.

rewrite AsibFM700ServoController methods according to new time point
representation in LibSidServo

CMakeLists.txt

@@ -2,14 +2,21 @@ cmake_minimum_required(VERSION 3.14)
 
 
 #**********************************************
-#  Astrosib(c) BM-700 mount control software  *
+#  Astrosib(c) FM-700 mount control software  *
 #**********************************************
 
-project(ASIB_BM700 LANGUAGES C CXX)
+project(ASIB_FM700 LANGUAGES C CXX)
 
 set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
 
 #
 # ******* C++ PART OF THE PROJECT *******
 
-add_subdirectory(cxx)
+set(EXAMPLES OFF CACHE BOOL "" FORCE)
+# set(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_BUILD_TYPE "Debug")
+add_subdirectory(LibSidServo)
+
+# add_subdirectory(cxx)
+add_subdirectory(mcc)
+add_subdirectory(asibfm700)

LibSidServo/.qtcreator/libsidservo.creator.user

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

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+  <value type="int">22</value>
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+</qtcreator>

LibSidServo/PID.c

@@ -0,0 +1,221 @@
+/*
+ * 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/>.
+ */
+
+#include <math.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <strings.h>
+
+#include "main.h"
+#include "PID.h"
+#include "serial.h"
+
+PIDController_t *pid_create(const PIDpar_t *gain, size_t Iarrsz){
+    if(!gain || Iarrsz < 3) return NULL;
+    PIDController_t *pid = (PIDController_t*)calloc(1, sizeof(PIDController_t));
+    pid->gain = *gain;
+    DBG("Created PID with P=%g, I=%g, D=%g\n", gain->P, gain->I, gain->D);
+    pid->pidIarrSize = Iarrsz;
+    pid->pidIarray = (double*)calloc(Iarrsz, sizeof(double));
+    return pid;
+}
+
+// don't clear lastT!
+void pid_clear(PIDController_t *pid){
+    if(!pid) return;
+    DBG("CLEAR PID PARAMETERS");
+    bzero(pid->pidIarray, sizeof(double) * pid->pidIarrSize);
+    pid->integral = 0.;
+    pid->prev_error = 0.;
+    pid->curIidx = 0;
+}
+
+void pid_delete(PIDController_t **pid){
+    if(!pid || !*pid) return;
+    if((*pid)->pidIarray) free((*pid)->pidIarray);
+    free(*pid);
+    *pid = NULL;
+}
+
+double pid_calculate(PIDController_t *pid, double error, double dt){
+    // calculate flowing integral
+    double oldi = pid->pidIarray[pid->curIidx], newi = error * dt;
+    //DBG("oldi/new: %g, %g", oldi, newi);
+    pid->pidIarray[pid->curIidx++] = newi;
+    if(pid->curIidx >= pid->pidIarrSize) pid->curIidx = 0;
+    pid->integral += newi - oldi;
+    double derivative = (error - pid->prev_error) / dt;
+    pid->prev_error = error;
+    double sum = pid->gain.P * error + pid->gain.I * pid->integral + pid->gain.D * derivative;
+    DBG("P=%g, I=%g, D=%g; sum=%g", pid->gain.P * error, pid->gain.I * pid->integral, pid->gain.D * derivative, sum);
+    return sum;
+}
+
+typedef struct{
+    PIDController_t *PIDC;
+    PIDController_t *PIDV;
+} PIDpair_t;
+
+typedef struct{
+    axis_status_t state;
+    coordval_t position;
+    coordval_t speed;
+} axisdata_t;
+/**
+ * @brief process - Process PID for given axis
+ * @param tagpos - given coordinate of target position
+ * @param endpoint - endpoint for this coordinate
+ * @param pid - pid itself
+ * @return calculated new speed or -1 for max speed
+ */
+static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t *axis){
+    double dt = timediff(&tagpos->t, &axis->position.t);
+    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 < Conf.MaxPointingErr){
+                axis->state = AXIS_POINTING;
+                DBG("--> Pointing");
+                pid = pidpair->PIDC;
+            }else{
+                DBG("Slewing...");
+                return NAN; // max speed for given axis
+            }
+            break;
+        case AXIS_POINTING:
+            if(fe < Conf.MaxFinePointingErr){
+                axis->state = AXIS_GUIDING;
+                DBG("--> Guiding");
+                pid = pidpair->PIDV;
+            }else if(fe > Conf.MaxPointingErr){
+                DBG("--> Slewing");
+                axis->state = AXIS_SLEWING;
+                return NAN;
+            } else pid = pidpair->PIDC;
+            break;
+        case AXIS_GUIDING:
+            pid = pidpair->PIDV;
+            if(fe > Conf.MaxFinePointingErr){
+                DBG("--> Pointing");
+                axis->state = AXIS_POINTING;
+                pid = pidpair->PIDC;
+            }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!!!! --> Slewing");
+            axis->state = AXIS_SLEWING;
+            return getspeed(tagpos, pidpair, axis);
+        case AXIS_ERROR:
+            DBG("Can't move from erroneous state");
+            return 0.;
+    }
+    if(!pid){
+        DBG("WTF? Where is a PID?");
+        return axis->speed.val;
+    }
+    double dtpid = timediff(&tagpos->t, &pid->prevT);
+    if(dtpid < 0 || dtpid > Conf.PIDMaxDt){
+        DBG("time diff too big: clear PID");
+        pid_clear(pid);
+    }
+    if(dtpid > Conf.PIDMaxDt) dtpid = Conf.PIDCycleDt;
+    pid->prevT = tagpos->t;
+    DBG("CALC PID (er=%g, dt=%g), state=%d", error, dtpid, axis->state);
+    double tagspeed = pid_calculate(pid, error, dtpid);
+    if(axis->state == AXIS_GUIDING) return axis->speed.val + tagspeed / dtpid; // velocity-based
+    return tagspeed; // coordinate-based
+}
+
+/**
+ * @brief correct2 - recalculate PID and move telescope to new point with new speed
+ * @param target - target position (for error calculations)
+ * @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){
+    static PIDpair_t pidX = {0}, pidY = {0};
+    if(!pidX.PIDC){
+        pidX.PIDC = pid_create(&Conf.XPIDC, Conf.PIDCycleDt / Conf.PIDRefreshDt);
+        if(!pidX.PIDC) return MCC_E_FATAL;
+        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, Conf.PIDCycleDt / Conf.PIDRefreshDt);
+        if(!pidY.PIDC) return MCC_E_FATAL;
+        pidY.PIDV = pid_create(&Conf.YPIDV, Conf.PIDCycleDt / Conf.PIDRefreshDt);
+        if(!pidY.PIDV) return MCC_E_FATAL;
+    }
+    mountdata_t m;
+    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);
+    axis.state = m.Xstate;
+    axis.position = m.encXposition;
+    axis.speed = m.encXspeed;
+    tagspeed.X = getspeed(&target->X, &pidX, &axis);
+    if(isnan(tagspeed.X)){ // max 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(isnan(tagspeed.Y)){ // max 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);
+    }
+    coordpair_t endpoint;
+    // 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

@@ -0,0 +1,40 @@
+/*
+ * 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 <stddef.h>
+
+#include "sidservo.h"
+
+typedef struct {
+    PIDpar_t gain;      // PID gains
+    double prev_error;  // Previous error
+    double integral;    // Integral term
+    double *pidIarray;  // array for Integral
+    struct timespec prevT; // time of previous correction
+    size_t pidIarrSize; // it's size
+    size_t curIidx;     // and index of current element
+} PIDController_t;
+
+PIDController_t *pid_create(const PIDpar_t *gain, size_t Iarrsz);
+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);

LibSidServo/PID_test.deprecated/Makefile

@@ -0,0 +1,57 @@
+# run `make DEF=...` to add extra defines
+PROGRAM := moving
+LDFLAGS := -fdata-sections -ffunction-sections -Wl,--gc-sections -Wl,--discard-all
+LDFLAGS += -lusefull_macros -lm
+SRCS := $(wildcard *.c)
+DEFINES := $(DEF) -D_GNU_SOURCE -D_XOPEN_SOURCE=1111
+OBJDIR := mk
+CFLAGS += -O2 -Wall -Wextra -Wno-trampolines -std=gnu99
+OBJS := $(addprefix $(OBJDIR)/, $(SRCS:%.c=%.o))
+DEPS := $(OBJS:.o=.d)
+TARGFILE := $(OBJDIR)/TARGET
+CC = gcc
+#TARGET := RELEASE
+
+ifeq ($(shell test -e $(TARGFILE) && echo -n yes),yes)
+	TARGET := $(file < $(TARGFILE))
+else
+	TARGET := RELEASE
+endif
+
+ifeq ($(TARGET), DEBUG)
+	.DEFAULT_GOAL := debug
+endif
+
+release: $(PROGRAM)
+
+debug: CFLAGS += -DEBUG -Werror
+debug: TARGET := DEBUG
+debug: $(PROGRAM)
+
+$(TARGFILE): $(OBJDIR)
+	@echo -e "\t\tTARGET: $(TARGET)"
+	@echo "$(TARGET)" > $(TARGFILE)
+
+$(PROGRAM) : $(TARGFILE) $(OBJS)
+	@echo -e "\t\tLD $(PROGRAM)"
+	$(CC) $(OBJS) $(LDFLAGS) -o $(PROGRAM)
+
+$(OBJDIR):
+	@mkdir $(OBJDIR)
+
+ifneq ($(MAKECMDGOALS),clean)
+-include $(DEPS)
+endif
+
+$(OBJDIR)/%.o: %.c
+	@echo -e "\t\tCC $<"
+	$(CC) $< -MD -c $(LDFLAGS) $(CFLAGS) $(DEFINES) -o $@ 
+
+clean:
+	@echo -e "\t\tCLEAN"
+	@rm -rf $(OBJDIR) 2>/dev/null || true
+
+xclean: clean
+	@rm -f $(PROGRAM)
+
+.PHONY: clean xclean

LibSidServo/PID_test.deprecated/Tramp.c

@@ -0,0 +1,223 @@
+/*
+ * This file is part of the moving_model 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/>.
+ */
+
+// simplest trapezioidal ramp
+
+#include <math.h>
+#include <stdio.h>
+#include <strings.h>
+#include <usefull_macros.h>
+
+#include "Tramp.h"
+
+#undef DBG
+#define DBG(...)
+
+static movestate_t state = ST_STOP;
+static moveparam_t Min, Max; // `Min` acceleration not used!
+
+typedef enum{
+    STAGE_ACCEL,        // start from zero speed and accelerate to Max speed
+    STAGE_MAXSPEED,     // go with target speed
+    STAGE_DECEL,        // go from target speed to zero
+    STAGE_STOPPED,      // stop
+    STAGE_AMOUNT
+} movingstage_t;
+
+static movingstage_t movingstage = STAGE_STOPPED;
+static double Times[STAGE_AMOUNT] = {0}; // time when each stage starts
+static moveparam_t Params[STAGE_AMOUNT] = {0}; // starting parameters for each stage
+static moveparam_t curparams = {0}; // current coordinate/speed/acceleration
+
+static int initlims(limits_t *lim){
+    if(!lim) return FALSE;
+    Min = lim->min;
+    Max = lim->max;
+    return TRUE;
+}
+
+static void emstop(double _U_ t){
+    curparams.accel = 0.;
+    curparams.speed = 0.;
+    bzero(Times, sizeof(Times));
+    bzero(Params, sizeof(Params));
+    state = ST_STOP;
+    movingstage = STAGE_STOPPED;
+}
+
+static void stop(double t){
+    if(state == ST_STOP || movingstage == STAGE_STOPPED) return;
+    movingstage = STAGE_DECEL;
+    state = ST_MOVE;
+    Times[STAGE_DECEL] = t;
+    Params[STAGE_DECEL].speed = curparams.speed;
+    if(curparams.speed > 0.) Params[STAGE_DECEL].accel = -Max.accel;
+    else Params[STAGE_DECEL].accel = Max.accel;
+    Params[STAGE_DECEL].coord = curparams.coord;
+    // speed: v=v2+a2(t-t2), v2 and a2 have different signs; t3: v3=0 -> t3=t2-v2/a2
+    Times[STAGE_STOPPED] = t - curparams.speed / Params[STAGE_DECEL].accel;
+    // coordinate: x=x2+v2(t-t2)+a2(t-t2)^2/2 -> x3=x2+v2(t3-t2)+a2(t3-t2)^2/2
+    double dt = Times[STAGE_STOPPED] - t;
+    Params[STAGE_STOPPED].coord = curparams.coord + curparams.speed * dt +
+                                  Params[STAGE_DECEL].accel * dt * dt / 2.;
+}
+
+/**
+ * @brief calc - moving calculation
+ * @param x - using max speed (>0!!!) and coordinate
+ * @param t - current time value
+ * @return FALSE if can't move with given parameters
+ */
+static int calc(moveparam_t *x, double t){
+    if(!x) return FALSE;
+    if(x->coord < Min.coord || x->coord > Max.coord) return FALSE;
+    if(x->speed < Min.speed || x->speed > Max.speed) return FALSE;
+    double Dx = fabs(x->coord - curparams.coord); // full distance
+    double sign = (x->coord > curparams.coord) ? 1. : -1.; // sign of target accelerations and speeds
+    // we have two variants: with or without stage with constant speed
+    double dt23 = x->speed / Max.accel; // time of deceleration stage for given speed
+    double dx23 = x->speed * dt23 / 2.; // distance on dec stage (abs)
+    DBG("Dx=%g, sign=%g, dt23=%g, dx23=%g", Dx, sign, dt23, dx23);
+    double setspeed = x->speed; // new max speed (we can change it if need)
+    double dt01, dx01; // we'll fill them depending on starting conditions
+    Times[0] = t;
+    Params[0].speed = curparams.speed;
+    Params[0].coord = curparams.coord;
+
+    double curspeed = fabs(curparams.speed);
+    double dt0s = curspeed / Max.accel; // time of stopping phase
+    double dx0s = curspeed * dt0s / 2.; // distance
+    DBG("dt0s=%g, dx0s=%g", dt0s, dx0s);
+    if(dx0s > Dx){
+        WARNX("distance too short");
+        return FALSE;
+    }
+    if(fabs(Dx - dx0s) < coord_tolerance){ // just stop and we'll be on target
+        DBG("Distance good to just stop");
+        stop(t);
+        return TRUE;
+    }
+    if(curparams.speed * sign < 0. || state == ST_STOP){ // we should change speed sign
+        // after stop we will have full profile
+        double dxs3 = Dx - dx0s;
+        double newspeed = sqrt(Max.accel * dxs3);
+        if(newspeed < setspeed) setspeed = newspeed; // we can't reach user speed
+        DBG("dxs3=%g, setspeed=%g", dxs3, setspeed);
+        dt01 = fabs(sign*setspeed - curparams.speed) / Max.accel;
+        Params[0].accel = sign * Max.accel;
+        if(state == ST_STOP) dx01 = setspeed * dt01 / 2.;
+        else dx01 = dt01 * (dt01 / 2. * Max.accel - curspeed);
+        DBG("dx01=%g, dt01=%g", dx01, dt01);
+    }else{ // increase or decrease speed without stopping phase
+        dt01 = fabs(sign*setspeed - curparams.speed) / Max.accel;
+        double a = sign * Max.accel;
+        if(sign * curparams.speed < 0.){DBG("change direction"); a = -a;}
+        else if(curspeed > setspeed){ DBG("lower speed @ this direction"); a = -a;}
+        //double a = (curspeed > setspeed) ? -Max.accel : Max.accel;
+        dx01 = curspeed * dt01 + a * dt01 * dt01 / 2.;
+        DBG("dt01=%g, a=%g, dx01=%g", dt01, a, dx01);
+        if(dx01 + dx23 > Dx){ // calculate max speed
+            setspeed = sqrt(Max.accel * Dx - curspeed * curspeed / 2.);
+            if(setspeed < curspeed){
+                setspeed = curparams.speed;
+                dt01 = 0.; dx01 = 0.;
+                Params[0].accel = 0.;
+            }else{
+                Params[0].accel = a;
+                dt01 = fabs(setspeed - curspeed) / Max.accel;
+                dx01 = curspeed * dt01 + Max.accel * dt01 * dt01 / 2.;
+            }
+        }else Params[0].accel = a;
+    }
+    if(setspeed < Min.speed){
+        WARNX("New speed should be too small");
+        return FALSE;
+    }
+    moveparam_t *p = &Params[STAGE_MAXSPEED];
+    p->accel = 0.; p->speed = sign * setspeed;
+    p->coord = curparams.coord + dx01 * sign;
+    Times[STAGE_MAXSPEED] = Times[0] + dt01;
+    dt23 = setspeed / Max.accel;
+    dx23 = setspeed * dt23 / 2.;
+    // calculate dx12 and dt12
+    double dx12 = Dx - dx01 - dx23;
+    if(dx12 < -coord_tolerance){
+        WARNX("Oops, WTF dx12=%g?", dx12);
+        return FALSE;
+    }
+    double dt12 = dx12 / setspeed;
+    p = &Params[STAGE_DECEL];
+    p->accel = -sign * Max.accel;
+    p->speed = sign * setspeed;
+    p->coord = Params[STAGE_MAXSPEED].coord + sign * dx12;
+    Times[STAGE_DECEL] = Times[STAGE_MAXSPEED] + dt12;
+    p = &Params[STAGE_STOPPED];
+    p->accel = 0.; p->speed = 0.; p->coord = x->coord;
+    Times[STAGE_STOPPED] = Times[STAGE_DECEL] + dt23;
+    for(int i = 0; i < 4; ++i)
+        DBG("%d: t=%g, coord=%g, speed=%g, accel=%g", i,
+            Times[i], Params[i].coord, Params[i].speed, Params[i].accel);
+    state = ST_MOVE;
+    movingstage = STAGE_ACCEL;
+    return TRUE;
+}
+
+static movestate_t proc(moveparam_t *next, double t){
+    if(state == ST_STOP) goto ret;
+    for(movingstage_t s = STAGE_STOPPED; s >= 0; --s){
+        if(Times[s] <= t){ // check time for current stage
+            movingstage = s;
+            break;
+        }
+    }
+    if(movingstage == STAGE_STOPPED){
+        curparams.coord = Params[STAGE_STOPPED].coord;
+        emstop(t);
+        goto ret;
+    }
+    // calculate current parameters
+    double dt = t - Times[movingstage];
+    double a = Params[movingstage].accel;
+    double v0 = Params[movingstage].speed;
+    double x0 = Params[movingstage].coord;
+    curparams.accel = a;
+    curparams.speed = v0 + a * dt;
+    curparams.coord = x0 + v0 * dt + a * dt * dt / 2.;
+ret:
+    if(next) *next = curparams;
+    return state;
+}
+
+static movestate_t getst(moveparam_t *cur){
+    if(cur) *cur = curparams;
+    return state;
+}
+
+static double gettstop(){
+    return Times[STAGE_STOPPED];
+}
+
+movemodel_t trapez = {
+    .init_limits = initlims,
+    .stop = stop,
+    .emergency_stop = emstop,
+    .get_state = getst,
+    .calculate = calc,
+    .proc_move = proc,
+    .stoppedtime = gettstop,
+};

LibSidServo/PID_test.deprecated/Tramp.h

@@ -0,0 +1,23 @@
+/*
+ * This file is part of the moving_model 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 "moving_private.h"
+
+extern movemodel_t trapez;

LibSidServo/PID_test.deprecated/main.c

@@ -0,0 +1,243 @@
+/*
+ * This file is part of the moving_model 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/>.
+ */
+
+#include <math.h>
+#include <stdio.h>
+#include <strings.h>
+#include <usefull_macros.h>
+
+#include "moving.h"
+
+// errors for states: slewing/pointing/guiding
+#define MAX_POINTING_ERR    (50.)
+#define MAX_GUIDING_ERR     (5.)
+// timeout to "forget" old data from I sum array; seconds
+#define PID_I_PERIOD        (3.)
+
+static movemodel_t *model = NULL;
+static FILE *coordslog = NULL;
+
+typedef enum{
+    Slewing,
+    Pointing,
+    Guiding
+} state_t;
+
+static state_t state = Slewing;
+
+typedef struct{
+    int help;
+    char *ramptype;
+    char *xlog;
+    double dTmon;
+    double dTcorr;
+    double Tend;
+    double minerr;
+    double P, I, D;
+} pars;
+
+static pars G = {
+    .ramptype = "t",
+    .dTmon = 0.01,
+    .dTcorr = 0.05,
+    .Tend = 100.,
+    .minerr = 0.1,
+    .P = 0.8,
+};
+
+static limits_t limits = {
+    .min = {.coord = -1e6, .speed = 0.01, .accel = 0.1},
+    .max = {.coord = 1e6, .speed = 1e3, .accel = 500.},
+    .jerk = 10.
+};
+
+typedef struct {
+    double kp, ki, kd;  // PID gains
+    double prev_error;  // Previous error
+    double integral;    // Integral term
+    double *pidIarray;  // array for Integral
+    size_t pidIarrSize; // it's size
+    size_t curIidx;     // and index of current element
+} PIDController;
+
+static PIDController pid;
+
+static sl_option_t opts[] = {
+    {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),          "show this help"},
+    {"ramp",    NEED_ARG,   NULL,   'r',    arg_string, APTR(&G.ramptype),      "ramp type: \"d\", \"t\" or \"s\" - dumb, trapezoid, s-type"},
+    {"tmon",    NEED_ARG,   NULL,   'T',    arg_double, APTR(&G.dTmon),         "time interval for monitoring (seconds, default: 0.001)"},
+    {"tcor",    NEED_ARG,   NULL,   't',    arg_double, APTR(&G.dTcorr),        "time interval for corrections (seconds, default: 0.05)"},
+    {"xlog",    NEED_ARG,   NULL,   'l',    arg_string, APTR(&G.xlog),          "log file name for coordinates logging"},
+    {"tend",    NEED_ARG,   NULL,   'e',    arg_double, APTR(&G.Tend),          "end time of monitoring (seconds, default: 100)"},
+    {"minerr",  NEED_ARG,   NULL,   'm',    arg_double, APTR(&G.minerr),        "minimal error for corrections (units, default: 0.1)"},
+    {"prop",    NEED_ARG,   NULL,   'P',    arg_double, APTR(&G.P),             "P-coefficient of PID"},
+    {"integ",   NEED_ARG,   NULL,   'I',    arg_double, APTR(&G.I),             "I-coefficient of PID"},
+    {"diff",    NEED_ARG,   NULL,   'D',    arg_double, APTR(&G.D),             "D-coefficient of PID"},
+    // TODO: add parameters for limits setting
+    end_option
+};
+
+// calculate coordinate target for given time (starting from zero)
+static double target_coord(double t){
+    if(t > 20. && t < 30.) return target_coord(20.);
+    double pos = 150. + 10. * sin(M_2_PI * t / 10.) + 0.02 * (drand48() - 0.5);
+    return pos;
+}
+
+/* P-only == oscillations
+static double getNewSpeed(const moveparam_t *p, double targcoord, double dt){
+    double error = targcoord - p->coord;
+    if(fabs(error) < G.minerr) return p->speed;
+    return p->speed + error / dt / 500.;
+}
+*/
+
+static void pid_init(PIDController *pid, double kp, double ki, double kd) {
+    pid->kp = fabs(kp);
+    pid->ki = fabs(ki);
+    pid->kd = fabs(kd);
+    pid->prev_error = 0.;
+    pid->integral = 0.;
+    pid->curIidx = 0;
+    pid->pidIarrSize = PID_I_PERIOD / G.dTcorr;
+    if(pid->pidIarrSize < 2) ERRX("I-array for PID have less than 2 elements");
+    pid->pidIarray = MALLOC(double, pid->pidIarrSize);
+}
+
+static void pid_clear(PIDController *pid){
+    if(!pid) return;
+    bzero(pid->pidIarray, sizeof(double) * pid->pidIarrSize);
+    pid->integral = 0.;
+    pid->prev_error = 0.;
+    pid->curIidx = 0;
+}
+
+static double getNewSpeed(const moveparam_t *p, double targcoord, double dt){
+    double error = targcoord - p->coord, fe = fabs(error);
+    switch(state){
+        case Slewing:
+            if(fe < MAX_POINTING_ERR){
+                pid_clear(&pid);
+                state = Pointing;
+                green("--> Pointing\n");
+            }else{
+                red("Slewing...\n");
+                return (error > 0.) ? limits.max.speed : -limits.max.speed;
+            }
+            break;
+        case Pointing:
+            if(fe < MAX_GUIDING_ERR){
+                pid_clear(&pid);
+                state = Guiding;
+                green("--> Guiding\n");
+            }else if(fe > MAX_POINTING_ERR){
+                red("--> Slewing\n");
+                state = Slewing;
+                return (error > 0.) ? limits.max.speed : -limits.max.speed;
+            }
+            break;
+        case Guiding:
+            if(fe > MAX_GUIDING_ERR){
+                red("--> Pointing\n");
+                state = Pointing;
+            }else if(fe < G.minerr){
+                    green("At target\n");
+                    //pid_clear(&pid);
+                    //return p->speed;
+            }
+            break;
+    }
+
+    red("Calculate PID\n");
+    double oldi = pid.pidIarray[pid.curIidx], newi = error * dt;
+    pid.pidIarray[pid.curIidx++] = oldi;
+    if(pid.curIidx >= pid.pidIarrSize) pid.curIidx = 0;
+    pid.integral += newi - oldi;
+    double derivative = (error - pid.prev_error) / dt;
+    pid.prev_error = error;
+    DBG("P=%g, I=%g, D=%g", pid.kp * error, pid.integral, derivative);
+    double add = (pid.kp * error + pid.ki * pid.integral + pid.kd * derivative);
+    if(state == Pointing) add /= 3.;
+    else if(state == Guiding) add /= 7.;
+    DBG("ADD = %g; new speed = %g", add, p->speed + add);
+    if(state == Guiding) return p->speed + add  / dt / 10.;
+    return add / dt;
+}
+// ./moving  -l coords -P.5 -I.05 -D1.5
+// ./moving  -l coords -P1.3 -D1.6
+
+static void start_model(double Tend){
+    double T = 0., Tcorr = 0.;//, Tlast = 0.;
+    moveparam_t target;
+    while(T <= Tend){
+        moveparam_t p;
+        movestate_t st = model->get_state(&p);
+        if(st == ST_MOVE) st = model->proc_move(&p, T);
+        double nextcoord = target_coord(T);
+        double error = nextcoord - p.coord;
+        if(T - Tcorr >= G.dTcorr){ // check correction
+            double speed = getNewSpeed(&p, nextcoord, T - Tcorr);
+            target.coord = (speed > 0) ? p.coord + 5e5 : p.coord - 5e5;
+            target.speed = fabs(speed);
+            double res_speed = limits.max.speed / 2.;
+            if(target.speed > limits.max.speed){
+                target.speed = limits.max.speed;
+                res_speed = limits.max.speed / 4.;
+            }else if(target.speed < limits.min.speed){
+                target.speed = limits.min.speed;
+                res_speed = limits.min.speed * 4.;
+            }
+            if(!move_to(&target, T)){
+                target.speed = res_speed;
+                if(!move_to(&target, T))
+                    WARNX("move(): can't move to %g with max speed %g", target.coord, target.speed);
+            }
+            DBG("%g: tag/cur speed= %g / %g; tag/cur pos = %g / %g; err = %g", T, target.speed, p.speed, target.coord, p.coord, error);
+            Tcorr = T;
+        }
+        // make log
+        fprintf(coordslog, "%-9.4f\t%-10.4f\t%-10.4f\t%-10.4f\t%-10.4f\t%-10.4f\n",
+                T, nextcoord, p.coord, p.speed, p.accel, error);
+        T += G.dTmon;
+    }
+}
+
+int main(int argc, char **argv){
+    sl_init();
+    sl_parseargs(&argc, &argv, opts);
+    if(G.help) sl_showhelp(-1, opts);
+    if(G.xlog){
+        coordslog = fopen(G.xlog, "w");
+        if(!coordslog) ERR("Can't open %s", G.xlog);
+    } else coordslog = stdout;
+    if(G.dTmon <= 0.) ERRX("tmon should be > 0.");
+    if(G.dTcorr <= 0. || G.dTcorr > 1.) ERRX("tcor should be > 0. and < 1.");
+    if(G.Tend <= 0.) ERRX("tend should be > 0.");
+    pid_init(&pid, G.P, G.I, G.D);
+    fprintf(coordslog, "%-9s\t%-10s\t%-10s\t%-10s\t%-10s\t%-10s\n", "time", "target", "curpos", "speed", "accel", "error");
+    ramptype_t ramp = RAMP_AMOUNT;
+    if(*G.ramptype == 'd' || *G.ramptype == 'D') ramp = RAMP_DUMB;
+    else if(*G.ramptype == 't' || *G.ramptype == 'T') ramp = RAMP_TRAPEZIUM;
+    else if(*G.ramptype == 's' || *G.ramptype == 'S') ramp = RAMP_S;
+    else ERRX("Point \"d\" (dumb), \"s\" (s-type), or \"t\" (trapez) for ramp type");
+    model = init_moving(ramp, &limits);
+    if(!model) ERRX("Can't init moving model: check parameters");
+    start_model(G.Tend);
+    fclose(coordslog);
+    return 0;
+}

LibSidServo/PID_test.deprecated/moving.c

@@ -0,0 +1,105 @@
+/*
+ * This file is part of the moving_model 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/>.
+ */
+
+#include <math.h>
+#include <stdio.h>
+#include <usefull_macros.h>
+#include <pthread.h>
+#include <time.h>
+
+#include "moving.h"
+#include "moving_private.h"
+#include "Dramp.h"
+#include "Sramp.h"
+#include "Tramp.h"
+
+//static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
+static movemodel_t *model = NULL;
+double coord_tolerance = COORD_TOLERANCE_DEFAULT;
+double time_tick = TIME_TICK_DEFAULT;
+
+// difference of time from first call, using nanoseconds
+double nanot(){
+    static struct timespec *start = NULL;
+    struct timespec now;
+    if(!start){
+        start = MALLOC(struct timespec, 1);
+        if(!start) return -1.;
+        if(clock_gettime(CLOCK_REALTIME, start)) return -1.;
+    }
+    if(clock_gettime(CLOCK_REALTIME, &now)) return -1.;
+    //DBG("was: %ld, now: %ld", start->tv_nsec, now.tv_nsec);
+    double nd = ((double)now.tv_nsec - (double)start->tv_nsec) * 1e-9;
+    double sd = (double)now.tv_sec - (double)start->tv_sec;
+    return sd + nd;
+}
+
+static void chkminmax(double *min, double *max){
+    if(*min <= *max) return;
+    double t = *min;
+    *min = *max;
+    *max = t;
+}
+
+movemodel_t *init_moving(ramptype_t type, limits_t *l){
+    if(!l) return FALSE;
+    switch(type){
+        case RAMP_DUMB:
+            model = &dumb;
+        break;
+        case RAMP_TRAPEZIUM:
+            model = &trapez;
+        break;
+        case RAMP_S:
+            model = &s_shaped;
+        break;
+        default:
+            return FALSE;
+    }
+    if(!model->init_limits) return NULL;
+    moveparam_t *max = &l->max, *min = &l->min;
+    if(min->speed < 0.) min->speed = -min->speed;
+    if(max->speed < 0.) max->speed = -max->speed;
+    if(min->accel < 0.) min->accel = -min->accel;
+    if(max->accel < 0.) max->accel = -max->accel;
+    chkminmax(&min->coord, &max->coord);
+    chkminmax(&min->speed, &max->speed);
+    chkminmax(&min->accel, &max->accel);
+    if(!model->init_limits(l)) return NULL;
+    return model;
+}
+
+int move_to(moveparam_t *target, double t){
+    if(!target || !model) return FALSE;
+    DBG("MOVE to %g at speed %g", target->coord, target->speed);
+    // only positive velocity
+    if(target->speed < 0.) target->speed = -target->speed;
+    // don't mind about acceleration - user cannot set it now
+    return model->calculate(target, t);
+}
+
+int init_coordtol(double tolerance){
+    if(tolerance < COORD_TOLERANCE_MIN || tolerance > COORD_TOLERANCE_MAX) return FALSE;
+    coord_tolerance = tolerance;
+    return TRUE;
+}
+int init_timetick(double tick){
+    if(tick < TIME_TICK_MIN || tick > TIME_TICK_MAX) return FALSE;
+    time_tick = tick;
+    return TRUE;
+}

LibSidServo/PID_test.deprecated/moving.h

@@ -0,0 +1,70 @@
+/*
+ * This file is part of the moving_model 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
+
+// tolerance, time ticks
+#define COORD_TOLERANCE_DEFAULT (0.01)
+#define COORD_TOLERANCE_MIN     (0.0001)
+#define COORD_TOLERANCE_MAX     (10.)
+#define TIME_TICK_DEFAULT       (0.0001)
+#define TIME_TICK_MIN           (1e-9)
+#define TIME_TICK_MAX           (10.)
+
+typedef enum{
+    RAMP_DUMB,          // no ramp: infinite acceleration/deceleration
+    RAMP_TRAPEZIUM,     // trapezium ramp
+    RAMP_S,             // s-shaped ramp
+    RAMP_AMOUNT
+} ramptype_t;
+
+typedef enum{
+    ST_STOP,            // stopped
+    ST_MOVE,            // moving
+    ST_AMOUNT
+} movestate_t;
+
+typedef struct{ // all values could be both as positive and negative
+    double coord;
+    double speed;
+    double accel;
+} moveparam_t;
+
+typedef struct{
+    moveparam_t min;
+    moveparam_t max;
+    double jerk;
+} limits_t;
+
+typedef struct{
+    int (*init_limits)(limits_t *lim);                      // init values of limits, jerk
+    int (*calculate)(moveparam_t *target, double t);        // calculate stages of traectory beginning from t
+    movestate_t (*proc_move)(moveparam_t *next, double t);  // calculate next model point for time t
+    movestate_t (*get_state)(moveparam_t *cur);             // get current moving state
+    void (*stop)(double t);                                 // stop by ramp
+    void (*emergency_stop)(double t);                       // stop with highest acceleration
+    double (*stoppedtime)();                                // time when moving will ends
+} movemodel_t;
+
+extern double coord_tolerance;
+
+double nanot();
+movemodel_t *init_moving(ramptype_t type, limits_t *l);
+int init_coordtol(double tolerance);
+int init_timetick(double tick);
+int move_to(moveparam_t *target, double t);

LibSidServo/PID_test.deprecated/moving_model.cflags

@@ -0,0 +1 @@
+-std=c17

LibSidServo/PID_test.deprecated/moving_model.config

@@ -0,0 +1,4 @@
+// Add predefined macros for your project here. For example:
+// #define THE_ANSWER 42
+#define _XOPEN_SOURCE 666
+#define EBUG

LibSidServo/PID_test.deprecated/moving_model.creator

@@ -0,0 +1 @@
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LibSidServo/PID_test.deprecated/moving_model.creator.user

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LibSidServo/PID_test.deprecated/moving_model.creator.user.7bd84e3

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

LibSidServo/PID_test.deprecated/moving_model.cxxflags

@@ -0,0 +1 @@
+-std=c++17

LibSidServo/PID_test.deprecated/moving_model.files

@@ -0,0 +1,10 @@
+Dramp.c
+Dramp.h
+Sramp.c
+Sramp.h
+Tramp.c
+Tramp.h
+main.c
+moving.c
+moving.h
+moving_private.h

LibSidServo/PID_test.deprecated/moving_private.h

@@ -0,0 +1,26 @@
+/*
+ * This file is part of the moving_model 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 "moving.h"
+
+extern double coord_tolerance;
+extern double time_tick;
+
+

LibSidServo/PID_test.deprecated/plot

@@ -0,0 +1,4 @@
+#!/usr/bin/gnuplot
+
+plot for [col in "target curpos speed error"] 'coords' using 1:col with lines title columnheader
+pause mouse

LibSidServo/PID_test.deprecated/plot.cont

@@ -0,0 +1,8 @@
+#!/usr/bin/gnuplot
+
+#set term pdf
+#set output "output.pdf"
+while(1){
+    plot for [col in "target curpos speed error"] 'coords' using 1:col with lines title columnheader
+    pause 1
+}

LibSidServo/PID_test.deprecated/plot_jpg

@@ -0,0 +1,6 @@
+#!/usr/bin/gnuplot
+
+set terminal jpeg size 1000,500
+set output "all.jpg"
+
+plot for [col in "target curpos speed error"] 'coords' using 1:col with lines title columnheader

LibSidServo/PID_test.deprecated/plot_pdf

@@ -0,0 +1,5 @@
+#!/usr/bin/gnuplot
+
+set term pdf
+set output "output.pdf"
+plot for [col=2:4] 'coordlog' using 1:col with lines title columnheader

LibSidServo/PID_test.deprecated/plotacc

@@ -0,0 +1,4 @@
+#!/usr/bin/gnuplot
+
+plot 'coords' using 1:5 with lines title columnheader
+pause mouse

LibSidServo/PID_test.deprecated/ploterr

@@ -0,0 +1,4 @@
+#!/usr/bin/gnuplot
+
+plot 'coords' using 1:6 with lines title columnheader
+pause mouse

LibSidServo/PID_test.deprecated/ploterr.cont

@@ -0,0 +1,6 @@
+#!/usr/bin/gnuplot
+
+while(1){
+    plot 'coords' using 1:6 with lines title columnheader
+    pause 1
+}

LibSidServo/PID_test.deprecated/ploterr_jpg

@@ -0,0 +1,5 @@
+#!/usr/bin/gnuplot
+
+set term jpeg size 1000,500
+set output "error.jpg"
+plot 'coords' using 1:6 with lines title columnheader

LibSidServo/PID_test/PID.c

@@ -0,0 +1,64 @@
+/*
+ * This file is part of the moving_model 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/>.
+ */
+
+#include <math.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <strings.h>
+#include <usefull_macros.h>
+
+#include "PID.h"
+
+PIDController_t *pid_create(PIDpar_t *gain, size_t Iarrsz){
+    if(!gain || Iarrsz < 3) return NULL;
+    PIDController_t *pid = (PIDController_t*)calloc(1, sizeof(PIDController_t));
+    pid->gain = *gain;
+    pid->pidIarrSize = Iarrsz;
+    pid->pidIarray = (double*)calloc(Iarrsz, sizeof(double));
+    return pid;
+}
+
+void pid_clear(PIDController_t *pid){
+    if(!pid) return;
+    DBG("CLEAR PID PARAMETERS");
+    bzero(pid->pidIarray, sizeof(double) * pid->pidIarrSize);
+    pid->integral = 0.;
+    pid->prev_error = 0.;
+    pid->curIidx = 0;
+}
+
+void pid_delete(PIDController_t **pid){
+    if(!pid || !*pid) return;
+    if((*pid)->pidIarray) free((*pid)->pidIarray);
+    free(*pid);
+    *pid = NULL;
+}
+
+double pid_calculate(PIDController_t *pid, double error, double dt){
+    // calculate flowing integral
+    double oldi = pid->pidIarray[pid->curIidx], newi = error * dt;
+    DBG("oldi/new: %g, %g", oldi, newi);
+    pid->pidIarray[pid->curIidx++] = newi;
+    if(pid->curIidx >= pid->pidIarrSize) pid->curIidx = 0;
+    pid->integral += newi - oldi;
+    double derivative = (error - pid->prev_error) / dt;
+    pid->prev_error = error;
+    double sum = pid->gain.P * error + pid->gain.I * pid->integral + pid->gain.D * derivative;
+    DBG("P=%g, I=%g, D=%g; sum=%g", pid->gain.P * error, pid->gain.I * pid->integral, pid->gain.D * derivative, sum);
+    return sum;
+}

LibSidServo/PID_test/PID.h

@@ -0,0 +1,39 @@
+/*
+ * This file is part of the moving_model 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 <stddef.h>
+
+typedef struct{
+    double P, I, D;
+} PIDpar_t;
+
+typedef struct {
+    PIDpar_t gain;      // PID gains
+    double prev_error;  // Previous error
+    double integral;    // Integral term
+    double *pidIarray;  // array for Integral
+    size_t pidIarrSize; // it's size
+    size_t curIidx;     // and index of current element
+} PIDController_t;
+
+PIDController_t *pid_create(PIDpar_t *gain, size_t Iarrsz);
+void pid_clear(PIDController_t *pid);
+void pid_delete(PIDController_t **pid);
+double pid_calculate(PIDController_t *pid, double error, double dt);

LibSidServo/PID_test/main.c

@@ -22,13 +22,18 @@
 #include <usefull_macros.h>
 
 #include "moving.h"
+#include "PID.h"
 
 // errors for states: slewing/pointing/guiding
-#define MAX_POINTING_ERR    (50.)
-#define MAX_GUIDING_ERR     (5.)
+// 10-degrees zone - Coordinate-driven PID
+#define MAX_POINTING_ERR    (36000.)
+// 1-arcminute zone - Velocity-dtiven PID
+#define MAX_GUIDING_ERR     (60.)
 // timeout to "forget" old data from I sum array; seconds
 #define PID_I_PERIOD        (3.)
 
+// PID for coordinate-driven and velocity-driven parts
+static PIDController_t *pidC = NULL, *pidV = NULL;
 static movemodel_t *model = NULL;
 static FILE *coordslog = NULL;
 
@@ -48,93 +53,64 @@ typedef struct{
     double dTcorr;
     double Tend;
     double minerr;
-    double P, I, D;
+    double startcoord;
+    double error;
+    PIDpar_t gainC, gainV;
 } pars;
 
 static pars G = {
-    .ramptype = "t",
     .dTmon = 0.01,
     .dTcorr = 0.05,
     .Tend = 100.,
     .minerr = 0.1,
-    .P = 0.8,
+    .gainC.P = 0.1,
+    .gainV.P = 0.1,
+    .startcoord = 100.,
 };
 
 static limits_t limits = {
     .min = {.coord = -1e6, .speed = 0.01, .accel = 0.1},
-    .max = {.coord = 1e6, .speed = 1e3, .accel = 500.},
-    .jerk = 10.
+    .max = {.coord = 6648000, .speed = 36000., .accel = 36000.}
 };
 
-typedef struct {
-    double kp, ki, kd;  // PID gains
-    double prev_error;  // Previous error
-    double integral;    // Integral term
-    double *pidIarray;  // array for Integral
-    size_t pidIarrSize; // it's size
-    size_t curIidx;     // and index of current element
-} PIDController;
-
-static PIDController pid;
 
 static sl_option_t opts[] = {
     {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),          "show this help"},
-    {"ramp",    NEED_ARG,   NULL,   'r',    arg_string, APTR(&G.ramptype),      "ramp type: \"d\", \"t\" or \"s\" - dumb, trapezoid, s-type"},
     {"tmon",    NEED_ARG,   NULL,   'T',    arg_double, APTR(&G.dTmon),         "time interval for monitoring (seconds, default: 0.001)"},
     {"tcor",    NEED_ARG,   NULL,   't',    arg_double, APTR(&G.dTcorr),        "time interval for corrections (seconds, default: 0.05)"},
     {"xlog",    NEED_ARG,   NULL,   'l',    arg_string, APTR(&G.xlog),          "log file name for coordinates logging"},
     {"tend",    NEED_ARG,   NULL,   'e',    arg_double, APTR(&G.Tend),          "end time of monitoring (seconds, default: 100)"},
     {"minerr",  NEED_ARG,   NULL,   'm',    arg_double, APTR(&G.minerr),        "minimal error for corrections (units, default: 0.1)"},
-    {"prop",    NEED_ARG,   NULL,   'P',    arg_double, APTR(&G.P),             "P-coefficient of PID"},
-    {"integ",   NEED_ARG,   NULL,   'I',    arg_double, APTR(&G.I),             "I-coefficient of PID"},
-    {"diff",    NEED_ARG,   NULL,   'D',    arg_double, APTR(&G.D),             "D-coefficient of PID"},
+    {"propC",   NEED_ARG,   NULL,   'P',    arg_double, APTR(&G.gainC.P),       "P-coefficient of coordinate-driven PID"},
+    {"integC",  NEED_ARG,   NULL,   'I',    arg_double, APTR(&G.gainC.I),       "I-coefficient of coordinate-driven PID"},
+    {"diffC",   NEED_ARG,   NULL,   'D',    arg_double, APTR(&G.gainC.D),       "D-coefficient of coordinate-driven PID"},
+    {"propV",   NEED_ARG,   NULL,   'p',    arg_double, APTR(&G.gainV.P),       "P-coefficient of velocity-driven PID"},
+    {"integV",  NEED_ARG,   NULL,   'i',    arg_double, APTR(&G.gainV.I),       "I-coefficient of velocity-driven PID"},
+    {"diffV",   NEED_ARG,   NULL,   'd',    arg_double, APTR(&G.gainV.D),       "D-coefficient of velocity-driven PID"},
+    {"xstart",  NEED_ARG,   NULL,   '0',    arg_double, APTR(&G.startcoord),    "starting coordinate of target"},
+    {"error",   NEED_ARG,   NULL,   'E',    arg_double, APTR(&G.error),         "error range"},
     // TODO: add parameters for limits setting
     end_option
 };
 
 // calculate coordinate target for given time (starting from zero)
 static double target_coord(double t){
-    if(t > 20. && t < 30.) return target_coord(20.);
-    double pos = 150. + 10. * sin(M_2_PI * t / 10.) + 0.02 * (drand48() - 0.5);
+    if(t > 20. && t < 30.) return 0.;
+    //double pos = G.startcoord + 15. * t + G.error * (drand48() - 0.5);
+    double pos = G.startcoord + 15. * sin(2*M_PI * t / 10.) + G.error * (drand48() - 0.5);
     return pos;
 }
 
-/* P-only == oscillations
-static double getNewSpeed(const moveparam_t *p, double targcoord, double dt){
-    double error = targcoord - p->coord;
-    if(fabs(error) < G.minerr) return p->speed;
-    return p->speed + error / dt / 500.;
-}
-*/
-
-static void pid_init(PIDController *pid, double kp, double ki, double kd) {
-    pid->kp = fabs(kp);
-    pid->ki = fabs(ki);
-    pid->kd = fabs(kd);
-    pid->prev_error = 0.;
-    pid->integral = 0.;
-    pid->curIidx = 0;
-    pid->pidIarrSize = PID_I_PERIOD / G.dTcorr;
-    if(pid->pidIarrSize < 2) ERRX("I-array for PID have less than 2 elements");
-    pid->pidIarray = MALLOC(double, pid->pidIarrSize);
-}
-
-static void pid_clear(PIDController *pid){
-    if(!pid) return;
-    bzero(pid->pidIarray, sizeof(double) * pid->pidIarrSize);
-    pid->integral = 0.;
-    pid->prev_error = 0.;
-    pid->curIidx = 0;
-}
-
 static double getNewSpeed(const moveparam_t *p, double targcoord, double dt){
     double error = targcoord - p->coord, fe = fabs(error);
+    PIDController_t *pid = NULL;
     switch(state){
         case Slewing:
             if(fe < MAX_POINTING_ERR){
-                pid_clear(&pid);
+                pid_clear(pidC);
                 state = Pointing;
                 green("--> Pointing\n");
+                pid = pidC;
             }else{
                 red("Slewing...\n");
                 return (error > 0.) ? limits.max.speed : -limits.max.speed;
@@ -142,54 +118,55 @@ static double getNewSpeed(const moveparam_t *p, double targcoord, double dt){
             break;
         case Pointing:
             if(fe < MAX_GUIDING_ERR){
-                pid_clear(&pid);
+                pid_clear(pidV);
                 state = Guiding;
                 green("--> Guiding\n");
+                pid = pidV;
             }else if(fe > MAX_POINTING_ERR){
                 red("--> Slewing\n");
                 state = Slewing;
                 return (error > 0.) ? limits.max.speed : -limits.max.speed;
-            }
+            } else pid = pidC;
             break;
         case Guiding:
+            pid= pidV;
             if(fe > MAX_GUIDING_ERR){
                 red("--> Pointing\n");
                 state = Pointing;
+                pid_clear(pidC);
+                pid = pidC;
             }else if(fe < G.minerr){
                     green("At target\n");
-                    //pid_clear(&pid);
-                    //return p->speed;
-            }
+            }else printf("Current error: %g\n", fe);
             break;
     }
-
-    red("Calculate PID\n");
-    double oldi = pid.pidIarray[pid.curIidx], newi = error * dt;
-    pid.pidIarray[pid.curIidx++] = oldi;
-    if(pid.curIidx >= pid.pidIarrSize) pid.curIidx = 0;
-    pid.integral += newi - oldi;
-    double derivative = (error - pid.prev_error) / dt;
-    pid.prev_error = error;
-    DBG("P=%g, I=%g, D=%g", pid.kp * error, pid.integral, derivative);
-    double add = (pid.kp * error + pid.ki * pid.integral + pid.kd * derivative);
-    if(state == Pointing) add /= 3.;
-    else if(state == Guiding) add /= 7.;
-    DBG("ADD = %g; new speed = %g", add, p->speed + add);
-    if(state == Guiding) return p->speed + add  / dt / 10.;
-    return add / dt;
+    if(!pid){
+        WARNX("where is PID?"); return p->speed;
+    }
+    double tagspeed = pid_calculate(pid, error, dt);
+    if(state == Guiding) return p->speed + tagspeed;
+    return tagspeed;
 }
-// ./moving  -l coords -P.5 -I.05 -D1.5
-// ./moving  -l coords -P1.3 -D1.6
+// -P0.8 -D0.1 -I0.02 -p20 -d.5 -i.02
+// another: P0.8 -D0.1 -I0.02 -p5 -d0.9 -i0.1
 
 static void start_model(double Tend){
-    double T = 0., Tcorr = 0.;//, Tlast = 0.;
+    double T = 0., Tcorr = 0.;
     moveparam_t target;
+    uint64_t N = 0;
+    double errmax = 0., errsum = 0., errsum2 = 0.;
     while(T <= Tend){
         moveparam_t p;
         movestate_t st = model->get_state(&p);
         if(st == ST_MOVE) st = model->proc_move(&p, T);
         double nextcoord = target_coord(T);
         double error = nextcoord - p.coord;
+        if(state == Guiding){
+            double ae = fabs(error);
+            if(ae > errmax) errmax = ae;
+            errsum += error; errsum2 += error * error;
+            ++N;
+        }
         if(T - Tcorr >= G.dTcorr){ // check correction
             double speed = getNewSpeed(&p, nextcoord, T - Tcorr);
             target.coord = (speed > 0) ? p.coord + 5e5 : p.coord - 5e5;
@@ -215,6 +192,9 @@ static void start_model(double Tend){
                 T, nextcoord, p.coord, p.speed, p.accel, error);
         T += G.dTmon;
     }
+    printf("\n\n\n"); red("Calculated errors in `guiding` mode:\n");
+    double mean = errsum / (double)N;
+    printf("max error: %g, mean error: %g, std: %g\n\n", errmax, mean, sqrt(errsum2/(double)N - mean*mean));
 }
 
 int main(int argc, char **argv){
@@ -228,16 +208,15 @@ int main(int argc, char **argv){
     if(G.dTmon <= 0.) ERRX("tmon should be > 0.");
     if(G.dTcorr <= 0. || G.dTcorr > 1.) ERRX("tcor should be > 0. and < 1.");
     if(G.Tend <= 0.) ERRX("tend should be > 0.");
-    pid_init(&pid, G.P, G.I, G.D);
-    fprintf(coordslog, "%-9s\t%-10s\t%-10s\t%-10s\t%-10s\t%-10s\n", "time", "target", "curpos", "speed", "accel", "error");
-    ramptype_t ramp = RAMP_AMOUNT;
-    if(*G.ramptype == 'd' || *G.ramptype == 'D') ramp = RAMP_DUMB;
-    else if(*G.ramptype == 't' || *G.ramptype == 'T') ramp = RAMP_TRAPEZIUM;
-    else if(*G.ramptype == 's' || *G.ramptype == 'S') ramp = RAMP_S;
-    else ERRX("Point \"d\" (dumb), \"s\" (s-type), or \"t\" (trapez) for ramp type");
-    model = init_moving(ramp, &limits);
+    pidC = pid_create(&G.gainC, PID_I_PERIOD / G.dTcorr);
+    pidV = pid_create(&G.gainV, PID_I_PERIOD / G.dTcorr);
+    if(!pidC || !pidV) ERRX("Can't init PID regulators");
+    model = init_moving(&limits);
     if(!model) ERRX("Can't init moving model: check parameters");
+    fprintf(coordslog, "%-9s\t%-10s\t%-10s\t%-10s\t%-10s\t%-10s\n", "time", "target", "curpos", "speed", "accel", "error");
     start_model(G.Tend);
+    pid_delete(&pidC);
+    pid_delete(&pidV);
     fclose(coordslog);
     return 0;
 }

LibSidServo/PID_test/moving.c

@@ -24,12 +24,9 @@
 
 #include "moving.h"
 #include "moving_private.h"
-#include "Dramp.h"
-#include "Sramp.h"
 #include "Tramp.h"
 
-//static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
-static movemodel_t *model = NULL;
+static movemodel_t *model = &trapez;
 double coord_tolerance = COORD_TOLERANCE_DEFAULT;
 double time_tick = TIME_TICK_DEFAULT;
 
@@ -56,21 +53,8 @@ static void chkminmax(double *min, double *max){
     *max = t;
 }
 
-movemodel_t *init_moving(ramptype_t type, limits_t *l){
+movemodel_t *init_moving(limits_t *l){
     if(!l) return FALSE;
-    switch(type){
-        case RAMP_DUMB:
-            model = &dumb;
-        break;
-        case RAMP_TRAPEZIUM:
-            model = &trapez;
-        break;
-        case RAMP_S:
-            model = &s_shaped;
-        break;
-        default:
-            return FALSE;
-    }
     if(!model->init_limits) return NULL;
     moveparam_t *max = &l->max, *min = &l->min;
     if(min->speed < 0.) min->speed = -min->speed;

LibSidServo/PID_test/moving.h

@@ -26,13 +26,6 @@
 #define TIME_TICK_MIN           (1e-9)
 #define TIME_TICK_MAX           (10.)
 
