DEC_APP);
-        double sinM = sin(_data.DEC_APP);
-
-        double term1 = cosT * sin(dHA);
-        double term2 = cosM * sinT - sinM * cosT * cosDHA;
-
-        *dist = atan2(sqrt(term1 * term1 + term2 * term2), (sinM * sinT + cosM * cosT * cos(dHA)));
-
-        return MccTelemetryErrorCode::ERROR_OK;
-    }
-
-protected:
-    std::unique_ptr<std::atomic_bool> _isDataUpdated;
-    MccTelemetryData _data;
-
-    std::unique_ptr<std::atomic_bool> _internalUpdating;
-    std::chrono::nanoseconds _currentUpdateInterval{std::chrono::milliseconds(100)};
-    std::unique_ptr<std::mutex> _currentUpdateIntervalMutex;
-    std::future<error_t> _internalUpdatingFuture{};
-    std::stop_source _internalUpdatingStopSource{};
-
-    std ::function<error_t(bool, std::stop_token)> _updateTargetFunc{};
-    std::function<error_t(std::stop_token)> _updateFunc{};
-    std::function<error_t()> _setTargetFunc{};
-
-    std::unique_ptr<std::mutex> _updateMutex;
-    std::unique_ptr<std::condition_variable> _updateCondVar;
-
-    error_t _lastUpdateError{MccTelemetryErrorCode::ERROR_OK};
-};
-
-
-static_assert(mcc_telemetry_c<MccTelemetry>, "");
-
-}  // namespace mcc

mcc/mcc_tracking_model.h

@@ -6,6 +6,8 @@
 /*                          SIMPLE Tracking MODEL IMPLEMENTATION                            */
 
 
+#include <fstream>
+
 #include "mcc_defaults.h"
 #include "mcc_moving_model_common.h"
 
@@ -20,12 +22,9 @@ enum class MccSimpleTrackingModelErrorCode : int {
     ERROR_PCM_COMP,
     ERROR_GET_TELEMETRY,
     ERROR_DIST_TELEMETRY,
-    ERROR_DIFF_TELEMETRY,
     ERROR_PZONE_CONTAINER_COMP,
-    ERROR_IN_PZONE,
     ERROR_NEAR_PZONE,
-    ERROR_TIMEOUT,
+    ERROR_IN_PZONE,
-    ERROR_UNEXPECTED_AXIS_RATES,
     ERROR_ALREADY_TRACK,
     ERROR_ALREADY_STOPPED,
     ERROR_STOPPED
@@ -49,6 +48,65 @@ class is_error_code_enum<mcc::MccSimpleTrackingModelErrorCode> : public true_typ
 namespace mcc
 {
 
+
+// error category
+struct MccSimpleTrackingModelCategory : public std::error_category {
+    MccSimpleTrackingModelCategory() : std::error_category() {}
+
+    const char* name() const noexcept
+    {
+        return "SIMPLE-TRACKING-MODEL";
+    }
+
+    std::string message(int ec) const
+    {
+        MccSimpleTrackingModelErrorCode err = static_cast<MccSimpleTrackingModelErrorCode>(ec);
+
+        switch (err) {
+            case MccSimpleTrackingModelErrorCode::ERROR_OK:
+                return "OK";
+            case MccSimpleTrackingModelErrorCode::ERROR_CCTE:
+                return "coordinate transformation error";
+            case MccSimpleTrackingModelErrorCode::ERROR_HW_GETSTATE:
+                return "cannot get hardware state";
+            case MccSimpleTrackingModelErrorCode::ERROR_HW_SETSTATE:
+                return "cannot set hardware state";
+            case MccSimpleTrackingModelErrorCode::ERROR_PCM_COMP:
+                return "PCM computation error";
+            case MccSimpleTrackingModelErrorCode::ERROR_GET_TELEMETRY:
+                return "cannot get telemetry";
+            case MccSimpleTrackingModelErrorCode::ERROR_DIST_TELEMETRY:
+                return "cannot get target-to-mount-position distance";
+            case MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP:
+                return "pzone container computation error";
+            case MccSimpleTrackingModelErrorCode::ERROR_NEAR_PZONE:
+                return "near prohibited zone";
+            case MccSimpleTrackingModelErrorCode::ERROR_IN_PZONE:
+                return "in prohibited zone";
+            case MccSimpleTrackingModelErrorCode::ERROR_ALREADY_TRACK:
+                return "already tracking";
+            case MccSimpleTrackingModelErrorCode::ERROR_ALREADY_STOPPED:
+                return "tracking is already stopped";
+            default:
+                return "UNKNOWN";
+        }
+    }
+
+    static const MccSimpleTrackingModelCategory& get()
+    {
+        static const MccSimpleTrackingModelCategory constInst;
+        return constInst;
+    }
+};
+
+
+inline std::error_code make_error_code(MccSimpleTrackingModelErrorCode ec)
+{
+    return std::error_code(static_cast<int>(ec), MccSimpleTrackingModelCategory::get());
+}
+
+
+
 class MccSimpleTrackingModel
 {
 public:
@@ -57,33 +115,73 @@ public:
     typedef MccSimpleMovingModelParams tracking_params_t;
 
 
-    template <mcc_all_controls_c CONTROLS_T>
+    template <mcc_all_controls_c CONTROLS_T, mcc_logger_c LoggerT = MccNullLogger>
-    MccSimpleTrackingModel(CONTROLS_T* controls)
+    MccSimpleTrackingModel(CONTROLS_T* controls, LoggerT logger)
-        : _stopTracking(new std::atomic_bool()), _currentParamsMutex(new std::mutex())
+        : _stopTracking(new std::atomic_bool()),
+          _currentParamsMutex(new std::mutex()),
+          _lastError(MccSimpleTrackingModelErrorCode::ERROR_OK)
     {
+        std::ostringstream os;
+        os << std::this_thread::get_id();
+
+        logger.logDebug(std::format("Create MccSimpleTrackingModel class instance (thread: {})", os.str()));
+
         *_stopTracking = true;
 
-        _trackingFunc = [controls, this]() -> error_t {
+        _trackingFunc = [logger = std::move(logger), controls, this]() mutable -> error_t {
             typename CONTROLS_T::hardware_state_t hw_state;
 
             MccTelemetryData tdata;
             MccEqtHrzCoords intsc_coords;
             MccCelestialPoint target_in_future_pt;
 
+            bool store_path = false;
+            std::ofstream fst;
+            using path_tp_t = std::chrono::duration<double>;  // seconds represented as double
+
             if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
                 target_in_future_pt.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
             } else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
                 target_in_future_pt.pair_kind = MccCoordPairKind::COORDS_KIND_AZZD;
             } else {
-                static_assert(false, "UNKNOW MOUNT TYPE!");
+                static_assert(false, "UNKNOWN MOUNT TYPE!");
             }
 
             // double dist, dx, dy;
 
