.

rewrite AsibFM700ServoController methods according to new time point
representation in LibSidServo

CMakeLists.txt

@@ -13,9 +13,9 @@ 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 "Release")
-add_subdirectory(LibSidServo)
 set(CMAKE_BUILD_TYPE "Debug")
+add_subdirectory(LibSidServo)
 
 # add_subdirectory(cxx)
 add_subdirectory(mcc)

LibSidServo/.qtcreator/libsidservo.creator.user

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

@@ -0,0 +1,218 @@
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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.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>
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+    <value type="qlonglong" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
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+     <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>
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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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+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
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+    </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"/>
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+    <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

@@ -0,0 +1,3 @@
+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)"},
-    {"EncoderReqInterval",NEED_ARG, NULL,   0,  arg_double, APTR(&Config.EncoderReqInterval),"interval of encoder requests (in case of sep=2)"},
     {"SepEncoder",      NEED_ARG,   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

@@ -24,7 +24,7 @@
 #include "simpleconv.h"
 
 // starting dump time (to conform different logs)
-static double dumpT0 = -1.;
+static struct timespec dumpT0 = {0};
 
 #if 0
 // amount of elements used for encoders' data filtering
@@ -63,7 +63,9 @@ static double filter(double val, int idx){
 #endif
 
 // return starting time of dump
-double dumpt0(){ return dumpT0; }
+void dumpt0(struct timespec *t){
+    if(t) *t = dumpT0;
+}
 
 
 /**
@@ -75,12 +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 < 0.) dumpT0 = m->encXposition.t;
+    }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 - dumpT0, 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);
@@ -106,16 +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);
@@ -126,7 +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);
 }
 
 /**
@@ -146,14 +149,6 @@ void waitmoving(int N){
         millis = mdata.millis;
         if(mdata.Xstate != AXIS_STOPPED || mdata.Ystate != AXIS_STOPPED) ctr = 0;
         else ++ctr;
-        /*
-        if(mdata.motXposition.val != xlast || mdata.motYposition.val != ylast){
-            xlast = mdata.motXposition.val;
-            ylast = mdata.motYposition.val;
-            //DBG("x/y: %g/%g", RAD2DEG(xlast), RAD2DEG(ylast));
-            ctr = 0;
-        }else ++ctr;
-        */
     }
 }
 

LibSidServo/examples/dump.h

@@ -27,4 +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);
-double dumpt0();
+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;*/

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;
@@ -158,24 +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

@@ -91,8 +91,7 @@ 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.currentT());
+    printf("Current time: %.10f\n", Mount.timeFromStart());
-    DBG("xt: %g, x: %g", M.X.t, M.X.val);
     if(G.coordsoutput){
         if(!G.wait) green("When logging I should wait until moving ends; added '-w'\n");
         G.wait = 1;
@@ -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 = {
@@ -96,38 +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 = dumpt0(), tlast = 0., tstart = Mount.currentT();
+    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;
+        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 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;
-        if(t0 < 0.) t0 = dumpt0();
         else{
             //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, "%10.4f  %10.4f  %10.4f\n", telXY.X.t-t0, 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!");
+        if(MCC_E_OK != Mount.correctTo(&target)) WARNX("Error of correction!");
-        while((t = Mount.currentT()) - tlast < MCC_PID_REFRESH_DT) usleep(50);
+        while((t = Mount.timeFromStart()) - tlast < Config->PIDRefreshDt) usleep(500);
         tlast = t;
     }
     WARNX("No next traectory point or emulation ends");
@@ -153,7 +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/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 17.0.2, 2025-11-01T14:58:43. -->
+<!-- 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>
@@ -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>
@@ -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"
@@ -32,39 +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 double t0 = -1.;
+    struct timespec now;
+    if(clock_gettime(CLOCK_MONOTONIC, &now)) return FALSE;
+    now.tv_sec += timeadder.tv_sec;
+    now.tv_nsec += timeadder.tv_nsec;
+    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.;
-    if(t0 < 0.){
+    return (now.tv_sec - starttime.tv_sec) + (now.tv_nsec - starttime.tv_nsec) / 1e9;
-        struct timespec start;
-        if(clock_gettime(CLOCK_REALTIME, &start)) return -1.;
-        t0 = (double)start.tv_sec + (double)start.tv_nsec * 1e-9
-             - (double)now.tv_sec + (double)now.tv_nsec * 1e-9;
-    }
-    return (double)now.tv_sec + (double)now.tv_nsec * 1e-9 + t0;
 }
 
 /**
  * @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;
@@ -74,18 +118,17 @@ static void quit(){
     DBG("Exit");
 }
 
-void getModData(coordval_pair_t *c, movestate_t *xst, movestate_t *yst){
+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;
 }
@@ -118,6 +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;
@@ -129,14 +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
@@ -145,15 +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()){
@@ -169,41 +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;
@@ -219,19 +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
@@ -246,12 +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);
 }
 
 /**
@@ -280,6 +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;
@@ -299,7 +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;
@@ -311,7 +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;
@@ -328,7 +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;
@@ -360,7 +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;
@@ -387,6 +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);
@@ -426,8 +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);
@@ -445,6 +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;
 }
 
@@ -500,17 +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,
@@ -520,7 +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

@@ -28,8 +28,12 @@
 #include "sidservo.h"
 
 extern conf_t Conf;
-double nanotime();
+extern limits_t Xlimits, Ylimits;
-void getModData(coordval_pair_t *c, movestate_t *xst, movestate_t *yst);
+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
@@ -43,10 +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

@@ -60,7 +60,7 @@ 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){

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/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;
@@ -59,49 +60,30 @@ typedef struct __attribute__((packed)){
 
 // calculate current X/Y speeds
 void getXspeed(){
-    static double t0 = -1.; // time of start - eliminate problem of very large times in squares
-    if(t0 < 0.) t0 = mountdata.encXposition.t;
     static less_square_t *ls = NULL;
     if(!ls){
         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 - t0);
+    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 double t0 = -1.; // time of start - eliminate problem of very large times in squares
-    if(t0 < 0.) t0 = mountdata.encXposition.t;
     static less_square_t *ls = NULL;
     if(!ls){
         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 - t0);
+    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
 }
 
 /**
@@ -109,7 +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
@@ -144,18 +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
@@ -163,33 +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;
@@ -201,9 +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;
@@ -265,8 +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);
@@ -280,10 +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
@@ -291,7 +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;
@@ -302,13 +302,14 @@ 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)){
-            wridx = 0;
+                parse_encbuf(databuf, &tcur);
+                wridx = 0;
+            }
         }
     }
     if(encfd[0] > -1){
@@ -318,53 +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){
-            pthread_mutex_lock(&datamutex);
+            if(pfds[i].revents && POLLIN){
-            mountdata.encXposition.val = X_ENC2RAD(v);
+                if(!readstrings(&strbuf[i], encfd[i])){
-            //DBG("encX(%g) = %g", t, mountdata.encXposition.val);
+                    ++errctr;
-            mountdata.encXposition.t = t;
+                    break;
-            pthread_mutex_unlock(&datamutex);
+                }
-            //if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed();
+            }
-            getXspeed();
+            double curt = timefromstart();
-            if(getencval(encfd[1], &v, &t)){
+            if(getdata(&strbuf[i], &msrlast[i])) mtlast[i] = curt;
-                pthread_mutex_lock(&datamutex);
+            if(curt - t0[i] >= Conf.EncoderReqInterval){ // get last records
-                mountdata.encYposition.val = Y_ENC2RAD(v);
+                if(curt - mtlast[i] < 1.5*Conf.EncoderReqInterval){
-                //DBG("encY(%g) = %g", t, mountdata.encYposition.val);
+                    pthread_mutex_lock(&datamutex);
-                mountdata.encYposition.t = t;
+                    if(i == 0){
-                pthread_mutex_unlock(&datamutex);
+                        mountdata.encXposition.val = Xenc2rad((double)msrlast[i]);
-                //if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed();
+                        curtime(&mountdata.encXposition.t);
-                getYspeed();
+                        /*DBG("msrlast=%ld, Xpos.val=%g, t=%zd; XEzero=%d, SPR=%g",
-                errctr = 0;
+                            msrlast[i], mountdata.encXposition.val, mountdata.encXposition.t.tv_sec,
-                need2ask = 0;
+                            X_ENC_ZERO, X_ENC_STEPSPERREV);*/
-            } else {
+                        getXspeed();
-                if(need2ask) ++errctr;
+                    }else{
-                else need2ask = 1;
+                        mountdata.encYposition.val = Yenc2rad((double)msrlast[i]);
-                continue;
+                        curtime(&mountdata.encYposition.t);
+                        getYspeed();
+                    }
+                    pthread_mutex_unlock(&datamutex);
+                }
+                if(!asknext(encfd[i])){
+                    ++errctr;
+                    break;
+                }
+                t0[i] = (curt - t0[i] < 2.*Conf.EncoderReqInterval) ? t0[i] + Conf.EncoderReqInterval : curt;
+                ++got;
             }
-        } else {
-            if(need2ask) ++errctr;
-            else need2ask = 1;
-            continue;
         }
-        while(nanotime() - t0 < Conf.EncoderReqInterval){ usleep(50); }
+        if(got == 2) errctr = 0;
-        //DBG("DT=%g (RI=%g)", nanotime()-t0, Conf.EncoderReqInterval);
+    }while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR);
-        t0 = nanotime();
+    DBG("\n\nEXIT: ERRCTR=%d", errctr);
-    }
-    DBG("ERRCTR=%d", errctr);
     for(int i = 0; i < 2; ++i){
         if(encfd[i] > -1){
             close(encfd[i]);
@@ -391,13 +477,14 @@ void data_free(data_t **x){
 }
 
 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");
+            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");
@@ -412,42 +499,43 @@ static void *mountthread(void _U_ *u){
     uint8_t buf[2*sizeof(SSstat)];
     SSstat *status = (SSstat*) buf;
     bzero(&mountdata, sizeof(mountdata));
-    double t0 = nanotime(), tstart = t0;
+    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){
         double Xprev = NAN, Yprev = NAN; // previous coordinates
         int xcnt = 0, ycnt = 0;
         while(1){
-            coordval_pair_t c;
+            coordpair_t c;
             movestate_t xst, yst;
             // now change data
             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.encXposition.val = c.X.val;
+            mountdata.encXposition.val = c.X + (drand48() - 0.5)*1e-6; // .2arcsec error
-            mountdata.encYposition.val = c.Y.val;
+            mountdata.encYposition.val = c.Y + (drand48() - 0.5)*1e-6;
             //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 - tstart) * 1e3);
+                oldmillis = mountdata.millis = (uint32_t)((tcur - tstart) * 1e3);
                 mountdata.motYposition.t = mountdata.motXposition.t = tnow;
                 if(xst == ST_MOVE)
-                    mountdata.motXposition.val = c.X.val + (c.X.val - mountdata.motXposition.val)*(drand48() - 0.5)/100.;
+                    mountdata.motXposition.val = c.X + (c.X - mountdata.motXposition.val)*(drand48() - 0.5)/100.;
-                else
+                //else
-                    mountdata.motXposition.val = c.X.val;
+                //    mountdata.motXposition.val = c.X;
                 if(yst == ST_MOVE)
-                    mountdata.motYposition.val = c.Y.val + (c.Y.val - mountdata.motYposition.val)*(drand48() - 0.5)/100.;
+                    mountdata.motYposition.val = c.Y + (c.Y - mountdata.motYposition.val)*(drand48() - 0.5)/100.;
-                else
+                //else
-                    mountdata.motYposition.val = c.Y.val;
+                //    mountdata.motYposition.val = c.Y;
-                oldmt = tnow;
+                oldmt = tcur;
             }else mountdata.millis = oldmillis;
-            chkModStopped(&Xprev, c.X.val, &xcnt, &mountdata.Xstate);
+            chkModStopped(&Xprev, c.X, &xcnt, &mountdata.Xstate);
-            chkModStopped(&Yprev, c.Y.val, &ycnt, &mountdata.Ystate);
+            chkModStopped(&Yprev, c.Y, &ycnt, &mountdata.Ystate);
-            pthread_mutex_unlock(&datamutex);
             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
@@ -457,31 +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
@@ -498,14 +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:
@@ -521,8 +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
@@ -531,7 +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
@@ -564,7 +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]);
@@ -611,6 +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");
@@ -642,6 +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;
 }
 
@@ -660,30 +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;
 }
@@ -787,16 +859,23 @@ int cmdC(SSconfig *conf, int rw){
     }else{ // read
         data_t d;
         d.buf = (uint8_t *) conf;
-        d.len = 0; d.maxlen = sizeof(SSconfig);
+        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(!curtime(&curt)){
+            usleep(10000);
+            continue;
+        }
+        //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 == 0 || md.encYposition.t == 0){
+            if(md.encXposition.t.tv_sec == 0 || md.encYposition.t.tv_sec == 0){
-                DBG("Just started, t-t0 = %g!", t - t0);
+                DBG("Just started? t-t0 = %g!", t - t0);
-                sleep(1);
+                usleep(10000);
-                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);
+            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

@@ -8,7 +8,8 @@ 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 CONFIG)
+find_package(ASIO QUIET)
 if (ASIO_FOUND)
     message(STATUS "ASIO library was found in the host system")
 else()

asibfm700/asibfm700_common.h

@@ -13,6 +13,7 @@
 
 #include "mcc_ccte_erfa.h"
 #include "mcc_slewing_model.h"
+#include "mcc_tracking_model.h"
 
 namespace asibfm700
 {
@@ -24,5 +25,6 @@ typedef mcc::MccDefaultPCM<asibfm700MountType> Asibfm700PCM;
 typedef mcc::MccPZoneContainer<mcc::MccTimeDuration> Asibfm700PZoneContainer;
 typedef mcc::utils::MccSpdlogLogger Asibfm700Logger;
 typedef mcc::MccSimpleSlewingModel Asibfm700SlewingModel;
+typedef mcc::MccSimpleTrackingModel Asibfm700TrackingModel;
 
 }  // namespace asibfm700

asibfm700/asibfm700_configfile.h

@@ -139,6 +139,10 @@ static auto Asibfm700MountConfigDefaults = std::make_tuple(
                            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,
@@ -176,6 +180,10 @@ static auto Asibfm700MountConfigDefaults = std::make_tuple(
                            {"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    */
 