-typedef enum{
-    RAMP_DUMB,          // no ramp: infinite acceleration/deceleration
-    RAMP_TRAPEZIUM,     // trapezium ramp
-    RAMP_S,             // s-shaped ramp
-    RAMP_AMOUNT
-} ramptype_t;
-
 typedef enum{
     ST_STOP,            // stopped
     ST_MOVE,            // moving
@@ -48,7 +41,6 @@ typedef struct{ // all values could be both as positive and negative
 typedef struct{
     moveparam_t min;
     moveparam_t max;
-    double jerk;
 } limits_t;
 
 typedef struct{
@@ -64,7 +56,7 @@ typedef struct{
 extern double coord_tolerance;
 
 double nanot();
-movemodel_t *init_moving(ramptype_t type, limits_t *l);
+movemodel_t *init_moving(limits_t *l);
 int init_coordtol(double tolerance);
 int init_timetick(double tick);
 int move_to(moveparam_t *target, double t);

LibSidServo/PID_test/moving_model.files

@@ -1,5 +1,7 @@
 Dramp.c
 Dramp.h
+PID.c
+PID.h
 Sramp.c
 Sramp.h
 Tramp.c

LibSidServo/TODO

@@ -1,3 +1,3 @@
-1. PID: slew2
-2. add model & config "model ON"
-
+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/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"},
@@ -51,10 +53,10 @@ static sl_option_t confopts[] = {
     end_option
 };
 
-static void dumpaxe(char axe, axe_config_t *c){
+static void dumpaxis(char axis, axis_config_t *c){
 #define STRUCTPAR(p)    (c)->p
-#define DUMP(par) do{printf("%c%s=%g\n", axe, #par, STRUCTPAR(par));}while(0)
-#define DUMPD(par) do{printf("%c%s=%g\n", axe, #par, RAD2DEG(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);
     DUMPD(errlimit);
@@ -64,6 +66,8 @@ static void dumpaxe(char axe, axe_config_t *c){
     DUMP(outplimit);
     DUMP(currlimit);
     DUMP(intlimit);
+    DUMP(motor_stepsperrev);
+    DUMP(axis_stepsperrev);
 #undef DUMP
 #undef DUMPD
 }
@@ -99,14 +103,15 @@ static void dumpHWconf(){
 #define DUMPD(par) do{printf("%s=%g\n", #par, RAD2DEG(STRUCTPAR(par)));}while(0)
 #define DUMPU8(par) do{printf("%s=%u\n", #par, (uint8_t)STRUCTPAR(par));}while(0)
 #define DUMPU32(par) do{printf("%s=%u\n", #par, (uint32_t)STRUCTPAR(par));}while(0)
-    green("X axe configuration:\n");
-    dumpaxe('X', &HW.Xconf);
+    green("X axis configuration:\n");
+    dumpaxis('X', &HW.Xconf);
     green("X bits:\n");
     dumpxbits(&HW.xbits);
-    green("Y axe configuration:\n");
-    dumpaxe('Y', &HW.Yconf);
+    green("Y axis configuration:\n");
+    dumpaxis('Y', &HW.Yconf);
     green("Y bits:\n");
     dumpybits(&HW.ybits);
+    green("Other:\n");
     printf("address=%d\n", HW.address);
     DUMP(eqrate);
     DUMP(eqadj);
@@ -142,10 +147,12 @@ int main(int argc, char** argv){
     }
     if(MCC_E_OK != Mount.init(sconf)) ERRX("Can't init mount");
     if(MCC_E_OK != Mount.getHWconfig(&HW)) ERRX("Can't read configuration");
+    /*
     char *c = sl_print_opts(confopts, TRUE);
     green("Got configuration:\n");
     printf("%s\n", c);
     FREE(c);
+    */
     dumpHWconf();
     /*
     if(G.hwconffile && G.writeconf){

LibSidServo/examples/conf.c

@@ -24,13 +24,32 @@
 static conf_t Config = {
     .MountDevPath = "/dev/ttyUSB0",
     .MountDevSpeed = 19200,
-    .EncoderXDevPath = "/dev/encoderX0",
-    .EncoderYDevPath = "/dev/encoderY0",
+    .EncoderXDevPath = "/dev/encoder_X0",
+    .EncoderYDevPath = "/dev/encoder_Y0",
     .EncoderDevSpeed = 153000,
     .MountReqInterval = 0.1,
-    .EncoderReqInterval = 0.05,
+    .EncoderReqInterval = 0.001,
     .SepEncoder = 2,
-    .EncoderSpeedInterval = 0.1,
+    .EncoderSpeedInterval = 0.05,
+    .EncodersDisagreement = 1e-5, // 2''
+    .PIDMaxDt = 1.,
+    .PIDRefreshDt = 0.1,
+    .PIDCycleDt = 5.,
+    .XPIDC.P = 0.5,
+    .XPIDC.I = 0.1,
+    .XPIDC.D = 0.2,
+    .XPIDV.P = 0.09,
+    .XPIDV.I = 0.0,
+    .XPIDV.D = 0.05,
+    .YPIDC.P = 0.5,
+    .YPIDC.I = 0.1,
+    .YPIDC.D = 0.2,
+    .YPIDV.P = 0.09,
+    .YPIDV.I = 0.0,
+    .YPIDV.D = 0.05,
+    .MaxPointingErr = 0.13962634,
+    .MaxFinePointingErr = 0.026179939,
+    .MaxGuidingErr = 4.8481368e-7,
 };
 
 static sl_option_t opts[] = {
@@ -38,12 +57,35 @@ 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",      NO_ARGS,    NULL,   0,  arg_int,    APTR(&Config.SepEncoder),       "encoder is separate device (1 - one device, 2 - two devices)"},
+    {"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)"},
+    {"YPIDCP",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.YPIDC.P),          "P of Y PID (coordinate driven)"},
+    {"YPIDCI",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.YPIDC.I),          "I of Y PID (coordinate driven)"},
+    {"YPIDCD",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.YPIDC.D),          "D of Y PID (coordinate driven)"},
+    {"XPIDVP",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.XPIDV.P),          "P of X PID (velocity driven)"},
+    {"XPIDVI",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.XPIDV.I),          "I of X PID (velocity driven)"},
+    {"XPIDVD",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.XPIDV.D),          "D of X PID (velocity driven)"},
+    {"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
 };
 
@@ -68,5 +110,19 @@ void dumpConf(){
 }
 
 void confHelp(){
-    sl_showhelp(-1, opts);
+    sl_conf_showhelp(-1, opts);
+}
+
+const char* errcodes[MCC_E_AMOUNT] = {
+    [MCC_E_OK] = "OK",
+    [MCC_E_FATAL] = "Fatal error",
+    [MCC_E_BADFORMAT] = "Wrong data format",
+    [MCC_E_ENCODERDEV] = "Encoder error",
+    [MCC_E_MOUNTDEV] = "Mount error",
+    [MCC_E_FAILED] = "Failed to run"
+};
+// return string with error code
+const char *EcodeStr(mcc_errcodes_t e){
+    if(e >= MCC_E_AMOUNT) return "Wrong error code";
+    return errcodes[e];
 }

LibSidServo/examples/conf.h

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

LibSidServo/examples/dump.c

@@ -23,6 +23,9 @@
 #include "dump.h"
 #include "simpleconv.h"
 
+// starting dump time (to conform different logs)
+static struct timespec dumpT0 = {0};
+
 #if 0
 // amount of elements used for encoders' data filtering
 #define NFILT	(10)
@@ -59,6 +62,12 @@ static double filter(double val, int idx){
 }
 #endif
 
+// return starting time of dump
+void dumpt0(struct timespec *t){
+    if(t) *t = dumpT0;
+}
+
+
 /**
  * @brief logmnt - log mount data into file
  * @param fcoords - file to dump
@@ -67,17 +76,13 @@ static double filter(double val, int idx){
 void logmnt(FILE *fcoords, mountdata_t *m){
     if(!fcoords) return;
     //DBG("LOG %s", m ? "data" : "header");
-    static double t0 = -1.;
     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;
-    }
-    double tnow = (m->encXposition.t + m->encYposition.t) / 2.;
-    if(t0 < 0.) t0 = tnow;
-    double t = tnow - t0;
+    }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",
-            t, RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
+            Mount.timeDiff(&m->encXposition.t, &dumpT0), RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
             RAD2DEG(m->encXposition.val), RAD2DEG(m->encYposition.val),
             RAD2DEG(m->encXspeed.val), RAD2DEG(m->encYspeed.val),
             m->millis);
@@ -103,19 +108,20 @@ 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();
-    while(Mount.currentT() - t0 < t && ctr < N){
+    double t0 = Mount.timeFromStart();
+    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.;
-        if(tmsr == enct) continue;
-        enct = tmsr;
+        //double tmsr = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
+        struct timespec msrt = mdata.encXposition.t;
+        if(msrt.tv_nsec == encXt.tv_nsec) continue;
+        encXt = msrt;
         if(fcoords) logmnt(fcoords, &mdata);
         if(mdata.millis == mdmillis) continue;
-        //DBG("ctr=%d", ctr);
+        //DBG("ctr=%d, motpos=%g/%g", ctr, mdata.motXposition.val, mdata.motYposition.val);
         mdmillis = mdata.millis;
         if(mdata.motXposition.val != xlast || mdata.motYposition.val != ylast){
             xlast = mdata.motXposition.val;
@@ -123,27 +129,26 @@ void dumpmoving(FILE *fcoords, double t, int N){
             ctr = 0;
         }else ++ctr;
     }
+    DBG("Exit dumping; tend=%g, tmon=%g", t, Mount.timeFromStart() - t0);
 }
 
 /**
- * @brief waitmoving - wait until moving by both axes stops at least for N cycles
+ * @brief waitmoving - wait until moving by both axiss stops at least for N cycles
  * @param N - amount of stopped cycles
  */
 void waitmoving(int N){
     mountdata_t mdata;
     int ctr = -1;
     uint32_t millis = 0;
-    double xlast = 0., ylast = 0.;
+    //double xlast = 0., ylast = 0.;
+    DBG("Wait moving for %d stopped times", N);
     while(ctr < N){
         usleep(10000);
         if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
         if(mdata.millis == millis) continue;
         millis = mdata.millis;
-        if(mdata.motXposition.val != xlast || mdata.motYposition.val != ylast){
-            xlast = mdata.motXposition.val;
-            ylast = mdata.motYposition.val;
-            ctr = 0;
-        }else ++ctr;
+        if(mdata.Xstate != AXIS_STOPPED || mdata.Ystate != AXIS_STOPPED) ctr = 0;
+        else ++ctr;
     }
 }
 

LibSidServo/examples/dump.h

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

LibSidServo/examples/dumpmoving.c

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

LibSidServo/examples/dumpmoving_dragNtrack.c

@@ -120,16 +120,13 @@ static coordpair_t lastTag = {0}, lastSpeed = {0};
 
 // slew to given position and start tracking
 // pos/speed in deg and deg/s
-static mcc_errcodes_t gotos(coordpair_t *target, coordpair_t *speed){
+static mcc_errcodes_t gotos(const coordpair_t *target, const coordpair_t *speed){
     short_command_t cmd = {0};
     DBG("Try to move to (%g, %g) with speed (%g, %g)",
         target->X, target->Y, speed->X, speed->Y);
-    target->X = DEG2RAD(target->X);
-    target->Y = DEG2RAD(target->Y);
-    speed->X = DEG2RAD(speed->X);
-    speed->Y = DEG2RAD(speed->Y);
-    cmd.Xmot = target->X; cmd.Ymot = target->Y;
-    cmd.Xspeed = speed->X; cmd.Yspeed = speed->Y;
+    cmd.Xmot = DEG2RAD(target->X); cmd.Ymot = DEG2RAD(target->Y);
+    cmd.Xspeed = DEG2RAD(speed->X);
+    cmd.Yspeed = DEG2RAD(speed->Y);
     lastTag = *target;
     lastSpeed = *speed;
     /*cmd.xychange = 1;
@@ -142,7 +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 = DEG2RAD(10.); cmd.Yspeed = DEG2RAD(10.);
+    coordpair_t maxspd;
+    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;*/
@@ -151,11 +151,11 @@ static mcc_errcodes_t return2zero(){
 
 static mcc_errcodes_t mkcorr(coordpair_t *adder, coordpair_t *time){
     long_command_t cmd = {0};
-    cmd.Xspeed = lastSpeed.X;
-    cmd.Yspeed = lastSpeed.Y;
-    cmd.Xmot = lastTag.X;
-    cmd.Ymot = lastTag.Y;
-    cmd.Xadder = adder->X; cmd.Yadder = adder->Y;
+    cmd.Xspeed = DEG2RAD(lastSpeed.X);
+    cmd.Yspeed = DEG2RAD(lastSpeed.Y);
+    cmd.Xmot = DEG2RAD(lastTag.X);
+    cmd.Ymot = DEG2RAD(lastTag.Y);
+    cmd.Xadder = DEG2RAD(adder->X); cmd.Yadder = DEG2RAD(adder->Y);
     cmd.Xatime = time->X; cmd.Yatime = time->Y;
     return Mount.longCmd(&cmd);
 }
@@ -218,7 +218,7 @@ int main(int argc, char **argv){
     sleep(5);
     // return to zero and wait
     green("Return 2 zero and wait\n");
-    return2zero();
+    if(MCC_E_OK != return2zero()) ERRX("Can't return");
     Wait(0., 0);
     Wait(0., 1);
     // wait moving ends

LibSidServo/examples/dumpswing.c

@@ -55,7 +55,7 @@ static sl_option_t cmdlnopts[] = {
     {"coordsfile",  NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
     {"axis",        NEED_ARG,   NULL,   'a',    arg_string, APTR(&G.axis),      "axis to move (X or Y)"},
     {"period",      NEED_ARG,   NULL,   'p',    arg_double, APTR(&G.period),    "swinging period (could be not reached if amplitude is too small) - not more than 900s (default: 1)"},
-    {"amplitude",   NEED_ARG,   NULL,   'A',    arg_double, APTR(&G.amplitude), "max amplitude (could be not reaced if period is too small) - not more than 45deg (default: 5)"},
+    {"amplitude",   NEED_ARG,   NULL,   'A',    arg_double, APTR(&G.amplitude), "max amplitude (could be not reached if period is too small): [-45:45]deg (default: 5)"},
     {"nswings",     NEED_ARG,   NULL,   'N',    arg_int,    APTR(&G.Nswings),   "amount of swing periods (default: 10)"},
     {"conffile",    NEED_ARG,   NULL,   'C',    arg_int,    APTR(&G.conffile),  "configuration file name"},
     end_option
@@ -83,18 +83,18 @@ 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;
         millis = mdata.millis;
         if(mdata.motXposition.val != xlast || mdata.motYposition.val != ylast){
-            DBG("NEQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motYposition.val));
+            //DBG("NEQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motYposition.val));
             xlast = mdata.motXposition.val;
             ylast = mdata.motYposition.val;
             ctr = 0;
         }else{
-            DBG("EQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motYposition.val));
+            //DBG("EQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motYposition.val));
             ++ctr;
         }
     }
@@ -110,15 +110,28 @@ int main(int argc, char **argv){
         return 1;
     }
     if(G.coordsoutput){
-        if(!(fcoords = fopen(G.coordsoutput, "w")))
-            ERRX("Can't open %s", G.coordsoutput);
+        if(!(fcoords = fopen(G.coordsoutput, "w"))){
+            WARNX("Can't open %s", G.coordsoutput);
+            return 1;
+        }
     }else fcoords = stdout;
-    if(G.Ncycles < 7) ERRX("Ncycles should be >7");
-    if(G.amplitude < 0.01 || G.amplitude > 45.)
-        ERRX("Amplitude should be from 0.01 to 45 degrees");
-    if(G.period < 0.1 || G.period > 900.)
-        ERRX("Period should be from 0.1 to 900s");
-    if(G.Nswings < 1) ERRX("Nswings should be more than 0");
+    if(G.Ncycles < 2){
+        WARNX("Ncycles should be >2");
+        return 1;
+    }
+    double absamp = fabs(G.amplitude);
+    if(absamp < 0.01 || absamp > 45.){
+        WARNX("Amplitude should be from 0.01 to 45 degrees");
+        return 1;
+    }
+    if(G.period < 0.1 || G.period > 900.){
+        WARNX("Period should be from 0.1 to 900s");
+        return 1;
+    }
+    if(G.Nswings < 1){
+        WARNX("Nswings should be more than 0");
+        return 1;
+    }
     conf_t *Config = readServoConf(G.conffile);
     if(!Config){
         dumpConf();
@@ -145,26 +158,30 @@ 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);
     }
-    tag = (coordpair_t){.X = 0., .Y = 0.};
+    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)){
+        Mount.emergStop();
         Mount.moveTo(&tag);
+    }
     // wait moving ends
     pthread_join(dthr, NULL);
 #undef SCMD

LibSidServo/examples/goto.c

@@ -61,12 +61,13 @@ static FILE* fcoords = NULL;
 static pthread_t dthr;
 
 void signals(int sig){
-    pthread_cancel(dthr);
     if(sig){
         signal(sig, SIG_IGN);
         DBG("Get signal %d, quit.\n", sig);
     }
+    DBG("Quit");
     Mount.quit();
+    DBG("close");
     if(fcoords) fclose(fcoords);
     exit(sig);
 }
@@ -90,11 +91,10 @@ int main(int _U_ argc, char _U_ **argv){
     if(MCC_E_OK != Mount.init(Config)) ERRX("Can't init mount");
     coordval_pair_t M, E;
     if(!getPos(&M, &E)) ERRX("Can't get current position");
+    printf("Current time: %.10f\n", Mount.timeFromStart());
     if(G.coordsoutput){
-        if(!G.wait) green("When logging I should wait until moving ends; added '-w'");
+        if(!G.wait) green("When logging I should wait until moving ends; added '-w'\n");
         G.wait = 1;
-    }
-    if(G.coordsoutput){
         if(!(fcoords = fopen(G.coordsoutput, "w")))
             ERRX("Can't open %s", G.coordsoutput);
         logmnt(fcoords, NULL);
@@ -120,7 +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);
@@ -132,7 +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

@@ -30,6 +30,7 @@
 
 typedef struct{
     int help;
+    int dumpconf;
     int Ncycles;        // n cycles to wait stop
     double reqint;      // requests interval (seconds)
     double Xmax;        // maximal X to stop
@@ -38,11 +39,13 @@ typedef struct{
     double X0;          // starting point of traectory (-30..30 degr)
     double Y0;          // -//-
     char *coordsoutput; // dump file
+    char *errlog;       // log with position errors
     char *tfn;          // traectory function name
     char *conffile;
 } parameters;
 
-static FILE *fcoords = NULL;
+static conf_t *Config = NULL;
+static FILE *fcoords = NULL, *errlog = NULL;
 static pthread_t dthr;
 static parameters G = {
     .Ncycles = 40,
@@ -61,21 +64,24 @@ static sl_option_t cmdlnopts[] = {
     {"coordsfile",  NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
     {"reqinterval", NEED_ARG,   NULL,   'i',    arg_double, APTR(&G.reqint),    "mount requests interval (default: 0.1 second)"},
     {"traectory",   NEED_ARG,   NULL,   't',    arg_string, APTR(&G.tfn),       "used traectory function (default: sincos)"},
-    {"xmax",        NEED_ARG,   NULL,   'X',    arg_double, APTR(&G.Xmax),      "maximal X coordinate for traectory (default: 45 degrees)"},
-    {"ymax",        NEED_ARG,   NULL,   'Y',    arg_double, APTR(&G.Ymax),      "maximal X coordinate for traectory (default: 45 degrees)"},
+    {"xmax",        NEED_ARG,   NULL,   'X',    arg_double, APTR(&G.Xmax),      "maximal abs X coordinate for traectory (default: 45 degrees)"},
+    {"ymax",        NEED_ARG,   NULL,   'Y',    arg_double, APTR(&G.Ymax),      "maximal abs Y coordinate for traectory (default: 45 degrees)"},
     {"tmax",        NEED_ARG,   NULL,   'T',    arg_double, APTR(&G.tmax),      "maximal duration time of emulation (default: 300 seconds)"},
     {"x0",          NEED_ARG,   NULL,   '0',    arg_double, APTR(&G.X0),        "starting X-coordinate of traectory (default: 10 degrees)"},
     {"y0",          NEED_ARG,   NULL,   '1',    arg_double, APTR(&G.Y0),        "starting Y-coordinate of traectory (default: 10 degrees)"},
     {"conffile",    NEED_ARG,   NULL,   'C',    arg_string, APTR(&G.conffile),  "configuration file name"},
+    {"errlog",      NEED_ARG,   NULL,   'e',    arg_string, APTR(&G.errlog),    "file with errors log"},
+    {"dumpconf",    NO_ARGS,    NULL,   'D',    arg_int,    APTR(&G.dumpconf),  "dump current configuration"},
     end_option
 };
 
 void signals(int sig){
-    pthread_cancel(dthr);
     if(sig){
         signal(sig, SIG_IGN);
         DBG("Get signal %d, quit.\n", sig);
     }
+    Mount.stop();
+    sleep(1);
     Mount.quit();
     if(fcoords) fclose(fcoords);
     exit(sig);
@@ -90,22 +96,39 @@ static void *dumping(void _U_ *u){
 static void runtraectory(traectory_fn tfn){
     if(!tfn) return;
     coordval_pair_t telXY;
+    coordval_pair_t target;
     coordpair_t traectXY;
-    double t0 = Mount.currentT();
-    double tlast = 0.;
+    double tlast = 0., tstart = Mount.timeFromStart();
+    long tlastXnsec = 0, tlastYnsec = 0;
+    struct timespec tcur, t0 = {0};
+    dumpt0(&t0);
     while(1){
         if(!telpos(&telXY)){
             WARNX("No next telescope position");
             return;
         }
-        if(telXY.X.t == tlast && telXY.Y.t == tlast) continue; // last measure - don't mind
-        tlast = (telXY.X.t + telXY.Y.t) / 2.;
-        double t = Mount.currentT();
-        if(telXY.X.val > G.Xmax || telXY.Y.val > G.Ymax || t - t0 > G.tmax) break;
+        if(!Mount.currentT(&tcur)) continue;
+        if(telXY.X.t.tv_nsec == tlastXnsec && telXY.Y.t.tv_nsec == tlastYnsec) continue; // last measure - don't mind
+        DBG("\n\nTELPOS: %g'/%g' (%.6f/%.6f)", RAD2AMIN(telXY.X.val), RAD2AMIN(telXY.Y.val), RAD2DEG(telXY.X.val), RAD2DEG(telXY.Y.val));
+        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;
-        DBG("%g: dX=%.1f'', dY=%.1f''", t-t0, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
+        target.X.val = traectXY.X; target.Y.val = traectXY.Y;
+        target.X.t = target.Y.t = tcur;
+        if(t0.tv_nsec == 0 && t0.tv_sec == 0) dumpt0(&t0);
+        else{
+            //DBG("target: %g'/%g'", RAD2AMIN(traectXY.X), RAD2AMIN(traectXY.Y));
+            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", Mount.timeDiff(&telXY.X.t, &t0), RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
         }
-    WARNX("No next traectory point");
+        if(MCC_E_OK != Mount.correctTo(&target)) WARNX("Error of correction!");
+        while((t = Mount.timeFromStart()) - tlast < Config->PIDRefreshDt) usleep(500);
+        tlast = t;
+    }
+    WARNX("No next traectory point or emulation ends");
 }
 
 int main(int argc, char **argv){
@@ -118,12 +141,18 @@ int main(int argc, char **argv){
     G.Xmax = DEG2RAD(G.Xmax); G.Ymax = DEG2RAD(G.Ymax);
     if(G.X0 < -30. || G.X0 > 30. || G.Y0 < -30. || G.Y0 > 30.)
         ERRX("X0 and Y0 should be -30..30 degrees");
+    if(G.errlog){
+        if(!(errlog = fopen(G.errlog, "w")))
+            ERRX("Can't open error log %s", G.errlog);
+        else
+            fprintf(errlog, "#    time      Xerr''      Yerr''   // target - real\n");
+    }
     if(G.coordsoutput){
         if(!(fcoords = fopen(G.coordsoutput, "w")))
             ERRX("Can't open %s", G.coordsoutput);
     }else fcoords = stdout;
-    conf_t *Config = readServoConf(G.conffile);
-    if(!Config){
+    Config = readServoConf(G.conffile);
+    if(!Config || G.dumpconf){
         dumpConf();
         return 1;
     }

LibSidServo/examples/servo.conf

@@ -1,9 +1,25 @@
+# Current configuration
 MountDevPath=/dev/ttyUSB0
 MountDevSpeed=19200
+EncoderDevPath=(null)
+EncoderDevSpeed=1000000
+MountReqInterval=0.1
+EncoderReqInterval=0.001
+SepEncoder=2
 EncoderXDevPath=/dev/encoder_X0
 EncoderYDevPath=/dev/encoder_Y0
-MountReqInterval=0.05
-SepEncoder=2
-EncoderReqInterval=0.001
-EncoderDevSpeed=1000000
 EncoderSpeedInterval=0.05
+RunModel=1
+XPIDCP=0.8
+XPIDCI=0.0
+XPIDCD=0.0
+YPIDCP=0.5
+YPIDCI=0.0
+YPIDCD=0.0
+XPIDVP=0.2
+XPIDVI=0.1
+XPIDVD=0.0
+YPIDVP=0.2
+YPIDVI=0.1
+YPIDVD=0.0
+

LibSidServo/examples/simpleconv.h

@@ -20,10 +20,10 @@
 
 #include <math.h>
 
-#define DEG2RAD(d)  (d/180.*M_PI)
-#define ASEC2RAD(d) (d/180.*M_PI/3600.)
-#define AMIN2RAD(d) (d/180.*M_PI/60.)
-#define RAD2DEG(r)  (r/M_PI*180.)
-#define RAD2ASEC(r) (r/M_PI*180.*3600.)
-#define RAD2AMIN(r) (r/M_PI*180.*60.)
+#define DEG2RAD(d)  ((d)/180.*M_PI)
+#define ASEC2RAD(d) ((d)/180.*M_PI/3600.)
+#define AMIN2RAD(d) ((d)/180.*M_PI/60.)
+#define RAD2DEG(r)  ((r)/M_PI*180.)
+#define RAD2ASEC(r) ((r)/M_PI*180.*3600.)
+#define RAD2AMIN(r) ((r)/M_PI*180.*60.)
 

LibSidServo/examples/traectories.c

@@ -30,10 +30,6 @@ static traectory_fn cur_traectory = NULL;
 // starting point of traectory
 static coordpair_t XYstart = {0};
 static double tstart = 0.;
-// convert Xe/Ye to approximate motor coordinates:
-// Xnew = Xcor+Xe; Ynew = Ycor+Ye; as Ye goes backwards to Ym, we have
-// Xcor = Xm0 - Xe0; Ycor = Xm0 + Ye0
-static coordval_pair_t XYcor = {0};
 
 /**
  * @brief init_traectory - init traectory fn, sync starting positions of motor & encoders
@@ -45,16 +41,13 @@ 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){
         if(MCC_E_OK == Mount.getMountData(&mdata)) break;
     }
     if(ntries == 10) return FALSE;
-    XYcor.X.val = mdata.motXposition.val - mdata.encXposition.val;
-    XYcor.Y.val = mdata.motYposition.val - mdata.encYposition.val;
-    DBG("STARTING POINTS: x=%g, y=%g degrees", DEG2RAD(XYcor.X.val), DEG2RAD(XYcor.Y.val));
     return TRUE;
 }
 
@@ -83,8 +76,9 @@ int telpos(coordval_pair_t *curpos){
     }
     if(ntries == 10) return FALSE;
     coordval_pair_t pt;
-    pt.X.val = XYcor.X.val + mdata.encXposition.val;
-    pt.Y.val = XYcor.Y.val + mdata.encYposition.val;
+    //DBG("\n\nTELPOS: %g'/%g' measured @ %.6f", RAD2AMIN(mdata.encXposition.val), RAD2AMIN(mdata.encYposition.val), mdata.encXposition.t);
+    pt.X.val = mdata.encXposition.val;
+    pt.Y.val = mdata.encYposition.val;
     pt.X.t = mdata.encXposition.t;
     pt.Y.t = mdata.encYposition.t;
     if(curpos) *curpos = pt;
@@ -94,7 +88,7 @@ int telpos(coordval_pair_t *curpos){
 // X=X0+1'/s, Y=Y0+15''/s
 int Linear(coordpair_t *nextpt, double t){
     coordpair_t pt;
-    pt.X = XYstart.X + ASEC2RAD(1.) * (t - tstart);
+    pt.X = XYstart.X + ASEC2RAD(0.1) * (t - tstart);
     pt.Y = XYstart.Y + ASEC2RAD(15.)* (t - tstart);
     if(nextpt) *nextpt = pt;
     return TRUE;
@@ -103,8 +97,8 @@ int Linear(coordpair_t *nextpt, double t){
 // X=X0+5'*sin(t/30*2pi), Y=Y0+10'*cos(t/200*2pi)
 int SinCos(coordpair_t *nextpt, double t){
     coordpair_t pt;
-    pt.X = XYstart.X + AMIN2RAD(5.) * sin((t-tstart)/30.*2*M_PI);
-    pt.Y = XYstart.Y + AMIN2RAD(10.)* cos((t-tstart)/200.*2*M_PI);
+    pt.X = XYstart.X + ASEC2RAD(5.) * sin((t-tstart)/30.*2*M_PI);
+    pt.Y = XYstart.Y + AMIN2RAD(1.)* cos((t-tstart)/200.*2*M_PI);
     if(nextpt) *nextpt = pt;
     return TRUE;
 }
@@ -116,8 +110,8 @@ typedef struct{
 } tr_names;
 
 static tr_names names[] = {
-    {Linear, "linear", "X=X0+1'/s, Y=Y0+15''/s"},
-    {SinCos, "sincos", "X=X0+5'*sin(t/30*2pi), Y=Y0+10'*cos(t/200*2pi)"},
+    {Linear, "linear", "X=X0+0.1''/s, Y=Y0+15''/s"},
+    {SinCos, "sincos", "X=X0+5''*sin(t/30*2pi), Y=Y0+10'*cos(t/200*2pi)"},
     {NULL, NULL, NULL}
 };
 

LibSidServo/libsidservo.config

@@ -1,6 +1,7 @@
 // Add predefined macros for your project here. For example:
 // #define THE_ANSWER 42
 #define EBUG
-#define _POSIX_C_SOURCE  111
+#define _POSIX_C_SOURCE  11111111
 #define PACKAGE_VERSION  "0.0.1"
-
+#define _XOPEN_SOURCE    666
+#define _DEFAULT_SOURCE

LibSidServo/libsidservo.creator.user

@@ -1,10 +1,10 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 17.0.0, 2025-07-29T22:07:00. -->
+<!-- Written by QtCreator 18.0.0, 2026-03-11T12:36:26. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
-  <value type="QByteArray">{7bd84e39-ca37-46d3-be9d-99ebea85bc0d}</value>
+  <value type="QByteArray">{cf63021e-ef53-49b0-b03b-2f2570cdf3b6}</value>
  </data>
  <data>
   <variable>ProjectExplorer.Project.ActiveTarget</variable>
@@ -40,9 +40,9 @@
    <value type="int" key="EditorConfiguration.PaddingMode">1</value>
    <value type="int" key="EditorConfiguration.PreferAfterWhitespaceComments">0</value>
    <value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value>
-   <value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
+   <value type="bool" key="EditorConfiguration.ScrollWheelZooming">false</value>
    <value type="bool" key="EditorConfiguration.ShowMargin">false</value>
-   <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
+   <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">1</value>
    <value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
    <value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
    <value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
@@ -51,10 +51,10 @@
    <value type="bool" key="EditorConfiguration.UseIndenter">false</value>
    <value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
    <value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
-   <value type="bool" key="EditorConfiguration.cleanIndentation">false</value>
+   <value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
    <value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
    <value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value>
-   <value type="bool" key="EditorConfiguration.inEntireDocument">false</value>
+   <value type="bool" key="EditorConfiguration.inEntireDocument">true</value>
    <value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value>
    <value type="bool" key="EditorConfiguration.tintMarginArea">true</value>
   </valuemap>
@@ -75,19 +75,18 @@
    <valuelist type="QVariantList" key="AutoTest.PathFilters"/>
    <value type="int" key="AutoTest.RunAfterBuild">0</value>
    <value type="bool" key="AutoTest.UseGlobal">true</value>
-   <valuelist type="QVariantList" key="ClangCodeModel.CustomCommandLineKey"/>
-   <value type="bool" key="ClangCodeModel.UseGlobalConfig">true</value>
    <valuemap type="QVariantMap" key="ClangTools">
     <value type="bool" key="ClangTools.AnalyzeOpenFiles">true</value>
     <value type="bool" key="ClangTools.BuildBeforeAnalysis">true</value>
     <value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value>
-    <value type="int" key="ClangTools.ParallelJobs">8</value>
+    <value type="int" key="ClangTools.ParallelJobs">4</value>
     <value type="bool" key="ClangTools.PreferConfigFile">true</value>
     <valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
     <valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
     <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>
@@ -97,12 +96,12 @@
    <value type="bool" key="HasPerBcDcs">true</value>
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
-   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{65a14f9e-e008-4c1b-89df-4eaa4774b6e3}</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{91347f2c-5221-46a7-80b1-0a054ca02f79}</value>
    <value type="qlonglong" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
    <value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
    <value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
-    <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/Big/Data/00__Small_tel/C-sources/erfa</value>
+    <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/eddy/Docs/SAO/10micron/C-sources/erfa_functions</value>
     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
      <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
       <valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
@@ -154,7 +153,9 @@
     <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
      <value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
      <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
+     <value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
      <value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
+     <value type="QList&lt;int&gt;" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
      <valuelist type="QVariantList" key="CustomOutputParsers"/>
      <value type="int" key="PE.EnvironmentAspect.Base">2</value>
      <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
@@ -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>
@@ -186,7 +188,9 @@
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
     <value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
     <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
+    <value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
     <value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
+    <value type="QList&lt;int&gt;" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
     <valuelist type="QVariantList" key="CustomOutputParsers"/>
     <value type="int" key="PE.EnvironmentAspect.Base">2</value>
     <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
@@ -196,6 +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>
@@ -206,10 +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

@@ -1,5 +1,6 @@
 CMakeLists.txt
-dbg.h
+PID.c
+PID.h
 examples/SSIIconf.c
 examples/conf.c
 examples/conf.h
@@ -18,6 +19,12 @@ serial.c
 examples/CMakeLists.txt
 examples/traectories.c
 examples/traectories.h
+main.h
+movingmodel.c
+movingmodel.h
+polltest/main.c
+ramp.c
+ramp.h
 serial.h
 ssii.c
 ssii.h

LibSidServo/main.c

@@ -16,28 +16,171 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+/*
+ * main functions to fill struct `mount_t`
+ */
+
 #include <inttypes.h>
+#include <strings.h>
+#include <time.h>
 #include <stdio.h>
 #include <stdlib.h>
+#include <unistd.h>
 
-#include "dbg.h"
+#include "main.h"
+#include "movingmodel.h"
 #include "serial.h"
 #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
+// 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 = 0.174533, .accel = 0.219911}},
+    Ylimits = {
+        .min = {.coord = -3.1241, .speed = 1e-10, .accel = 1e-6},
+        .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 curtime - monotonic time from first run
+ * @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
+ */
+int curtime(struct timespec *t){
+    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.;
+    return (now.tv_sec - starttime.tv_sec) + (now.tv_nsec - starttime.tv_nsec) / 1e9;
+}
 
 /**
  * @brief quit - close all opened and return to default state
+ * TODO: close serial devices even in "model" mode
  */
 static void quit(){
-    DBG("Close serial devices");
+    if(Conf.RunModel) return;
     for(int i = 0; i < 10; ++i) if(SSstop(TRUE)) break;
+    DBG("Close all serial devices");
     closeSerial();
     DBG("Exit");
 }
 
+void getModData(coordpair_t *c, movestate_t *xst, movestate_t *yst){
+    if(!c || !Xmodel || !Ymodel) return;
+    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 = Xp.coord;
+    c->Y = Yp.coord;
+    if(xst) *xst = Xst;
+    if(yst) *yst = Yst;
+}
+
+/**
+ * less square calculations of speed
+ */
+less_square_t *LS_init(size_t Ndata){
+    if(Ndata < 5){
+        DBG("Ndata=%zd - TOO SMALL", Ndata);
+        return NULL;
+    }
+    DBG("Init less squares: %zd", Ndata);
+    less_square_t *l = calloc(1, sizeof(less_square_t));
+    l->x = calloc(Ndata, sizeof(double));
+    l->t2 = calloc(Ndata, sizeof(double));
+    l->t = calloc(Ndata, sizeof(double));
+    l->xt = calloc(Ndata, sizeof(double));
+    l->arraysz = Ndata;
+    return l;
+}
+void LS_delete(less_square_t **l){
+    if(!l || !*l) return;
+    free((*l)->x); free((*l)->t2); free((*l)->t); free((*l)->xt);
+    free(*l);
+    *l = NULL;
+}
+// add next data portion and calculate current slope
+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;
+    ++idx;
+    l->idx = (idx >= l->arraysz) ? 0 : idx;
+    l->xsum += x - oldx;
+    l->t2sum += t2 - oldt2;
+    l->tsum += t - oldt;
+    l->xtsum += xt - oldxt;
+    double n = (double)l->arraysz;
+    double denominator = n * l->t2sum - l->tsum * l->tsum;
+    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
@@ -46,9 +189,20 @@ static void quit(){
 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;
-    if(!Conf.MountDevPath || Conf.MountDevSpeed < 1200){
+    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 < MOUNT_BAUDRATE_MIN){
         DBG("Define mount device path and speed");
         ret = MCC_E_BADFORMAT;
     }else if(!openMount()){
@@ -64,52 +218,62 @@ static mcc_errcodes_t init(conf_t *c){
             ret = MCC_E_ENCODERDEV;
         }
     }
-    if(Conf.MountReqInterval > 1. || Conf.MountReqInterval < 0.05){
-        DBG("Bad value of MountReqInterval");
-        ret = MCC_E_BADFORMAT;
-    }
+    // TODO: read hardware configuration on init
     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};
-    // read input data as there may be some trash on start
-    if(!SSrawcmd(CMD_EXITACM, &d)) ret = MCC_E_FAILED;
+    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;
 }
 
-static mcc_errcodes_t slew2(const coordpair_t *target, slewflags_t flags){
-    (void)target;
-    (void)flags;
-    if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
-    //...
-    setStat(MNT_SLEWING, MNT_SLEWING);
-    //...
-    return MCC_E_FAILED;
+// set SLEWING state if axis was stopped
+static void setslewingstate(){
+    //FNAME();
+    mountdata_t d;
+    if(MCC_E_OK == getMD(&d)){
+        axis_status_t newx = d.Xstate, newy = d.Ystate;
+        //DBG("old state: %d/%d", d.Xstate, d.Ystate);
+        if(d.Xstate == AXIS_STOPPED) newx = AXIS_SLEWING;
+        if(d.Ystate == AXIS_STOPPED) newy = AXIS_SLEWING;
+        if(newx != d.Xstate || newy != d.Ystate){
+            DBG("Started moving -> slew");
+            setStat(newx, newy);
+        }
+    }else DBG("CAN't GET MOUNT DATA!");
 }
 
-
 /**
  * @brief move2 - simple move to given point and stop
  * @param X - new X coordinate (radians: -pi..pi) or NULL
@@ -124,12 +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.Yspeed = MCC_MAX_Y_SPEED;
-    mcc_errcodes_t r = shortcmd(&cmd);
+    cmd.Xspeed = Xlimits.max.speed;
+    cmd.Yspeed = Ylimits.max.speed;
+    /*mcc_errcodes_t r = shortcmd(&cmd);
     if(r != MCC_E_OK) return r;
-    setStat(MNT_SLEWING, MNT_SLEWING);
-    return MCC_E_OK;
+    setslewingstate();
+    return MCC_E_OK;*/
+    return shortcmd(&cmd);
 }
 
 /**
@@ -140,6 +305,7 @@ static mcc_errcodes_t move2(const coordpair_t *target){
  */
 static mcc_errcodes_t setspeed(const coordpair_t *tagspeed){
     if(!tagspeed || !chkXs(tagspeed->X) || !chkYs(tagspeed->Y)) return MCC_E_BADFORMAT;
+    if(Conf.RunModel) return MCC_E_FAILED;
     int32_t spd = X_RS2MOTSPD(tagspeed->X);
     if(!SSsetterI(CMD_SPEEDX, spd)) return MCC_E_FAILED;
     spd = Y_RS2MOTSPD(tagspeed->Y);
@@ -157,6 +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;
@@ -165,7 +332,7 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
     cmd.Yspeed = speed->Y;
     mcc_errcodes_t r = shortcmd(&cmd);
     if(r != MCC_E_OK) return r;
-    setStat(MNT_SLEWING, MNT_SLEWING);
+    setslewingstate();
     return MCC_E_OK;
 }
 
