716 lines
30 KiB
C++
716 lines
30 KiB
C++
#pragma once
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/* MOUNT CONTROL COMPONENTS LIBRARY */
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/* SIMPLE SLEWING MODEL IMPLEMENTATION */
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#include "mcc_defaults.h"
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#include "mcc_generics.h"
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#include "mcc_moving_model_common.h"
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namespace mcc
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{
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enum class MccSimpleSlewingModelErrorCode : int {
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ERROR_OK,
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ERROR_HW_GETSTATE,
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ERROR_HW_SETSTATE,
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ERROR_PCM_COMP,
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ERROR_GET_TELEMETRY,
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ERROR_DIST_TELEMETRY,
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ERROR_PZONE_CONTAINER_COMP,
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ERROR_TARGET_IN_PZONE,
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ERROR_NEAR_PZONE,
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ERROR_TIMEOUT,
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ERROR_ALREADY_SLEW,
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ERROR_ALREADY_STOPPED,
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ERROR_STOPPED
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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::MccSimpleSlewingModelErrorCode> : 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
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struct MccSimpleSlewingModelCategory : public std::error_category {
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MccSimpleSlewingModelCategory() : std::error_category() {}
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const char* name() const noexcept
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{
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return "SIMPLE-SLEWING-MODEL";
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}
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std::string message(int ec) const
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{
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MccSimpleSlewingModelErrorCode err = static_cast<MccSimpleSlewingModelErrorCode>(ec);
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switch (err) {
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case MccSimpleSlewingModelErrorCode::ERROR_OK:
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return "OK";
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case MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE:
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return "cannot get hardware state";
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case MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE:
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return "cannot set hardware state";
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case MccSimpleSlewingModelErrorCode::ERROR_PCM_COMP:
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return "PCM computation error";
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case MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY:
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return "cannot get telemetry";
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case MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY:
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return "cannot get target-to-mount-position distance";
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case MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP:
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return "pzone container computation error";
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case MccSimpleSlewingModelErrorCode::ERROR_TARGET_IN_PZONE:
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return "target is in prohibited zone";
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case MccSimpleSlewingModelErrorCode::ERROR_NEAR_PZONE:
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return "near prohibited zone";
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case MccSimpleSlewingModelErrorCode::ERROR_TIMEOUT:
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return "a timeout occured while slewing";
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case MccSimpleSlewingModelErrorCode::ERROR_ALREADY_SLEW:
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return "already slewing";
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case MccSimpleSlewingModelErrorCode::ERROR_ALREADY_STOPPED:
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return "slewing is already stopped";
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case MccSimpleSlewingModelErrorCode::ERROR_STOPPED:
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return "slewing was stopped";
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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 MccSimpleSlewingModelCategory& get()
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{
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static const MccSimpleSlewingModelCategory 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(MccSimpleSlewingModelErrorCode ec)