@@ -183,10 +191,10 @@ static auto Asibfm700MountConfigDefaults = std::make_tuple(
     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(-170.0_degs), {"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(170.0_degs), {"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"}},
@@ -235,20 +243,35 @@ static auto Asibfm700MountConfigDefaults = std::make_tuple(
 
     // mount axes rate calculation interval in millisecs
     simple_config_record_t{"EncoderSpeedInterval",
-                           std::chrono::milliseconds(100),
+                           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>{0.8, 0.1, 0.3}, {"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>{1.0, 0.01, 0.2}, {"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>{0.8, 0.1, 0.3}, {"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>{0.5, 0.2, 0.5}, {"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)
@@ -261,7 +284,23 @@ static auto Asibfm700MountConfigDefaults = std::make_tuple(
     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)"}}
+        {"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"}}
 
 );
 
@@ -473,6 +512,16 @@ public:
         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];
@@ -501,6 +550,24 @@ public:
             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;
     }
 
@@ -540,6 +607,9 @@ public:
 
         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")
@@ -552,6 +622,9 @@ public:
             getValue<decltype(pars.trackingMaxCoordDiff)>("trackingMaxCoordDiff").value_or(pars.trackingMaxCoordDiff) *
             arcsecs2rad;
 
+        pars.trackingPathFilename =
+            getValue<decltype(pars.trackingPathFilename)>("trackingPathFilename").value_or(std::string());
+
         return pars;
     }
 
@@ -693,6 +766,14 @@ public:
                     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();

asibfm700/asibfm700_mount.cpp

@@ -19,7 +19,7 @@ Asibfm700Mount::Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_p
                  std::make_tuple(this),
                  std::make_tuple(),
                  std::make_tuple(this, Asibfm700Logger{logger}),
-                 std::make_tuple(this),
+                 std::make_tuple(this, Asibfm700Logger{logger}),
                  std::make_tuple(logger, Asibfm700Logger::LOGGER_DEFAULT_FORMAT)),
       // base_gm_class_t(Asibfm700StartState{},
       //                 std::make_tuple(config.servoControllerConfig()),
@@ -126,6 +126,9 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
     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);
@@ -135,6 +138,8 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
             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;
@@ -183,9 +188,47 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
         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 = MCC_Y_ACCELERATION;  // Sidereal defines HA-axis as Y-axis
+        mpars.brakingAccelX = 0.165806;  // Sidereal defines HA-axis as Y-axis
-        mpars.brakingAccelY = MCC_X_ACCELERATION;  // Sidereal defines DEC-axis as X-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);
@@ -194,10 +237,14 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
         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");
 
@@ -255,15 +302,21 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
 
     setStateERFA(std::move(ccte_state));
 
-    setTelemetryDataUpdateInterval(_mountConfig.hardwarePollingPeriod());
+    // setTelemetryDataUpdateInterval(_mountConfig.hardwarePollingPeriod());
     setTelemetryUpdateTimeout(_mountConfig.movingModelParams().telemetryTimeout);
     startInternalTelemetryDataUpdating();
 
-    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    // std::this_thread::sleep_for(std::chrono::milliseconds(100));
 
     bool ok = isInternalTelemetryDataUpdating();
     if (ok) {
-        logInfo("Start updating telemetry data");
+        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(),

asibfm700/asibfm700_mount.h

@@ -22,14 +22,14 @@ class Asibfm700Mount : public Asibfm700CCTE,
                                                    mcc::MccTelemetry,
                                                    Asibfm700PZoneContainer,
                                                    Asibfm700SlewingModel,
-                                                   mcc::MccSimpleTrackingModel,
+                                                   Asibfm700TrackingModel,
                                                    Asibfm700Logger>
 {
     typedef mcc::MccGenericMount<AsibFM700ServoController,
                                  mcc::MccTelemetry,
                                  Asibfm700PZoneContainer,
                                  Asibfm700SlewingModel,
-                                 mcc::MccSimpleTrackingModel,
+                                 Asibfm700TrackingModel,
                                  Asibfm700Logger>
         gm_class_t;
 

asibfm700/asibfm700_netserver_main.cpp

@@ -111,16 +111,17 @@ int main(int argc, char* argv[])
         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 defaults!", err.message());
+                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/asibfm700_servocontroller.cpp

@@ -106,22 +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};
-    // coordpair_t cpair{.X = state.Y, .Y = state.X + mcc::MccAngle(10.0_arcsecs)};
+
 
     // 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;
 }
@@ -141,14 +190,22 @@ 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};
-        if (mcc::utils::isEqual(secs.count(), 0.0)) {  // model mode?
+        // state->time_point = tp_t{std::chrono::duration_cast<tp_t::duration>(secs)};
-            state->time_point = decltype(state->time_point)::clock::now();
+
-        } else {
+        // 2025-12-04: coordval_pair_t.X.t is now of type struct timespec
-            state->time_point = tp_t{std::chrono::duration_cast<tp_t::duration>(secs)};
+        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();
 
@@ -159,33 +216,43 @@ 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_STOPPED) {
+        if (mdata.Xstate == AXIS_ERROR || mdata.Ystate == AXIS_ERROR) {
-            if (mdata.Ystate == AXIS_STOPPED) {
+            state->moving_state = hardware_moving_state_t::HW_MOVE_ERROR;
-                state->moving_state = hardware_moving_state_t::HW_MOVE_STOPPED;
+        } else {
-            } else if (mdata.Ystate == AXIS_SLEWING) {
+            if (mdata.Xstate == AXIS_STOPPED) {
+                if (mdata.Ystate == AXIS_STOPPED) {
+                    state->moving_state = hardware_moving_state_t::HW_MOVE_STOPPED;
+                } else 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 if (mdata.Ystate == AXIS_GUIDING) {
+                    state->moving_state = hardware_moving_state_t::HW_MOVE_GUIDING;
+                } 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.Ystate == AXIS_POINTING) {
+            } else if (mdata.Xstate == AXIS_POINTING) {
-                state->moving_state = hardware_moving_state_t::HW_MOVE_ADJUSTING;
+                if (mdata.Ystate == AXIS_SLEWING) {
-            } else if (mdata.Ystate == AXIS_GUIDING) {
+                    state->moving_state = hardware_moving_state_t::HW_MOVE_SLEWING;
-                state->moving_state = hardware_moving_state_t::HW_MOVE_GUIDING;
+                } else {
-            } else if (mdata.Ystate == AXIS_ERROR) {
+                    state->moving_state = hardware_moving_state_t::HW_MOVE_ADJUSTING;
-                state->moving_state = hardware_moving_state_t::HW_MOVE_ERROR;
+                }
+            } 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 {
                 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) {
-            state->moving_state = hardware_moving_state_t::HW_MOVE_ADJUSTING;
-        } else if (mdata.Xstate == AXIS_GUIDING) {
-            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;
         }
     }
 

asibfm700/asibfm700_servocontroller.h

@@ -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;
     };
 
 

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 *******
 
@@ -61,7 +62,8 @@ set_target_properties(ERFA_LIB PROPERTIES IMPORTED_LOCATION ${CMAKE_BINARY_DIR}/
 add_dependencies(ERFA_LIB erfalib)
 set(ERFA_INCLUDE_DIR ${CMAKE_BINARY_DIR}/erfa_lib)
 # set(ERFA_LIBFILE ${CMAKE_BINARY_DIR}/erfa_lib/liberfa.a PARENT_SCOPE)
-# include_directories(${ERFA_INCLUDE_DIR})
+include_directories(${ERFA_INCLUDE_DIR})
+message(STATUS "ERFA INCLUDE DIR: " ${ERFA_INCLUDE_DIR})
 
 add_subdirectory(bsplines)
 message(STATUS "BSPLINES_INCLUDE_DIR: " ${BSPLINES_INCLUDE_DIR})
@@ -79,7 +81,7 @@ set(MCC_LIBRARY mcc)
 add_library(${MCC_LIBRARY} INTERFACE ${MCC_LIBRARY_SRC})
 target_compile_features(${MCC_LIBRARY} INTERFACE cxx_std_23)
 target_compile_definitions(${MCC_LIBRARY} INTERFACE SPDLOG_USE_STD_FORMAT=1 SPDLOG_FMT_EXTERNAL=0)
-target_link_libraries(${MCC_LIBRARY} INTERFACE spdlog)
+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}>
@@ -99,5 +101,10 @@ if (WITH_TESTS)
      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()

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;
@@ -516,7 +536,11 @@ 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>,
@@ -531,18 +555,43 @@ 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";
@@ -554,11 +603,13 @@ template <MccCoordPairKind KIND>
 static constexpr std::string_view MccCoordPairKindStr =
     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_LATLON    ? MCC_COORDPAIR_KIND_LATLON_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;
 
@@ -567,11 +618,13 @@ 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_LATLON    ? MCC_COORDPAIR_KIND_LATLON_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;
 }
@@ -588,11 +641,13 @@ static constexpr MccCoordPairKind MccCoordStrToPairKind(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_LATLON
+           : 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;
 }

mcc/mcc_ccte_erfa.h

@@ -505,8 +505,8 @@ public:
                 // first, compute HA from CIO-based RA!!!
                 lst_eo();
                 if (!ret) {
-                    // ha = MccAngle(lst - from_pt.X + eo).normalize<MccAngle::NORM_KIND_0_360>();
+                    ha = MccAngle(lst - from_pt.X + eo).normalize<MccAngle::NORM_KIND_0_360>();
-                    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;
                 }
@@ -533,8 +533,8 @@ public:
                 } else if (to_pt->pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
                     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->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;
@@ -558,8 +558,8 @@ public:
                     azalt2hadec(from_pt, to_pt);
                     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>();
-                        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;
@@ -590,7 +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_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            *   
       **********************************************************************   
-      30 October 2025                                   Vol. XXXVIII No. 044   
+      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 10 24  60972 0.18970 .00009 0.32280 .00009  0.093314 0.000025          
+   26  1  2  61042 0.10962 .00009 0.33249 .00009  0.074152 0.000020          
-   25 10 25  60973 0.18784 .00009 0.32283 .00009  0.093517 0.000025          
+   26  1  3  61043 0.10827 .00009 0.33355 .00009  0.074367 0.000021          
-   25 10 26  60974 0.18602 .00009 0.32275 .00009  0.093749 0.000022          
+   26  1  4  61044 0.10690 .00009 0.33455 .00009  0.074487 0.000020          
-   25 10 27  60975 0.18446 .00009 0.32243 .00009  0.094060 0.000019          
+   26  1  5  61045 0.10554 .00009 0.33551 .00009  0.074361 0.000015          
-   25 10 28  60976 0.18324 .00009 0.32200 .00009  0.094375 0.000016          
+   26  1  6  61046 0.10404 .00009 0.33628 .00009  0.073991 0.000015          
-   25 10 29  60977 0.18207 .00009 0.32173 .00009  0.094458 0.000016          
+   26  1  7  61047 0.10253 .00009 0.33692 .00009  0.073470 0.000012          
-   25 10 30  60978 0.18080 .00009 0.32157 .00009  0.094295 0.000016          
+   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       
                                                                                
       _______________________________________________________________________  
                                                                                
@@ -130,403 +164,480 @@ 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 =  0.1296 + 0.1193 cos A - 0.0805 sin A - 0.0668 cos C - 0.0019 sin C  
+      x =  0.1611 - 0.0626 cos A - 0.1221 sin A + 0.0025 cos C + 0.0585 sin C  
-      y =  0.3859 - 0.0654 cos A - 0.1170 sin A - 0.0019 cos C + 0.0668 sin C  
+      y =  0.3836 - 0.1091 cos A + 0.0516 sin A + 0.0585 cos C - 0.0025 sin C  
-         UT1-UTC =  0.0734 + 0.00008 (MJD - 60986) - (UT2-UT1)                 
+         UT1-UTC =  0.0617 + 0.00005 (MJD - 61056) - (UT2-UT1)                 
                                                                                
-      where A = 2*pi*(MJD-60978)/365.25 and C = 2*pi*(MJD-60978)/435.          
+      where A = 2*pi*(MJD-61048)/365.25 and C = 2*pi*(MJD-61048)/435.          
                                                                                