@@ -174,11 +341,25 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
  * @return errcode
  */
 static mcc_errcodes_t emstop(){
+    FNAME();
+    if(Conf.RunModel){
+        double curt = timefromstart();
+        Xmodel->emergency_stop(Xmodel, curt);
+        Ymodel->emergency_stop(Ymodel, curt);
+        return MCC_E_OK;
+    }
     if(!SSstop(TRUE)) return MCC_E_FAILED;
     return MCC_E_OK;
 }
 // normal stop
 static mcc_errcodes_t stop(){
+    FNAME();
+    if(Conf.RunModel){
+        double curt = timefromstart();
+        Xmodel->stop(Xmodel, curt);
+        Ymodel->stop(Ymodel,curt);
+        return MCC_E_OK;
+    }
     if(!SSstop(FALSE)) return MCC_E_FAILED;
     return MCC_E_OK;
 }
@@ -190,6 +371,16 @@ 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 = timefromstart();
+        moveparam_t param = {0};
+        param.coord = cmd->Xmot; param.speed = cmd->Xspeed;
+        if(!model_move2(Xmodel, &param, curt)) return MCC_E_FAILED;
+        param.coord = cmd->Ymot; param.speed = cmd->Yspeed;
+        if(!model_move2(Ymodel, &param, curt)) return MCC_E_FAILED;
+        setslewingstate();
+        return MCC_E_OK;
+    }
     SSscmd s = {0};
     DBG("tag: xmot=%g rad, ymot=%g rad", cmd->Xmot, cmd->Ymot);
     s.Xmot = X_RAD2MOT(cmd->Xmot);
@@ -201,16 +392,27 @@ static mcc_errcodes_t shortcmd(short_command_t *cmd){
     s.YBits = cmd->YBits;
     DBG("X->%d, Y->%d, Xs->%d, Ys->%d", s.Xmot, s.Ymot, s.Xspeed, s.Yspeed);
     if(!cmdS(&s)) return MCC_E_FAILED;
+    setslewingstate();
     return MCC_E_OK;
 }
 
 /**
- * @brief shortcmd - send and receive long binary command
+ * @brief longcmd - send and receive long binary command
  * @param cmd (io) - command
  * @return errcode
  */
 static mcc_errcodes_t longcmd(long_command_t *cmd){
     if(!cmd) return MCC_E_BADFORMAT;
+    if(Conf.RunModel){
+        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;
+        param.coord = cmd->Ymot; param.speed = cmd->Yspeed;
+        if(!model_move2(Ymodel, &param, curt)) return MCC_E_FAILED;
+        setslewingstate();
+        return MCC_E_OK;
+    }
     SSlcmd l = {0};
     l.Xmot = X_RAD2MOT(cmd->Xmot);
     l.Ymot = Y_RAD2MOT(cmd->Ymot);
@@ -221,12 +423,15 @@ static mcc_errcodes_t longcmd(long_command_t *cmd){
     l.Xatime = S2ADDER(cmd->Xatime);
     l.Yatime = S2ADDER(cmd->Yatime);
     if(!cmdL(&l)) return MCC_E_FAILED;
+    setslewingstate();
     return MCC_E_OK;
 }
 
 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);
@@ -266,7 +471,7 @@ 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);
+    hwConfig->Xmetpr = __bswap_32(config.Xmetpr); // as documentation said, real ticks are 4 times less
     hwConfig->Ymetpr = __bswap_32(config.Ymetpr);
     // Convert slew rates (ticks per loop to rad/s)
     hwConfig->Xslewrate = X_MOTSPD2RS(config.Xslewrate);
@@ -285,11 +490,36 @@ 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;
 }
 
 static mcc_errcodes_t write_hwconf(hardware_configuration_t *hwConfig){
     SSconfig config;
+    if(Conf.RunModel) return MCC_E_FAILED;
     // Convert acceleration (rad/s^2 to ticks per loop^2)
     config.Xconf.accel = X_RS2MOTACC(hwConfig->Xconf.accel);
     config.Yconf.accel = Y_RS2MOTACC(hwConfig->Yconf.accel);
@@ -339,17 +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,
@@ -359,5 +609,13 @@ mount_t Mount = {
     .longCmd = longcmd,
     .getHWconfig = get_hwconf,
     .saveHWconfig = write_hwconf,
-    .currentT = dtime,
+    .currentT = curtime,
+    .timeFromStart = timefromstart,
+    .timeDiff = timediff,
+    .timeDiff0 = timediff0,
+    .correctTo = correct2,
+    .getMaxSpeed = maxspeed,
+    .getMinSpeed = minspeed,
+    .getAcceleration = acceleration,
 };
+

LibSidServo/main.h

@@ -16,20 +16,37 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+/*
+ * Almost all here used for debug purposes
+ */
+
 #pragma once
 
 #include <stdlib.h>
 
+#include "movingmodel.h"
 #include "sidservo.h"
 
 extern conf_t Conf;
+extern limits_t Xlimits, Ylimits;
+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
+    size_t idx; // index of current data in array
+    size_t arraysz; // size of arrays
+} less_square_t;
+
+less_square_t *LS_init(size_t Ndata);
+void LS_delete(less_square_t **ls);
+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))
 
@@ -53,7 +70,7 @@ extern conf_t Conf;
     #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__); \
+    #define DBG(...) do{ fprintf(stderr, COLOR_RED "%s " COLOR_OLD, __func__); \
         fprintf(stderr, "(%s, line %d): ", __FILE__, __LINE__); \
         fprintf(stderr, __VA_ARGS__);           \
         fprintf(stderr, "\n");} while(0)

LibSidServo/mainconf.conf

@@ -1,7 +0,0 @@
-# configuration file for SSII driven equatorial mount
-verbose = 5
-mountpath = /dev/ttyS1
-mountspeed = 19200
-encoderpath = /dev/ttyUSB0
-encoderspeed = 153000
-

LibSidServo/movingmodel.c

@@ -0,0 +1,73 @@
+/*
+ * This file is part of the moving_model 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/>.
+ */
+
+#include <math.h>
+#include <stdio.h>
+#include <string.h>
+#include <pthread.h>
+
+#include "main.h"
+#include "movingmodel.h"
+#include "ramp.h"
+
+extern movemodel_t trapez;
+
+static void chkminmax(double *min, double *max){
+    if(*min <= *max) return;
+    double t = *min;
+    *min = *max;
+    *max = t;
+}
+
+movemodel_t *model_init(limits_t *l){
+    if(!l) return FALSE;
+    movemodel_t *m = calloc(1, sizeof(movemodel_t));
+    // we can't use memcpy or assign as Times/Params would be common for all
+    *m = trapez;
+    m->Times = calloc(STAGE_AMOUNT, sizeof(double));
+    m->Params = calloc(STAGE_AMOUNT, sizeof(moveparam_t));
+    moveparam_t *max = &l->max, *min = &l->min;
+    if(min->speed < 0.) min->speed = -min->speed;
+    if(max->speed < 0.) max->speed = -max->speed;
+    if(min->accel < 0.) min->accel = -min->accel;
+    if(max->accel < 0.) max->accel = -max->accel;
+    chkminmax(&min->coord, &max->coord);
+    chkminmax(&min->speed, &max->speed);
+    chkminmax(&min->accel, &max->accel);
+    m->Min = l->min;
+    m->Max = l->max;
+    m->movingstage = STAGE_STOPPED;
+    m->state = ST_STOP;
+    pthread_mutex_init(&m->mutex, NULL);
+    DBG("model inited");
+    return m;
+}
+
+int model_move2(movemodel_t *model, moveparam_t *target, double t){
+    if(!target || !model) return FALSE;
+    DBG("MOVE to %g (deg) at speed %g (deg/s)", target->coord/M_PI*180., target->speed/M_PI*180.);
+    // only positive velocity
+    if(target->speed < 0.) target->speed = -target->speed;
+    if(fabs(target->speed) < model->Min.speed){
+        DBG("STOP");
+        model->stop(model, t);
+        return TRUE;
+    }
+    // don't mind about acceleration - user cannot set it now
+    return model->calculate(model, target, t);
+}

LibSidServo/movingmodel.h

@@ -0,0 +1,76 @@
+/*
+ * This file is part of the moving_model 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 <pthread.h>
+
+#include "sidservo.h"
+
+// tolerance, time ticks
+#define COORD_TOLERANCE_DEFAULT (1e-8)
+#define COORD_TOLERANCE_MIN     (1e-12)
+#define COORD_TOLERANCE_MAX     (10.)
+#define TIME_TICK_DEFAULT       (0.0001)
+#define TIME_TICK_MIN           (1e-9)
+#define TIME_TICK_MAX           (10.)
+
+typedef enum{
+    ST_STOP,            // stopped
+    ST_MOVE,            // moving
+    ST_AMOUNT
+} movestate_t;
+
+typedef struct{
+    double coord;
+    double speed;
+    double accel;
+} moveparam_t;
+
+typedef struct{
+    moveparam_t min;
+    moveparam_t max;
+    //double acceleration;
+} limits_t;
+
+typedef enum{
+    STAGE_ACCEL,        // start from last speed and accelerate/decelerate to target speed
+    STAGE_MAXSPEED,     // go with target speed
+    STAGE_DECEL,        // go from target speed to zero
+    STAGE_STOPPED,      // stop
+    STAGE_AMOUNT
+} movingstage_t;
+
+typedef struct movemodel{
+    moveparam_t Min;
+    moveparam_t Max;
+    movingstage_t movingstage;
+    movestate_t state;
+    double *Times;
+    moveparam_t *Params;
+    moveparam_t curparams;                    // init values of limits, jerk
+    int (*calculate)(struct movemodel *m, moveparam_t *target, double t);        // calculate stages of traectory beginning from t
+    movestate_t (*proc_move)(struct movemodel *m, moveparam_t *next, double t);  // calculate next model point for time t
+    movestate_t (*get_state)(struct movemodel *m, moveparam_t *cur);             // get current moving state
+    void (*stop)(struct movemodel *m, double t);                                 // stop by ramp
+    void (*emergency_stop)(struct movemodel *m, double t);                       // stop with highest acceleration
+    double (*stoppedtime)(struct movemodel *m);                                  // time when moving will ends
+    pthread_mutex_t mutex;
+} movemodel_t;
+
+movemodel_t *model_init(limits_t *l);
+int model_move2(movemodel_t *model, moveparam_t *target, double t);

LibSidServo/polltest/main.c

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

LibSidServo/ramp.c

@@ -0,0 +1,259 @@
+/*
+ * This file is part of the moving_model 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/>.
+ */
+
+// simplest trapezioidal ramp
+
+#include <math.h>
+#include <strings.h>
+
+#include "main.h"
+#include "ramp.h"
+
+#ifdef EBUG
+#undef DBG
+#define DBG(...)
+#undef FNAME
+#define FNAME()
+#endif
+
+static double coord_tolerance = COORD_TOLERANCE_DEFAULT;
+
+static void emstop(movemodel_t *m, double _U_ t){
+    FNAME();
+    pthread_mutex_lock(&m->mutex);
+    m->curparams.accel = 0.;
+    m->curparams.speed = 0.;
+    bzero(m->Times, sizeof(double) * STAGE_AMOUNT);
+    bzero(m->Params, sizeof(moveparam_t) * STAGE_AMOUNT);
+    m->state = ST_STOP;
+    m->movingstage = STAGE_STOPPED;
+    pthread_mutex_unlock(&m->mutex);
+}
+
+static void stop(movemodel_t *m, double t){
+    FNAME();
+    pthread_mutex_lock(&m->mutex);
+    if(m->state == ST_STOP || m->movingstage == STAGE_STOPPED) goto ret;
+    m->movingstage = STAGE_DECEL;
+    m->state = ST_MOVE;
+    m->Times[STAGE_DECEL] = t;
+    m->Params[STAGE_DECEL].speed = m->curparams.speed;
+    if(m->curparams.speed > 0.) m->Params[STAGE_DECEL].accel = -m->Max.accel;
+    else m->Params[STAGE_DECEL].accel = m->Max.accel;
+    m->Params[STAGE_DECEL].coord = m->curparams.coord;
+    // speed: v=v2+a2(t-t2), v2 and a2 have different signs; t3: v3=0 -> t3=t2-v2/a2
+    m->Times[STAGE_STOPPED] = t - m->curparams.speed / m->Params[STAGE_DECEL].accel;
+    // coordinate: x=x2+v2(t-t2)+a2(t-t2)^2/2 -> x3=x2+v2(t3-t2)+a2(t3-t2)^2/2
+    double dt = m->Times[STAGE_STOPPED] - t;
+    m->Params[STAGE_STOPPED].coord = m->curparams.coord + m->curparams.speed * dt +
+                                  m->Params[STAGE_DECEL].accel * dt * dt / 2.;
+ret:
+    pthread_mutex_unlock(&m->mutex);
+}
+
+// inner part of `calc`, could be called recoursively for hard case
+static void unlockedcalc(movemodel_t *m, moveparam_t *x, double t){
+    // signs
+    double sign_a01 = 0., sign_a23 = 0., sign_vset = 0.; // accelerations on stages ACCEL and DECEL, speed on maxspeed stage
+    // times
+    double dt01 = 0., dt12 = 0., dt23 = 0.;
+    // absolute speed at stage 23 (or in that point); absolute max acceleration
+    double abs_vset = x->speed, abs_a = m->Max.accel;
+    // absolute target movement
+    double abs_Dx = fabs(x->coord - m->curparams.coord);
+    if(m->state == ST_STOP && abs_Dx < coord_tolerance){
+        DBG("Movement too small -> stay at place");
+        return;
+    }
+    // signs of Dx and current speed
+    double sign_Dx = (x->coord > m->curparams.coord) ? 1. : -1.;
+    double v0 = m->curparams.speed;
+    double sign_v0 = v0 < 0. ? -1 : 1., abs_v0 = fabs(v0);
+    if(v0 == 0.) sign_v0 = 0.;
+    // preliminary calculations (vset and dependent values could be changed)
+    dt01 = fabs(abs_v0 - abs_vset) / abs_a;
+    double abs_dx23 = abs_vset * abs_vset / 2. / abs_a;
+    dt23 = abs_vset / abs_a;
+    double abs_dx_stop = abs_v0 * abs_v0 / 2. / abs_a;
+    if(sign_Dx * sign_v0 >= 0. && abs_dx_stop < abs_Dx){ // we shouldn't change speed direction
+        if(fabs(abs_dx_stop - abs_Dx) <= coord_tolerance){ // simplest case: just stop
+            //DBG("Simplest case: stop");
+            dt01 = dt12 = 0.;
+            sign_a23 = -sign_v0;
+            dt23 = abs_v0 / abs_a;
+        }else if(abs_vset < abs_v0){ // move with smaller speed than now: very simple case
+            //DBG("Move with smaller speed");
+            sign_a01 = sign_a23 = -sign_v0;
+            sign_vset = sign_v0;
+            double abs_dx01 = abs_v0 * dt01 - abs_a * dt01 * dt01 / 2.;
+            double abs_dx12 = abs_Dx - abs_dx01 - abs_dx23;
+            dt12 = abs_dx12 / abs_vset;
+        }else{// move with larget speed
+            //DBG("Move with larger speed");
+            double abs_dx01 = abs_v0 * dt01 + abs_a * dt01 * dt01 / 2.;
+            if(abs_Dx < abs_dx01 + abs_dx23){ // recalculate target speed and other
+                abs_vset = sqrt(abs_a * abs_Dx + abs_v0 * abs_v0 / 2.);
+                dt01 = fabs(abs_v0 - abs_vset) / abs_a;
+                abs_dx01 = abs_v0 * dt01 + abs_a * dt01 * dt01 / 2.;
+                dt23 = abs_vset / abs_a;
+                abs_dx23 = abs_vset * abs_vset / 2. / abs_a;
+                DBG("Can't reach target speed %g, take %g instead", x->speed, abs_vset);
+            }
+            sign_a01 = sign_Dx; // sign_v0 could be ZERO!!!
+            sign_a23 = -sign_Dx;
+            sign_vset = sign_Dx;
+            double abs_dx12 = abs_Dx - abs_dx01 - abs_dx23;
+            dt12 = abs_dx12 / abs_vset;
+        }
+    }else{
+        // if we are here, we have the worst case: change speed direction
+       // DBG("Hardest case: change speed direction");
+        // now we should calculate coordinate at which model stops and biuld new trapezium from that point
+        double x0 = m->curparams.coord, v0 = m->curparams.speed;
+        double xstop = x0 + sign_v0 * abs_dx_stop, tstop = t + abs_v0 / abs_a;
+        m->state = ST_STOP;
+        m->curparams.accel = 0.; m->curparams.coord = xstop; m->curparams.speed = 0.;
+        unlockedcalc(m, x, tstop); // calculate new ramp
+        // and change started conditions
+        m->curparams.coord = x0; m->curparams.speed = v0;
+        m->Times[STAGE_ACCEL] = t;
+        m->Params[STAGE_ACCEL].coord = x0;
+        m->Params[STAGE_ACCEL].speed = v0;
+       // DBG("NOW t[0]=%g, X[0]=%g, V[0]=%g", t, x0, v0);
+        return;
+    }
+    m->state = ST_MOVE;
+    m->movingstage = STAGE_ACCEL;
+    // some knot parameters
+    double a01 = sign_a01 * abs_a, a23 = sign_a23 * abs_a;
+    double v1, v2, x0, x1, x2;
+    v2 = v1 = sign_vset * abs_vset;
+    x0 = m->curparams.coord;
+    x1 = x0 + v0 * dt01 + a01 * dt01 * dt01 / 2.;
+    x2 = x1 + v1 * dt12;
+    // fill knot parameters
+    moveparam_t *p = &m->Params[STAGE_ACCEL]; // 0-1 - change started speed
+    p->accel = a01;
+    p->speed = m->curparams.speed;
+    p->coord = x0;
+    m->Times[STAGE_ACCEL] = t;
+    p = &m->Params[STAGE_MAXSPEED]; // 1-2 - constant speed
+    p->accel = 0.;
+    p->speed = v1;
+    p->coord = x1;
+    m->Times[STAGE_MAXSPEED] = m->Times[STAGE_ACCEL] + dt01;
+    p = &m->Params[STAGE_DECEL]; // 2-3 - decrease speed
+    p->accel = a23;
+    p->speed = v2;
+    p->coord = x2;
+    m->Times[STAGE_DECEL] = m->Times[STAGE_MAXSPEED] + dt12;
+    p = &m->Params[STAGE_STOPPED]; // 3 - stop at target
+    p->accel = p->speed = 0.;
+    p->coord = x->coord;
+    m->Times[STAGE_STOPPED] = m->Times[STAGE_DECEL] + dt23;
+}
+
+/**
+ * @brief calc - moving calculation
+ * @param x - using max speed (>0!!!) and coordinate
+ * @param t - current time value
+ * @return FALSE if can't move with given parameters
+ */
+static int calc(movemodel_t *m, moveparam_t *x, double t) {
+    //DBG("target coord/speed: %g/%g; current: %g/%g", x->coord, x->speed, m->curparams.coord, m->curparams.speed);
+    if (!x || !m) return FALSE;
+    pthread_mutex_lock(&m->mutex);
+    int ret = FALSE;
+    // Validate input parameters
+    if(x->coord < m->Min.coord || x->coord > m->Max.coord){
+        DBG("Wrong coordinate [%g, %g]", m->Min.coord, m->Max.coord);
+        goto ret;
+    }
+    if(x->speed < m->Min.speed || x->speed > m->Max.speed){
+        DBG("Wrong speed [%g, %g]", m->Min.speed, m->Max.speed);
+        goto ret;
+    }
+    ret = TRUE; // now there's no chanses to make error
+    unlockedcalc(m, x, t);
+    // Debug output
+    /*for(int i = 0; i < STAGE_AMOUNT; i++){
+        DBG("Stage %d: t=%.6f, coord=%.6f, speed=%.6f, accel=%.6f",
+            i, m->Times[i], m->Params[i].coord, m->Params[i].speed, m->Params[i].accel);
+    }*/
+ret:
+    pthread_mutex_unlock(&m->mutex);
+    return ret;
+}
+
+static movestate_t proc(movemodel_t *m, moveparam_t *next, double t){
+    pthread_mutex_lock(&m->mutex);
+    if(m->state == ST_STOP) goto ret;
+    for(movingstage_t s = STAGE_STOPPED; s >= 0; --s){
+        if(m->Times[s] <= t){ // check time for current stage
+            m->movingstage = s;
+            break;
+        }
+    }
+    if(m->movingstage == STAGE_STOPPED){
+        m->curparams.coord = m->Params[STAGE_STOPPED].coord;
+        pthread_mutex_unlock(&m->mutex);
+       /* DBG("REACHED STOPping stage @ t=%g", t);
+        for(int s = STAGE_STOPPED; s >= 0; --s){
+            DBG("T[%d]=%g, ", s, m->Times[s]);
+        }*/
+        emstop(m, t);
+        goto ret;
+    }
+    // calculate current parameters
+    double dt = t - m->Times[m->movingstage];
+    double a = m->Params[m->movingstage].accel;
+    double v0 = m->Params[m->movingstage].speed;
+    double x0 = m->Params[m->movingstage].coord;
+    m->curparams.accel = a;
+    m->curparams.speed = v0 + a * dt;
+    m->curparams.coord = x0 + v0 * dt + a * dt * dt / 2.;
+ret:
+    if(next) *next = m->curparams;
+    movestate_t st = m->state;
+    pthread_mutex_unlock(&m->mutex);
+    return st;
+}
+
+static movestate_t getst(movemodel_t *m, moveparam_t *cur){
+    pthread_mutex_lock(&m->mutex);
+    if(cur) *cur = m->curparams;
+    movestate_t st = m->state;
+    pthread_mutex_unlock(&m->mutex);
+    return st;
+}
+
+static double gettstop(movemodel_t *m){
+    pthread_mutex_lock(&m->mutex);
+    double r = m->Times[STAGE_STOPPED];
+    pthread_mutex_unlock(&m->mutex);
+    return r;
+}
+
+movemodel_t trapez = {
+    .stop = stop,
+    .emergency_stop = emstop,
+    .get_state = getst,
+    .calculate = calc,
+    .proc_move = proc,
+    .stoppedtime = gettstop,
+};

LibSidServo/ramp.h

@@ -0,0 +1,23 @@
+/*
+ * This file is part of the moving_model 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 "movingmodel.h"
+
+extern movemodel_t trapez;

LibSidServo/serial.c

@@ -20,25 +20,28 @@
 #include <errno.h>
 #include <fcntl.h>
 #include <math.h>
+#include <poll.h>
 #include <pthread.h>
+#include <signal.h>
 #include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
 #include <sys/ioctl.h>
 #include <sys/stat.h>
-#include <time.h>
 #include <unistd.h>
 
-#include "dbg.h"
+#include "main.h"
+#include "movingmodel.h"
 #include "serial.h"
+#include "ssii.h"
 
 // serial devices FD
 static int encfd[2] = {-1, -1}, mntfd = -1;
 // main mount data
 static mountdata_t mountdata = {0};
 // last encoders time and last encoders data - for speed measurement
-static coordval_t lastXenc = {0}, lastYenc = {0};
+//static coordval_t lastXenc = {0}, lastYenc = {0};
 
 // mutexes for RW operations with mount device and data
 static pthread_mutex_t  mntmutex = PTHREAD_MUTEX_INITIALIZER,
@@ -46,7 +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 = {0}, mntRtmout = {0};
+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;
@@ -55,57 +58,32 @@ typedef struct __attribute__((packed)){
     uint8_t CRC[4];
 } enc_t;
 
-/**
- * @brief dtime - monotonic time from first run
- * @return
- */
-double dtime(){
-    struct timespec start_time = {0}, cur_time;
-    if(start_time.tv_sec == 0 && start_time.tv_nsec == 0){
-        clock_gettime(CLOCK_MONOTONIC, &start_time);
-    }
-    clock_gettime(CLOCK_MONOTONIC, &cur_time);
-    return ((double)(cur_time.tv_sec - start_time.tv_sec) +
-                     (cur_time.tv_nsec - start_time.tv_nsec) * 1e-9);
-}
-#if 0
-double dtime(){
-    double t;
-    struct timeval tv;
-    gettimeofday(&tv, NULL);
-    t = tv.tv_sec + ((double)tv.tv_usec)/1e6;
-    return t;
-}
-#endif
-#if 0
-double tv2d(struct timeval *tv){
-    if(!tv) return 0.;
-    double t = tv->tv_sec + ((double)tv->tv_usec) / 1e6;
-    return t;
-}
-#endif
-#if 0
-// init start time
-static void gttime(){
-    struct timeval tv;
-    gettimeofday(&tv, NULL);
-    tv_sec_got = tv.tv_sec;
-    tv_usec_got = tv.tv_usec;
-}
-#endif
-
 // calculate current X/Y speeds
-static void getXspeed(double t){
-    mountdata.encXspeed.val = (mountdata.encXposition.val - lastXenc.val) / (t - lastXenc.t);
-    mountdata.encXspeed.t = (lastXenc.t + t) / 2.;
-    lastXenc.val = mountdata.encXposition.val;
-    lastXenc.t = t;
+void getXspeed(){
+    static less_square_t *ls = NULL;
+    if(!ls){
+        ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
+        if(!ls) return;
+    }
+    double dt = timediff0(&mountdata.encXposition.t);
+    double speed = LS_calc_slope(ls, mountdata.encXposition.val, dt);
+    if(fabs(speed) < 1.5 * Xlimits.max.speed){
+        mountdata.encXspeed.val = speed;
+        mountdata.encXspeed.t = mountdata.encXposition.t;
+    }
 }
-static void getYspeed(double t){
-    mountdata.encYspeed.val = (mountdata.encYposition.val - lastYenc.val) / (t - lastYenc.t);
-    mountdata.encYspeed.t = (lastYenc.t + t) / 2.;
-    lastYenc.val = mountdata.encYposition.val;
-    lastYenc.t = t;
+void getYspeed(){
+    static less_square_t *ls = NULL;
+    if(!ls){
+        ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
+        if(!ls) return;
+    }
+    double dt = timediff0(&mountdata.encYposition.t);
+    double speed = LS_calc_slope(ls, mountdata.encYposition.val, dt);
+    if(fabs(speed) < 1.5 * Ylimits.max.speed){
+        mountdata.encYspeed.val = speed;
+        mountdata.encYspeed.t = mountdata.encYposition.t;
+    }
 }
 
 /**
@@ -113,7 +91,8 @@ static void getYspeed(double t){
  * @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
@@ -148,17 +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.encYposition.val = Y_ENC2RAD(edata->encY);
+    mountdata.encXposition.val = Xenc2rad(edata->encX);
+    mountdata.encYposition.val = Yenc2rad(edata->encY);
     DBG("Got positions X/Y= %.6g / %.6g", mountdata.encXposition.val, mountdata.encYposition.val);
-    mountdata.encXposition.t = t;
-    mountdata.encYposition.t = t;
-    if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed(t);
-    if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed(t);
+    mountdata.encXposition.t = *t;
+    mountdata.encYposition.t = *t;
+    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
@@ -166,33 +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){
-    if(fd < 0) return FALSE;
+static int getencval(int fd, double *val, struct timespec *t){
+    if(fd < 0){
+        DBG("Encoder fd < 0!");
+        return FALSE;
+    }
     char buf[128];
     int got = 0, Lmax = 127;
-    double t0 = dtime();
+    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;
-    }while(Lmax && dtime() - t0 < Conf.EncoderReqInterval);
-    if(got == 0) return 0; // WTF?
+        if(buf[got-1] == '\n') break; // got EOL as last symbol
+    }while(Lmax && timefromstart() - t0 < Conf.EncoderReqInterval / 5.);
+    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;
@@ -204,9 +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;
@@ -254,19 +255,43 @@ static int getmntbyte(){
         if(FD_ISSET(mntfd, &rfds)){
             ssize_t l = read(mntfd, &byte, 1);
             //DBG("MNT read=%zd byte=0x%X", l, byte);
-            if(l != 1) return -2; // disconnected ??
+            if(l != 1){
+                DBG("Mount disconnected?");
+                return -2; // disconnected ??
+            }
             break;
         } else return -1;
     }while(1);
     return (int)byte;
 }
+// clear data from input buffer
+static void clrmntbuf(){
+    if(mntfd < 0) return;
+    uint8_t byte;
+    fd_set rfds;
+    do{
+        FD_ZERO(&rfds);
+        FD_SET(mntfd, &rfds);
+        struct timeval tv = {.tv_sec=0, .tv_usec=10};
+        int retval = select(mntfd + 1, &rfds, NULL, NULL, &tv);
+        if(retval < 0){
+            if(errno == EINTR) continue;
+            DBG("Error in select()");
+            break;
+        }
+        if(FD_ISSET(mntfd, &rfds)){
+            ssize_t l = read(mntfd, &byte, 1);
+            if(l != 1) break;
+        } else break;
+    }while(1);
+}
 
 // main encoder thread (for separate encoder): read next data and make parsing
 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;
@@ -277,15 +302,16 @@ static void *encoderthread1(void _U_ *u){
             if((uint8_t)b == ENC_MAGICK){
 //                DBG("Got magic -> start filling packet");
                 databuf[wridx++] = (uint8_t) b;
-                t = dtime();
             }
             continue;
         }else databuf[wridx++] = (uint8_t) b;
         if(wridx == ENC_DATALEN){
-            parse_encbuf(databuf, t);
+            if(curtime(&tcur)){
+                parse_encbuf(databuf, &tcur);
                 wridx = 0;
             }
         }
+    }
     if(encfd[0] > -1){
         close(encfd[0]);
         encfd[0] = -1;
@@ -293,47 +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 = dtime();
-    const char *req = "next\n";
-    int need2ask = 0; // need or not to ask encoder for new data
-    while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR){
-        if(need2ask){
-            if(5 != write(encfd[0], req, 5)) { ++errctr; continue; }
-            else if(5 != write(encfd[1], req, 5)) { ++errctr; continue; }
+    do{ // main cycle
+        if(poll(pfds, 2, 0) < 0){
+            DBG("poll()");
+            break;
         }
-        double v, t;
-        if(getencval(encfd[0], &v, &t)){
-            mountdata.encXposition.val = X_ENC2RAD(v);
-            //DBG("encX(%g) = %g", t, mountdata.encXposition.val);
-            mountdata.encXposition.t = t;
-            if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed(t);
-            if(getencval(encfd[1], &v, &t)){
-                mountdata.encYposition.val = Y_ENC2RAD(v);
-                //DBG("encY(%g) = %g", t, mountdata.encYposition.val);
-                mountdata.encYposition.t = t;
-                if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed(t);
-                errctr = 0;
-                need2ask = 0;
-            } else {
-                if(need2ask) ++errctr;
-                else need2ask = 1;
-                continue;
+        int got = 0;
+        for(int i = 0; i < 2; ++i){
+            if(pfds[i].revents && POLLIN){
+                if(!readstrings(&strbuf[i], encfd[i])){
+                    ++errctr;
+                    break;
                 }
-        } else {
-            if(need2ask) ++errctr;
-            else need2ask = 1;
-            continue;
             }
-        while(dtime() - t0 < Conf.EncoderReqInterval){ usleep(10); }
-        //DBG("DT=%g (RI=%g)", dtime()-t0, Conf.EncoderReqInterval);
-        t0 = dtime();
+            double curt = timefromstart();
+            if(getdata(&strbuf[i], &msrlast[i])) mtlast[i] = curt;
+            if(curt - t0[i] >= Conf.EncoderReqInterval){ // get last records
+                if(curt - mtlast[i] < 1.5*Conf.EncoderReqInterval){
+                    pthread_mutex_lock(&datamutex);
+                    if(i == 0){
+                        mountdata.encXposition.val = Xenc2rad((double)msrlast[i]);
+                        curtime(&mountdata.encXposition.t);
+                        /*DBG("msrlast=%ld, Xpos.val=%g, t=%zd; XEzero=%d, SPR=%g",
+                            msrlast[i], mountdata.encXposition.val, mountdata.encXposition.t.tv_sec,
+                            X_ENC_ZERO, X_ENC_STEPSPERREV);*/
+                        getXspeed();
+                    }else{
+                        mountdata.encYposition.val = Yenc2rad((double)msrlast[i]);
+                        curtime(&mountdata.encYposition.t);
+                        getYspeed();
                     }
-    DBG("ERRCTR=%d", errctr);
+                    pthread_mutex_unlock(&datamutex);
+                }
+                if(!asknext(encfd[i])){
+                    ++errctr;
+                    break;
+                }
+                t0[i] = (curt - t0[i] < 2.*Conf.EncoderReqInterval) ? t0[i] + Conf.EncoderReqInterval : curt;
+                ++got;
+            }
+        }
+        if(got == 2) errctr = 0;
+    }while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR);
+    DBG("\n\nEXIT: ERRCTR=%d", errctr);
     for(int i = 0; i < 2; ++i){
         if(encfd[i] > -1){
             close(encfd[i]);
@@ -359,25 +476,78 @@ void data_free(data_t **x){
     *x = NULL;
 }
 
+static void chkModStopped(double *prev, double cur, int *nstopped, axis_status_t *stat){
+    if(!prev || !nstopped || !stat) return;
+    if(isnan(*prev)){
+        *stat = AXIS_STOPPED;
+        DBG("START");
+    }else if(*stat != AXIS_STOPPED){
+        if(fabs(*prev - cur) < DBL_EPSILON && ++(*nstopped) > MOTOR_STOPPED_CNT){
+            *stat = AXIS_STOPPED;
+            DBG("AXIS stopped; prev=%g, cur=%g; nstopped=%d", *prev/M_PI*180., cur/M_PI*180., *nstopped);
+        }
+    }else if(*prev != cur){
+        DBG("AXIS moving");
+        *nstopped = 0;
+    }
+    *prev = cur;
+}
+
 // main mount thread
 static void *mountthread(void _U_ *u){
     int errctr = 0;
     uint8_t buf[2*sizeof(SSstat)];
     SSstat *status = (SSstat*) buf;
+    bzero(&mountdata, sizeof(mountdata));
+    double t0 = timefromstart(), tstart = t0, tcur = t0;
+    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){
+            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);
+            mountdata.encXposition.t = mountdata.encYposition.t = tnow;
+            mountdata.encXposition.val = c.X + (drand48() - 0.5)*1e-6; // .2arcsec error
+            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(tcur - oldmt > Conf.MountReqInterval){
+                oldmillis = mountdata.millis = (uint32_t)((tcur - tstart) * 1e3);
+                mountdata.motYposition.t = mountdata.motXposition.t = tnow;
+                if(xst == ST_MOVE)
+                    mountdata.motXposition.val = c.X + (c.X - mountdata.motXposition.val)*(drand48() - 0.5)/100.;
+                //else
+                //    mountdata.motXposition.val = c.X;
+                if(yst == ST_MOVE)
+                    mountdata.motYposition.val = c.Y + (c.Y - mountdata.motYposition.val)*(drand48() - 0.5)/100.;
+                //else
+                //    mountdata.motYposition.val = c.Y;
+                oldmt = tcur;
+            }else mountdata.millis = oldmillis;
+            chkModStopped(&Xprev, c.X, &xcnt, &mountdata.Xstate);
+            chkModStopped(&Yprev, c.Y, &ycnt, &mountdata.Ystate);
+            getXspeed(); getYspeed();
+            pthread_mutex_unlock(&datamutex);
+            while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(50);
+            t0 = timefromstart();
+        }
+    }
     // data to get
     data_t d = {.buf = buf, .maxlen = sizeof(buf)};
     // cmd to send
     data_t *cmd_getstat = cmd2dat(CMD_GETSTAT);
     if(!cmd_getstat) goto failed;
-    double t0 = dtime();
-/*
-#ifdef EBUG
-    double t00 = t0;
-#endif
-*/
     while(mntfd > -1 && errctr < MAX_ERR_CTR){
         // read data to status
-        double tgot = dtime();
+        struct timespec tcur;
+        if(!curtime(&tcur)) continue;
+        // 80 milliseconds to get answer on GETSTAT
         if(!MountWriteRead(cmd_getstat, &d) || d.len != sizeof(SSstat)){
 #ifdef EBUG
             DBG("Can't read SSstat, need %zd got %zd bytes", sizeof(SSstat), d.len);
@@ -393,13 +563,13 @@ static void *mountthread(void _U_ *u){
         errctr = 0;
         pthread_mutex_lock(&datamutex);
         // now change data
-        SSconvstat(status, &mountdata, tgot);
+        SSconvstat(status, &mountdata, &tcur);
         pthread_mutex_unlock(&datamutex);
         // allow writing & getters
-        //DBG("t0=%g, tnow=%g", t0-t00, dtime()-t00);
-        if(dtime() - t0 >= Conf.MountReqInterval) usleep(50);
-        while(dtime() - t0 < Conf.MountReqInterval);
-        t0 = dtime();
+        do{
+            usleep(500);
+        }while(timefromstart() - t0 < Conf.MountReqInterval);
+        t0 = timefromstart();
     }
     data_free(&cmd_getstat);
 failed:
@@ -415,8 +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(ioctl(fd, TCGETS2, &tty)){ close(fd); return -1; }
+    if((fd = open(path, O_RDWR|O_NOCTTY)) < 0){
+        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
@@ -425,7 +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
@@ -435,6 +616,7 @@ static int ttyopen(const char *path, speed_t speed){
 
 // return FALSE if failed
 int openEncoder(){
+    if(Conf.RunModel) return TRUE;
     if(!Conf.SepEncoder) return FALSE; // try to open separate encoder when it's absent
     if(Conf.SepEncoder == 1){ // only one device
         DBG("One device");
@@ -442,7 +624,7 @@ int openEncoder(){
         encfd[0] = ttyopen(Conf.EncoderDevPath, (speed_t) Conf.EncoderDevSpeed);
         if(encfd[0] < 0) return FALSE;
         encRtmout.tv_sec = 0;
-        encRtmout.tv_usec = 200000000 / Conf.EncoderDevSpeed; // 20 bytes
+        encRtmout.tv_usec = 100000000 / Conf.EncoderDevSpeed; // 10 bytes
         if(pthread_create(&encthread, NULL, encoderthread1, NULL)){
             close(encfd[0]);
             encfd[0] = -1;
@@ -457,7 +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]);
@@ -472,6 +654,7 @@ int openEncoder(){
 
 // return FALSE if failed
 int openMount(){
+    if(Conf.RunModel) goto create_thread;
     if(mntfd > -1) close(mntfd);
     DBG("Open mount %s @ %d", Conf.MountDevPath, Conf.MountDevSpeed);
     mntfd = ttyopen(Conf.MountDevPath, (speed_t) Conf.MountDevSpeed);
@@ -487,11 +670,14 @@ int openMount(){
         DBG("got %zd", l);
     }while(1);*/
     mntRtmout.tv_sec = 0;
-    mntRtmout.tv_usec = 500000000 / Conf.MountDevSpeed; // 50 bytes
+    mntRtmout.tv_usec = 500000000 / Conf.MountDevSpeed; // 50 bytes * 10bits / speed
+create_thread:
     if(pthread_create(&mntthread, NULL, mountthread, NULL)){
-        DBG("Can't create thread");
+        DBG("Can't create mount thread");
+        if(!Conf.RunModel){
             close(mntfd);
             mntfd = -1;
+        }
         return FALSE;
     }
     DBG("Mount opened, thread started");
@@ -500,24 +686,26 @@ int openMount(){
 
 // 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("Kill mount thread");
+        DBG("Cancel mount thread");
         pthread_cancel(mntthread);
         DBG("join mount thread");
         pthread_join(mntthread, NULL);
-        DBG("close fd");
+        DBG("close mount fd");
         close(mntfd);
         mntfd = -1;
     }
     if(encfd[0] > -1){
-        DBG("Kill encoder thread");
+        DBG("Cancel encoder thread");
         pthread_cancel(encthread);
         DBG("join encoder thread");
         pthread_join(encthread, NULL);
-        DBG("close fd");
+        DBG("close encoder's fd");
         close(encfd[0]);
         encfd[0] = -1;
-        if(Conf.SepEncoder == 2){
+        if(Conf.SepEncoder == 2 && encfd[1] > -1){
             close(encfd[1]);
             encfd[1] = -1;
         }
@@ -530,40 +718,44 @@ 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;
 }
 
-void setStat(mnt_status_t Xstatus, mnt_status_t Ystatus){
+void setStat(axis_status_t Xstate, axis_status_t Ystate){
+    DBG("set x/y state to %d/%d", Xstate, Ystate);
     pthread_mutex_lock(&datamutex);
-    mountdata.Xstatus = Xstatus;
-    mountdata.Ystatus = Ystatus;
+    mountdata.Xstate = Xstate;
+    mountdata.Ystate = Ystate;
     pthread_mutex_unlock(&datamutex);
 }
 
 // write-read without locking mutex (to be used inside other functions)
 static int wr(const data_t *out, data_t *in, int needeol){
-    if((!out && !in) || mntfd < 0) return FALSE;
+    if((!out && !in) || mntfd < 0){
+        DBG("Wrong arguments or no mount fd");
+        return FALSE;
+    }
+    clrmntbuf();
     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
     }
-    uint8_t buf[256];
-    data_t dumb = {.buf = buf, .maxlen = 256};
-    if(!in) in = &dumb; // even if user don't ask for answer, try to read to clear trash
+    if(!in) return TRUE;
     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("Clear trashing input");
     while(getmntbyte() > -1);
     return TRUE;
 }
@@ -575,6 +767,7 @@ static int wr(const data_t *out, data_t *in, int needeol){
  * @return FALSE if failed
  */
 int MountWriteRead(const data_t *out, data_t *in){
+    if(Conf.RunModel) return -1;
     pthread_mutex_lock(&mntmutex);
     int ret = wr(out, in, 1);
     pthread_mutex_unlock(&mntmutex);
@@ -582,6 +775,7 @@ int MountWriteRead(const data_t *out, data_t *in){
 }
 // send binary data - without EOL
 int MountWriteReadRaw(const data_t *out, data_t *in){
+    if(Conf.RunModel) return -1;
     pthread_mutex_lock(&mntmutex);
     int ret = wr(out, in, 0);
     pthread_mutex_unlock(&mntmutex);
@@ -605,32 +799,32 @@ static void loglcmd(SSlcmd *c){
 
 // send short/long binary command; return FALSE if failed
 static int bincmd(uint8_t *cmd, int len){
+    if(Conf.RunModel) return FALSE;
     static data_t *dscmd = NULL, *dlcmd = NULL;
     if(!dscmd) dscmd = cmd2dat(CMD_SHORTCMD);
     if(!dlcmd) dlcmd = cmd2dat(CMD_LONGCMD);
     int ret = FALSE;
     pthread_mutex_lock(&mntmutex);
     // dummy buffer to clear trash in input
-    char ans[300];
-    data_t a = {.buf = (uint8_t*)ans, .maxlen=299};
+    //char ans[300];
+    //data_t a = {.buf = (uint8_t*)ans, .maxlen=299};
     if(len == sizeof(SSscmd)){
         ((SSscmd*)cmd)->checksum = SScalcChecksum(cmd, len-2);
         DBG("Short command");
 #ifdef EBUG
         logscmd((SSscmd*)cmd);
 #endif
-        if(!wr(dscmd, &a, 1)) goto rtn;
+        if(!wr(dscmd, NULL, 1)) goto rtn;
     }else if(len == sizeof(SSlcmd)){
         ((SSlcmd*)cmd)->checksum = SScalcChecksum(cmd, len-2);
         DBG("Long command");
 #ifdef EBUG
         loglcmd((SSlcmd*)cmd);
 #endif
-        if(!wr(dlcmd, &a, 1)) goto rtn;
+        if(!wr(dlcmd, NULL, 1)) goto rtn;
     }else{
         goto rtn;
     }
-    DBG("Write %d bytes and wait for ans", len);
     data_t d;
     d.buf = cmd;
     d.len = d.maxlen = len;
@@ -641,6 +835,7 @@ rtn:
     return ret;
 }
 
+// short, long and config text-binary commands
 // return TRUE if OK
 int cmdS(SSscmd *cmd){
     return bincmd((uint8_t *)cmd, sizeof(SSscmd));
@@ -650,6 +845,7 @@ int cmdL(SSlcmd *cmd){
 }
 // rw == 1 to write, 0 to read
 int cmdC(SSconfig *conf, int rw){
+    if(Conf.RunModel) return FALSE;
     static data_t *wcmd = NULL, *rcmd = NULL;
     int ret = FALSE;
     // dummy buffer to clear trash in input
@@ -663,16 +859,23 @@ int cmdC(SSconfig *conf, int rw){
     }else{ // read
         data_t d;
         d.buf = (uint8_t *) conf;
+        d.len = 0; d.maxlen = 0;
+        ret = wr(rcmd, &d, 1);
+        DBG("write command: %s", ret ? "TRUE" : "FALSE");
+        if(!ret) goto rtn;
+        // make a huge pause for stupid SSII
+        usleep(100000);
         d.len = 0;  d.maxlen = sizeof(SSconfig);
         ret = wr(rcmd, &d, 1);
         DBG("wr returned %s; got %zd bytes of %zd", ret ? "TRUE" : "FALSE", d.len, d.maxlen);
-        if(d.len != d.maxlen) return FALSE;
+        if(d.len != d.maxlen){ ret = FALSE; goto rtn; }
         // simplest checksum
         uint16_t sum = 0;
         for(uint32_t i = 0; i < sizeof(SSconfig)-2; ++i) sum += d.buf[i];
         if(sum != conf->checksum){
             DBG("got sum: %u, need: %u", conf->checksum, sum);
-            return FALSE;
+            ret = FALSE;
+            goto rtn;
         }
     }
 rtn:

LibSidServo/serial.h

@@ -28,16 +28,17 @@
 // max error counter (when read() returns -1)
 #define MAX_ERR_CTR (100)
 
-double dtime();
 data_t *cmd2dat(const char *cmd);
 void data_free(data_t **x);
 int openEncoder();
 int openMount();
 void closeSerial();
 mcc_errcodes_t getMD(mountdata_t  *d);
-void setStat(mnt_status_t Xstatus, mnt_status_t Ystatus);
+void setStat(axis_status_t Xstate, axis_status_t Ystate);
 int MountWriteRead(const data_t *out, data_t *in);
 int MountWriteReadRaw(const data_t *out, data_t *in);
 int cmdS(SSscmd *cmd);
 int cmdL(SSlcmd *cmd);
 int cmdC(SSconfig *conf, int rw);
+void getXspeed();
+void getYspeed();

LibSidServo/sidservo.h

@@ -16,6 +16,11 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+/*
+ * This file contains all need for external usage
+ */
+
+
 #pragma once
 
 #ifdef __cplusplus
@@ -27,15 +32,14 @@ extern "C"
 #include <stdint.h>
 #include <sys/time.h>
 
-// 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)
-
+// minimal serial speed of mount device
+#define MOUNT_BAUDRATE_MIN      (1200)
 // max speed interval, seconds
 #define MCC_CONF_MAX_SPEEDINT   (2.)
 // minimal speed interval in parts of EncoderReqInterval
 #define MCC_CONF_MIN_SPEEDC     (3.)
 