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{
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return std::error_code(static_cast<int>(ec), MccSimpleSlewingModelCategory::get());
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}
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/*
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The target celestial point must be set in telemetry->target
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*/
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class MccSimpleSlewingModel
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{
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static constexpr auto DEG90INRADS = std::numbers::pi / 2.0;
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public:
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typedef std::error_code error_t;
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typedef MccSimpleMovingModelParams slewing_params_t;
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template <mcc_all_controls_c CONTROLS_T, mcc_logger_c LoggerT = MccNullLogger>
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MccSimpleSlewingModel(CONTROLS_T* controls, LoggerT logger)
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: _stopSlewing(new std::atomic_bool()),
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_currentParamsMutex(new std::mutex),
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_lastError(MccSimpleSlewingModelErrorCode::ERROR_OK)
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{
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std::ostringstream os;
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os << std::this_thread::get_id();
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logger.logDebug(std::format("Create MccSimpleSlewingModel class instance (thread: {})", os.str()));
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*_stopSlewing = true;
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_checkTargetFunc = [controls, logger, this]() mutable -> error_t {
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typename CONTROLS_T::error_t t_err;
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MccTelemetryData tdata;
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bool in_zone;
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std::vector<bool> in_zone_vec;
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t_err = controls->telemetryData(&tdata);
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if (t_err) {
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return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
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}
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auto pz_err = controls->inPZone(tdata.target, &in_zone, &in_zone_vec);
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if (pz_err) {
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return mcc_deduce_error_code(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
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}
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if (in_zone) {
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size_t i = 0;
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for (; i < in_zone_vec.size(); ++i) {
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if (in_zone_vec[i]) {
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break;
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}
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}
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logger.logError("target point is in prohibited zone (zone index: {})! Entered target coordinates:", i);
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logger.logError(std::format(" RA-APP, DEC-APP, HA, LST: {}, {}, {}, {}",
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mcc::MccAngle{tdata.target.RA_APP}.sexagesimal(true),
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mcc::MccAngle{tdata.target.DEC_APP}.sexagesimal(),
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mcc::MccAngle{tdata.target.HA}.sexagesimal(true),
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mcc::MccAngle{tdata.LST}.sexagesimal(true)));
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logger.logError(std::format(" AZ, ZD, ALT: {}, {}, {}", mcc::MccAngle{tdata.target.AZ}.sexagesimal(),
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mcc::MccAngle{tdata.target.ZD}.sexagesimal(),
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mcc::MccAngle{tdata.target.ALT}.sexagesimal()));
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logger.logError(std::format(" hardware X, Y: {}, {}", mcc::MccAngle{tdata.target.X}.sexagesimal(),
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mcc::MccAngle{tdata.target.Y}.sexagesimal()));
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return MccSimpleSlewingModelErrorCode::ERROR_TARGET_IN_PZONE;
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}
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return MccSimpleSlewingModelErrorCode::ERROR_OK;
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};
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_slewingFunc = [controls, logger = std::move(logger), this](bool slew_and_stop) mutable -> error_t {
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// reset error
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_lastError = MccSimpleSlewingModelErrorCode::ERROR_OK;
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double braking_accelX, braking_accelY;
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double min_time_to_pzone_in_secs;
