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No commits in common. "9066b3f091297fdd9dff5b49251e2ba236ccb8db" and "bf55a45cf9084d1125fce757282959b98c0e64ec" have entirely different histories.
9066b3f091 ... bf55a45cf9

3 changed files with 61 additions and 72 deletions
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28
mcc/mcc_netserver.h
View File

@ -1086,6 +1086,34 @@ protected:
err = vc.error(); 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 } else { // get operation
err = coordsFromTelemetryData(*mount_ptr, true, cp); err = coordsFromTelemetryData(*mount_ptr, true, cp);
if (!err) { if (!err) {

95
mcc/mcc_slewing_model.h
View File

@ -51,7 +51,10 @@ namespace mcc
struct MccSimpleSlewingModelCategory : public std::error_category { struct MccSimpleSlewingModelCategory : public std::error_category {
MccSimpleSlewingModelCategory() : std::error_category() {} MccSimpleSlewingModelCategory() : std::error_category() {}
const char* name() const noexcept { return "SIMPLE-SLEWING-MODEL"; } const char* name() const noexcept
{
return "SIMPLE-SLEWING-MODEL";
}
std::string message(int ec) const std::string message(int ec) const
{ {
@ -119,9 +122,7 @@ public:
template <mcc_all_controls_c CONTROLS_T, mcc_logger_c LoggerT = MccNullLogger> template <mcc_all_controls_c CONTROLS_T, mcc_logger_c LoggerT = MccNullLogger>
MccSimpleSlewingModel(CONTROLS_T* controls, LoggerT logger) MccSimpleSlewingModel(CONTROLS_T* controls, LoggerT logger)
: _stopSlewing(new std::atomic_bool()), : _stopSlewing(new std::atomic_bool()), _currentParamsMutex(new std::mutex)
_currentParamsMutex(new std::mutex),
_lastError(MccSimpleSlewingModelErrorCode::ERROR_OK)
{ {
std::ostringstream os; std::ostringstream os;
os << std::this_thread::get_id(); os << std::this_thread::get_id();
@ -164,9 +165,6 @@ public:
}; };
_slewingFunc = [controls, logger = std::move(logger), this](bool slew_and_stop) mutable -> error_t { _slewingFunc = [controls, logger = std::move(logger), this](bool slew_and_stop) mutable -> error_t {
// reset error
_lastError = MccSimpleSlewingModelErrorCode::ERROR_OK;
// first, check target coordinates // first, check target coordinates
typename CONTROLS_T::error_t t_err; typename CONTROLS_T::error_t t_err;
MccTelemetryData tdata; MccTelemetryData tdata;
@ -176,8 +174,7 @@ public:
t_err = controls->telemetryData(&tdata); t_err = controls->telemetryData(&tdata);
if (t_err) { if (t_err) {
return _lastError = return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
} }
} }
@ -188,8 +185,7 @@ public:
auto pz_err = controls->inPZone(tdata.target, &in_zone, &in_zone_vec); auto pz_err = controls->inPZone(tdata.target, &in_zone, &in_zone_vec);
if (pz_err) { if (pz_err) {
*_stopSlewing = true; *_stopSlewing = true;
return _lastError = return mcc_deduce_error_code(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
mcc_deduce_error_code(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
} }
if (in_zone) { if (in_zone) {
@ -219,7 +215,7 @@ public:
} }
if (*_stopSlewing) { if (*_stopSlewing) {
return _lastError = MccSimpleSlewingModelErrorCode::ERROR_STOPPED; return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
} }
double braking_accelX, braking_accelY; double braking_accelX, braking_accelY;
@ -267,7 +263,7 @@ public:
auto hw_err = controls->hardwareGetState(&hw_state); auto hw_err = controls->hardwareGetState(&hw_state);
if (hw_err) { if (hw_err) {
*_stopSlewing = true; *_stopSlewing = true;
return _lastError = mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE); return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
} }
@ -289,7 +285,7 @@ public:
if (*_stopSlewing) { if (*_stopSlewing) {
logger.logDebug("slewing was stopped!"); logger.logDebug("slewing was stopped!");
return _lastError = MccSimpleSlewingModelErrorCode::ERROR_STOPPED; return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
} }
// start slewing // start slewing
@ -314,7 +310,7 @@ public:
hw_err = controls->hardwareSetState(hw_state); hw_err = controls->hardwareSetState(hw_state);
if (hw_err) { if (hw_err) {
*_stopSlewing = true; *_stopSlewing = true;
return _lastError = mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE); return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
} }
logger.logDebug(" the 'hardwareSetState' method performed successfully!"); logger.logDebug(" the 'hardwareSetState' method performed successfully!");
@ -353,17 +349,13 @@ public:
t_err = controls->waitForTelemetryData(&tdata, _currentParams.telemetryTimeout); t_err = controls->waitForTelemetryData(&tdata, _currentParams.telemetryTimeout);
if (t_err) { if (t_err) {
_lastError = mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY); *_stopSlewing = true;
break; return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
// *_stopSlewing = true;
// return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
} }
} }
if (*_stopSlewing) { if (*_stopSlewing) {
_lastError = MccSimpleSlewingModelErrorCode::ERROR_STOPPED; return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
break;
// return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
} }