+
 // error codes
 typedef enum{
     MCC_E_OK = 0,       // all OK
@@ -44,8 +48,13 @@ 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{
+    double P, I, D;
+} PIDpar_t;
+
 typedef struct{
     char*   MountDevPath;           // path to mount device
     int     MountDevSpeed;          // serial speed
@@ -54,9 +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
+    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
@@ -67,7 +90,7 @@ typedef struct{
 // coordinate/speed and time of last measurement
 typedef struct{
     double val;
-    double t;
+    struct timespec t;
 } coordval_t;
 
 typedef struct{
@@ -113,16 +136,16 @@ typedef struct{
 } extradata_t;
 
 typedef enum{
-    MNT_STOPPED,
-    MNT_SLEWING,
-    MNT_POINTING,
-    MNT_GUIDING,
-    MNT_ERROR,
-} mnt_status_t;
+    AXIS_STOPPED,
+    AXIS_SLEWING,
+    AXIS_POINTING,
+    AXIS_GUIDING,
+    AXIS_ERROR,
+} axis_status_t;
 
 typedef struct{
-    mnt_status_t Xstatus;
-    mnt_status_t Ystatus;
+    axis_status_t Xstate;
+    axis_status_t Ystate;
     coordval_t motXposition;
     coordval_t motYposition;
     coordval_t encXposition;
@@ -157,7 +180,7 @@ typedef struct{
     double Yatime;      // 28
 } long_command_t; // long command
 
-// hardware axe configuration
+// hardware axis configuration
 typedef struct{
     double accel;       // Default Acceleration, rad/s^2
     double backlash;    // Backlash (???)
@@ -168,13 +191,16 @@ typedef struct{
     double outplimit;   // Output Limit, percent (0..100)
     double currlimit;   // Current Limit (A)
     double intlimit;    // Integral Limit (???)
-} __attribute__((packed)) axe_config_t;
+    // 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
 typedef struct{
-    axe_config_t Xconf;
+    axis_config_t Xconf;
     xbits_t xbits;
-    axe_config_t Yconf;
+    axis_config_t Yconf;
     ybits_t ybits;
     uint8_t address;
     double eqrate;      // Equatorial Rate (???)
@@ -197,19 +223,19 @@ typedef struct{
     double backlspd;    // Backlash speed (rad/s)
 } hardware_configuration_t;
 
-// flags for slew function
+/* flags for slew function
 typedef struct{
     uint32_t slewNguide : 1; // ==1 to guide after slewing
 } slewflags_t;
-
+*/
 // mount class
 typedef struct{
     // TODO: on init/quit clear all XY-bits to default`
     mcc_errcodes_t  (*init)(conf_t *c); // init device
     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)(coordval_pair_t *target);
+//    mcc_errcodes_t  (*slewTo)(const coordpair_t *target, slewflags_t flags);
+    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
@@ -219,12 +245,17 @@ 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;
 
-
 #ifdef __cplusplus
 }
 #endif

LibSidServo/ssii.c

@@ -18,12 +18,21 @@
 
 #include <ctype.h>
 #include <inttypes.h>
+#include <stdio.h>
 #include <string.h>
+#include <unistd.h>
 
-#include "dbg.h"
+#include "main.h"
 #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++){
@@ -35,16 +44,18 @@ uint16_t SScalcChecksum(uint8_t *buf, int len){
     return checksum;
 }
 
-
-static void axestat(int32_t *prev, int32_t cur, int *nstopped, mnt_status_t *stat){
+// Next three functions runs under locked mountdata_t mutex and shouldn't call locked it again!!
+static void chkstopstat(int32_t *prev, int32_t cur, int *nstopped, axis_status_t *stat){
     if(*prev == INT32_MAX){
-        *stat = MNT_STOPPED;
-    }else if(*stat != MNT_STOPPED){
-        if(*prev == cur){
-            if(++(*nstopped) > MOTOR_STOPPED_CNT) *stat = MNT_STOPPED;
+        *stat = AXIS_STOPPED;
+        DBG("START");
+    }else if(*stat != AXIS_STOPPED){
+        if(*prev == cur && ++(*nstopped) > MOTOR_STOPPED_CNT){
+            *stat = AXIS_STOPPED;
+            DBG("AXIS stopped");
         }
     }else if(*prev != cur){
-        //*stat = MNT_SLEWING;
+        DBG("AXIS moving");
         *nstopped = 0;
     }
     *prev = cur;
@@ -53,8 +64,8 @@ static void axestat(int32_t *prev, int32_t cur, int *nstopped, mnt_status_t *sta
 static void ChkStopped(const SSstat *s, mountdata_t *m){
     static int32_t Xmot_prev = INT32_MAX, Ymot_prev = INT32_MAX; // previous coordinates
     static int Xnstopped = 0, Ynstopped = 0; // counters to get STOPPED state
-    axestat(&Xmot_prev, s->Xmot, &Xnstopped, &m->Xstatus);
-    axestat(&Ymot_prev, s->Ymot, &Ynstopped, &m->Ystatus);
+    chkstopstat(&Xmot_prev, s->Xmot, &Xnstopped, &m->Xstate);
+    chkstopstat(&Ymot_prev, s->Ymot, &Ynstopped, &m->Ystate);
 }
 
 /**
@@ -63,28 +74,20 @@ 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){
-    if(!s || !m) return;
-/*
-#ifdef EBUG
-    static double t0 = -1.;
-    if(t0 < 0.) t0 = dtime();
-#endif
-    DBG("Convert, t=%g", dtime()-t0);
-*/
+void SSconvstat(const SSstat *s, mountdata_t *m, struct timespec *t){
+    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->encYposition.val = Y_ENC2RAD(s->Yenc);
-        m->encXposition.t = m->encYposition.t = t;
+        m->encXposition.val = Xenc2rad(s->Xenc);
+        DBG("encx: %g", m->encXposition.val);
+        m->encYposition.val = Yenc2rad(s->Yenc);
+        m->encXposition.t = m->encYposition.t = *t;
+        getXspeed(); getYspeed();
     }
-    //m->lastmotposition.X = X_MOT2RAD(s->XLast);
-    //m->lastmotposition.Y = Y_MOT2RAD(s->YLast);
-    //m->lastmotposition.msrtime = *tdat;
     m->keypad = s->keypad;
     m->extradata.ExtraBits = s->ExtraBits;
     m->extradata.ain0 = s->ain0;
@@ -110,7 +113,7 @@ int SStextcmd(const char *cmd, data_t *answer){
     data_t d;
     d.buf = (uint8_t*) cmd;
     d.len = d.maxlen = strlen(cmd);
-    DBG("send %zd bytes: %s", d.len, d.buf);
+    //DBG("send %zd bytes: %s", d.len, d.buf);
     return MountWriteRead(&d, answer);
 }
 
@@ -123,7 +126,7 @@ int SSrawcmd(const char *cmd, data_t *answer){
     data_t d;
     d.buf = (uint8_t*) cmd;
     d.len = d.maxlen = strlen(cmd);
-    DBG("send %zd bytes: %s", d.len, d.buf);
+    //DBG("send %zd bytes: %s", d.len, d.buf);
     return MountWriteReadRaw(&d, answer);
 }
 
@@ -180,22 +183,44 @@ int SSstop(int emerg){
 // update motors' positions due to encoders'
 mcc_errcodes_t updateMotorPos(){
     mountdata_t md = {0};
-    double t0 = dtime(), t = 0.;
+    if(Conf.RunModel) return MCC_E_OK;
+    double t0 = timefromstart(), t = 0.;
+    struct timespec curt;
     DBG("start @ %g", t0);
     do{
-        t = dtime();
-        if(MCC_E_OK == getMD(&md)){
-            DBG("got");
-            if(fabs(md.encXposition.t - t) < 0.1 && fabs(md.encYposition.t - t) < 0.1){
-                DBG("FIX motors position to encoders");
-                int32_t Xpos = X_RAD2MOT(md.encXposition.val), Ypos = Y_RAD2MOT(md.encYposition.val);
-                if(SSsetterI(CMD_MOTXSET, Xpos) && SSsetterI(CMD_MOTYSET, Ypos)){
-                    DBG("All OK");
-                    return MCC_E_OK;
+        t = timefromstart();
+        if(!curtime(&curt)){
+            usleep(10000);
+            continue;
         }
-            }else{
-                DBG("on position");
-                return MCC_E_OK;
+        //DBG("XENC2RAD: %g (xez=%d, xesr=%.10g)", Xenc2rad(32424842), X_ENC_ZERO, X_ENC_STEPSPERREV);
+        if(MCC_E_OK == getMD(&md)){
+            if(md.encXposition.t.tv_sec == 0 || md.encYposition.t.tv_sec == 0){
+                DBG("Just started? t-t0 = %g!", t - t0);
+                usleep(10000);
+                continue;
+            }
+            if(md.Xstate != AXIS_STOPPED || md.Ystate != AXIS_STOPPED) return MCC_E_OK;
+            DBG("got; t pos x/y: %ld/%ld; tnow: %ld", md.encXposition.t.tv_sec, md.encYposition.t.tv_sec, curt.tv_sec);
+            mcc_errcodes_t OK = MCC_E_OK;
+            if(fabs(md.motXposition.val - md.encXposition.val) > Conf.EncodersDisagreement && md.Xstate == AXIS_STOPPED){
+                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", t - t0);
+            }
+            if(fabs(md.motYposition.val - md.encYposition.val) > Conf.EncodersDisagreement && md.Ystate == AXIS_STOPPED){
+                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", t - t0);
+            }
+            if(MCC_E_OK == OK){
+                DBG("Encoders synced");
+                return OK;
             }
         }
         DBG("NO DATA; dt = %g", t - t0);

LibSidServo/ssii.h

@@ -16,6 +16,10 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+/*
+ * This file contains stuff for sidereal-servo specific protocol
+ */
+
 #pragma once
 
 #include <math.h>
@@ -169,65 +173,74 @@
 #define SITECH_LOOP_FREQUENCY   (1953.)
 
 // amount of consequent same coordinates to detect stop
-#define MOTOR_STOPPED_CNT       (20)
+#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)
+// -> hwconf.Xconf.mot/enc_stepsperrev
+//#define X_MOT_STEPSPERREV_SSI   (13312000.)
 // 13312000 / 4 = 3328000
-#define X_MOT_STEPSPERREV_SSI   (13312000.)
-//#define X_MOT_STEPSPERREV   (3325952.)
-#define X_MOT_STEPSPERREV   (3328000.)
+//#define X_MOT_STEPSPERREV   (3328000.)
+//#define Y_MOT_STEPSPERREV_SSI (17578668.)
 // 17578668 / 4 = 4394667
-#define Y_MOT_STEPSPERREV_SSI (17578668.)
-//#define Y_MOT_STEPSPERREV   (4394960.)
-#define Y_MOT_STEPSPERREV   (4394667.)
+//#define Y_MOT_STEPSPERREV   (4394667.)
+
+// encoder per revolution
+//#define X_ENC_STEPSPERREV   (67108864.)
+//#define Y_ENC_STEPSPERREV   (67108864.)
+// encoder zero position
+// -> conf.XEncZero/YEncZero
+//#define X_ENC_ZERO          (61245239)
+//#define Y_ENC_ZERO          (36999830)
+// encoder reversed (no: +1) -> sign of ...stepsperrev
+//#define X_ENC_SIGN          (-1.)
+//#define Y_ENC_SIGN          (-1.)
+
+
+// encoder position to radians and back
+#define Xenc2rad(n)    ang2half(2.*M_PI * ((double)((n)-(X_ENC_ZERO))) / (X_ENC_STEPSPERREV))
+#define Yenc2rad(n)    ang2half(2.*M_PI * ((double)((n)-(Y_ENC_ZERO))) / (Y_ENC_STEPSPERREV))
+#define Xrad2enc(r)    ((uint32_t)((r) / 2./M_PI * (X_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 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 Y_RAD2MOT(r)    ((int32_t)((r) / (2. * M_PI) * Y_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 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)))
 // motor speed in rad/s and back
-#define X_MOTSPD2RS(n)  (X_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 Y_RS2MOTSPD(r)  ((int32_t)(Y_RAD2MOT(r) * 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 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)))
 // motor acceleration -//-
-#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 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 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 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)))
 
 // adder time to seconds vice versa
-#define ADDER2S(a)  ((a) / SITECH_LOOP_FREQUENCY)
-#define S2ADDER(s)  ((s) * SITECH_LOOP_FREQUENCY)
-
-// encoder per revolution
-#define X_ENC_STEPSPERREV   (67108864.)
-#define Y_ENC_STEPSPERREV   (67108864.)
-// encoder zero position
-#define X_ENC_ZERO          (61245239)
-#define Y_ENC_ZERO          (36999830)
-// encoder reversed (no: +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 Y_ENC2RAD(n)    ang2half(Y_ENC_SIGN * 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 Y_RAD2ENC(r)    ((uint32_t)((r) / 2./M_PI * Y_ENC_STEPSPERREV))
+#define ADDER2S(a)  ((a) / (SITECH_LOOP_FREQUENCY))
+#define S2ADDER(s)  ((s) * (SITECH_LOOP_FREQUENCY))
 
 // encoder's tolerance (ticks)
 #define YencTOL    (25.)
@@ -328,11 +341,10 @@ 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);
 int SSsetterI(const char *cmd, int32_t ival);
 int SSstop(int emerg);
-int SSshortCmd(SSscmd *cmd);
 mcc_errcodes_t updateMotorPos();

asibfm700/CMakeLists.txt

@@ -0,0 +1,88 @@
+cmake_minimum_required(VERSION 3.14)
+
+# set(CMAKE_BUILD_TYPE Release)
+
+set(CMAKE_CXX_STANDARD 23)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake")
+
+
+# find_package(ASIO QUIET CONFIG)
+find_package(ASIO QUIET)
+if (ASIO_FOUND)
+    message(STATUS "ASIO library was found in the host system")
+else()
+    message(STATUS "ASIO library was not found! Try to download it!")
+
+    include(FetchContent)
+    include(ExternalProject)
+
+    FetchContent_Declare(asio_lib
+         SOURCE_DIR ${CMAKE_BINARY_DIR}/asio_lib
+         BINARY_DIR ${CMAKE_BINARY_DIR}
+         GIT_REPOSITORY "https://github.com/chriskohlhoff/asio"
+         GIT_TAG "asio-1-32-0"
+         GIT_SHALLOW TRUE
+         GIT_SUBMODULES ""
+         GIT_PROGRESS TRUE
+    )
+    FetchContent_MakeAvailable(asio_lib)
+    # FetchContent_GetProperties(asio_lib SOURCE_DIR asio_SOURCE_DIR)
+
+    set(ASIO_INSTALL_DIR ${CMAKE_BINARY_DIR}/asio_lib/asio)
+    find_package(ASIO)
+endif()
+
+find_package(cxxopts QUIET CONFIG)
+if (cxxopts_FOUND)
+    message(STATUS "CXXOPTS library was found in the host system")
+else()
+    message(STATUS "CXXOPTS library was not found! Try to download it!")
+
+    include(FetchContent)
+    include(ExternalProject)
+
+    FetchContent_Declare(cxxopts_lib
+        PREFIX ${CMAKE_BINARY_DIR}/cxxopts_lib
+        # SOURCE_DIR ${CMAKE_BINARY_DIR}/cxxopts_lib
+        # BINARY_DIR ${CMAKE_BINARY_DIR}
+        GIT_REPOSITORY "https://github.com/jarro2783/cxxopts.git"
+        GIT_TAG "v3.3.1"
+        GIT_SHALLOW TRUE
+        GIT_SUBMODULES ""
+        GIT_PROGRESS TRUE
+        OVERRIDE_FIND_PACKAGE
+    )
+    FetchContent_MakeAvailable(cxxopts_lib)
+    find_package(cxxopts CONFIG)
+endif()
+
+set(ASIBFM700_LIB_SRC asibfm700_common.h asibfm700_servocontroller.h asibfm700_servocontroller.cpp)
+
+set(ASIBFM700_LIB asibfm700mount)
+add_library(${ASIBFM700_LIB} STATIC ${ASIBFM700_LIB_SRC}
+    asibfm700_mount.h asibfm700_mount.cpp
+    asibfm700_configfile.h
+    asibfm700_netserver.cpp
+    asibfm700_netserver.h
+)
+
+target_include_directories(${ASIBFM700_LIB} PUBLIC mcc spdlog ${ERFA_INCLUDE_DIR})
+# target_link_libraries(${ASIBFM700_LIB} PUBLIC mcc spdlog ${ERFA_LIBFILE})
+target_link_libraries(${ASIBFM700_LIB} PUBLIC mcc ASIO::ASIO spdlog ERFA_LIB bsplines sidservo)
+
+
+set(ASIBFM700_NETSERVER_APP asibfm700_netserver)
+add_executable(${ASIBFM700_NETSERVER_APP} asibfm700_netserver_main.cpp)
+target_link_libraries(${ASIBFM700_NETSERVER_APP} PRIVATE cxxopts::cxxopts ${ASIBFM700_LIB})
+
+option(WITH_TESTS "Build tests" ON)
+
+if (WITH_TESTS)
+     set(CFG_TEST_APP cfg_test)
+     add_executable(${CFG_TEST_APP} tests/cfg_test.cpp)
+     target_link_libraries(${CFG_TEST_APP} PRIVATE mcc)
+
+     enable_testing()
+ endif()

asibfm700/asibfm700_common.h

@@ -0,0 +1,30 @@
+#pragma once
+
+/*                          AstroSib FORK MOUNT FM-700 CONTROL LIBRARY                          */
+
+
+/*                          COMMON LIBRARY DEFINITIONS                      */
+
+
+#include <mcc_moving_model_common.h>
+#include <mcc_pcm.h>
+#include <mcc_pzone_container.h>
+#include <mcc_spdlog.h>
+
+#include "mcc_ccte_erfa.h"
+#include "mcc_slewing_model.h"
+#include "mcc_tracking_model.h"
+
+namespace asibfm700
+{
+
+static constexpr mcc::MccMountType asibfm700MountType = mcc::MccMountType::FORK_TYPE;
+
+typedef mcc::ccte::erfa::MccCCTE_ERFA Asibfm700CCTE;
+typedef mcc::MccDefaultPCM<asibfm700MountType> Asibfm700PCM;
+typedef mcc::MccPZoneContainer<mcc::MccTimeDuration> Asibfm700PZoneContainer;
+typedef mcc::utils::MccSpdlogLogger Asibfm700Logger;
+typedef mcc::MccSimpleSlewingModel Asibfm700SlewingModel;
+typedef mcc::MccSimpleTrackingModel Asibfm700TrackingModel;
+
+}  // namespace asibfm700

asibfm700/asibfm700_configfile.h

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

asibfm700/asibfm700_mount.cpp

@@ -0,0 +1,355 @@
+#include "asibfm700_mount.h"
+
+#include <mcc_pzone.h>
+
+namespace asibfm700
+{
+
+
+/*    CONSTRUCTOR AND DESTRUCTOR    */
+
+Asibfm700Mount::Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_ptr<spdlog::logger> logger)
+    : mcc::ccte::erfa::MccCCTE_ERFA({.meteo{.temperature = 10.0, .humidity = 0.5, .pressure = 1010.0},
+                                     .wavelength = config.refractWavelength(),
+                                     .lat = config.siteLatitude(),
+                                     .lon = config.siteLongitude(),
+                                     .elev = config.siteElevation()}),
+      Asibfm700PCM(config.pcmData()),
+      gm_class_t(std::make_tuple(config.servoControllerConfig()),
+                 std::make_tuple(this),
+                 std::make_tuple(),
+                 std::make_tuple(this, Asibfm700Logger{logger}),
+                 std::make_tuple(this, Asibfm700Logger{logger}),
+                 std::make_tuple(logger, Asibfm700Logger::LOGGER_DEFAULT_FORMAT)),
+      // base_gm_class_t(Asibfm700StartState{},
+      //                 std::make_tuple(config.servoControllerConfig()),
+      //                 std::make_tuple(this),
+      //                 std::make_tuple(),
+      //                 std::make_tuple(this),
+      //                 std::make_tuple(this),
+      //                 std::make_tuple(logger, Asibfm700Logger::LOGGER_DEFAULT_FORMAT)),
+      _mountConfig(config),
+      _mountConfigMutex(new std::mutex)
+{
+    gm_class_t::addMarkToPatternIdx("[ASIB-MOUNT]");
+
+    logDebug("Create Asibfm700Mount class instance ({})", this->getThreadId());
+
+    initMount();
+}
+// Asibfm700Mount::Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_ptr<spdlog::logger> logger)
+//     : mcc::ccte::erfa::MccCCTE_ERFA({.meteo{.temperature = 10.0, .humidity = 0.5, .pressure = 1010.0},
+//                                      .wavelength = config.refractWavelength(),
+//                                      .lat = config.siteLatitude(),
+//                                      .lon = config.siteLongitude(),
+//                                      .elev = config.siteElevation()}),
+//       Asibfm700PCM(config.pcmData()),
+//       base_gm_class_t(
+//           gm_class_t{AsibFM700ServoController{config.servoControllerConfig()}, mcc::MccTelemetry{this},
+//                      Asibfm700PZoneContainer{}, mcc::MccSimpleSlewingModel{this}, mcc::MccSimpleTrackingModel{this},
+//                      Asibfm700Logger{std::move(logger), Asibfm700Logger::LOGGER_DEFAULT_FORMAT}},
+//           Asibfm700StartState{}),
+//       _mountConfig(config),
+//       _mountConfigMutex(new std::mutex)
+// {
+//     addMarkToPatternIdx("ASIB-MOUNT");
+
+//     logDebug("Create Asibfm700Mount class instance ({})", this->getThreadId());
+
+//     initMount();
+// }
+
+
+Asibfm700Mount::~Asibfm700Mount()
+{
+    logDebug("Delete Asibfm700Mount class instance ({})", this->getThreadId());
+}
+
+
+
+/*    PUBIC METHODS    */
+
+Asibfm700Mount::error_t Asibfm700Mount::initMount()
+{
+    std::lock_guard lock{*_mountConfigMutex};
+
+    logInfo("Stop telemetry data updating");
+    stopInternalTelemetryDataUpdating();
+
+    logInfo("Init AstroSib FM-700 mount with configuration:");
+    logInfo("    site latitude: {}", _mountConfig.siteLatitude().sexagesimal());
+    logInfo("    site longitude: {}", _mountConfig.siteLongitude().sexagesimal());
+    logInfo("    site elevation: {} meters", _mountConfig.siteElevation());
+    logInfo("    refraction wavelength: {} mkm", _mountConfig.refractWavelength());
+    logInfo("    leap seconds filename: {}", _mountConfig.leapSecondFilename());
+    logInfo("    IERS Bulletin A filename: {}", _mountConfig.bulletinAFilename());
+
+    logInfo("");
+    logDebug("Delete previously defined prohobited zones");
+    clearPZones();
+    logInfo("Add prohibited zones ...");
+
+    logInfo("    Add MccAltLimitPZ zone: min alt = {}, lat = {} (pzone type: '{}')",
+            _mountConfig.pzMinAltitude().degrees(), _mountConfig.siteLatitude().degrees(),
+            "Minimal altitude prohibited zone");
+    addPZone(mcc::MccAltLimitPZ<mcc::MccAltLimitKind::MIN_ALT_LIMIT>{_mountConfig.pzMinAltitude(),
+                                                                     _mountConfig.siteLatitude(), this});
+
+    logInfo("    Add MccAxisLimitSwitchPZ zone: min value = {}, max value = {} (pzone type: '{}')",
+            _mountConfig.pzLimitSwitchHAMin().degrees(), _mountConfig.pzLimitSwitchHAMax().degrees(),
+            "HA-axis limit switch");
+    size_t pz_num = addPZone(mcc::MccAxisLimitSwitchPZ<mcc::MccCoordKind::COORDS_KIND_HA>{
+        _mountConfig.pzLimitSwitchHAMin(), _mountConfig.pzLimitSwitchHAMax(), this});
+
+    logInfo("{} prohibited zones were added successfully", pz_num);
+
+    auto mpars = _mountConfig.movingModelParams();
+
+    using secs_t = std::chrono::duration<double>;
+    auto to_msecs = [](double secs) {
+        auto s = secs_t{secs};
+        return std::chrono::duration_cast<std::chrono::milliseconds>(s);
+    };
+
+    auto hw_cfg = _mountConfig.servoControllerConfig();
+    logInfo("");
+    logInfo("Hardware initialization ...");
+    logInfo("     set hardware configuration:");
+    logInfo("         RunModel: {}", hw_cfg.devConfig.RunModel == 1 ? "MODEL-MODE" : "REAL-MODE");
+    logInfo("         mount dev path: {}", hw_cfg.MountDevPath);
+    logInfo("         encoder dev path: {}", hw_cfg.EncoderDevPath);
+    logInfo("         encoder X-dev path: {}", hw_cfg.EncoderXDevPath);
+    logInfo("         encoder Y-dev path: {}", hw_cfg.EncoderYDevPath);
+
+    logInfo("         EncoderDevSpeed: {}", hw_cfg.devConfig.EncoderDevSpeed);
+    logInfo("         SepEncoder: {}", hw_cfg.devConfig.SepEncoder);
+    logInfo("         MountReqInterval: {}", to_msecs(hw_cfg.devConfig.MountReqInterval));
+    logInfo("         EncoderReqInterval: {}", to_msecs(hw_cfg.devConfig.EncoderReqInterval));
+    logInfo("         EncoderSpeedInterval: {}", to_msecs(hw_cfg.devConfig.EncoderSpeedInterval));
+    logInfo("         PIDMaxDt: {}", to_msecs(hw_cfg.devConfig.PIDMaxDt));
+    logInfo("         PIDRefreshDt: {}", to_msecs(hw_cfg.devConfig.PIDRefreshDt));
+    logInfo("         PIDCycleDt: {}", to_msecs(hw_cfg.devConfig.PIDCycleDt));
+
+    logInfo("         XPIDC: [P: {}, I: {}, D: {}]", hw_cfg.devConfig.XPIDC.P, hw_cfg.devConfig.XPIDC.I,
+            hw_cfg.devConfig.XPIDC.D);
+    logInfo("         XPIDV: [P: {}, I: {}, D: {}]", hw_cfg.devConfig.XPIDV.P, hw_cfg.devConfig.XPIDV.I,
+            hw_cfg.devConfig.XPIDV.D);
+    logInfo("         YPIDC: [P: {}, I: {}, D: {}]", hw_cfg.devConfig.YPIDC.P, hw_cfg.devConfig.YPIDC.I,
+            hw_cfg.devConfig.YPIDC.D);
+    logInfo("         YPIDV: [P: {}, I: {}, D: {}]", hw_cfg.devConfig.YPIDV.P, hw_cfg.devConfig.YPIDV.I,
+            hw_cfg.devConfig.YPIDV.D);
+    logInfo("         XEncZero: {}", hw_cfg.devConfig.XEncZero);
+    logInfo("         YEncZero: {}", hw_cfg.devConfig.YEncZero);
+
+    // actually, only set this->_hardwareConfig.devConfig part and paths!!!
+    this->_hardwareConfig = hw_cfg;
+
+    logInfo("");
+    logInfo("     EEPROM data:");
+
+    if (hw_cfg.devConfig.RunModel != 1) {  // load EEPROM only in REAL HARDWARE mode
+        // load EEPROM part
+        auto cfg_err = this->hardwareUpdateConfig();
+        if (cfg_err) {
+            errorLogging("Cannot load EEPROM data:", cfg_err);
+            return cfg_err;
+        }
+
+        mcc::MccAngle ang{_hardwareConfig.hwConfig.Yconf.accel};  // Sidereal defines HA-axis as Y-axis
+
+        logInfo("         HA-axis accel: {} degs/s^2", ang.degrees());
+        ang = _hardwareConfig.hwConfig.Xconf.accel;  // Sidereal defines DEC-axis as X-axis
+        logInfo("         DEC-axis accel: {} degs/s^2", ang.degrees());
+        logInfo("         HA-axis backlash: {}", (double)_hardwareConfig.hwConfig.Yconf.backlash);
+        logInfo("         DEC-axis backlash: {}", (double)_hardwareConfig.hwConfig.Xconf.backlash);
+
+        logInfo("         HA-axis encoder ticks per revolution: {}",
+                _hardwareConfig.hwConfig.Ysetpr);  // Sidereal defines HA-axis as Y-axis
+        logInfo("         DEC-axis encoder ticks per revolution: {}",
+                _hardwareConfig.hwConfig.Xsetpr);  // Sidereal defines DEC-axis as X-axis
+        logInfo("         HA-motor encoder ticks per revolution: {}",
+                _hardwareConfig.hwConfig.Ymetpr);  // Sidereal defines HA-axis as Y-axis
+        logInfo("         DEC-motor encoder ticks per revolution: {}",
+                _hardwareConfig.hwConfig.Xmetpr);  // Sidereal defines DEC-axis as X-axis
+
+        ang = _hardwareConfig.hwConfig.Yslewrate;  // Sidereal defines HA-axis as Y-axis
+        logInfo("         HA-axis slew rate: {} degs/s", ang.degrees());
+        ang = _hardwareConfig.hwConfig.Xslewrate;  // Sidereal defines DEC-axis as X-axis
+        logInfo("         DEC-axis slew rate: {} degs/s", ang.degrees());
+    } else {
+        logWarn("         MODEL-MODE, no EEPROM data!");
+    }
+
+    logInfo("");
+    logInfo("Setup slewing and tracking parameters ...");
+    mpars.slewRateX = _mountConfig.getValue<mcc::MccAngle>("hwMaxRateHA").value_or(0.0);
+    mpars.slewRateY = _mountConfig.getValue<mcc::MccAngle>("hwMaxRateDEC").value_or(0.0);
+    if (hw_cfg.devConfig.RunModel != 1) {
+        mpars.brakingAccelX = _hardwareConfig.hwConfig.Yconf.accel;  // Sidereal defines HA-axis as Y-axis
+        mpars.brakingAccelY = _hardwareConfig.hwConfig.Xconf.accel;  // Sidereal defines DEC-axis as X-axis
+    } else {
+        mpars.brakingAccelX = 0.165806;  // Sidereal defines HA-axis as Y-axis
+        mpars.brakingAccelY = 0.219911;  // Sidereal defines DEC-axis as X-axis
+    }
+
+    auto max_dt_intvl = _mountConfig.getValue<std::chrono::milliseconds>("PIDMaxDt").value_or({});
+    auto min_dt_intvl = _mountConfig.getValue<std::chrono::milliseconds>("PIDRefreshDt").value_or({});
+
+    // check for polling interval consistency
+    auto intvl = mpars.slewingTelemetryInterval;
+    if (intvl > max_dt_intvl) {
+        mpars.slewingTelemetryInterval = max_dt_intvl;
+        logWarn(
+            "        slewingTelemetryInterval user value ({} ms) is greater than allowed! Set it to maximal "
+            "allowed one: {} ms",
+            intvl.count(), max_dt_intvl.count());
+    }
+    if (intvl < min_dt_intvl) {
+        mpars.slewingTelemetryInterval = min_dt_intvl;
+        logWarn(
+            "        slewingTelemetryInterval user value ({} ms) is lesser than allowed! Set it to minimal allowed "
+            "one: {} ms",
+            intvl.count(), min_dt_intvl.count());
+    }
+
+    intvl = mpars.trackingTelemetryInterval;
+    if (intvl > max_dt_intvl) {
+        mpars.trackingTelemetryInterval = max_dt_intvl;
+        logWarn(
+            "        trackingTelemetryInterval user value ({} ms) is greater than allowed! Set it to maximal "
+            "allowed one: {} ms",
+            intvl.count(), max_dt_intvl.count());
+    }
+    if (intvl < min_dt_intvl) {
+        mpars.trackingTelemetryInterval = min_dt_intvl;
+        logWarn(
+            "        trackingTelemetryInterval user value ({} ms) is lesser than allowed! Set it to minimal "
+            "allowed one: {} ms",
+            intvl.count(), min_dt_intvl.count());
+    }
+
+
+    auto st_err = setSlewingParams(mpars);
+    if (st_err) {
+        errorLogging("    An error occured while setting slewing parameters: ", st_err);
+    } else {
+        logInfo("    Max HA-axis speed: {} degs/s", mcc::MccAngle(mpars.slewRateX).degrees());
+        logInfo("    Max DEC-axis speed: {} degs/s", mcc::MccAngle(mpars.slewRateY).degrees());
+        logInfo("    HA-axis stop acceleration braking: {} degs/s^2", mcc::MccAngle(mpars.brakingAccelX).degrees());
+        logInfo("    DEC-axis stop acceleration braking: {} degs/s^2", mcc::MccAngle(mpars.brakingAccelY).degrees());
+
+        logInfo("    Slewing telemetry polling interval: {} millisecs", mpars.slewingTelemetryInterval.count());
+    }
+    st_err = setTrackingParams(_mountConfig.movingModelParams());
+    if (st_err) {
+        errorLogging("    An error occured while setting tracking parameters: ", st_err);
+    } else {
+        logInfo("    Tracking telemetry polling interval: {} millisecs", mpars.trackingTelemetryInterval.count());
+    }
+    logInfo("Slewing and tracking parameters have been set successfully");
+
+
+
+    // call base class initMount method
+    auto hw_err = gm_class_t::initMount();
+    // auto hw_err = base_gm_class_t::initMount();
+    if (hw_err) {
+        errorLogging("", hw_err);
+        return hw_err;
+    } else {
+        logInfo("Hardware initialization was performed sucessfully!");
+    }
+
+    logInfo("ERFA engine initialization ...");
+
+
+    // set ERFA state
+    Asibfm700CCTE::engine_state_t ccte_state{
+        .meteo = Asibfm700CCTE::_currentState.meteo,  // just use of previous values
+        .wavelength = _mountConfig.refractWavelength(),
+        .lat = _mountConfig.siteLatitude(),
+        .lon = _mountConfig.siteLongitude(),
+        .elev = _mountConfig.siteElevation()};
+
+
+    if (_mountConfig.leapSecondFilename().size()) {  // load leap seconds file
+        logInfo("Loading leap second file: '{}' ...", _mountConfig.leapSecondFilename());
+        bool ok = ccte_state._leapSeconds.load(_mountConfig.leapSecondFilename());
+        if (ok) {
+            logInfo("Leap second file was loaded successfully (expire date: {})", ccte_state._leapSeconds.expireDate());
+        } else {
+            logError("Leap second file loading failed! Using hardcoded defauls (expire date: {})",
+                     ccte_state._leapSeconds.expireDate());
+        }
+    } else {
+        logInfo("Using hardcoded leap seconds defauls (expire date: {})", ccte_state._leapSeconds.expireDate());
+    }
+
+    if (_mountConfig.bulletinAFilename().size()) {  // load IERS Bulletin A file
+        logInfo("Loading IERS Bulletin A file: '{}' ...", _mountConfig.bulletinAFilename());
+        bool ok = ccte_state._bulletinA.load(_mountConfig.bulletinAFilename());
+        if (ok) {
+            logInfo("IERS Bulletin A file was loaded successfully (date range: {} - {})",
+                    ccte_state._bulletinA.dateRange().begin, ccte_state._bulletinA.dateRange().end);
+        } else {
+            logError("IERS Bulletin A file loading failed! Using hardcoded defauls (date range: {} - {})",
+                     ccte_state._bulletinA.dateRange().begin, ccte_state._bulletinA.dateRange().end);
+        }
+    } else {
+        logInfo("Using hardcoded IERS Bulletin A defauls (date range: {} - {})",
+                ccte_state._bulletinA.dateRange().begin, ccte_state._bulletinA.dateRange().end);
+    }
+
+    setStateERFA(std::move(ccte_state));
+
+    // setTelemetryDataUpdateInterval(_mountConfig.hardwarePollingPeriod());
+    setTelemetryUpdateTimeout(_mountConfig.movingModelParams().telemetryTimeout);
+    startInternalTelemetryDataUpdating();
+
+    // std::this_thread::sleep_for(std::chrono::milliseconds(100));
+
+    bool ok = isInternalTelemetryDataUpdating();
+    if (ok) {
+        logInfo("Start updating telemetry data ...");
+        mcc::MccTelemetryData tdata;
+        auto err = waitForTelemetryData(&tdata, _mountConfig.movingModelParams().telemetryTimeout);
+        if (err) {
+            logError("Cannot update telemetry data (err = {} [{}, {}])!", err.message(), err.value(),
+                     err.category().name());
+        }
+    } else {
+        auto err = lastUpdateError();
+        logError("Cannot update telemetry data (err = {} [{}, {}])!", err.message(), err.value(),
+                 err.category().name());
+    }
+
+    return mcc::MccGenericMountErrorCode::ERROR_OK;
+}
+
+
+Asibfm700Mount::error_t Asibfm700Mount::updateMountConfig(const Asibfm700MountConfig& cfg)
+{
+    std::lock_guard lock{*_mountConfigMutex};
+
+    _mountConfig = cfg;
+
+    auto hw_cfg = _mountConfig.servoControllerConfig();
+    hardwareUpdateConfig(hw_cfg.devConfig);
+    hardwareUpdateConfig(hw_cfg.hwConfig);
+
+    return AsibFM700ServoControllerErrorCode::ERROR_OK;
+}
+
+
+/*    PROTECTED METHODS    */
+
+void Asibfm700Mount::errorLogging(const std::string& msg, const std::error_code& err)
+{
+    if (msg.empty()) {
+        logError("{}::{} ({})", err.category().name(), err.value(), err.message());
+    } else {
+        logError("{}: {}::{} ({})", msg, err.category().name(), err.value(), err.message());
+    }
+}
+
+}  // namespace asibfm700

asibfm700/asibfm700_mount.h

@@ -0,0 +1,189 @@
+#pragma once
+
+
+#include <mcc_generic_mount.h>
+#include <mcc_pzone_container.h>
+#include <mcc_slewing_model.h>
+#include <mcc_spdlog.h>
+#include <mcc_telemetry.h>
+#include <mcc_tracking_model.h>
+
+#include "asibfm700_common.h"
+#include "asibfm700_configfile.h"
+
+
+namespace asibfm700
+{
+
+
+class Asibfm700Mount : public Asibfm700CCTE,
+                       public Asibfm700PCM,
+                       public mcc::MccGenericMount<AsibFM700ServoController,
+                                                   mcc::MccTelemetry,
+                                                   Asibfm700PZoneContainer,
+                                                   Asibfm700SlewingModel,
+                                                   Asibfm700TrackingModel,
+                                                   Asibfm700Logger>
+{
+    typedef mcc::MccGenericMount<AsibFM700ServoController,
+                                 mcc::MccTelemetry,
+                                 Asibfm700PZoneContainer,
+                                 Asibfm700SlewingModel,
+                                 Asibfm700TrackingModel,
+                                 Asibfm700Logger>
+        gm_class_t;
+
+public:
+    using gm_class_t::error_t;
+
+    using Asibfm700CCTE::setStateERFA;
+    using Asibfm700CCTE::updateBulletinA;
+    using Asibfm700CCTE::updateLeapSeconds;
+    using Asibfm700CCTE::updateMeteoERFA;
+
+    using gm_class_t::logCritical;
+    using gm_class_t::logDebug;
+    using gm_class_t::logError;
+    using gm_class_t::logInfo;
+    using gm_class_t::logWarn;
+    // using Asibfm700Logger::logCritical;
+    // using Asibfm700Logger::logDebug;
+    // using Asibfm700Logger::logError;
+    // using Asibfm700Logger::logInfo;
+    // using Asibfm700Logger::logWarn;
+
+    // using Asibfm700PZoneContainer::addPZone;
+
+    Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_ptr<spdlog::logger> logger);
+
+    ~Asibfm700Mount();
+
+    Asibfm700Mount(Asibfm700Mount&&) = default;
+    Asibfm700Mount& operator=(Asibfm700Mount&&) = default;
+
+    Asibfm700Mount(const Asibfm700Mount&) = delete;
+    Asibfm700Mount& operator=(const Asibfm700Mount&) = delete;
+
+    error_t initMount();
+
+    error_t updateMountConfig(Asibfm700MountConfig const&);
+    Asibfm700MountConfig currentMountConfig();
+
+protected:
+    Asibfm700MountConfig _mountConfig;
+    std::unique_ptr<std::mutex> _mountConfigMutex;
+
+    void errorLogging(const std::string&, const std::error_code&);
+};
+
+
+/*
+class Asibfm700Mount : public Asibfm700CCTE,
+                       public Asibfm700PCM,
+                       public mcc::MccGenericFsmMount<mcc::MccGenericMount<AsibFM700ServoController,
+                                                                           mcc::MccTelemetry,
+                                                                           Asibfm700PZoneContainer,
+                                                                           mcc::MccSimpleSlewingModel,
+                                                                           mcc::MccSimpleTrackingModel,
+                                                                           Asibfm700Logger>>
+{
+    typedef mcc::MccGenericMount<AsibFM700ServoController,
+                                 mcc::MccTelemetry,
+                                 Asibfm700PZoneContainer,
+                                 mcc::MccSimpleSlewingModel,
+                                 mcc::MccSimpleTrackingModel,
+                                 Asibfm700Logger>
+        gm_class_t;
+
+    typedef mcc::MccGenericFsmMount<mcc::MccGenericMount<AsibFM700ServoController,
+                                                         mcc::MccTelemetry,
+                                                         Asibfm700PZoneContainer,
+                                                         mcc::MccSimpleSlewingModel,
+                                                         mcc::MccSimpleTrackingModel,
+                                                         Asibfm700Logger>>
+        base_gm_class_t;
+
+protected:
+    struct Asibfm700ErrorState : base_gm_class_t::MccGenericFsmMountBaseState {
+        static constexpr std::string_view ID{"ASIBFM700-MOUNT-ERROR-STATE"};
+
+        // void exit(MccGenericFsmMountErrorEvent& event)
+        // {
+        //     event.mount()->logWarn("The mount already in error state!");
+        // }
+
+        void enter(MccGenericFsmMountErrorEvent& event)
+        {
+            enterLog(event);
+
+            // event.mount()->logWarn("The mount already in error state!");
+            auto err = event.eventData();
+            event.mount()->logError("An error occured: {} [{} {}]", err.message(), err.value(), err.category().name());
+        }
+
+        void exit(mcc::fsm::traits::fsm_event_c auto& event)
+        {
+            exitLog(event);
+        }
+
+        void enter(mcc::fsm::traits::fsm_event_c auto& event)
+        {
+            enterLog(event);
+
+            // ...
+        }
+
+        using transition_t = mcc::fsm::fsm_transition_table_t<
+            std::pair<MccGenericFsmMountErrorEvent, Asibfm700ErrorState>,
+            std::pair<MccGenericFsmMountInitEvent, MccGenericFsmMountInitState<Asibfm700ErrorState>>,
+            std::pair<MccGenericFsmMountIdleEvent, MccGenericFsmMountIdleState<Asibfm700ErrorState>>>;
+    };
+
+
+    typedef base_gm_class_t::MccGenericFsmMountStartState<Asibfm700ErrorState> Asibfm700StartState;
+
+public:
+    using base_gm_class_t::error_t;
+
+    using Asibfm700CCTE::setStateERFA;
+    using Asibfm700CCTE::updateBulletinA;
+    using Asibfm700CCTE::updateLeapSeconds;
+    using Asibfm700CCTE::updateMeteoERFA;
+
+    using Asibfm700Logger::logCritical;
+    using Asibfm700Logger::logDebug;
+    using Asibfm700Logger::logError;
+    using Asibfm700Logger::logInfo;
+    using Asibfm700Logger::logWarn;
+
+    // using Asibfm700PZoneContainer::addPZone;
+
+    Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_ptr<spdlog::logger> logger);
+
+    ~Asibfm700Mount();
+
+    Asibfm700Mount(Asibfm700Mount&&) = default;
+    Asibfm700Mount& operator=(Asibfm700Mount&&) = default;
+
+    Asibfm700Mount(const Asibfm700Mount&) = delete;
+    Asibfm700Mount& operator=(const Asibfm700Mount&) = delete;
+
+    error_t initMount();
+
+    error_t updateMountConfig(Asibfm700MountConfig const&);
+    Asibfm700MountConfig currentMountConfig();
+
+protected:
+    Asibfm700MountConfig _mountConfig;
+    std::unique_ptr<std::mutex> _mountConfigMutex;
+
+    void errorLogging(const std::string&, const std::error_code&);
+};
+*/
+
+static_assert(mcc::mcc_position_controls_c<Asibfm700Mount>, "");
+static_assert(mcc::mcc_all_controls_c<Asibfm700Mount>, "");
+
+static_assert(mcc::mcc_generic_mount_c<Asibfm700Mount>, "");
+
+}  // namespace asibfm700