-         TAI-UTC(MJD 60979) = 37.0                                             
+         TAI-UTC(MJD 61049) = 37.0                                             
       The accuracy may be estimated from the expressions:                      
-      S x,y = 0.00068 (MJD-60978)**0.80   S t = 0.00025 (MJD-60978)**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 10 31  60979       0.1796      0.3213      0.09390         
+       2026  1  9  61049       0.1001      0.3380      0.07228         
-       2025 11  1  60980       0.1783      0.3211      0.09323         
+       2026  1 10  61050       0.0993      0.3385      0.07180         
-       2025 11  2  60981       0.1771      0.3209      0.09233         
+       2026  1 11  61051       0.0985      0.3390      0.07149         
-       2025 11  3  60982       0.1759      0.3207      0.09132         
+       2026  1 12  61052       0.0978      0.3396      0.07136         
-       2025 11  4  60983       0.1748      0.3204      0.09032         
+       2026  1 13  61053       0.0971      0.3403      0.07142         
-       2025 11  5  60984       0.1738      0.3201      0.08949         
+       2026  1 14  61054       0.0964      0.3411      0.07168         
-       2025 11  6  60985       0.1727      0.3198      0.08896         
+       2026  1 15  61055       0.0957      0.3418      0.07209         
-       2025 11  7  60986       0.1716      0.3195      0.08875         
+       2026  1 16  61056       0.0949      0.3426      0.07260         
-       2025 11  8  60987       0.1706      0.3193      0.08880         
+       2026  1 17  61057       0.0942      0.3434      0.07313         
-       2025 11  9  60988       0.1695      0.3190      0.08897         
+       2026  1 18  61058       0.0935      0.3442      0.07360         
-       2025 11 10  60989       0.1684      0.3187      0.08909         
+       2026  1 19  61059       0.0928      0.3450      0.07391         
-       2025 11 11  60990       0.1673      0.3184      0.08904         
+       2026  1 20  61060       0.0921      0.3458      0.07400         
-       2025 11 12  60991       0.1663      0.3181      0.08876         
+       2026  1 21  61061       0.0915      0.3466      0.07380         
-       2025 11 13  60992       0.1652      0.3178      0.08831         
+       2026  1 22  61062       0.0909      0.3474      0.07332         
-       2025 11 14  60993       0.1641      0.3176      0.08774         
+       2026  1 23  61063       0.0903      0.3482      0.07264         
-       2025 11 15  60994       0.1630      0.3173      0.08712         
+       2026  1 24  61064       0.0897      0.3490      0.07185         
-       2025 11 16  60995       0.1619      0.3170      0.08654         
+       2026  1 25  61065       0.0892      0.3499      0.07110         
-       2025 11 17  60996       0.1608      0.3168      0.08610         
+       2026  1 26  61066       0.0886      0.3507      0.07051         
-       2025 11 18  60997       0.1597      0.3166      0.08585         
+       2026  1 27  61067       0.0881      0.3516      0.07015         
-       2025 11 19  60998       0.1585      0.3163      0.08582         
+       2026  1 28  61068       0.0876      0.3524      0.07004         
-       2025 11 20  60999       0.1574      0.3161      0.08604         
+       2026  1 29  61069       0.0872      0.3533      0.07016         
-       2025 11 21  61000       0.1562      0.3159      0.08646         
+       2026  1 30  61070       0.0867      0.3542      0.07040         
-       2025 11 22  61001       0.1551      0.3157      0.08704         
+       2026  1 31  61071       0.0863      0.3551      0.07062         
-       2025 11 23  61002       0.1539      0.3156      0.08771         
+       2026  2  1  61072       0.0858      0.3560      0.07069         
-       2025 11 24  61003       0.1528      0.3154      0.08837         
+       2026  2  2  61073       0.0855      0.3569      0.07052         
-       2025 11 25  61004       0.1516      0.3153      0.08894         
+       2026  2  3  61074       0.0851      0.3578      0.07011         
-       2025 11 26  61005       0.1504      0.3152      0.08934         
+       2026  2  4  61075       0.0847      0.3587      0.06952         
-       2025 11 27  61006       0.1492      0.3151      0.08951         
+       2026  2  5  61076       0.0844      0.3596      0.06884         
-       2025 11 28  61007       0.1481      0.3150      0.08941         
+       2026  2  6  61077       0.0841      0.3605      0.06818         
-       2025 11 29  61008       0.1469      0.3149      0.08906         
+       2026  2  7  61078       0.0838      0.3615      0.06763         
-       2025 11 30  61009       0.1457      0.3149      0.08852         
+       2026  2  8  61079       0.0835      0.3624      0.06723         
-       2025 12  1  61010       0.1445      0.3148      0.08790         
+       2026  2  9  61080       0.0832      0.3634      0.06700         
-       2025 12  2  61011       0.1433      0.3148      0.08736         
+       2026  2 10  61081       0.0830      0.3643      0.06696         
-       2025 12  3  61012       0.1421      0.3148      0.08702         
+       2026  2 11  61082       0.0828      0.3653      0.06706         
-       2025 12  4  61013       0.1408      0.3149      0.08698         
+       2026  2 12  61083       0.0826      0.3662      0.06727         
-       2025 12  5  61014       0.1396      0.3149      0.08720         
+       2026  2 13  61084       0.0824      0.3672      0.06753         
-       2025 12  6  61015       0.1384      0.3150      0.08759         
+       2026  2 14  61085       0.0822      0.3682      0.06774         
-       2025 12  7  61016       0.1372      0.3151      0.08800         
+       2026  2 15  61086       0.0821      0.3692      0.06784         
-       2025 12  8  61017       0.1360      0.3152      0.08830         
+       2026  2 16  61087       0.0820      0.3702      0.06774         
-       2025 12  9  61018       0.1348      0.3153      0.08840         
+       2026  2 17  61088       0.0819      0.3711      0.06738         
-       2025 12 10  61019       0.1336      0.3155      0.08829         
+       2026  2 18  61089       0.0818      0.3721      0.06675         
-       2025 12 11  61020       0.1324      0.3157      0.08802         
+       2026  2 19  61090       0.0818      0.3731      0.06590         
-       2025 12 12  61021       0.1312      0.3159      0.08768         
+       2026  2 20  61091       0.0817      0.3741      0.06493         
-       2025 12 13  61022       0.1300      0.3161      0.08735         
+       2026  2 21  61092       0.0817      0.3751      0.06395         
-       2025 12 14  61023       0.1288      0.3163      0.08711         
+       2026  2 22  61093       0.0817      0.3761      0.06311         
-       2025 12 15  61024       0.1276      0.3166      0.08701         
+       2026  2 23  61094       0.0818      0.3771      0.06250         
-       2025 12 16  61025       0.1264      0.3169      0.08709         
+       2026  2 24  61095       0.0818      0.3781      0.06215         
-       2025 12 17  61026       0.1252      0.3172      0.08736         
+       2026  2 25  61096       0.0819      0.3792      0.06203         
-       2025 12 18  61027       0.1240      0.3175      0.08780         
+       2026  2 26  61097       0.0820      0.3802      0.06204         
-       2025 12 19  61028       0.1228      0.3178      0.08838         
+       2026  2 27  61098       0.0821      0.3812      0.06206         
-       2025 12 20  61029       0.1217      0.3182      0.08904         
+       2026  2 28  61099       0.0823      0.3822      0.06196         
-       2025 12 21  61030       0.1205      0.3185      0.08971         
+       2026  3  1  61100       0.0824      0.3832      0.06165         
-       2025 12 22  61031       0.1194      0.3189      0.09030         
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+       2026 12 15  61389       0.0964      0.2851      0.09308         
-       2026 10  7  61320       0.2192      0.3101      0.12871         
+       2026 12 16  61390       0.0949      0.2858      0.09298         
-       2026 10  8  61321       0.2181      0.3091      0.12823         
+       2026 12 17  61391       0.0934      0.2865      0.09271         
-       2026 10  9  61322       0.2169      0.3081      0.12763         
+       2026 12 18  61392       0.0919      0.2873      0.09223         
-       2026 10 10  61323       0.2158      0.3071      0.12702         
+       2026 12 19  61393       0.0904      0.2881      0.09183         
-       2026 10 11  61324       0.2146      0.3061      0.12646         
+       2026 12 20  61394       0.0889      0.2889      0.09151         
-       2026 10 12  61325       0.2134      0.3052      0.12607         
+       2026 12 21  61395       0.0875      0.2897      0.09140         
-       2026 10 13  61326       0.2122      0.3043      0.12588         
+       2026 12 22  61396       0.0860      0.2906      0.09146         
-       2026 10 14  61327       0.2110      0.3033      0.12585         
+       2026 12 23  61397       0.0846      0.2914      0.09172         
-       2026 10 15  61328       0.2098      0.3024      0.12602         
+       2026 12 24  61398       0.0832      0.2923      0.09217         
-       2026 10 16  61329       0.2085      0.3016      0.12630         
+       2026 12 25  61399       0.0818      0.2933      0.09256         
-       2026 10 17  61330       0.2072      0.3007      0.12661         
+       2026 12 26  61400       0.0804      0.2942      0.09281         
-       2026 10 18  61331       0.2059      0.2999      0.12683         
+       2026 12 27  61401       0.0791      0.2952      0.09278         
-       2026 10 19  61332       0.2046      0.2990      0.12689         
+       2026 12 28  61402       0.0777      0.2962      0.09251         
-       2026 10 20  61333       0.2033      0.2982      0.12680         
+       2026 12 29  61403       0.0764      0.2972      0.09213         
-       2026 10 21  61334       0.2019      0.2975      0.12644         
+       2026 12 30  61404       0.0751      0.2982      0.09173         
-       2026 10 22  61335       0.2005      0.2967      0.12584         
+       2026 12 31  61405       0.0738      0.2993      0.09140         
-       2026 10 23  61336       0.1992      0.2960      0.12511         
+       2027  1  1  61406       0.0725      0.3004      0.09123         
-       2026 10 24  61337       0.1978      0.2952      0.12426         
+       2027  1  2  61407       0.0713      0.3015      0.09132         
-       2026 10 25  61338       0.1964      0.2946      0.12345         
+       2027  1  3  61408       0.0700      0.3026      0.09160         
-       2026 10 26  61339       0.1949      0.2939      0.12281         
+       2027  1  4  61409       0.0688      0.3037      0.09200         
-       2026 10 27  61340       0.1935      0.2932      0.12239         
+       2027  1  5  61410       0.0676      0.3049      0.09264         
-       2026 10 28  61341       0.1920      0.2926      0.12222         
+       2027  1  6  61411       0.0665      0.3061      0.09344         
-       2026 10 29  61342       0.1906      0.2920      0.12229         
+       2027  1  7  61412       0.0653      0.3072      0.09426         
-       2026 10 30  61343       0.1891      0.2914      0.12254         
+       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)                         
-                      60959  -120.67    0.72   -9.76    0.02   
+                      61026  -114.45    1.33   -7.19    0.16   
-                      60960  -120.67    0.85   -9.67    0.05   
+                      61027  -114.43    1.33   -7.42    0.16   
-                      60961  -120.61    0.85   -9.74    0.05   
+                      61028  -114.48    1.33   -7.64    0.16   
-                      60962  -120.34    0.95   -9.85    0.06   
+                      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)          
-                      60959    0.295  0.287   -0.064   0.017          
+                      61026    0.512  0.531   -0.092   0.161          
-                      60960    0.308  0.339   -0.063   0.047          
+                      61027    0.519  0.531   -0.101   0.161          
-                      60961    0.323  0.339   -0.063   0.047          
+                      61028    0.523  0.531   -0.107   0.161          
-                      60962    0.340  0.379   -0.062   0.062          
+                      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_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_defaults.h

@@ -98,6 +98,52 @@ public:
 
     MccCelestialCoordEpoch() : _UTC(J2000_UTC), _MJD(J2000_MJD), _JEpoch(2000.0) {}
 
+    MccCelestialCoordEpoch(const MccCelestialCoordEpoch&) = default;
+    MccCelestialCoordEpoch(MccCelestialCoordEpoch&&) = default;
+
+    MccCelestialCoordEpoch& operator=(const MccCelestialCoordEpoch&) = default;
+    MccCelestialCoordEpoch& operator=(MccCelestialCoordEpoch&&) = default;
+
+    MccCelestialCoordEpoch(mcc_coord_epoch_c auto&& other) : MccCelestialCoordEpoch()
+    {
+        fromTimePoint(std::forward<decltype(other)>(other).UTC());
+    }
+
+    MccCelestialCoordEpoch& operator=(mcc_coord_epoch_c auto&& other)
+    {
+        fromTimePoint(std::forward<decltype(other)>(other).UTC());
+
+        return *this;
+    }
+
+    MccCelestialCoordEpoch& operator=(traits::mcc_input_char_range auto&& str)
+    {
+        // ignore possible errors!!!
+        auto ok = fromCharRange(std::forward<decltype(str)>(str));
+
+        return *this;
+    }
+
+
+    template <typename ClockT, typename DurT>
+    MccCelestialCoordEpoch& operator=(std::chrono::time_point<ClockT, DurT>&& tp)
+    {
+        // ignore possible errors!!!
+        auto ok = fromTimePoint(std::forward<decltype(tp)>(tp));
+
+        return *this;
+    }
+
+    template <typename VT>
+    MccCelestialCoordEpoch& operator=(VT&& mjd)
+        requires std::is_arithmetic_v<VT>
+    {
+        // ignore possible errors!!!
+        auto ok = fromMJD(std::forward<decltype(mjd)>(mjd));
+
+        return *this;
+    }
+
     template <traits::mcc_input_char_range IR>
     bool fromCharRange(IR&& str)
     {
@@ -441,23 +487,12 @@ struct MccGenericEqtHrzCoords : MccGenericCelestialPoint<CoordT> {
 
     using MccGenericCelestialPoint<CoordT>::time_point;
 
-    coord_t RA_APP{}, DEC_APP{}, HA{}, AZ{}, ZD{}, ALT{};
+    coord_t RA_ICRS{}, DEC_ICRS{}, RA_APP{}, DEC_APP{}, HA{}, AZ{}, ZD{}, ALT{};
 };
 
 typedef MccGenericEqtHrzCoords<MccCelestialPoint::coord_t> MccEqtHrzCoords;
 
 
-template <mcc_angle_c CoordT>
-struct MccGenericPointingTarget : MccGenericEqtHrzCoords<CoordT> {
-    using typename MccGenericEqtHrzCoords<CoordT>::coord_t;
-
-    coord_t RA_ICRS{}, DEC_ICRS{};
-};
-
-
-typedef MccGenericPointingTarget<MccCelestialPoint::coord_t> MccPointingTarget;
-
-
 
 template <mcc_angle_c CoordT>
 struct MccGenericPCMResult {
@@ -477,7 +512,9 @@ struct MccGenericTelemetryData : MccGenericEqtHrzCoords<CoordT> {
     MccJulianDay JD;
     coord_t LST;  // local apparent sideral time
 
-    MccGenericPointingTarget<coord_t> target{};
+    MccGenericCelestialPoint<coord_t> entered_target{};
+
+    MccGenericEqtHrzCoords<coord_t> target{};
 
     coord_t speedX, speedY;
 
@@ -503,7 +540,6 @@ struct MccPositionControls : CCTE_T, HARDWARE_T, PCM_T {
 
 static_assert(mcc_julday_c<MccJulianDay>, "");
 static_assert(mcc_celestial_point_c<MccCelestialPoint>, "");
-static_assert(mcc_pointing_target_coord_c<MccGenericPointingTarget<double>>, "");
 static_assert(mcc_telemetry_data_c<MccTelemetryData>, "");
 
