85 lines
3.0 KiB
C++
85 lines
3.0 KiB
C++
#include "asibfm700_servocontroller.h"
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namespace asibfm700
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{
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AsibFM700ServoController::AsibFM700ServoController() : _hardwareConfig(), _setStateMutex(new std::mutex) {}
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AsibFM700ServoController::AsibFM700ServoController(hardware_config_t config) : AsibFM700ServoController()
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{
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_hardwareConfig = std::move(config);
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_hardwareConfig.devConfig.MountDevPath = const_cast<char*>(_hardwareConfig.MountDevPath.c_str());
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_hardwareConfig.devConfig.EncoderDevPath = const_cast<char*>(_hardwareConfig.EncoderDevPath.c_str());
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_hardwareConfig.devConfig.EncoderXDevPath = const_cast<char*>(_hardwareConfig.EncoderXDevPath.c_str());
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_hardwareConfig.devConfig.EncoderYDevPath = const_cast<char*>(_hardwareConfig.EncoderYDevPath.c_str());
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}
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constexpr std::string_view AsibFM700ServoController::hardwareName() const
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{
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return "Sidereal-ServoControllerII";
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}
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AsibFM700ServoController::error_t AsibFM700ServoController::hardwareStop()
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{
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return static_cast<AsibFM700ServoControllerErrorCode>(Mount.stop());
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}
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AsibFM700ServoController::error_t AsibFM700ServoController::hardwareInit()
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{
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return static_cast<AsibFM700ServoControllerErrorCode>(Mount.init(&_hardwareConfig.devConfig));
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}
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AsibFM700ServoController::error_t AsibFM700ServoController::hardwareSetState(hardware_state_t state)
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{
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// time point from sidservo library is 'double' number represented UNIXTIME with
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// microseconds/nanoseconds precision
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double tp = std::chrono::duration<double>(state.time_point.time_since_epoch()).count();
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std::lock_guard lock{*_setStateMutex};
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// according to"SiTech protocol notes" X is DEC-axis and Y is HA-axis
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coordval_pair_t cvalpair{.X{.val = state.Y, .t = tp}, .Y{.val = state.X, .t = tp}};
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coordpair_t cpair{.X = state.Y, .Y = state.X};
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// correctTo is asynchronous function!!!
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//
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// according to the Eddy's implementation of the LibSidServo library it is safe
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// to pass the addresses of 'cvalpair' and 'cpair' automatic variables
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auto err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.correctTo(&cvalpair, &cpair));
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return err;
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}
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AsibFM700ServoController::error_t AsibFM700ServoController::hardwareGetState(hardware_state_t* state)
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{
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using tp_t = decltype(hardware_state_t::time_point);
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mountdata_t mdata;
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error_t err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.getMountData(&mdata));
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if (!err) {
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// time point from sidservo library is 'double' number represented UNIXTIME with
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// microseconds/nanoseconds precision (must be equal for encXposition and encYposition)
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using secs_t = std::chrono::duration<double>;
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secs_t secs = secs_t{mdata.encXposition.t};
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state->time_point = tp_t{std::chrono::duration_cast<tp_t::duration>(secs)};
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// according to "SiTech protocol notes" X is DEC-axis and Y is HA-axis
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state->X = mdata.encYposition.val;
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state->Y = mdata.encXposition.val;
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state->speedX = mdata.encYspeed.val;
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state->speedY = mdata.encXspeed.val;
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}
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return err;
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}
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} // namespace asibfm700
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