asibfm700/asibfm700_netserver.cpp

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

asibfm700/asibfm700_netserver.h

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

asibfm700/asibfm700_netserver_endpoint.h

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

asibfm700/asibfm700_netserver_main.cpp

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

asibfm700/asibfm700_servocontroller.cpp

@@ -0,0 +1,292 @@
+#include "asibfm700_servocontroller.h"
+
+namespace asibfm700
+{
+
+const char* AsibFM700ServoControllerErrorCategory::name() const noexcept
+{
+    return "ASIBFM700-SERVOCONTROLLER-ERROR-CATEGORY";
+}
+
+std::string AsibFM700ServoControllerErrorCategory::message(int ec) const
+{
+    AsibFM700ServoControllerErrorCode err = static_cast<AsibFM700ServoControllerErrorCode>(ec);
+
+    switch (err) {
+        case AsibFM700ServoControllerErrorCode::ERROR_OK:
+            return "OK";
+        case AsibFM700ServoControllerErrorCode::ERROR_FATAL:
+            return "LibSidServo fatal error";
+        case AsibFM700ServoControllerErrorCode::ERROR_BADFORMAT:
+            return "LibSidServo wrong arguments of function";
+        case AsibFM700ServoControllerErrorCode::ERROR_ENCODERDEV:
+            return "LibSidServo encoder device error or can't open";
+        case AsibFM700ServoControllerErrorCode::ERROR_MOUNTDEV:
+            return "LibSidServo mount device error or can't open";
+        case AsibFM700ServoControllerErrorCode::ERROR_FAILED:
+            return "LibSidServo failed to run command";
+        case AsibFM700ServoControllerErrorCode::ERROR_NULLPTR:
+            return "nullptr argument";
+        case AsibFM700ServoControllerErrorCode::ERROR_POLLING_TIMEOUT:
+            return "polling timeout";
+
+        default:
+            return "UNKNOWN";
+    }
+}
+
+
+const AsibFM700ServoControllerErrorCategory& AsibFM700ServoControllerErrorCategory::get()
+{
+    static const AsibFM700ServoControllerErrorCategory constInst;
+    return constInst;
+}
+
+
+
+AsibFM700ServoController::AsibFM700ServoController() : _hardwareConfig(), _setStateMutex(new std::mutex) {}
+
+AsibFM700ServoController::AsibFM700ServoController(hardware_config_t config) : AsibFM700ServoController()
+{
+    _hardwareConfig = std::move(config);
+
+    _hardwareConfig.devConfig.MountDevPath = const_cast<char*>(_hardwareConfig.MountDevPath.c_str());
+    _hardwareConfig.devConfig.EncoderDevPath = const_cast<char*>(_hardwareConfig.EncoderDevPath.c_str());
+    _hardwareConfig.devConfig.EncoderXDevPath = const_cast<char*>(_hardwareConfig.EncoderXDevPath.c_str());
+    _hardwareConfig.devConfig.EncoderYDevPath = const_cast<char*>(_hardwareConfig.EncoderYDevPath.c_str());
+}
+
+
+AsibFM700ServoController::~AsibFM700ServoController() {}
+
+
+constexpr std::string_view AsibFM700ServoController::hardwareName() const
+{
+    return "Sidereal-ServoControllerII";
+}
+
+AsibFM700ServoController::error_t AsibFM700ServoController::hardwareStop()
+{
+    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;
+}
+
+AsibFM700ServoController::error_t AsibFM700ServoController::hardwareInit()
+{
+    return static_cast<AsibFM700ServoControllerErrorCode>(Mount.init(&_hardwareConfig.devConfig));
+}
+
+
+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();
+
+
+    // 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.endptY, .Y = state.endptX};
+
+
+    // correctTo is asynchronous function!!!
+    //
+    // according to the Eddy's implementation of the LibSidServo library it is safe
+    // to pass the addresses of 'cvalpair' and 'cpair' automatic variables
+    // auto err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.correctTo(&cvalpair, &cpair));
+    auto err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.correctTo(&cvalpair));
+
+    return err;
+}
+
+AsibFM700ServoController::error_t AsibFM700ServoController::hardwareGetState(hardware_state_t* state)
+{
+    if (state == nullptr) {
+        return AsibFM700ServoControllerErrorCode::ERROR_NULLPTR;
+    }
+
+    using tp_t = decltype(hardware_state_t::time_point);
+
+    mountdata_t mdata;
+
+    error_t err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.getMountData(&mdata));
+    if (!err) {
+        // 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>;
+
+        // secs_t secs = secs_t{mdata.encXposition.t};
+        // state->time_point = tp_t{std::chrono::duration_cast<tp_t::duration>(secs)};
+
+        // 2025-12-04: coordval_pair_t.X.t is now of type struct timespec
+        auto dr = std::chrono::duration_cast<decltype(state->time_point)::duration>(
+            std::chrono::seconds(mdata.encXposition.t.tv_sec) + std::chrono::nanoseconds(mdata.encXposition.t.tv_nsec));
+        state->time_point = decltype(state->time_point){dr};
+
+
+        // if (mcc::utils::isEqual(secs.count(), 0.0)) {  // model mode?
+        //     state->time_point = decltype(state->time_point)::clock::now();
+        // } else {
+        //     state->time_point = tp_t{std::chrono::duration_cast<tp_t::duration>(secs)};
+        // }
+        // WARNING: TEMPORARY (WAIT FOR Eddy fix its implementation of LibSidServo)!!!
+        //        state->time_point = decltype(state->time_point)::clock::now();
+
+        // according to "SiTech protocol notes" X is DEC-axis and Y is HA-axis
+        state->X = mdata.encYposition.val;
+        state->Y = mdata.encXposition.val;
+
+        state->speedX = mdata.encYspeed.val;
+        state->speedY = mdata.encXspeed.val;
+
+        state->stateX = mdata.Ystate;
+        state->stateY = mdata.Xstate;
+
+        if (mdata.Xstate == AXIS_ERROR || mdata.Ystate == AXIS_ERROR) {
+            state->moving_state = hardware_moving_state_t::HW_MOVE_ERROR;
+        } else {
+            if (mdata.Xstate == AXIS_STOPPED) {
+                if (mdata.Ystate == AXIS_STOPPED) {
+                    state->moving_state = hardware_moving_state_t::HW_MOVE_STOPPED;
+                } 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.Xstate == AXIS_POINTING) {
+                if (mdata.Ystate == AXIS_SLEWING) {
+                    state->moving_state = hardware_moving_state_t::HW_MOVE_SLEWING;
+                } else {
+                    state->moving_state = hardware_moving_state_t::HW_MOVE_ADJUSTING;
+                }
+            } else if (mdata.Xstate == AXIS_GUIDING) {
+                if (mdata.Ystate == AXIS_SLEWING) {
+                    state->moving_state = hardware_moving_state_t::HW_MOVE_SLEWING;
+                } else if (mdata.Ystate == AXIS_POINTING) {
+                    state->moving_state = hardware_moving_state_t::HW_MOVE_ADJUSTING;
+                } else {
+                    state->moving_state = hardware_moving_state_t::HW_MOVE_GUIDING;
+                }
+            } else {
+                state->moving_state = hardware_moving_state_t::HW_MOVE_UNKNOWN;
+            }
+        }
+    }
+
+    return err;
+}
+
+
+void AsibFM700ServoController::hardwareUpdateConfig(conf_t cfg)
+{
+    _hardwareConfig.devConfig = std::move(cfg);
+
+    _hardwareConfig.devConfig.MountDevPath = const_cast<char*>(_hardwareConfig.MountDevPath.c_str());
+    _hardwareConfig.devConfig.EncoderDevPath = const_cast<char*>(_hardwareConfig.EncoderDevPath.c_str());
+    _hardwareConfig.devConfig.EncoderXDevPath = const_cast<char*>(_hardwareConfig.EncoderXDevPath.c_str());
+    _hardwareConfig.devConfig.EncoderYDevPath = const_cast<char*>(_hardwareConfig.EncoderYDevPath.c_str());
+}
+
+
+AsibFM700ServoController::error_t AsibFM700ServoController::hardwareUpdateConfig(hardware_configuration_t cfg)
+{
+    _hardwareConfig.hwConfig = std::move(cfg);
+    return static_cast<AsibFM700ServoControllerErrorCode>(Mount.saveHWconfig(&_hardwareConfig.hwConfig));
+}
+
+
+AsibFM700ServoController::error_t AsibFM700ServoController::hardwareUpdateConfig()
+{
+    return static_cast<AsibFM700ServoControllerErrorCode>(Mount.getHWconfig(&_hardwareConfig.hwConfig));
+}
+
+
+AsibFM700ServoController::hardware_config_t AsibFM700ServoController::getHardwareConfig() const
+{
+    return _hardwareConfig;
+}
+
+}  // namespace asibfm700

asibfm700/asibfm700_servocontroller.h

@@ -0,0 +1,144 @@
+#pragma once
+
+#include <mcc_defaults.h>
+#include <mcc_generics.h>
+
+#include "../LibSidServo/sidservo.h"
+
+
+namespace asibfm700
+{
+
+/*  error codes enum definition  */
+
+enum class AsibFM700ServoControllerErrorCode : int {
+    // error codes from sidservo library
+    ERROR_OK = MCC_E_OK,
+    ERROR_FATAL = MCC_E_FATAL,
+    ERROR_BADFORMAT = MCC_E_BADFORMAT,
+    ERROR_ENCODERDEV = MCC_E_ENCODERDEV,
+    ERROR_MOUNTDEV = MCC_E_MOUNTDEV,
+    ERROR_FAILED = MCC_E_FAILED,
+    // my codes ...
+    ERROR_POLLING_TIMEOUT,
+    ERROR_NULLPTR
+};
+
+// error category
+struct AsibFM700ServoControllerErrorCategory : public std::error_category {
+    const char* name() const noexcept;
+    std::string message(int ec) const;
+
+    static const AsibFM700ServoControllerErrorCategory& get();
+};
+
+
+static inline std::error_code make_error_code(AsibFM700ServoControllerErrorCode ec)
+{
+    return std::error_code(static_cast<int>(ec), AsibFM700ServoControllerErrorCategory::get());
+}
+
+}  // namespace asibfm700
+
+
+namespace std
+{
+
+template <>
+class is_error_code_enum<asibfm700::AsibFM700ServoControllerErrorCode> : public true_type
+{
+};
+
+}  // namespace std
+
+
+namespace asibfm700
+{
+
+class AsibFM700ServoController
+{
+public:
+    typedef std::error_code error_t;
+
+    enum class hardware_moving_state_t : int {
+        HW_MOVE_ERROR = -1,
+        HW_MOVE_STOPPED = 0,
+        HW_MOVE_SLEWING,
+        HW_MOVE_ADJUSTING,
+        HW_MOVE_TRACKING,
+        HW_MOVE_GUIDING,
+        HW_MOVE_UNKNOWN
+    };
+
+    struct hardware_state_t {
+        static constexpr mcc::MccCoordPairKind pair_kind = mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP;
+        mcc::MccTimePoint time_point;
+
+        double X, Y, speedX, speedY;
+        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;
+    };
+
+
+    struct hardware_config_t {
+        // the 'char*' fields from conf_t:
+        //    wrap it to std::string
+        std::string MountDevPath;
+        std::string EncoderDevPath;
+        std::string EncoderXDevPath;
+        std::string EncoderYDevPath;
+
+        conf_t devConfig;                   // devices paths and PIDs parameters
+        hardware_configuration_t hwConfig;  // EEPROM-located configuration
+
+        std::chrono::milliseconds pollingInterval{300};   // hardware polling interval
+        std::chrono::milliseconds pollingTimeout{30000};  // hardware polling timeout
+    };
+
+    /*  constructors and destructor  */
+
+    AsibFM700ServoController();
+
+    AsibFM700ServoController(hardware_config_t config);
+
+    AsibFM700ServoController(const AsibFM700ServoController&) = delete;
+    AsibFM700ServoController& operator=(const AsibFM700ServoController&) = delete;
+
+    AsibFM700ServoController(AsibFM700ServoController&&) = default;
+    AsibFM700ServoController& operator=(AsibFM700ServoController&&) = default;
+
+    virtual ~AsibFM700ServoController();
+
+    /*  public methods  */
+
+    constexpr std::string_view hardwareName() const;
+
+    error_t hardwareSetState(hardware_state_t state);
+    error_t hardwareGetState(hardware_state_t* state);
+
+    error_t hardwareStop();
+    error_t hardwareInit();
+
+    void hardwareUpdateConfig(conf_t cfg);
+
+    // save config to EEPROM
+    error_t hardwareUpdateConfig(hardware_configuration_t cfg);
+    // load config from EEPROM
+    error_t hardwareUpdateConfig();
+
+    hardware_config_t getHardwareConfig() const;
+
+protected:
+    hardware_config_t _hardwareConfig;
+
+    std::unique_ptr<std::mutex> _setStateMutex;
+};
+
+}  // namespace asibfm700

asibfm700/tests/cfg_test.cpp

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

cmake/FindASIO.cmake

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

cxx/CMakeLists.txt

@@ -103,6 +103,8 @@ add_dependencies(ERFA_LIB erfalib)
 set(ERFA_INCLUDE_DIR ${CMAKE_BINARY_DIR}/erfa_lib)
 include_directories(${ERFA_INCLUDE_DIR})
 
+message(STATUS "ERFA: " ${ERFA_INCLUDE_DIR})
+
 option(WITH_TESTS "Build tests" ON)
 
 
@@ -123,21 +125,24 @@ set(CNTR_PROTO_LIB comm_proto)
 add_library(${CNTR_PROTO_LIB} STATIC ${CNTR_PROTO_LIB_SRC})
 
 
-set(MCC_LIBRARY_SRC mcc_mount_concepts.h mcc_fsm_mount.h mcc_mount_coord.h mcc_mount_events_states.h mcc_finite_state_machine.h
+include_directories(${FITPACK_INCLUDE_DIR})
+
+
+set(MCC_LIBRARY_SRC mcc_mount_concepts.h mcc_fsm_mount.h mcc_generic_mount.h mcc_mount_coord.h mcc_mount_events_states.h mcc_finite_state_machine.h
     mcc_mount_pec.h mcc_mount_pz.h mcc_traits.h mcc_mount_telemetry_astrom.h mcc_mount_telemetry.h mcc_mount_config.h mcc_mount_astro_erfa.h
-    mcc_astrom_iers.h mcc_astrom_iers_default.h mcc_slew_model.h mcc_guiding_model.h mcc_utils.h mcc_spdlog.h)
+    mcc_astrom_iers.h mcc_astrom_iers_default.h mcc_slew_model.h mcc_guiding_model.h mcc_slew_guiding_model_common.h mcc_utils.h mcc_spdlog.h)
 set(MCC_LIBRARY mcc)
 add_library(${MCC_LIBRARY} INTERFACE ${MCC_LIBRARY_SRC})
 target_compile_features(${MCC_LIBRARY} INTERFACE cxx_std_23)
-target_include_directories(${MCC_LIBRARY} INTERFACE ${FITPACK_INCLUDE_DIR})
+target_include_directories(${MCC_LIBRARY} INTERFACE ${FITPACK_INCLUDE_DIR}  ${ERFA_INCLUDE_DIR})
 
 
-set(ASIBFM700_LIB_SRC asibfm700_hardware.h asibfm700_hardware.cpp)
+set(ASIBFM700_LIB_SRC asibfm700_common.h asibfm700_hardware.h asibfm700_hardware.cpp  asibfm700_mount.h asibfm700_mount.cpp
+    asibfm700_config.h)
 set(ASIBFM700_LIB asibfm700)
-add_library(${ASIBFM700_LIB} STATIC ${ASIBFM700_LIB_SRC}
-    asibfm700_slew_model.h asibfm700_slew_model.cpp
-    asibfm700_common.h)
-target_include_directories(${ASIBFM700_LIB} PRIVATE ${FITPACK_INCLUDE_DIR})
+add_library(${ASIBFM700_LIB} STATIC ${ASIBFM700_LIB_SRC})
+# target_include_directories(${ASIBFM700_LIB} PRIVATE ${FITPACK_INCLUDE_DIR}  ${ERFA_INCLUDE_DIR})
+target_include_directories(${ASIBFM700_LIB} PUBLIC ${FITPACK_INCLUDE_DIR}  ${ERFA_INCLUDE_DIR})
 
 # set(MOUNT_SERVER_APP_SRC mount.h mount_state.h mount_server.cpp comm_server.h comm_server_endpoint.h comm_server_configfile.h mount_astrom.h
 #     mount_astrom_default.h mcc_coord.h mount_pz.h mcc_fsm.h mcc_fsm_utils.h mcc_finite_state_machine.h mcc_mount_events_states.h)
@@ -158,6 +163,7 @@ if (WITH_TESTS)
 
     set(ASTROM_TEST_APP astrom_test)
     add_executable(${ASTROM_TEST_APP} tests/astrom_test.cpp)
+    target_include_directories(${ASTROM_TEST_APP} PRIVATE ${FITPACK_INCLUDE_DIR} ${ERFA_INCLUDE_DIR})
     target_link_libraries(${ASTROM_TEST_APP} ERFA_LIB)
 
     set(FITPACK_TEST_APP fitpack_test)

cxx/asibfm700_common.h

@@ -5,26 +5,24 @@
 /*                          COMMON DEFINITIONS                         */
 
 
+#include "asibfm700_hardware.h"
+// #include "mcc_fsm_mount.h"
+#include "mcc_guiding_model.h"
 #include "mcc_mount_astro_erfa.h"
 #include "mcc_mount_pec.h"
+#include "mcc_mount_pz.h"
 #include "mcc_mount_telemetry.h"
-
-#include "asibfm700_hardware.h"
+#include "mcc_slew_model.h"
+// #include "mcc_spdlog.h"
 
 namespace asibfm700
 {
 
-typedef mcc::astrom::erfa::MccMountAstromEngineERFA<mcc::MccAngle> AsibFM700AstromEngine;
+typedef mcc::astrom::erfa::MccMountAstromEngineERFA AsibFM700AstromEngine;
 
 typedef mcc::MccMountDefaultPEC<mcc::MccMountType::FORK_TYPE> AsibFM700PointingErrorCorrection;
 
-struct AsibFM700TelemetryData : mcc::MccMountTelemetryData<AsibFM700AstromEngine, AsibFM700PointingErrorCorrection> {
-    // apparent target (user-input) current coordinates
-    coord_t tagRA, tagDEC;
-    coord_t tagHA;
-    coord_t tagAZ, tagALT;
-    coord_t tagPA;
-};
+typedef mcc::MccMountTelemetryData<AsibFM700AstromEngine> AsibFM700TelemetryData;
 
 typedef mcc::MccMountTelemetry<AsibFM700AstromEngine,
                                AsibFM700PointingErrorCorrection,
@@ -32,14 +30,52 @@ typedef mcc::MccMountTelemetry<AsibFM700AstromEngine,
                                AsibFM700TelemetryData>
     AsibFM700Telemetry;
 
+static_assert(std::movable<AsibFM700Telemetry>);
+static_assert(std::movable<AsibFM700AstromEngine>);
+static_assert(std::movable<mcc::MccAltLimitPZ<>>);
+
+// typedef mcc::MccSimpleSlewModel<mcc::utils::MccSpdlogLogger> AsibFM700SlewModel;
+// typedef mcc::MccSimpleGuidingModel<mcc::utils::MccSpdlogLogger> AsibFM700GuidingModel;
+
+
+template <mcc::traits::mcc_logger_c LoggerT>
+using AsibFM700SlewModel = mcc::MccSimpleSlewModel<LoggerT>;
+
+template <mcc::traits::mcc_logger_c LoggerT>
+using AsibFM700GuidingModel = mcc::MccSimpleGuidingModel<LoggerT>;
+
+/*
+
+template <mcc::traits::mcc_logger_c LoggerT>
+struct AsibFM700MountControls {
+    AsibFM700MountControls(AsibFM700MountControls&&) = default;
+    AsibFM700MountControls& operator=(AsibFM700MountControls&&) = default;
+
+    AsibFM700AstromEngine astrometryEngine;
+    AsibFM700PointingErrorCorrection PEC;
+    AsibFM700Hardware hardware;
+    AsibFM700Telemetry telemetry{astrometryEngine, PEC, hardware};
+
+    std::tuple<mcc::MccAltLimitPZ<mcc::MccAltLimitKind::MIN_ALT_LIMIT>> prohibitedZones;
+
+    AsibFM700SlewModel<LoggerT> slewModel{PEC, hardware, prohibitedZones};
+    AsibFM700GuidingModel<LoggerT> guidingModel{PEC, hardware, prohibitedZones};
+};
+
+
+static_assert(mcc::traits::mcc_mount_controls_c<AsibFM700MountControls<mcc::utils::MccSpdlogLogger>>);
 
 // global mount configuration
 
-struct AsibFM700Config {
-    std::chrono::milliseconds hardwareAskingPeriod{100};  // main cycle period
 
-    // mount hardware config
-    AsibFM700Hardware::hardware_config_t hardwareConfig;
+
+class AsibFM700Mount : public mcc::MccMount<AsibFM700MountControls<mcc::utils::MccSpdlogLogger>>
+{
+    class InitState : public AsibFM700Mount::MccMountEventBase
+    {
+    };
+
+public:
 };
-
+*/
 }  // namespace asibfm700

cxx/asibfm700_config.h

@@ -0,0 +1,34 @@
+#pragma once
+
+
+/*                          AstroSIB-FM700 FORK MOUNT CONTROL LIBRARY                           */
+
+
+/*                          MOUNT CONFIGURATION DEFINITION                                      */
+
+#include "asibfm700_common.h"
+
+namespace asibfm700
+{
+
+struct AsibFM700Config {
+    std::chrono::milliseconds hardwarePollingPeriod{100};  // main cycle period
+
+    // mount hardware config
+    AsibFM700Hardware::hardware_config_t hardwareConfig;
+
+    // astrometry engine
+    AsibFM700AstromEngine::engine_state_t astromEngineState;
+    std::string leapSecondFilename;
+    std::string bulletinAFilename;
+
+    // PEC
+    AsibFM700PointingErrorCorrection::pec_data_t pecData;
+
+    // slew and guiding
+    mcc::MccSlewAndGuidingPoint::slew_guiding_params_t slewGuidingParams;
+};
+
+
+
+}  // namespace asibfm700

cxx/asibfm700_hardware.cpp

@@ -69,33 +69,6 @@ AsibFM700Hardware::AsibFM700Hardware(const hardware_config_t& conf)
     _hardwareConfig.devConfig.EncoderDevPath = const_cast<char*>(_hardwareConfig.EncoderDevPath.c_str());
     _hardwareConfig.devConfig.EncoderXDevPath = const_cast<char*>(_hardwareConfig.EncoderXDevPath.c_str());
     _hardwareConfig.devConfig.EncoderYDevPath = const_cast<char*>(_hardwareConfig.EncoderYDevPath.c_str());
-
-    _sideralRate2 *= _sideralRate2;
-    _sideralRateEps2 = 0.01;  // 1%
-
-    // start state polling
-
-    _statePollingThread = std::jthread([this](std::stop_token stoken) {
-        mountdata_t data;
-
-        while (true) {
-            if (stoken.stop_requested()) {
-                return;
-            }
-
-            error_t err = static_cast<AsibFM700HardwareErrorCode>(Mount.getMountData(&data));
-
-
-            if (err == AsibFM700HardwareErrorCode::ERROR_OK) {
-                // are both motors stopped?
-                bool stop_motors =
-                    (data.extradata.ExtraBits & XMOTOR_STOP_BIT) && (data.extradata.ExtraBits & YMOTOR_STOP_BIT);
-                if (stop_motors) {
-                    _state = hw_state_t::HW_STATE_STOP;
-                }
-            }
-        }
-    });
 }
 
 // AsibFM700Hardware::AsibFM700Hardware(AsibFM700Hardware&& other)
@@ -118,52 +91,35 @@ std::string_view AsibFM700Hardware::id() const
 }
 
 
-AsibFM700Hardware::error_t AsibFM700Hardware::getState(AsibFM700Hardware::hw_state_t& state) const
-{
-    mountdata_t data;
-    error_t err = static_cast<AsibFM700HardwareErrorCode>(Mount.getMountData(&data));
-
-    if (err == AsibFM700HardwareErrorCode::ERROR_OK) {
-        // are both motors stopped?
-        bool stop_motors = (data.extradata.ExtraBits & XMOTOR_STOP_BIT) && (data.extradata.ExtraBits & YMOTOR_STOP_BIT);
-        if (stop_motors) {
-            state = hw_state_t::HW_STATE_STOP;
-            return AsibFM700HardwareErrorCode::ERROR_OK;
-        }
-
-        // compute current speed
-        auto rate2 = data.encXspeed.val * data.encXspeed.val + data.encYspeed.val * data.encYspeed.val;
-        auto ratio2 = rate2 / _sideralRate2;
-        if (ratio2 <= _sideralRateEps2) {  // tracking
-            state = hw_state_t::HW_STATE_TRACK;
-        } else {
-            state = hw_state_t::HW_STATE_SLEW;
-        }
-    }
-
-    return err;
-}
-
-
 AsibFM700Hardware::error_t AsibFM700Hardware::setPos(AsibFM700Hardware::axes_pos_t pos)
 {
     error_t err;
 
     // according to"SiTech protocol notes" X is DEC-axis and Y is HA-axis
     coordpair_t hw_pos{.X = pos.y, .Y = pos.x};
+    double tp = std::chrono::duration<double>(pos.time_point.time_since_epoch()).count();
+    coordval_pair_t hw_posval{.X{.val = pos.x, .t = tp}, .Y{.val = pos.y, .t = tp}};
 
-    if (!pos.flags.slewNguide) {
-        return static_cast<AsibFM700HardwareErrorCode>(Mount.slewTo(&hw_pos, pos.flags));
+    //
+    // WARNING: The LibSidservo API was chagned! hw_pos is endpoint where mount must
+    //          go "after" slewing
+    //
+
+    switch (pos.moving_type) {
+        case hw_moving_type_t::HW_MOVE_SLEWING:  // slew mount
+            if (pos.moveAndStop) {
+                // err = static_cast<AsibFM700HardwareErrorCode>(Mount.moveTo(&hw_pos));
+                err = static_cast<AsibFM700HardwareErrorCode>(Mount.correctTo(&hw_posval, &hw_pos));
+            } else {
+                // err = static_cast<AsibFM700HardwareErrorCode>(Mount.slewTo(&hw_pos, pos.flags));
+                err = static_cast<AsibFM700HardwareErrorCode>(Mount.correctTo(&hw_posval, &hw_pos));
             }
-
-    switch (pos.state) {
-        case hw_state_t::HW_STATE_SLEW:  // slew mount
-            err = static_cast<AsibFM700HardwareErrorCode>(Mount.slewTo(&hw_pos, pos.flags));
             break;
-        case hw_state_t::HW_STATE_TRACK:  // interpretate as guiding correction
-            err = static_cast<AsibFM700HardwareErrorCode>(Mount.correctBy(&hw_pos));
+        case hw_moving_type_t::HW_MOVE_ADJUSTING:  // corrections at the end of slewing
+            err = static_cast<AsibFM700HardwareErrorCode>(Mount.correctTo(&hw_posval, &hw_pos));
             break;
-        case hw_state_t::HW_STATE_STOP:
+        case hw_moving_type_t::HW_MOVE_GUIDING:  // interpretate as guiding correction
+            err = static_cast<AsibFM700HardwareErrorCode>(Mount.correctTo(&hw_posval, &hw_pos));
             break;
         default:
             break;
@@ -194,9 +150,6 @@ AsibFM700Hardware::error_t AsibFM700Hardware::getPos(AsibFM700Hardware::axes_pos
 
         pos.xrate = data.encYspeed.val;
         pos.yrate = data.encXspeed.val;
-
-        // mount state
-        err = getState(pos.state);
     }
 
     return err;

cxx/asibfm700_hardware.h

@@ -71,15 +71,16 @@ public:
     typedef mcc::MccAngle coord_t;
     typedef std::chrono::system_clock::time_point time_point_t;  // UTC time
 
-    enum class hw_state_t : int { HW_STATE_STOP, HW_STATE_SLEW, HW_STATE_TRACK };
+    enum class hw_moving_type_t : int { HW_MOVE_SLEWING, HW_MOVE_ADJUSTING, HW_MOVE_TRACKING, HW_MOVE_GUIDING };
 
     struct axes_pos_t {
         time_point_t time_point;
         coord_t x, y;
         coord_t xrate, yrate;
 
-        hw_state_t state;
-        slewflags_t flags;
+        hw_moving_type_t moving_type{hw_moving_type_t::HW_MOVE_TRACKING};
+        // slewflags_t flags;
+        bool moveAndStop{false};
     };
 
 
@@ -108,7 +109,6 @@ public:
 
     std::string_view id() const;
 
-    error_t getState(hw_state_t&) const;
     error_t setPos(axes_pos_t);
     error_t getPos(axes_pos_t&);
 
@@ -118,9 +118,6 @@ public:
 private:
     hardware_config_t _hardwareConfig;
 
-    std::jthread _statePollingThread;
-    hw_state_t _state;
-
     double _sideralRate2;  // square of sideral rate
     double _sideralRateEps2;
 };

cxx/asibfm700_mount.cpp

@@ -0,0 +1,20 @@
+#include "asibfm700_mount.h"
+
+namespace asibfm700
+{
+
+template <mcc::traits::mcc_range_of_input_char_range R>
+AsibFM700Mount::AsibFM700Mount(AsibFM700Config config, std::shared_ptr<spdlog::logger> logger, const R& pattern_range)
+    : mcc::utils::MccSpdlogLogger(std::move(logger), pattern_range),
+      _currentConfig(std::move(config)),
+      base_gm_t({_currentConfig.astromEngineState},
+                {_currentConfig.hardwareConfig},
+                {_currentConfig.pecData},
+                AsibFM700Telemetry{&_astromEngine, &_pec, &_hardware},
+                slew_model_t{&_telemetry, &_hardware, &_pzFuncs},
+                guiding_model_t{&_telemetry, &_hardware, &_pzFuncs})
+{
+}
+
+
+}  // namespace asibfm700

cxx/asibfm700_mount.h

@@ -0,0 +1,48 @@
+#pragma once
+
+/*                          AstroSIB-FM700 FORK MOUNT CONTROL LIBRARY                           */
+
+
+#include "asibfm700_common.h"
+#include "asibfm700_config.h"
+
+#include "mcc_generic_mount.h"
+#include "mcc_spdlog.h"
+
+namespace asibfm700
+{
+
+
+class AsibFM700Mount : public mcc::utils::MccSpdlogLogger,
+                       public mcc::MccGenericMount<AsibFM700AstromEngine,
+                                                   AsibFM700Hardware,
+                                                   AsibFM700PointingErrorCorrection,
+                                                   AsibFM700Telemetry,
+                                                   AsibFM700SlewModel<mcc::utils::MccSpdlogLogger>,
+                                                   AsibFM700GuidingModel<mcc::utils::MccSpdlogLogger>>
+{
+    using base_gm_t = mcc::MccGenericMount<AsibFM700AstromEngine,
+                                           AsibFM700Hardware,
+                                           AsibFM700PointingErrorCorrection,
+                                           AsibFM700Telemetry,
+                                           AsibFM700SlewModel<mcc::utils::MccSpdlogLogger>,
+                                           AsibFM700GuidingModel<mcc::utils::MccSpdlogLogger>>;
+
+public:
+    typedef AsibFM700SlewModel<mcc::utils::MccSpdlogLogger> slew_model_t;
+    typedef AsibFM700GuidingModel<mcc::utils::MccSpdlogLogger> guiding_model_t;
+
+    template <mcc::traits::mcc_range_of_input_char_range R = decltype(LOGGER_DEFAULT_FORMAT)>
+    AsibFM700Mount(AsibFM700Config config,
+                   std::shared_ptr<spdlog::logger> logger,
+                   const R& pattern_range = LOGGER_DEFAULT_FORMAT);
+
+    ~AsibFM700Mount();
+
+
+private:
+    AsibFM700Config _currentConfig;
+};
+
+
+}  // namespace asibfm700

cxx/asibfm700_slew_model.cpp

@@ -1,110 +0,0 @@
-#include "asibfm700_slew_model.h"
-
-
-namespace asibfm700
-{
-
-/*                          error category implementation  */
-
-const char* AsibFM700SlewModelErrorCategory::name() const noexcept
-{
-    return "ASTROSIB FM700 MOUNT SLEW MODEL ERROR CATEGORY";
-}
-
-std::string AsibFM700SlewModelErrorCategory::message(int ec) const
-{
-    AsibFM700SlewModelErrorCode code = static_cast<AsibFM700SlewModelErrorCode>(ec);
-
-    std::string msg;
-
-    switch (code) {
-        case AsibFM700SlewModelErrorCode::ERROR_OK:
-            msg = "OK";
-        default:
-            msg = "UNKNOWN ERROR";
-    }
-
-    return msg;
-}
-
-const AsibFM700SlewModelErrorCategory& AsibFM700SlewModelErrorCategory::get()
-{
-    static const AsibFM700SlewModelErrorCategory constInst;
-    return constInst;
-}
-
-
-AsibFM700SlewModel::AsibFM700SlewModel(AsibFM700Hardware& hw_control, AsibFM700AstromEngine& astrom_engine)
-    : _hwControl(hw_control), _astromEngine(astrom_engine)
-{
-}
-
-
-AsibFM700SlewModel::error_t AsibFM700SlewModel::slew(const slew_params_t& slew_pars, AsibFM700Telemetry& telemetry)
-{
-    using astrom_t = std::remove_reference_t<decltype(_astromEngine)>;
-    using coord_t = typename astrom_t::coord_t;
-    using jd_t = typename astrom_t::juldate_t;
-
-    AsibFM700SlewModel::error_t res_err = AsibFM700SlewModelErrorCode::ERROR_OK;
-
-    AsibFM700Hardware::axes_pos_t ax_pos;
-
-    if (slew_pars.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_XY) {
-        // trivial case (the pair is interpretated as raw encoder coordinates)
-        ax_pos.x = slew_pars.x;
-        ax_pos.y = slew_pars.y;
-    } else if (slew_pars.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {  // catalog coordinates
-        jd_t jd;
-        coord_t ra_app, dec_app, ha, az, alt;
-        typename astrom_t::eo_t eo;
-
-        auto err = _astromEngine.greg2jul(std::chrono::system_clock::now(), jd);
-
-        if (!err) {
-            err = _astromEngine.icrs2obs(slew_pars.x, slew_pars.y, jd, ra_app, dec_app, ha, az, alt, eo);
-
-            if (!err) {
-                res_err = slew({.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP,
-                                .x = ha,
-                                .y = dec_app,
-                                .stop = slew_pars.stop},
-                               telemetry);
-            }
-        }
-
-    } else if (slew_pars.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_RADEC_APP) {  // apparent
-        jd_t jd;
-        typename astrom_t::eo_t eo;
-
-        auto err = _astromEngine.greg2jul(std::chrono::system_clock::now(), jd);
-        if (!err) {
-            typename astrom_t::sideral_time_t lst;
-            err = _astromEngine.apparentSiderTime(jd, lst, true);
-
-            if (!err) {
-                err = _astromEngine.eqOrigins(jd, eo);
-                if (!err) {
-                    res_err = slew({.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP,
-                                    .x = lst - slew_pars.x + eo,  // HA = LST - RA_APP + EO
-                                    .y = slew_pars.y,
-                                    .stop = slew_pars.stop},
-                                   telemetry);
-                }
-            }
-        }
-    } else if (slew_pars.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP) {  // apparent
-        // compute encoders coordinates
-    } else if (slew_pars.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_AZALT) {
-    } else if (slew_pars.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_AZZD) {
-    }
-
-    auto err = _hwControl.setPos(std::move(ax_pos));
-
-    while (true) {
-    }
-
-    return res_err;
-}
-
-}  // namespace asibfm700

cxx/asibfm700_slew_model.h

@@ -1,75 +0,0 @@
-#pragma once
-
-/*                          AstroSIB-FM700 FORK MOUNT CONTROL LIBRARY                           */
-
-/*                          SLEW MODEL IMPLEMENTATION                         */
-
-
-#include "asibfm700_common.h"
-
-namespace asibfm700
-{
-
-enum class AsibFM700SlewModelErrorCode : int { ERROR_OK };
-
-// error category
-struct AsibFM700SlewModelErrorCategory : public std::error_category {
-    const char* name() const noexcept;
-    std::string message(int ec) const;
-
-    static const AsibFM700SlewModelErrorCategory& get();
-};
-
-
-inline std::error_code make_error_code(AsibFM700SlewModelErrorCode ec)
-{
-    return std::error_code(static_cast<int>(ec), AsibFM700SlewModelErrorCategory::get());
-}
-
-}  // namespace asibfm700
-
-
-
-namespace std
-{
-
-template <>
-class is_error_code_enum<asibfm700::AsibFM700SlewModelErrorCode> : public true_type
-{
-};
-
-}  // namespace std
-
-
-
-namespace asibfm700
-{
-
-class AsibFM700SlewModel final
-{
-public:
-    typedef std::error_code error_t;
-
-    struct slew_params_t {
-        typedef mcc::MccAngle coord_t;
-
-        mcc::MccCoordPairKind coordPairKind{mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP};
-
-        coord_t x{0.0};
-        coord_t y{0.0};
-
-        bool stop{false};
-    };
-
-    AsibFM700SlewModel(AsibFM700Hardware& hw_control, AsibFM700AstromEngine& astrom_engine);
-
-    ~AsibFM700SlewModel();
-
-    error_t slew(const slew_params_t&, AsibFM700Telemetry&);
-
-private:
-    AsibFM700Hardware& _hwControl;
-    AsibFM700AstromEngine& _astromEngine;
-};
-
-}  // namespace asibfm700

cxx/mcc_astrom_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 69 issued in January 2025
+#  Updated through IERS Bulletin 70 issued in July 2025
 #  
 #
-#  File expires on 28 December 2025
+#  File expires on 28 June 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            *   
       **********************************************************************   
-      3 July 2025                                       Vol. XXXVIII No. 027   
+      14 August 2025                                    Vol. XXXVIII No. 033   
       ______________________________________________________________________   
       GENERAL INFORMATION:                                                     
          MJD = Julian Date - 2 400 000.5 days                                  
@@ -76,13 +76,15 @@ static std::string MCC_DEFAULT_IERS_BULLETIN_A_FILE = R"--(
             where pi = 3.14159265... and T is the date in Besselian years.     
          TT = TAI + 32.184 seconds                                             
          DUT1= (UT1-UTC) transmitted with time signals                         
-             = 0.0 seconds beginning 26 December 2024 at 0000 UTC              
              = +0.1 seconds beginning 10 July 2025 at 0000 UTC                 
          Beginning 1 January 2017:                                             
             TAI-UTC = 37.000 000 seconds                                       
      ***********************************************************************
      * ANNOUNCEMENTS:                                                      *
      *                                                                     *
+     * There will NOT be a leap second introduced in UTC                   *
+     * at the end of December 2025.                                        *
+     *                                                                     *
      * The primary source for IERS Rapid Service/Prediction Center (RS/PC) *
      * data products is the official IERS RS/PC website:                   *
      *   https://maia.usno.navy.mil                                        *
@@ -114,48 +116,13 @@ static std::string MCC_DEFAULT_IERS_BULLETIN_A_FILE = R"--(
                               IERS Rapid Service                               
               MJD      x    error     y    error   UT1-UTC   error             
                        "      "       "      "        s        s               
-   25  6 27  60853 0.15472 .00009 0.44036 .00009  0.040354 0.000022          
-   25  6 28  60854 0.15644 .00009 0.44013 .00009  0.041389 0.000023          
-   25  6 29  60855 0.15844 .00009 0.44006 .00009  0.042204 0.000024          
-   25  6 30  60856 0.16029 .00009 0.44003 .00009  0.042854 0.000016          
-   25  7  1  60857 0.16204 .00009 0.43988 .00009  0.043427 0.000013          
-   25  7  2  60858 0.16365 .00009 0.43965 .00009  0.043890 0.000012          
-   25  7  3  60859 0.16516 .00009 0.43931 .00009  0.044366 0.000009          
-                                                                               
-                              IERS Final Values                                
-                               MJD        x        y      UT1-UTC              
-                                          "        "         s                 
-           25  5  2           60797    0.0865   0.4180   0.03007       
-           25  5  3           60798    0.0873   0.4191   0.03031       
-           25  5  4           60799    0.0882   0.4202   0.03039       
-           25  5  5           60800    0.0889   0.4212   0.03031       
-           25  5  6           60801    0.0898   0.4221   0.03006       
-           25  5  7           60802    0.0907   0.4232   0.02970       
-           25  5  8           60803    0.0915   0.4238   0.02932       
-           25  5  9           60804    0.0925   0.4244   0.02898       
-           25  5 10           60805    0.0939   0.4247   0.02874       
-           25  5 11           60806    0.0955   0.4251   0.02855       
-           25  5 12           60807    0.0970   0.4259   0.02849       
-           25  5 13           60808    0.0980   0.4268   0.02857       
-           25  5 14           60809    0.0990   0.4277   0.02880       
-           25  5 15           60810    0.1001   0.4288   0.02915       
-           25  5 16           60811    0.1008   0.4299   0.02958       
-           25  5 17           60812    0.1012   0.4309   0.02999       
-           25  5 18           60813    0.1016   0.4316   0.03034       
-           25  5 19           60814    0.1027   0.4318   0.03056       
-           25  5 20           60815    0.1040   0.4321   0.03061       
-           25  5 21           60816    0.1052   0.4328   0.03042       
-           25  5 22           60817    0.1063   0.4338   0.02998       
-           25  5 23           60818    0.1073   0.4346   0.02931       
-           25  5 24           60819    0.1081   0.4356   0.02856       
-           25  5 25           60820    0.1086   0.4365   0.02791       
-           25  5 26           60821    0.1096   0.4368   0.02748       
-           25  5 27           60822    0.1106   0.4373   0.02744       
-           25  5 28           60823    0.1114   0.4375   0.02772       
-           25  5 29           60824    0.1116   0.4380   0.02813       
-           25  5 30           60825    0.1120   0.4375   0.02851       
-           25  5 31           60826    0.1127   0.4374   0.02881       
-           25  6  1           60827    0.1132   0.4377   0.02899       
+   25  8  8  60895 0.21521 .00009 0.41904 .00009  0.069826 0.000016          
+   25  8  9  60896 0.21558 .00009 0.41771 .00009  0.070764 0.000016          
+   25  8 10  60897 0.21616 .00009 0.41640 .00009  0.071442 0.000017          
+   25  8 11  60898 0.21726 .00009 0.41513 .00009  0.071836 0.000016          
+   25  8 12  60899 0.21832 .00009 0.41407 .00009  0.071996 0.000017          
+   25  8 13  60900 0.21871 .00009 0.41314 .00009  0.072040 0.000013          
+   25  8 14  60901 0.21892 .00009 0.41223 .00009  0.072161 0.000011          
                                                                                
       _______________________________________________________________________  
                                                                                
@@ -163,487 +130,387 @@ 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 =  0.1314 + 0.0400 cos A + 0.1547 sin A - 0.0075 cos C - 0.0886 sin C  
-      y =  0.3810 + 0.1454 cos A - 0.0330 sin A - 0.0886 cos C + 0.0075 sin C  
-         UT1-UTC =  0.0606 + 0.00011 (MJD - 60867) - (UT2-UT1)                 
+      x =  0.1410 + 0.1141 cos A + 0.0905 sin A - 0.0377 cos C - 0.0594 sin C  
+      y =  0.3821 + 0.0927 cos A - 0.1005 sin A - 0.0594 cos C + 0.0377 sin C  
+         UT1-UTC =  0.0478 + 0.00010 (MJD - 60909) - (UT2-UT1)                 
                                                                                
-      where A = 2*pi*(MJD-60859)/365.25 and C = 2*pi*(MJD-60859)/435.          
+      where A = 2*pi*(MJD-60901)/365.25 and C = 2*pi*(MJD-60901)/435.          
                                                                                
