mountcontrol/mcc/mcc_generics.h

#pragma once

/*                          MOUNT CONTROL COMPONENTS LIBRARY                            */



/*                          SOME LIBRARY-WIDE DECLARATIONS                          */


#include <chrono>
#include <concepts>


// #include "mcc_traits.h"
#include "mcc_angle.h"
#include "mcc_finite_state_machine.h"


namespace mcc
{

static constexpr double mcc_sideral_to_UT1_ratio = 1.002737909350795;  // sideral/UT1


// mount construction type (only the most common ones)
enum class MccMountType : uint8_t { GERMAN_TYPE, FORK_TYPE, CROSSAXIS_TYPE, ALTAZ_TYPE };

template <MccMountType TYPE>
static constexpr std::string_view MccMountTypeStr = TYPE == MccMountType::GERMAN_TYPE      ? "GERMAN"
                                                    : TYPE == MccMountType::FORK_TYPE      ? "FORK"
                                                    : TYPE == MccMountType::CROSSAXIS_TYPE ? "CROSSAXIS"
                                                    : TYPE == MccMountType::ALTAZ_TYPE     ? "ALTAZ"
                                                                                           : "UNKNOWN";

template <MccMountType TYPE>
static constexpr bool mcc_is_equatorial_mount = TYPE == MccMountType::GERMAN_TYPE      ? true
                                                : TYPE == MccMountType::FORK_TYPE      ? true
                                                : TYPE == MccMountType::CROSSAXIS_TYPE ? true
                                                : TYPE == MccMountType::ALTAZ_TYPE     ? false
                                                                                       : false;
template <MccMountType TYPE>
static constexpr bool mcc_is_altaz_mount = TYPE == MccMountType::GERMAN_TYPE      ? false
                                           : TYPE == MccMountType::FORK_TYPE      ? false
                                           : TYPE == MccMountType::CROSSAXIS_TYPE ? false
                                           : TYPE == MccMountType::ALTAZ_TYPE     ? true
                                                                                  : false;

static consteval bool mccIsEquatorialMount(const MccMountType type)
{
    return type == MccMountType::GERMAN_TYPE      ? true
           : type == MccMountType::FORK_TYPE      ? true
           : type == MccMountType::CROSSAXIS_TYPE ? true
           : type == MccMountType::ALTAZ_TYPE     ? false
                                                  : false;
};

static consteval bool mccIsAltAzMount(const MccMountType type)
{
    return type == MccMountType::GERMAN_TYPE      ? false
           : type == MccMountType::FORK_TYPE      ? false
           : type == MccMountType::CROSSAXIS_TYPE ? false
           : type == MccMountType::ALTAZ_TYPE     ? true
                                                  : false;
};


enum class MccProhibitedZonePolicy : int {
    PZ_POLICY_STOP,  // stop mount near the zone
    PZ_POLICY_FLIP   // flip mount, e.g., near the meridian, near HA-axis encoder limit switch
};


/*                          GENERIC LOGGER CLASS CONCEPT                    */

template <typename T>
concept mcc_logger_c = requires(T t, const T t_const) {
    { t.logError(std::declval<const std::string&>()) };
    { t.logDebug(std::declval<const std::string&>()) };
    { t.logWarn(std::declval<const std::string&>()) };
    { t.logInfo(std::declval<const std::string&>()) };
};


struct MccNullLogger {
    void logError(const std::string&) {}
    void logDebug(const std::string&) {}
    void logWarn(const std::string&) {}
    void logInfo(const std::string&) {}
};



/*                          FLOATING-POINT LIKE CLASS CONCEPT                           */

template <typename T>
concept mcc_fp_type_like_c =
    std::floating_point<T> ||
    (std::convertible_to<T, double> && std::constructible_from<T, double> && std::default_initializable<T>);


/*                          ANGLE REPRESENTATION CLASS CONCEPT                           */

template <typename T>
concept mcc_angle_c = mcc_fp_type_like_c<T> && requires(T v, double vd) {
    // mandatory arithmetic operations
    { v + v } -> std::same_as<T>;
    { v - v } -> std::same_as<T>;
    { v += v } -> std::same_as<T&>;
    { v -= v } -> std::same_as<T&>;

    { vd + v } -> std::same_as<T>;
    { vd - v } -> std::same_as<T>;
    { v + vd } -> std::same_as<T>;
    { v - vd } -> std::same_as<T>;
    { v += vd } -> std::same_as<T&>;
    { v -= vd } -> std::same_as<T&>;

    { v * vd } -> std::same_as<T>;
    { v / vd } -> std::same_as<T>;
};


/*                          TIME POINT CLASS CONCEPT                           */

/*
 *  USE OF STL std::chrono::time_point
 */
template <typename T>
concept mcc_time_point_c = traits::mcc_systime_c<T>;
// concept mcc_time_point_c = requires(T t) { []<typename CT, typename DT>(std::chrono::time_point<CT, DT>) {}(t); };


template <mcc_time_point_c T1, mcc_time_point_c T2>
static constexpr void mcc_tp2tp(const T1& from_tp1, T2& to_tp)
{
    to_tp = std::chrono::time_point_cast<typename T2::duration>(from_tp1);
}


