#include "asibfm700_mount.h" #include namespace asibfm700 { /* CONSTRUCTOR AND DESTRUCTOR */ Asibfm700Mount::Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_ptr 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, this), std::make_tuple(this), 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 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{_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{ _mountConfig.pzLimitSwitchHAMin(), _mountConfig.pzLimitSwitchHAMax(), this}); logInfo("{} prohibited zones were added successfully", pz_num); auto mpars = _mountConfig.movingModelParams(); using secs_t = std::chrono::duration; auto to_msecs = [](double secs) { auto s = secs_t{secs}; return std::chrono::duration_cast(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(" 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); // 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("hwMaxRateHA").value_or(0.0); mpars.slewRateY = _mountConfig.getValue("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 = MCC_Y_ACCELERATION; // Sidereal defines HA-axis as Y-axis mpars.brakingAccelY = MCC_X_ACCELERATION; // Sidereal defines DEC-axis as X-axis } 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()); } st_err = setTrackingParams(_mountConfig.movingModelParams()); if (st_err) { errorLogging(" An error occured while setting tracking parameters: ", st_err); } 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)); setTelemetryUpdateTimeout(_mountConfig.movingModelParams().telemetryTimeout); startInternalTelemetryDataUpdating(); std::this_thread::sleep_for(std::chrono::milliseconds(100)); bool ok = isInternalTelemetryDataUpdating(); if (ok) { logInfo("Start updating telemetry data"); } 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