+            logger.logInfo("Start tracking:");
+            logger.logInfo("    timesift: {} millisecs", _currentParams.timeShiftToTargetPoint.count());
+            logger.logInfo("    min time to pzone: {} secs", _currentParams.minTimeToPZone.count());
+
+
             auto t_err = controls->telemetryData(&tdata);
             if (t_err) {
                 *_stopTracking = true;
-                return mcc_deduce_error<error_t>(t_err, MccSimpleTrackingModelErrorCode::ERROR_GET_TELEMETRY);
+                return mcc_deduce_error_code(t_err, MccSimpleTrackingModelErrorCode::ERROR_GET_TELEMETRY);
+            }
+
+            auto start_point = tdata.time_point;  // needed for trajectory file
+
+            bool in_zone;
+            auto pz_err = controls->inPZone(tdata, &in_zone);
+            if (pz_err) {
+                return mcc_deduce_error_code(pz_err, MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
+            }
+
+            if (in_zone) {
+                logger.logError("mount current coordinates are in prohibited zone:");
+                logger.logError(std::format(
+                    "    RA-APP, DEC-APP, HA, LST: {}, {}, {}, {}", mcc::MccAngle{tdata.RA_APP}.sexagesimal(true),
+                    mcc::MccAngle{tdata.DEC_APP}.sexagesimal(), mcc::MccAngle{tdata.HA}.sexagesimal(true),
+                    mcc::MccAngle{tdata.LST}.sexagesimal(true)));
+                logger.logError(std::format("    AZ, ZD, ALT: {}, {}, {}", mcc::MccAngle{tdata.target.AZ}.sexagesimal(),
+                                            mcc::MccAngle{tdata.ZD}.sexagesimal(),
+                                            mcc::MccAngle{tdata.ALT}.sexagesimal()));
+
+                logger.logError(std::format("    hardware X, Y: {}, {}", mcc::MccAngle{tdata.X}.sexagesimal(),
+                                            mcc::MccAngle{tdata.Y}.sexagesimal()));
+
+                return MccSimpleTrackingModelErrorCode::ERROR_IN_PZONE;
             }
 
 
@@ -95,8 +193,7 @@ public:
                 // compute intersection points with the prohibited zones
                 auto pz_err = mcc_find_closest_pzone(controls, tdata, &intsc_coords);
                 if (pz_err) {
-                    return mcc_deduce_error<error_t>(pz_err,
+                    return mcc_deduce_error_code(pz_err, MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
-                                                     MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
                 }
 
                 if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
@@ -116,23 +213,31 @@ public:
                         no_intersects = true;
                     }
                 } else {
-                    static_assert(false, "UNKNOW MOUNT TYPE!");
+                    static_assert(false, "UNKNOWN MOUNT TYPE!");
                 }
+
+                return MccSimpleTrackingModelErrorCode::ERROR_OK;
             };
 
 
-            auto target_point = [&, this](MccCelestialPoint* point) {
+            auto target_point = [&, this](MccCelestialPoint* point) -> std::error_code {
-                auto dt = std::chrono::duration<double>{tdata.HA} +
+                double dha =
-                          _currentParams.timeShiftToTargetPoint * mcc_sideral_to_UT1_ratio;  // hour seconds
+                    std::chrono::duration<double>(_currentParams.timeShiftToTargetPoint * mcc_sideral_to_UT1_ratio)
+                        .count();                   // sideral hour seconds
+                dha *= std::numbers::pi / 43200.0;  // radians
+
+                auto target_ha = tdata.target.HA + dha;
+
+                // auto dt = std::chrono::duration<double>{tdata.HA} +
+                //           _currentParams.timeShiftToTargetPoint * mcc_sideral_to_UT1_ratio;  // hour seconds
 
                 auto tp_dt = std::chrono::duration_cast<typename decltype(tdata.time_point)::duration>(
                     _currentParams.timeShiftToTargetPoint);
 
                 // point in +time_dist future
-                MccCelestialPoint pt{
+                MccCelestialPoint pt{.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP,
-                    .pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP,
+                                     .X = MccAngle(target_ha).normalize<MccAngle::NORM_KIND_180_180>(),
-                    .X = MccAngle(dt.count() * std::numbers::pi / 3600.0 / 15.0).normalize<MccAngle::NORM_KIND_0_360>(),
+                                     .Y = tdata.target.DEC_APP};
-                    .Y = tdata.DEC_APP};
                 mcc_tp2tp(tdata.time_point + tp_dt, pt.time_point);
 
                 point->time_point = pt.time_point;
@@ -151,57 +256,100 @@ public:
 
                 auto ret = controls->transformCoordinates(std::move(pt), point);
                 if (ret) {
-                    return mcc_deduce_error<error_t>(ret, MccSimpleTrackingModelErrorCode::ERROR_CCTE);
+                    return mcc_deduce_error_code(ret, MccSimpleTrackingModelErrorCode::ERROR_CCTE);
                 } else {
                     MccPCMResult pcm_inv_res;
 
                     // endpoint of the mount moving
                     auto pcm_err = controls->computeInversePCM(target_in_future_pt, &pcm_inv_res, &hw_state);
                     if (pcm_err) {
-                        return mcc_deduce_error<error_t>(pcm_err, MccSimpleTrackingModelErrorCode::ERROR_PCM_COMP);
+                        return mcc_deduce_error_code(pcm_err, MccSimpleTrackingModelErrorCode::ERROR_PCM_COMP);
                     }
 
-                    mcc_tp2tp(tdata.time_point, hw_state.time_point);
+                    mcc_tp2tp(tdata.time_point + tp_dt, hw_state.time_point);
                 }
 
                 return MccSimpleTrackingModelErrorCode::ERROR_OK;
             };
 
 
-            auto pz_err = update_pzones_ipoint();
+            pz_err = update_pzones_ipoint();
             if (pz_err) {
                 *_stopTracking = true;
-                return mcc_deduce_error<error_t>(pz_err, MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
+                return mcc_deduce_error_code(pz_err, MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
             }
 
-            hw_state.moving_state = CONTROLS_T::hardware_moving_state_t::HW_MOVE_Tracking;
+            hw_state.moving_state = CONTROLS_T::hardware_moving_state_t::HW_MOVE_TRACKING;
 
             {
                 std::lock_guard lock{*_currentParamsMutex};
 
+                mcc_copy_eqt_hrz_coord(tdata, &tdata.target);
+
                 auto ccte_err = target_point(&target_in_future_pt);
                 if (ccte_err) {
                     *_stopTracking = true;
-                    return mcc_deduce_error(ccte_err, MccSimpleTrackingModelErrorCode::ERROR_CCTE);
+                    return mcc_deduce_error_code(ccte_err, MccSimpleTrackingModelErrorCode::ERROR_CCTE);
                 }
 
                 if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
                     hw_state.speedX = _currentParams.trackSpeedX;
                     hw_state.speedY = _currentParams.trackSpeedY;
                 }
+
+                logger.logTrace("The updated target point:");
+                if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
+                    logger.logTrace("    HA, DEC: {} {}", MccAngle(target_in_future_pt.X).sexagesimal(true),
+                                    MccAngle(target_in_future_pt.Y).sexagesimal());
+                } else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
+                    logger.logTrace("    AZ, ZD: {} {}", MccAngle(target_in_future_pt.X).sexagesimal(),
+                                    MccAngle(target_in_future_pt.Y).sexagesimal());
+                } else {
+                    static_assert(false, "UNKNOWN MOUNT TYPE!");
+                }
+
+                if (!_currentParams.trackingPathFilename.empty()) {  // open tracking trajectory file
+                    fst.open(_currentParams.trackingPathFilename);
+                    if (fst.is_open()) {
+                        store_path = true;
+                        logger.logInfo("    timesift: {} millisecs", _currentParams.timeShiftToTargetPoint.count());
+                        logger.logInfo("    min time to pzone: {} secs", _currentParams.minTimeToPZone.count());
+
+                        fst << "# \n";
+                        fst << "# Tracking trajectory, " << std::chrono::system_clock::now() << "\n";
+                        fst << "# Config:\n";
+                        fst << "#     timeshift: " << _currentParams.timeShiftToTargetPoint.count() << " millisecs\n";
+                        fst << "#     min time to pzone: " << _currentParams.minTimeToPZone.count() << " secs\n";
+                        fst << "# \n";
+                        fst << "# Format (time is in seconds, coordinates are in radians): \n";
+                        fst << "#     <time-since-start> <target X> <target Y> <mount X> <mount Y> <dX_{target-mount}> "
+                               "<dY_{target-mount}> <moving state>\n";
+
+                    } else {
+                        logger.logError(std::format("Cannot open tracking path file: {}! Do not save it!",
+                                                    _currentParams.trackingPathFilename));
+                    }
+                }
             }
 