/*                          JULIAN DAY CLASS CONCEPT                            */

template <typename T>
concept mcc_julday_c = mcc_fp_type_like_c<T> && requires(const T v) {
    // modified Julian Day
    { v.MJD() } -> std::convertible_to<double>;
    // comparison operators
    v <=> v;
};


/*                          ERROR CLASS CONCEPT                            */

template <typename T>
concept mcc_error_c = std::default_initializable<T> && (std::convertible_to<T, bool> || requires(const T t) {
                          { t.operator bool() };
                          (bool)T() == false;  // default constucted value must be a "non-error"!
                      });


template <mcc_error_c ErrT, typename DErrT>
static constexpr ErrT mcc_deduce_error(const DErrT& err, const ErrT& default_err)
{
    if constexpr (std::same_as<ErrT, DErrT>) {
        return err;
    } else {
        return default_err;
    }
}



/*                          ATMOSPHERIC REFRACTION MODEL CLASS CONCEPT                            */

template <typename T>
concept mcc_refract_model_c = requires(const T t_const) {
    { t_const.name() } -> std::formattable<char>;
};


/*                          CELESTIAL POINT WITH A PAIR OF COORDINATES CLASS CONCEPT                           */

template <typename T>
concept mcc_celestial_point_c = requires(T t) {
    requires std::same_as<std::remove_const_t<decltype(t.pair_kind)>,
                          MccCoordPairKind>;  // type of given coordinate pair (it may be even static constexpr value)

    requires mcc_time_point_c<decltype(t.time_point)>;  // time point for given coordinates

    requires mcc_angle_c<decltype(t.X)>;  // co-longitude (X-axis)
    requires mcc_angle_c<decltype(t.Y)>;  // co-latitude (Y-axis)
};


static constexpr void mcc_copy_celestial_point(mcc_celestial_point_c auto const& from_pt,
                                               mcc_celestial_point_c auto* to_pt)
{
    if (to_pt == nullptr) {
        return;
    }

    using from_pt_t = std::remove_cvref_t<decltype(from_pt)>;
    using to_pt_t = std::remove_cvref_t<decltype(*to_pt)>;

    if constexpr (std::derived_from<to_pt_t, from_pt_t> && std::copyable<to_pt_t>) {
        *to_pt = from_pt;
        return;
    }

    to_pt->pair_kind = from_pt.pair_kind;
    to_pt->time_point =
        std::chrono::time_point_cast<typename decltype(to_pt->time_point)::duration>(from_pt.time_point);
    to_pt->X = (double)from_pt.X;
    to_pt->Y = (double)from_pt.Y;
}


/*                          CELESTIAL POINT WITH APPARENT EQUATORIAL AND HORIZONTAL CLASS CONCEPT */

template <typename T>
concept mcc_eqt_hrz_coord_c = mcc_celestial_point_c<T> && requires(T t) {
    requires mcc_angle_c<decltype(t.RA_APP)>;   // right ascension
    requires mcc_angle_c<decltype(t.DEC_APP)>;  // declination
    requires mcc_angle_c<decltype(t.HA)>;       // hour angle
    requires mcc_angle_c<decltype(t.AZ)>;   // azimuth (NOTE: ASSUMING THE AZINUTH IS COUNTED FROM THE SOUTH THROUGH THE
                                            // WEST!!!)
    requires mcc_angle_c<decltype(t.ZD)>;   // zenithal distance
    requires mcc_angle_c<decltype(t.ALT)>;  // altitude
};


static constexpr void mcc_copy_eqt_hrz_coord(mcc_eqt_hrz_coord_c auto const& from_pt, mcc_eqt_hrz_coord_c auto* to_pt)
{
    if (to_pt == nullptr) {
        return;
    }

    using from_pt_t = std::remove_cvref_t<decltype(from_pt)>;
    using to_pt_t = std::remove_cvref_t<decltype(*to_pt)>;

    if constexpr (std::derived_from<to_pt_t, from_pt_t> && std::copyable<to_pt_t>) {
        *to_pt = from_pt;
        return;
    }

    to_pt->pair_kind = from_pt.pair_kind;
    to_pt->time_point =
        std::chrono::time_point_cast<typename decltype(to_pt->time_point)::duration>(from_pt.time_point);
    to_pt->X = (double)from_pt.X;
    to_pt->Y = (double)from_pt.Y;

    to_pt->RA_APP = (double)from_pt.RA_APP;
    to_pt->DEC_APP = (double)from_pt.DEC_APP;

    to_pt->HA = (double)from_pt.HA;
    to_pt->AZ = (double)from_pt.AZ;
    to_pt->ZD = (double)from_pt.ZD;
    to_pt->ALT = (double)from_pt.ALT;
}