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{
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// std::lock_guard lock{*_currentParamsMutex};
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if (mcc::utils::isEqual(_currentParams.brakingAccelX, 0.0)) {
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braking_accelX = std::numeric_limits<double>::min();
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} else {
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braking_accelX = std::abs(_currentParams.brakingAccelX);
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}
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if (mcc::utils::isEqual(_currentParams.brakingAccelY, 0.0)) {
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braking_accelY = std::numeric_limits<double>::min();
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} else {
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braking_accelY = std::abs(_currentParams.brakingAccelY);
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}
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min_time_to_pzone_in_secs =
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std::chrono::duration_cast<std::chrono::duration<double>>(_currentParams.minTimeToPZone).count();
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}
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logger.logInfo(
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std::format("Start slewing in mode '{}'", (slew_and_stop ? "SLEW-AND-STOP" : "SLEW-AND-TRACK")));
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logger.logInfo(std::format(" slewing process timeout: {} secs", _currentParams.slewTimeout.count()));
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if (!slew_and_stop) {
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logger.logInfo(std::format(" slewing tolerance radius: {} arcsecs",
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mcc::MccAngle{_currentParams.slewToleranceRadius}.arcsecs()));
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}
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logger.logInfo(std::format(" braking acceleration X: {} degs/s^2 (in config: {} rads/s^2)",
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mcc::MccAngle(braking_accelX).degrees(), _currentParams.brakingAccelX));
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logger.logInfo(std::format(" braking acceleration Y: {} degs/s^2 (in config: {} rads/s^2)",
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mcc::MccAngle(braking_accelY).degrees(), _currentParams.brakingAccelY));
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logger.logInfo(std::format(" min time to prohibited zone: {} seconds", min_time_to_pzone_in_secs));
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typename CONTROLS_T::error_t t_err;
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MccTelemetryData tdata;
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{
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std::lock_guard lock{*_currentParamsMutex};
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t_err = controls->telemetryData(&tdata);
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if (t_err) {
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return _lastError =
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mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
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}
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}
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auto last_hw_time = tdata.time_point;
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bool in_zone;
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std::vector<bool> in_zone_vec;
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/*
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auto pz_err = controls->inPZone(tdata.target, &in_zone, &in_zone_vec);
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if (pz_err) {
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*_stopSlewing = true;
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return _lastError =
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mcc_deduce_error_code(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
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}
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if (in_zone) {
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*_stopSlewing = true;
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size_t i = 0;
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for (; i < in_zone_vec.size(); ++i) {
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if (in_zone_vec[i]) {
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break;
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}
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}
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logger.logError("target point is in prohibited zone (zone index: {})! Entered target coordinates:", i);
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logger.logError(std::format(" RA-APP, DEC-APP, HA, LST: {}, {}, {}, {}",
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mcc::MccAngle{tdata.target.RA_APP}.sexagesimal(true),
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mcc::MccAngle{tdata.target.DEC_APP}.sexagesimal(),
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mcc::MccAngle{tdata.target.HA}.sexagesimal(true),
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mcc::MccAngle{tdata.LST}.sexagesimal(true)));