             // move mount
+            logger.logDebug(std::format("Send to hardware: X = {} degs, Y = {} degs",
+                                        mcc::MccAngle{hw_state.X}.degrees(), mcc::MccAngle{hw_state.Y}.degrees()));
+
             auto hw_err = controls->hardwareSetState(hw_state);
             if (hw_err) {
                 *_stopTracking = true;
-                return mcc_deduce_error<error_t>(hw_err, MccSimpleTrackingModelErrorCode::ERROR_HW_SETSTATE);
+                return mcc_deduce_error_code(hw_err, MccSimpleTrackingModelErrorCode::ERROR_HW_SETSTATE);
             }
 
+            logger.logDebug("    the 'hardwareSetState' method performed successfully!");
+
 
             std::chrono::steady_clock::time_point last_corr_tp, last_ipzone_update_tp;
+            last_corr_tp = std::chrono::steady_clock::now();
+            last_ipzone_update_tp = last_corr_tp;
 
-            while (*_stopTracking) {
+            while (!*_stopTracking) {
                 // wait for updated telemetry data
                 {
                     std::lock_guard lock{*_currentParamsMutex};
@@ -210,61 +358,129 @@ public:
 
                     if (t_err) {
                         *_stopTracking = true;
-                        return mcc_deduce_error<error_t>(t_err, MccSimpleTrackingModelErrorCode::ERROR_GET_TELEMETRY);
+                        return mcc_deduce_error_code(t_err, MccSimpleTrackingModelErrorCode::ERROR_GET_TELEMETRY);
                     }
                 }
 
+                if (store_path) {
+                    fst << std::chrono::duration_cast<path_tp_t>(tdata.time_point - start_point).count() << " "
+                        << tdata.target.HA << " " << tdata.target.DEC_APP << " " << tdata.HA << " " << tdata.DEC_APP
+                        << " " << (tdata.target.HA - tdata.HA) << " " << (tdata.target.DEC_APP - tdata.DEC_APP) << " "
+                        << (int)hw_state.moving_state << "\n";
+                }
+
+
+                if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
+                    logger.logTrace(std::format("    current target: HA = {}, DEC = {}",
+                                                mcc::MccAngle(tdata.target.HA).sexagesimal(true),
+                                                mcc::MccAngle(tdata.target.DEC_APP).sexagesimal()));
+                    logger.logTrace(std::format("    current mount:  HA = {}, DEC = {}",
+                                                mcc::MccAngle(tdata.HA).sexagesimal(true),
+                                                mcc::MccAngle(tdata.DEC_APP).sexagesimal()));
+                } else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
+                    logger.logTrace(std::format("    target: AZ = {}, ZD = {}",
+                                                mcc::MccAngle(tdata.target.AZ).sexagesimal(),
+                                                mcc::MccAngle(tdata.target.ZD).sexagesimal()));
+                    logger.logTrace(std::format("    mount:  AZ = {}, ZD = {}", mcc::MccAngle(tdata.AZ).sexagesimal(),
+                                                mcc::MccAngle(tdata.ZD).sexagesimal()));
+                }
+
+                logger.logTrace(std::format("    mount:  speedX = {}/s, speedY = {}/s",
+                                            mcc::MccAngleFancyString(tdata.speedX),
+                                            mcc::MccAngleFancyString(tdata.speedY)));
+
+
                 if (*_stopTracking) {
                     break;
                 }
 
                 // control prohibited zones
-                if (mcc_is_near_pzones(controls, tdata, _currentParams.minTimeToPZone, pz_err)) {
+                // if (mcc_is_near_pzones(controls, tdata, _currentParams.minTimeToPZone, pz_err)) {
-                    *_stopTracking = true;
+                //     logger.logError("Mount is near zone!");
-                    return MccSimpleTrackingModelErrorCode::ERROR_NEAR_PZONE;
+                //     *_stopTracking = true;
-                }
+                //     return MccSimpleTrackingModelErrorCode::ERROR_NEAR_PZONE;
-                if (pz_err) {
+                // }
-                    *_stopTracking = true;
+                // if (pz_err) {
-                    return mcc_deduce_error<error_t>(pz_err,
+                //     *_stopTracking = true;
-                                                     MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
+                //     return mcc_deduce_error_code(pz_err,
-                }
+                //     MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
+                // }
 
                 if (*_stopTracking) {
                     break;
                 }
 
-                {
+                // {
-                    std::lock_guard lock{*_currentParamsMutex};
+                //     std::lock_guard lock{*_currentParamsMutex};
-                    auto now = std::chrono::steady_clock::now();
+                //     auto now = std::chrono::steady_clock::now();
 
-                    if ((now - last_corr_tp) < _currentParams.trackingCycleInterval) {
+                //     if ((now - last_corr_tp) > _currentParams.trackingCycleInterval) {
-                        continue;
+                //         // update prohibited zones intersection point
-                    }
+                //         if ((now - last_ipzone_update_tp) < _currentParams.updatingPZoneInterval) {
+                //             pz_err = update_pzones_ipoint();
+                //             if (pz_err) {
+                //                 *_stopTracking = true;
+                //                 return mcc_deduce_error_code(
+                //                     pz_err, MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
+                //             }
+                //         }
 
-                    // update prohibited zones intersection point
+                //         // compute new target-in-future point
-                    if ((now - last_ipzone_update_tp) < _currentParams.updatingPZoneInterval) {
+                //         auto ccte_err = target_point(&target_in_future_pt);
-                        pz_err = update_pzones_ipoint();
+                //         if (ccte_err) {
-                        if (pz_err) {
+                //             *_stopTracking = true;
-                            *_stopTracking = true;
+                //             return mcc_deduce_error_code(ccte_err, MccSimpleTrackingModelErrorCode::ERROR_CCTE);
-                            return mcc_deduce_error<error_t>(
+                //         }
-                                pz_err, MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
+
-                        }
+                //         logger.logTrace("The updated target point:");
-                    }
+                //         if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
+                //             logger.logTrace("    HA, DEC: {} {}", MccAngle(target_in_future_pt.X).sexagesimal(true),
+                //                             MccAngle(target_in_future_pt.Y).sexagesimal());
+                //         } else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
+                //             logger.logTrace("    AZ, ZD: {} {}", MccAngle(target_in_future_pt.X).sexagesimal(),
+                //                             MccAngle(target_in_future_pt.Y).sexagesimal());
+                //         } else {
+                //             static_assert(false, "UNKNOWN MOUNT TYPE!");
+                //         }
+                //     }
+                // }
 
                 // compute new target-in-future point
                 auto ccte_err = target_point(&target_in_future_pt);
                 if (ccte_err) {
                     *_stopTracking = true;
-                        return mcc_deduce_error(ccte_err, MccSimpleTrackingModelErrorCode::ERROR_CCTE);
+                    return mcc_deduce_error_code(ccte_err, MccSimpleTrackingModelErrorCode::ERROR_CCTE);
                 }
+
+                logger.logTrace("The updated target point:");
+                if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
+                    logger.logTrace("    HA, DEC: {} {}", MccAngle(target_in_future_pt.X).sexagesimal(true),
+                                    MccAngle(target_in_future_pt.Y).sexagesimal());
+                } else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
+                    logger.logTrace("    AZ, ZD: {} {}", MccAngle(target_in_future_pt.X).sexagesimal(),
+                                    MccAngle(target_in_future_pt.Y).sexagesimal());
+                } else {
+                    static_assert(false, "UNKNOWN MOUNT TYPE!");
                 }
 