 
@@ -916,13 +952,20 @@ public:
     template <mcc_eqt_hrz_coord_c T, traits::mcc_output_char_range OR>
     void operator()(const T& value, OR& bytes)
     {
-        // output format: RA, DEC, HA, AZ, ZD, ALT, X, Y, pair-kind, time-point
+        // output format: RA_ICRS, DEC_ICRS, RA, DEC, HA, AZ, ZD, ALT, X, Y, pair-kind, time-point
         // in the case of sexagesimal output X,Y coordinates will be interpretated
         // according to value.pair_kind field
 
         if (_currentFormat == SerializedCoordFormat::CFMT_DEGREES) {
-            toDegrees(bytes, value.RA_APP, value.DEC_APP, value.HA, value.AZ, value.ZD, value.ALT, value.X, value.Y);
+            toDegrees(bytes, value.RA_ICRS, value.DEC_ICRS, value.RA_APP, value.DEC_APP, value.HA, value.AZ, value.ZD,
+                      value.ALT, value.X, value.Y);
         } else if (_currentFormat == SerializedCoordFormat::CFMT_SGM) {
+            toSexagesimalHour(bytes, value.RA_ICRS);
+            std::format_to(std::back_inserter(bytes), "{}", _delimiter);
+
+            toSexagesimalDeg(bytes, value.DEC_ICRS);
+            std::format_to(std::back_inserter(bytes), "{}", _delimiter);
+
             toSexagesimalHour(bytes, value.RA_APP);
             std::format_to(std::back_inserter(bytes), "{}", _delimiter);
 
@@ -965,54 +1008,65 @@ public:
     template <traits::mcc_input_char_range IR, mcc_eqt_hrz_coord_c T>
     std::error_code operator()(IR&& bytes, T& value)
     {
-        // valid format: RA, DEC, HA, AZ, ZD, ALT, X, Y, pair-kind, time-point
+        // valid format: RA_ICRS, DEC_ICRS, RA, DEC, HA, AZ, ZD, ALT, X, Y, pair-kind, time-point
         // in the case of sexagesimal input the X,Y coordinates will be interpretated
         // according to value.pair_kind field
 
         auto els = splitToElements(std::forward<IR>(bytes));
-        if (els.size() < 10) {
+        if (els.size() < 12) {
             // return std::make_error_code(std::errc::invalid_argument);
             return MccCoordinateConvErrorCode::ERROR_ARG_LEN;
         }
 
         MccEqtHrzCoords pt;
-        pt.pair_kind = MccCoordStrToPairKind(els[8]);
+        pt.pair_kind = MccCoordStrToPairKind(els[10]);
         if (pt.pair_kind == MccCoordPairKind::COORDS_KIND_UNKNOWN) {
             // return std::make_error_code(std::errc::invalid_argument);
             return MccCoordinateConvErrorCode::ERROR_INVALID_CPAIR;
         }
 
-        auto err = parseTimePoint(els[9], pt);
+        auto err = parseTimePoint(els[11], pt);
         if (err) {
             return err;
         }
 
-        err = parseHourRepr(els[0], pt.RA_APP);
+        size_t idx = 0;
+        err = parseHourRepr(els[idx++], pt.RA_ICRS);
         if (err) {
             return err;
         }
 
-        err = parseDegreeRepr(els[1], pt.DEC_APP);
+        err = parseDegreeRepr(els[idx++], pt.DEC_ICRS);
         if (err) {
             return err;
         }
 
-        err = parseHourRepr(els[2], pt.HA);
+        err = parseHourRepr(els[idx++], pt.RA_APP);
         if (err) {
             return err;
         }
 
-        err = parseDegreeRepr(els[4], pt.AZ);
+        err = parseDegreeRepr(els[idx++], pt.DEC_APP);
         if (err) {
             return err;
         }
 
-        err = parseDegreeRepr(els[5], pt.ZD);
+        err = parseHourRepr(els[idx++], pt.HA);
         if (err) {
             return err;
         }
 
-        err = parseDegreeRepr(els[6], pt.ALT);
+        err = parseDegreeRepr(els[idx++], pt.AZ);
+        if (err) {
+            return err;
+        }
+
+        err = parseDegreeRepr(els[idx++], pt.ZD);
+        if (err) {
+            return err;
+        }
+
+        err = parseDegreeRepr(els[idx++], pt.ALT);
         if (err) {
             return err;
         }
@@ -1021,16 +1075,16 @@ public:
             case MccCoordPairKind::COORDS_KIND_RADEC_ICRS:
             case MccCoordPairKind::COORDS_KIND_RADEC_APP:
             case MccCoordPairKind::COORDS_KIND_HADEC_APP:
-                err = parseHourRepr(els[7], pt.X);
+                err = parseHourRepr(els[idx++], pt.X);
                 break;
             default:
-                err = parseDegreeRepr(els[7], pt.X);
+                err = parseDegreeRepr(els[idx++], pt.X);
         }
         if (err) {
             return err;
         }
 
-        err = parseDegreeRepr(els[8], pt.Y);
+        err = parseDegreeRepr(els[idx++], pt.Y);
         if (err) {
             return err;
         }
@@ -1043,74 +1097,74 @@ public:
 
 
 
-class MccPointingTargetSerializer : public MccCoordinateSerializer
+// class MccPointingTargetSerializer : public MccCoordinateSerializer
-{
+// {
-public:
+// public:
-    template <mcc_pointing_target_coord_c T, traits::mcc_output_char_range OR>
+//     template <mcc_pointing_target_coord_c T, traits::mcc_output_char_range OR>
-    void operator()(const T& value, OR& bytes)
+//     void operator()(const T& value, OR& bytes)
-    {
+//     {
-        static MccEqtHrzCoordsSerializer eqhrz_ser;
+//         static MccEqtHrzCoordsSerializer eqhrz_ser;
 
-        // output format: RA_ICRS, DEC_ICRS, RA_APP, DEC_APP, HA, AZ, ZD, ALT, X, Y, pair-kind, time-point
+//         // output format: RA_ICRS, DEC_ICRS, RA_APP, DEC_APP, HA, AZ, ZD, ALT, X, Y, pair-kind, time-point
-        // in the case of sexagesimal output X,Y coordinates will be interpretated
+//         // in the case of sexagesimal output X,Y coordinates will be interpretated
-        // according to value.pair_kind field
+//         // according to value.pair_kind field
 
-        if (_currentFormat == SerializedCoordFormat::CFMT_DEGREES) {
+//         if (_currentFormat == SerializedCoordFormat::CFMT_DEGREES) {
-            toDegrees(bytes, value.RA_ICRS, value.DEC_ICRS);
+//             toDegrees(bytes, value.RA_ICRS, value.DEC_ICRS);
-        } else if (_currentFormat == SerializedCoordFormat::CFMT_SGM) {
+//         } else if (_currentFormat == SerializedCoordFormat::CFMT_SGM) {
-            toSexagesimalHour(bytes, value.RA_ICRS);
+//             toSexagesimalHour(bytes, value.RA_ICRS);
-            std::format_to(std::back_inserter(bytes), "{}", _delimiter);
+//             std::format_to(std::back_inserter(bytes), "{}", _delimiter);
 
-            toSexagesimalDeg(bytes, value.DEC_ICRS);
+//             toSexagesimalDeg(bytes, value.DEC_ICRS);
-        }
+//         }
 
-        std::format_to(std::back_inserter(bytes), "{}", _delimiter);
+//         std::format_to(std::back_inserter(bytes), "{}", _delimiter);
 
-        eqhrz_ser.setFormat(_currentFormat);
+//         eqhrz_ser.setFormat(_currentFormat);
-        eqhrz_ser.setPrecision(_currentPrec);
+//         eqhrz_ser.setPrecision(_currentPrec);
-        eqhrz_ser(value, bytes);
+//         eqhrz_ser(value, bytes);
 
-        // MccEqtHrzCoordsSerializer{}(value, bytes);
+//         // MccEqtHrzCoordsSerializer{}(value, bytes);
-    }
+//     }
-};
+// };
 
-class MccPointingTargetDeserializer : public MccCoordinateDeserializer
+// class MccPointingTargetDeserializer : public MccCoordinateDeserializer
-{
+// {
-public:
+// public:
-    template <traits::mcc_input_char_range IR, mcc_pointing_target_coord_c T>
+//     template <traits::mcc_input_char_range IR, mcc_pointing_target_coord_c T>
-    std::error_code operator()(IR&& bytes, T& value)
+//     std::error_code operator()(IR&& bytes, T& value)
-    {
+//     {
-        // valid format: RA_ICRS, DEC_ICRS, RA_APP, DEC_APP, HA, AZ, ZD, ALT, X, Y, pair-kind, time-point
+//         // valid format: RA_ICRS, DEC_ICRS, RA_APP, DEC_APP, HA, AZ, ZD, ALT, X, Y, pair-kind, time-point
-        // in the case of sexagesimal input the X,Y coordinates will be interpretated
+//         // in the case of sexagesimal input the X,Y coordinates will be interpretated
-        // according to value.pair_kind field
+//         // according to value.pair_kind field
 
-        auto els = splitToElements(std::forward<IR>(bytes));
+//         auto els = splitToElements(std::forward<IR>(bytes));
-        if (els.size() < 12) {
+//         if (els.size() < 12) {
-            // return std::make_error_code(std::errc::invalid_argument);
+//             // return std::make_error_code(std::errc::invalid_argument);
-            return MccCoordinateConvErrorCode::ERROR_ARG_LEN;
+//             return MccCoordinateConvErrorCode::ERROR_ARG_LEN;
-        }
+//         }
 
-        MccPointingTarget pt;
+//         MccPointingTarget pt;
-        auto err = parseHourRepr(els[0], pt.RA_ICRS);
+//         auto err = parseHourRepr(els[0], pt.RA_ICRS);
-        if (err) {
+//         if (err) {
-            return err;
+//             return err;
-        }
+//         }
 
-        err = parseDegreeRepr(els[1], pt.DEC_ICRS);
+//         err = parseDegreeRepr(els[1], pt.DEC_ICRS);
-        if (err) {
+//         if (err) {
-            return err;
+//             return err;
-        }
+//         }
 
-        err = MccEqtHrzCoordsDeserializer{}(std::string_view{els[2].begin(), els[11].end()}, pt);
+//         err = MccEqtHrzCoordsDeserializer{}(std::string_view{els[2].begin(), els[11].end()}, pt);
-        if (err) {
+//         if (err) {
-            return err;
+//             return err;
-        }
+//         }
 
-        mcc_copy_pointing_target_coord(pt, &value);
+//         mcc_copy_pointing_target_coord(pt, &value);
 
-        return {};
+//         return {};
-    }
+//     }
-};
+// };
 
 
 class MccTelemetryDataSerializer : public MccCoordinateSerializer
@@ -1120,13 +1174,13 @@ public:
     void operator()(const T& value, OR& bytes)
     {
         static MccEqtHrzCoordsSerializer eqhrz_ser;
-        static MccPointingTargetSerializer pt_ser;
+        // static MccPointingTargetSerializer pt_ser;
 
         // output format: <mount data>, speedX, speedY, pcmX, pcmY, refCorr (in arcsecs), <target data>
-        //     RA-APP_mnt, DEC-APP_mnt, HA_mnt, AZ_mnt, ZD_mnt, ALT_mnt, X_mnt, Y_mnt, COO-PAIR_mnt, TIME-POINT_mnt,
+        //     RA-ICRS_mnt, DEC-ICRS_mnt, RA-APP_mnt, DEC-APP_mnt, HA_mnt, AZ_mnt, ZD_mnt, ALT_mnt, X_mnt, Y_mnt,
-        //     LST, EO, SPEED_X_mnt, SPEED_Y_mnt, PCM_X, PCM_Y, REFCORR,
+        //     COO-PAIR_mnt, TIME-POINT_mnt, LST, EO, SPEED_X_mnt, SPEED_Y_mnt, PCM_X, PCM_Y, REFCORR, RA-ICRS_tag,
-        //     RA-ICRS_tag, DEC-ICRS_tag, RA-APP_tag, DEC-APP_tag, HA_tag, AZ_tag, ZD_tag, ALT_tag, X_tag, Y_tag,
+        //     DEC-ICRS_tag, RA-APP_tag, DEC-APP_tag, HA_tag, AZ_tag, ZD_tag, ALT_tag, X_tag, Y_tag, COO-PAIR_tag,
-        //     COO-PAIR_tag, TIME-POINT_tag
+        //     TIME-POINT_tag
 
         eqhrz_ser.setFormat(_currentFormat);
         eqhrz_ser.setPrecision(_currentPrec);
@@ -1145,9 +1199,11 @@ public:
         toSexagesimalDeg(bytes, value.speedX, value.speedY, value.pcmX, value.pcmY, value.refCorr);
         std::format_to(std::back_inserter(bytes), "{}", _delimiter);
 
-        pt_ser.setFormat(_currentFormat);
+        // pt_ser.setFormat(_currentFormat);
-        pt_ser.setPrecision(_currentPrec);
+        // pt_ser.setPrecision(_currentPrec);
-        pt_ser(value.target, bytes);
+        // pt_ser(value.target, bytes);
+
+        eqhrz_ser(value.target, bytes);
     }
 };
 
@@ -1163,18 +1219,18 @@ public:
         // valid format: <mount data>, speedX, speedY, pcmX, pcmY, refCorr, <target data>
 
         auto els = splitToElements(std::forward<IR>(bytes));
-        if (els.size() < 29) {
+        if (els.size() < 31) {
             // return std::make_error_code(std::errc::invalid_argument);
             return MccCoordinateConvErrorCode::ERROR_ARG_LEN;
         }
 
         MccTelemetryData tdata;
-        auto err = MccEqtHrzCoordsDeserializer{}(std::string_view{els[0].begin(), els[9].end()}, tdata);
+        auto err = MccEqtHrzCoordsDeserializer{}(std::string_view{els[0].begin(), els[11].end()}, tdata);
         if (err) {
             return err;
         }
 
-        size_t idx = 10;
+        size_t idx = 12;
 
         err = parseHourRepr(els[idx++], tdata.LST);
         if (err) {
@@ -1211,7 +1267,8 @@ public:
             return err;
         }
 