-         TAI-UTC(MJD 60860) = 37.0                                             
+         TAI-UTC(MJD 60902) = 37.0                                             
       The accuracy may be estimated from the expressions:                      
-      S x,y = 0.00068 (MJD-60859)**0.80   S t = 0.00025 (MJD-60859)**0.75      
+      S x,y = 0.00068 (MJD-60901)**0.80   S t = 0.00025 (MJD-60901)**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  7  4  60860       0.1666      0.4389      0.04491         
-       2025  7  5  60861       0.1680      0.4385      0.04561         
-       2025  7  6  60862       0.1694      0.4380      0.04651         
-       2025  7  7  60863       0.1708      0.4375      0.04762         
-       2025  7  8  60864       0.1721      0.4369      0.04889         
-       2025  7  9  60865       0.1734      0.4364      0.05025         
-       2025  7 10  60866       0.1747      0.4359      0.05163         
-       2025  7 11  60867       0.1760      0.4353      0.05295         
-       2025  7 12  60868       0.1772      0.4347      0.05411         
-       2025  7 13  60869       0.1785      0.4341      0.05505         
-       2025  7 14  60870       0.1797      0.4335      0.05573         
-       2025  7 15  60871       0.1809      0.4329      0.05615         
-       2025  7 16  60872       0.1821      0.4322      0.05641         
-       2025  7 17  60873       0.1832      0.4315      0.05666         
-       2025  7 18  60874       0.1844      0.4308      0.05701         
-       2025  7 19  60875       0.1855      0.4301      0.05759         
-       2025  7 20  60876       0.1867      0.4294      0.05843         
-       2025  7 21  60877       0.1878      0.4286      0.05953         
-       2025  7 22  60878       0.1889      0.4278      0.06082         
-       2025  7 23  60879       0.1899      0.4271      0.06216         
-       2025  7 24  60880       0.1910      0.4263      0.06342         
-       2025  7 25  60881       0.1920      0.4254      0.06451         
-       2025  7 26  60882       0.1931      0.4246      0.06536         
-       2025  7 27  60883       0.1941      0.4237      0.06600         
-       2025  7 28  60884       0.1951      0.4229      0.06647         
-       2025  7 29  60885       0.1960      0.4220      0.06686         
-       2025  7 30  60886       0.1970      0.4211      0.06726         
-       2025  7 31  60887       0.1979      0.4201      0.06774         
-       2025  8  1  60888       0.1988      0.4192      0.06835         
-       2025  8  2  60889       0.1997      0.4182      0.06912         
-       2025  8  3  60890       0.2006      0.4173      0.07005         
-       2025  8  4  60891       0.2015      0.4163      0.07113         
-       2025  8  5  60892       0.2023      0.4153      0.07233         
-       2025  8  6  60893       0.2031      0.4143      0.07357         
-       2025  8  7  60894       0.2039      0.4132      0.07478         
-       2025  8  8  60895       0.2047      0.4122      0.07584         
-       2025  8  9  60896       0.2054      0.4111      0.07666         
-       2025  8 10  60897       0.2062      0.4101      0.07718         
-       2025  8 11  60898       0.2069      0.4090      0.07742         
-       2025  8 12  60899       0.2075      0.4079      0.07746         
-       2025  8 13  60900       0.2082      0.4068      0.07741         
-       2025  8 14  60901       0.2089      0.4057      0.07742         
-       2025  8 15  60902       0.2095      0.4045      0.07762         
-       2025  8 16  60903       0.2101      0.4034      0.07809         
-       2025  8 17  60904       0.2106      0.4022      0.07884         
-       2025  8 18  60905       0.2112      0.4011      0.07981         
-       2025  8 19  60906       0.2117      0.3999      0.08088         
-       2025  8 20  60907       0.2122      0.3987      0.08193         
-       2025  8 21  60908       0.2127      0.3975      0.08285         
-       2025  8 22  60909       0.2132      0.3963      0.08355         
-       2025  8 23  60910       0.2136      0.3951      0.08403         
-       2025  8 24  60911       0.2140      0.3939      0.08432         
-       2025  8 25  60912       0.2144      0.3927      0.08451         
-       2025  8 26  60913       0.2147      0.3915      0.08467         
-       2025  8 27  60914       0.2151      0.3902      0.08488         
-       2025  8 28  60915       0.2154      0.3890      0.08522         
-       2025  8 29  60916       0.2157      0.3877      0.08573         
-       2025  8 30  60917       0.2159      0.3865      0.08641         
-       2025  8 31  60918       0.2162      0.3852      0.08727         
-       2025  9  1  60919       0.2164      0.3840      0.08825         
-       2025  9  2  60920       0.2165      0.3827      0.08931         
-       2025  9  3  60921       0.2167      0.3814      0.09034         
-       2025  9  4  60922       0.2168      0.3802      0.09125         
-       2025  9  5  60923       0.2169      0.3789      0.09195         
-       2025  9  6  60924       0.2170      0.3776      0.09236         
-       2025  9  7  60925       0.2171      0.3763      0.09245         
-       2025  9  8  60926       0.2171      0.3750      0.09226         
-       2025  9  9  60927       0.2171      0.3738      0.09190         
-       2025  9 10  60928       0.2171      0.3725      0.09154         
-       2025  9 11  60929       0.2171      0.3712      0.09134         
-       2025  9 12  60930       0.2170      0.3699      0.09141         
-       2025  9 13  60931       0.2169      0.3686      0.09178         
-       2025  9 14  60932       0.2168      0.3673      0.09239         
-       2025  9 15  60933       0.2167      0.3661      0.09314         
-       2025  9 16  60934       0.2165      0.3648      0.09389         
-       2025  9 17  60935       0.2163      0.3635      0.09452         
-       2025  9 18  60936       0.2161      0.3622      0.09495         
-       2025  9 19  60937       0.2158      0.3609      0.09516         
-       2025  9 20  60938       0.2156      0.3597      0.09517         
-       2025  9 21  60939       0.2153      0.3584      0.09503         
-       2025  9 22  60940       0.2150      0.3571      0.09484         
-       2025  9 23  60941       0.2146      0.3559      0.09466         
-       2025  9 24  60942       0.2142      0.3546      0.09458         
-       2025  9 25  60943       0.2139      0.3534      0.09465         
-       2025  9 26  60944       0.2134      0.3521      0.09489         
-       2025  9 27  60945       0.2130      0.3509      0.09530         
-       2025  9 28  60946       0.2125      0.3497      0.09585         
-       2025  9 29  60947       0.2120      0.3484      0.09649         
-       2025  9 30  60948       0.2115      0.3472      0.09713         
-       2025 10  1  60949       0.2110      0.3460      0.09770         
-       2025 10  2  60950       0.2104      0.3448      0.09809         
-       2025 10  3  60951       0.2099      0.3436      0.09823         
-       2025 10  4  60952       0.2093      0.3424      0.09807         
-       2025 10  5  60953       0.2086      0.3412      0.09759         
-       2025 10  6  60954       0.2080      0.3401      0.09687         
-       2025 10  7  60955       0.2073      0.3389      0.09605         
-       2025 10  8  60956       0.2066      0.3378      0.09532         
-       2025 10  9  60957       0.2059      0.3366      0.09483         
-       2025 10 10  60958       0.2052      0.3355      0.09464         
-       2025 10 11  60959       0.2044      0.3344      0.09475         
-       2025 10 12  60960       0.2036      0.3333      0.09504         
-       2025 10 13  60961       0.2028      0.3322      0.09538         
-       2025 10 14  60962       0.2020      0.3311      0.09563         
-       2025 10 15  60963       0.2012      0.3300      0.09571         
-       2025 10 16  60964       0.2003      0.3290      0.09557         
-       2025 10 17  60965       0.1994      0.3280      0.09524         
-       2025 10 18  60966       0.1985      0.3269      0.09475         
-       2025 10 19  60967       0.1976      0.3259      0.09419         
-       2025 10 20  60968       0.1967      0.3249      0.09361         
-       2025 10 21  60969       0.1957      0.3239      0.09312         
-       2025 10 22  60970       0.1947      0.3230      0.09276         
-       2025 10 23  60971       0.1937      0.3220      0.09259         
-       2025 10 24  60972       0.1927      0.3211      0.09259         
-       2025 10 25  60973       0.1917      0.3202      0.09276         
-       2025 10 26  60974       0.1906      0.3193      0.09305         
-       2025 10 27  60975       0.1896      0.3184      0.09337         
-       2025 10 28  60976       0.1885      0.3175      0.09366         
-       2025 10 29  60977       0.1874      0.3166      0.09383         
-       2025 10 30  60978       0.1863      0.3158      0.09380         
-       2025 10 31  60979       0.1851      0.3150      0.09350         
-       2025 11  1  60980       0.1840      0.3142      0.09291         
-       2025 11  2  60981       0.1828      0.3134      0.09206         
-       2025 11  3  60982       0.1817      0.3126      0.09105         
-       2025 11  4  60983       0.1805      0.3119      0.09004         
-       2025 11  5  60984       0.1793      0.3112      0.08919         
-       2025 11  6  60985       0.1781      0.3105      0.08864         
-       2025 11  7  60986       0.1768      0.3098      0.08841         
-       2025 11  8  60987       0.1756      0.3091      0.08843         
-       2025 11  9  60988       0.1743      0.3085      0.08858         
-       2025 11 10  60989       0.1731      0.3078      0.08870         
-       2025 11 11  60990       0.1718      0.3072      0.08868         
-       2025 11 12  60991       0.1705      0.3066      0.08847         
-       2025 11 13  60992       0.1692      0.3061      0.08807         
-       2025 11 14  60993       0.1679      0.3055      0.08754         
-       2025 11 15  60994       0.1666      0.3050      0.08696         
-       2025 11 16  60995       0.1652      0.3045      0.08638         
-       2025 11 17  60996       0.1639      0.3040      0.08589         
-       2025 11 18  60997       0.1626      0.3035      0.08554         
-       2025 11 19  60998       0.1612      0.3031      0.08537         
-       2025 11 20  60999       0.1598      0.3027      0.08539         
-       2025 11 21  61000       0.1585      0.3023      0.08559         
-       2025 11 22  61001       0.1571      0.3019      0.08593         
-       2025 11 23  61002       0.1557      0.3015      0.08634         
-       2025 11 24  61003       0.1543      0.3012      0.08675         
-       2025 11 25  61004       0.1529      0.3009      0.08707         
-       2025 11 26  61005       0.1515      0.3006      0.08724         
-       2025 11 27  61006       0.1501      0.3004      0.08718         
-       2025 11 28  61007       0.1487      0.3001      0.08688         
-       2025 11 29  61008       0.1473      0.2999      0.08634         
-       2025 11 30  61009       0.1459      0.2997      0.08562         
-       2025 12  1  61010       0.1445      0.2995      0.08484         
-       2025 12  2  61011       0.1431      0.2994      0.08414         
-       2025 12  3  61012       0.1417      0.2993      0.08368         
-       2025 12  4  61013       0.1402      0.2991      0.08352         
-       2025 12  5  61014       0.1388      0.2991      0.08365         
-       2025 12  6  61015       0.1374      0.2990      0.08395         
-       2025 12  7  61016       0.1360      0.2990      0.08429         
-       2025 12  8  61017       0.1345      0.2990      0.08452         
-       2025 12  9  61018       0.1331      0.2990      0.08456         
-       2025 12 10  61019       0.1317      0.2990      0.08439         
-       2025 12 11  61020       0.1303      0.2991      0.08408         
-       2025 12 12  61021       0.1288      0.2991      0.08369         
-       2025 12 13  61022       0.1274      0.2993      0.08332         
-       2025 12 14  61023       0.1260      0.2994      0.08304         
-       2025 12 15  61024       0.1246      0.2995      0.08289         
-       2025 12 16  61025       0.1232      0.2997      0.08293         
-       2025 12 17  61026       0.1218      0.2999      0.08316         
-       2025 12 18  61027       0.1204      0.3001      0.08357         
-       2025 12 19  61028       0.1190      0.3004      0.08414         
-       2025 12 20  61029       0.1176      0.3006      0.08479         
-       2025 12 21  61030       0.1162      0.3009      0.08546         
-       2025 12 22  61031       0.1149      0.3012      0.08606         
-       2025 12 23  61032       0.1135      0.3016      0.08651         
-       2025 12 24  61033       0.1121      0.3019      0.08676         
-       2025 12 25  61034       0.1108      0.3023      0.08678         
-       2025 12 26  61035       0.1094      0.3027      0.08657         
-       2025 12 27  61036       0.1081      0.3031      0.08620         
-       2025 12 28  61037       0.1068      0.3035      0.08575         
-       2025 12 29  61038       0.1055      0.3040      0.08535         
-       2025 12 30  61039       0.1042      0.3045      0.08513         
-       2025 12 31  61040       0.1029      0.3050      0.08516         
-       2026  1  1  61041       0.1016      0.3055      0.08548         
-       2026  1  2  61042       0.1003      0.3061      0.08601         
-       2026  1  3  61043       0.0990      0.3067      0.08663         
-       2026  1  4  61044       0.0978      0.3072      0.08720         
-       2026  1  5  61045       0.0966      0.3079      0.08759         
-       2026  1  6  61046       0.0953      0.3085      0.08776         
-       2026  1  7  61047       0.0941      0.3091      0.08775         
-       2026  1  8  61048       0.0929      0.3098      0.08763         
-       2026  1  9  61049       0.0917      0.3105      0.08749         
-       2026  1 10  61050       0.0906      0.3112      0.08742         
-       2026  1 11  61051       0.0894      0.3120      0.08746         
-       2026  1 12  61052       0.0883      0.3127      0.08766         
-       2026  1 13  61053       0.0871      0.3135      0.08801         
-       2026  1 14  61054       0.0860      0.3143      0.08852         
-       2026  1 15  61055       0.0849      0.3151      0.08915         
-       2026  1 16  61056       0.0838      0.3159      0.08984         
-       2026  1 17  61057       0.0828      0.3168      0.09052         
-       2026  1 18  61058       0.0817      0.3176      0.09108         
-       2026  1 19  61059       0.0807      0.3185      0.09145         
-       2026  1 20  61060       0.0797      0.3194      0.09156         
-       2026  1 21  61061       0.0787      0.3203      0.09138         
-       2026  1 22  61062       0.0777      0.3212      0.09092         
-       2026  1 23  61063       0.0768      0.3222      0.09023         
-       2026  1 24  61064       0.0758      0.3232      0.08943         
-       2026  1 25  61065       0.0749      0.3241      0.08864         
-       2026  1 26  61066       0.0740      0.3251      0.08797         
-       2026  1 27  61067       0.0731      0.3261      0.08752         
-       2026  1 28  61068       0.0723      0.3272      0.08730         
-       2026  1 29  61069       0.0715      0.3282      0.08730         
-       2026  1 30  61070       0.0706      0.3293      0.08740         
-       2026  1 31  61071       0.0698      0.3303      0.08748         
-       2026  2  1  61072       0.0691      0.3314      0.08742         
-       2026  2  2  61073       0.0683      0.3325      0.08715         
-       2026  2  3  61074       0.0676      0.3336      0.08668         
-       2026  2  4  61075       0.0669      0.3347      0.08606         
-       2026  2  5  61076       0.0662      0.3359      0.08538         
-       2026  2  6  61077       0.0655      0.3370      0.08476         
-       2026  2  7  61078       0.0649      0.3381      0.08430         
-       2026  2  8  61079       0.0643      0.3393      0.08405         
-       2026  2  9  61080       0.0637      0.3405      0.08401         
-       2026  2 10  61081       0.0631      0.3417      0.08423         
-       2026  2 11  61082       0.0625      0.3429      0.08462         
-       2026  2 12  61083       0.0620      0.3441      0.08513         
-       2026  2 13  61084       0.0615      0.3453      0.08570         
-       2026  2 14  61085       0.0610      0.3465      0.08618         
-       2026  2 15  61086       0.0606      0.3478      0.08646         
-       2026  2 16  61087       0.0601      0.3490      0.08651         
-       2026  2 17  61088       0.0597      0.3502      0.08629         
-       2026  2 18  61089       0.0594      0.3515      0.08575         
-       2026  2 19  61090       0.0590      0.3528      0.08502         
-       2026  2 20  61091       0.0587      0.3540      0.08419         
-       2026  2 21  61092       0.0584      0.3553      0.08335         
-       2026  2 22  61093       0.0581      0.3566      0.08261         
-       2026  2 23  61094       0.0578      0.3579      0.08206         
-       2026  2 24  61095       0.0576      0.3592      0.08182         
-       2026  2 25  61096       0.0574      0.3605      0.08174         
-       2026  2 26  61097       0.0572      0.3618      0.08178         
-       2026  2 27  61098       0.0570      0.3631      0.08189         
-       2026  2 28  61099       0.0569      0.3644      0.08189         
-       2026  3  1  61100       0.0568      0.3657      0.08172         
-       2026  3  2  61101       0.0567      0.3670      0.08136         
-       2026  3  3  61102       0.0567      0.3683      0.08079         
-       2026  3  4  61103       0.0566      0.3697      0.08008         
-       2026  3  5  61104       0.0566      0.3710      0.07935         
-       2026  3  6  61105       0.0567      0.3723      0.07875         
-       2026  3  7  61106       0.0567      0.3736      0.07836         
-       2026  3  8  61107       0.0568      0.3749      0.07813         
-       2026  3  9  61108       0.0569      0.3763      0.07808         
-       2026  3 10  61109       0.0570      0.3776      0.07827         
-       2026  3 11  61110       0.0571      0.3789      0.07855         
-       2026  3 12  61111       0.0573      0.3802      0.07886         
-       2026  3 13  61112       0.0575      0.3815      0.07917         
-       2026  3 14  61113       0.0577      0.3828      0.07941         
-       2026  3 15  61114       0.0580      0.3841      0.07945         
-       2026  3 16  61115       0.0583      0.3855      0.07926         
-       2026  3 17  61116       0.0586      0.3868      0.07879         
-       2026  3 18  61117       0.0589      0.3881      0.07805         
-       2026  3 19  61118       0.0592      0.3893      0.07714         
-       2026  3 20  61119       0.0596      0.3906      0.07617         
-       2026  3 21  61120       0.0600      0.3919      0.07528         
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+       2026  2 16  61087       0.0664      0.3478      0.06660         
+       2026  2 17  61088       0.0659      0.3490      0.06664         
+       2026  2 18  61089       0.0655      0.3503      0.06646         
+       2026  2 19  61090       0.0651      0.3515      0.06608         
+       2026  2 20  61091       0.0647      0.3527      0.06560         
+       2026  2 21  61092       0.0643      0.3540      0.06514         
+       2026  2 22  61093       0.0640      0.3552      0.06482         
+       2026  2 23  61094       0.0637      0.3564      0.06470         
+       2026  2 24  61095       0.0634      0.3577      0.06483         
+       2026  2 25  61096       0.0632      0.3590      0.06515         
+       2026  2 26  61097       0.0629      0.3602      0.06557         
+       2026  2 27  61098       0.0627      0.3615      0.06596         
+       2026  2 28  61099       0.0625      0.3628      0.06620         
+       2026  3  1  61100       0.0624      0.3641      0.06619         
+       2026  3  2  61101       0.0623      0.3654      0.06591         
+       2026  3  3  61102       0.0622      0.3666      0.06538         
+       2026  3  4  61103       0.0621      0.3679      0.06470         
+       2026  3  5  61104       0.0620      0.3692      0.06398         
+       2026  3  6  61105       0.0620      0.3705      0.06332         
+       2026  3  7  61106       0.0620      0.3718      0.06280         
+       2026  3  8  61107       0.0620      0.3731      0.06247         
+       2026  3  9  61108       0.0621      0.3744      0.06235         
+       2026  3 10  61109       0.0621      0.3757      0.06241         
+       2026  3 11  61110       0.0622      0.3770      0.06263         
+       2026  3 12  61111       0.0624      0.3783      0.06293         
+       2026  3 13  61112       0.0625      0.3796      0.06322         
+       2026  3 14  61113       0.0627      0.3809      0.06341         
+       2026  3 15  61114       0.0629      0.3821      0.06342         
+       2026  3 16  61115       0.0631      0.3834      0.06320         
+       2026  3 17  61116       0.0634      0.3847      0.06271         
+       2026  3 18  61117       0.0637      0.3860      0.06199         
+       2026  3 19  61118       0.0640      0.3873      0.06113         
+       2026  3 20  61119       0.0643      0.3885      0.06024         
+       2026  3 21  61120       0.0647      0.3898      0.05943         
+       2026  3 22  61121       0.0651      0.3911      0.05880         
+       2026  3 23  61122       0.0655      0.3923      0.05842         
+       2026  3 24  61123       0.0659      0.3936      0.05830         
+       2026  3 25  61124       0.0664      0.3948      0.05832         
+       2026  3 26  61125       0.0668      0.3961      0.05841         
+       2026  3 27  61126       0.0673      0.3973      0.05840         
+       2026  3 28  61127       0.0679      0.3985      0.05821         
+       2026  3 29  61128       0.0684      0.3997      0.05777         
+       2026  3 30  61129       0.0690      0.4010      0.05709         
+       2026  3 31  61130       0.0696      0.4022      0.05624         
+       2026  4  1  61131       0.0702      0.4034      0.05523         
+       2026  4  2  61132       0.0709      0.4045      0.05420         
+       2026  4  3  61133       0.0715      0.4057      0.05330         
+       2026  4  4  61134       0.0722      0.4069      0.05257         
+       2026  4  5  61135       0.0729      0.4080      0.05202         
+       2026  4  6  61136       0.0737      0.4092      0.05164         
+       2026  4  7  61137       0.0744      0.4103      0.05137         
+       2026  4  8  61138       0.0752      0.4114      0.05123         
+       2026  4  9  61139       0.0760      0.4125      0.05118         
+       2026  4 10  61140       0.0768      0.4136      0.05105         
+       2026  4 11  61141       0.0777      0.4147      0.05087         
+       2026  4 12  61142       0.0786      0.4158      0.05044         
+       2026  4 13  61143       0.0794      0.4169      0.04970         
+       2026  4 14  61144       0.0803      0.4179      0.04867         
+       2026  4 15  61145       0.0813      0.4189      0.04739         
+       2026  4 16  61146       0.0822      0.4200      0.04601         
+       2026  4 17  61147       0.0832      0.4210      0.04462         
+       2026  4 18  61148       0.0842      0.4219      0.04343         
+       2026  4 19  61149       0.0852      0.4229      0.04254         
+       2026  4 20  61150       0.0862      0.4239      0.04195         
+       2026  4 21  61151       0.0872      0.4248      0.04156         
+       2026  4 22  61152       0.0883      0.4258      0.04129         
+       2026  4 23  61153       0.0894      0.4267      0.04098         
+       2026  4 24  61154       0.0905      0.4276      0.04050         
+       2026  4 25  61155       0.0916      0.4284      0.03988         
+       2026  4 26  61156       0.0927      0.4293      0.03914         
+       2026  4 27  61157       0.0939      0.4302      0.03829         
+       2026  4 28  61158       0.0950      0.4310      0.03744         
+       2026  4 29  61159       0.0962      0.4318      0.03659         
+       2026  4 30  61160       0.0974      0.4326      0.03591         
+       2026  5  1  61161       0.0986      0.4334      0.03540         
+       2026  5  2  61162       0.0998      0.4341      0.03522         
+       2026  5  3  61163       0.1010      0.4348      0.03525         
+       2026  5  4  61164       0.1023      0.4356      0.03547         
+       2026  5  5  61165       0.1035      0.4363      0.03594         
+       2026  5  6  61166       0.1048      0.4369      0.03644         
+       2026  5  7  61167       0.1061      0.4376      0.03697         
+       2026  5  8  61168       0.1074      0.4382      0.03741         
+       2026  5  9  61169       0.1087      0.4389      0.03765         
+       2026  5 10  61170       0.1100      0.4395      0.03762         
+       2026  5 11  61171       0.1114      0.4400      0.03733         
+       2026  5 12  61172       0.1127      0.4406      0.03682         
+       2026  5 13  61173       0.1140      0.4411      0.03611         
+       2026  5 14  61174       0.1154      0.4416      0.03540         
+       2026  5 15  61175       0.1168      0.4421      0.03481         
+       2026  5 16  61176       0.1182      0.4426      0.03447         
+       2026  5 17  61177       0.1195      0.4431      0.03440         
+       2026  5 18  61178       0.1209      0.4435      0.03458         
+       2026  5 19  61179       0.1223      0.4439      0.03496         
+       2026  5 20  61180       0.1237      0.4443      0.03531         
+       2026  5 21  61181       0.1252      0.4447      0.03553         
+       2026  5 22  61182       0.1266      0.4450      0.03563         
+       2026  5 23  61183       0.1280      0.4453      0.03555         
+       2026  5 24  61184       0.1294      0.4456      0.03538         
+       2026  5 25  61185       0.1309      0.4459      0.03522         
+       2026  5 26  61186       0.1323      0.4462      0.03510         
+       2026  5 27  61187       0.1337      0.4464      0.03509         
+       2026  5 28  61188       0.1352      0.4466      0.03526         
+       2026  5 29  61189       0.1366      0.4468      0.03571         
+       2026  5 30  61190       0.1381      0.4469      0.03643         
+       2026  5 31  61191       0.1395      0.4471      0.03730         
+       2026  6  1  61192       0.1410      0.4472      0.03832         
+       2026  6  2  61193       0.1425      0.4473      0.03948         
+       2026  6  3  61194       0.1439      0.4474      0.04058         
+       2026  6  4  61195       0.1454      0.4474      0.04160         
+       2026  6  5  61196       0.1468      0.4474      0.04249         
+       2026  6  6  61197       0.1483      0.4475      0.04322         
+       2026  6  7  61198       0.1497      0.4474      0.04372         
+       2026  6  8  61199       0.1512      0.4474      0.04404         
+       2026  6  9  61200       0.1526      0.4473      0.04420         
+       2026  6 10  61201       0.1541      0.4472      0.04427         
+       2026  6 11  61202       0.1555      0.4471      0.04441         
+       2026  6 12  61203       0.1570      0.4470      0.04471         
+       2026  6 13  61204       0.1584      0.4468      0.04527         
+       2026  6 14  61205       0.1598      0.4467      0.04607         
+       2026  6 15  61206       0.1613      0.4465      0.04699         
+       2026  6 16  61207       0.1627      0.4462      0.04805         
+       2026  6 17  61208       0.1641      0.4460      0.04907         
+       2026  6 18  61209       0.1655      0.4457      0.04991         
+       2026  6 19  61210       0.1669      0.4454      0.05056         
+       2026  6 20  61211       0.1683      0.4451      0.05105         
+       2026  6 21  61212       0.1697      0.4448      0.05136         
+       2026  6 22  61213       0.1711      0.4444      0.05165         
+       2026  6 23  61214       0.1725      0.4440      0.05210         
+       2026  6 24  61215       0.1738      0.4436      0.05266         
+       2026  6 25  61216       0.1752      0.4432      0.05340         
+       2026  6 26  61217       0.1765      0.4428      0.05430         
+       2026  6 27  61218       0.1779      0.4423      0.05539         
+       2026  6 28  61219       0.1792      0.4418      0.05654         
+       2026  6 29  61220       0.1805      0.4413      0.05779         
+       2026  6 30  61221       0.1818      0.4408      0.05910         
+       2026  7  1  61222       0.1831      0.4402      0.06048         
+       2026  7  2  61223       0.1844      0.4397      0.06171         
+       2026  7  3  61224       0.1856      0.4391      0.06280         
+       2026  7  4  61225       0.1869      0.4385      0.06369         
+       2026  7  5  61226       0.1881      0.4378      0.06434         
+       2026  7  6  61227       0.1893      0.4372      0.06480         
+       2026  7  7  61228       0.1905      0.4365      0.06523         
+       2026  7  8  61229       0.1917      0.4358      0.06572         
+       2026  7  9  61230       0.1929      0.4351      0.06633         
+       2026  7 10  61231       0.1941      0.4344      0.06723         
+       2026  7 11  61232       0.1952      0.4336      0.06843         
+       2026  7 12  61233       0.1964      0.4329      0.06985         
+       2026  7 13  61234       0.1975      0.4321      0.07146         
+       2026  7 14  61235       0.1986      0.4313      0.07292         
+       2026  7 15  61236       0.1996      0.4304      0.07413         
+       2026  7 16  61237       0.2007      0.4296      0.07502         
+       2026  7 17  61238       0.2018      0.4288      0.07557         
+       2026  7 18  61239       0.2028      0.4279      0.07596         
+       2026  7 19  61240       0.2038      0.4270      0.07629         
+       2026  7 20  61241       0.2048      0.4261      0.07668         
+       2026  7 21  61242       0.2058      0.4252      0.07728         
+       2026  7 22  61243       0.2067      0.4242      0.07807         
+       2026  7 23  61244       0.2076      0.4233      0.07908         
+       2026  7 24  61245       0.2085      0.4223      0.08036         
+       2026  7 25  61246       0.2094      0.4213      0.08180         
+       2026  7 26  61247       0.2103      0.4203      0.08338         
+       2026  7 27  61248       0.2112      0.4193      0.08491         
+       2026  7 28  61249       0.2120      0.4183      0.08647         
+       2026  7 29  61250       0.2128      0.4173      0.08786         
+       2026  7 30  61251       0.2136      0.4162      0.08904         
+       2026  7 31  61252       0.2143      0.4151      0.08998         
+       2026  8  1  61253       0.2151      0.4141      0.09076         
+       2026  8  2  61254       0.2158      0.4130      0.09130         
+       2026  8  3  61255       0.2165      0.4119      0.09180         
+       2026  8  4  61256       0.2172      0.4108      0.09232         
+       2026  8  5  61257       0.2178      0.4096      0.09294         
+       2026  8  6  61258       0.2184      0.4085      0.09372         
+       2026  8  7  61259       0.2190      0.4074      0.09466         
+       2026  8  8  61260       0.2196      0.4062      0.09591         
+       2026  8  9  61261       0.2202      0.4050      0.09728         
+       2026  8 10  61262       0.2207      0.4039      0.09868         
+       2026  8 11  61263       0.2212      0.4027      0.09988         
+       2026  8 12  61264       0.2217      0.4015      0.10077         
+       2026  8 13  61265       0.2221      0.4003      0.10141         
+       2026  8 14  61266       0.2226      0.3991      0.10182         
       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)                         
-                      60837  -112.47    0.89  -11.70    0.14   
-                      60838  -112.54    0.89  -11.60    0.14   
-                      60839  -112.51    0.89  -11.35    0.14   
-                      60840  -112.45    0.32  -11.16    0.16   
-                      60841  -112.45    1.48  -11.11    0.30   
-                      60842  -112.49    1.48  -11.13    0.30   
-                      60843  -112.49    1.48  -11.15    0.30   
-                      60844  -112.49    1.20  -11.12    0.28   
-                      60845  -112.62    1.20  -11.03    0.28   
-                      60846  -112.97    1.20  -10.87    0.28   
-                                                                               
-                     IERS Celestial Pole Offset Final Series                   
-                           MJD          dpsi      deps                         
-                                        (msec. of arc)                         
-                          60797      -109.8     -11.9                      
-                          60798      -109.1     -12.1                      
-                          60799      -108.8     -12.0                      
-                          60800      -108.9     -11.6                      
-                          60801      -109.3     -11.1                      
-                          60802      -109.7     -10.8                      
-                          60803      -109.8     -10.7                      
-                          60804      -109.8     -10.6                      
-                          60805      -109.7     -10.6                      
-                          60806      -109.6     -10.8                      
-                          60807      -109.5     -11.3                      
-                          60808      -109.5     -11.7                      
-                          60809      -109.6     -11.9                      
-                          60810      -109.7     -11.8                      
-                          60811      -109.7     -11.6                      
-                          60812      -109.6     -11.6                      
-                          60813      -109.5     -11.6                      
-                          60814      -109.3     -11.6                      
-                          60815      -109.2     -11.6                      
-                          60816      -109.3     -11.6                      
-                          60817      -109.4     -11.6                      
-                          60818      -109.7     -11.4                      
-                          60819      -110.2     -11.0                      
-                          60820      -111.0     -10.7                      
-                          60821      -111.6     -10.8                      
-                          60822      -111.9     -11.1                      
-                          60823      -111.8     -11.3                      
-                          60824      -111.5     -11.6                      
-                          60825      -110.9     -11.7                      
-                          60826      -110.5     -11.8                      
-                          60827      -110.5     -11.7                      
-                                                            
-                     IAU2000A Celestial Pole Offset Series  
-                      MJD      dX     error     dY     error
-                                    (msec. of arc)          
-                      60837    0.432  0.352   -0.216   0.145          
-                      60838    0.439  0.352   -0.218   0.145          
-                      60839    0.448  0.352   -0.222   0.145          
-                      60840    0.457  0.128   -0.227   0.160          
-                      60841    0.465  0.588   -0.235   0.303          
-                      60842    0.472  0.588   -0.243   0.303          
-                      60843    0.476  0.588   -0.251   0.303          
-                      60844    0.476  0.476   -0.260   0.282          
-                      60845    0.472  0.476   -0.267   0.282          
-                      60846    0.467  0.476   -0.275   0.282          
-                                                                               
-                                                                               
-                 IAU2000A Celestial Pole Offset Final Series 
-                             MJD     dX         dY           
-                             (msec. of arc)          
-                           60797     0.44      -0.19
-                           60798     0.51      -0.19
-                           60799     0.53      -0.19
-                           60800     0.52      -0.18
-                           60801     0.49      -0.17
-                           60802     0.41      -0.16
-                           60803     0.33      -0.14
-                           60804     0.31      -0.16
-                           60805     0.34      -0.21
-                           60806     0.39      -0.26
-                           60807     0.44      -0.30
-                           60808     0.49      -0.33
-                           60809     0.48      -0.26
-                           60810     0.45      -0.17
-                           60811     0.42      -0.09
-                           60812     0.42      -0.07
-                           60813     0.43      -0.10
-                           60814     0.44      -0.14
-                           60815     0.45      -0.18
-                           60816     0.43      -0.21
-                           60817     0.40      -0.22
-                           60818     0.37      -0.22
-                           60819     0.37      -0.21
-                           60820     0.38      -0.19
-                           60821     0.39      -0.16
-                           60822     0.40      -0.14
-                           60823     0.41      -0.12
-                           60824     0.41      -0.11
-                           60825     0.41      -0.11
-                           60826     0.39      -0.14
-                           60827     0.34      -0.18
-                                                                               
 )--";
 
 

cxx/mcc_fsm_mount.h

@@ -23,12 +23,33 @@
 namespace mcc
 {
 
+// adaptor class for prohibited zones
+template <traits::mcc_mount_telemetry_data_c TelemetryDataT>
+struct MccPZoneWrapper {
+    // a type to which the result of calling prohibited zone class methods 'timeTo' and 'timeFrom' will be converted
+    typedef std::chrono::duration<double> pz_duration_t;  // seconds as floating-point number
+
+    static constexpr pz_duration_t infiniteDuration{std::numeric_limits<double>::infinity()};
+    static constexpr pz_duration_t zeroDuration{0.0};
+
+    typedef std::function<bool(const TelemetryDataT&)> pz_inzone_func_t;
+    typedef std::function<pz_duration_t(const TelemetryDataT&)> pz_timeto_func_t;
+    typedef std::function<pz_duration_t(const TelemetryDataT&)> pz_timefrom_func_t;
+
+    MccCoordPairKind coordPairKind;
+    const std::function<std::string()> name;
+    pz_inzone_func_t inZone;
+    pz_timeto_func_t timeTo;
+    pz_timefrom_func_t timeFrom;
+};
+
+
 template <traits::mcc_mount_controls_c MOUNT_CONTROLS>
 class MccMount : public fsm::MccFiniteStateMachine, public utils::MccSpdlogLogger, protected MOUNT_CONTROLS
 {
     // declare these classes as friends to allow them access protected members 'slewModel' and 'guidingModel'
-    friend class MccMountStateSlew<MccMount>;
-    friend class MccMountStateGuiding<MccMount>;
+    // friend class MccMountStateSlew<MccMount<MOUNT_CONTROLS>>;
+    // friend class MccMountStateGuiding<MccMount<MOUNT_CONTROLS>>;
 
 public:
     typedef MOUNT_CONTROLS mount_controls_t;
@@ -41,8 +62,49 @@ public:
     typedef decltype(mount_controls_t::slewModel) slew_model_t;
     typedef decltype(mount_controls_t::guidingModel) guiding_model_t;
 
-    typedef typename slew_model_t::slew_params_t slew_params_t;
+    // typedef typename slew_model_t::slew_params_t slew_params_t;
 
+    /*  base classes for event and state  */
+
+    class MccMountEventBase
+    {
+    protected:
+        MccMount& _mount;
+
+    public:
+        MccMountEventBase(MccMount& mount) : _mount(mount) {}
+        virtual ~MccMountEventBase() = default;
+
+        MccMount& mount() { return _mount; }
+    };
+
+    // The implementation of FSM (see mcc_finite_state_machine.h) requires
+    // state to be a default constructible class, so one needs to hold
+    // a pointer to mount class to guarantee access to its private or protected
+    // members and methods
+    class MccMountStateBase
+    {
+    protected:
+        // a pointer to mount class to allow access to private/protected
+        // members/methods of MccMount class from descendent state-classes.
+        // the memory address can be obtained from a call of
+        // MccMountEventBase::mount method (see above)
+        MccMount* _mount;
+
+    public:
+        MccMountStateBase() = default;
+
+        MccMountStateBase(const MccMountStateBase&) = delete;
+        MccMountStateBase& operator=(const MccMountStateBase&) = delete;
+
+        // just as an example (ugly but I still cannot find a solution)
+        // template <std::derived_from<MccMountEventBase> EvT>
+        // void enter(EvT& event)
+        // {
+        //     _mount = &event.mount();
+        //     _mount->forEachPZone(...);
+        // }
+    };
 
     /*  constructors and destructor  */
 
@@ -64,25 +126,21 @@ public:
         logDebug("{}", std::string(r.begin(), r.end()));
     }
 
+    MccMount(const MccMount&) = delete;
+    MccMount& operator=(const MccMount&) = delete;
 
-    virtual ~MccMount()
-    {
-        logDebug("Delete MccMount class instance: thread = {}", getThreadId());
-    }
+    virtual ~MccMount() { logDebug("Delete MccMount class instance: thread = {}", getThreadId()); }
 
 
     /*  public methods  */
 
-    void initMount()
-    {
-        this->logInfo("STATE: {}", this->currentStateID());
-    }
+    void initMount() { this->logInfo("STATE: {}", this->currentStateID()); }
 
     void stopMount() {}
 
     void shutdownMount() {}
 
-    void slewMount(slew_params_t params) {}
+    // void slewMount(slew_params_t params) {}
 
     void startGuiding() {}
 
@@ -109,15 +167,34 @@ public:
     {
         auto zone_ptr = std::make_shared<ZT>(std::move(zone));
 
+        using d_t = typename MccPZoneWrapper<mount_telemetry_data_t>::pz_duration_t;
+
         _pzFuncs.emplace_back(
             {.coordPairKind = ZT::zoneCoordPairKind,
-             .name = std::format("{}", zone_ptr->name()),
-             .inZoneFunc = [zone_ptr,
-                            this](const mount_telemetry_data_t& tmry_data) { return zone_ptr->inZone(tmry_data); },
-             .timeToFunc = [zone_ptr,
-                            this](const mount_telemetry_data_t& tmry_data) { return zone_ptr->timeTo(tmry_data); },
-             .timeFromFunc =
-                 [zone_ptr, this](const mount_telemetry_data_t& tmry_data) { return zone_ptr->timeFrom(tmry_data); }});
+             .name = [zone_ptr]() { return std::format("{}", zone_ptr->name()); },
+             .inZone = [zone_ptr](const mount_telemetry_data_t& tmry_data) { return zone_ptr->inZone(tmry_data); },
+             .timeTo =
+                 [zone_ptr](const mount_telemetry_data_t& tmry_data) {
+                     auto d = zone_ptr->timeTo(tmry_data);
+
+                     if (d == ZT::infiniteDuration) {
+                         return MccPZoneWrapper<mount_telemetry_data_t>::infiniteDuration;
+                     } else if (d == ZT::zeroDuration) {
+                         return MccPZoneWrapper<mount_telemetry_data_t>::zeroDuration;
+                     }
+                     return std::chrono::duration_cast<d_t>(d);
+                 },
+             .timeFrom =
+                 [zone_ptr](const mount_telemetry_data_t& tmry_data) {
+                     auto d = zone_ptr->timeFrom(tmry_data);
+
+                     if (d == ZT::infiniteDuration) {
+                         return MccPZoneWrapper<mount_telemetry_data_t>::infiniteDuration;
+                     } else if (d == ZT::zeroDuration) {
+                         return MccPZoneWrapper<mount_telemetry_data_t>::zeroDuration;
+                     }
+                     return std::chrono::duration_cast<d_t>(d);
+                 }});
 
 
         if constexpr (sizeof...(ZTs)) {
@@ -150,8 +227,8 @@ protected:
         pz_timefrom_func_t timeFromFunc;
     };
 
-    std::vector<pz_funcs_t> _pzFuncs{};
-
+    // std::vector<pz_funcs_t> _pzFuncs{};
+    std::vector<MccPZoneWrapper<mount_telemetry_data_t>> _pzFuncs{};
 
     template <typename FuncT, traits::mcc_prohibited_zone_c<mount_telemetry_data_t>... ZTs>
     auto forEachPZone(FuncT&& func, std::tuple<ZTs...>& zones)

cxx/mcc_generic_mount.h

@@ -0,0 +1,282 @@
+#pragma once
+
+
+/*                          MOUNT CONTROL COMPONENTS LIBRARY                            */
+
+
+
+/*                          A GENERIC MOUNT CLASS IMPLEMENTATION  */
+
+
+#include <algorithm>
+#include "mcc_mount_concepts.h"
+
+namespace mcc
+{
+
+// adaptor class for prohibited zones
+template <traits::mcc_mount_telemetry_data_c TelemetryDataT>
+struct MccPZoneWrapper {
+    // a type to which the result of calling prohibited zone class methods 'timeTo' and 'timeFrom' will be converted
+    typedef std::chrono::duration<double> duration_t;  // seconds as floating-point number
+
+    static constexpr duration_t infiniteDuration{std::numeric_limits<double>::infinity()};
+    static constexpr duration_t zeroDuration{0.0};
+
+    typedef std::function<bool(const TelemetryDataT&)> pz_inzone_func_t;
+    typedef std::function<duration_t(const TelemetryDataT&)> pz_timeto_func_t;
+    typedef std::function<duration_t(const TelemetryDataT&)> pz_timefrom_func_t;
+
+    MccCoordPairKind coordPairKind;
+    const std::function<std::string()> name;
+    pz_inzone_func_t inZone;
+    pz_timeto_func_t timeTo;
+    pz_timefrom_func_t timeFrom;
+
+    MccPZoneWrapper(MccPZoneWrapper&& other)
+        : inZone(std::move(other.inZone)), timeTo(std::move(other.timeTo)), timeFrom(std::move(other.timeFrom)) {};
+
+    MccPZoneWrapper& operator=(MccPZoneWrapper&& other)
+    {
+        if (this != &other) {
+            inZone = std::move(other.inZone);
+            timeTo = std::move(other.timeTo);
+            timeFrom = std::move(other.timeFrom);
+        }
+
+        return *this;
+    };
+
+    MccPZoneWrapper() = default;
+};
+
+
+template <traits::mcc_astrom_engine_c ASTROM_ENGINE_T,
+          traits::mcc_mount_hardware_c HARDWARE_T,
+          traits::mcc_mount_pec_c PEC_T,
+          traits::mcc_mount_telemetry_c TELEMETRY_T,
+          traits::mcc_slew_model_c SLEWMODEL_T,
+          traits::mcc_guiding_model_c GUIDINGMODEL_T>
+class MccGenericMount
+{
+public:
+    typedef ASTROM_ENGINE_T astrom_engine_t;
+    typedef HARDWARE_T hardware_t;
+    typedef PEC_T pec_t;
+    typedef TELEMETRY_T telemetry_t;
+    typedef typename TELEMETRY_T::mount_telemetry_data_t telemetry_data_t;
+    typedef SLEWMODEL_T slew_model_t;
+    typedef GUIDINGMODEL_T guiding_model_t;
+
+    typedef typename MccPZoneWrapper<telemetry_data_t>::duration_t pz_duration_t;
+
+    static constexpr MccMountType mountType = pec_t::mountType;
+
+    MccGenericMount(ASTROM_ENGINE_T aengine,
+                    HARDWARE_T hw,
+                    PEC_T pec,
+                    TELEMETRY_T tmtry,
+                    SLEWMODEL_T smodel,
+                    GUIDINGMODEL_T gmodel)
+        : _astromEngine(std::move(aengine)),
+          _hardware(std::move(hw)),
+          _pec(std::move(pec)),
+          _telemetry(std::move(tmtry)),
+          _slewModel(std::move(smodel)),
+          _guidingModel(std::move(gmodel))
+    {
+    }
+
+    virtual ~MccGenericMount() = default;
+
+    // get telemetry data
+    auto mountTelemetryData(telemetry_data_t& data) { return _telemetry.data(data); }
+
+
+    /* prohibited zone related public methods */
+
+    // add zones to mount control system
+    template <traits::mcc_prohibited_zone_c<telemetry_data_t> ZT,
+              traits::mcc_prohibited_zone_c<telemetry_data_t>... ZTs>
+    size_t pzAddZone(ZT zone, ZTs... zones)
+    {
+        auto zone_ptr = std::make_shared<ZT>(std::move(zone));
+
+        using d_t = typename MccPZoneWrapper<telemetry_data_t>::duration_t;
+
+        _pzFuncs.emplace_back(
+            {.coordPairKind = ZT::zoneCoordPairKind,
+             .name = [zone_ptr]() { return std::format("{}", zone_ptr->name()); },
+             .inZone = [zone_ptr](const telemetry_data_t& tmry_data) { return zone_ptr->inZone(tmry_data); },
+             .timeTo =
+                 [zone_ptr](const telemetry_data_t& tmry_data) {
+                     auto d = zone_ptr->timeTo(tmry_data);
+
+                     if constexpr (std::same_as<typename ZT::duration_t, d_t>) {
+                         return d;
+                     } else {
+                         if (d == ZT::infiniteDuration) {
+                             return MccPZoneWrapper<telemetry_data_t>::infiniteDuration;
+                         } else if (d == ZT::zeroDuration) {
+                             return MccPZoneWrapper<telemetry_data_t>::zeroDuration;
+                         }
+                         return std::chrono::duration_cast<d_t>(d);
+                     }
+                 },
+             .timeFrom =
+                 [zone_ptr](const telemetry_data_t& tmry_data) {
+                     auto d = zone_ptr->timeFrom(tmry_data);
+
+                     if constexpr (std::same_as<typename ZT::duration_t, d_t>) {
+                         return d;
+                     } else {
+                         if (d == ZT::infiniteDuration) {
+                             return MccPZoneWrapper<telemetry_data_t>::infiniteDuration;
+                         } else if (d == ZT::zeroDuration) {
+                             return MccPZoneWrapper<telemetry_data_t>::zeroDuration;
+                         }
+                         return std::chrono::duration_cast<d_t>(d);
+                     }
+                 }});
+
+
+        if constexpr (sizeof...(ZTs)) {
+            pzAddZone(std::move(zones)...);
+        }
+
+        return _pzFuncs.size();
+    }
+
+    // delete all zones from mount control system
+    void pzClearZone()
+    {
+        // stop mount here?!!
+        _pzFuncs.clear();
+    }
+
+    // prohibited zones timeTo from given time point
+    template <std::ranges::output_range<pz_duration_t> RT, traits::mcc_celestial_point_c CT, traits::mcc_systime_c TPT>
+    RT pzTimeTo(CT coord, const TPT& time_point)
+        requires std::convertible_to<TPT, typename astrom_engine_t::time_point_t>
+    {
+        RT res;
+
+        telemetry_data_t tdata;
+        typename astrom_engine_t::juldate_t jd;
+
+        _astromEngine.greg2jul(time_point, jd);
+
+        if (coord.coordPairKind == MccCoordPairKind::COORDS_KIND_XY) {  // from encoder's
+            typename pec_t::pec_result_t pec_res;
+            auto pec_err = _pec.compute(coord.x, coord.y, pec_res);
+            if (!pec_err) {
+                if constexpr (mccIsEquatorialMount(mountType)) {
+                    tdata.mntHA = coord.x + pec_res.dx;
+                    tdata.mntDEC = coord.y + pec_res.dy;
+                    _astromEngine.hadec2azalt(tdata.mntHA, tdata.mntDEC, tdata.mntAZ, tdata.mntALT);
+                } else if constexpr (mccIsAltAzMount(mountType)) {
+                    tdata.mntAZ = coord.x + pec_res.dx;
+                    tdata.mntALT = coord.y + pec_res.dy;
+                    _astromEngine.azalt2hadec(tdata.mntAZ, tdata.mntALT, tdata.mntHA, tdata.mntDEC);
+                }
+            } else {
+                return res;
+            }
+        } else if (coord.coordPairKind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {  // from app RA-DEC
+            typename astrom_engine_t::eo_t eo;
+            typename astrom_engine_t::sideral_time_t lst;
+
+            _astromEngine.apparentSiderTime(jd, lst, true);
+            _astromEngine.eqOrigins(jd, eo);
+
+        } else if (coord.coordPairKind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {  // from app HA-DEC
+            tdata.mntHA = coord.x;
+            tdata.mntDEC = coord.y;
+            _astromEngine.hadec2azalt(tdata.mntHA, tdata.mntDEC, tdata.mntAZ, tdata.mntALT);
+        } else if (coord.coordPairKind == MccCoordPairKind::COORDS_KIND_AZALT) {  // from app AZ-ALT
+            tdata.mntAZ = coord.x;
+            tdata.mntALT = coord.y;
+            _astromEngine.azalt2hadec(tdata.mntAZ, tdata.mntALT, tdata.mntHA, tdata.mntDEC);
+        } else if (coord.coordPairKind == MccCoordPairKind::COORDS_KIND_AZZD) {  // from app AZ-ZD
+            tdata.mntAZ = coord.x;
+            tdata.mntALT = std::numbers::pi / 2.0 - coord.y;
+            _astromEngine.azalt2hadec(tdata.mntAZ, tdata.mntALT, tdata.mntHA, tdata.mntDEC);
+        } else if (coord.coordPairKind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {  // from ICRS RA-DEC
+            typename astrom_engine_t::coord_t az, alt;
+            typename astrom_engine_t::eo_t eo;
+            typename astrom_engine_t::juldate_t jd;
+
+            _astromEngine.greg2jul(time_point, jd);
+            _astromEngine.icrs2obs(coord.x, coord.y, jd, tdata.mntRA, tdata.mntDEC, tdata.mntHA, tdata.mntAZ,
+                                   tdata.mntALT, eo);
+        } else {
+            return res;
+        }
+    }
+
+    template <traits::mcc_celestial_point_c CT, traits::mcc_systime_c TPT>
+    auto pzTimeTo(CT point, const TPT& time_point)
+    {
+        return pzTimeTo<std::vector<pz_duration_t>>(std::move(point), time_point);
+    }
+
+    // prohibited zones timeTo from current mount position
+    template <std::ranges::output_range<pz_duration_t> RT, traits::mcc_celestial_point_c CT>
+    RT pzTimeTo(CT point)
+    {
+        RT result;
+
+        telemetry_data_t data;
+        auto err = _telemetry.data(data);
+        if (err) {
+            // log...
+            return result;
+        }
+
+        std::ranges::for_each(_pzFuncs,
+                              [&result, &data](auto& funcs) { std::back_inserter(result) = funcs.timeTo(data); });
+    }
+
+    template <traits::mcc_celestial_point_c CT>
+    auto pzTimeTo(CT point)
+    {
+        return pzTimeTo<std::vector<pz_duration_t>>(std::move(point));
+    }
+
+    // prohibited zone timeFrom
+
+protected:
+    ASTROM_ENGINE_T _astromEngine;
+    HARDWARE_T _hardware;
+    PEC_T _pec;
+    TELEMETRY_T _telemetry;
+    SLEWMODEL_T _slewModel;
+    GUIDINGMODEL_T _guidingModel;
+
+    std::vector<MccPZoneWrapper<telemetry_data_t>> _pzFuncs{};
+};
+
+
+namespace traits
+{
+
+template <typename T>
+concept mcc_generic_mount_c = requires(T t) {
+    // derived from MccGenericMount
+    []<typename... Ts>(MccGenericMount<Ts...>*) {}(&t);
+
+    { t.slewMount(std::declval<typename T::slew_model_t::slew_point_t>()) };
+    { t.startGuiding(std::declval<typename T::guiding_model_t::guiding_point_t>()) };
+
+    { t.stop() };
+};
+
+
+template <typename T>
+concept mcc_generic_fsm_mount_c = mcc_generic_mount_c<T> && std::derived_from<T, fsm::MccFiniteStateMachine>;
+
+
+}  // namespace traits
+
+
+}  // namespace mcc

cxx/mcc_guiding_model.h

@@ -7,9 +7,9 @@
 
 
 #include "mcc_mount_concepts.h"
+#include "mcc_mount_telemetry.h"
 #include "mcc_slew_guiding_model_common.h"
 
-
 namespace mcc
 {
 
@@ -24,6 +24,7 @@ enum class MccSimpleGuidingModelErrorCode : int {
     ERROR_INVALID_CONTEXT_PARAM,
     ERROR_INVALID_THRESH,
     ERROR_INVALID_CORR_RANGE,
+    ERROR_GUIDING_STOPPED
 };
 
 }  // namespace mcc
@@ -76,6 +77,8 @@ struct MccSimpleGuidingModelCategory : public std::error_category {
                 return "guiding model: invalid guiding residual threshold";
             case MccSimpleGuidingModelErrorCode::ERROR_INVALID_CORR_RANGE:
                 return "guiding model: invalid guiding correction range";
+            case MccSimpleGuidingModelErrorCode::ERROR_GUIDING_STOPPED:
+                return "guiding model: stopped";
             default:
                 return "UNKNOWN";
         }
@@ -96,31 +99,6 @@ inline std::error_code make_error_code(MccSimpleGuidingModelErrorCode ec)
 
 
 
-/*                  */
-
-class MccCelestialPointTrack final
-{
-public:
-    template <traits::mcc_astrom_engine_c ASTROM_ENGINE_T, traits::mcc_time_duration_c DT>
-    MccCelestialPointTrack(ASTROM_ENGINE_T& astrom_engine,
-                           typename ASTROM_ENGINE_T::juldate_t start,
-                           DT step,
-                           size_t Npoints)
-    {
-        const auto p_astrom_engine = &astrom_engine;
-
-        _compFunc = []() {
-
-        };
-    }
-
-private:
-    std::function<size_t()> _compFunc;
-};
-
-/*                  */
-
-
 template <traits::mcc_logger_c LoggerT = MccNullLogger>
 class MccSimpleGuidingModel : public LoggerT
 {
@@ -136,34 +114,56 @@ public:
 
     typedef std::error_code error_t;
 
-    struct guiding_context_t {
-        double corrThresh{MccAngle("00:00:00.2"_dms)};  // correction threshold
-        double correctionRange[2]{MccAngle("00:00:00.5"_dms), MccAngle("00:00:05"_dms)};
 
-        std::chrono::duration<double> predictedTrackDuration{10.0};   // 10 seconds
-        std::chrono::duration<double> predictedTrackResolution{0.1};  // 0.1 seconds
-    };
+    using guiding_point_t = MccSlewAndGuidingPoint;
 