                 // send corrections
-                hw_state.moving_state = CONTROLS_T::hardware_moving_state_t::HW_MOVE_Tracking;
+                logger.logDebug(std::format("Send to hardware: X = {} degs, Y = {} degs",
+                                            mcc::MccAngle{hw_state.X}.degrees(), mcc::MccAngle{hw_state.Y}.degrees()));
+
+                hw_state.moving_state = CONTROLS_T::hardware_moving_state_t::HW_MOVE_TRACKING;
                 hw_err = controls->hardwareSetState(hw_state);
                 if (hw_err) {
                     *_stopTracking = true;
-                    return mcc_deduce_error<error_t>(hw_err, MccSimpleTrackingModelErrorCode::ERROR_HW_SETSTATE);
+                    return mcc_deduce_error_code(hw_err, MccSimpleTrackingModelErrorCode::ERROR_HW_SETSTATE);
+                }
+
+                logger.logDebug("    the 'hardwareSetState' method performed successfully!");
+
+
+                // sleep here
+                {
+                    std::lock_guard lock{*_currentParamsMutex};
+                    std::this_thread::sleep_for(_currentParams.trackingTelemetryInterval);
                 }
             }
 
@@ -317,6 +533,10 @@ public:
         return _currentParams;
     }
 
+    error_t trackinLastError() const
+    {
+        return _lastError;
+    }
 
 protected:
     std::function<error_t()> _trackingFunc{};
@@ -324,6 +544,8 @@ protected:
 
     tracking_params_t _currentParams{};
     std::unique_ptr<std::mutex> _currentParamsMutex{};
+
+    error_t _lastError;
 };
 
 }  // namespace mcc

mcc/mcc_traits.h

@@ -23,6 +23,11 @@ template <typename R>
 concept mcc_char_view = std::ranges::view<R> && std::same_as<std::ranges::range_value_t<R>, char>;
 
 
+// range of char/const char
+template <typename R, typename CharT = char>
+concept mcc_char_range = std::ranges::range<R> && std::same_as<std::remove_cv_t<std::ranges::range_value_t<R>>, CharT>;
+
+
 // input range of char/const char
 template <typename R, typename CharT = char>
 concept mcc_input_char_range =
@@ -39,6 +44,9 @@ template <typename R>
 concept mcc_view_or_output_char_range = mcc_char_view<R> || mcc_output_char_range<R>;
 
 
+template <typename R>
+concept mcc_range_of_char_range = std::ranges::range<R> && mcc_char_range<std::ranges::range_value_t<R>>;
+
 template <typename R>
 concept mcc_range_of_input_char_range =
     std::ranges::range<R> && traits::mcc_input_char_range<std::ranges::range_value_t<R>>;
@@ -165,6 +173,15 @@ using mcc_func_argN_t = std::conditional_t<N >= mcc_func_traits<T>::arity,
                                            void>;
 
 
+// std::array
+template <typename T>
+concept mcc_array_c = requires(T t) {
+    []<typename VT, size_t N>(std::array<VT, N>) {
+
+    }(t);
+};
+
+
 // non-const lvalue reference, constructible from CtorArgTs (an output argument of function)
 template <typename T, typename... CtorArgTs>
 concept mcc_output_arg_c = !std::is_const_v<std::remove_reference_t<T>> && std::is_lvalue_reference_v<T> &&

mcc/mcc_utils.h

@@ -3,10 +3,12 @@
 #include <charconv>
 #include <cmath>
 #include <cstring>
+#include <expected>
 #include <format>
 #include <numbers>
 #include <ranges>
 #include <regex>
+#include "mcc_traits.h"
 
 namespace mcc::utils
 {
@@ -14,7 +16,8 @@ namespace mcc::utils
 static const std::regex decimalNumberRx{" *[-+]?([0-9]*[.])?[0-9]+([eE][-+]?[0-9]+)? *"};
 static const std::regex sexagesimalReprRx{" *[-+]?[0-9]{1,2}:[0-9]{1,2}:([0-9]{0,2}[.])?[0-9]+ *"};
 
-static bool isEqual(std::floating_point auto const& v1, std::floating_point auto const& v2)
+
+constexpr static bool isEqual(std::floating_point auto const& v1, std::floating_point auto const& v2)
 {
     constexpr auto eps = std::numeric_limits<std::common_type_t<decltype(v1), decltype(v2)>>::epsilon();
 
@@ -24,7 +27,7 @@ static bool isEqual(std::floating_point auto const& v1, std::floating_point auto
 enum class TrimType { TRIM_LEFT, TRIM_RIGHT, TRIM_BOTH };
 
 template <std::ranges::contiguous_range R>
-static std::string_view trimSpaces(R&& r, TrimType type = TrimType::TRIM_BOTH)
+constexpr static std::string_view trimSpaces(R&& r, TrimType type = TrimType::TRIM_BOTH)
     requires std::same_as<char, std::remove_cvref_t<std::ranges::range_value_t<R>>>
 {
     auto is_space = [](const auto& ch) { return ch == ' '; };
@@ -57,7 +60,7 @@ static std::string_view trimSpaces(R&& r, TrimType type = TrimType::TRIM_BOTH)
     return std::string_view(f1, f2);
 }
 
-static std::string_view trimSpaces(const char* r, TrimType type = TrimType::TRIM_BOTH)
+constexpr static std::string_view trimSpaces(const char* r, TrimType type = TrimType::TRIM_BOTH)
 {
     return trimSpaces(std::string_view(r), type);
 }
@@ -155,7 +158,7 @@ static std::optional<double> parsAngleString(R&& r, bool hms = false)
     return std::nullopt;
 }
 
-static std::optional<double> parsAngleString(const char* s, bool hms = false)
+[[maybe_unused]] static std::optional<double> parsAngleString(const char* s, bool hms = false)
 {
     return parsAngleString(std::span{s, std::strlen(s)}, hms);
 }
@@ -241,6 +244,10 @@ static R rad2sxg(double ang, bool hms = false, int prec = 2)
         term *= 10.0;
     }
 
+    // round to given precision of arcseconds/seconds
+    degs = std::round(degs * 3600.0 * term) / term / 3600.0;
+
+
     auto d = std::trunc(degs);
     auto s = (degs - d) * 60.0;
     auto m = std::trunc(s);
@@ -258,8 +265,10 @@ static R rad2sxg(double ang, bool hms = false, int prec = 2)
     }
 
     if (ang < 0) {
+        if (!isEqual(d, 0.0) || !isEqual(m, 0.0) || !isEqual(s, 0.0)) {
             std::ranges::copy(std::string_view("-"), std::back_inserter(res));
         }
+    }
 
     std::vformat_to(std::back_inserter(res), std::string_view{fmt.begin(), fmt.end()}, std::make_format_args(d, m, s));
 
@@ -313,4 +322,429 @@ static std::string AZZD_rad2sxg(double az, double zd, std::string_view delim = "
 }
 