-        err = MccPointingTargetDeserializer{}(std::string_view{els[idx].begin(), els.back().end()}, tdata.target);
+        // err = MccPointingTargetDeserializer{}(std::string_view{els[idx].begin(), els.back().end()}, tdata.target);
+        err = MccEqtHrzCoordsDeserializer{}(std::string_view{els[idx].begin(), els.back().end()}, tdata.target);
         if (err) {
             return err;
         }

mcc/mcc_generic_mount.h

@@ -20,7 +20,11 @@ enum class MccGenericMountErrorCode : int {
     ERROR_HW_GETSTATE,
     ERROR_SET_TARGET,
     ERROR_MOUNT_SLEW,
-    ERROR_MOUNT_TRACK
+    ERROR_MOUNT_TRACK,
+    ERROR_GET_TELEMETRY,
+    ERROR_UNSUPPORTED_TARGET_COORDPAIR,
+    ERROR_PZONE_COMP,
+    ERROR_TARGET_IN_ZONE
 };
 
 enum class MccGenericFsmMountErrorCode : int { ERROR_OK, ERROR_INVALID_OPERATION, ERROR_UNKNOWN_EVENT };
@@ -70,6 +74,20 @@ struct MccGenericMountCategory : public std::error_category {
                 return "an error occured while stopping mount";
             case MccGenericMountErrorCode::ERROR_HW_GETSTATE:
                 return "cannot get state of hardware";
+            case MccGenericMountErrorCode::ERROR_SET_TARGET:
+                return "cannot set target coordinates";
+            case MccGenericMountErrorCode::ERROR_MOUNT_SLEW:
+                return "slewing error";
+            case MccGenericMountErrorCode::ERROR_MOUNT_TRACK:
+                return "tracking error";
+            case MccGenericMountErrorCode::ERROR_GET_TELEMETRY:
+                return "cannot get telemetry data";
+            case MccGenericMountErrorCode::ERROR_UNSUPPORTED_TARGET_COORDPAIR:
+                return "unsupported coordinate pair of target";
+            case MccGenericMountErrorCode::ERROR_PZONE_COMP:
+                return "an error occured while computing prohibited zone";
+            case MccGenericMountErrorCode::ERROR_TARGET_IN_ZONE:
+                return "target coordinates are in prohibitted zone";
             default:
                 return "UNKNOWN";
         }
@@ -186,7 +204,8 @@ public:
           PZoneContT(std::make_from_tuple<PZoneContT>(std::move(pzcont_ctor_args))),
           SlewModelT(std::make_from_tuple<SlewModelT>(std::move(smodel_ctor_args))),
           TrackModelT(std::make_from_tuple<TrackModelT>(std::move(tmodel_ctor_args))),
-          _mountStatus(new std::atomic<mount_status_t>{})
+          _mountStatus(new std::atomic<mount_status_t>{}),
+          _lastMountError(new std::atomic<error_t>{MccGenericMountErrorCode::ERROR_OK})
     {
         *_mountStatus = mount_status_t::IDLE;
     }
@@ -200,12 +219,18 @@ public:
     virtual ~MccGenericMount()
     {
         stopMount();
+
+        if (_slewingFuture.valid()) {
+            _slewingFuture.wait_for(std::chrono::seconds(3));
+        }
     };
 
     error_t stopMount()
     {
         logInfo("Stop any movements ...");
 
+        *_lastMountError = MccGenericMountErrorCode::ERROR_OK;
+
         this->stopTracking();
         this->stopSlewing();
 
@@ -213,34 +238,36 @@ public:
         if (hw_err) {
             *_mountStatus = mount_status_t::ERROR;
 
-            return mcc_deduce_error_code(hw_err, MccGenericMountErrorCode::ERROR_HW_STOP);
+            *_lastMountError = mcc_deduce_error_code(hw_err, MccGenericMountErrorCode::ERROR_HW_STOP);
+        } else {
+            logInfo("Stop command was sent");
+
+            *_mountStatus = mount_status_t::STOPPED;
         }
 
-        logInfo("Stop command was sent");
+        return *_lastMountError;
-
-        *_mountStatus = mount_status_t::STOPPED;
-
-        return MccGenericMountErrorCode::ERROR_OK;
     }
 
     error_t initMount()
     {
         logInfo("Start generic mount initialization ...");
 
+        *_lastMountError = MccGenericMountErrorCode::ERROR_OK;
+
         *_mountStatus = mount_status_t::INITIALIZATION;
 
         auto hw_err = this->hardwareInit();
         if (hw_err) {
             *_mountStatus = mount_status_t::ERROR;
 
-            return mcc_deduce_error_code(hw_err, MccGenericMountErrorCode::ERROR_HW_STOP);
+            *_lastMountError = mcc_deduce_error_code(hw_err, MccGenericMountErrorCode::ERROR_HW_INIT);
+        } else {
+            logInfo("Generic mount initialization was performed");
+
+            *_mountStatus = mount_status_t::IDLE;
         }
 
-        logInfo("Generic mount initialization was performed");
+        return *_lastMountError;
-
-        *_mountStatus = mount_status_t::IDLE;
-
-        return MccGenericMountErrorCode::ERROR_OK;
     }
 
     // re-implements TelemetryT::setPointingTarget to hold target coordinates
@@ -268,6 +295,47 @@ public:
     // re-implements SlewModelT::slewToTarget to fetch input target coordinates from intermediate buffer
     error_t slewToTarget(bool slew_and_stop = false)
     {
+        *_lastMountError = MccGenericMountErrorCode::ERROR_OK;
+
+        // save current target
+        MccTelemetryData tdata;
+
+        auto sl_params = this->getSlewingParams();
+
+        auto t_err = this->telemetryData(&tdata);
+        if (t_err) {
+            return *_lastMountError = mcc_deduce_error_code(t_err, MccGenericMountErrorCode::ERROR_GET_TELEMETRY);
+        }
+
+        MccCelestialPoint curr_target{.pair_kind = tdata.target.pair_kind, .time_point = tdata.target.time_point};
+        if (curr_target.pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
+            curr_target.X = tdata.target.RA_ICRS;
+            curr_target.Y = tdata.target.DEC_ICRS;
+        } else if (curr_target.pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
+            curr_target.X = tdata.target.RA_APP;
+            curr_target.Y = tdata.target.DEC_APP;
+        } else if (curr_target.pair_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
+            curr_target.X = tdata.target.HA;
+            curr_target.Y = tdata.target.DEC_APP;
+        } else if (curr_target.pair_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
+            curr_target.X = tdata.target.AZ;
+            curr_target.Y = tdata.target.ZD;
+        } else if (curr_target.pair_kind == MccCoordPairKind::COORDS_KIND_AZALT) {
+            curr_target.X = tdata.target.AZ;
+            curr_target.Y = tdata.target.ALT;
+        } else if (curr_target.pair_kind == MccCoordPairKind::COORDS_KIND_XY) {
+            curr_target.X = tdata.target.X;
+            curr_target.Y = tdata.target.Y;
+        } else {  // it should not be!
+            logError(
+                std::format("Unsupported coordinate pair kind ({}) was read from telemetry data! Is mount "
+                            "initialized?! Cannot start slewing!",
+                            (int)curr_target.pair_kind));
+            return *_lastMountError = MccGenericMountErrorCode::ERROR_UNSUPPORTED_TARGET_COORDPAIR;
+        }
+
+        // set new target coordinates and check it
+
         _enteredTargetCoordiniates.time_point = std::chrono::system_clock::now();
         auto err = TelemetryT::setPointingTarget(_enteredTargetCoordiniates);
         if (err) {
@@ -276,23 +344,67 @@ public:
             return mcc_deduce_error_code(err, MccGenericMountErrorCode::ERROR_SET_TARGET);
         }
 
-        *_mountStatus = mount_status_t::SLEWING;
+        t_err = this->waitForTelemetryData(&tdata, sl_params.telemetryTimeout);
-
+        if (t_err) {
-        error_t s_err =
+            return mcc_deduce_error_code(t_err, MccGenericMountErrorCode::ERROR_GET_TELEMETRY);
-            mcc_deduce_error_code(SlewModelT::slewToTarget(slew_and_stop), MccGenericMountErrorCode::ERROR_MOUNT_SLEW);
-
-        if (s_err) {
-            *_mountStatus = mount_status_t::ERROR;
-            return s_err;
         }
 
-        if (slew_and_stop) {
+        bool in_zone;
-            *_mountStatus = mount_status_t::IDLE;
+        std::vector<bool> in_zone_vec;
-        } else {
+        auto pz_err = this->inPZone(tdata.target, &in_zone, &in_zone_vec);
-            s_err = trackTarget();
+        if (pz_err) {
+            return *_lastMountError = mcc_deduce_error_code(pz_err, MccGenericMountErrorCode::ERROR_PZONE_COMP);
         }
 
-        return s_err;
+        if (in_zone) {
+            size_t i = 0;
+            for (; i < in_zone_vec.size(); ++i) {
+                if (in_zone_vec[i]) {
+                    break;
+                }
+            }
+
+            logError("target point is in prohibited zone (zone index: {})! Entered target coordinates:", i);
+            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)));
+            logError(std::format("    AZ, ZD, ALT: {}, {}, {}", mcc::MccAngle{tdata.target.AZ}.sexagesimal(),
+                                 mcc::MccAngle{tdata.target.ZD}.sexagesimal(),
+                                 mcc::MccAngle{tdata.target.ALT}.sexagesimal()));
+
+            logError(std::format("    hardware X, Y: {}, {}", mcc::MccAngle{tdata.target.X}.sexagesimal(),
+                                 mcc::MccAngle{tdata.target.Y}.sexagesimal()));
+
+            return *_lastMountError = mcc_deduce_error_code(pz_err, MccGenericMountErrorCode::ERROR_TARGET_IN_ZONE);
+        }
+
+
+
+        // start slewing (asunchronous operation)
+
+        _slewingFuture = std::async(std::launch::async,
+                                    [slew_and_stop, this]() {
+                                        *_mountStatus = mount_status_t::SLEWING;
+
+                                        auto err = SlewModelT::slewToTarget(slew_and_stop);
+                                        if (err) {
+                                            *_lastMountError =
+                                                mcc_deduce_error_code(err, MccGenericMountErrorCode::ERROR_MOUNT_SLEW);
+
+                                            *_mountStatus = mount_status_t::ERROR;
+                                        } else {
+                                            if (slew_and_stop) {
+                                                *_mountStatus = mount_status_t::IDLE;
+                                            } else {
+                                                *_lastMountError = trackTarget();
+                                            }
+                                        }
+                                    }
+
+        );
+
+        return MccGenericMountErrorCode::ERROR_OK;
     }
 
     error_t trackTarget()
@@ -321,8 +433,7 @@ public:
 
     error_t stopTracking()
     {
-        // *_mountStatus = mount_status_t::IDLE;
+        *_mountStatus = mount_status_t::IDLE;
-        _mountStatus->store(mount_status_t::IDLE);
 
         TrackModelT::stopTracking();
 
@@ -335,10 +446,21 @@ public:
         return *_mountStatus;
     }
 
+
+    // returns last mount-action error code
+    error_t mountLastError() const
+    {
+        return *_lastMountError;
+    }
+
 protected:
     MccCelestialPoint _enteredTargetCoordiniates{};
 
     std::unique_ptr<std::atomic<MccGenericMount::mount_status_t>> _mountStatus;
+
+    std::future<void> _slewingFuture{};
+
+    std::unique_ptr<std::atomic<error_t>> _lastMountError;
 };
 
 

mcc/mcc_generics.h

@@ -142,7 +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
@@ -281,6 +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
@@ -311,6 +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;
 
@@ -511,7 +518,7 @@ 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,
@@ -582,55 +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
 
@@ -646,6 +615,31 @@ concept mcc_telemetry_data_c = mcc_eqt_hrz_coord_c<T> && std::default_initializa
 };
 
 
+// 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)>;
+};
+
+
 static constexpr void mcc_copy_telemetry_data(mcc_telemetry_data_c auto const& from_pt,
                                               mcc_telemetry_data_c auto* to_pt)
 {
@@ -670,6 +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;
 
@@ -683,7 +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);
 }
 
 
@@ -759,6 +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                           */
 
@@ -975,6 +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                         */
 
 
@@ -995,23 +1027,14 @@ concept mcc_all_controls_c = mcc_position_controls_c<T> && mcc_telemetry_c<T> &&
 //     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, 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>()) };
-    // { 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() };

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

@@ -59,6 +59,9 @@ struct MccSimpleMovingModelParams {
     double brakingAccelX{0.0};
     double brakingAccelY{0.0};
 
+    // slewing trajectory file. if empty - just skip saving
+    std::string slewingPathFilename{};
+
 
     // *******    tracking mode    *******
 
@@ -76,6 +79,10 @@ struct MccSimpleMovingModelParams {
     // 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    *******
 
     double guidingCorrectionRange[2]{0.3_arcsecs, 3.0_arcsecs};

mcc/mcc_netserver.h

@@ -23,6 +23,7 @@
 #include <asio/signal_set.hpp>
 #include <asio/steady_timer.hpp>
 #include <asio/streambuf.hpp>
+#include <asio/thread_pool.hpp>
 #include <asio/write.hpp>
 
 #include <spdlog/sinks/null_sink.h>
@@ -181,12 +182,13 @@ public:
           _asioContext(ctx),
           _handleMessageFunc(func),
           _stopSignal(ctx),
-          _restartSignal(ctx)
+          _restartSignal(ctx),
+          _sessionThreadPool(7)
     {
         std::stringstream st;
         st << std::this_thread::get_id();
 
-        logInfo(std::format("Create generic network server instance (thread ID = {})", st.str()));
+        logInfo(std::format("Create MccGenericNetworkServer class instance (thread ID = {})", st.str()));
     }
 
     // MccNetworkServer(asio::io_context& ctx, const handle_message_func_t& func, LoggerT logger = MccNullLogger{})
@@ -206,6 +208,10 @@ public:
         logInfo(std::format("Delete generic network server instance (thread ID = {}) ...", st.str()));
 
         stopListening();
+
+        _sessionThreadPool.stop();
+        _sessionThreadPool.join();
+
         disconnectClients();
     }
 
@@ -359,10 +365,21 @@ public:
 
                 // start accepting connections
                 for (;;) {
+                    st.str("");
+                    st << std::this_thread::get_id();
+                    logDebug(std::format("Start accepting new connections (thread ID = {}) ...", st.str()));
+
                     auto sock = co_await acc.async_accept(asio::use_awaitable);
+
                     // start new client session
-                    asio::co_spawn(_asioContext, startSession(std::move(sock)), asio::detached);
+                    logDebug("Spawn new user session ...");
-                    logDebug(std::format("session was spawned, start accepting new connections ..."));
+
+                    // asio::co_spawn(_asioContext, startSession(std::move(sock)), asio::detached);
+
+                    // use of sessions own thread pool
+                    asio::co_spawn(_sessionThreadPool, startSession(std::move(sock)), asio::detached);
+
+                    logDebug("The session was spawned");
                 }
 