/*                          CELESTIAL COORDINATES TRANSFORMATION ENGINE     */


template <mcc_error_c RetT>
struct mcc_CCTE_interface_t {
    virtual ~mcc_CCTE_interface_t() = default;

    template <std::derived_from<mcc_CCTE_interface_t> SelfT>
    RetT timepointToJulday(this SelfT&& self, mcc_time_point_c auto tp, mcc_julday_c auto* julday)
    {
        return std::forward<SelfT>(self).timepointToJulday(std::move(tp), julday);
    }

    // APPARENT SIDERAL TIME
    template <std::derived_from<mcc_CCTE_interface_t> SelfT>
    RetT timepointToAppSideral(this SelfT&& self, mcc_time_point_c auto tp, mcc_angle_c auto* st, bool islocal = false)
    {
        return std::forward<SelfT>(self).timepointToAppSideral(std::move(tp), st, islocal);
    }

    template <std::derived_from<mcc_CCTE_interface_t> SelfT>
    RetT juldayToAppSideral(this SelfT&& self, mcc_julday_c auto jd, mcc_angle_c auto* st, bool islocal = false)
    {
        return std::forward<SelfT>(self).timepointToAppSideral(std::move(jd), st, islocal);
    }

    // NOTE: ASSUMING THE AZINUTH IS COUNTED FROM THE SOUTH THROUGH THE WEST!!!
    template <std::derived_from<mcc_CCTE_interface_t> SelfT>
    RetT transformCoordinates(this SelfT&& self, mcc_celestial_point_c auto from_pt, mcc_celestial_point_c auto* to_pt)
    {
        return std::forward<SelfT>(self).transformCoordinates(std::move(from_pt), to_pt);
    }

    // NOTE: ASSUMING THE AZIMUTH IS COUNTED FROM THE SOUTH THROUGH THE WEST!!!
    template <std::derived_from<mcc_CCTE_interface_t> SelfT>
    RetT transformCoordinates(this SelfT&& self, mcc_celestial_point_c auto from_pt, mcc_eqt_hrz_coord_c auto* to_pt)
    {
        return std::forward<SelfT>(self).transformCoordinates(std::move(from_pt), to_pt);
    }

    template <std::derived_from<mcc_CCTE_interface_t> SelfT>
    RetT parallacticAngle(this SelfT&& self, mcc_celestial_point_c auto pt, mcc_angle_c auto* pa)
    {
        return std::forward<SelfT>(self).parallacticAngle(std::move(pt), pa);
    }

    template <std::derived_from<mcc_CCTE_interface_t> SelfT>
    RetT refractionCorrection(this SelfT&& self, mcc_celestial_point_c auto pt, mcc_angle_c auto* dZ)
    {
        return std::forward<SelfT>(self).refractionCoeff(std::move(pt), dZ);
    }

protected:
    mcc_CCTE_interface_t() = default;
};


template <typename T>
concept mcc_ccte_c = std::derived_from<T, mcc_CCTE_interface_t<typename T::error_t>> && requires(const T t_const, T t) {
    { t_const.nameCCTE() } -> std::formattable<char>;

    requires mcc_refract_model_c<typename T::refract_model_t>;

    { t.refractionModel(std::declval<typename T::refract_model_t*>()) } -> std::same_as<typename T::error_t>;
};



/*                          POINTING CORRECTION MODEL CLASS CONCEPT                 */

template <typename T>
concept mcc_PCM_result_c = requires(T t) {
    requires mcc_angle_c<decltype(t.pcmX)>;
    requires mcc_angle_c<decltype(t.pcmY)>;
};

template <mcc_error_c RetT>
struct mcc_PCM_interface_t {
    virtual ~mcc_PCM_interface_t() = default;

    // ignore app_pt->pair_kind and time points!!!
    template <std::derived_from<mcc_PCM_interface_t> SelfT>
    RetT computePCM(this SelfT&& self,
                    mcc_celestial_point_c auto pt,
                    mcc_PCM_result_c auto* result,
                    mcc_celestial_point_c auto* app_pt)
    {
        return std::forward<SelfT>(self).computePCM(std::move(pt), result, app_pt);
    }

    // for equatorial mounts the method must compute:
    //     app_pt->HA = pt.X + result->pcmX
    //     app_pt->DEC_APP = pt.Y + result->pcmY
    // for alt-azimuthal:
    //     app_pt->AZ = pt.X + result->pcmX
    //     app_pt->ZD = pt.Y + result->pcmY
    template <std::derived_from<mcc_PCM_interface_t> SelfT>
    RetT computePCM(this SelfT&& self,
                    mcc_celestial_point_c auto pt,
                    mcc_PCM_result_c auto* result,
                    mcc_eqt_hrz_coord_c auto* app_pt)
    {
        return std::forward<SelfT>(self).computePCM(std::move(pt), result, app_pt);
    }

    template <std::derived_from<mcc_PCM_interface_t> SelfT>
    RetT computeInversePCM(this SelfT&& self,
                           mcc_celestial_point_c auto app_pt,
                           mcc_PCM_result_c auto* inv_result,
                           mcc_celestial_point_c auto* hw_pt)
    {
        return std::forward<SelfT>(self).computePCM(std::move(app_pt), inv_result, hw_pt);
    }


