285 lines
10 KiB
C
285 lines
10 KiB
C
#pragma once
|
|
|
|
/* MOUNT CONTROL COMPONENTS LIBRARY */
|
|
|
|
|
|
/* MOUNT TELEMETRY OBJECT POSSIBLE GENERIC IMPLEMENTATION */
|
|
|
|
#include <mutex>
|
|
|
|
#include "mcc_mount_concepts.h"
|
|
|
|
namespace mcc
|
|
{
|
|
|
|
|
|
namespace traits
|
|
{
|
|
|
|
/* enhanced telemetry data concept */
|
|
/* in general it correspond to definitions used in astrometry engine (see its concept) */
|
|
|
|
template <typename T, typename ASTROM_ENGINE_T, typename PEC_T>
|
|
concept mcc_mount_telemetry_enh_data_c = mcc_mount_telemetry_data_c<T> && requires(T t) {
|
|
requires traits::mcc_astrom_engine_c<ASTROM_ENGINE_T>;
|
|
requires traits::mcc_mount_pec_c<PEC_T>;
|
|
|
|
// check for types definitions and its consistency
|
|
requires std::same_as<typename T::coord_t, typename ASTROM_ENGINE_T::coord_t>;
|
|
|
|
requires std::same_as<typename T::time_point_t, typename ASTROM_ENGINE_T::time_point_t>;
|
|
|
|
requires std::same_as<typename T::juldate_t,
|
|
typename ASTROM_ENGINE_T::juldate_t>; // a type to represent Julian date
|
|
|
|
requires std::same_as<typename T::sideral_time_t,
|
|
typename ASTROM_ENGINE_T::sideral_time_t>; // a type to represent sideral time
|
|
|
|
requires std::same_as<typename T::pa_t,
|
|
typename ASTROM_ENGINE_T::pa_t>; // a type to represent parallactic angle
|
|
// typename T::eo_t; // a type to represent equation of origins
|
|
|
|
requires std::same_as<decltype(t.jd), typename T::juldate_t>; // Julian date
|
|
requires std::same_as<decltype(t.siderTime), typename T::sideral_time_t>; // sideral time
|
|
requires std::same_as<decltype(t.mntRA), typename T::pa_t>; // parallactic angle
|
|
|
|
// encoder-measured (non-corrected for PCS) current mount position and moving speed (in radians, radians/s)
|
|
// X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ALT for horizontal-type one
|
|
requires std::same_as<decltype(t.mntPosX), typename T::coord_t>;
|
|
requires std::same_as<decltype(t.mntPosY), typename T::coord_t>;
|
|
requires std::same_as<decltype(t.mntRateX), typename T::coord_t>;
|
|
requires std::same_as<decltype(t.mntRateY), typename T::coord_t>;
|
|
|
|
// current refraction coefficients
|
|
requires std::same_as<decltype(t.currRefrCoeffs), typename PEC_T::pec_result_t>;
|
|
// current refraction correction (for mntALT)
|
|
requires std::same_as<decltype(t.currRefr), typename T::coord_t>;
|
|
|
|
// PEC (pointing error correction):
|
|
// X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ALT for horizontal-type one
|
|
requires std::same_as<decltype(t.pecX), typename T::coord_t>;
|
|
requires std::same_as<decltype(t.pecY), typename T::coord_t>;
|
|
};
|
|
|
|
} // namespace traits
|
|
|
|
|
|
// default generic telemetry data definition
|
|
template <traits::mcc_astrom_engine_c ASTROM_ENGINE_T, traits::mcc_mount_pec_c PEC_T>
|
|
struct MccMountTelemetryData {
|
|
typedef typename ASTROM_ENGINE_T::coord_t coord_t;
|
|
typedef typename ASTROM_ENGINE_T::time_point_t time_point_t;
|
|
typedef typename ASTROM_ENGINE_T::juldate_t juldate_t;
|
|
typedef typename ASTROM_ENGINE_T::sideral_time_t sideral_time_t;
|
|
typedef typename ASTROM_ENGINE_T::pa_t pa_t;
|
|
|
|
// time-related
|
|