 
@@ -572,8 +589,15 @@ public:
         _stopSignal.async_wait([this](std::error_code, int signo) {
             logInfo(std::format("Stop signal was received (signo = {})", signo));
 
-            stopListening();
+            // _handleMessageFunc(MCC_COMMPROTO_KEYWORD_STOP_STR);
-            disconnectClients();
+            // std::this_thread::sleep_for(std::chrono::milliseconds(100));
+
+            // stopListening();
+
+            // _sessionThreadPool.stop();
+            // _sessionThreadPool.join();
+
+            // disconnectClients();
 
             _asioContext.stop();
         });
@@ -621,6 +645,8 @@ protected:
 
     std::mutex _serialPortsMutex, _tcpSocketsMutex, _localStreamSocketsMutex, _localSeqpackSocketsMutex;
 
+    asio::thread_pool _sessionThreadPool;
+
     // helpers
     template <typename OptT, typename... OptTs>
     void setSerialOpts(asio::serial_port& s_port, OptT&& opt, OptTs&&... opts)
@@ -898,10 +924,21 @@ class MccGenericMountNetworkServer : public MccGenericNetworkServer<LoggerT>
 public:
     using typename base_t::handle_message_func_result_t;
 
+    using base_t::logDebug;
+    using base_t::logError;
+    using base_t::logInfo;
+    using base_t::logTrace;
+    using base_t::logWarn;
+
     template <mcc_generic_mount_c MountT, typename... LoggerCtorArgsTs>
     MccGenericMountNetworkServer(asio::io_context& ctx, MountT& mount, LoggerCtorArgsTs&&... log_args)
         : base_t(ctx, {}, std::forward<LoggerCtorArgsTs>(log_args)...)
     {
+        std::stringstream st;
+        st << std::this_thread::get_id();
+
+        logInfo(std::format("Create MccGenericMountNetworkServer class instance (thread ID = {})", st.str()));
+
         // to avoid possible compiler optimization (one needs to catch 'mount' strictly by reference)
         auto* mount_ptr = &mount;
 
@@ -924,15 +961,27 @@ public:
 
             return output_msg.template byteRepr<typename base_t::handle_message_func_result_t>();
         };
+
+        // special functor (used in the destructor)
+        _stopMountFunc = [mount_ptr]() { mount_ptr->stopMount(); };
     }
 
-    virtual ~MccGenericMountNetworkServer() {}
+    virtual ~MccGenericMountNetworkServer()
+    {
+        std::stringstream st;
+        st << std::this_thread::get_id();
+
+        _stopMountFunc();
+
+        logInfo(std::format("Delete MccGenericMountNetworkServer class instance (thread ID = {})", st.str()));
+    }
 
 protected:
     MccCoordinateSerializer::SerializedCoordFormat _coordFormat{
         MccCoordinateSerializer::SerializedCoordFormat::CFMT_SGM};
     MccCoordinateSerializer::SexagesimalCoordPrec _coordPrec{2, 1};
 
+    std::function<void()> _stopMountFunc{};
 
     template <typename RESULT_MSG_T, typename INPUT_MSG_T, mcc_generic_mount_c MountT>
     RESULT_MSG_T handleMessage(const INPUT_MSG_T& input_msg, MountT* mount_ptr)
@@ -1037,34 +1086,6 @@ protected:
                         err = vc.error();
                     }
                 }
-
-
-                // auto vc = input_msg.template paramValue<MccCelestialPoint>(0);  // is it set operation?
-                // if (vc) {                                                       // coordinates are given - set
-                // operation
-                //     auto m_err = mount_ptr->setPointingTarget(vc.value());
-                //     if (m_err) {
-                //         if (m_err) {
-                //             err = mcc_deduce_error_code(m_err,
-                //                                         MccGenericMountNetworkServerErrorCode::ERROR_MOUNT_SET_TARGET);
-                //         }
-                //     } else {
-                //         output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, input_msg.byteRepr());
-                //     }
-                // } else {
-                //     auto vp = input_msg.template paramValue<MccCoordPairKind>(0);
-                //     if (vp) {  // coordinate pair kind is given
-                //         cp.pair_kind = vp.value();
-                //         err = coordsFromTelemetryData(*mount_ptr, true, cp);
-                //         if (!err) {
-                //             output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR,
-                //             MCC_COMMPROTO_KEYWORD_TARGET_STR,
-                //                                  _coordFormat, _coordPrec, cp);
-                //         }
-                //     } else {  // invalid command!!!
-                //         err = vp.error();
-                //     }
-                // }
             } else {  // get operation
                 err = coordsFromTelemetryData(*mount_ptr, true, cp);
                 if (!err) {
@@ -1100,7 +1121,8 @@ protected:
         } else if (input_msg.withKey(MCC_COMMPROTO_KEYWORD_TELEMETRY_STR)) {
             MccTelemetryData tdata;
 
-            auto t_err = mount_ptr->telemetryData(&tdata);
+            // auto t_err = mount_ptr->telemetryData(&tdata);
+            auto t_err = mount_ptr->waitForTelemetryData(&tdata);
             if (t_err) {
                 err = mcc_deduce_error_code(t_err, MccGenericMountNetworkServerErrorCode::ERROR_MOUNT_GET_TELEMETRY);
             } else {
@@ -1150,7 +1172,8 @@ protected:
     {
         MccTelemetryData tdata;
 
-        auto t_err = mount.telemetryData(&tdata);
+        auto t_err = mount.waitForTelemetryData(&tdata);
+        // auto t_err = mount.telemetryData(&tdata);
         if (t_err) {
             return mcc_deduce_error_code(t_err, MccGenericMountNetworkServerErrorCode::ERROR_MOUNT_GET_TELEMETRY);
         }

mcc/mcc_pcm.h

@@ -105,7 +105,7 @@ public:
     typedef double coord_t;
 
 
-    // "classic" geometric PEC coefficients
+    // "classic" geometric PCM coefficients
     struct pcm_geom_coeffs_t {
         typedef double coeff_t;
 

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"
@@ -85,6 +87,8 @@ struct MccSimpleSlewingModelCategory : public std::error_category {
                 return "already slewing";
             case MccSimpleSlewingModelErrorCode::ERROR_ALREADY_STOPPED:
                 return "slewing is already stopped";
+            case MccSimpleSlewingModelErrorCode::ERROR_STOPPED:
+                return "slewing was stopped";
             default:
                 return "UNKNOWN";
         }
@@ -120,30 +124,54 @@ public:
 
     template <mcc_all_controls_c CONTROLS_T, mcc_logger_c LoggerT = MccNullLogger>
     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>())
     {
-        logger.logDebug("Create MccSimpleSlewingModel class instance");
+        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);
+
+            // 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);
+            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) {
-                logger.logError("target point is in prohibited zone! Entered target coordinates:");
+                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(),
@@ -153,6 +181,10 @@ public:
                                             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;
             }
 
@@ -160,47 +192,15 @@ public:
         };
 
         _slewingFunc = [controls, logger = std::move(logger), this](bool slew_and_stop) mutable -> error_t {
-            // first, check target coordinates
+            // reset error
-            typename CONTROLS_T::error_t t_err;
+            *_lastError = MccSimpleSlewingModelErrorCode::ERROR_OK;
-            MccTelemetryData tdata;
-
-            {
-                std::lock_guard lock{*_currentParamsMutex};
-                t_err = controls->telemetryData(&tdata);
-
-                if (t_err) {
-                    return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
-                }
-            }
-
-            bool in_zone;
-            auto pz_err = controls->inPZone(tdata.target, &in_zone);
-            if (pz_err) {
-                *_stopSlewing = true;
-                return mcc_deduce_error_code(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
-            }
-
-            if (in_zone) {
-                *_stopSlewing = true;
-
-                logger.logError("target point is in prohibited zone! Entered target coordinates:");
-                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()));
-
-                return MccSimpleSlewingModelErrorCode::ERROR_TARGET_IN_PZONE;
-            }
-
-            if (*_stopSlewing) {
-                return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
-            }
 
             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};
@@ -215,6 +215,19 @@ public:
                 } 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(
@@ -228,9 +241,42 @@ public:
                                        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";
+            }
+
+
+            typename CONTROLS_T::error_t t_err;
+            MccTelemetryData tdata;
+
+            {
+                std::lock_guard lock{*_currentParamsMutex};
+                t_err = controls->telemetryData(&tdata);
+
+                if (t_err) {
+                    return *_lastError =
+                               mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
+                }
+            }
+
+            auto last_hw_time = tdata.time_point;
+
+            bool in_zone;
+            std::vector<bool> in_zone_vec;
 
             MccCelestialPoint cpt;
-            double min_time_to_pzone_in_secs;
 
             if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
                 cpt.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
@@ -245,30 +291,34 @@ public:
             auto hw_err = controls->hardwareGetState(&hw_state);
             if (hw_err) {
                 *_stopSlewing = true;
-                return mcc_deduce_error_code(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) {
                 logger.logDebug("slewing was stopped!");
-                return MccSimpleSlewingModelErrorCode::ERROR_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),
@@ -276,6 +326,13 @@ public:
                 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(),
@@ -288,27 +345,27 @@ public:
             hw_err = controls->hardwareSetState(hw_state);
             if (hw_err) {
                 *_stopSlewing = true;
-                return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
+                return *_lastError = mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
             }
 
             logger.logDebug("    the 'hardwareSetState' method performed successfully!");
 
-            // std::chrono::steady_clock::time_point start_slewing_tp, last_adjust_tp;
+            // double dist, dx, dy;
-            // mcc_tp2tp(hw_state.time_point, start_slewing_tp); // not compiled!!
-
-            // double dist, dx, dy, sinY, rate2, xrate;
-            // std::chrono::duration<double> dtx, dty;  // seconds in double
-
             double dist;
 
-            // bool adjust_mode = false;
-            // static constexpr auto sideral_rate2 = slewing_params_t::sideralRate * slewing_params_t::sideralRate;
 
             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)
@@ -320,13 +377,17 @@ 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_code(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);
@@ -381,15 +442,41 @@ public:
                                             mcc::MccAngleFancyString(tdata.speedX),
                                             mcc::MccAngleFancyString(tdata.speedY)));
 
-                pz_err = controls->inPZone(cpt, &in_zone);
+                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_code(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
+                        mcc_deduce_error_code(pz_err, 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;
                 }
 
 
@@ -399,56 +486,148 @@ public:
 
                     if ((std::chrono::steady_clock::now() - start_slewing_tp) > _currentParams.slewTimeout) {
                         logger.logError("slewing process timeout!");
-                        return MccSimpleSlewingModelErrorCode::ERROR_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) {
-                    *_stopSlewing = true;
+                    *_lastError = mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
-                    return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
+                    break;
+                    // *_stopSlewing = true;
+                    // return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
                 }
 
-                if (slew_and_stop) {  // just wait for mount to be stopped
+                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) {
-                        *_stopSlewing = true;
+                        *_lastError =
-                        return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY);
+                            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) {  // stop slewing and exit from cycle
+                    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;
 
-                    logger.logTrace(std::format("Send to hardware: X = {} degs, Y = {} degs",
+                    // controls->targetToMountDiff(tdata.pair_kind, &dx, &dy);
-                                                mcc::MccAngle{hw_state.X}.degrees(),
+
+                    // // 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) {
-                        *_stopSlewing = true;
+                        *_lastError = MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE;
-                        return mcc_deduce_error_code(hw_err, 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;
 
             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
             {
@@ -457,11 +636,16 @@ public:
                 t_err = controls->waitForTelemetryData(&tdata, _currentParams.telemetryTimeout);
 
                 if (t_err) {
-                    *_stopSlewing = true;
+                    return *_lastError =
-                    return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
+                               mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
                 }
             }
 
+            t_err = controls->targetToMountDist(&dist);
+            if (t_err) {
+                return *_lastError = mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY);
+            }
+
             if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
                 logger.logDebug(std::format("    entered target: HA = {}, DEC = {}",
                                             mcc::MccAngle{tdata.target.HA}.sexagesimal(true),
@@ -469,6 +653,13 @@ public:
                 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(),
@@ -478,7 +669,13 @@ public:
                                             mcc::MccAngle{tdata.ZD}.sexagesimal()));
             }
 
-            return MccSimpleSlewingModelErrorCode::ERROR_OK;
+            logger.logDebug(std::format("    target-to-mount distance {}", mcc::MccAngleFancyString(dist)));
+
+            if (store_path) {
+                fst.close();
+            }
+
+            return *_lastError = MccSimpleSlewingModelErrorCode::ERROR_OK;
         };
     }
 
@@ -500,6 +697,17 @@ public:
 
         *_stopSlewing = false;
 
+        // 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);
     }
 
@@ -533,6 +741,11 @@ public:
         return _currentParams;
     }
 
+    error_t slewingLastError() const
+    {
+        return *_lastError;
+    }
+
 protected:
     std::function<error_t(bool)> _slewingFunc{};
     std::unique_ptr<std::atomic_bool> _stopSlewing;
@@ -540,6 +753,9 @@ protected:
 
     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_telemetry.h

@@ -9,7 +9,7 @@
 #include <condition_variable>
 #include <future>
 #include <mutex>
-#include <thread>
+#include <stop_token>
 
 #include "mcc_defaults.h"
 
@@ -24,7 +24,8 @@ enum class MccTelemetryErrorCode : int {
     ERROR_HARDWARE_GETPOS,
     ERROR_UPDATE_STOPPED,
     ERROR_DATA_TIMEOUT,
-    ERROR_UNSUPPORTED_COORD_PAIR
+    ERROR_UNSUPPORTED_COORD_PAIR,
+    ERROR_UPDATE_LOOP_WAIT
 };
 
 }  // namespace mcc
@@ -75,6 +76,8 @@ struct MccTelemetryCategory : public std::error_category {
                 return "a timeout occured while waiting for new data";
             case MccTelemetryErrorCode::ERROR_UNSUPPORTED_COORD_PAIR:
                 return "unsupported coordinate pair";
+            case MccTelemetryErrorCode::ERROR_UPDATE_LOOP_WAIT:
+                return "a timeout occured while waiting to exit the update loop";
             default:
                 return "UNKNOWN";
         }
@@ -95,6 +98,293 @@ inline std::error_code make_error_code(MccTelemetryErrorCode ec)
 
