mountcontrol/cxx/mcc_mount.h

#pragma once

/*  MOUNT CONTROL COMPONENTS LIBRARY  */

/*  AN GENERIC MOUNT CLASS IMPLEMENTATION  */

// #include <atomic>
#include <chrono>
// #include <concepts>
// #include <cstdint>
#include <functional>
#include <string_view>
#include "spdlog/sinks/null_sink.h"

#include "mcc_finite_state_machine.h"
#include "mcc_mount_coord.h"
#include "mcc_spdlog.h"
#include "mcc_traits.h"
// #include "mount_astrom.h"
// #include "mcc_mount_pz.h"
#include "mcc_mount_concepts.h"

namespace mcc
{



// mount configuration
template <MccMountType MOUNT_TYPE>
struct MccMountConfig {
    static constexpr MccMountType mountType = MOUNT_TYPE;

    virtual ~MccMountConfig() = default;
};


namespace traits
{

// given mount configuration class  must be a descendant of MccMountConfig
template <typename T>
concept mcc_mountconfig_c = requires(T t) { []<MccMountType MOUNT_TYPE>(MccMountConfig<MOUNT_TYPE>*) {}(&t); };

}  // namespace traits


template <traits::mcc_mountconfig_c MOUNT_CONFIG, traits::mcc_mount_telemetry_c MOUNT_TELEMETRY>
class MccMount : public fsm::MccFiniteStateMachine, public utils::MccSpdlogLogger
{
public:
    static constexpr auto mountType = MOUNT_CONFIG::mountType;

    typedef MOUNT_CONFIG mount_config_t;
    typedef MOUNT_TELEMETRY mount_telemetry_t;
    typedef typename mount_telemetry_t::mount_telemetry_data_t mount_telemetry_data_t;

    struct slew_param_t {
        MccCoordPairKind kind;  // input coordinates type

        MccAngle x;  // co-longitude (e.g. RA or Az)
        MccAngle y;  // co-latitude (e.g. DEC or ZD)

        bool stop;  // stop after slewing
    };

    /*  constructors and destructor  */

    template <fsm::traits::fsm_state_c InitStateT, traits::mcc_input_char_range LogMarkT = std::string_view>
    MccMount(InitStateT,
             std::shared_ptr<spdlog::logger> logger = spdlog::null_logger_mt("NULL"),
             const LogMarkT& logger_mark = "[MOUNT]")
        : fsm::MccFiniteStateMachine(InitStateT{}), utils::MccSpdlogLogger(logger)
    {
        addMarkToPatternIdx(logger_mark);

        logDebug("Create MccMount class instance: thread = {}", getThreadId());

        auto ids = this->stateIDs();
        auto r = ids | std::views::join_with(',');
        logDebug("{}", std::string(r.begin(), r.end()));
    }


    virtual ~MccMount()
    {
        logDebug("Delete MccMount class instance: thread = {}", getThreadId());
    }


    /*  public methods  */

    void initMount()
    {
        this->logInfo("STATE: {}", this->currentStateID());
    }

    void stopMount() {}

    void shutdownMount() {}

    void slewMount(slew_param_t params) {}

    void startGuiding() {}


    mount_config_t mountConfig() const
    {
        return _mountConfig;
    }


    mount_telemetry_data_t mountTelemetry() const
    {
        return _mountTelemetry.data();
    }


    /* prohibited zone related public methods */

    // add zones to mount control system
    template <traits::mcc_prohibited_zone_c ZT, traits::mcc_prohibited_zone_c... ZTs>
    size_t pzAddZone(ZT zone, ZTs... zones)
    {
        static constexpr auto pi2 = std::numbers::pi / 2.0;

        auto zone_ptr = std::make_shared<ZT>(std::move(zone));

        // typename ZT::coord_t x, y;

        if constexpr (ZT::preferedCoordKind == MccCoordPairKind::COORDS_KIND_AZALT) {  // azimuth and altitude
            _pzFuncs.emplace_back({.coordPairKind = ZT::preferedCoordKind,
                                   .inZoneFunc =
                                       [zone_ptr, this]() {
                                           auto tmry_data = _mountTelemetry.data();

                                           return zone_ptr->inZone(tmry_data.mntAZ, tmry_data.mntALT, tmry_data.utc);
                                       },
                                   .timeToFunc =
                                       [zone_ptr, this]() {
                                           auto tmry_data = _mountTelemetry.data();

                                           return zone_ptr->timeTo(tmry_data.mntAZ, tmry_data.mntALT, tmry_data.utc);
                                       },
                                   .timeFromFunc =
                                       [zone_ptr, this]() {
                                           auto tmry_data = _mountTelemetry.data();

                                           return zone_ptr->timeFrom(tmry_data.mntAZ, tmry_data.mntALT, tmry_data.utc);
                                       }});

        } else if constexpr (ZT::preferedCoordKind ==
                             MccCoordPairKind::COORDS_KIND_AZZD) {  // azimuth and zenithal distance
            _pzFuncs.emplace_back(
                {.coordPairKind = ZT::preferedCoordKind,
                 .inZoneFunc =
                     [zone_ptr, this]() {
                         auto tmry_data = _mountTelemetry.data();

                         return zone_ptr->inZone(tmry_data.mntAZ, pi2 - tmry_data.mntALT, tmry_data.utc);
                     },
                 .timeToFunc =
                     [zone_ptr, this]() {
                         auto tmry_data = _mountTelemetry.data();

                         return zone_ptr->timeTo(tmry_data.mntAZ, pi2 - tmry_data.mntALT, tmry_data.utc);
                     },
                 .timeFromFunc =
                     [zone_ptr, this]() {
                         auto tmry_data = _mountTelemetry.data();

                         return zone_ptr->timeFrom(tmry_data.mntAZ, pi2 - tmry_data.mntALT, tmry_data.utc);
                     }});

        } else if constexpr (ZT::preferedCoordKind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
        } else if constexpr (ZT::preferedCoordKind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
        } else if constexpr (ZT::preferedCoordKind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
        } else if constexpr (ZT::preferedCoordKind == MccCoordPairKind::COORDS_KIND_XY) {
        } else {
            static_assert(false, "UNKNOWN COORDINATE SYSTEM!!!");
        }

        if constexpr (sizeof...(ZTs)) {
            pzAddZone(std::move(zones)...);
        }

        return _pzFuncs.size();
    }

    // delete all zones from mount control system
    void pzClearZone()
    {
        _pzFuncs.clear();
    }

    template <std::derived_from<MccAngle> XT, std::derived_from<MccAngle> YT>
    auto pzInZone(const XT& x, const YT& y, traits::mcc_time_duration_c auto const& utc)
    {
    }

protected:
    mount_config_t _mountConfig;
    mount_telemetry_t _mountTelemetry;

    // 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

    typedef std::function<bool()> pz_inzone_func_t;
    typedef std::function<pz_duration_t()> pz_timeto_func_t;
    typedef std::function<pz_duration_t()> pz_timefrom_func_t;
    struct pz_funcs_t {
        MccCoordPairKind coordPairKind;
        pz_inzone_func_t inZoneFunc;
        pz_timeto_func_t timeToFunc;
        pz_timefrom_func_t timeFromFunc;
    };

    std::vector<pz_funcs_t> _pzFuncs{};

};  // end of MccMount class


namespace traits
{

// given mount class must be a descendant of MccMount
template <typename T>
concept mcc_mount_c = requires(T t) { []<typename... Ts>(MccMount<Ts...>*) {}(&t); };

}  // namespace traits

}  // namespace mcc