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logger.logError(std::format(" AZ, ZD, ALT: {}, {}, {}", mcc::MccAngle{tdata.target.AZ}.sexagesimal(),
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mcc::MccAngle{tdata.target.ZD}.sexagesimal(),
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mcc::MccAngle{tdata.target.ALT}.sexagesimal()));
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logger.logError(std::format(" hardware X, Y: {}, {}", mcc::MccAngle{tdata.target.X}.sexagesimal(),
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mcc::MccAngle{tdata.target.Y}.sexagesimal()));
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return MccSimpleSlewingModelErrorCode::ERROR_TARGET_IN_PZONE;
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}
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if (*_stopSlewing) {
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return _lastError = MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
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}
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*/
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MccCelestialPoint cpt;
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if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
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cpt.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
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} else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
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cpt.pair_kind = MccCoordPairKind::COORDS_KIND_AZZD;
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} else {
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static_assert(false, "UNKNOWN MOUNT TYPE!");
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}
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typename CONTROLS_T::hardware_state_t hw_state;
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auto hw_err = controls->hardwareGetState(&hw_state);
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if (hw_err) {
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*_stopSlewing = true;
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return _lastError = mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
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}
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hw_state.X = (double)tdata.target.X;
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hw_state.Y = (double)tdata.target.Y;
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hw_state.endptX = (double)tdata.target.X;
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hw_state.endptY = (double)tdata.target.Y;
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{
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std::lock_guard lock{*_currentParamsMutex};
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hw_state.speedX = _currentParams.slewRateX;
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hw_state.speedY = _currentParams.slewRateY;
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}
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hw_state.moving_state = CONTROLS_T::hardware_moving_state_t::HW_MOVE_SLEWING;
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if (*_stopSlewing) {
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logger.logDebug("slewing was stopped!");
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return _lastError = MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
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}
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// start slewing
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logger.logDebug(std::format("Send to hardware: X = {} degs, Y = {} degs",
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mcc::MccAngle{hw_state.X}.degrees(), mcc::MccAngle{hw_state.Y}.degrees()));
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if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
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logger.logDebug(std::format(" entered target: HA = {}, DEC = {}",
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mcc::MccAngle{tdata.target.HA}.sexagesimal(true),
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mcc::MccAngle{tdata.target.DEC_APP}.sexagesimal()));
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logger.logDebug(std::format(" current mount: HA = {}, DEC = {}",
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mcc::MccAngle{tdata.HA}.sexagesimal(true),
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mcc::MccAngle{tdata.DEC_APP}.sexagesimal()));
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} else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
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logger.logDebug(std::format(" entered target: AZ = {}, ZD = {}",
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mcc::MccAngle{tdata.target.AZ}.sexagesimal(),
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mcc::MccAngle{tdata.target.ZD}.sexagesimal()));
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logger.logDebug(std::format(" current mount: AZ = {}, ZD = {}",
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mcc::MccAngle{tdata.AZ}.sexagesimal(),
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mcc::MccAngle{tdata.ZD}.sexagesimal()));
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}
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hw_err = controls->hardwareSetState(hw_state);
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if (hw_err) {
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*_stopSlewing = true;