 
 
+template <mcc_hardware_c HARDWARE_T>
+class MccMountTelemetry : public mcc_telemetry_interface_t<std::error_code>
+{
+public:
+    static constexpr std::chrono::milliseconds defaultDataUpdatingTimeout{100};
+
+    typedef std::error_code error_t;
+
+    struct telemetry_data_t : MccEqtHrzCoords {
+        MccCelestialPoint entered_target{};
+        MccEqtHrzCoords target;
+        HARDWARE_T::hardware_state_t hardware;
+
+        double JD;
+        double LST;
+        double EO;
+        double refCorr;
+    };
+
+
+    template <mcc_PCM_c PCM_T, mcc_ccte_c CCTE_T>
+    MccMountTelemetry(HARDWARE_T* hardware, PCM_T* pcm, CCTE_T* ccte)
+    {
+        _data.entered_target.pair_kind = MccCoordPairKind::COORDS_KIND_RADEC_ICRS;
+
+        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!");
+        }
+
+        // target coordinates updater
+        _updateTargetFunc = [hardware, pcm, ccte, this](std::stop_token stop_token) -> error_t {
+            MccPCMResult pcm_res;
+
+            mcc_tp2tp(_data.time_point, _data.target.time_point);
+            mcc_tp2tp(_data.time_point, _data.entered_target.time_point);
+
+            if (_data.entered_target.pair_kind ==
+                MccCoordPairKind::COORDS_KIND_XY) {  // compute corresponded observed coordinates
+                auto pcm_err = pcm->computePCM(_data.entered_target, &pcm_res, &_data.target);
+                if (pcm_err) {
+                    return mcc_deduce_error_code(pcm_err, MccTelemetryErrorCode::ERROR_PCM_COMP);
+                }
+
+                _data.target.X = _data.entered_target.X;
+                _data.target.Y = _data.entered_target.Y;
+
+                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!!!");
+                }
+
+                auto ccte_err = ccte->transformCoordinates(_data.target, &_data.target);
+                if (ccte_err) {
+                    return mcc_deduce_error_code(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
+                }
+            } else {
+                _data.target.pair_kind = _data.entered_target.pair_kind;
+
+                auto ccte_err = ccte->transformCoordinates(_data.entered_target, &_data.target);
+                if (ccte_err) {
+                    return mcc_deduce_error_code(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
+                }
+
+                auto pcm_err = pcm->computeReversePCM(_data.target, &pcm_res, &_data.target);
+                if (pcm_err) {
+                    return mcc_deduce_error_code(pcm_err, MccTelemetryErrorCode::ERROR_PCM_COMP);
+                }
+            }
+
+            return MccTelemetryErrorCode::ERROR_OK;
+        };
+
+        // mount current coordinates updater
+        _updateFunc = [hardware, pcm, ccte, this](std::stop_token stop_token) -> std::error_code {
+            // std::lock_guard lock{*_updateMutex};
+
+            // first, update mount quantities
+            auto hw_err = hardware->hardwareGetState(&_data.hardware);
+            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;
+
+            mcc_tp2tp(_data.hardware.time_point, _data.time_point);
+            _data.X = _data.hardware.X;
+            _data.Y = _data.hardware.Y;
+
+            auto ccte_err = _data->timepointToJulday(_data.time_point, &_data.JD);
+            if (!ccte_err) {
+                if (stop_token.stop_requested()) {
+                    return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
+                }
+
+                ccte_err = ccte_err->juldayToAppSideral(_data.JD, &_data.LST, true);
+                if (!ccte_err) {
+                    ccte_err = ccte_err->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;
+            // }
+
+
+            MccCelestialPoint pt;
+            mcc_tp2tp(_data.time_point, pt.time_point);
+
+            auto pcm_err = pcm->computePCM(_data, &_data, &pt);
+            if (pcm_err) {
+                return mcc_deduce_error_code(pcm_err, MccTelemetryErrorCode::ERROR_PCM_COMP);
+            }
+
+            if constexpr (mccIsEquatorialMount(PCM_T::mountType)) {
+                pt.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
+                _data.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
+            } else if constexpr (mccIsAltAzMount(PCM_T::mountType)) {
+                pt.pair_kind = MccCoordPairKind::COORDS_KIND_AZALT;
+                _data.pair_kind = MccCoordPairKind::COORDS_KIND_AZALT;
+            } else {
+                static_assert(false, "UNKNOWN MOUNT TYPE!");
+            }
+
+            ccte_err = ccte->transformCoordinates(pt, &_data);
+            if (!ccte_err) {
+                ccte_err = ccte->refractionCorrection(_data, &_data.refCorr);
+                if (!ccte_err) {
+                    return _updateTargetFunc(stop_token);
+                } else {
+                    return mcc_deduce_error_code(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
+                }
+            } else {
+                return mcc_deduce_error_code(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
+            }
+
+            return MccTelemetryErrorCode::ERROR_OK;
+        };
+
+
+        _internalUpdatingStopSource = std::stop_source{};
+
+        _dataUpdatingRequested->clear();
+        _dataUpdatingStart->clear();
+
+        // start thread for data updating
+        _updatingFuture = std::async(
+            std::launch::async,
+            [this](std::stop_token stoken) {
+                while (!stoken.stop_requested()) {
+                    _dataUpdatingRequested->wait(false);
+
+                    if (!stoken.stop_requested()) {
+                        std::lock_guard lock{*_timeoutMutex};
+
+                        _dataUpdatingStart->test_and_set();
+                        _dataUpdatingStart->notify_all();
+
+                        _lastUpdateError = _updateFunc(stoken);
+
+                        _dataUpdatingStart->clear();
+                        _dataUpdatingRequested->clear();
+                    }
+                }
+            },
+            _internalUpdatingStopSource.get_token());
+    }
+
+
+    virtual ~MccMountTelemetry() = default;
+
+
+    void setDataUpdatingTimeout(traits::mcc_time_duration_c auto const& timeout)
+    {
+        _dataUpdatingTimeout = std::chrono::duration_cast<decltype(_dataUpdatingTimeout)>(timeout);
+    }
+
+    template <traits::mcc_time_duration_c DT>
+    DT getDataUpdatingTimeout() const
+    {
+        return std::chrono::duration_cast<DT>(_dataUpdatingTimeout);
+    }
+
+    std::chrono::milliseconds getDataUpdatingTimeout() const
+    {
+        return getDataUpdatingTimeout<std::chrono::milliseconds>();
+    }
+
+
+    error_t telemetryData(telemetry_data_t* tdata)
+    {
+        if (tdata == nullptr) {
+            return MccTelemetryErrorCode::ERROR_NULLPTR;
+        }
+
+        // trigger updating
+        _dataUpdatingRequested->test_and_set();
+        _dataUpdatingRequested->notify_one();
+
+        // wait for updating start
+        _dataUpdatingStart->wait(false);
+        if (_timeoutMutex->try_lock_for(_dataUpdatingTimeout)) {
+            _timeoutMutex->unlock();
+        } else {
+            _lastUpdateError = MccTelemetryErrorCode::ERROR_DATA_TIMEOUT;
+        }
+
+        if (!_lastUpdateError) {
+            std::lock_guard lock(*_updateMutex);
+            *tdata = _data;
+        }
+
+        return _lastUpdateError;
+    }
+
+    error_t setPointingTarget(mcc_celestial_point_c auto const& cp)
+    {
+        std::lock_guard lock(*_updateMutex);
+
+        mcc_copy_celestial_point(cp, &_data.entered_target);
+
+        return MccTelemetryErrorCode::ERROR_OK;
+    }
+
+protected:
+    telemetry_data_t _data;
+
+    std ::function<error_t(std::stop_token)> _updateTargetFunc{};
+    std::function<error_t(std::stop_token)> _updateFunc{};
+
+    std::unique_ptr<std::mutex> _updateMutex;
+    std::unique_ptr<std::condition_variable> _updateCondVar;
+
+    std::stop_source _internalUpdatingStopSource{};
+
+    std::future<void> _updatingFuture{};
+    std::unique_ptr<std::atomic_flag> _dataUpdatingRequested{new std::atomic_flag{}};
+    std::unique_ptr<std::atomic_flag> _dataUpdatingStart{new std::atomic_flag{}};
+    std::unique_ptr<std::timed_mutex> _timeoutMutex{new std::timed_mutex()};
+
+    std::chrono::nanoseconds _dataUpdatingTimeout{defaultDataUpdatingTimeout};
+
+    error_t _lastUpdateError{MccTelemetryErrorCode::ERROR_OK};
+
+    void updateLoop(std::stop_token stoken)
+    {
+        while (!stoken.stop_requested()) {
+            _dataUpdatingRequested->wait(false);
+
+            if (!stoken.stop_requested()) {
+                std::lock_guard lock{*_timeoutMutex};
+
+                _dataUpdatingStart->test_and_set();
+                _dataUpdatingStart->notify_all();
+
+                _lastUpdateError = _updateFunc(stoken);
+
+                _dataUpdatingStart->clear();
+                _dataUpdatingRequested->clear();
+            }
+        }
+    }
+};
+
+
 class MccTelemetry : public mcc_telemetry_interface_t<std::error_code>
 {
 protected:
@@ -104,6 +394,8 @@ public:
     static constexpr auto defaultUpdateInterval = std::chrono::milliseconds(100);
     static constexpr auto defaultInternalUpdateTimeout = defaultUpdateInterval * 5;
 
+    static constexpr auto defaultUpdatingTimeout = std::chrono::milliseconds(500);
+
     typedef std::error_code error_t;
 
 
@@ -126,6 +418,8 @@ public:
         using pcm_t = std::remove_cvref_t<decltype(*controls)>;
         using hardware_t = std::remove_cvref_t<decltype(*controls)>;
 
+        _data.entered_target.pair_kind = MccCoordPairKind::COORDS_KIND_RADEC_ICRS;
+
         if constexpr (mccIsEquatorialMount(pcm_t::mountType)) {
             _data.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
             _data.target.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
@@ -140,16 +434,11 @@ public:
             MccPCMResult pcm_res;
 
             mcc_tp2tp(_data.time_point, _data.target.time_point);
+            mcc_tp2tp(_data.time_point, _data.entered_target.time_point);
 
-            bool hw_coords = _data.target.pair_kind == MccCoordPairKind::COORDS_KIND_XY;
+            if (_data.entered_target.pair_kind ==
-            MccCelestialPoint hw_cp{.pair_kind = MccCoordPairKind::COORDS_KIND_XY};
+                MccCoordPairKind::COORDS_KIND_XY) {  // compute corresponded observed coordinates
-            mcc_tp2tp(_data.time_point, hw_cp.time_point);
+                auto pcm_err = controls->computePCM(_data.entered_target, &pcm_res, &_data.target);
-
-            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);
                 }
@@ -165,71 +454,35 @@ public:
                 } else {
                     static_assert(false, "UNKNOWN MOUNT TYPE!!!");
                 }
-            }
 
-            if (_data.target.pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
+                auto ccte_err = controls->transformCoordinates(_data.target, &_data.target);
-                _data.target.X = _data.target.RA_ICRS;
+                if (ccte_err) {
-                _data.target.Y = _data.target.DEC_ICRS;
+                    return mcc_deduce_error_code(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
-            } 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;
+                _data.target.pair_kind = _data.entered_target.pair_kind;
-            }
 
-            auto ccte_err = controls->transformCoordinates(_data.target, &_data.target);
+                auto ccte_err = controls->transformCoordinates(_data.entered_target, &_data.target);
-            if (ccte_err) {
+                if (ccte_err) {
-                if (hw_coords) {  // restore coordinates pair kind
+                    return mcc_deduce_error_code(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
-                    _data.target.pair_kind = MccCoordPairKind::COORDS_KIND_XY;
                 }
 
-                return mcc_deduce_error_code(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
+                // if (_data.entered_target.pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
+                //     _data.target.RA_ICRS = _data.entered_target.X;
+                //     _data.target.DEC_ICRS = _data.entered_target.Y;
+                // }
             }
 
+            return MccTelemetryErrorCode::ERROR_OK;
+
             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);
+                auto 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;
@@ -241,21 +494,19 @@ public:
             }
 
             // hardware coordinates
-            if (!hw_coords) {
+            if (_data.entered_target.pair_kind != MccCoordPairKind::COORDS_KIND_XY) {
                 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 {
+            // std::lock_guard lock{*_updateMutex};
+
             // first, update mount quantities
             typename hardware_t::hardware_state_t hw_pos;
             auto hw_err = controls->hardwareGetState(&hw_pos);
@@ -269,8 +520,7 @@ public:
 
             double eo;
 
-            _data.time_point =
+            mcc_tp2tp(hw_pos.time_point, hw_pos.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) {
@@ -298,6 +548,40 @@ public:
             _data.speedX = (double)hw_pos.speedX;
             _data.speedY = (double)hw_pos.speedY;
 
+            // 2025.12.18: according to addition RA/DEC_ICRS to mcc_eqt_hrz_coord_c ...
+
+            MccCelestialPoint pt;
+            mcc_tp2tp(_data.time_point, pt.time_point);
+
+            auto pcm_err = controls->computePCM(_data, &_data, &pt);
+            if (pcm_err) {
+                return mcc_deduce_error_code(pcm_err, MccTelemetryErrorCode::ERROR_PCM_COMP);
+            }
+
+            if constexpr (mccIsEquatorialMount(pcm_t::mountType)) {
+                pt.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
+                _data.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
+            } else if constexpr (mccIsAltAzMount(pcm_t::mountType)) {
+                pt.pair_kind = MccCoordPairKind::COORDS_KIND_AZALT;
+                _data.pair_kind = MccCoordPairKind::COORDS_KIND_AZALT;
+            } else {
+                static_assert(false, "UNKNOWN MOUNT TYPE!");
+            }
+
+            ccte_err = controls->transformCoordinates(pt, &_data);
+            if (!ccte_err) {
+                ccte_err = controls->refractionCorrection(_data, &_data.refCorr);
+                if (!ccte_err) {
+                    return _updateTargetFunc(stop_token);
+                } else {
+                    return mcc_deduce_error_code(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
+                }
+            } else {
+                return mcc_deduce_error_code(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
+            }
+
+
+            /*
             // fill _data.pcmX, _data.pcmY and corresponded apparent coordinates
             auto pcm_err = controls->computePCM(_data, &_data, &_data);
             if (pcm_err) {
@@ -311,9 +595,9 @@ public:
             MccCelestialPoint pt{.pair_kind = MccCoordPairKind::COORDS_KIND_AZALT, .time_point = _data.time_point};
 
             if constexpr (mccIsEquatorialMount(pcm_t::mountType)) {
+                // NOTE: now it are OBSERVED (NOT APPARENT) RA, HA, DEC!!!
                 _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>();
-                // MccAngle((double)_data.LST - (double)_data.HA + eo).normalize<MccAngle::NORM_KIND_0_360>();
 
