...

cxx/mcc_mount_concepts.h

@@ -60,10 +60,7 @@ struct MccNullLogger {
     typedef int loglevel_t;
 
     void setLogLevel(loglevel_t){};
-    loglevel_t getLogLevel() const
-    {
-        return 0;
-    };
+    loglevel_t getLogLevel() const { return 0; };
 
     void logMessage(loglevel_t, const std::string&) {};
     void logError(const std::string&) {};
@@ -384,6 +381,7 @@ concept mcc_slew_model_c = requires(T t) {
 
     // { t.slew(std::declval<typename T::slew_params_t>()) } -> std::same_as<typename T::error_t>;
     { t.slew(std::declval<typename T::slew_point_t>()) } -> std::same_as<typename T::error_t>;
+    { t.stop() } -> std::same_as<typename T::error_t>;
 };
 
 
@@ -394,6 +392,7 @@ concept mcc_guiding_model_c = requires(T t) {
 
     // start process of guiding
     { t.guiding(std::declval<typename T::guiding_point_t>()) } -> std::same_as<typename T::error_t>;
+    { t.stop() } -> std::same_as<typename T::error_t>;
 };
 
 

cxx/mcc_mount_telemetry.h

@@ -12,7 +12,7 @@
 
 namespace mcc
 {
-enum class MccMountTelemetryErrorCode : int { ERROR_OK, ERROR_HARDWARE };
+enum class MccMountTelemetryErrorCode : int { ERROR_OK, ERROR_HARDWARE, ERROR_DATA_TIMEOUT };
 
 /*  error category definition  */
 
@@ -20,10 +20,7 @@ enum class MccMountTelemetryErrorCode : int { ERROR_OK, ERROR_HARDWARE };
 struct MccMountTelemetryCategory : public std::error_category {
     MccMountTelemetryCategory() : std::error_category() {}
 
-    const char* name() const noexcept
-    {
-        return "ADC_GENERIC_DEVICE";
-    }
+    const char* name() const noexcept { return "ADC_GENERIC_DEVICE"; }
 
     std::string message(int ec) const
     {
@@ -34,6 +31,8 @@ struct MccMountTelemetryCategory : public std::error_category {
                 return "OK";
             case MccMountTelemetryErrorCode::ERROR_HARDWARE:
                 return "hardware request failed";
+            case MccMountTelemetryErrorCode::ERROR_DATA_TIMEOUT:
+                return "an timeout occured while waiting for new data";
             default:
                 return "UNKNOWN";
         }
@@ -105,7 +104,7 @@ struct MccMountTelemetryData {
     coord_t mntRateX, mntRateY;
 
     // current refraction coefficients
-    typename PEC_T::pec_result_t currRefrCoeffs;
+    typename ASTROM_ENGINE_T::refract_result_t currRefrCoeffs;
 
     // current refraction correction (for mntALT)
     coord_t currRefr;
@@ -141,9 +140,6 @@ public:
 
     typedef std::error_code error_t;
 
-    typedef std::function<void(mount_telemetry_data_t)> update_callback_func_t;
-    typedef std::list<update_callback_func_t> update_callback_container_t;
-
     MccMountTelemetry(astrom_engine_t& astrom_engine, pec_t& pec, hardware_t& hardware)
         : base_t(astrom_engine, pec), _hardware(hardware)
     {
@@ -266,49 +262,37 @@ public:
 
         _data = std::move(current_data);
 
-        std::lock_guard cl_lock{_callbackMutex};
-
-        // callbacks will be invoked with its own copy of telemetry data!
-        for (auto& func : _callbackFuncs) {
-            std::thread t([this, &func] {
-                auto d = _data;
-                func(std::move(d));
-            });
-            t.detach();
-        }
+        // notify all threads for new telemetry data
+        _updateCondVar.notify_all();
 
         return MccMountTelemetryErrorCode::ERROR_OK;
     }
 
 
-    update_callback_container_t::iterator addCallbackFunc(update_callback_func_t func)
-    {
-        std::lock_guard lock{_callbackMutex};
-
-        return _callbackFuncs.emplace_back(std::move(func));
-    }
-
-    void delCallbackFunc(update_callback_container_t::iterator iter)
-    {
-        std::lock_guard lock{_callbackMutex};
-
-        if (_callbackFuncs.size()) {
-            _callbackFuncs.erase(iter);
-        }
-    }
-
-    void clearCallbackFuncs()
-    {
-        std::lock_guard lock{_callbackMutex};
-
-        _callbackFuncs.clear();
-    }
-
     error_t data(mount_telemetry_data_t& data)
     {
         std::lock_guard lock{_updateMutex};
 
-        data = std::move(_data);
+        data = _data;
+
+        return MccMountTelemetryErrorCode::ERROR_OK;
+    }
+
+    // wait until data is updated or given timeout occurs
+    template <traits::mcc_time_duration_c DT>
+    error_t waitForUpdatedData(mount_telemetry_data_t& data, const DT& timeout)
+    {
+        auto timeout_tp = std::chrono::steady_clock::now() + timeout;
+
+        std::unique_lock lk(_updateMutex);
+
+        auto res = _updateCondVar.wait_until(
+            lk, timeout_tp, [last_time_point = _data.time_point, this]() { return last_time_point < _data.timepoint; });
+        if (res == std::cv_status::timeout) {
+            return MccMountTelemetryErrorCode::ERROR_DATA_TIMEOUT;
+        }
+
+        data = _data;
 
         return MccMountTelemetryErrorCode::ERROR_OK;
     }
@@ -316,10 +300,9 @@ public:
 protected:
     mount_telemetry_data_t _data{};
     hardware_t& _hardware;
-    update_callback_container_t _callbackFuncs{};
 
     std::mutex _updateMutex;
-    std::mutex _callbackMutex;
+    std::condition_variable _updateCondVar;
 };
 