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return _lastError = mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
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}
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logger.logDebug(" the 'hardwareSetState' method performed successfully!");
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double dist, dx, dy;
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// bool adjust_mode = false;
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// static constexpr auto sideral_rate2 = slewing_params_t::sideralRate * slewing_params_t::sideralRate;
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std::chrono::steady_clock::time_point start_slewing_tp, last_adjust_tp;
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start_slewing_tp = std::chrono::steady_clock::now();
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last_adjust_tp = start_slewing_tp;
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std::pair<double, double> distXY;
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bool tag_var_coord = true;
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if (tdata.target.pair_kind == MccCoordPairKind::COORDS_KIND_AZALT ||
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tdata.target.pair_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
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tag_var_coord = false;
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}
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// main loop (simply monitors the current position taking into account the prohibited zones, as well as the
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// timeout of the entire process)
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while (!*_stopSlewing) {
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// wait for updated telemetry data
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{
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std::lock_guard lock{*_currentParamsMutex};
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t_err = controls->waitForTelemetryData(&tdata, _currentParams.telemetryTimeout);
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if (t_err) {
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_lastError = mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
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break;
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// *_stopSlewing = true;
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// return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
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}
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}
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if (*_stopSlewing) {
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_lastError = MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
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break;
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// return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
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}
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distXY = mcc_compute_distance(tdata, min_time_to_pzone_in_secs, braking_accelX, braking_accelY);
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logger.logTrace(
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std::format(" the distance that will be covered in the next {} seconds: X-axis: {}, Y-axis: {}",
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min_time_to_pzone_in_secs, mcc::MccAngleFancyString(distXY.first),
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mcc::MccAngleFancyString(distXY.second)));
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// calculate coordinates at current speed '_currentParams.minTimeToPZone' seconds ahead
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// and check them for getting into the prohibited zones
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if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
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cpt.X = tdata.HA + distXY.first;
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cpt.Y = tdata.DEC_APP + distXY.second;
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// cpt.X = tdata.HA + tdata.speedX * min_time_to_pzone_in_secs;
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// cpt.Y = tdata.DEC_APP + tdata.speedY * min_time_to_pzone_in_secs;
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if (cpt.Y > DEG90INRADS) {
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cpt.Y = DEG90INRADS;
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}
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if (cpt.Y < -DEG90INRADS) {
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cpt.Y = -DEG90INRADS;
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}
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logger.logTrace(std::format(" current target: HA = {}, DEC = {}",
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mcc::MccAngle(tdata.target.HA).sexagesimal(true),
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mcc::MccAngle(tdata.target.DEC_APP).sexagesimal()));
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logger.logTrace(std::format(" current mount: HA = {}, DEC = {}",
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mcc::MccAngle(tdata.HA).sexagesimal(true),
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mcc::MccAngle(tdata.DEC_APP).sexagesimal()));
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} else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