                 _data.X = _data.HA;
                 _data.Y = _data.DEC_APP;
@@ -340,8 +624,7 @@ public:
                     _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>();
-                    // MccAngle((double)_data.LST - (double)_data.HA + eo).normalize<MccAngle::NORM_KIND_0_360>();
                 }
 
             } else {
@@ -360,18 +643,32 @@ public:
 
                 ccte_err = controls->refractionCorrection(_data, &_data.refCorr);
                 if (!ccte_err) {
+                    // // compute APPARENT RA, HA and DEC from observer AZ, ZD
+                    // _data.Y += _data.refCorr;  // zenithal distance corrected for the refraction
+
+                    // 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>();
+
+
                     // 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;
                     }
+                    // }
                 }
             }
 
@@ -389,31 +686,21 @@ public:
                 return mcc_deduce_error_code(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
             }
 
+            */
+
             return MccTelemetryErrorCode::ERROR_OK;
         };
 
 
         // update thread
-        // _updatingFuture = std::async(
+        _internalUpdatingStopSource = std::stop_source{};
-        //     std::launch::async,
+        *_internalUpdating = false;
-        //     [this](std::stop_token stoken) {
-        //         while (!stoken.stop_requested()) {
-        //             {
-        //                 std::unique_lock ulock{*_updateMutex};
 
-        //                 bool ok = _updateCondVar->wait(ulock, [&stoken, this]() -> bool {
+        // _dataUpdatingRequested->clear();
-        //                     return _dataUpdatingRequested || stoken.stop_requested();
+        // _dataUpdatingStart->clear();
-        //                 });
-        //             }
 
-        //             if (!stoken.stop_requested()) {
+        // _updatingFuture =
-        //                 std::lock_guard lock{*_timeoutMutex};
+        //     std::async(std::launch::async, &MccTelemetry::updateLoop, this, _internalUpdatingStopSource.get_token());
-
-        //                 _lastUpdateError = _updateFunc(stoken);
-        //             }
-        //         }
-        //     },
-        //     _internalUpdatingStopSource.get_token());
     }
 
 
@@ -428,11 +715,9 @@ public:
     {
         stopInternalTelemetryDataUpdating();
 
-        if (_internalUpdatingFuture.valid()) {
+        if (_updatingFuture.valid()) {
             // try to exit correctly
-            // auto status = _internalUpdatingFuture.wait_for(std::chrono::seconds(1));
+            _updatingFuture.wait_for(std::chrono::seconds(1));
-            _internalUpdatingFuture.wait_for(std::chrono::seconds(1));
-            // _internalUpdatingFuture.get();
         }
     };
 
@@ -478,70 +763,69 @@ public:
     // asynchronuosly periodicaly update telemetry data (internal synchronization)
     void startInternalTelemetryDataUpdating()
     {
+        *_internalUpdating = true;
+        _internalUpdatingStopSource = std::stop_source{};
+        return;
+
         using intv_t = std::remove_cvref_t<decltype(_currentUpdateInterval)>;
 
-        _internalUpdatingStopSource = std::stop_source{};  // reset state
+        if (_internalUpdatingStopSource.stop_requested()) {
+            _internalUpdatingStopSource = std::stop_source{};  // reset stop source
+            if (_updatingFuture.valid()) {                     // it should not be!!!
+                // updating loop was stopped, just wait fo future result
+                // it must return immediately!
+                auto status = _updatingFuture.wait_for(std::chrono::milliseconds(500));
+                if (status == std::future_status::ready) {  // OK!
 
-        *_internalUpdating = true;
+                } else if (status == std::future_status::deferred) {  // ???!!!!
-
+                    _updatingFuture.get();
-        _internalUpdatingFuture = std::async(
+                } else {
-            std::launch::async,
+                    _lastUpdateError = MccTelemetryErrorCode::ERROR_UPDATE_LOOP_WAIT;
-            [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;
+                _updatingFuture = std::async(std::launch::async, &MccTelemetry::updateLoop, this,
-                return MccTelemetryErrorCode::ERROR_OK;
+                                             _internalUpdatingStopSource.get_token());
-            },
+
-            _internalUpdatingStopSource.get_token());
+
+                *_internalUpdating = true;
+            } else {
+                _updatingFuture = std::async(std::launch::async, &MccTelemetry::updateLoop, this,
+                                             _internalUpdatingStopSource.get_token());
+
+                *_internalUpdating = true;
+            }
+        }  // here the loop is already started
     }
 
 
     void stopInternalTelemetryDataUpdating()
     {
+        // reset all possible locks
         _internalUpdatingStopSource.request_stop();
         *_internalUpdating = false;
+
+        return;
+
+        _dataUpdatingRequested->test_and_set();
+        _dataUpdatingRequested->notify_one();
+
+        _dataUpdatingStart->test_and_set();
+        _dataUpdatingStart->notify_all();
+
+
+        auto status = _updatingFuture.wait_for(std::chrono::milliseconds(500));
+        if (status == std::future_status::ready) {  // OK!
+
+        } else if (status == std::future_status::deferred) {  // ???!!!!
+            _updatingFuture.get();
+        } else {
+            _lastUpdateError = MccTelemetryErrorCode::ERROR_UPDATE_LOOP_WAIT;
+        }
+
+        _dataUpdatingRequested->clear();
+        _dataUpdatingStart->clear();
+
+        *_internalUpdating = false;
     }
 
 
@@ -553,64 +837,59 @@ public:
 
     error_t updateTelemetryData(traits::mcc_time_duration_c auto const& timeout)
     {
-        {
+        std::lock_guard thread_lock{*_updateMutex};
-            std::lock_guard thread_lock{*_updateMutex};
 
-            std::stop_source stop_source;
+        // _internalUpdatingStopSource = std::stop_source{};
+        // return _lastUpdateError = _updateFunc(_internalUpdatingStopSource.get_token());
 
-            *_isDataUpdated = false;
 
-            // std::future<error_t> update_ft = std::async(std::launch::async, _updateFunc, stop_source.get_token());
+        auto ft = std::async(std::launch::async, _updateFunc, _internalUpdatingStopSource.get_token());
-            // // std::future<error_t> update_ft =
+        auto st = ft.wait_for(timeout);
-            // //     std::async(std::launch::async, _updateFunc, _internalUpdatingStopSource.get_token());
+        if (st == std::future_status::ready) {
-            // auto status = update_ft.wait_for(timeout);
+            return _lastUpdateError;
-
+        } else if (st == std::future_status::deferred) {
-            // if (status == std::future_status::ready) {
+            ft.get();
-            //     *_isDataUpdated = true;
+            _lastUpdateError = MccTelemetryErrorCode::ERROR_DATA_TIMEOUT;
-            //     _lastUpdateError = update_ft.get();
+        } else {
-            // } else if (status == std::future_status::deferred) {  // std::async was invoked in this thread, get
+            _lastUpdateError = MccTelemetryErrorCode::ERROR_DATA_TIMEOUT;
-            // 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!
+        return _lastUpdateError;
-        _updateCondVar->notify_all();
 
-        // *_isDataUpdated = false;
+
+        // trigger updating
+        _dataUpdatingRequested->test_and_set();
+        _dataUpdatingRequested->notify_one();
+
+        // wait for updating start
+        _dataUpdatingStart->wait(false);
+        if (_timeoutMutex->try_lock_for(timeout)) {
+            _timeoutMutex->unlock();
+        } else {
+            _lastUpdateError = MccTelemetryErrorCode::ERROR_DATA_TIMEOUT;
+        }
 
         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)
+    template <traits::mcc_time_duration_c DT = decltype(MccTelemetry::defaultUpdatingTimeout)>
+    error_t waitForTelemetryData(mcc_telemetry_data_c auto* tdata,
+                                 const DT& timeout = MccTelemetry::defaultUpdatingTimeout)
     {
         if (tdata == nullptr) {
             return MccTelemetryErrorCode::ERROR_NULLPTR;
         }
 
-        std::unique_lock ulock(*_updateMutex);
 
-        auto res = _updateCondVar->wait_for(ulock, timeout, [this]() -> bool { return *_isDataUpdated; });
+        updateTelemetryData(timeout);
-        if (!res) {
-            return MccTelemetryErrorCode::ERROR_DATA_TIMEOUT;
-        }
-
-        // std::lock_guard thread_lock{*_updateMutex};
 
         if (!_lastUpdateError) {
+            std::lock_guard thread_lock{*_updateMutex};
             mcc_copy_telemetry_data(_data, tdata);
         }
 
+
         return _lastUpdateError;
     }
 
@@ -643,6 +922,10 @@ public:
 
         std::lock_guard lock{*_updateMutex};
 
+        mcc_copy_celestial_point(pt, &_data.entered_target);
+
+
+        /*
         mcc_copy_celestial_point(pt, &_userTarget);
 
 
@@ -669,6 +952,8 @@ public:
             return MccTelemetryErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
         }
 
+        */
+
         return _updateTargetFunc({});
 
         // return _setTargetFunc(pt);
@@ -742,13 +1027,40 @@ protected:
     std::unique_ptr<std::condition_variable> _updateCondVar;
 
     std::future<void> _updatingFuture{};
-    std::unique_ptr<std::atomic_bool> _dataUpdatingRequested{new std::atomic_bool{false}};
+    std::unique_ptr<std::atomic_flag> _dataUpdatingRequested{new std::atomic_flag{}};
+    std::unique_ptr<std::atomic_flag> _dataUpdatingStart{new std::atomic_flag{}};
     std::unique_ptr<std::timed_mutex> _timeoutMutex{new std::timed_mutex()};
 
     error_t _lastUpdateError{MccTelemetryErrorCode::ERROR_OK};
+
+    void updateLoop(std::stop_token stoken)
+    {
+        bool stop_flag = stoken.stop_requested();
+        // controls->logTrace(std::format("stop_requested() = {}", stop_flag));
+        while (!stoken.stop_requested()) {
+            // while (!stop_flag) {
+            _dataUpdatingRequested->wait(false);
+
+            // stop_flag = stoken.stop_requested();
+            // if (!stop_flag) {
+            if (!stoken.stop_requested()) {
+                *_internalUpdating = true;
+                std::lock_guard lock{*_timeoutMutex};
+
+                _dataUpdatingStart->test_and_set();
+                _dataUpdatingStart->notify_all();
+
+                _lastUpdateError = _updateFunc(stoken);
+
+                _dataUpdatingStart->clear();
+                _dataUpdatingRequested->clear();
+            }
+        }
+    }
 };
 
 
 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"
 
@@ -22,6 +24,7 @@ enum class MccSimpleTrackingModelErrorCode : int {
     ERROR_DIST_TELEMETRY,
     ERROR_PZONE_CONTAINER_COMP,
     ERROR_NEAR_PZONE,
+    ERROR_IN_PZONE,
     ERROR_ALREADY_TRACK,
     ERROR_ALREADY_STOPPED,
     ERROR_STOPPED
@@ -78,6 +81,8 @@ struct MccSimpleTrackingModelCategory : public std::error_category {
                 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:
@@ -110,35 +115,75 @@ 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_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;
+            }
+
 
             bool no_intersects = false;
 
@@ -168,7 +213,7 @@ public:
                         no_intersects = true;
                     }
                 } else {
-                    static_assert(false, "UNKNOW MOUNT TYPE!");
+                    static_assert(false, "UNKNOWN MOUNT TYPE!");
                 }
 
                 return MccSimpleTrackingModelErrorCode::ERROR_OK;
@@ -176,17 +221,23 @@ public:
 
 
             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;
@@ -215,14 +266,14 @@ public:
                         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_code(pz_err, MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
@@ -233,6 +284,8 @@ public:
             {
                 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;
@@ -243,15 +296,54 @@ public:
                     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_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();
@@ -270,57 +362,126 @@ public:
                     }
                 }
 
+                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_code(pz_err, MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
+                //     *_stopTracking = true;
-                }
+                //     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_code(pz_err,
+                //         }
-                                                         MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
-                        }
-                    }
 
-                    // compute new target-in-future point
+                //         logger.logTrace("The updated target point:");
-                    auto ccte_err = target_point(&target_in_future_pt);
+                //         if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
-                    if (ccte_err) {
+                //             logger.logTrace("    HA, DEC: {} {}", MccAngle(target_in_future_pt.X).sexagesimal(true),
-                        *_stopTracking = true;
+                //                             MccAngle(target_in_future_pt.Y).sexagesimal());
-                        return mcc_deduce_error_code(ccte_err, MccSimpleTrackingModelErrorCode::ERROR_CCTE);
+                //         } 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_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
+                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_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);
+                }
             }
 
             return MccSimpleTrackingModelErrorCode::ERROR_OK;
@@ -372,6 +533,10 @@ public:
         return _currentParams;
     }
 
+    error_t trackinLastError() const
+    {
+        return _lastError;
+    }
 
 protected:
     std::function<error_t()> _trackingFunc{};
@@ -379,6 +544,8 @@ protected:
 
     tracking_params_t _currentParams{};
     std::unique_ptr<std::mutex> _currentParamsMutex{};
+
+    error_t _lastError;
 };
 
 }  // namespace mcc

mcc/mcc_utils.h

@@ -244,6 +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);
@@ -261,7 +265,9 @@ static R rad2sxg(double ang, bool hms = false, int prec = 2)
     }
 
     if (ang < 0) {
-        std::ranges::copy(std::string_view("-"), std::back_inserter(res));
+        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));

mcc/tests/ccte_test.cpp

@@ -176,6 +176,8 @@ int main()
     // 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";

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;
+}