time_point_t time_point; // time point of measurements, UTC
|
|
juldate_t jd; // Julian date
|
|
sideral_time_t siderTime; // local apperant sideral time
|
|
|
|
// encoder-measured current mount coordinates
|
|
coord_t mntRA, mntDEC;
|
|
coord_t mntHA;
|
|
coord_t mntAZ, mntALT;
|
|
pa_t mntPA;
|
|
|
|
// encoder-measured (non-corrected for PCS) current mount position and axes rates
|
|
// X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ALT for horizontal-type one
|
|
coord_t mntPosX, mntPosY;
|
|
coord_t mntRateX, mntRateY;
|
|
|
|
// current refraction coefficients
|
|
typename PEC_T::pec_result_t currRefrCoeffs;
|
|
|
|
// current refraction correction (for mntALT)
|
|
coord_t currRefr;
|
|
|
|
// PEC (pointing error correction):
|
|
// X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ALT for horizontal-type one
|
|
coord_t pecX, pecY;
|
|
};
|
|
|
|
template <traits::mcc_astrom_engine_c ASTROM_ENGINE_T,
|
|
traits::mcc_mount_pec_c PEC_T,
|
|
traits::mcc_mount_hardware_c HARDWARE_T,
|
|
traits::mcc_mount_telemetry_enh_data_c<ASTROM_ENGINE_T, PEC_T> DATA_T =
|
|
MccMountTelemetryData<ASTROM_ENGINE_T, PEC_T>>
|
|
class MccMountTelemetry
|
|
{
|
|
public:
|
|
typedef ASTROM_ENGINE_T astrom_engine_t;
|
|
typedef PEC_T pec_t;
|
|
typedef HARDWARE_T hardware_t;
|
|
|
|
enum error_t : int { TEL_ERROR_OK = 0, TEL_ERROR_HARDWARE, TEL_ERROR_ASTROMETRY_COMP, TEL_ERROR_PEC };
|
|
|
|
// check for coordinate types consistency
|
|
static_assert(std::convertible_to<typename hardware_t::coord_t, typename astrom_engine_t::coord_t>,
|
|
"HARDWARE COORDINATE TYPE MUST BE CONVERTIBLE TO ASTROMETRY ENGINE ONE!");
|
|
|
|
static_assert(std::convertible_to<typename hardware_t::coord_t, typename pec_t::coord_t>,
|
|
"HARDWARE COORDINATE TYPE MUST BE CONVERTIBLE TO PEC ONE!");
|
|
|
|
// static_assert(std::convertible_to<typename pec_t::coord_t, typename astrom_engine_t::coord_t>,
|
|
// "ASTROMETRY ENGINE COORDINATE TYPE MUST BE CONVERTIBLE TO PEC ONE!");
|
|
|
|
// mandatory arithmetic operations
|
|
static_assert( // for CIO-based apparent RA computation and PEC correction addition (see below)
|
|
requires(typename astrom_engine_t::coord_t v1,
|
|
typename astrom_engine_t::coord_t v2,
|
|
typename pec_t::coord_t v3) {
|
|
{ v1 + v2 } -> std::convertible_to<typename astrom_engine_t::coord_t>;
|
|
{ v1 - v2 } -> std::convertible_to<typename astrom_engine_t::coord_t>;
|
|
v1 += v3;
|
|
},
|
|
"ASTROMETRY ENGINE COORDINATE TYPE MUST DEFINE '+', '+=' AND '-' ARITHMETIC OPERATIONS!");
|
|
|
|
|
|
// check for time point types consistency
|
|
static_assert(std::convertible_to<typename hardware_t::time_point_t, typename astrom_engine_t::time_point_t>,
|
|
"HARDWARE TIME-POINT TYPE MUST BE CONVERTIBLE TO ASTROMETRY ENGINE ONE!");
|
|
|
|
typedef DATA_T mount_telemetry_data_t;
|
|
|
|
|
|
MccMountTelemetry(astrom_engine_t& astrom_engine, pec_t& pec, hardware_t& hardware)
|
|
: _astromEngine(astrom_engine), _pec(pec), _hardware(hardware)
|
|
{
|
|
}
|
|
|
|
virtual ~MccMountTelemetry() = default;
|
|
|
|
// update current data method
|
|
error_t update()
|
|
{
|
|
mount_telemetry_data_t current_data;
|
|
|
|
typename hardware_t::axes_pos_t ax_pos;
|
|
|
|
auto err = _hardware.getPos(ax_pos);
|
|
if (err) {
|
|
// logging?!!!