    // NOTE: for computation of the corrections the method must use of app_pt.X and app_pt.Y
    //
    // for equatorial mounts the method must compute:
    //     hw_pt->X = app_pt.HA + inv_result.pcmX
    //     hw_pt->Y = app_pt.DEC_APP + inv_result.pcmY
    //         and inputs for the corrections computing are app_pt.HA and app_pt.DEC_APP
    // for alt-azimuthal:
    //     hw_pt->X = app_pt.AZ + inv_result.pcmX
    //     hw_pt->Y = app_pt.ZD + inv_result.pcmY
    //         and inputs for the corrections computing are app_pt.ZA and app_pt.ZD
    template <std::derived_from<mcc_PCM_interface_t> SelfT>
    RetT computeInversePCM(this SelfT&& self,
                           mcc_eqt_hrz_coord_c auto app_pt,
                           mcc_PCM_result_c auto* inv_result,
                           mcc_celestial_point_c auto* hw_pt)
    {
        return std::forward<SelfT>(self).computePCM(std::move(app_pt), inv_result, hw_pt);
    }

protected:
    mcc_PCM_interface_t() = default;
};

template <typename T>
concept mcc_PCM_c = std::derived_from<T, mcc_PCM_interface_t<typename T::error_t>> && requires {
    // the 'T' class must contain static constexpr member of 'MccMountType' type
    requires std::same_as<decltype(T::mountType), const MccMountType>;
    []() {
        static constexpr MccMountType val = T::mountType;
        return val;
    }();  // to ensure 'mountType' can be used in compile-time context
};



/*                          MOUNT HARDWARE ABSTRACTION CLASS CONCEPT                            */

template <typename T>
concept mcc_hardware_c = requires(T t, const T t_const) {
    requires mcc_error_c<typename T::error_t>;

    { t_const.hardwareName() } -> std::formattable<char>;

    // the 'T' class must contain static constexpr member of 'MccMountType' type
    // requires std::same_as<decltype(T::mountType), const MccMountType>;
    // []() {
    //     static constexpr MccMountType val = T::mountType;
    //     return val;
    // }();  // to ensure 'mountType' can be used in compile-time context


    // a type that defines at least HW_MOVE_ERROR, HW_MOVE_STOPPED, HW_MOVE_SLEWING, HW_MOVE_ADJUSTING, HW_MOVE_TRACKING
    // and HW_MOVE_GUIDING compile-time constants. The main purpose of this type is a
    // possible tunning of hardware hardwareSetState-related commands and detect stop-state
    //
    // e.g. an implementations can be as follows:
    //     enum class hardware_moving_state_t: int {HW_MOVE_ERROR = -1, HW_MOVE_STOPPED = 0, HW_MOVE_SLEWING,
    //     HW_MOVE_ADJUSTING, HW_MOVE_TRACKING, HW_MOVE_GUIDING}
    //
    //     struct hardware_moving_state_t {
    //         uint16_t HW_MOVE_STOPPED = 0;
    //         uint16_t HW_MOVE_SLEWING = 111;
    //         uint16_t HW_MOVE_ADJUSTING = 222;
    //         uint16_t HW_MOVE_TRACKING = 333;
    //         uint16_t HW_MOVE_GUIDING = 444;
    //         uint16_t HW_MOVE_ERROR = 555;
    //     }
    requires requires(typename T::hardware_moving_state_t type) {
        []() {
            // mount axes were stopped
            static constexpr auto v0 = T::hardware_moving_state_t::HW_MOVE_STOPPED;

            // hardware was asked for slewing (move to given celestial point)
            static constexpr auto v1 = T::hardware_moving_state_t::HW_MOVE_SLEWING;

            // hardware was asked for adjusting after slewing
            // (adjusting actual mount position to align with target celestial point at the end of slewing process)
            static constexpr auto v2 = T::hardware_moving_state_t::HW_MOVE_ADJUSTING;

            // hardware was asked for tracking (track target celestial point)
            static constexpr auto v3 = T::hardware_moving_state_t::HW_MOVE_TRACKING;

            // hardware was asked for guiding
            // (small corrections to align actual mount position with target celestial point)
            static constexpr auto v4 = T::hardware_moving_state_t::HW_MOVE_GUIDING;

            // to detect possible hardware error
            static constexpr auto v5 = T::hardware_moving_state_t::HW_MOVE_ERROR;
        }();
    };



    // a class that contains at least time point of measurement, coordinates for x,y axes,
    // its moving rates and moving type
    requires mcc_celestial_point_c<typename T::hardware_state_t> && requires(typename T::hardware_state_t state) {
        // requires mcc_time_point_c<decltype(state.time_point)>;  // time point