 
+// string to pair of angles
+// " 12.3453467,102.4345346"
+// "12:43:23.423,  102:43:12.124"
+// "  12.3453467, 102:43:12.124  "
+template <mcc::traits::mcc_input_char_range R>
+std::pair<double, double> parseAnglePair(R&& str, bool hms1 = false, bool hms2 = false, std::string_view delim = ",")
+{
+    std::pair<double, double> res{std::numeric_limits<double>::quiet_NaN(), std::numeric_limits<double>::quiet_NaN()};
+    auto found1 = std::ranges::search(std::forward<R>(str), delim);
+
+    if (found1.empty()) {
+        return res;
+    }
+
+    std::string s1, s2;
+    std::ranges::copy(str.begin(), found1.begin(), std::back_inserter(s1));
+
+    auto rem_len = std::distance(found1.end(), str.end());
+    if (!rem_len) {
+        return res;
+    }
+
+    auto found2 = std::ranges::search(found1.end(), str.end(), delim.begin(), delim.end());
+    if (found2.empty()) {
+        std::ranges::copy(found1.end(), str.end(), std::back_inserter(s2));
+    } else {
+        std::ranges::copy(found1.end(), found2.end(), std::back_inserter(s2));
+    }
+
+    auto vo1 = parsAngleString(s1, hms1);
+    if (vo1) {
+        auto vo2 = parsAngleString(s2, hms2);
+        if (vo2) {
+            res = {vo1.value(), vo2.value()};
+        }
+    }
+
+    return res;
+}
+
+
+template <traits::mcc_input_char_range R>
+static constexpr size_t FNV1aHash(const R& r)
+{
+    static_assert(sizeof(size_t) == 8 || sizeof(size_t) == 4, "ONLY FOR 32 or 64-bit size_t!!!");
+
+    size_t hash = 0, prime = 0;
+    if constexpr (sizeof(size_t) == 8) {  // 64-bit
+        prime = 1099511628211UL;
+        hash = 14695981039346656037UL;
+    } else if constexpr (sizeof(size_t) == 4) {  // 32-bit
+        prime = 16777619;
+        hash = 2166136261;
+    }
+
+    for (const char& ch : r) {
+        hash ^= ch;
+        hash *= prime;
+    }
+
+    return hash;
+}
+
+static constexpr size_t FNV1aHash(std::forward_iterator auto begin, std::sentinel_for<decltype(begin)> auto end)
+    requires std::same_as<std::remove_cv_t<std::iter_value_t<decltype(begin)>>, char>
+{
+    static_assert(sizeof(size_t) == 8 || sizeof(size_t) == 4, "ONLY FOR 32 or 64-bit size_t!!!");
+
+    size_t hash = 0, prime = 0;
+    if constexpr (sizeof(size_t) == 8) {  // 64-bit
+        prime = 1099511628211UL;
+        hash = 14695981039346656037UL;
+    } else if constexpr (sizeof(size_t) == 4) {  // 32-bit
+        prime = 16777619;
+        hash = 2166136261;
+    }
+
+    for (auto it = begin; it != end; ++it) {
+        hash ^= *it;
+        hash *= prime;
+    }
+
+    return hash;
+}
+
+
+class MccSimpleDeserializer
+{
+public:
+    static constexpr std::string_view RANGE_DELIM_SEQ = ",";
+
+    MccSimpleDeserializer() : _rangeDelim(RANGE_DELIM_SEQ) {}
+
+    template <traits::mcc_input_char_range R>
+    MccSimpleDeserializer(R&& r) : MccSimpleDeserializer()
+    {
+        setRangeDelim(std::forward<R>(r));
+    }
+
+    template <traits::mcc_input_char_range R>
+    MccSimpleDeserializer& setRangeDelim(R&& r)
+    {
+        if (std::ranges::size(std::forward<R>(r))) {
+            _rangeDelim.clear();
+            std::ranges::copy(std::forward<R>(r), std::back_inserter(_rangeDelim));
+        }
+
+        return *this;
+    }
+
+    template <traits::mcc_output_char_range R>
+    R getRangeDelim() const
+    {
+        R r;
+
+        std::ranges::copy(_rangeDelim, std::back_inserter(r));
+
+        return r;
+    }
+
+    std::string getRangeDelim() const
+    {
+        return getRangeDelim<std::string>();
+    }
+
+    template <traits::mcc_input_char_range IR, typename VT>
+    std::error_code operator()(IR&& bytes, VT& value) const
+    {
+        std::error_code ret{};
+
+        if constexpr (std::is_arithmetic_v<VT>) {
+            auto v = mcc::utils::numFromStr<VT>(trimSpaces(bytes));
+            if (!v.has_value()) {
+                return std::make_error_code(std::errc::invalid_argument);
+            }
+
+            value = v.value();
+        } else if constexpr (mcc::traits::mcc_output_char_range<VT>) {
+            VT r;
+            if constexpr (traits::mcc_array_c<VT>) {
+                size_t N =
+                    std::ranges::size(r) <= std::ranges::size(bytes) ? std::ranges::size(r) : std::ranges::size(bytes);
+
+                for (size_t i = 0; i < N; ++i) {
+                    r[i] = bytes[i];
+                }
+                if (std::ranges::size(r) > N) {
+                    for (size_t i = N; i < std::ranges::size(r); ++i) {
+                        r[i] = '\0';
+                    }
+                }
+            } else {
+                std::ranges::copy(bytes, std::back_inserter(r));
+            }
+            value = r;
+        } else if constexpr (std::ranges::range<VT>) {
+            using el_t = std::ranges::range_value_t<VT>;
+
+            if constexpr (std::is_reference_v<el_t> || std::is_const_v<el_t>) {  // no reference or constants allowed
+                return std::make_error_code(std::errc::invalid_argument);
+            }
+
+            VT r;
+            el_t elem;
+            size_t i = 0;
+
+            if (trimSpaces(bytes).size()) {
+                auto els = std::views::split(bytes, _rangeDelim);
+
+                for (auto const& el : els) {
+                    ret = (*this)(std::string_view(el), elem);
+                    if (!ret) {
+                        if constexpr (traits::mcc_array_c<VT>) {
+                            if (i < std::ranges::size(r)) {
+                                r[i] = elem;
+                            }
+                            ++i;
+                        } else {
+                            std::back_inserter(r) = elem;
+                        }
+                    } else {
+                        return std::make_error_code(std::errc::invalid_argument);
+                    }
+                }
+            }
+
+            value = r;
+        } else if constexpr (mcc::traits::mcc_time_duration_c<VT>) {
+            typename VT::rep vd;
+
+            ret = (*this)(trimSpaces(bytes), vd);
+            if (!ret) {
+                value = VT{vd};
+            }
+        } else {
+            ret = std::make_error_code(std::errc::invalid_argument);
+        }
+
+        return ret;
+    }
+
+protected:
+    std::string _rangeDelim;
+};
+
+
+/*    key-value pair holder    */
+
+// to follow std::variant requirements (not references, not array, not void)
+template <typename T>
+concept variant_valid_type_c = requires { !std::is_array_v<T> && !std::is_void_v<T> && !std::is_reference_v<T>; };
+
+
+template <typename T>
+concept keyvalue_record_c = requires(T t) {
+    requires std::same_as<decltype(t.key), std::string_view>;
+    requires variant_valid_type_c<decltype(t.value)>;
+};
+
+
+template <typename T>
+concept keyvalue_desc_c = requires(T t) { []<keyvalue_record_c... Ts>(std::tuple<Ts...>) {}(t); };
+
+
+template <keyvalue_desc_c DESCR_T>
+class KeyValueHolder
+{
+public:
+    static constexpr std::string_view COMMENT_SEQ{"#"};
+    static constexpr std::string_view KEY_VALUE_DELIM{"="};
+    static constexpr std::string_view VALUE_ARRAY_DELIM{","};
+
+    inline static auto defaultDeserializeFunc = []<typename VT>(this auto&& self, std::string_view str, VT& value) {
+        std::error_code ret{};
+