|
|
return TEL_ERROR_HARDWARE;
|
|
}
|
|
|
|
_data.utc = ax_pos.time_point;
|
|
_data.mntPosX = static_cast<typename astrom_engine_t::coord_t>(ax_pos.x);
|
|
_data.mntPosY = static_cast<typename astrom_engine_t::coord_t>(ax_pos.y);
|
|
_data.mntRateX = static_cast<typename astrom_engine_t::coord_t>(ax_pos.xrate);
|
|
_data.mntRateY = static_cast<typename astrom_engine_t::coord_t>(ax_pos.yrate);
|
|
|
|
// compute Julian date
|
|
auto ast_err = _astromEngine.greg2jul(_data.time_point, _data.jd);
|
|
if (ast_err) {
|
|
return TEL_ERROR_ASTROMETRY_COMP;
|
|
}
|
|
|
|
// compute local apparent sideral time
|
|
ast_err = _astromEngine.apparentSiderTime(_data.jd, _data.siderTime, true);
|
|
if (ast_err) {
|
|
return TEL_ERROR_ASTROMETRY_COMP;
|
|
}
|
|
|
|
// compute equation of origins
|
|
typename astrom_engine_t::eo_t eo;
|
|
ast_err = _astromEngine.eqOrigins(_data.jd, eo);
|
|
if (ast_err) {
|
|
return TEL_ERROR_ASTROMETRY_COMP;
|
|
}
|
|
|
|
|
|
|
|
typename pec_t::pec_result_t pec_res;
|
|
auto pec_err = _pec.compute(ax_pos.x, ax_pos.y, pec_res);
|
|
if (pec_err) {
|
|
return TEL_ERROR_PEC;
|
|
}
|
|
|
|
if constexpr (mccIsEquatorialMount(pec_t::mountType)) {
|
|
_data.mntHA = _data.mntPosX;
|
|
_data.mntDEC = _data.mntPosY;
|
|
_data.mntHA += pec_res.dx;
|
|
_data.mntDEC += pec_res.dy;
|
|
|
|
ast_err = _astromEngine.hadec2azalt(_data.mntHA, _data.mntDEC, _data.mntAZ, _data.mntALT);
|
|
if (ast_err) {
|
|
return TEL_ERROR_ASTROMETRY_COMP;
|
|
}
|
|
} else if constexpr (mccIsAltAzMount(pec_t::mountType)) {
|
|
_data.mntAZ = _data.mntPosX;
|
|
_data.mntALT = _data.mntPosY;
|
|
_data.mntAZ += pec_res.dx;
|
|
_data.mntALT += pec_res.dy;
|
|
|
|
ast_err = _astromEngine.azalt2hadec(_data.mntAZ, _data.mntALT, _data.mntHA, _data.mntDEC);
|
|
if (ast_err) {
|
|
return TEL_ERROR_ASTROMETRY_COMP;
|
|
}
|
|
} else {
|
|
static_assert(false, "UNSUPPORTED MOUNT TYPE!");
|
|
}
|
|
|
|
// compute CIO-based apparent RA
|
|
_data.mntRA = _data.siderTime - _data.mntHA + eo;
|
|
|
|
// compute PA
|
|
ast_err = _astromEngine.hadec2pa(_data.mntHA, _data.mntDEC, _data.mntPA);
|
|
if (ast_err) {
|
|
return TEL_ERROR_ASTROMETRY_COMP;
|
|
}
|
|
|
|
ast_err = _astromEngine.refraction(_data.currRefrCoeffs);
|
|
if (ast_err) {
|
|
return TEL_ERROR_ASTROMETRY_COMP;
|
|
}
|
|
|
|
ast_err = _astromEngine.refractCorrection(_data.mntALT, _data.currRefrCoeffs, _data.currRefr);
|
|
if (ast_err) {
|
|
return TEL_ERROR_ASTROMETRY_COMP;
|
|
}
|
|
|
|
std::lock_guard lock{_updateMutex};
|
|
|
|
_data = std::move(current_data);
|
|
|
|
return TEL_ERROR_OK;
|
|
}
|
|
|
|
error_t data(mount_telemetry_data_t& data)
|
|
{
|
|
std::lock_guard lock{_updateMutex};
|
|
|
|
data = std::move(_data);
|
|
|
|
return TEL_ERROR_OK;
|
|
}
|
|
|
|
|
|
std::string_view errorString(error_t err) const
|
|
{
|
|
if (err == TEL_ERROR_OK) {
|
|
return "OK";
|
|
} else if (err == TEL_ERROR_ASTROMETRY_COMP) {
|
|
return "astrometry computation error";
|
|
} else if (err == TEL_ERROR_PEC) {
|
|
return "PEC computation error";
|
|
} else if (err == TEL_ERROR_HARDWARE) {
|
|
return "hardware request error";
|
|
} else {
|
|
return "unknown error";
|
|
}
|
|
}
|
|
|
|
protected:
|
|
mount_telemetry_data_t _data{};
|
|
astrom_engine_t& _astromEngine;
|
|
pec_t& _pec;
|
|
hardware_t& _hardware;
|
|
|
|
std::mutex _updateMutex;
|
|
};
|
|
|
|
|
|
} // namespace mcc
|