        // requires mcc_angle_c<decltype(state.X)>;  // target or current co-longitude coordinate
        // requires mcc_angle_c<decltype(state.Y)>;  // target or current co-latitude coordinate

        requires mcc_angle_c<decltype(state.speedX)>;  // moving speed along co-longitude coordinate
        requires mcc_angle_c<decltype(state.speedY)>;  // moving speed along co-latitude coordinate

        requires std::same_as<typename T::hardware_moving_state_t, decltype(state.moving_state)>;
    };

    // set hardware state:
    // i.g. set positions (angles) of mount axes with given speeds
    // NOTE: exact interpretation (or even ignoring) of the given moving speeds is subject of a hardware-class
    // implementation, e.g. it can be maximal speeds at slewing ramp
    { t.hardwareSetState(std::declval<typename T::hardware_state_t>()) } -> std::same_as<typename T::error_t>;

    // get current state
    { t.hardwareGetState(std::declval<typename T::hardware_state_t*>()) } -> std::same_as<typename T::error_t>;

    { t.hardwareStop() } -> std::same_as<typename T::error_t>;  // stop any moving
    { t.hardwareInit() } -> std::same_as<typename T::error_t>;  // initialize hardware
};



/*                          MOUNT TELEMETRY DATA CLASS CONCEPT  */

template <typename T>
concept mcc_pointing_target_coord_c = mcc_eqt_hrz_coord_c<T> && requires(T t) {
    requires mcc_angle_c<decltype(t.RA_ICRS)>;   // ICRS right ascention
    requires mcc_angle_c<decltype(t.DEC_ICRS)>;  // ICRS declination
};


static constexpr void mcc_copy_pointing_target_coord(mcc_pointing_target_coord_c auto const& from_pt,
                                                     mcc_pointing_target_coord_c auto* to_pt)
{
    if (to_pt == nullptr) {
        return;
    }

    using from_pt_t = std::remove_cvref_t<decltype(from_pt)>;
    using to_pt_t = std::remove_cvref_t<decltype(*to_pt)>;

    if constexpr (std::derived_from<to_pt_t, from_pt_t> && std::copyable<to_pt_t>) {
        *to_pt = from_pt;
        return;
    }

    to_pt->pair_kind = from_pt.pair_kind;
    to_pt->time_point =
        std::chrono::time_point_cast<typename decltype(to_pt->time_point)::duration>(from_pt.time_point);
    to_pt->X = (double)from_pt.X;
    to_pt->Y = (double)from_pt.Y;

    to_pt->RA_ICRS = (double)from_pt.RA_ICRS;
    to_pt->DEC_ICRS = (double)from_pt.DEC_ICRS;

    to_pt->RA_APP = (double)from_pt.RA_APP;
    to_pt->DEC_APP = (double)from_pt.DEC_APP;

    to_pt->HA = (double)from_pt.HA;
    to_pt->AZ = (double)from_pt.AZ;
    to_pt->ZD = (double)from_pt.ZD;
    to_pt->ALT = (double)from_pt.ALT;
}



template <typename T>
concept mcc_telemetry_data_c = mcc_eqt_hrz_coord_c<T> && std::default_initializable<T> && requires(T t) {
    // target target coordinates
    requires mcc_pointing_target_coord_c<decltype(t.target)>;

    // t.X and t.Y (from mcc_celestial_point_c) are encoder coordinates
    // t.* from mcc_eqt_hrz_coord_c are apparent mount pointing coordinates
    requires mcc_angle_c<decltype(t.speedX)>;  // speed along X from hardware encoder
    requires mcc_angle_c<decltype(t.speedY)>;  // speed along Y from hardware encoder

    // corrections to transform hardware encoder coordinates to apparent celestial ones
    requires mcc_angle_c<decltype(t.pcmX)>;  // PCM correction along X-axis
    requires mcc_angle_c<decltype(t.pcmY)>;  // PCM correction along Y-axis

    // atmospheric refraction correction for current zenithal distance
    requires mcc_angle_c<decltype(t.refCorr)>;  // for current .ZD
};


static constexpr void mcc_copy_telemetry_data(mcc_telemetry_data_c auto const& from_pt,
                                              mcc_telemetry_data_c auto* to_pt)
{
    if (to_pt == nullptr) {
        return;
    }

    using from_pt_t = std::remove_cvref_t<decltype(from_pt)>;
    using to_pt_t = std::remove_cvref_t<decltype(*to_pt)>;

    if constexpr (std::derived_from<to_pt_t, from_pt_t> && std::copyable<to_pt_t>) {
        *to_pt = from_pt;
        return;
    }

    to_pt->pair_kind = from_pt.pair_kind;
    to_pt->time_point =
        std::chrono::time_point_cast<typename decltype(to_pt->time_point)::duration>(from_pt.time_point);

    to_pt->X = (double)from_pt.X;
    to_pt->Y = (double)from_pt.Y;
    to_pt->speedX = (double)from_pt.speedX;
    to_pt->speedY = (double)from_pt.speedY;

