376 lines
13 KiB
C++
376 lines
13 KiB
C++
#pragma once
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/* MOUNT CONTROL COMPONENTS LIBRARY */
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/* A VERY SIMPLE SLEW MODEL GENERIC IMPLEMENTATION */
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#include "mcc_mount_concepts.h"
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#include "mcc_mount_telemetry.h"
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#include "mcc_slew_guiding_model_common.h"
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namespace mcc
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{
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enum class MccSimpleSlewModelErrorCode : int {
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ERROR_OK,
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ERROR_UNSUPPORTED_COORD_PAIR,
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ERROR_IN_PROHIBITED_ZONE,
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ERROR_ASTROM_COMP,
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ERROR_TELEMETRY_DATA,
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ERROR_PEC_COMP,
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ERROR_HARDWARE_SETPOS,
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ERROR_HARDWARE_GETPOS,
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ERROR_SLEW_TIMEOUT
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};
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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::MccSimpleSlewModelErrorCode> : 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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/* error category definition */
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// error category
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struct MccSimpleSlewModelCategory : public std::error_category {
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MccSimpleSlewModelCategory() : std::error_category() {}
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const char* name() const noexcept
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{
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return "ADC_GENERIC_DEVICE";
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}
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std::string message(int ec) const
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{
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MccSimpleSlewModelErrorCode err = static_cast<MccSimpleSlewModelErrorCode>(ec);
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switch (err) {
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case MccSimpleSlewModelErrorCode::ERROR_OK:
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return "OK";
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case MccSimpleSlewModelErrorCode::ERROR_UNSUPPORTED_COORD_PAIR:
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return "slew model: unsupported coordinate pair";
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case MccSimpleSlewModelErrorCode::ERROR_IN_PROHIBITED_ZONE:
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return "slew model: position is in prohibited zone";
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case MccSimpleSlewModelErrorCode::ERROR_ASTROM_COMP:
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return "slew model: cannot perform astrometrical computations";
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case MccSimpleSlewModelErrorCode::ERROR_TELEMETRY_DATA:
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return "slew model: cannot get telemetry data";
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case MccSimpleSlewModelErrorCode::ERROR_PEC_COMP:
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return "slew model: cannot compute PEC corrections";
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case MccSimpleSlewModelErrorCode::ERROR_HARDWARE_SETPOS:
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return "slew model: cannot set position";
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case MccSimpleSlewModelErrorCode::ERROR_HARDWARE_GETPOS:
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return "slew model: cannot get position";
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default:
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return "UNKNOWN";
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}
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}
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static const MccSimpleSlewModelCategory& get()
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{
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static const MccSimpleSlewModelCategory constInst;
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return constInst;
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}
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};
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inline std::error_code make_error_code(MccSimpleSlewModelErrorCode ec)
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{
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return std::error_code(static_cast<int>(ec), MccSimpleSlewModelCategory::get());
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}
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/*
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* It is very simple slew model!
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* There are no any complex routes (bypass of prohibited),
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* just a strait path from current point to target
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*
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*/
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template <traits::mcc_logger_c LoggerT = MccNullLogger>
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class MccSimpleSlewModel : public LoggerT
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{
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public:
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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::logMessage;
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using LoggerT::logWarn;
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typedef std::error_code error_t;
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static constexpr size_t defaultAdjustSuccessCycles = 5;
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struct slew_point_t : MccCelestialPoint {
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// target-mount coordinate difference to start adjusting of slewing (in radians)
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coord_t adjustCoordDiff{(double)MccAngle{10.0_degs}};
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// coordinates difference to stop slewing (in radians)
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coord_t slewToleranceRadius{(double)MccAngle{5.0_arcsecs}};
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// coordinates polling interval in seconds
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std::chrono::duration<double> coordPollingInterval{0.1};
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bool stopAfterSlew{false};
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std::chrono::seconds slewTimeout{3600};
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coord_t slewXRate{0.0}; // maximal slewing rate (0 means move with maximal allowed rate)
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coord_t slewYRate{0.0}; // maximal slewing rate (0 means move with maximal allowed rate)
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coord_t adjustXRate{
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(double)MccAngle{5.0_arcmins}}; // maximal adjusting rate (a rate at the final slewing stage)
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coord_t adjustYRate{
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(double)MccAngle{5.0_arcmins}}; // maximal adjusting rate (a rate at the final slewing stage)
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// number of consecutive measurements within slewPrecision radius to stop adjusting of slewing
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size_t withinToleranceCycleNumber{10};
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// maximal allowed number of adjusting cycles
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size_t maxAdjustingCycleNumber{100};
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};
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template <traits::mcc_mount_controls_c MOUNT_CONTROLS_T, typename... LoggerCtorArgTs>
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MccSimpleSlewModel(MOUNT_CONTROLS_T& mount_controls, LoggerCtorArgTs&&... ctor_args)
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requires(!std::same_as<LoggerT, MccNullLogger>)
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: LoggerT(std::forward<LoggerCtorArgTs>(ctor_args)...)