+        if constexpr (std::is_arithmetic_v<VT>) {
+            auto v = mcc::utils::numFromStr<VT>(trimSpaces(str));
+            if (!v.has_value()) {
+                return std::make_error_code(std::errc::invalid_argument);
+            }
+
+            value = v.value();
+        } else if constexpr (mcc::traits::mcc_output_char_range<VT>) {
+            VT r;
+            std::ranges::copy(str, std::back_inserter(r));
+            value = r;
+        } else if constexpr (std::ranges::range<VT>) {
+            using el_t = std::ranges::range_value_t<VT>;
+
+            if constexpr (std::is_reference_v<el_t> || std::is_const_v<el_t>) {  // no reference or constants allowed
+                return std::make_error_code(std::errc::invalid_argument);
+            }
+
+            VT r;
+            el_t elem;
+
+            auto els = std::views::split(str, VALUE_ARRAY_DELIM);
+
+            for (auto const& el : els) {
+                ret = std::forward<decltype(self)>(self)(std::string_view(el), elem);
+                if (!ret) {
+                    std::back_inserter(r) = elem;
+                } else {
+                    return std::make_error_code(std::errc::invalid_argument);
+                }
+            }
+
+            value = r;
+        } else if constexpr (mcc::traits::mcc_time_duration_c<VT>) {
+            typename VT::rep vd;
+
+            ret = std::forward<decltype(self)>(self)(trimSpaces(str), vd);
+            if (!ret) {
+                value = VT{vd};
+            }
+        } else {
+            ret = std::make_error_code(std::errc::invalid_argument);
+        }
+
+        return ret;
+    };
+
+    KeyValueHolder(DESCR_T desc) : _keyValue(desc)
+    {
+        [this]<size_t... I>(std::index_sequence<I...>) {
+            ((_hashes[I] = FNV1aHash(std::get<I>(_keyValue).key)), ...);
+        }(std::make_index_sequence<std::tuple_size_v<DESCR_T>>());
+    }
+
+    template <typename T>
+    std::expected<T, std::error_code> getValue(std::string_view key) const
+    {
+        T v;
+        auto err = forKey(key, [&v]<typename VT>(const VT& val) {
+            if constexpr (std::convertible_to<VT, T>) {
+                v = val;
+                return std::error_code();
+            } else {
+                return std::make_error_code(std::errc::invalid_argument);
+            }
+        });
+
+        if (err) {
+            return std::unexpected(err);
+        } else {
+            return v;
+        }
+    }
+
+    template <typename T>
+    std::error_code setValue(std::string_view key, const T& value)
+    {
+        return forKey(key, [value]<typename VT>(VT& val) {
+            if constexpr (std::convertible_to<T, VT>) {
+                val = value;
+                return std::error_code();
+            } else if constexpr (std::constructible_from<VT, T>) {
+                val = VT(value);
+                return std::error_code();
+            } else {
+                return std::make_error_code(std::errc::invalid_argument);
+            }
+        });
+    }
+
+
+    template <std::ranges::contiguous_range R, std::ranges::input_range RecDelimT = std::string_view>
+    std::error_code fromCharRange(const R& buffer, RecDelimT rec_delim = std::string_view("\n"))
+    {
+        // return fromCharRange(buffer, KeyValueHolder::defaultDeserializeFunc, std::move(rec_delim));
+        return fromCharRange(buffer, MccSimpleDeserializer{}.setRangeDelim(VALUE_ARRAY_DELIM), std::move(rec_delim));
+    }
+
+    template <std::ranges::contiguous_range R,
+              typename DeserFuncT,
+              std::ranges::input_range RecDelimT = std::string_view>
+    std::error_code fromCharRange(const R& buffer,
+                                  DeserFuncT&& deser_func,
+                                  RecDelimT rec_delim = std::string_view("\n"))
+    {
+        // static_assert(mcc::traits::mcc_callable_c<std::decay_t<DeserFuncT>>, "!!!!!!!");
+
+        if constexpr (std::is_array_v<std::decay_t<R>>) {  // char*, const char*
+            if constexpr (std::is_array_v<std::decay_t<RecDelimT>>) {
+                return fromCharRange(std::string_view{buffer}, std::forward<DeserFuncT>(deser_func),
+                                     std::string_view(rec_delim));
+            } else {
+                return fromCharRange(std::string_view{buffer}, std::forward<DeserFuncT>(deser_func),
+                                     std::move(rec_delim));
+            }
+        } else {
+            if constexpr (std::is_array_v<std::decay_t<RecDelimT>>) {
+                return fromCharRange(buffer, std::forward<DeserFuncT>(deser_func), std::string_view(rec_delim));
+            }
+        }
+
+
+        std::error_code ec{};
+        std::string_view rec, key, value;
+
+
+        auto recs = std::views::split(buffer, std::move(rec_delim));
+        for (auto const& el : recs) {
+            rec = mcc::utils::trimSpaces(el, TrimType::TRIM_LEFT);
+
+            if (rec.size()) {
+                auto found = std::ranges::search(rec, COMMENT_SEQ);
+                if (found.begin() != rec.end()) {  // there was the comment sequence in record
+                    rec = std::string_view(rec.begin(), found.begin());
+                }
+
+                if (rec.size()) {
+                    found = std::ranges::search(rec, KEY_VALUE_DELIM);
+                    if (found.begin() != rec.begin()) {  // ignore an empty key
+                        key = trimSpaces(std::string_view(rec.begin(), found.begin()), TrimType::TRIM_RIGHT);
+                        value = std::string_view(found.end(), rec.end());
+
+                        ec = forKey(key, [value, &deser_func]<typename VT>(VT& v) { return deser_func(value, v); });
+                    }
+                }  // just comment string starting from the beginning, just skip it (no error)
+
+            }  // empty record, just skip it (no error)
+
+            if (ec) {
+                break;
+            }
+        }
+
+        return ec;
+    }
+
+protected:
+    DESCR_T _keyValue;
+
+    std::array<size_t, std::tuple_size_v<DESCR_T>> _hashes;
+
+
+    //
+    //  NOTE: deduced this is needed here to use "forKey" method in getter and setter (const and non-const contexts)!!!
+    //
+
+    std::error_code forKey(this auto&& self, std::string_view key, auto&& func)
+    {
+        return std::forward<decltype(self)>(self).template forHash<0>(FNV1aHash(key),
+                                                                      std::forward<decltype(func)>(func));
+    }
+
+
+    template <size_t I = 0>
+    std::error_code forHash(this auto&& self, size_t hash, auto&& func)
+    {
+        if constexpr (I < std::tuple_size_v<DESCR_T>) {
+            if (hash == std::forward<decltype(self)>(self)._hashes[I]) {
+                return std::forward<decltype(func)>(func)(
+                    std::get<I>(std::forward<decltype(self)>(self)._keyValue).value);
+            } else {
+                return std::forward<decltype(self)>(self).template forHash<I + 1>(hash,
+                                                                                  std::forward<decltype(func)>(func));
+            }
+        }
+
+        return std::make_error_code(std::errc::argument_out_of_domain);
+    }
+};
+
 }  // namespace mcc::utils