    to_pt->RA_APP = (double)from_pt.RA_APP;
    to_pt->DEC_APP = (double)from_pt.DEC_APP;

    to_pt->HA = (double)from_pt.HA;
    to_pt->AZ = (double)from_pt.AZ;
    to_pt->ZD = (double)from_pt.ZD;
    to_pt->ALT = (double)from_pt.ALT;

    to_pt->pcmX = (double)from_pt.pcmX;
    to_pt->pcmY = (double)from_pt.pcmY;

    to_pt->refCorr = (double)from_pt.refCorr;

    mcc_copy_pointing_target_coord(from_pt.target, &to_pt->target);
}



/*                          MOUNT TELEMETRY MANAGER CLASS CONCEPT                   */

template <mcc_error_c RetT>
struct mcc_telemetry_interface_t {
    virtual ~mcc_telemetry_interface_t() = default;

    // update telemetry data right now
    // an implementation is expected to update the data within the given 'timeout' time interval
    // if not the method must return an appropriate timeout-error
    template <std::derived_from<mcc_telemetry_interface_t> SelfT>
    RetT updateTelemetryData(this SelfT&& self, traits::mcc_time_duration_c auto const& timeout)
    {
        return std::forward<SelfT>(self).updateTelemetryData(timeout);
    }

    // get current data
    // an implementation is expected to return current, possibly already expired, telemetry data
    // one should call consistently both 'updateTelemetryData' + 'telemetryData' methods
    // to ensure that the data is up-to-date
    template <std::derived_from<mcc_telemetry_interface_t> SelfT>
    RetT telemetryData(this SelfT&& self, mcc_telemetry_data_c auto* data)
    {
        return std::forward<SelfT>(self).telemetryData(data);
    }

    // waiting for updated data
    // an implementation is expected to block the current thread waiting for
    // telemetry data to be updated (internal synchronization)
    // if a timeout occured the method must return an appropriate timeout-error
    template <std::derived_from<mcc_telemetry_interface_t> SelfT>
    RetT waitForTelemetryData(this SelfT&& self,
                              mcc_telemetry_data_c auto* data,
                              traits::mcc_time_duration_c auto const& timeout)
    {
        return std::forward<SelfT>(self).waitForTelemetryData(data, timeout);
    }


    // set target coordinates
    template <std::derived_from<mcc_telemetry_interface_t> SelfT>
    RetT setPointingTarget(this SelfT&& self, mcc_celestial_point_c auto pt)
    {
        return std::forward<SelfT>(self).telemetryData(std::move(pt));
    }


    // compute difference in coordinates:
    //     dx = targetX - mountX
    //     dy = targetY - mountY
    // where X and Y is in according to 'pair_kind' input parameter
    template <std::derived_from<mcc_telemetry_interface_t> SelfT>
    RetT targetToMountDiff(this SelfT&& self, MccCoordPairKind pair_kind, mcc_angle_c auto* dx, mcc_angle_c auto* dy)
    {
        std::forward<SelfT>(self).targetToMountDiff(pair_kind, dx, dy);
    }

    // compute distance between target and actual mount celestial points
    template <std::derived_from<mcc_telemetry_interface_t> SelfT>
    RetT targetToMountDist(this SelfT&& self, mcc_angle_c auto* dist)
    {
        std::forward<SelfT>(self).targetToMountDist(dist);
    }

protected:
    mcc_telemetry_interface_t() = default;
};

template <typename T>
concept mcc_telemetry_c = std::derived_from<T, mcc_telemetry_interface_t<typename T::error_t>>;



/*                          PROHIBITED ZONE CLASS CONCEPT                           */

template <mcc_error_c RetT>
struct mcc_pzone_interface_t {
    virtual ~mcc_pzone_interface_t() = default;

    template <std::derived_from<mcc_pzone_interface_t> SelfT, typename InputT>
    RetT inPZone(this SelfT&& self, InputT coords, bool* result)
        requires(mcc_eqt_hrz_coord_c<InputT> || mcc_celestial_point_c<InputT>) &&
                requires { self.inPZone(coords, result); }
    {
        return std::forward<SelfT>(self).InPZone(std::move(coords), result);
    }


    template <std::derived_from<mcc_pzone_interface_t> SelfT, typename InputT>
    RetT timeToPZone(this SelfT&& self, InputT coords, traits::mcc_time_duration_c auto* res_time)
        requires(mcc_eqt_hrz_coord_c<InputT> || mcc_celestial_point_c<InputT>) &&
                requires { self.timeToPZone(coords, res_time); }
    {
        return std::forward<SelfT>(self).timeToPZone(std::move(coords), res_time);
    }

    template <std::derived_from<mcc_pzone_interface_t> SelfT, typename InputT>
    RetT timeFromPZone(this SelfT&& self, InputT coords, traits::mcc_time_duration_c auto* res_time)
        requires(mcc_eqt_hrz_coord_c<InputT> || mcc_celestial_point_c<InputT>) &&
                requires { self.timeFromPZone(coords, res_time); }
    {
        return std::forward<SelfT>(self).timeFromPZone(std::move(coords), res_time);
    }