distXY = mcc_compute_distance(tdata, min_time_to_pzone_in_secs, braking_accelX, braking_accelY); distXY = mcc_compute_distance(tdata, min_time_to_pzone_in_secs, braking_accelX, braking_accelY);
@ -421,11 +413,8 @@ public:
in_zone_vec.clear(); in_zone_vec.clear();
pz_err = controls->inPZone(cpt, &in_zone, &in_zone_vec); pz_err = controls->inPZone(cpt, &in_zone, &in_zone_vec);
if (pz_err) { if (pz_err) {
_lastError = *_stopSlewing = true;
mcc_deduce_error_code(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP); return 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) { if (in_zone) {
@ -449,10 +438,8 @@ public:
logger.logError(std::format(" hardware X, Y: {}, {}", mcc::MccAngle{tdata.X}.sexagesimal(), logger.logError(std::format(" hardware X, Y: {}, {}", mcc::MccAngle{tdata.X}.sexagesimal(),
mcc::MccAngle{tdata.Y}.sexagesimal())); mcc::MccAngle{tdata.Y}.sexagesimal()));
_lastError = MccSimpleSlewingModelErrorCode::ERROR_NEAR_PZONE; *_stopSlewing = true;
break; return MccSimpleSlewingModelErrorCode::ERROR_NEAR_PZONE;
// *_stopSlewing = true;
// return MccSimpleSlewingModelErrorCode::ERROR_NEAR_PZONE;
} }
@ -462,9 +449,7 @@ public:
if ((std::chrono::steady_clock::now() - start_slewing_tp) > _currentParams.slewTimeout) { if ((std::chrono::steady_clock::now() - start_slewing_tp) > _currentParams.slewTimeout) {
logger.logError("slewing process timeout!"); logger.logError("slewing process timeout!");
_lastError = MccSimpleSlewingModelErrorCode::ERROR_TIMEOUT; return MccSimpleSlewingModelErrorCode::ERROR_TIMEOUT;
break;
// return MccSimpleSlewingModelErrorCode::ERROR_TIMEOUT;
} }
} }
@ -472,10 +457,8 @@ public:
hw_err = controls->hardwareGetState(&hw_state); hw_err = controls->hardwareGetState(&hw_state);
if (hw_err) { if (hw_err) {
_lastError = mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE); *_stopSlewing = true;
break; return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
// *_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), logger.logTrace(std::format("hw state was updated ({}, {})", MccAngle(hw_state.X).sexagesimal(true),
@ -496,10 +479,8 @@ public:
t_err = controls->targetToMountDist(&dist); t_err = controls->targetToMountDist(&dist);
if (t_err) { if (t_err) {
_lastError = mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY); *_stopSlewing = true;
break; return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY);
// *_stopSlewing = true;
// return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY);
} }
logger.logTrace(std::format(" target-to-mount distance: {}", mcc::MccAngleFancyString(dist))); logger.logTrace(std::format(" target-to-mount distance: {}", mcc::MccAngleFancyString(dist)));
@ -514,9 +495,7 @@ public:
if (*_stopSlewing) { if (*_stopSlewing) {
_lastError = MccSimpleSlewingModelErrorCode::ERROR_STOPPED; return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
break;
// return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
} }
@ -539,10 +518,8 @@ public:
hw_err = controls->hardwareSetState(hw_state); hw_err = controls->hardwareSetState(hw_state);
if (hw_err) { if (hw_err) {
_lastError = MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE; *_stopSlewing = true;
break; return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
// *_stopSlewing = true;
// return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
} }
@ -555,10 +532,8 @@ public:
hw_err = controls->hardwareGetState(&hw_state); hw_err = controls->hardwareGetState(&hw_state);
if (hw_err) { if (hw_err) {
_lastError = MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE; *_stopSlewing = true;
break; return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
// *_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), logger.logTrace(std::format("hw state was updated ({}, {})", MccAngle(hw_state.X).sexagesimal(true),
@ -566,9 +541,7 @@ public:
} }
if (*_stopSlewing) { if (*_stopSlewing) {
_lastError = MccSimpleSlewingModelErrorCode::ERROR_STOPPED; return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
break;
// return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
} }
// sleep here // sleep here
@ -586,8 +559,8 @@ public:
t_err = controls->waitForTelemetryData(&tdata, _currentParams.telemetryTimeout); t_err = controls->waitForTelemetryData(&tdata, _currentParams.telemetryTimeout);
if (t_err) { if (t_err) {
return _lastError = *_stopSlewing = true;
mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY); return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
} }
} }
@ -607,7 +580,7 @@ public:
mcc::MccAngle{tdata.ZD}.sexagesimal())); mcc::MccAngle{tdata.ZD}.sexagesimal()));
} }
return _lastError = MccSimpleSlewingModelErrorCode::ERROR_OK; return MccSimpleSlewingModelErrorCode::ERROR_OK;
}; };
} }
@ -662,8 +635,6 @@ public:
return _currentParams; return _currentParams;
} }
error_t slewingLastError() const { return _lastError; }
protected: protected:
std::function<error_t(bool)> _slewingFunc{}; std::function<error_t(bool)> _slewingFunc{};
std::unique_ptr<std::atomic_bool> _stopSlewing; std::unique_ptr<std::atomic_bool> _stopSlewing;
@ -671,8 +642,6 @@ protected:
slewing_params_t _currentParams{}; slewing_params_t _currentParams{};
std::unique_ptr<std::mutex> _currentParamsMutex{}; std::unique_ptr<std::mutex> _currentParamsMutex{};
error_t _lastError;
}; };