mcc/tests/ccte_test.cpp

@@ -20,7 +20,7 @@ int main()
     auto now = std::chrono::system_clock::now();
 
     mcc::MccCelestialPoint cp{
-        .pair_kind = mcc::MccCoordPairKind::COORDS_KIND_RADEC_ICRS, .X = "10:20:30.44"_hms, .Y = "20:30:40.55"_dms};
+        .pair_kind = mcc::MccCoordPairKind::COORDS_KIND_RADEC_ICRS, .X = "17:20:30.44"_hms, .Y = "20:30:40.55"_dms};
 
     mcc::MccEqtHrzCoords eqhrz;
     eqhrz.time_point = now;
@@ -140,5 +140,68 @@ int main()
     erfa.refractionCorrection(cp, &dZ);
     std::cout << "dZ(" << mcc::MccAngle(cp.Y).degrees() << ") = " << mcc::MccAngle(dZ).arcsecs() << "\n";
 
+
+    std::cout << "\n\n";
+
+    // std::string sc2{"   11:34:21.21   ,   104.4567892"};
+    std::string sc2{"   11:34:21.21   ,   1.044567892E02"};
+
+    auto p2 = mcc::utils::parseAnglePair(sc2);
+
+    std::cout << "ORIG STR: '" << sc2 << "'\n";
+    std::cout << p2.first << "; " << p2.second << "\n";
+    mcc::MccAngle a1{p2.first, mcc::MccDegreeTag{}};
+    mcc::MccAngle a2{p2.second, mcc::MccDegreeTag{}};
+
+    std::cout << a1.sexagesimal() << "\n" << a2.sexagesimal() << "\n";
+
+
+    std::cout << "\n\n";
+
+    std::memset(&eqhrz, 0, sizeof(eqhrz));
+
+    eqhrz.X = "12:13:10.08"_hms;
+    eqhrz.Y = "0:07:39.5"_dms;
+
+    eqhrz.X = "00:00:0.0"_hms;
+    eqhrz.Y = "00:00:00.0"_dms;
+    // eqhrz.pair_kind = mcc::MccCoordPairKind::COORDS_KIND_RADEC_APP;
+    // eqhrz.pair_kind = mcc::MccCoordPairKind::COORDS_KIND_RADEC_ICRS;
+    eqhrz.pair_kind = mcc::MccCoordPairKind::COORDS_KIND_AZZD;
+
+    eqhrz.time_point = std::chrono::system_clock::now();
+    erfa.transformCoordinates(eqhrz, &eqhrz);
+
+    // std::cout << "RA_ICRS = " << mcc::MccAngle(cp.X).sexagesimal(true) << "\n";
+    // std::cout << "DEC_ICRS = " << mcc::MccAngle(cp.Y).sexagesimal() << "\n\n";
+
+    std::cout << "time point = " << eqhrz.time_point << "\n";
+    std::cout << "RA_ICRS = " << mcc::MccAngle(eqhrz.RA_ICRS).sexagesimal(true) << "\n";
+    std::cout << "DEC_ICRS = " << mcc::MccAngle(eqhrz.DEC_ICRS).sexagesimal() << "\n";
+    std::cout << "RA_APP = " << mcc::MccAngle(eqhrz.RA_APP).sexagesimal(true) << "\n";
+    std::cout << "DEC_APP = " << mcc::MccAngle(eqhrz.DEC_APP).sexagesimal() << "\n";
+    std::cout << "HA = " << mcc::MccAngle(eqhrz.HA).sexagesimal(true) << "\n";
+    std::cout << "AZ = " << mcc::MccAngle(eqhrz.AZ).sexagesimal() << "\n";
+    std::cout << "ZD = " << mcc::MccAngle(eqhrz.ZD).sexagesimal() << "\n";
+    std::cout << "ALT = " << mcc::MccAngle(eqhrz.ALT).sexagesimal() << "\n";
+
+
+
+    // std::cout << "\n";
+    // std::cout << "\n";
+
+    // state.meteo = {10.0, 0.5, 0.0}; // refraction must be 0!!!
+    // erfa.setStateERFA(state);
+
+    // eqhrz.X = "00:00:0.0"_hms;
+    // eqhrz.Y = "60:00:00.0"_dms;
+
+
+    // // restore useful quantities
+    // state.meteo = {10.0, 0.5, 1010.0};
+    // erfa.setStateERFA(state);
+
+
+
     return 0;
 }

mcc/tests/mcc_coord_test.cpp

@@ -0,0 +1,85 @@
+#include <iostream>
+
+#include "../mcc_ccte_erfa_new.h"
+#include "../mcc_coord.h"
+
+using namespace mcc;
+
+typedef MccGenericSkyPoint<mcc::ccte::erfa::MccCCTE_ERFA> skypt_t;
+
+
+static skypt_t::ccte_t::engine_state_t saoras{.meteo{.temperature = 0.0, .humidity = 0.5, .pressure = 1010.0},
+                                              .wavelength = 0.5,
+                                              .lat = 43.646711_degs,
+                                              .lon = 41.440732_degs,
+                                              .elev = 2100.0};
+
+// skypt_t::cctEngine.setStateERFA(saoras);
+
+static_assert(mcc_angle_c<double>, "!!!!!!!!!!!!");
+
+int main()
+{
+    skypt_t::cctEngine.setStateERFA(saoras);
+
+    skypt_t pt;
+    MccSkyRADEC_ICRS icrs(0.0, 70.0_degs);
+
+    pt = icrs;
+
+    MccSkyRADEC_OBS radec_obs{0.0, 0.0};
+    MccSkyRADEC_APP radec_app;
+    MccSkyAZALT azalt{0, 0};
+    MccSkyAZZD azzd{0, 0};
+    MccSkyHADEC_OBS hadec_obs;
+    MccAngle eo, lst;
+
+    skypt_t::cctEngine.equationOrigins(radec_obs.epoch(), &eo);
+    skypt_t::cctEngine.apparentSideralTime(radec_obs.epoch(), &lst, true);
+    std::cout << "EO  = " << eo.sexagesimal(true) << "\n";
+    std::cout << "LST = " << lst.sexagesimal(true) << "\n\n";
+
+    pt.to(radec_obs, azalt, azzd, radec_app);
+
+    std::cout << "FROM ICRS TO OBSERVED:\n";
+    std::cout << "RA_ICRS  = " << icrs.x().sexagesimal(true) << "\n";
+    std::cout << "DEC_ICRS = " << icrs.y().sexagesimal() << "\n";
+    std::cout << "OBS COORD EPOCH: " << radec_obs.epoch().UTC() << "\n";
+    std::cout << "RA_OBS  = " << radec_obs.x().sexagesimal(true) << "\n";
+    std::cout << "DEC_OBS = " << radec_obs.y().sexagesimal() << "\n";
+    std::cout << "AZ      = " << azalt.x().sexagesimal() << "\n";
+    std::cout << "ALT     = " << azalt.y().sexagesimal() << "\n";
+    std::cout << "ZD      = " << azzd.y().sexagesimal() << "\n";
+    std::cout << "RA_APP  = " << radec_app.x().sexagesimal(true) << "\n";
+    std::cout << "DEC_APP = " << radec_app.y().sexagesimal() << "\n";
+
+
+    // radec_obs = {10.2387983_degs, "43:21:34.5465"_dms};
+    icrs.setX(111.0_degs), icrs.setY(111.0_degs);
+    azzd.setX(111.0_degs), azzd.setY(111.0_degs);
+    azalt.setX(111.0_degs), azalt.setY(111.0_degs);
+    hadec_obs.setX(111.0_degs), hadec_obs.setY(111.0_degs);
+
+    pt = radec_obs;
+    pt.to(icrs, azzd, hadec_obs);
+
+    std::cout << "\n\nFROM OBSERVED TO ICRS:\n";
+    std::cout << "OBS COORD EPOCH: " << radec_obs.epoch().UTC() << "\n";
+    std::cout << "RA_OBS  = " << radec_obs.x().sexagesimal(true) << "\n";
+    std::cout << "DEC_OBS = " << radec_obs.y().sexagesimal() << "\n";
+    std::cout << "RA_ICRS  = " << icrs.x().sexagesimal(true) << "\n";
+    std::cout << "DEC_ICRS = " << icrs.y().sexagesimal() << "\n";
+
+    std::cout << "\n\nFROM OBSERVED TO OBSERVED:\n";
+    std::cout << "OBS COORD EPOCH: " << radec_obs.epoch().UTC() << "\n";
+    std::cout << "RA_OBS  = " << radec_obs.x().sexagesimal(true) << "\n";
+    std::cout << "DEC_OBS = " << radec_obs.y().sexagesimal() << "\n";
+    std::cout << "HA_OBS  = " << hadec_obs.x().sexagesimal(true) << "\n";
+    std::cout << "AZ      = " << azzd.x().sexagesimal() << "\n";
+    std::cout << "ZD      = " << azzd.y().sexagesimal() << "\n";
+
+    azalt = pt;
+    std::cout << "ALT     = " << azalt.y().sexagesimal() << "\n";
+
+    return 0;
+}