    //
    // NOTE: the method must return:
    //     point = mcc_celestial_point_c{.pair_kind = MccCoordPairKind::COORDS_KIND_GENERIC, .X = NaN, .Y = NaN}
    //             if there is no intersection with the zone for given coordinates!
    template <std::derived_from<mcc_pzone_interface_t> SelfT, typename InputT, typename ResultT>
    RetT intersectPZone(this SelfT&& self, InputT coords, ResultT* point)
        requires((mcc_eqt_hrz_coord_c<InputT> || mcc_celestial_point_c<InputT>) &&
                 (mcc_eqt_hrz_coord_c<ResultT> || mcc_celestial_point_c<ResultT>)) &&
                requires { self.intersectPZone(coords, point); }
    {
        return std::forward<SelfT>(self).intersectPZone(std::move(coords), point);
    }
    // template <std::derived_from<mcc_pzone_interface_t> SelfT, typename InputT>
    // RetT intersectPZone(this SelfT&& self, InputT coords, mcc_celestial_point_c auto* point)
    //     requires(mcc_eqt_hrz_coord_c<InputT> || mcc_celestial_point_c<InputT>) &&
    //             requires { self.intersectPZone(coords, point); }
    // {
    //     return std::forward<SelfT>(self).intersectPZone(std::move(coords), point);
    // }

protected:
    mcc_pzone_interface_t() = default;
};


template <typename T>
concept mcc_prohibited_zone_c =
    std::derived_from<T, mcc_pzone_interface_t<typename T::error_t>> && requires(const T t_const) {
        { t_const.name() } -> std::formattable<char>;

        // the 'T' class must contain static constexpr member of 'MccMountType' type
        requires std::same_as<decltype(T::pzPolicy), const MccProhibitedZonePolicy>;
        []() {
            static constexpr MccProhibitedZonePolicy val = T::pzPolicy;
            return val;
        }();  // to ensure 'pzPolicy' can be used in compile-time context
    };


/*                          PROHIBITED ZONES CONTAINER CLASS CONCEPT                           */


template <mcc_error_c RetT>
struct mcc_pzone_container_interface_t {
    virtual ~mcc_pzone_container_interface_t() = default;


    template <std::derived_from<mcc_pzone_container_interface_t> SelfT>
    size_t addPZone(this SelfT&& self, mcc_prohibited_zone_c auto zone)
    {
        return std::forward<SelfT>(self).addPZone(std::move(zone));
    }


    template <std::derived_from<mcc_pzone_container_interface_t> SelfT>
    void clearPZones(this SelfT&& self)
    {
        return std::forward<SelfT>(self).clearPZones();
    }


    template <std::derived_from<mcc_pzone_container_interface_t> SelfT>
    size_t sizePZones(this SelfT&& self)
    {
        return std::forward<SelfT>(self).sizePZones();
    }


    template <std::derived_from<mcc_pzone_container_interface_t> SelfT, typename InputT>
    RetT inPZone(this SelfT&& self, InputT coords, bool* common_result, std::ranges::output_range<bool> auto* result)
        requires(mcc_eqt_hrz_coord_c<InputT> || mcc_celestial_point_c<InputT>)
    {
        return std::forward<SelfT>(self).InPZone(std::move(coords), common_result, result);
    }


    template <std::derived_from<mcc_pzone_container_interface_t> SelfT, typename InputT, traits::mcc_time_duration_c DT>
    RetT timeToPZone(this SelfT&& self, InputT coords, std::ranges::output_range<DT> auto* res_time)
        requires(mcc_eqt_hrz_coord_c<InputT> || mcc_celestial_point_c<InputT>)
    {
        return std::forward<SelfT>(self).timeToPZone(std::move(coords), res_time);
    }

    template <std::derived_from<mcc_pzone_container_interface_t> SelfT, typename InputT, traits::mcc_time_duration_c DT>
    RetT timeFromPZone(this SelfT&& self, InputT coords, std::ranges::output_range<DT> auto* res_time)
        requires(mcc_eqt_hrz_coord_c<InputT> || mcc_celestial_point_c<InputT>)
    {
        return std::forward<SelfT>(self).timeFromPZone(std::move(coords), res_time);
    }


    // template <std::derived_from<mcc_pzone_container_interface_t> SelfT, typename InputT, mcc_celestial_point_c CPT>
    // RetT intersectPZone(this SelfT&& self, InputT coords, std::ranges::output_range<CPT> auto* result)
    //     requires(mcc_eqt_hrz_coord_c<InputT> || mcc_celestial_point_c<InputT>)
    // {
    //     return std::forward<SelfT>(self).intersectPZone(std::move(coords), result);
    // }

    template <std::derived_from<mcc_pzone_container_interface_t> SelfT, typename InputT, typename ResultT>
    RetT intersectPZone(this SelfT&& self, InputT coords, std::ranges::output_range<ResultT> auto* result)
        requires((mcc_eqt_hrz_coord_c<InputT> || mcc_celestial_point_c<InputT>) &&
                 (mcc_eqt_hrz_coord_c<ResultT> || mcc_celestial_point_c<ResultT>))
    {
        return std::forward<SelfT>(self).intersectPZone(std::move(coords), result);
    }

protected:
    mcc_pzone_container_interface_t() = default;
};


template <typename T>
concept mcc_pzone_container_c = std::derived_from<T, mcc_pzone_container_interface_t<typename T::error_t>>;