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{
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logDebug(std::format("Create 'MccSimpleSlewModel' class instance ({})", (void*)this));
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init(mount_controls);
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}
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template <traits::mcc_mount_controls_c MOUNT_CONTROLS_T>
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MccSimpleSlewModel(MOUNT_CONTROLS_T& mount_controls)
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requires(std::same_as<LoggerT, MccNullLogger>)
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{
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init(mount_controls);
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}
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virtual ~MccSimpleSlewModel()
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{
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logDebug(std::format("Delete 'MccSimpleSlewModel' class instance ({})", (void*)this));
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}
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error_t slew(slew_point_t pars)
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{
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error_t res_err = _slewFunc(std::move(pars));
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return res_err;
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}
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protected:
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std::function<error_t(const slew_point_t&)> _slewFunc{};
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void init(auto& mount_controls)
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{
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// deduce controls types
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using astrom_engine_t = decltype(mount_controls.astrometryEngine);
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using hardware_t = decltype(mount_controls.hardware);
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using pec_t = decltype(mount_controls.PEC);
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using telemetry_t = decltype(mount_controls.telemetry);
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static_assert(std::derived_from<telemetry_t, MccMountTelemetry<astrom_engine_t, pec_t, hardware_t,
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typename telemetry_t::mount_telemetry_data_t>>,
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"TELEMETRY CLASS MUST BE A DESCENDANT OF 'MccMountTelemetry' ONE!");
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using tpl_pz_t = decltype(mount_controls.prohibitedZones);
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static constexpr size_t Nzones = std::tuple_size_v<tpl_pz_t>;
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const auto p_mount_controls = &mount_controls;
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_slewFunc = [p_mount_controls, this](slew_point_t slew_point) {
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auto& astrom_engine = p_mount_controls->astrometryEngine;
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auto& hardware = p_mount_controls->hardware;
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auto& pec = p_mount_controls->PEC;
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auto& telemetry = p_mount_controls->telemetry;
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using coord_t = typename astrom_engine_t::coord_t;
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using jd_t = typename astrom_engine_t::juldate_t;
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typename hardware_t::axes_pos_t ax_pos;
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error_t res_err;
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typename astrom_engine_t::error_t ast_err;
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typename pec_t::error_t pec_err;
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typename telemetry_t::error_t t_err;
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typename telemetry_t::mount_telemetry_data_t t_data;
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coord_t ra_icrs, dec_icrs;
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if (slew_point.adjustSuccessCycles == 0) {
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slew_point.adjustSuccessCycles = 5;
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}
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// first, compute encoder coordinates
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ax_pos.time_point = astrom_engine_t::timePointNow();
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t_err = telemetry.toHardware(slew_point, ax_pos.time_point, ax_pos.x, ax_pos.y);
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if (!t_err) {
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// SETUP TARGET SKY POINT
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t_err = telemetry.setTarget(slew_point);
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}
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if (t_err) {
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if constexpr (std::same_as<decltype(t_err), error_t>) {
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logError(std::format("An telemetry error occured: code = {} ({})", t_err.value(), t_err.message()));
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return t_err;
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} else {
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if constexpr (traits::mcc_formattable<decltype(t_err)>) {
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logError(std::format("An telemetry error occured: code = {}", t_err));
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}
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return MccSimpleSlewModelErrorCode::ERROR_TELEMETRY_DATA;
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}
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}
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// start moving the mount (it is assumed this is asynchronous operation!!!)