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cpt.X = tdata.AZ + distXY.first;
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cpt.Y = tdata.ZD + distXY.second;
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// cpt.X = tdata.AZ + tdata.speedX * min_time_to_pzone_in_secs;
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// cpt.Y = tdata.ZD + tdata.speedY * min_time_to_pzone_in_secs;
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if (cpt.Y < 0.0) {
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cpt.Y = 0.0;
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}
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if (cpt.Y > std::numbers::pi) {
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cpt.Y = std::numbers::pi;
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}
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logger.logTrace(std::format(" target: AZ = {}, ZD = {}",
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mcc::MccAngle(tdata.target.AZ).sexagesimal(),
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mcc::MccAngle(tdata.target.ZD).sexagesimal()));
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logger.logTrace(std::format(" mount: AZ = {}, ZD = {}", mcc::MccAngle(tdata.AZ).sexagesimal(),
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mcc::MccAngle(tdata.ZD).sexagesimal()));
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}
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mcc_tp2tp(tdata.time_point, cpt.time_point);
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logger.logTrace(std::format(" mount: speedX = {}/s, speedY = {}/s",
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mcc::MccAngleFancyString(tdata.speedX),
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mcc::MccAngleFancyString(tdata.speedY)));
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in_zone_vec.clear();
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auto pz_err = controls->inPZone(cpt, &in_zone, &in_zone_vec);
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if (pz_err) {
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_lastError =
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mcc_deduce_error_code(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
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break;
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// *_stopSlewing = true;
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// return mcc_deduce_error_code(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
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}
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|
|
|
if (in_zone) {
|
|
size_t i = 0;
|
|
for (; i < in_zone_vec.size(); ++i) {
|
|
if (in_zone_vec[i]) {
|
|
break;
|
|
}
|
|
}
|
|
|
|
logger.logError(
|
|
"target point is near prohibited zone (zone index: {})! Entered target coordinates:", i);
|
|
logger.logError(std::format(
|
|
" RA-APP, DEC-APP, HA, LST: {}, {}, {}, {}", mcc::MccAngle{tdata.RA_APP}.sexagesimal(true),
|
|
mcc::MccAngle{tdata.DEC_APP}.sexagesimal(), mcc::MccAngle{tdata.HA}.sexagesimal(true),
|
|
mcc::MccAngle{tdata.LST}.sexagesimal(true)));
|
|
logger.logError(std::format(" AZ, ZD, ALT: {}, {}, {}", mcc::MccAngle{tdata.AZ}.sexagesimal(),
|
|
mcc::MccAngle{tdata.ZD}.sexagesimal(),
|
|
mcc::MccAngle{tdata.ALT}.sexagesimal()));
|
|
|
|
logger.logError(std::format(" hardware X, Y: {}, {}", mcc::MccAngle{tdata.X}.sexagesimal(),
|
|
mcc::MccAngle{tdata.Y}.sexagesimal()));
|
|
|
|
_lastError = MccSimpleSlewingModelErrorCode::ERROR_NEAR_PZONE;
|
|
break;
|
|
// *_stopSlewing = true;
|
|
// return MccSimpleSlewingModelErrorCode::ERROR_NEAR_PZONE;
|
|
}
|
|
|
|
|
|
|
|
{
|
|
std::lock_guard lock{*_currentParamsMutex};
|
|
|
|
if ((std::chrono::steady_clock::now() - start_slewing_tp) > _currentParams.slewTimeout) {
|
|
logger.logError("slewing process timeout!");
|
|
_lastError = MccSimpleSlewingModelErrorCode::ERROR_TIMEOUT;
|
|
break;
|
|
// return MccSimpleSlewingModelErrorCode::ERROR_TIMEOUT;
|
|
}
|
|
}
|
|
|
|
logger.logTrace(std::format("get hw state ..."));
|
|
|
|
hw_err = controls->hardwareGetState(&hw_state);
|
|
if (hw_err) {
|
|
_lastError = mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
|
|
break;
|
|
// *_stopSlewing = true;
|
|
// return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
|
|
}
|
|
|
|
logger.logTrace(std::format("hw state was updated ({}, {})", MccAngle(hw_state.X).sexagesimal(true),
|
|
MccAngle(hw_state.Y).sexagesimal()));
|
|
|
|
if (slew_and_stop && !tag_var_coord) { // just wait for mount to be stopped
|
|
if (hw_state.moving_state == CONTROLS_T::hardware_moving_state_t::HW_MOVE_STOPPED) {
|
|
logger.logInfo("mount moving state is STOPPED - exit!");
|
|
break;
|
|
}
|
|
} else {
|
|
if (last_hw_time == tdata.time_point) {
|
|
logger.logTrace("Same hardware timepoint! Just continue to polling!\n\n\n\n");
|
|
continue;
|
|
}
|
|
|
|
last_hw_time = tdata.time_point;
|
|
|
|
t_err = controls->targetToMountDist(&dist);
|
|
if (t_err) {
|
|
_lastError = mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY);
|
|
break;
|
|
// *_stopSlewing = true;
|
|
// return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY);
|
|
}
|
|
|
|
logger.logTrace(std::format(" target-to-mount distance: {}", mcc::MccAngleFancyString(dist)));
|
|
|
|
if (dist <= _currentParams.slewToleranceRadius) { // stop slewing and exit from cycle
|
|
logger.logInfo("target-to-mount distance is lesser than slew tolerance radius - exit!");
|
|
if (slew_and_stop) {
|
|
controls->hardwareStop();
|
|
}
|
|
break;
|
|
}
|
|
|
|
|
|
if (*_stopSlewing) {
|
|
_lastError = MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
|
|
break;