mcc/tests/netmsg_test.cpp

@@ -0,0 +1,130 @@
+#include <iostream>
+#include <list>
+
+
+#include "../mcc_defaults.h"
+#include "../mcc_netserver_proto.h"
+
+int main()
+{
+    // using msg1_t = mcc::network::MccNetMessage<mcc::network::MccNetMessageValidKeywords, std::string_view>;
+    // using msg2_t = mcc::network::MccNetMessage<mcc::network::MccNetMessageValidKeywords, std::string>;
+    using msg1_t = mcc::network::MccNetMessage<std::string_view>;
+    using msg2_t = mcc::network::MccNetMessage<std::string>;
+
+    mcc::network::MccNetMessage msg3("ACK");
+
+    std::string_view sv{"TARGET 11:22:33.212; -0.23876984;    RADEC   "};
+    std::vector<char> arr{sv.begin(), sv.end()};
+
+    msg1_t msg1;
+
+    msg1.fromCharRange(arr);
+
+    std::cout << "msg.key = <" << msg1.keyword() << ">\n";
+    std::cout << "msg.par[1] = <" << msg1.param(1) << ">\n";
+
+    std::vector<double> vd{1.1, 2.2, 3.3};
+    msg2_t msg2("ACK", 12.43298042, "EEE", std::chrono::seconds(10), vd);
+    // msg2_t msg2("ACK");
+
+    std::cout << "msg.bytes = <" << msg2.byteRepr() << ">\n";
+    std::cout << "msg.key = <" << msg2.keyword() << ">\n";
+    std::cout << "msg.par[1] = <" << msg2.param(1) << ">\n";
+    std::cout << "msg.par[2] = <" << msg2.param(2) << ">\n";
+
+    auto p2 = msg2.paramValue<std::chrono::seconds>(2);
+    std::cout << "msg.par[2] = <" << p2.value_or(std::chrono::seconds{}) << ">\n";
+
+    std::cout << "msg.par[3] = <";
+    auto p3 = msg2.paramValue<decltype(vd)>(3);
+    if (p3.has_value()) {
+        for (auto const& el : p3.value()) {
+            std::cout << el << " ";
+        }
+    }
+    std::cout << ">\n";
+
+    std::cout << "msg.par[1-2] joined = <" << msg2.params(1, 2) << ">\n";
+
+    auto vv = msg2.params<std::list<std::string_view>>(1, 3);
+    std::cout << "msg.par[1-3] array = <";
+    for (auto const& el : vv) {
+        std::cout << el << " ";
+    }
+    std::cout << ">\n";
+
+    mcc::MccCelestialPoint cpt{.pair_kind = mcc::MccCoordPairKind::COORDS_KIND_RADEC_APP,
+                               .time_point = std::chrono::system_clock::now(),
+                               .X = mcc::MccAngle("10:23:56.12331", mcc::mcc_hms),
+                               .Y = mcc::MccAngle(67.9827148715, mcc::mcc_degrees)};
+
+    // msg2.construct("ACK", "MOUNT", msg2_t::CFMT_DEGREES, msg2_t::MccNetMessageCoordPrec{2, 3}, cpt);
+    // msg2.construct("ACK", "MOUNT", mcc::network::MccNetMessageCoordPrec{2, 3}, cpt);
+    msg2.construct("ACK", "MOUNT", mcc::MccCoordinateSerializer::SerializedCoordFormat::CFMT_SGM,
+                   mcc::MccCoordinateSerializer::SexagesimalCoordPrec{3, 2}, cpt);
+    std::cout << "MSG2: " << msg2.byteRepr() << "\n";
+    auto cpt1 = msg2.paramValue<mcc::MccCelestialPoint>(1);
+    if (cpt1) {
+        std::cout << "cpt.time_point = " << cpt1.value().time_point << "\n";
+        std::cout << "cpt.X = " << cpt1.value().X << "\n";
+    }
+
+    std::cout << "\n\n\n";
+
+    mcc::MccCelestialPointSerializer cpser;
+    mcc::MccCelestialPointDeserializer cpdser;
+
+    std::string s;
+    cpser(cpt, s);
+    std::cout << "Serialized: " << s << "\n";
+
+    // auto err = cpdser(s, cpt);
+    std::error_code err = cpdser(s, cpt);
+    if (err) {
+        std::cout << "deserialization error: " << err.message() << "\n";
+    } else {
+        std::cout << "Deserialized: tp = " << cpt.time_point << "; kind = " << mcc::MccCoordPairKindToStr(cpt.pair_kind)
+                  << "\n";
+    }
+
+    std::cout << "\n\n\n";
+
+    mcc::MccCelestialCoordEpoch cep;
+
+    std::cout << "UTC: " << cep.UTC() << "\n";
+    std::cout << "MJD: " << cep.MJD() << "\n";
+    std::cout << "Epoch: " << cep.JEpoch() << "\n";
+
+    cep.fromTimePoint(std::chrono::system_clock::now());
+
+    std::cout << "\n";
+    std::cout << "UTC: " << cep.UTC() << "\n";
+    std::cout << "MJD: " << cep.MJD() << "\n";
+    std::cout << "Epoch: " << cep.JEpoch() << "\n";
+
+    cep.fromCharRange("60958.90342");
+    std::cout << "\n";
+    std::cout << "UTC: " << cep.UTC() << "\n";
+    std::cout << "MJD: " << cep.MJD() << "\n";
+    std::cout << "Epoch: " << cep.JEpoch(2) << "\n";
+
+    cep -= std::chrono::days(10);
+    std::cout << "\n";
+    std::cout << "UTC: " << cep.UTC() << "\n";
+    std::cout << "MJD: " << cep.MJD() << "\n";
+    std::cout << "Epoch: " << cep.JEpoch() << "\n";
+
+    std::cout << "\n" << (cep = mcc::MccCelestialCoordEpoch::now()).UTC() << "\n";
+    std::cout << "MJD: " << cep.MJD() << "\n";
+    std::cout << "Epoch: " << cep.JEpoch() << "\n";
+
+    auto ep1 = mcc::MccCelestialCoordEpoch::now();
+    auto ep2 = mcc::MccCelestialCoordEpoch::now();
+
+    std::cout << "\n" << std::boolalpha << (ep1 < ep2) << "\n";
+    std::cout << "\n"
+              << std::boolalpha << (mcc::MccCelestialCoordEpoch::now() != mcc::MccCelestialCoordEpoch::now()) << "\n";
+
+    return 0;
+}