 

cxx/mcc_slew_model.h

@@ -24,6 +24,8 @@ enum class MccSimpleSlewModelErrorCode : int {
     ERROR_PEC_COMP,
     ERROR_HARDWARE_SETPOS,
     ERROR_HARDWARE_GETPOS,
+    ERROR_SLEW_STOPPED,
+    ERROR_SLEW_ADJ_MAXITER,
     ERROR_SLEW_TIMEOUT
 };
 
@@ -50,10 +52,7 @@ namespace mcc
 struct MccSimpleSlewModelCategory : public std::error_category {
     MccSimpleSlewModelCategory() : std::error_category() {}
 
-    const char* name() const noexcept
-    {
-        return "ADC_GENERIC_DEVICE";
-    }
+    const char* name() const noexcept { return "ADC_GENERIC_DEVICE"; }
 
     std::string message(int ec) const
     {
@@ -76,6 +75,12 @@ struct MccSimpleSlewModelCategory : public std::error_category {
                 return "slew model: cannot set position";
             case MccSimpleSlewModelErrorCode::ERROR_HARDWARE_GETPOS:
                 return "slew model: cannot get position";
+            case MccSimpleSlewModelErrorCode::ERROR_SLEW_STOPPED:
+                return "slew model: stopped";
+            case MccSimpleSlewModelErrorCode::ERROR_SLEW_ADJ_MAXITER:
+                return "slew model: max number of adjusting iteration was exceeded";
+            case MccSimpleSlewModelErrorCode::ERROR_SLEW_TIMEOUT:
+                return "slew model: timeout occured while slewing";
             default:
                 return "UNKNOWN";
         }
@@ -167,13 +172,22 @@ public:
 
     error_t slew(slew_point_t pars)
     {
+        _stopRequested = false;
         error_t res_err = _slewFunc(std::move(pars));
 
         return res_err;
     }
 
+    error_t stop()
+    {
+        _stopRequested = true;
+        return MccSimpleSlewModelErrorCode::ERROR_OK;
+    }
+
 protected:
+    std::atomic_bool _stopRequested{false};
     std::function<error_t(const slew_point_t&)> _slewFunc{};
+    std::mutex _updateMutex{};
 
     void init(auto& mount_controls)
     {
@@ -288,6 +302,10 @@ protected:
             };
 
             auto cycle_func = [&](auto t_data) mutable {
+                if (_stopRequested) {
+                    res_err = MccSimpleSlewModelErrorCode::ERROR_SLEW_STOPPED;
+                }
+
                 // check for prohibited zones
                 auto t_err = mccCheckInZonePZTuple(*telemetry, p_mount_controls->prohibitedZones, in_zone_flag);
 
@@ -308,6 +326,10 @@ protected:
                 // t_data was updated in caller!!!
                 coord_diff2 = coord_diff_func(t_data);
 
+                if (_stopRequested) {
+                    res_err = MccSimpleSlewModelErrorCode::ERROR_SLEW_STOPPED;
+                }
+
                 if (coord_diff2 < adj_rad2) {  // adjusting mode
                     in_adj_mode = true;
                     hw_err = hardware->setPos(adj_ax_pos);
@@ -324,7 +346,7 @@ protected:
                         }
 
                         if (i_adj_cycle == slew_point.maxAdjustingCycleNumber) {
-                            // res_err = max iter namber was exceeded
+                            // res_err = max iter number was exceeded
                             return;
                         }
                     } else {
@@ -350,13 +372,35 @@ protected:
 
 
             auto start_poll_tm = std::chrono::steady_clock::now();
+            // auto timeout_point = std::chrono::steady_clock::now() + slew_point.slewTimeout;
+            auto wait_timeout = slew_point.slewTimeout / 5;
+            if (wait_timeout < std::chrono::seconds(1)) {
+                wait_timeout = std::chrono::seconds(1);
+            }
 
             // NOTE: TARGET COORDINATES WILL BE UPDATED FOR CURRENT TIME-POINT IN TELEMETRY-CLASS!!!
 
-            auto iter = telemetry.addCallbackFunc(cycle_func);
-
-
             while (true) {
+                t_err = telemetry.waitForUpdatedData(t_data, wait_timeout);
+
+                if (t_err) {
+                    std::string err_str = "An error occured while waiting for updated telemetry";
+                    logError(std::format("An error occured while waiting for updated telemetry: {}", t_err));
+                    if constexpr (std::same_as<decltype(t_err), error_t>) {
+                        std::format_to(std::back_inserter(err_str), ": code = {} ({})", t_err.value(), t_err.message());
+                        logError(err_str);
+                        return t_err;
+                    } else {
+                        if constexpr (traits::mcc_formattable<decltype(t_err)>) {
+                            std::format_to(std::back_inserter(err_str), ": code = {}", t_err.value());
+                        }
+                        logError(err_str);
+                        return MccSimpleSlewModelErrorCode::ERROR_TELEMETRY_DATA;
+                    }
+                }
+
+                cycle_func(t_data);
+
                 if ((std::chrono::steady_clock::now() - start_poll_tm) > slew_point.slewTimeout) {
                     logError("Waiting time for completion of slewing expired!");
                     return MccSimpleSlewModelErrorCode::ERROR_SLEW_TIMEOUT;