-    struct guiding_point_t : MccCelestialPoint {
-        coord_t corrThresh{(double)MccAngle("00:00:00.2"_dms)};  // correction threshold
-        coord_t correctionRange[2]{(double)MccAngle(0.5_arcsecs), (double)MccAngle(5.0_arcsecs)};
-    };
-
-    template <traits::mcc_mount_controls_c MOUNT_CONTROLS_T, typename... LoggerCtorArgTs>
-    MccSimpleGuidingModel(MOUNT_CONTROLS_T& mount_controls, guiding_context_t context, LoggerCtorArgTs&&... ctor_args)
+    template <traits::mcc_mount_telemetry_c TELEMETRY_T,
+              traits::mcc_mount_hardware_c HARDWARE_T,
+              traits::mcc_irange_of_pzones_c<typename TELEMETRY_T::mount_telemetry_data_t> PZ_T,
+              // traits::mcc_tuple_c PZ_T,
+              typename... LoggerCtorArgTs>
+    MccSimpleGuidingModel(TELEMETRY_T* telemetry,
+                          HARDWARE_T* hardware,
+                          PZ_T* prohibited_zone,
+                          LoggerCtorArgTs&&... ctor_args)
         requires(!std::same_as<LoggerT, MccNullLogger>)
         : LoggerT(std::forward<LoggerCtorArgTs>(ctor_args)...)
     {
         logDebug(std::format("Create 'MccSimpleGuidingModel' class instance ({})", (void*)this));
 
-        init(mount_controls, std::move(context));
+        init(telemetry, hardware, prohibited_zone);
     }
 
-    template <traits::mcc_mount_controls_c MOUNT_CONTROLS_T>
-    MccSimpleGuidingModel(MOUNT_CONTROLS_T& mount_controls, guiding_context_t context)
-        requires(std::same_as<LoggerT, MccNullLogger>)
+    // template <traits::mcc_mount_telemetry_c TELEMETRY_T,
+    //           traits::mcc_mount_hardware_c HARDWARE_T,
+    //           traits::mcc_irange_of_pzones_c<typename TELEMETRY_T::mount_telemetry_data_t> PZ_T
+    //           // traits::mcc_tuple_c PZ_T
+    //           >
+    // MccSimpleGuidingModel(TELEMETRY_T& telemetry, HARDWARE_T& hardware, PZ_T& prohibited_zone)
+    //     requires(std::same_as<LoggerT, MccNullLogger>)
+    // {
+    //     init(telemetry, hardware, prohibited_zone);
+    // }
+
+
+    MccSimpleGuidingModel(MccSimpleGuidingModel&& other)
+        : _guidingFunc(std::move(other._guidingFunc)),
+          _doCorrection(other._doCorrection.load()),
+          _stopRequested(other._stopRequested.load())
     {
-        init(mount_controls, std::move(context));
+    }
+
+    MccSimpleGuidingModel& operator=(MccSimpleGuidingModel&& other)
+    {
+        if (this == &other) {
+            return *this;
+        }
+
+        _guidingFunc = std::move(other._guidingFunc);
+        _doCorrection = other._doCorrection.load();
+        _stopRequested = other._stopRequested.load();
+
+        return *this;
     }
 
     virtual ~MccSimpleGuidingModel()
@@ -180,6 +180,8 @@ public:
     error_t stopGuiding(bool off)
     {
         _doCorrection = off;
+
+        return MccSimpleGuidingModelErrorCode::ERROR_OK;
     }
 
     bool inGuiding()
@@ -187,257 +189,66 @@ public:
         return _doCorrection;
     }
 
+    error_t stop()
+    {
+        return MccSimpleGuidingModelErrorCode::ERROR_OK;
+    }
+
 protected:
     std::function<error_t(guiding_point_t)> _guidingFunc{};
     std::atomic_bool _doCorrection{true};
+    std::atomic_bool _stopRequested{false};
 
 
-    error_t init(auto& mount_controls, guiding_context_t context)
+
+    void init(auto* p_telemetry, auto* p_hardware, auto* p_prohibited_zones)
     {
         // deduce controls types
-        using astrom_engine_t = decltype(mount_controls.astrometryEngine);
-        using hardware_t = decltype(mount_controls.hardware);
-        using pec_t = decltype(mount_controls.PEC);
-        using telemetry_t = decltype(mount_controls.telemetry);
-        using tpl_pz_t = decltype(mount_controls.prohibitedZones);
+        // deduce controls types
+        using hardware_t = decltype(*p_hardware);
+        using telemetry_t = decltype(*p_telemetry);
+        static_assert(traits::mcc_mount_default_telemetry_c<telemetry_t>,
+                      "TELEMETRY CLASS MUST BE A DESCENDANT OF 'MccMountTelemetry'!");
 
-        static constexpr size_t Nzones = std::tuple_size_v<tpl_pz_t>;
+        using astrom_engine_t = typename telemetry_t::astrom_engine_t;
 
-        size_t predicted_Npoints = context.predictedTrackDuration / context.predictedTrackResolution;
-        if (predicted_Npoints == 0) {
-            return MccSimpleGuidingModelErrorCode::ERROR_INVALID_CONTEXT_PARAM;
-        }
+        static constexpr size_t Nzones = std::tuple_size_v<decltype(*p_prohibited_zones)>;
 
-        auto resi_thresh2 = context.corrThresh * context.corrThresh;
+        // const auto p_telemetry = &telemetry;
+        // const auto p_hardware = &hardware;
+        // const auto p_prohibited_zones = &prohibited_zones;
 
-        if (utils::isEqual(resi_thresh2, 0.0)) {
+        _guidingFunc = [p_telemetry, p_hardware, p_prohibited_zones, this](guiding_point_t guiding_point) {
+            _stopRequested = false;
+
+            if (guiding_point.correctionRange[0] >= guiding_point.correctionRange[1]) {
                 return MccSimpleGuidingModelErrorCode::ERROR_INVALID_THRESH;
             }
 
-        const auto p_mount_controls = &mount_controls;
+            auto low_corr_limit = guiding_point.correctionRange[0] * guiding_point.correctionRange[0];
+            auto high_corr_limit = guiding_point.correctionRange[1] * guiding_point.correctionRange[1];
 
-        auto check_zones = [p_mount_controls, this]() {
-            return [this]<size_t... Is>(std::index_sequence<Is...>) {
-                error_t ret;
-
-                (
-                    [&ret]() {
-                        if constexpr (Is > 0) {
-                            if (ret) {
-                                return;
-                            }
-                        }
-
-                        typename telemetry_t::mount_telemetry_data_t tdata;
-
-                        auto tel_err = p_mount_controls->telemetry.data(tdata);
-                        if (tel_err) {
-                            if constexpr (std::same_as<decltype(tel_err), error_t>) {
-                                ret = tel_err;
-                            } else {
-                                ret = MccSimpleGuidingModelErrorCode::ERROR_TELEMETRY_DATA;
-                            }
-                        } else {
-                            ret = std::get<Is>(p_mount_controls->prohibitedZones).inZone(tdata)
-                                      ? MccSimpleGuidingModelErrorCode::ERROR_IN_PROHIBITED_ZONE
-                                      : MccSimpleGuidingModelErrorCode::ERROR_OK;
-                            if (ret) {
-                                auto log_str = std::format("given coordinates are in prohibited zone '{}'",
-                                                           std::get<Is>(p_mount_controls->prohibitedZones).name());
-                                logError(log_str);
-                            }
-                        }
-                    }(),
-                    ...);
-
-
-                return ret;
-            }(std::make_index_sequence<Nzones>{});
-        };
-
-
-        _guidingFunc = [p_mount_controls, context = std::move(context), predicted_Npoints, this](
-                           this auto&& self, guiding_point_t guiding_point) {
-            if (context.correctionRange[0] >= context.correctionRange[1]) {
-                return MccSimpleGuidingModelErrorCode::ERROR_INVALID_THRESH;
-            }
-
-            auto low_corr_limit = context.correctionRange[0] * context.correctionRange[0];
-            auto high_corr_limit = context.correctionRange[1] * context.correctionRange[1];
-
-            auto& astrom_engine = p_mount_controls->astrometryEngine;
-            auto& hardware = p_mount_controls->hardware;
-            auto& pec = p_mount_controls->PEC;
-            auto& telemetry = p_mount_controls->telemetry;
-
-            using coord_t = typename astrom_engine_t::coord_t;
-            using jd_t = typename astrom_engine_t::juldate_t;
-            jd_t jd;
+            // using coord_t = typename astrom_engine_t::coord_t;
+            // using jd_t = typename astrom_engine_t::juldate_t;
+            // jd_t jd;
 
 
             error_t res_err;
             typename astrom_engine_t::error_t ast_err;
-            typename pec_t::error_t pec_err;
+            // typename pec_t::error_t pec_err;
 
             typename telemetry_t::error_t t_err;
             typename telemetry_t::mount_telemetry_data_t t_data;
 
 
-            // first, compute ICRS coordinates of given guiding point
-            coord_t ra_icrs, dec_icrs;
-
-            const auto p_astrom_engine = &astrom_engine;
-            const auto p_pec = &pec;
-
-            auto predictedPos = [p_astrom_engine, predicted_Npoints, &context, &ra_icrs, &dec_icrs](
-                                    jd_t start, std::vector<guiding_point_t>& track) {
-                if (track.size() < predicted_Npoints) {
-                    track.resize(predicted_Npoints);
-                }
-
-                coord_t ha, ra_app, dec_app, az, alt, eo;
-                typename astrom_engine_t::error_t ast_err;
-                typename pec_t::error_t pec_err;
-                typename pec_t::pec_result_t pec_res;
-
-                for (auto& g_point : track) {
-                    ast_err = p_astrom_engine->icrs2obs(ra_icrs, dec_icrs, start, ra_app, dec_app, ha, az, alt, eo);
-
-                    if (ast_err) {
-                        if constexpr (std::same_as<decltype(ast_err), error_t>) {
-                            logError(
-                                std::format("An error occured while performing astrometry computations: code = {} ({})",
-                                            ast_err.value(), ast_err.message()));
-                            return ast_err;
-                        } else {
-                            if constexpr (traits::mcc_formattable<decltype(ast_err)>) {
-                                logError(std::format(
-                                    "An error occured while performing astrometry computations: code = {}", ast_err));
-                            }
-                            return MccSimpleGuidingModelErrorCode::ERROR_ASTROM_COMP;
-                        }
-                    }
-
-                    if constexpr (mccIsEquatorialMount(pec_t::mountType)) {  // use of HA and DEC
-                        g_point.coordPairKind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
-                        g_point.x = ha;
-                        g_point.y = dec_app;
-                    } else if constexpr (mccIsAltAzMount(pec_t::mountType)) {  // use of Az and Alt
-                        g_point.coordPairKind = MccCoordPairKind::COORDS_KIND_AZALT;
-                        g_point.x = az;
-                        g_point.y = alt;
-                    } else {
-                        static_assert(false, "UNKNOWN MOUNT TYPE!");
-                    }
-
-                    start.mjd += context.predictedTrackResolution.count() / 86400.0;
-                }
-
-                return MccSimpleGuidingModelErrorCode::ERROR_OK;
-            };  // end of predictedPos lambda
-
-            if (guiding_point.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_XY) {
-                typename pec_t::pec_result_t pec_res;
-
-                pec_err = pec.compute(guiding_point.x, guiding_point.y, pec_res);
-
-                if (pec_err) {
-                    if constexpr (std::same_as<decltype(pec_err), error_t>) {
-                        logError(
-                            std::format("An PEC error occured: code = {} ({})", pec_err.value(), pec_err.message()));
-                        return pec_err;
-                    } else {
-                        if constexpr (traits::mcc_formattable<decltype(pec_err)>) {
-                            logError(std::format("An PEC error occured: code = {}", pec_err));
-                        }
-                        return MccSimpleGuidingModelErrorCode::ERROR_PEC_COMP;
-                    }
-                }
-
-                if constexpr (mccIsEquatorialMount(pec_t::mountType)) {  // use of HA and DEC
-                    guiding_point.coordPairKind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
-                } else if constexpr (mccIsAltAzMount(pec_t::mountType)) {  // use of Az and Alt
-                    guiding_point.coordPairKind = MccCoordPairKind::COORDS_KIND_AZALT;
-                } else {
-                    static_assert(false, "UNKNOWN MOUNT TYPE!");
-                }
-
-                guiding_point.x += pec_res.dx;  // app HA/Az
-                guiding_point.y += pec_res.dy;  // app DEC/Alt
-
-                res_err = self(std::move(guiding_point));
-                if (res_err) {
-                    return res_err;
-                }
-            } else if (guiding_point.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP) {
-            } else if (guiding_point.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_RADEC_APP) {
-            } else if (guiding_point.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_AZALT) {
-            } else if (guiding_point.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_AZZD) {
-            } else if (guiding_point.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
-                ra_icrs = guiding_point.x;
-                dec_icrs = guiding_point.y;
-            } else {
-                return MccSimpleGuidingModelErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
-            }
-
-            if (guiding_point.coordPairKind != mcc::MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
-                ast_err = astrom_engine.greg2jul(astrom_engine_t::timePointNow(), jd);
-                if (!ast_err) {
-                    ast_err = astrom_engine.obs2icrs(guiding_point.coordPairKind, guiding_point.x, guiding_point.y, jd,
-                                                     ra_icrs, dec_icrs);
-                }
-
-                if (ast_err) {
-                    if constexpr (std::same_as<decltype(ast_err), error_t>) {
-                        logError(
-                            std::format("An error occured while performing astrometry computations: code = {} ({})",
-                                        ast_err.value(), ast_err.message()));
-                        return ast_err;
-                    } else {
-                        if constexpr (traits::mcc_formattable<decltype(ast_err)>) {
-                            logError(std::format("An error occured while performing astrometry computations: code = {}",
-                                                 ast_err));
-                        }
-                        return MccSimpleGuidingModelErrorCode::ERROR_ASTROM_COMP;
-                    }
-                }
-            }
-
-
-            coord_t ha, ra_app, dec_app, az, alt, eo;
-            coord_t xr, yr, coord_diff;
             typename hardware_t::axes_pos_t ax_pos;
 
-            while (true) {
-                // check prohibited zones ...
-                if ((res_err = check_zones())) {
-                    return res_err;
-                }
+            ax_pos.moving_type = hardware_t::hw_moving_type_t::HW_MOVE_GUIDING;
 
-                ast_err = astrom_engine.greg2jul(astrom_engine_t::timePointNow(), jd);
-                if (!ast_err) {
-                    ast_err = astrom_engine.icrs2obs(ra_icrs, dec_icrs, jd, ra_app, dec_app, ha, az, alt, eo);
-                }
-                if (ast_err) {
-                    if constexpr (std::same_as<decltype(ast_err), error_t>) {
-                        logError(
-                            std::format("An error occured while performing astrometry computations: code = {} ({})",
-                                        ast_err.value(), ast_err.message()));
-                        return ast_err;
-                    } else {
-                        if constexpr (traits::mcc_formattable<decltype(ast_err)>) {
-                            logError(std::format("An error occured while performing astrometry computations: code = {}",
-                                                 ast_err));
-                        }
-                        return MccSimpleGuidingModelErrorCode::ERROR_ASTROM_COMP;
-                    }
-                }
-
-                t_err = telemetry.data(t_data);
+            t_err = p_telemetry->setTarget(guiding_point);
             if (t_err) {
                 if constexpr (std::same_as<decltype(t_err), error_t>) {
-                        logError(
-                            std::format("An telemetry error occured: code = {} ({})", t_err.value(), t_err.message()));
+                    logError(std::format("An telemetry error occured: code = {} ({})", t_err.value(), t_err.message()));
                     return t_err;
                 } else {
                     if constexpr (traits::mcc_formattable<decltype(t_err)>) {
@@ -447,42 +258,77 @@ protected:
                 }
             }
 
-                // compare t_data with computed coordinates ...
-                if (_doCorrection) {
-                    if constexpr (mccIsEquatorialMount(pec_t::mountType)) {
-                        xr = ha - t_data.mntHA;
-                        yr = dec_app - t_data.mntDEC;
-                    } else if constexpr (mccIsAltAzMount(pec_t::mountType)) {
-                        xr = az - t_data.mntAZ;
-                        yr = alt - t_data.mntALT;
-                    } else {
-                        static_assert(false, "UNSUPPORTED MOUNT TYPE!");
+            std::array<bool, Nzones> in_zone_flag;
+
+            while (true) {
+                if (_stopRequested) {
+                    // return MccSimpleGuidingModelErrorCode::ERROR_GUIDING_STOPPED;
+                    // interpetate stoping as 'no error' exit
+                    return MccSimpleGuidingModelErrorCode::ERROR_OK;
                 }
 
-                    coord_diff = xr * xr + yr * yr;
 
-                    if (coord_diff < low_corr_limit) {
+                // suspend the thread here until telemetry data is updated
+                t_err = p_telemetry->waitForUpdatedData(t_data, guiding_point.telemetryUpdateTimeout);
+
+                ax_pos.x = t_data.mntPosX;
+                ax_pos.y = t_data.mntPosY;
+
+                // check prohibited zones ...
+                if (mccCheckInZonePZTuple(t_data, *p_prohibited_zones, in_zone_flag)) {
+                    return MccSimpleGuidingModelErrorCode::ERROR_IN_PROHIBITED_ZONE;
+                };
+
+
+                if (t_err) {
+                    std::string err_str = "An error occured while waiting for updated telemetry";
+                    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 MccSimpleGuidingModelErrorCode::ERROR_TELEMETRY_DATA;
+                    }
+                }
+
+                if (_stopRequested) {
+                    // interpetate stoping as 'no error' exit
+                    return MccSimpleGuidingModelErrorCode::ERROR_OK;
+                }
+
+                // compare t_data with computed coordinates ...
+                if (_doCorrection) {
+                    auto coord_diff = p_telemetry->targetToMountDiff();
+
+                    if (coord_diff.r2 < low_corr_limit) {
+                        logWarn(
+                            std::format("guiding model: the 'mount-target' square of difference is less than the limit "
+                                        "(diff = {}; lim = {}). Do not perfrom the corrections!",
+                                        (double)coord_diff.r2, (double)high_corr_limit));
                         continue;
                     }
 
-                    if (coord_diff > high_corr_limit) {
-                        logWarn(std::format(
-                            "guiding model: the 'mount-target' difference exceeds the limit (diff = {}; lim = {})",
-                            (double)coord_diff, (double)high_corr_limit));
+                    if (coord_diff.r2 > high_corr_limit) {
+                        logWarn(
+                            std::format("guiding model: the 'mount-target' square of difference exceeds the limit "
+                                        "(diff = {}; lim = {})",
+                                        (double)coord_diff.r2, (double)high_corr_limit));
                         continue;
                     }
 
                     // do correction
-                    ax_pos.state = hardware_t::hw_state_t::HW_STATE_TRACK;  // indicates to hardware level
-                    ax_pos.x = xr;
-                    ax_pos.y = yr;
-                    // ax_pos.x = t_data.mntPosX;
-                    // ax_pos.y = t_data.mntPosY;
                     ax_pos.time_point = t_data.time_point;
-
+                    ax_pos.x += coord_diff.xdiff;
+                    if (guiding_point.dualAxisGuiding) {
+                        ax_pos.y += coord_diff.ydiff;
+                    }
 
                     // asynchronous operation!
-                    auto err = hardware.setPos(std::move(ax_pos));
+                    auto err = p_hardware->setPos(ax_pos);
                     if (err) {
                         if constexpr (std::same_as<decltype(err), error_t>) {
                             logError(
@@ -503,4 +349,6 @@ protected:
     }
 };
 
+// static_assert(std::movable<MccSimpleGuidingModel<>>);
+
 }  // namespace mcc

cxx/mcc_mount_astro_erfa.h

@@ -110,11 +110,6 @@ inline std::error_code make_error_code(MccMountAstromEngineERFAErrorCode ec)
 
 
 
-/*  A concept for ERFA-library compatible type to represent anglular quantities  */
-template <typename T>
-concept mcc_erfa_angle_t = std::constructible_from<T, double> && std::convertible_to<T, double>;
-
-template <mcc_erfa_angle_t AngleT = MccAngle>
 class MccMountAstromEngineERFA
 {
 public:
@@ -122,6 +117,9 @@ public:
 
     typedef std::error_code error_t;
 
+    /*  use of the same type for representation of celestial and geodetic coordinates, celestial angles (e.g. P.A.),
+     *  and sideral time */
+    typedef double coord_t;
 
     // meteo parameters (to compute refraction)
     struct meteo_t {
@@ -139,8 +137,8 @@ public:
 
         double wavelength = DEFAULT_WAVELENGTH;  // observed wavelength in mkm
 
-        AngleT lat = "00:00:00"_dms;  // site latitude
-        AngleT lon = "00:00:00"_dms;  // site longitude
+        coord_t lat = "00:00:00"_dms;  // site latitude
+        coord_t lon = "00:00:00"_dms;  // site longitude
         double elev = 0.0;             // site elevation (in meters)
 
         mcc::astrom::iers::MccLeapSeconds _leapSeconds{};
@@ -154,20 +152,11 @@ public:
         double mjd{51544.5};  // J2000.0
     };
 
-    // typedef MccAngle coord_t;
-
-    // typedef MccAngle sideral_time_t;
-    // typedef MccAngle pa_t;
-    // typedef MccAngle eo_t;
 
 
-    /*  use of the same type fro representation of celestial and geodetic coordinates, celestial angles (e.g. P.A.),
-     * sideral time */
-    typedef AngleT coord_t;
-
-    typedef AngleT sideral_time_t;
-    typedef AngleT pa_t;
-    typedef AngleT eo_t;
+    typedef coord_t sideral_time_t;
+    typedef coord_t pa_t;
+    typedef coord_t eo_t;
 
     struct refract_result_t {
         double refa, refb;
@@ -176,34 +165,51 @@ public:
 
     MccMountAstromEngineERFA() = default;
 
-    MccMountAstromEngineERFA(engine_state_t state) : _currentState(std::move(state)) {}
+    MccMountAstromEngineERFA(engine_state_t state) : _currentState(std::move(state)), _stateMutex(new std::mutex) {}
+
+    MccMountAstromEngineERFA(const MccMountAstromEngineERFA&) = delete;
+    MccMountAstromEngineERFA& operator=(const MccMountAstromEngineERFA&) = delete;
+
+    MccMountAstromEngineERFA(MccMountAstromEngineERFA&& other)
+        : _currentState(std::move(other._currentState)), _stateMutex(std::move(other._stateMutex)) {};
+
+    MccMountAstromEngineERFA& operator=(MccMountAstromEngineERFA&& other)
+    {
+        if (this != &other) {
+            _currentState = std::move(other._currentState);
+            _stateMutex = std::move(other._stateMutex);
+        }
+
+        return *this;
+    }
+
 
     virtual ~MccMountAstromEngineERFA() = default;
 
     void setState(engine_state_t state)
     {
-        std::lock_guard lock{_stateMutex};
+        std::lock_guard lock{*_stateMutex};
 
         _currentState = std::move(state);
     }
 
     engine_state_t getState() const
     {
-        std::lock_guard lock{_stateMutex};
+        std::lock_guard lock{*_stateMutex};
 
         return _currentState;
     }
 
     void updateMeteo(meteo_t meteo)
     {
-        std::lock_guard lock{_stateMutex};
+        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};
+        std::lock_guard lock{*_stateMutex};
 
         if (!_currentState._leapSeconds.load(stream, comment_sym)) {
             return MccMountAstromEngineERFAErrorCode::ERROR_UPDATE_LEAPSECONDS;
@@ -215,7 +221,7 @@ public:
 
     error_t updateLeapSeconds(traits::mcc_input_char_range auto const& filename, char comment_sym = '#')
     {
-        std::lock_guard lock{_stateMutex};
+        std::lock_guard lock{*_stateMutex};
 
         if (!_currentState._leapSeconds.load(filename, comment_sym)) {
             return MccMountAstromEngineERFAErrorCode::ERROR_UPDATE_LEAPSECONDS;
@@ -227,7 +233,7 @@ public:
 
     error_t updateBulletinA(std::derived_from<std::basic_istream<char>> auto& stream, char comment_sym = '*')
     {
-        std::lock_guard lock{_stateMutex};
+        std::lock_guard lock{*_stateMutex};
 
         if (!_currentState._bulletinA.load(stream, comment_sym)) {
             return MccMountAstromEngineERFAErrorCode::ERROR_UPDATE_BULLETINA;
@@ -239,7 +245,7 @@ public:
 
     error_t updateBulletinA(traits::mcc_input_char_range auto const& filename, char comment_sym = '*')
     {
-        std::lock_guard lock{_stateMutex};
+        std::lock_guard lock{*_stateMutex};
 
         if (!_currentState._bulletinA.load(filename, comment_sym)) {
             return MccMountAstromEngineERFAErrorCode::ERROR_UPDATE_BULLETINA;
@@ -299,7 +305,7 @@ public:
 
     error_t terrestrialTime(juldate_t juldate, juldate_t& tt)
     {
-        std::lock_guard lock{_stateMutex};
+        std::lock_guard lock{*_stateMutex};
 
         using real_days_t = std::chrono::duration<double, std::ratio<86400>>;
 
@@ -320,7 +326,7 @@ public:
 
     error_t apparentSiderTime(juldate_t juldate, sideral_time_t& gst, bool islocal = false)
     {
-        // std::lock_guard lock{_stateMutex};
+        // std::lock_guard lock{*_stateMutex};
 
         using real_days_t = std::chrono::duration<double, std::ratio<86400>>;
 
@@ -328,7 +334,7 @@ public:
         // double tt = juldate.mjd;
 
         {
-            std::lock_guard lock{_stateMutex};
+            std::lock_guard lock{*_stateMutex};
 
             auto dut1 = _currentState._bulletinA.DUT1(juldate.mjd);
 
@@ -384,7 +390,7 @@ public:
 
     error_t refraction(refract_result_t& refr)
     {
-        std::lock_guard lock{_stateMutex};
+        std::lock_guard lock{*_stateMutex};
 
         eraRefco(_currentState.meteo.pressure, _currentState.meteo.temperature, _currentState.meteo.humidity,
                  _currentState.wavelength, &refr.refa, &refr.refb);
@@ -417,7 +423,7 @@ public:
                      coord_t& alt,
                      eo_t& eo)
     {
-        std::lock_guard lock{_stateMutex};
+        std::lock_guard lock{*_stateMutex};
 
         auto dut1 = _currentState._bulletinA.DUT1(juldate.mjd);
 
@@ -459,7 +465,7 @@ public:
 
     error_t obs2icrs(MccCoordPairKind coord_kind, coord_t x, coord_t y, juldate_t juldate, coord_t ra, coord_t dec)
     {
-        std::lock_guard lock{_stateMutex};
+        std::lock_guard lock{*_stateMutex};
 
         auto dut1 = _currentState._bulletinA.DUT1(juldate.mjd);
 
@@ -516,7 +522,7 @@ public:
 
     error_t hadec2azalt(coord_t ha, coord_t dec, coord_t& az, coord_t& alt)
     {
-        std::lock_guard lock{_stateMutex};
+        std::lock_guard lock{*_stateMutex};
 
         double r_az, r_alt;
         eraHd2ae(ha, dec, _currentState.lat, &r_az, &r_alt);
@@ -529,7 +535,7 @@ public:
 
     error_t azalt2hadec(coord_t az, coord_t alt, coord_t& ha, coord_t& dec)
     {
-        std::lock_guard lock{_stateMutex};
+        std::lock_guard lock{*_stateMutex};
 
         double r_ha, r_dec;
 
@@ -544,13 +550,177 @@ public:
 
     error_t hadec2pa(coord_t ha, coord_t dec, pa_t& pa)
     {
-        std::lock_guard lock{_stateMutex};
+        std::lock_guard lock{*_stateMutex};
 
         pa = eraHd2pa(ha, dec, _currentState.lat);
 
         return MccMountAstromEngineERFAErrorCode::ERROR_OK;
     }
 
+    error_t coord2coord(MccCoordPairKind coord_from_kind,
+                        coord_t x_from,
+                        coord_t y_from,
+                        time_point_t time_point_from,
+                        MccCoordPairKind coord_to_kind,
+                        coord_t& x_to,
+                        coord_t& y_to,
+                        time_point_t time_point_to)
+    {
+        error_t ret = MccMountAstromEngineERFAErrorCode::ERROR_OK;
+
+        // no convertion
+        if (time_point_from == time_point_to && coord_from_kind == coord_to_kind) {
+            x_to = x_from;
+            y_to = y_from;
+            return ret;
+        }
+
+
+        juldate_t jd;
+        eo_t eo;
+        coord_t ra, dec, ha, az, alt;
+        sideral_time_t lst;
+
+        auto lst_eo = [&]() {
+            ret = greg2jul(time_point_from, jd);
+            if (!ret) {
+                ret = apparentSiderTime(jd, lst, true);
+                if (!ret) {
+                    ret = eqOrigins(jd, eo);
+                }
+            }
+        };
+
+        // special case: to ICRS from apparent
+        if (coord_to_kind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
+            if (coord_from_kind == MccCoordPairKind::COORDS_KIND_AZALT ||
+                coord_from_kind == MccCoordPairKind::COORDS_KIND_AZZD ||
+                coord_from_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP ||
+                coord_from_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
+                //
+                ret = greg2jul(time_point_from, jd);
+                if (!ret) {
+                    ret = obs2icrs(coord_from_kind, x_from, y_from, jd, x_to, y_to);
+                }
+            } else {
+                ret = MccMountAstromEngineERFAErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
+            }
+            return ret;
+        }
+
+        // special case: from ICRS to apparent
+        if (coord_from_kind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
+            if (coord_to_kind == MccCoordPairKind::COORDS_KIND_AZALT ||
+                coord_to_kind == MccCoordPairKind::COORDS_KIND_AZZD ||
+                coord_to_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP ||
+                coord_to_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
+                //
+                ret = greg2jul(time_point_to, jd);
+                if (!ret) {
+                    ret = icrs2obs(x_from, y_from, jd, ra, dec, ha, az, alt, eo);
+
+                    if (!ret) {
+                        if (coord_to_kind == MccCoordPairKind::COORDS_KIND_AZALT) {
+                            x_to = az;
+                            y_to = alt;
+                        } else if (coord_to_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
+                            x_to = az;
+                            y_to = std::numbers::pi / 2.0 - alt;
+                        } else if (coord_to_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
+                            x_to = ra;
+                            y_to = dec;
+                        } else if (coord_to_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
+                            x_to = ha;
+                            y_to = dec;
+                        }
+                    }
+                }
+            } else {
+                ret = MccMountAstromEngineERFAErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
+            }
+
+            return ret;
+        }
+
+        // from apparent to apparent
+        if (time_point_from != time_point_to) {  // first, convert 'from' coordinates to ICRS
+            ret = greg2jul(time_point_from, jd);
+            if (!ret) {
+                ret = obs2icrs(coord_from_kind, x_from, y_from, jd, ra, dec);
+                if (!ret) {  // from ICRS to required
+                    return coord2coord(MccCoordPairKind::COORDS_KIND_RADEC_ICRS, ra, dec, time_point_from,
+                                       coord_to_kind, x_to, y_to, time_point_to);
+                }
+            }
+        } else {  // same time points
+            if (coord_from_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
+                // first, compute HA from CIO-based RA!!!
+                lst_eo();
+                if (!ret) {
+                    ha = lst - x_from + eo;
+                } else {
+                    return ret;
+                }
+
+
+                if (coord_to_kind == MccCoordPairKind::COORDS_KIND_AZALT) {
+                    ret = hadec2azalt(ha, y_from, x_to, y_to);
+                } else if (coord_to_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
+                    ret = hadec2azalt(ha, y_from, x_to, y_to);
+                    if (!ret) {
+                        y_to = std::numbers::pi / 2.0 - y_to;
+                    }
+                } else if (coord_to_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
+                    x_to = ha;
+                    y_to = y_from;
+                } else {
+                    ret = MccMountAstromEngineERFAErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
+                }
+            } else if (coord_from_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
+                if (coord_to_kind == MccCoordPairKind::COORDS_KIND_AZALT) {
+                    ret = hadec2azalt(x_from, y_from, x_to, y_to);
+                } else if (coord_to_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
+                    ret = hadec2azalt(x_from, y_from, x_to, y_to);
+                    if (!ret) {
+                        y_to = std::numbers::pi / 2.0 - y_to;
+                    }
+                } else if (coord_to_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
+                    lst_eo();
+                    if (!ret) {
+                        x_to = lst - x_from + eo;
+                        y_to = y_from;
+                    }
+                } else {
+                    ret = MccMountAstromEngineERFAErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
+                }
+            } else if (coord_from_kind == MccCoordPairKind::COORDS_KIND_AZALT) {
+                if (coord_to_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
+                    ret = azalt2hadec(x_from, y_from, x_to, y_to);
+                    if (!ret) {
+                        lst_eo();
+                        if (!ret) {
+                            x_to = lst - x_to + eo;
+                        }
+                    }
+                } else if (coord_to_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
+                    x_to = x_from;
+                    y_to = std::numbers::pi / 2.0 - y_from;
+                } else if (coord_to_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
+                    ret = azalt2hadec(x_from, y_from, x_to, y_to);
+                } else {
+                    ret = MccMountAstromEngineERFAErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
+                }
+            } else if (coord_from_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
+                return coord2coord(MccCoordPairKind::COORDS_KIND_AZALT, std::move(x_from),
+                                   std::numbers::pi / 2.0 - y_to, time_point_from, coord_to_kind, x_to, y_to,
+                                   time_point_to);
+            } else {
+                ret = MccMountAstromEngineERFAErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
+            }
+        }
+
+        return ret;
+    }
 
     /*  helper mathods  */
 
@@ -578,10 +748,10 @@ public:
 protected:
     engine_state_t _currentState{};
 
-    mutable std::mutex _stateMutex;
+    std::unique_ptr<std::mutex> _stateMutex;
 };
 
 }  // namespace mcc::astrom::erfa
 
 
-static_assert(mcc::traits::mcc_astrom_engine_c<mcc::astrom::erfa::MccMountAstromEngineERFA<>>, "");
+static_assert(mcc::traits::mcc_astrom_engine_c<mcc::astrom::erfa::MccMountAstromEngineERFA>, "");

cxx/mcc_mount_concepts.h

@@ -101,6 +101,43 @@ concept mcc_logger_c = requires(T t, const T t_const) {
 };
 
 
+/*  A CONCEPT FOR COORDINATE REPRESENTATION  */
+
+// it is a fundametal floating-point type or
+// a class that can be constructed from or converted to the double fundametal type
+template <typename T>
+concept mcc_coord_t = std::floating_point<T> || (std::convertible_to<T, double> && std::constructible_from<T, double>);
+
+
+/*  A CONCEPT FOR UTC TIME POINT REPRESENTATION */
+
+// it is a std::chrono::sys_time<Duration> or
+// fundamental arithmetic type that represent number of seconds after the 00:00:00 of 1 January 1970 (UNIX time)
+template <typename T>
+concept mcc_utc_time_point_c = mcc_systime_c<T> || std::is_arithmetic_v<T>;
+
+/*  A CONCEPT FOR CLASS TO REPRESENT CELESTIAL POINT  */
+
+
+template <typename T>
+concept mcc_celestial_point_c = requires(T t) {
+    // a type to represent UTC time point of coordinates
+    // it's clear that this makes sense for apparent coordinates
+    typename T::time_point_t;
+
+    // coordinates pair type (e.g. IRCS RA,DEC, Az,Alt and so on)
+    requires std::same_as<decltype(t.coordPairKind), MccCoordPairKind>;
+
+    typename T::coord_t;
+
+    // co-longitude (e.g. RA or Az)
+    requires std::same_as<decltype(t.x), typename T::coord_t>;
+
+    // co-latitude (e.g. DEC or ZD)
+    requires std::same_as<decltype(t.y), typename T::coord_t>;
+};
+
+
 /*  ASTROMETRY-RELATED COMPUTATION ENGINE  */
 
 template <typename T>
@@ -131,10 +168,10 @@ concept mcc_astrom_engine_c = requires(T t, const T t_const) {
     } -> std::same_as<typename T::error_t>;
 
     // observed place to ICRS RA and DEC: obs2icrs(type, x, y, jd, ra_icrs, dec_icrs)
-    // (x,y) = (AZ, ZD) if type = MccCoordPairKind::COORDS_KIND_AZZD
-    // (x,y) = (AZ, ALT) if type = MccCoordPairKind::COORDS_KIND_AZALT
-    // (x,y) = (HA, DEC) if type = MccCoordPairKind::COORDS_KIND_HADEC_APP
-    // (x,y) = (RA, DEC) if type = MccCoordPairKind::COORDS_KIND_RADEC_APP
+    // (x, y) = (AZ, ZD) if type == MccCoordPairKind::COORDS_KIND_AZZD
+    // (x, y) = (AZ, ALT) if type == MccCoordPairKind::COORDS_KIND_AZALT
+    // (x, y) = (HA, DEC) if type == MccCoordPairKind::COORDS_KIND_HADEC_APP
+    // (x, y) = (RA, DEC) if type == MccCoordPairKind::COORDS_KIND_RADEC_APP
     {
         t.obs2icrs(std::declval<MccCoordPairKind>(), std::declval<typename T::coord_t>(),
                    std::declval<typename T::coord_t>(), std::declval<typename T::juldate_t>(),
@@ -160,6 +197,26 @@ concept mcc_astrom_engine_c = requires(T t, const T t_const) {
                    std::declval<typename T::pa_t&>())
     } -> std::same_as<typename T::error_t>;
 
+
+    // transform coordinates according to its pair types and time points (a high-level wrapper):
+    //
+    // coord2coord(coord_pair_kind_from, x_from, y_from, time_point_from, coord_pair_kind_to, x_to, y_to, time_point_to)
+    //
+    // (x_*, y_*) = (AZ, ZD) if coord_pair_kind_* == MccCoordPairKind::COORDS_KIND_AZZD
+    // (x_*, y_*) = (AZ, ALT) if coord_pair_kind_* == MccCoordPairKind::COORDS_KIND_AZALT
+    // (x_*, y_*) = (HA, DEC) if coord_pair_kind_* == MccCoordPairKind::COORDS_KIND_HADEC_APP (apparent)
+    // (x_*, y_*) = (RA, DEC) if coord_pair_kind_* == MccCoordPairKind::COORDS_KIND_RADEC_APP (apparent)
+    // (x_*, y_*) = (RA, DEC) if coord_pair_kind_* == MccCoordPairKind::COORDS_KIND_RADEC_ICRS (ICRS)
+    //
+    // if  coord_pair_kind_* and time_point_* are equal then x_to = x_from, y_to = y_from
+    {
+        t.coord2coord(std::declval<MccCoordPairKind>(), std::declval<typename T::coord_t>(),
+                      std::declval<typename T::coord_t>(), std::declval<typename T::time_point_t>(),
+                      std::declval<MccCoordPairKind>(), std::declval<typename T::coord_t&>(),
+                      std::declval<typename T::coord_t&>(), std::declval<typename T::time_point_t>())
+    } -> std::same_as<typename T::error_t>;
+
+
     // compute equation of origins
     {
         t.eqOrigins(std::declval<typename T::juldate_t>(), std::declval<typename T::eo_t&>())
@@ -208,30 +265,38 @@ concept mcc_mount_hardware_c = !std::copyable<T> && std::movable<T> && requires(
 
     { t_const.id() } -> mcc_formattable;
 
-    // a type that defines at least HW_STATE_STOP, HW_STATE_SLEW, HW_STATE_TRACK
-    // compile-time constants
-    // e.g. an implementations can be as follows:
-    //     enum class HW_STATE: int {HW_STATE_STOP, HW_STATE_SLEW, HW_STATE_TRACK}
+    // a type that defines at least 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 setPos-related commands
     //
-    //     struct HW_STATE {
-    //         uint8_t HW_STATE_STOP = 100;
-    //         uint8_t HW_STATE_SLEW = 200;
-    //         uint8_t HW_STATE_TRACK = 300;
+    // e.g. an implementations can be as follows:
+    //     enum class hw_moving_type_t: int {HW_MOVE_SLEWING, HW_MOVE_ADJUSTING, HW_MOVE_TRACKING, HW_MOVE_GUIDING}
+    //
+    //     struct hw_moving_type_t {
+    //         uint16_t HW_MOVE_SLEWING = 111;
+    //         uint16_t HW_MOVE_ADJUSTING = 222;
+    //         uint16_t HW_MOVE_TRACKING = 333;
+    //         uint16_t HW_MOVE_GUIDING = 444;
     //     }
-    requires requires(typename T::hw_state_t state) {
+    requires requires(typename T::hw_moving_type_t state) {
         []() {
-            // hardware is in stop state (no any moving)
-            static constexpr auto v1 = T::hw_state_t::HW_STATE_STOP;
+            // hardware was asked for slewing (move to given celestial point)
+            static constexpr auto v1 = T::hw_moving_type_t::HW_MOVE_SLEWING;
 
-            // hardware is in slew state (move to given celestial point)
-            static constexpr auto v2 = T::hw_state_t::HW_STATE_SLEW;
+            // hardware was asked for adjusting after slewing ("seeking" given celestial point at the end of slewing
+            // process)
+            static constexpr auto v2 = T::hw_moving_type_t::HW_MOVE_ADJUSTING;
 
-            // hardware is in track state (track given celestial point)
-            static constexpr auto v3 = T::hw_state_t::HW_STATE_TRACK;
+            // hardware was asked for tracking (track given celestial point)
+            static constexpr auto v3 = T::hw_moving_type_t::HW_MOVE_TRACKING;
+
+            // hardware was asked for guiding (small corrections to track given celestial point)
+            static constexpr auto v4 = T::hw_moving_type_t::HW_MOVE_GUIDING;
         }();
     };
 
 
+
     // a class that contains at least time of measurement, coordinates for x,y axes and its moving rates
     requires requires(typename T::axes_pos_t pos) {
         requires std::same_as<decltype(pos.time_point), typename T::time_point_t>;  // time point
@@ -242,13 +307,17 @@ concept mcc_mount_hardware_c = !std::copyable<T> && std::movable<T> && requires(
         requires std::same_as<decltype(pos.xrate), typename T::coord_t>;
         requires std::same_as<decltype(pos.yrate), typename T::coord_t>;
 
-        requires std::same_as<decltype(pos.state), typename T::hw_state_t>;  // hardware state
+        requires std::same_as<decltype(pos.moving_type), typename T::hw_moving_type_t>;  // a 'hint' to hardware
     };
 
+    // set positions (angles) of mount axes with given speeds
+    // NOTE: exact interpretation (or even ignoring) of the given moving speeds is subject of a hardware-class
+    // implementation.
+    //       e.g. it can be maximal speeds at slewing ramp
     { t.setPos(std::declval<typename T::axes_pos_t>()) } -> std::same_as<typename T::error_t>;
-    { t.getPos(std::declval<typename T::axes_pos_t&>()) } -> std::same_as<typename T::error_t>;
 
-    { t_const.getState(std::declval<typename T::hw_state_t&>()) } -> std::same_as<typename T::error_t>;
+    // get current positions and speeds (angles) of mount axes
+    { t.getPos(std::declval<typename T::axes_pos_t&>()) } -> std::same_as<typename T::error_t>;
 
     { t.stop() } -> std::same_as<typename T::error_t>;  // stop any moving
     { t.init() } -> std::same_as<typename T::error_t>;  // initialize hardware
@@ -258,7 +327,7 @@ concept mcc_mount_hardware_c = !std::copyable<T> && std::movable<T> && requires(
 /*  POINTING-ERROR CORRECTION  */
 
 template <typename T>
-concept mcc_mount_pec_c = requires(T t, const T t_const) {
+concept mcc_mount_pec_c = requires(T t) {
     requires mcc_error_c<typename T::error_t>;
     typename T::coord_t;
 
@@ -288,13 +357,20 @@ concept mcc_mount_pec_c = requires(T t, const T t_const) {
 
 // a class that contains at least celestial (equatorial and horizontal) and harware coordinates
 template <typename T>
-concept mcc_mount_telemetry_data_c = requires(T telemetry) {
+concept mcc_mount_telemetry_data_c = std::movable<T> && requires(T telemetry) {
     typename T::coord_t;
     typename T::time_point_t;
 
     // time point
     requires std::same_as<decltype(telemetry.time_point), typename T::time_point_t>;
 
+    // target sky point ICRS and current coordinates
+    requires std::same_as<decltype(telemetry.tagRA), typename T::coord_t>;   // apparent RA
+    requires std::same_as<decltype(telemetry.tagDEC), typename T::coord_t>;  // apparent DEC
+    requires std::same_as<decltype(telemetry.tagHA), typename T::coord_t>;   // hour angle
+    requires std::same_as<decltype(telemetry.tagAZ), typename T::coord_t>;   // azimuth
+    requires std::same_as<decltype(telemetry.tagALT), typename T::coord_t>;  // altitude
+
     // mount current coordinates
     requires std::same_as<decltype(telemetry.mntRA), typename T::coord_t>;   // apparent RA
     requires std::same_as<decltype(telemetry.mntDEC), typename T::coord_t>;  // apparent DEC
@@ -306,6 +382,11 @@ concept mcc_mount_telemetry_data_c = requires(T telemetry) {
     requires std::same_as<decltype(telemetry.mntPosY), typename T::coord_t>;   // hardware encoder Y-axis position
     requires std::same_as<decltype(telemetry.mntRateX), typename T::coord_t>;  // hardware encoder X-axis rate
     requires std::same_as<decltype(telemetry.mntRateY), typename T::coord_t>;  // hardware encoder Y-axis rate
+
+    // corrections to transform mount hardware coordinates to apparent
+    // (pointing error corrections)
+    requires std::same_as<decltype(telemetry.pecX), typename T::coord_t>;
+    requires std::same_as<decltype(telemetry.pecY), typename T::coord_t>;
 };
 
 
@@ -328,31 +409,12 @@ concept mcc_mount_telemetry_c = requires(T t, const T t_const) {
 
     requires mcc_mount_telemetry_data_c<typename T::mount_telemetry_data_t>;
 
-    { t_const.errorString(std::declval<typename T::error_t>()) } -> mcc_formattable;
-
     { t.update() } -> std::same_as<typename T::error_t>;
 
     { t.data(std::declval<typename T::mount_telemetry_data_t&>()) } -> std::same_as<typename T::error_t>;
 };
 
 
-/*  A CONCEPT FOR CLASS TO REPRESENT CELESTIAL POINT  */
-
-
-template <typename T>
-concept mcc_celestial_point_c = requires(T t) {
-    // input coordinates pair type (e.g. IRCS RA,DEC, Az,Alt and so on)
-    requires std::same_as<decltype(t.coordPairKind), MccCoordPairKind>;
-
-    typename T::coord_t;
-
-    // co-longitude (e.g. RA or Az)
-    requires std::same_as<decltype(t.x), typename T::coord_t>;
-
-    // co-latitude (e.g. DEC or ZD)
-    requires std::same_as<decltype(t.y), typename T::coord_t>;
-};
-
 
 // /*  SLEW PARAMETERS  */
 
@@ -384,6 +446,7 @@ 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>;
 };
 
 
@@ -394,68 +457,114 @@ 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>;
 };
 