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ax_pos.xrate = slew_point.slewXRate;
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ax_pos.yrate = slew_point.slewYRate;
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typename hardware_t::error_t hw_err = hardware->setPos(ax_pos);
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if (hw_err) {
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if constexpr (std::same_as<decltype(hw_err), error_t>) {
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logError(
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std::format("An hardware error occured: code = {} ({})", hw_err.value(), hw_err.message()));
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return hw_err;
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} else {
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if constexpr (traits::mcc_formattable<decltype(hw_err)>) {
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logError(std::format("An hardware error occured: code = {}", hw_err));
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}
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return MccSimpleSlewModelErrorCode::ERROR_HARDWARE_SETPOS;
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}
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}
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typename hardware_t::axes_pos_t::time_point_t prev_time_point{};
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auto adj_ax_pos = ax_pos; // to prevent possible effects in hardware 'setPos' method
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adj_ax_pos.xrate = slew_point.adjustXRate;
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adj_ax_pos.yrate = slew_point.adjustYRate;
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typename telemetry_t::mount_telemetry_data_t::coord_t xr, yr, coord_diff2,
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adj_rad2 = slew_point.adjustCoordDiff * slew_point.adjustCoordDiff,
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tol_rad2 = slew_point.slewToleranceRadius * slew_point.slewToleranceRadius;
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std::array<bool, Nzones> in_zone_flag;
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size_t i_adj_cycle = 0;
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size_t i_in_tol_cycle = 0;
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bool in_adj_mode = false;
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auto coord_diff_func = [](auto& t_data) {
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typename telemetry_t::mount_telemetry_data_t::coord_t xr, yr;
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if constexpr (mccIsEquatorialMount(pec_t::mountType)) {
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xr = t_data.tagRA - t_data.mntHA;
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yr = t_data.tagDEC - t_data.mntDEC;
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} else if constexpr (mccIsAltAzMount(pec_t::mountType)) {
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xr = t_data.tagAZ - t_data.mntAZ;
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yr = t_data.tagALT - t_data.mntALT;
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} else {
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static_assert(false, "UNSUPPORTED MOUNT TYPE!");
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}
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return xr * xr + yr * yr;
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};
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auto cycle_func = [&](auto t_data) mutable {
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// check for prohibited zones
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auto t_err = mccCheckInZonePZTuple(*telemetry, p_mount_controls->prohibitedZones, in_zone_flag);
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if (t_err) {
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if constexpr (std::same_as<decltype(t_err), error_t>) {
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logError(
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std::format("An telemetry error occured: code = {} ({})", t_err.value(), t_err.message()));
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res_err = t_err;
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} else {
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if constexpr (traits::mcc_formattable<decltype(t_err)>) {
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logError(std::format("An telemetry error occured: code = {}", t_err));
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}
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res_err = MccSimpleSlewModelErrorCode::ERROR_TELEMETRY_DATA;
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}
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return;
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}
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// t_data was updated in caller!!!
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coord_diff2 = coord_diff_func(t_data);
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if (coord_diff2 < adj_rad2) { // adjusting mode
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in_adj_mode = true;
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hw_err = hardware->setPos(adj_ax_pos);
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if (!hw_err) {
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++i_adj_cycle;
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if (coord_diff2 < tol_rad2) {
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++i_in_tol_cycle;
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if (i_in_tol_cycle == slew_point.withinToleranceCycleNumber) {
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res_err = MccSimpleSlewModelErrorCode::ERROR_OK;
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return;
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}
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}
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if (i_adj_cycle == slew_point.maxAdjustingCycleNumber) {
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// res_err = max iter namber was exceeded
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return;
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}
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} else {
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if constexpr (std::same_as<decltype(hw_err), error_t>) {
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logError(std::format("An hardware error occured: code = {} ({})", hw_err.value(),
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hw_err.message()));
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res_err = hw_err;
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} else {
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if constexpr (traits::mcc_formattable<decltype(hw_err)>) {
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logError(std::format("An hardware error occured: code = {}", hw_err));
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}
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res_err = MccSimpleSlewModelErrorCode::ERROR_HARDWARE_SETPOS;
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}
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return;
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}
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} else {
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if (in_adj_mode) { // ?!!!!!!!!!!!!!
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}
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}
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};
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auto start_poll_tm = std::chrono::steady_clock::now();
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// NOTE: TARGET COORDINATES WILL BE UPDATED FOR CURRENT TIME-POINT IN TELEMETRY-CLASS!!!
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auto iter = telemetry.addCallbackFunc(cycle_func);
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while (true) {
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if ((std::chrono::steady_clock::now() - start_poll_tm) > slew_point.slewTimeout) {
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logError("Waiting time for completion of slewing expired!");
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return MccSimpleSlewModelErrorCode::ERROR_SLEW_TIMEOUT;
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}
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}
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return MccSimpleSlewModelErrorCode::ERROR_OK;
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};
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}
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};
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// static_assert(traits::mcc_slew_model_c<>);
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} // namespace mcc
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