145 lines
4.0 KiB
C++
145 lines
4.0 KiB
C++
#pragma once
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/* MOUNT CONTROL COMPONENTS LIBRARY */
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/* GENERIC MOUNT REFERENCE IMPLEMENTATION */
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#include "mcc_generics.h"
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namespace mcc
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{
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enum class MccGenericMountErrorCode : int { ERROR_OK, ERROR_HW_STOP, ERROR_HW_GETSTATE };
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} // namespace mcc
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namespace std
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{
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template <>
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class is_error_code_enum<mcc::MccGenericMountErrorCode> : public true_type
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{
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};
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} // namespace std
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namespace mcc
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{
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template <mcc_hardware_c HardwareT,
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mcc_telemetry_c TelemetryT,
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mcc_pzone_container_c PZoneContT,
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mcc_slewing_model_c SlewModelT,
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mcc_tracking_model_c TrackModelT,
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mcc_guiding_model_c GuidingModelT,
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mcc_logger_c LoggerT = MccNullLogger>
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class MccGenericMount : public HardwareT,
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public TelemetryT,
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public PZoneContT,
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public SlewModelT,
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public TrackModelT,
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public GuidingModelT,
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public LoggerT
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{
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public:
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typedef std::error_code error_t;
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using LoggerT::logDebug;
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using LoggerT::logError;
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using LoggerT::logInfo;
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using LoggerT::logWarn;
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using typename GuidingModelT::guiding_params_t;
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using typename SlewModelT::slewing_params_t;
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using typename TrackModelT::tracking_params_t;
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MccGenericMount(HardwareT hardware,
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TelemetryT telemetry,
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PZoneContT pzone_cont,
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SlewModelT slew_model,
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TrackModelT track_model,
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GuidingModelT guiding_model,
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LoggerT logger = MccNullLogger{})
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: HardwareT(std::move(hardware)),
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TelemetryT(std::move(telemetry)),
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PZoneContT(std::move(pzone_cont)),
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SlewModelT(std::move(slew_model)),
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TrackModelT(std::move(track_model)),
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GuidingModelT(std::move(guiding_model)),
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LoggerT(std::move(logger))
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{
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}
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virtual ~MccGenericMount() = default;
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error_t stopMount()
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{
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logInfo("stop any movements ...");
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this->stopGuidingTarget();
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this->stopTracking();
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this->stopSlewing();
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auto hw_err = this->hardwareStop();
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if (hw_err) {
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return mcc_deduce_error(hw_err, MccGenericMountErrorCode::ERROR_HW_STOP);
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}
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// poll hardware till stopped-state detected ...
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logInfo("mount was stopped");
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return MccGenericMountErrorCode::ERROR_OK;
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}
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};
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template <mcc_hardware_c HardwareT,
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mcc_telemetry_c TelemetryT,
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mcc_pzone_container_c PZoneContT,
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mcc_slewing_model_c SlewModelT,
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mcc_tracking_model_c TrackModelT,
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mcc_guiding_model_c GuidingModelT,
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mcc_logger_c LoggerT = MccNullLogger>
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class MccGenericMountFSM
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: public fsm::MccFiniteStateMachine,
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protected MccGenericMount<HardwareT, TelemetryT, PZoneContT, SlewModelT, TrackModelT, GuidingModelT, LoggerT>
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{
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protected:
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typedef MccGenericMount<HardwareT, TelemetryT, PZoneContT, SlewModelT, TrackModelT, GuidingModelT, LoggerT>
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base_gmount_t;
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public:
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struct MccGenericMountStateUninit {
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using transition_t = fsm::fsm_transition_table_t<>;
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};
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MccGenericMountFSM(HardwareT hardware,
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TelemetryT telemetry,
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PZoneContT pzone_cont,
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SlewModelT slew_model,
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TrackModelT track_model,
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GuidingModelT guiding_model,
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LoggerT logger = MccNullLogger{})
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: fsm::MccFiniteStateMachine(MccGenericMountStateUninit{}),
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base_gmount_t(std::move(hardware),
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std::move(telemetry),
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std::move(pzone_cont),
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std::move(slew_model),
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std::move(track_model),
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std::move(guiding_model),
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std::move(logger))
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{
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}
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};
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} // namespace mcc
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