 
 /*  MOUNT PROHIBITED ZONE  */
 
+
+struct MccPzoneAbstractInterface {
+    bool inZone(this auto&& self, mcc_mount_telemetry_data_c auto const& telemetry_data)
+    {
+        using self_t = decltype(self);
+
+        if constexpr (std::same_as<std::remove_cvref_t<self_t>, MccPzoneAbstractInterface>) {
+            static_assert(false, "Call an empty MccPzoneAbstractInterface::inZone method");
+        } else {
+            return std::forward<self_t>(self).inZone(telemetry_data);
+        }
+    }
+
+    bool inZone(this auto&& self, mcc_celestial_point_c auto const& sky_point)
+    {
+        using self_t = decltype(self);
+
+        if constexpr (std::same_as<std::remove_cvref_t<self_t>, MccPzoneAbstractInterface>) {
+            static_assert(false, "Call an empty MccPzoneAbstractInterface::inZone method");
+        } else {
+            return std::forward<self_t>(self).inZone(sky_point);
+        }
+    }
+
+    // returns a time to reach the zone
+    auto timeTo(this auto&& self, mcc_mount_telemetry_data_c auto const& telemetry_data)
+    {
+        using self_t = decltype(self);
+
+        if constexpr (std::same_as<std::remove_cvref_t<self_t>, MccPzoneAbstractInterface>) {
+            static_assert(false, "Call an empty MccPzoneAbstractInterface::timeTo method");
+        } else {
+            return std::forward<self_t>(self).timeTo(telemetry_data);
+        }
+    }
+
+    auto timeTo(this auto&& self, mcc_celestial_point_c auto const& sky_point)
+    {
+        using self_t = decltype(self);
+
+        if constexpr (std::same_as<std::remove_cvref_t<self_t>, MccPzoneAbstractInterface>) {
+            static_assert(false, "Call an empty MccPzoneAbstractInterface::timeTo method");
+        } else {
+            return std::forward<self_t>(self).timeTo(sky_point);
+        }
+    }
+
+    // returns a time to exit from the zone
+    auto timeFrom(this auto&& self, mcc_mount_telemetry_data_c auto const& telemetry_data)
+    {
+        using self_t = decltype(self);
+
+        if constexpr (std::same_as<std::remove_cvref_t<self_t>, MccPzoneAbstractInterface>) {
+            static_assert(false, "Call an empty MccPzoneAbstractInterface::timeFrom method");
+        } else {
+            return std::forward<self_t>(self).timeFrom(telemetry_data);
+        }
+    }
+
+    auto timeFrom(this auto&& self, mcc_celestial_point_c auto const& sky_point)
+    {
+        using self_t = decltype(self);
+
+        if constexpr (std::same_as<std::remove_cvref_t<self_t>, MccPzoneAbstractInterface>) {
+            static_assert(false, "Call an empty MccPzoneAbstractInterface::timeFrom method");
+        } else {
+            return std::forward<self_t>(self).timeFrom(sky_point);
+        }
+    }
+};
+
 template <typename T, typename TelemetryDataT>
 concept mcc_prohibited_zone_c =
     mcc_mount_telemetry_data_c<TelemetryDataT> && std::movable<T> && requires(T t, const T t_const) {
         typename T::coord_t;
-        typename T::time_point_t;
+        // typename T::time_point_t;
         requires mcc_time_duration_c<typename T::duration_t>;
 
-        // static constexpr member to represent inifite duration
+        // static constexpr member to represent infinite duration
         requires requires {
-            requires std::same_as<decltype(T::infiniteDuration), typename T::duration_t>;
+            requires std::same_as<decltype(T::infiniteDuration), typename T::duration_t const>;
             []() {
                 constexpr auto val = T::infiniteDuration;
                 return val;
             };
         };
 
-
-        // the type 'T' must define a static constexpr member of type MccCoordPairKind
-        // to declarate type of coordinate pair used to describe the zone.
-        // This coordinate pair must be used as input in the 'inZone' class method.
+        // static constexpr member to represent zero duration
         requires requires {
-            requires std::same_as<decltype(T::zoneCoordPairKind), const MccCoordPairKind>;
+            requires std::same_as<decltype(T::zeroDuration), typename T::duration_t const>;
             []() {
-                constexpr MccCoordPairKind val = T::zoneCoordPairKind;
+                constexpr auto val = T::zeroDuration;
                 return val;
-            }();  // to ensure that 'zoneCoordPairKind' can be used at compile-time context
             };
+        };
+
 
         // return a name of the zone
         { t_const.name() } -> mcc_formattable;
 
 
         // check if given coordinates are into the zone.
-        // input coordinates interpretation is in according to 'zoneCoordPairKind' static constexpr member
-        {
-            t.inZone(std::declval<typename T::coord_t>(), std::declval<typename T::coord_t>())
-        } -> std::convertible_to<bool>;
-
-
-        // for given coordinates and time the method computes a time to reach the zone.
-        // implementation of the method must assume that input coordinates are apparent RA and DEC at given time
-        // point, while the time point is one from which computation should be performed (e.g. current time moment)
-        {
-            t.timeTo(std::declval<typename T::coord_t>(), std::declval<typename T::coord_t>(),
-                     std::declval<typename T::time_point_t>())
-        } -> mcc_time_duration_c;
-
-
-        // for given coordinates and time the method computes a time to exit from the zone
-        {
-            t.timeFrom(std::declval<typename T::coord_t>(), std::declval<typename T::coord_t>(),
-                       std::declval<typename T::time_point_t>())
-        } -> mcc_time_duration_c;
-
-        // requires for the methods above with the first argument of type
-        // 'const mcc_mount_telemetry_data_c&' (const lvalue reference)
-
         { t.inZone(std::declval<const TelemetryDataT&>()) } -> std::convertible_to<bool>;
 
         // a time duration to reach the zone.
@@ -470,26 +579,150 @@ concept mcc_prohibited_zone_c =
         { t.timeFrom(std::declval<const TelemetryDataT&>()) } -> std::same_as<typename T::duration_t>;
     };
 
+// an input range of prohibited zones
+template <typename T, typename TelemetryDataT>
+concept mcc_irange_of_pzones_c = mcc_mount_telemetry_data_c<TelemetryDataT> && std::ranges::input_range<T> &&
+                                 mcc_prohibited_zone_c<std::ranges::range_value_t<T>, TelemetryDataT>;
 
 
+// // a concept for a callable with the first argument of type satisfied to 'mcc_prohibited_zone_c'
+// template <typename T, typename TelemetryDataT>
+// concept mcc_pzone_foreach_func_c = mcc_is_callable<T> && mcc_mount_telemetry_data_c<TelemetryDataT> &&
+//                                    mcc_prohibited_zone_c<mcc_func_arg1_t<T>, TelemetryDataT>;
+
+
+// There is no way to declare a concept of class with templated method so one needs to define
+// a generic interface of prohibited zones holder/container explicitly
+template <mcc_mount_telemetry_data_c TelemetryDataT>
+struct MccPZoneAbstractContainer {
+    virtual ~MccPZoneAbstractContainer() = default;
+
+    // must return a size of the container after the addition of the given zone
+    template <mcc_prohibited_zone_c<TelemetryDataT> ZT>
+    size_t pzAddZone(this auto&& self, ZT zone)
+    {
+        using self_t = decltype(self);
+
+        if constexpr (std::same_as<std::remove_cvref_t<self_t>, MccPZoneAbstractContainer>) {
+            static_assert(false, "Call an empty MccPZoneAbstractContainer::pzAddZone method");
+        } else {
+            return std::forward<self_t>(self).pzAddZone(std::move(zone));
+        }
+    }
+
+    // clear the container
+    auto pzClearZones(this auto&& self)
+    {
+        using self_t = decltype(self);
+
+        if constexpr (std::same_as<std::remove_cvref_t<self_t>, MccPZoneAbstractContainer>) {
+            static_assert(false, "Call an empty MccPZoneAbstractContainer::pzClearZones method");
+        } else {
+            return std::forward<self_t>(self).pzClearZones();
+        }
+    }
+
+    // must return the size of the container (number of zones)
+    size_t pzSize(this auto&& self)
+    {
+        using self_t = decltype(self);
+
+        if constexpr (std::same_as<std::remove_cvref_t<self_t>, MccPZoneAbstractContainer>) {
+            static_assert(false, "Call an empty MccPZoneAbstractContainer::pzSize method");
+        } else {
+            return std::forward<self_t>(self).pzSize();
+        }
+    }
+
+
+    // must return true if the given telemetry coordinates are in any of zones in the container and
+    // false otherwise
+    template <typename RT>
+    bool pzInZone(this auto&& self, const TelemetryDataT& tdata, RT& result)
+    {
+        using self_t = decltype(self);
+
+        if constexpr (std::same_as<std::remove_cvref_t<self_t>, MccPZoneAbstractContainer>) {
+            static_assert(false, "Call an empty MccPZoneAbstractContainer::pzInZone method");
+        } else {
+            return std::forward<self_t>(self).pzInZone(tdata, result);
+        }
+    }
+
+    template <typename RT>
+    auto pzTimeTo(this auto&& self, const TelemetryDataT& tdata, RT& result)
+    {
+        using self_t = decltype(self);
+
+        if constexpr (std::same_as<std::remove_cvref_t<self_t>, MccPZoneAbstractContainer>) {
+            static_assert(false, "Call an empty MccPZoneAbstractContainer::pzInZone method");
+        } else {
+            return std::forward<self_t>(self).pzTimeTo(tdata, result);
+        }
+    }
+
+    template <typename RT>
+    auto pzTimeFrom(this auto&& self, const TelemetryDataT& tdata, RT& result)
+    {
+        using self_t = decltype(self);
+
+        if constexpr (std::same_as<std::remove_cvref_t<self_t>, MccPZoneAbstractContainer>) {
+            static_assert(false, "Call an empty MccPZoneAbstractContainer::pzInZone method");
+        } else {
+            return std::forward<self_t>(self).pzTimeFrom(tdata, result);
+        }
+    }
+
+protected:
+    MccPZoneAbstractContainer() = default;
+};
+
+// a full concept for prohibited zones container
+template <typename T, typename TelemetryDataT>
+concept mcc_mount_pzones_container_c = std::derived_from<T, MccPZoneAbstractContainer<TelemetryDataT>> && requires {
+    // common time duration type for zones 'timeTo' and 'timeFrom' methods
+    requires mcc_time_duration_c<typename T::duration_t>;
+
+    // static constexpr member to represent infinite duration
+    requires requires {
+        requires std::same_as<decltype(T::infiniteDuration), typename T::duration_t const>;
+        []() {
+            constexpr auto val = T::infiniteDuration;
+            return val;
+        };
+    };
+
+    // static constexpr member to represent zero duration
+    requires requires {
+        requires std::same_as<decltype(T::zeroDuration), typename T::duration_t const>;
+        []() {
+            constexpr auto val = T::zeroDuration;
+            return val;
+        };
+    };
+};
+
 /*  MOUNT GENERIC CONTROLS  */
 
 
 template <typename T>
-concept mcc_mount_controls_c = std::move_constructible<T> && std::movable<T> && requires(T t) {
+concept mcc_mount_controls_c = requires(T t) {
+    // concept mcc_mount_controls_c = std::move_constructible<T> && std::movable<T> && requires(T t) {
     requires mcc_astrom_engine_c<decltype(t.astrometryEngine)>;
     requires mcc_mount_pec_c<decltype(t.PEC)>;
     requires mcc_mount_hardware_c<decltype(t.hardware)>;
     requires mcc_mount_telemetry_c<decltype(t.telemetry)>;
 
     requires mcc_slew_model_c<decltype(t.slewModel)>;
-    // requires mcc_slew_model_c<decltype(t.slewModel), decltype(t.telemetry)>;
     requires mcc_guiding_model_c<decltype(t.guidingModel)>;
-    // requires mcc_guiding_model_c<decltype(t.guidingModel), decltype(t.telemetry)>;
 
     // a std::tuple of prohibited zones
-    []<mcc_prohibited_zone_c<typename decltype(t.telemetry)::mount_telemetry_data_t>... Ts>(std::tuple<Ts...>) {
-    }(t.prohibitedZones);
+    // []<mcc_prohibited_zone_c<typename decltype(t.telemetry)::mount_telemetry_data_t>... Ts>(std::tuple<Ts...>) {
+    // }(t.prohibitedZones);
+
+    // requires mcc_tuple_c<decltype(t.prohibitedZones)>;
+    requires mcc_irange_of_pzones_c<decltype(t.prohibitedZones),
+                                    typename decltype(t.telemetry)::mount_telemetry_data_t>;
 };
 
 
@@ -508,18 +741,24 @@ concept mcc_mount_c = requires(T t) {
     requires mcc_astrom_engine_c<typename T::astrom_engine_t>;
     requires mcc_mount_pec_c<typename T::pec_t>;
     requires mcc_mount_hardware_c<typename T::hardware_t>;
-    // requires mcc_slew_model_c<typename T::slew_model_t, typename T::mount_telemetry_t>;
     requires mcc_slew_model_c<typename T::slew_model_t>;
-    // requires mcc_guiding_model_c<typename T::guiding_model_t, typename T::mount_telemetry_t>;
     requires mcc_guiding_model_c<typename T::guiding_model_t>;
 
-    requires std::same_as<typename T::slew_params_t, typename T::slew_model_t::slew_params_t>;
+    // public methods
+    {
+        t.mountTelemetryData(std::declval<typename T::mount_telemetry_data_t&>())
+    } -> std::same_as<typename T::mount_telemetry_t::error_t>;
 
-    // public method
-    { t.mountTelemetryData() } -> std::same_as<typename T::mount_telemetry_data_t>;
+    {
+        t.slewMount(std::declval<typename T::slew_model_t::slew_point_t>())
+    } -> std::same_as<typename T::slew_model_t::error_t>;
+
+    {
+        t.guidingTarget(std::declval<typename T::guiding_model_t::guiding_point_t>())
+    } -> std::same_as<typename T::guiding_model_t::error_t>;
 };
 
-// generic with logging methods
+// generic with public logging methods
 template <typename T>
 concept mcc_log_mount_c = mcc_mount_c<T> && mcc_logger_c<T>;
 

cxx/mcc_mount_events_states.h

@@ -28,10 +28,7 @@ public:
 
     virtual ~MccMountEventBase() = default;
 
-    mount_t& mount() const
-    {
-        return _mount;
-    }
+    mount_t& mount() const { return _mount; }
 
 protected:
     MccMountEventBase(mount_t& mount) : _mount(mount) {}
@@ -78,10 +75,7 @@ struct MccMountEventError : public MccMountEventBase<MountT> {
 
     using event_data_t = std::error_code;
 
-    event_data_t eventData() const
-    {
-        return _error;
-    }
+    event_data_t eventData() const { return _error; }
 
     MccMountEventError(MountT& mount, const event_data_t& error) : base_t(mount), _error(error) {}
 
@@ -98,12 +92,9 @@ struct MccMountEventSlew : public MccMountEventBase<MountT> {
 
     static constexpr std::string_view ID = "MCC-MOUNT-SLEW-EVENT";
 
-    using event_data_t = typename MountT::slew_params_t;
+    using event_data_t = typename MountT::slew_model_t::slew_point_t;
 
-    event_data_t eventData() const
-    {
-        return _eventData;
-    }
+    event_data_t eventData() const { return _eventData; }
 
     MccMountEventSlew(MountT& mount, const event_data_t& ev_data) : base_t(mount), _eventData(ev_data) {}
 
@@ -120,9 +111,14 @@ struct MccMountEventGuiding : public MccMountEventBase<MountT> {
 
     static constexpr std::string_view ID = "MCC-MOUNT-GUIDING-EVENT";
 
-    // CTAD does not work for clang++ (at least till v. 20 and -std=c++23)!
-    // so, one must explicitly define constructor here
-    MccMountEventGuiding(MountT& mount) : base_t(mount) {}
+    using event_data_t = typename MountT::guiding_model_t::guiding_point_t;
+
+    event_data_t eventData() const { return _eventData; }
+
+    MccMountEventGuiding(MountT& mount, const event_data_t& ev_data) : base_t(mount), _eventData(ev_data) {}
+
+protected:
+    event_data_t _eventData;
 };
 
 
@@ -139,10 +135,7 @@ struct MccMountEventStop : public MccMountEventBase<MountT> {
         EVENT_STOP_BUTTON   // hardware button
     };
 
-    event_data_t eventData() const
-    {
-        return _reason;
-    }
+    event_data_t eventData() const { return _reason; }
 
     std::string_view reason() const
     {
@@ -286,7 +279,10 @@ struct MccMountStateStop : MccMountStateBase<MountT> {
 
         auto mount = event.mount();
 
-        mount.stopMount();
+        // should one check current state (slewing, guiding)?
+        mount.slewModel.stop();
+        mount.guidingModel.stop();
+        mount.hardware.stop();
 
         if constexpr (std::same_as<EvT, MccMountEventStop<MountT>>) {
             mount.logInfo(std::format("Stop reason: {}", event.reason()));
@@ -446,7 +442,8 @@ struct MccMountStateShutdown : MccMountStateBase<MountT> {
 
 
 // slew state
-
+// WARNING: It must be a friend to 'MountT' class if it inherits it base class mount_controls_t
+//          as protected or private!!!
 template <traits::mcc_fsm_log_mount_c MountT>
 struct MccMountStateSlew : MccMountStateBase<MountT> {
     static constexpr std::string_view ID = "MCC-MOUNT-SLEW-STATE";
@@ -472,7 +469,18 @@ struct MccMountStateSlew : MccMountStateBase<MountT> {
     {
         this->enterLog(event);
 
-        event.mount().slewMount(event.eventData());
+        auto slew_err = event.mount().slewModel.slew(event.eventData());
+        if (slew_err) {
+            if constexpr (std::same_as<decltype(slew_err), std::error_code>) {
+                event.mount().dispatchEvent(MccMountEventError<MountT>{event.mount(), slew_err});
+            } else {
+                // ...
+            }
+            return;
+        }
+
+        // switch to IDLE state
+        event.mount().template dispatchEvent<MccMountEventIDLE<MountT>>({event.mount()});
     }
 };
 
@@ -505,7 +513,17 @@ struct MccMountStateGuiding : MccMountStateBase<MountT> {
     {
         this->enterLog(event);
 
-        event.mount().startGuiding();
+        auto err = event.mount().guidingModel.guiding(event.eventData());
+        if (err) {
+            if constexpr (std::same_as<decltype(err), std::error_code>) {
+                event.mount().dispatchEvent(MccMountEventError<MountT>{event.mount(), err});
+            } else {
+                // ...
+            }
+        }
+
+        // switch to IDLE state
+        event.mount().template dispatchEvent<MccMountEventIDLE<MountT>>({event.mount()});
     }
 };
 

cxx/mcc_mount_pec.h

@@ -23,10 +23,7 @@ enum class MccMountDefaultPECErrorCode : int { ERROR_OK, ERROR_INVALID_INPUTS_BI
 struct MccMountDefaultPECCategory : public std::error_category {
     MccMountDefaultPECCategory() : 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
     {
@@ -140,14 +137,41 @@ public:
         : _pecData(std::move(pdata)),
           _phi(_pecData.siteLatitude),
           _geomCoeffs(_pecData.geomCoefficients),
-          _bsplCoeffs(_pecData.bsplineCoefficients)
+          _bsplCoeffs(_pecData.bsplineCoefficients),
+          _pecDataMutex(new std::mutex)
     {
     }
 
+    MccMountDefaultPEC(const MccMountDefaultPEC&) = delete;
+    MccMountDefaultPEC& operator=(const MccMountDefaultPEC&) = delete;
+
+    MccMountDefaultPEC(MccMountDefaultPEC&& other)
+        : _pecData(std::move(other._pecData)),
+          _phi(_pecData.siteLatitude),
+          _geomCoeffs(_pecData.geomCoefficients),
+          _bsplCoeffs(_pecData.bsplineCoefficients),
+          _pecDataMutex(std::move(other._pecDataMutex))
+    {
+    }
+
+    MccMountDefaultPEC& operator=(MccMountDefaultPEC&& other)
+    {
+        if (this == &other) {
+            return *this;
+        }
+
+        _pecData = std::move(other._pecData);
+        _phi = _pecData.siteLatitude;
+        _geomCoeffs = _pecData.geomCoefficients;
+        _bsplCoeffs = _pecData.bsplineCoefficients;
+        _pecDataMutex = std::move(other._pecDataMutex);
+
+        return *this;
+    }
 
     void setData(pec_data_t pdata)
     {
-        std::lock_guard lock(_pecDataMutex);
+        std::lock_guard lock(*_pecDataMutex);
 
         _pecData = std::move(pdata);
         _phi = _pecData.siteLatitude;
@@ -158,21 +182,21 @@ public:
 
     pec_data_t getData() const
     {
-        std::lock_guard lock(_pecDataMutex);
+        std::lock_guard lock(*_pecDataMutex);
 
         return _pecData;
     }
 
     void setType(MccMountDefaultPECType type)
     {
-        std::lock_guard lock(_pecDataMutex);
+        std::lock_guard lock(*_pecDataMutex);
 
         _pecData.type = type;
     }
 
     MccMountDefaultPECType getType() const
     {
-        std::lock_guard lock(_pecDataMutex);
+        std::lock_guard lock(*_pecDataMutex);
 
         return _pecData.type;
     }
@@ -183,7 +207,7 @@ public:
     // so, input x and y are assumed to be mount axis encoder coordinates
     error_t compute(const coord_t& x, const coord_t& y, pec_result_t& res)
     {
-        std::lock_guard lock(_pecDataMutex);
+        std::lock_guard lock(*_pecDataMutex);
 
         if constexpr (mcc_is_equatorial_mount<MOUNT_TYPE>) {  // equatorial
             if (_pecData.type == MccMountDefaultPECType::PEC_TYPE_GEOMETRY) {
@@ -249,70 +273,6 @@ public:
         return MccMountDefaultPECErrorCode::ERROR_OK;
     }
 
-    // from celestial to encoder (use of iterative scheme)
-    error_t reverseCompute(const coord_t& x, const coord_t& y, pec_result_t& res, coord_t eps, size_t max_iter = 5)
-    {
-        coord_t e2 = eps * eps;
-
-        coord_t xi = x, yi = y;
-        coord_t xe, ye;
-        size_t iter = 1;
-
-        // the first iteration
-        auto err = compute(x, y, res);
-
-        if (!err) {
-            // 'encoder' cocordinates
-            xe = x - res.dx;
-            ye = y - res.dy;
-
-            err = compute(xe, ye, res);  // to celestial
-            if (err) {
-                return MccMountDefaultPECErrorCode::ERROR_INVALID_INPUTS_BISPLEV;
-            }
-
-            xi = xe + res.dx;  // celestial
-            yi = ye + res.dy;
-
-            auto rx = (x - xi);
-            auto ry = (y - yi);
-            auto d = rx * rx + ry * ry;
-
-            bool ok = d <= e2;
-            if (ok) {
-                return MccMountDefaultPECErrorCode::ERROR_OK;
-            }
-
-            while (iter < max_iter) {
-                err = compute(xi, yi, res);  // to encoder
-                if (err) {
-                    return MccMountDefaultPECErrorCode::ERROR_INVALID_INPUTS_BISPLEV;
-                }
-                xe = x - res.dx;
-                ye = y - res.dy;
-
-                err = compute(xe, ye, res);  // to celestial
-                if (err) {
-                    return MccMountDefaultPECErrorCode::ERROR_INVALID_INPUTS_BISPLEV;
-                }
-
-                xi = xe + res.dx;  // celestial
-                yi = ye + res.dy;
-
-                ok = ((x - xi) * (x - xi) + (y - yi) * (y - yi)) <= e2;
-                if (ok) {
-                    return MccMountDefaultPECErrorCode::ERROR_OK;
-                }
-
-                ++iter;
-            }
-
-            err = MccMountDefaultPECErrorCode::ERROR_EXCEED_MAX_ITERS;
-        }
-
-        return err;
-    }
-
 
 private:
     pec_data_t _pecData;
@@ -320,7 +280,7 @@ private:
     pec_geom_coeffs_t& _geomCoeffs;
     pec_bspline_coeffs_t& _bsplCoeffs;
 
-    mutable std::mutex _pecDataMutex;
+    std::unique_ptr<std::mutex> _pecDataMutex;
 };
 
 
@@ -328,6 +288,7 @@ typedef MccMountDefaultPEC<MccMountType::ALTAZ_TYPE> MccMountDefaultAltAzPec;
 typedef MccMountDefaultPEC<MccMountType::FORK_TYPE> MccMountDefaultForkPec;
 
 static_assert(traits::mcc_mount_pec_c<MccMountDefaultForkPec>, "");
+static_assert(std::movable<MccMountDefaultForkPec>);
 
 
 }  // namespace mcc

cxx/mcc_mount_pz.h

@@ -1,10 +1,14 @@
 #pragma once
 
+
 /*                          MOUNT CONTROL COMPONENTS LIBRARY                            */
 
+
 /*                          PROHIBITED ZONE IMPLEMENTATION                              */
 
+
 #include <chrono>
+#include <iostream>
 #include <string_view>
 
 #include "mcc_mount_concepts.h"
@@ -29,6 +33,7 @@ template <MccAltLimitKind KIND = MccAltLimitKind::MIN_ALT_LIMIT>
 class MccAltLimitPZ
 // class MccAltLimitPZ : public MccProhibitedZone
 {
+protected:
     static constexpr auto pi2 = std::numbers::pi * 2.0;
 
 public:
@@ -36,25 +41,40 @@ public:
 
     static constexpr MccAltLimitKind altLimitKind = KIND;
 
+    typedef double coord_t;
+    // typedef MccAngle coord_t;
     // floating-point time duration (seconds)
     typedef std::chrono::duration<double> duration_t;
 
-    typedef MccAngle coord_t;
     typedef std::chrono::system_clock::time_point time_point_t;
 
     static constexpr duration_t infiniteDuration{std::numeric_limits<double>::infinity()};
     static constexpr duration_t zeroDuration{0.0};
 
-    //
-    // TODO: add context (e.g. TT-TAI, UT1-UTC, geo location and so on)!!!
-    MccAltLimitPZ(const MccAngle& alt_limit, const MccAngle& lat)
+    MccAltLimitPZ(const coord_t& alt_limit, const coord_t& lat, traits::mcc_astrom_engine_c auto* astrom_engine)
         // : MccProhibitedZone(KIND == MccAltLimitKind::MIN_ALT_LIMIT   ? "MINALT-ZONE"
         //                     : KIND == MccAltLimitKind::MAX_ALT_LIMIT ? "MAXALT-ZONE"
         //                                                              : "ALTLIMIT-UNKNOWN"),
         : _altLimit(alt_limit), _latitude(lat), _abs_lat(std::abs(_latitude)), _lat_lim(pi2 - _abs_lat)
     {
         _lat_lim = pi2 - _abs_lat;
-        _altLimit.normalize<MccAngle::NORM_KIND_90_90>();
+        // _altLimit.normalize<MccAngle::NORM_KIND_90_90>();
+        _altLimit = MccAngle(_altLimit).normalize<MccAngle::NORM_KIND_90_90>();
+
+        using astrom_engine_t = std::remove_cvref_t<decltype(*astrom_engine)>;
+        using astrom_coord_t = typename astrom_engine_t::coord_t;
+
+        static_assert(std::convertible_to<coord_t, astrom_coord_t>,
+                      "ASTROMETRY ENGINE AND THE ZONE COORDINATE TYPE ARE NOT COMPATIBLE!");
+        static_assert(std::convertible_to<astrom_coord_t, coord_t>,
+                      "ASTROMETRY ENGINE AND THE ZONE COORDINATE TYPE ARE NOT COMPATIBLE!");
+
+        _coord2coord = [astrom_engine, this](MccCoordPairKind kind_from, coord_t x_from, coord_t y_from,
+                                             time_point_t tpoint, MccCoordPairKind kind_to, coord_t& x_to,
+                                             coord_t& y_to) {
+            auto err = astrom_engine->coord2coord(kind_from, std::move(x_from), std::move(y_from), tpoint, kind_to,
+                                                  x_to, y_to, tpoint);
+        };
     }
 
 
@@ -120,59 +140,142 @@ public:
         }
     }
 
-    template <std::derived_from<MccAngle> XT, std::derived_from<MccAngle> YT>
-    // bool inZone(const XT& x, const YT& y, traits::mcc_systime_c auto const& utc = std::chrono::system_clock::now())
-    bool inZone(const XT& x, const YT& y)
+    bool inZone(traits::mcc_celestial_point_c auto const& target)
     {
-        static constexpr MccCoordPairKind coord_kind = traits::mcc_type_pair_hash<XT, YT>();
+        coord_t alt, az;
+
+        _coord2coord(target.coordPairKind, target.x, target.y, target.time_point, MccCoordPairKind::COORDS_KIND_AZALT,
+                     az, alt);
 
-        if constexpr (coord_kind == MccCoordPairKind::COORDS_KIND_AZALT) {  // trivial case
         if constexpr (KIND == MccAltLimitKind::MIN_ALT_LIMIT) {
-                return y <= _altLimit;
+            return alt <= _altLimit;
         } else if constexpr (KIND == MccAltLimitKind::MAX_ALT_LIMIT) {
-                return y >= _altLimit;
+            return alt >= _altLimit;
         }
-        } else if constexpr (coord_kind == MccCoordPairKind::COORDS_KIND_AZZD) {  // trivial case
-            // return inZone(x, MccAngleALT(std::numbers::pi / 2 - (double)y), utc);
-            return inZone(x, MccAngleALT(std::numbers::pi / 2 - (double)y));
-        } else if constexpr (coord_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
-            // implementation ...
-            return false;
-        } else if constexpr (coord_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
-            // implementation ...
-            return false;
-        } else {
-            throw std::system_error(std::make_error_code(std::errc::operation_not_supported));
     }
 
-        return false;
-    }
-
-
-    template <std::derived_from<MccAngle> XT, std::derived_from<MccAngle> YT>
-    duration_t timeTo(const XT& x,
-                      const YT& y,
-                      traits::mcc_systime_c auto const& utc = std::chrono::system_clock::now())
+    duration_t timeTo(traits::mcc_celestial_point_c auto const& target)
     {
-        return duration_t{std::numeric_limits<double>::infinity()};
+        coord_t ha, dec;
+
+        if (inZone(target)) {
+            return zeroDuration;
+        }
+
+        _coord2coord(target.coordPairKind, target.x, target.y, target.time_point,
+                     MccCoordPairKind::COORDS_KIND_HADEC_APP, ha, dec);
+
+        if (!doesObjectReachZone(dec)) {
+            return infiniteDuration;
+        }
+
+        if constexpr (KIND ==
+                      MccAltLimitKind::MIN_ALT_LIMIT) {  // the closest time point is one after upper culmination
+            return compute(ha, dec, false);
+        } else if constexpr (KIND == MccAltLimitKind::MAX_ALT_LIMIT) {  // the closest time point is one before upper
+                                                                        // culmination
+            return compute(ha, dec, true);
+        }
+    }
+
+    duration_t timeFrom(traits::mcc_celestial_point_c auto const& target)
+    {
+        coord_t ha, dec;
+
+        if (!inZone(target)) {
+            return zeroDuration;
+        }
+
+        _coord2coord(target.coordPairKind, target.x, target.y, target.time_point,
+                     MccCoordPairKind::COORDS_KIND_HADEC_APP, ha, dec);
+
+        if (!doesObjectExitFromZone(dec)) {
+            return infiniteDuration;
+        }
+
+        if (!doesObjectReachZone(dec)) {
+            return zeroDuration;
+        }
+
+        if constexpr (KIND ==
+                      MccAltLimitKind::MIN_ALT_LIMIT) {  // the closest time point is one before upper culmination
+            return compute(ha, dec, true);
+        } else if constexpr (KIND == MccAltLimitKind::MAX_ALT_LIMIT) {  // the closest time point is one after upper
+                                                                        // culmination
+            return compute(ha, dec, false);
+        }
+    }
+
+    // compute intersection point for the case of sideral-like moving
+    bool intersectPoint(traits::mcc_celestial_point_c auto const& target, traits::mcc_celestial_point_c auto& int_point)
+    {
+        coord_t ha, dec, az;
+
+        _coord2coord(target.coordPairKind, target.x, target.y, target.time_point,
+                     MccCoordPairKind::COORDS_KIND_HADEC_APP, ha, dec);
+
+        // _altLimit = 0.001_degs;
+        // compute HA for intersection point
+        double cos_ha =
+            (std::sin(_altLimit) - std::sin(dec) * std::sin(_latitude)) / std::cos(dec) / std::cos(_latitude);
+
+        std::cout << "HA(inter) = " << MccAngle(ha).sexagesimal(true) << "\n";
+        std::cout << "DEC(inter) = " << MccAngle(dec).sexagesimal() << "\n";
+        std::cout << "HA(85.0) = " << MccAngle(acos(cos_ha)).sexagesimal(true) << "\n";
+        std::cout << "HA(85.0) = " << MccAngle(-acos(cos_ha)).sexagesimal(true) << "\n";
+        std::cout << "PHI = " << MccAngle(_latitude).sexagesimal() << "\n";
+        std::cout << "COS_HA = " << cos_ha << "\n";
+
+        if (cos_ha > 1.0) {  // no intersection
+            // compute culmination points?
+            return false;
         }
 
 
-    template <std::derived_from<MccAngle> XT, std::derived_from<MccAngle> YT>
-    duration_t timeFrom(const XT& x,
-                        const YT& y,
-                        traits::mcc_systime_c auto const& utc = std::chrono::system_clock::now())
-    {
-        return duration_t{0.0};
+        double cosA =
+            (-std::sin(dec) * std::cos(_latitude) + std::cos(dec) * std::sin(_latitude) * cos_ha) / cos(_altLimit);
+        // cosA /= std::cos(_altLimit);
+
+        std::cout << "COS_A = " << cosA << "\n";
+
+        double sinA = std::cos(dec) * sqrt(1.0 - cos_ha * cos_ha) / cos(_altLimit);
+
+        double tgA = sqrt(1.0 - cos_ha * cos_ha) / (cos(_latitude) * tan(dec) - sin(_latitude) * cos_ha);
+
+        auto z = (-std::sin(dec) * std::cos(_latitude) + std::cos(dec) * std::sin(_latitude) * cos_ha) / cosA;
+        // (-std::sin(dec) * std::cos(_latitude) + std::cos(dec) * std::sin(_latitude) * cos_ha) / cos(133.75_degs);
+        std::cout << "Z = " << MccAngle(asin(z)).sexagesimal() << "\n";
+
+        if constexpr (KIND ==
+                      MccAltLimitKind::MIN_ALT_LIMIT) {  // the closest time point is one after upper culmination
+            az = std::acos(cosA);
+            // az = atan2(sinA, cosA);
+        } else if constexpr (KIND == MccAltLimitKind::MAX_ALT_LIMIT) {  // the closest time point is one before upper
+                                                                        // culmination
+            az = -std::acos(cosA) + std::numbers::pi;  // to system of azimuth started from the North!!!
+            // az = atan(tgA);
+            // az = std::asin(sinA);
+            // az = atan2(sinA, cosA);
+        }
+
+        _coord2coord(MccCoordPairKind::COORDS_KIND_AZALT, az, _altLimit, target.time_point, int_point.coordPairKind,
+                     int_point.x, int_point.y);
+
+
+        return true;
     }
 
 private:
-    MccAngle _altLimit, _latitude, _abs_lat, _lat_lim;
+    coord_t _altLimit, _latitude, _abs_lat, _lat_lim;
 
-    bool doesObjectReachZone(traits::mcc_mount_telemetry_data_c auto const& telemetry_data)
+    // wrapper function
+    std::function<void(MccCoordPairKind, coord_t, coord_t, time_point_t, MccCoordPairKind, coord_t&, coord_t&)>
+        _coord2coord{};
+
+    bool doesObjectReachZone(const coord_t& dec_app)
     {
         // check for limit conditions
-        auto dd = std::abs(telemetry_data.mntDEC);
+        auto dd = std::abs(dec_app);
 
         if constexpr (KIND == MccAltLimitKind::MIN_ALT_LIMIT) {
             dd += _altLimit;
@@ -191,11 +294,16 @@ private:
         return true;
     }
 
+    bool doesObjectReachZone(traits::mcc_mount_telemetry_data_c auto const& telemetry_data)
+    {
+        return doesObjectReachZone(telemetry_data.mntDEC);
+    }
 
-    bool doesObjectExitFromZone(traits::mcc_mount_telemetry_data_c auto const& telemetry_data)
+
+    bool doesObjectExitFromZone(const coord_t& dec_app)
     {
         // check for limit conditions
-        auto dd = std::abs(telemetry_data.mntDEC);
+        auto dd = std::abs(dec_app);
 
         if constexpr (KIND == MccAltLimitKind::MIN_ALT_LIMIT) {
             dd -= _altLimit;
@@ -214,23 +322,30 @@ private:
         return true;
     }
 
-    duration_t compute(traits::mcc_mount_telemetry_data_c auto const& telemetry_data, bool before_upper_culm)
+    bool doesObjectExitFromZone(traits::mcc_mount_telemetry_data_c auto const& telemetry_data)
     {
-        double cos_ha = (std::sin(_altLimit) - std::sin(telemetry_data.mntDEC) * std::sin(_latitude)) /
-                        std::cos(telemetry_data.mntDEC) / std::cos(_latitude);
+        return doesObjectExitFromZone(telemetry_data.mntDEC);
+    }
+
+
+    duration_t compute(const coord_t& ha_app, const coord_t& dec_app, bool before_upper_culm)
+    {
+        double cos_ha =
+            (std::sin(_altLimit) - std::sin(dec_app) * std::sin(_latitude)) / std::cos(dec_app) / std::cos(_latitude);
 
         if (cos_ha > 1.0) {  // should not be!
             return infiniteDuration;
         }
 
         double ha;
+        // WARNING: what about south hemisphere?!!!
         if (before_upper_culm) {
             ha = -std::acos(cos_ha);  // HA before upper culmination
         } else {
             ha = std::acos(cos_ha);  // HA after upper culmination!!
         }
 
-        MccAngle time_ang = ha - telemetry_data.mntHA;  // in sideral time scale
+        coord_t time_ang = ha - ha_app;  // in sideral time scale
 
         if (time_ang < 0.0) {  // next day
             time_ang += pi2;
@@ -238,11 +353,19 @@ private:
 
         time_ang /= mcc_sideral_to_UT1_ratio;  // to UT1 time scale
 
-        return duration_t{time_ang.seconds()};
+        return duration_t{MccAngle(time_ang).seconds()};
+        // return duration_t{time_ang.seconds()};
+    }
+
+    duration_t compute(traits::mcc_mount_telemetry_data_c auto const& telemetry_data, bool before_upper_culm)
+    {
+        return compute(telemetry_data.mntHA, telemetry_data.mntDEC, before_upper_culm);
     }
 };
 
 typedef MccAltLimitPZ<MccAltLimitKind::MIN_ALT_LIMIT> MccMinAltPZ;
 typedef MccAltLimitPZ<MccAltLimitKind::MAX_ALT_LIMIT> MccMaxAltPZ;
 
+static_assert(std::movable<MccMinAltPZ>);
+
 }  // namespace mcc

cxx/mcc_mount_pz_container.h

@@ -0,0 +1,267 @@
+#pragma once
+
+/*                          MOUNT CONTROL COMPONENTS LIBRARY                            */
+
+
+/*                          A DEFAULT IMPLEMENTATION OF PROHIBITED ZONES HOLDER        */
+
+#include "mcc_mount_concepts.h"
+
+namespace mcc
+{
+
+template <traits::mcc_mount_telemetry_data_c TelemetryDataT>
+class MccPZoneContainer : public traits::MccPZoneAbstractContainer<TelemetryDataT>
+{
+public:
+    typedef TelemetryDataT telemetry_data_t;
+
+    // a type to which the result of calling prohibited zone class methods 'timeTo' and 'timeFrom' will be converted
+    typedef std::chrono::duration<double> duration_t;  // seconds as floating-point number
+
+    // adaptor class for prohibited zones
+    struct MccPZoneWrapper {
+        using duration_t = MccPZoneContainer::duration_t;
+
+        static constexpr duration_t infiniteDuration{std::numeric_limits<double>::infinity()};
+        static constexpr duration_t zeroDuration{0.0};
+
+        typedef std::function<bool(const TelemetryDataT&)> pz_inzone_func_t;
+        typedef std::function<duration_t(const TelemetryDataT&)> pz_timeto_func_t;
+        typedef std::function<duration_t(const TelemetryDataT&)> pz_timefrom_func_t;
+
+        MccCoordPairKind coordPairKind;
+        const std::function<std::string()> name;
+        pz_inzone_func_t inZone;
+        pz_timeto_func_t timeTo;
+        pz_timefrom_func_t timeFrom;
+
+        MccPZoneWrapper(MccPZoneWrapper&& other)
+            : inZone(std::move(other.inZone)), timeTo(std::move(other.timeTo)), timeFrom(std::move(other.timeFrom)) {};
+
+        MccPZoneWrapper& operator=(MccPZoneWrapper&& other)
+        {
+            if (this != &other) {
+                inZone = std::move(other.inZone);
+                timeTo = std::move(other.timeTo);
+                timeFrom = std::move(other.timeFrom);
+            }
+
+            return *this;
+        };
+
+        MccPZoneWrapper() = default;
+    };
+
+    MccPZoneContainer() = default;
+    virtual ~MccPZoneContainer() = default;
+
+
+    size_t pzSize() const { return _pzWrapperVec.size(); }
+
+    // add zone/zones
+    template <traits::mcc_prohibited_zone_c<telemetry_data_t> ZT,
+              traits::mcc_prohibited_zone_c<telemetry_data_t>... ZTs>
+    size_t pzAddZone(ZT zone, ZTs... zones)
+    {
+        auto zone_ptr = std::make_shared<ZT>(std::move(zone));
+
+        using d_t = typename MccPZoneWrapper::duration_t;
+
+        _pzWrapperVec.emplace_back(
+            {.coordPairKind = ZT::zoneCoordPairKind,
+             .name = [zone_ptr]() { return std::format("{}", zone_ptr->name()); },
+             .inZone = [zone_ptr](const telemetry_data_t& tmry_data) { return zone_ptr->inZone(tmry_data); },
+             .timeTo =
+                 [zone_ptr](const telemetry_data_t& tmry_data) {
+                     auto d = zone_ptr->timeTo(tmry_data);
+
+                     if constexpr (std::same_as<typename ZT::duration_t, d_t>) {
+                         return d;
+                     } else {
+                         if (d == ZT::infiniteDuration) {
+                             return MccPZoneWrapper::infiniteDuration;
+                         } else if (d == ZT::zeroDuration) {
+                             return MccPZoneWrapper::zeroDuration;
+                         }
+                         return std::chrono::duration_cast<d_t>(d);
+                     }
+                 },
+             .timeFrom =
+                 [zone_ptr](const telemetry_data_t& tmry_data) {
+                     auto d = zone_ptr->timeFrom(tmry_data);
+
+                     if constexpr (std::same_as<typename ZT::duration_t, d_t>) {
+                         return d;
+                     } else {
+                         if (d == ZT::infiniteDuration) {
+                             return MccPZoneWrapper::infiniteDuration;
+                         } else if (d == ZT::zeroDuration) {
+                             return MccPZoneWrapper::zeroDuration;
+                         }
+                         return std::chrono::duration_cast<d_t>(d);
+                     }
+                 }});
+
+
+        if constexpr (sizeof...(ZTs)) {
+            pzAddZone(std::move(zones)...);
+        }
+
+        return _pzWrapperVec.size();
+    }
+
+    void pzClearZones()
+    {
+        // stop mount here?!!
+        _pzWrapperVec.clear();
+    }
+
+
+    // visitors
+    template <std::invocable<MccPZoneWrapper> FT>
+    auto pzForeachZone(FT&& func)
+        requires std::same_as<std::invoke_result_t<FT, MccPZoneWrapper>, void>
+    {
+        for (auto& wr : _pzWrapperVec) {
+            std::forward<FT>(func)(wr);
+        }
+    }
+
+    template <std::invocable<MccPZoneWrapper> FT,
+              std::ranges::output_range<std::invoke_result_t<FT, MccPZoneWrapper>> ResT =
+                  std::vector<std::invoke_result_t<FT, MccPZoneWrapper>>>
+    auto pzForeachZone(FT&& func)
+        requires(!std::same_as<std::invoke_result_t<FT, MccPZoneWrapper>, void>)
+    {
+        ResT result;
+
+        for (auto& wr : _pzWrapperVec) {
+            std::back_inserter(result) = std::forward<FT>(func)(wr);
+        }
+
+        return result;
+    }
+
+    template <std::ranges::output_range<bool> RT>
+    bool pzInZone(const telemetry_data_t& tdata, RT& result)
+    {
+        bool in_zone = false;
+
+        auto const p_tdata = &tdata;
+
+        result = pzForeachZone<RT>([&in_zone, p_tdata](auto& wr) {
+            bool r = wr.inZone(*p_tdata);
+            in_zone |= r;
+
+            return r;
+        });
+
+        return in_zone;
+    }
+
+    template <std::ranges::output_range<bool> RT>
+    bool pzInZone(traits::mcc_celestial_point_c auto const& target, RT& result)
+    {
+        bool in_zone = false;
+
+        auto const p_target = &target;
+
+        result = pzForeachZone<RT>([&in_zone, p_target](auto& wr) {
+            bool r = wr.inZone(*p_target);
+            in_zone |= r;
+
+            return r;
+        });
+
+        return in_zone;
+    }
+
+protected:
+    std::vector<MccPZoneWrapper> _pzWrapperVec{};
+};
+
+
+
+class PZC
+{
+protected:
+    struct point_t {
+        typedef std::chrono::system_clock::time_point time_point_t;
+        typedef double coord_t;
+
+        time_point_t time_point;
+        MccCoordPairKind coordPairKind;
+        coord_t x, y;
+    };
+
+    static_assert(traits::mcc_celestial_point_c<point_t>);
+
+    template <typename ZT>
+    static inline std::unordered_map<const PZC*, std::vector<std::shared_ptr<ZT>>> _zones{};
+
+    std::vector<std::function<void()>> _clearFunc{};
+
+    // template <typename ZT, typename CPT>
+    // static inline std::unordered_map<const PZC*, std::function<std::vector<bool>(const CPT&)>> _inZoneFunc = [](){
+
+    // };
+    // template <typename ZT, typename CPT>
+    // static inline std::function<std::vector<bool>(const PZC*, const CPT&)> _inZoneFunc =
+    //     [](const PZC* cont, const CPT& cp) {
+    //         std::vector<bool> res;
+
+    //         for (ZT& zone : _zones<ZT>[cont]) {
+    //             res.emplace_back(zone.inZone(cp));
+    //         }
+
+    //         return res;
+    //     };
+
+    std::vector<std::function<bool(const point_t&)>> _inZoneFunc;
+
+public:
+    template <typename ZT>
+    size_t addZone(ZT zone)
+    {
+        auto sptr = std::make_shared<ZT>(std::move(zone));
+
+        _zones<ZT>[this].emplace_back(sptr);
+
+        if (_zones<ZT>[this].size() == 1) {
+            _clearFunc.emplace_back([this]() { _zones<ZT>[this].clear(); });
+
+            _inZoneFunc.emplace_back([sptr](const point_t& cp) { return sptr->inZone(cp); });
+        }
+    }
+
+    template <typename CPT, std::ranges::output_range<bool> RT>
+    bool inZone(const CPT& cp, RT& res)
+    {
+        using tp_t = typename point_t::time_point_t;
+        using cp_tp_t = typename CPT::time_point_t;
+
+        bool in_zone = false, r;
+
+        point_t pt{.coordPairKind = cp.coordPairKind, .x = cp.x, .y = cp.y};
+        if constexpr (traits::mcc_systime_c<cp_tp_t>) {
+            pt.time_point = std::chrono::time_point_cast<tp_t>(cp.time_point);
+        } else if constexpr (std::is_arithmetic_v<cp_tp_t>) {
+            pt.time_point = tp_t{std::chrono::duration<tp_t::rep>(static_cast<tp_t::rep>(cp.time_point))};
+        } else {
+            static_assert(false, "INVALID TYPE!");
+        }
+
+        res = RT();
+        for (auto& func : _inZoneFunc) {
+            r = func(pt);
+            in_zone |= r;
+
+            std::back_inserter(res) = r;
+        }
+
+        return in_zone;
+    }
+};
+
+}  // namespace mcc