|
|
// return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
|
|
}
|
|
|
|
|
|
// resend new position since target coordinates are changed in time
|
|
hw_state.X = (double)tdata.target.X;
|
|
hw_state.Y = (double)tdata.target.Y;
|
|
|
|
// controls->targetToMountDiff(tdata.pair_kind, &dx, &dy);
|
|
|
|
// // hw_state.endptX = hw_state.X + std::copysign(1.0_degs, dx);
|
|
// // hw_state.endptY = hw_state.Y + std::copysign(1.0_degs, dy);
|
|
// hw_state.endptX = hw_state.X + std::copysign(10.0_degs, dx);
|
|
// hw_state.endptY = hw_state.Y + std::copysign(10.0_degs, dy);
|
|
|
|
// logger.logTrace(std::format(
|
|
// "Send to hardware: {}, {}, tag: {}, {} (X = {} degs, Y = {} degs)",
|
|
// MccAngle(hw_state.X).sexagesimal(true), MccAngle(hw_state.Y).sexagesimal(),
|
|
// MccAngle(hw_state.endptX).sexagesimal(true), MccAngle(hw_state.endptY).sexagesimal(),
|
|
// mcc::MccAngle{hw_state.X}.degrees(), mcc::MccAngle{hw_state.Y}.degrees()));
|
|
|
|
logger.logTrace(std::format("Send to hardware: {}, {}, (X = {} degs, Y = {} degs)",
|
|
MccAngle(hw_state.X).sexagesimal(true),
|
|
MccAngle(hw_state.Y).sexagesimal(), mcc::MccAngle{hw_state.X}.degrees(),
|
|
mcc::MccAngle{hw_state.Y}.degrees()));
|
|
|
|
hw_err = controls->hardwareSetState(hw_state);
|
|
if (hw_err) {
|
|
_lastError = MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE;
|
|
break;
|
|
// *_stopSlewing = true;
|
|
// return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
|
|
}
|
|
|
|
|
|
logger.logDebug(" the 'hardwareSetState' method performed successfully!");
|
|
|
|
|
|
// FOR DEBUG PURPOSE!!!!
|
|
// std::this_thread::sleep_for(std::chrono::milliseconds(50));
|
|
logger.logTrace(std::format("get hw state right after hardwareSetState ..."));
|
|
|
|
hw_err = controls->hardwareGetState(&hw_state);
|
|
if (hw_err) {
|
|
_lastError = MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE;
|
|
break;
|
|
// *_stopSlewing = true;
|
|
// return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
|
|
}
|
|
|
|
logger.logTrace(std::format("hw state was updated ({}, {})", MccAngle(hw_state.X).sexagesimal(true),
|
|
MccAngle(hw_state.Y).sexagesimal()));
|
|
}
|
|
|
|
if (*_stopSlewing) {
|
|
_lastError = MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
|
|
break;
|
|
// return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
|
|
}
|
|
|
|
// sleep here
|
|
std::this_thread::sleep_for(_currentParams.slewingTelemetryInterval);
|
|
}
|
|
|
|
*_stopSlewing = true;
|
|
|
|
logger.logInfo("Slewing finished");
|
|
|
|
// wait for updated telemetry data
|
|
{
|
|
std::lock_guard lock{*_currentParamsMutex};
|
|
|
|
t_err = controls->waitForTelemetryData(&tdata, _currentParams.telemetryTimeout);
|
|
|
|
if (t_err) {
|
|
return _lastError =
|
|
mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
|
|
}
|
|
}
|
|
|
|
if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
|
|
logger.logDebug(std::format(" entered target: HA = {}, DEC = {}",
|
|
mcc::MccAngle{tdata.target.HA}.sexagesimal(true),
|
|
mcc::MccAngle{tdata.target.DEC_APP}.sexagesimal()));
|
|
logger.logDebug(std::format(" current mount: HA = {}, DEC = {}",
|
|
mcc::MccAngle{tdata.HA}.sexagesimal(true),
|
|
mcc::MccAngle{tdata.DEC_APP}.sexagesimal()));
|
|
} else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
|
|
logger.logDebug(std::format(" entered target: AZ = {}, ZD = {}",
|
|
mcc::MccAngle{tdata.target.AZ}.sexagesimal(),
|
|
mcc::MccAngle{tdata.target.ZD}.sexagesimal()));
|
|
logger.logDebug(std::format(" current mount: AZ = {}, ZD = {}",
|
|
mcc::MccAngle{tdata.AZ}.sexagesimal(),
|
|
mcc::MccAngle{tdata.ZD}.sexagesimal()));
|
|
}
|
|
|
|
return _lastError = MccSimpleSlewingModelErrorCode::ERROR_OK;
|
|
};
|
|
}
|
|
|
|
|
|
MccSimpleSlewingModel(MccSimpleSlewingModel&&) = default;
|
|
MccSimpleSlewingModel& operator=(MccSimpleSlewingModel&&) = default;
|
|
|
|
MccSimpleSlewingModel(const MccSimpleSlewingModel&) = delete;
|
|
MccSimpleSlewingModel& operator=(const MccSimpleSlewingModel&) = delete;
|
|
|
|
|
|
virtual ~MccSimpleSlewingModel() = default;
|
|
|
|
error_t slewToTarget(bool slew_and_stop = false)
|
|
{
|
|
if (!(*_stopSlewing)) {
|
|
return MccSimpleSlewingModelErrorCode::ERROR_ALREADY_SLEW;
|
|
}
|
|
|
|
*_stopSlewing = false;
|
|
|
|
// check for target in p-zone
|
|
_lastError = _checkTargetFunc();
|
|
if (_lastError) { // return here immidiately
|
|
return _lastError;
|
|
}
|
|
|
|
// asynchronous slewing process
|
|
_slewFuncFuture = std::async(std::launch::async, _slewingFunc, slew_and_stop);
|
|
|
|
return MccSimpleSlewingModelErrorCode::ERROR_OK;
|
|
|
|
// return _slewingFunc(slew_and_stop);
|
|
}
|
|
|
|
|
|
error_t stopSlewing()
|
|
{
|
|
if (*_stopSlewing) {
|
|
return MccSimpleSlewingModelErrorCode::ERROR_ALREADY_STOPPED;
|
|
}
|
|
|
|
*_stopSlewing = true;
|
|
|
|
return MccSimpleSlewingModelErrorCode::ERROR_OK;
|
|
}
|
|
|
|
|
|
error_t setSlewingParams(slewing_params_t pars)
|
|
{
|
|
std::lock_guard lock{*_currentParamsMutex};
|
|
|
|
_currentParams = std::move(pars);
|
|
|
|
return MccSimpleSlewingModelErrorCode::ERROR_OK;
|
|
}
|
|
|
|
|
|
slewing_params_t getSlewingParams() const
|
|
{
|
|
std::lock_guard lock{*_currentParamsMutex};
|
|
|
|
return _currentParams;
|
|
}
|
|
|
|
error_t slewingLastError() const
|
|
{
|
|
return _lastError;
|
|
}
|
|
|
|
protected:
|
|
std::function<error_t(bool)> _slewingFunc{};
|
|
std::unique_ptr<std::atomic_bool> _stopSlewing;
|
|
std::function<error_t()> _checkTargetFunc{};
|
|
|
|
slewing_params_t _currentParams{};
|
|
std::unique_ptr<std::mutex> _currentParamsMutex{};
|
|
|
|
error_t _lastError;
|
|
std::future<error_t> _slewFuncFuture{};
|
|
};
|
|
|
|
|
|
} // namespace mcc
|