/*                          MOUNT MOVING MODEL CONCEPT                  */

template <typename T>
concept mcc_slewing_model_c = requires(T t) {
    requires mcc_error_c<typename T::error_t>;

    // a class of slewing process parameters
    requires requires(typename T::slewing_params_t pars) {
        // slew mount to target and stop
        requires std::convertible_to<decltype(pars.slewAndStop), bool>;
    };

    { t.slewToTarget() } -> std::same_as<typename T::error_t>;
    { t.stopSlewing() } -> std::same_as<typename T::error_t>;

    { t.setSlewingParams(std::declval<typename T::slewing_params_t>()) } -> std::same_as<typename T::error_t>;
    { t.getSlewingParams() } -> std::same_as<typename T::slewing_params_t>;
};


template <typename T>
concept mcc_tracking_model_c = requires(T t) {
    requires mcc_error_c<typename T::error_t>;

    // a class of tracking process parameters
    requires requires(typename T::tracking_params_t pars) {
        requires mcc_angle_c<decltype(pars.trackSpeedX)>;
        requires mcc_angle_c<decltype(pars.trackSpeedY)>;
    };

    { t.trackTarget() } -> std::same_as<typename T::error_t>;
    { t.stopTracking() } -> std::same_as<typename T::error_t>;

    { t.setTrackingParams(std::declval<typename T::tracking_params_t>()) } -> std::same_as<typename T::error_t>;
    { t.getTrackingParams() } -> std::same_as<typename T::tracking_params_t>;
};

// template <typename T>
// concept mcc_guiding_model_c = requires(T t) {
//     requires mcc_error_c<typename T::error_t>;

//     // a class of guiding process parameters
//     requires requires(typename T::guiding_params_t pars) {
//         // guide along both mount axis
//         requires std::convertible_to<decltype(pars.dualAxisGuiding), bool>;
//     };

//     { t.startGuidingTarget() } -> std::same_as<typename T::error_t>;
//     { t.stopGuidingTarget() } -> std::same_as<typename T::error_t>;

//     { t.setGuidingParams(std::declval<typename T::guiding_params_t>()) } -> std::same_as<typename T::error_t>;
//     { t.getGuidingParams() } -> std::same_as<typename T::guiding_params_t>;
// };


/*                          GENERIC MOUNT CLASS CONCEPT                         */


// a concept of class that consist of the full set of coordinate transformation mount control components
// (celestial coordinate transformation engine, mount hardware encoders readings and pointing correction model)
// the set of methods of this class is enough to transform coordinates from ICRS to hardware and back
template <typename T>
concept mcc_position_controls_c = mcc_ccte_c<T> && mcc_hardware_c<T> && mcc_PCM_c<T>;

// a class containing full set of mount controls
template <typename T>
concept mcc_all_controls_c = mcc_position_controls_c<T> && mcc_telemetry_c<T> && mcc_pzone_container_c<T>;


// generic mount:
//     1) telemetry-related methods
//     2) prohibited zones related methods
//     3) slewing and tracking, stop and init mount methods
template <typename T>
concept mcc_generic_mount_c = mcc_telemetry_c<T> && mcc_pzone_container_c<T> && requires(T t) {
    // requires mcc_error_c<typename T::error_t>;

    // slew mount to target (target coordinates were defined in telemetry data)
    { t.slewToTarget() };
    // { t.slewToTarget() } -> std::same_as<typename T::error_t>;

    // track target, i.e., the mount moves with celestial speed
    { t.trackTarget() };
    // { t.trackTarget() } -> std::same_as<typename T::error_t>;


    // { t.startGuidingTarget() } -> std::same_as<typename T::error_t>;
    // { t.stopGuidingTarget() } -> std::same_as<typename T::error_t>;

    // stop any movement
    { t.stopMount() };
    // { t.stopMount() } -> std::same_as<typename T::error_t>;

    // init mount
    { t.initMount() };
};


// with logging methods
template <typename T>
concept mcc_generic_log_mount_c = mcc_generic_mount_c<T> && mcc_logger_c<T>;


// Finite-state-machine
template <typename T>
concept mcc_generic_fsm_mount_c = mcc_generic_mount_c<T> && std::derived_from<T, fsm::MccFiniteStateMachine>;

template <typename T>
concept mcc_generic_fsm_log_mount_c =
    mcc_generic_mount_c<T> && mcc_logger_c<T> && std::derived_from<T, fsm::MccFiniteStateMachine>;


}  // namespace mcc