10
mcc/mcc_tracking_model.h
View File

@ -115,9 +115,7 @@ public:
template <mcc_all_controls_c CONTROLS_T, mcc_logger_c LoggerT = MccNullLogger> template <mcc_all_controls_c CONTROLS_T, mcc_logger_c LoggerT = MccNullLogger>
MccSimpleTrackingModel(CONTROLS_T* controls, LoggerT logger) MccSimpleTrackingModel(CONTROLS_T* controls, LoggerT logger)
: _stopTracking(new std::atomic_bool()), : _stopTracking(new std::atomic_bool()), _currentParamsMutex(new std::mutex())
_currentParamsMutex(new std::mutex()),
_lastError(MccSimpleTrackingModelErrorCode::ERROR_OK)
{ {
std::ostringstream os; std::ostringstream os;
os << std::this_thread::get_id(); os << std::this_thread::get_id();
@ -467,10 +465,6 @@ public:
return _currentParams; return _currentParams;
} }
error_t trackinLastError() const
{
return _lastError;
}
protected: protected:
std::function<error_t()> _trackingFunc{}; std::function<error_t()> _trackingFunc{};
@ -478,8 +472,6 @@ protected:
tracking_params_t _currentParams{}; tracking_params_t _currentParams{};
std::unique_ptr<std::mutex> _currentParamsMutex{}; std::unique_ptr<std::mutex> _currentParamsMutex{};
error_t _lastError;
}; };
} // namespace mcc } // namespace mcc