562 lines
18 KiB
C++
562 lines
18 KiB
C++
#pragma once
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/* MOUNT CONTROL COMPONENTS LIBRARY */
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/* IMPLEMENTATION OF TELEMETRY CLASS */
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#include <condition_variable>
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#include <future>
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#include <mutex>
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#include <thread>
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#include "mcc_defaults.h"
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namespace mcc
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{
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static constexpr double mcc_sideral_to_UT1_ratio = 1.002737909350795; // sideral/UT1
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enum MccTelemetryErrorCode : int {
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ERROR_OK,
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ERROR_NULLPTR,
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ERROR_COORD_TRANSFORM,
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ERROR_PCM_COMP,
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ERROR_HARDWARE_GETPOS,
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ERROR_UPDATE_STOPPED,
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ERROR_DATA_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::MccTelemetryErrorCode> : 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 MccTelemetryCategory : public std::error_category {
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MccTelemetryCategory() : std::error_category() {}
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const char* name() const noexcept
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{
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return "ALTITUDE-LIMIT-PZ";
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}
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std::string message(int ec) const
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{
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MccTelemetryErrorCode err = static_cast<MccTelemetryErrorCode>(ec);
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switch (err) {
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case MccTelemetryErrorCode::ERROR_OK:
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return "OK";
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case MccTelemetryErrorCode::ERROR_NULLPTR:
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return "nullptr input argument";
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case MccTelemetryErrorCode::ERROR_COORD_TRANSFORM:
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return "coordinate transformation error";
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case MccTelemetryErrorCode::ERROR_PCM_COMP:
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return "PCM computation error";
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case MccTelemetryErrorCode::ERROR_HARDWARE_GETPOS:
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return "cannot get hardware position";
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case MccTelemetryErrorCode::ERROR_UPDATE_STOPPED:
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return "telemetry update was stopped";
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case MccTelemetryErrorCode::ERROR_DATA_TIMEOUT:
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return "a timeout occured while waiting for new data";
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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 MccTelemetryCategory& get()
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{
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static const MccTelemetryCategory 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(MccTelemetryErrorCode ec)
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{
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return std::error_code(static_cast<int>(ec), MccTelemetryCategory::get());
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}
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/* TELEMETRY UPDATE POLICY */
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enum class MccTelemetryUpdatePolicy : int { TEMETRY_UPDATE_INNER, TEMETRY_UPDATE_EXTERNAL };
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template <MccTelemetryUpdatePolicy UPDATE_POLICY = MccTelemetryUpdatePolicy::TEMETRY_UPDATE_INNER>
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class MccTelemetry : public mcc_telemetry_interface_t<std::error_code>
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{
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protected:
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static constexpr uint16_t internalUpdatingIntervalDiv = 5;
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public:
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static constexpr MccTelemetryUpdatePolicy updatePolicy = UPDATE_POLICY;
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static constexpr auto defaultUpdateInterval = std::chrono::milliseconds(100);
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static constexpr auto defaultInternalUpdateTimeout = defaultUpdateInterval * 5;
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typedef std::error_code error_t;
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MccTelemetry(mcc_ccte_c auto* ccte, mcc_PCM_c auto* pcm, mcc_hardware_c auto* hardware)
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: _isDataUpdated(false),
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_data(),
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_internalUpdating(false),
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_currentUpdateInterval(defaultUpdateInterval),
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_updateMutex(new std::mutex),
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_updateCondVar(new std::condition_variable)
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{
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_data.target.pair_kind = MccCoordPairKind::COORDS_KIND_RADEC_ICRS;
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using ccte_t = std::remove_cvref_t<decltype(*ccte)>;
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using pcm_t = std::remove_cvref_t<decltype(*pcm)>;
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using hardware_t = std::remove_cvref_t<decltype(*hardware)>;
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_updateTargetFunc = [ccte, pcm, this](bool only_hw, std::stop_token stop_token) -> error_t {
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if (!only_hw) {
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//
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// compute apparent coordinates
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// ICRS coordinates of the taget must be already set
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//
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_data.target.time_point =
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std::chrono::time_point_cast<typename decltype(_data.target.time_point)::duration>(
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_data.time_point);
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_data.target.pair_kind = MccCoordPairKind::COORDS_KIND_RADEC_ICRS;
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_data.target.X = _data.target.RA_ICRS;
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_data.target.Y = _data.target.DEC_ICRS;
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// update apparent cordinates
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auto ccte_err = ccte->transformCoordinates(_data.target, &_data.target);
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if (ccte_err) {
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return mcc_deduce_error<error_t>(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
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}
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}
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if (stop_token.stop_requested()) {
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return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
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}
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// compute hardware coordinates
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// WARNING: It is assumed here that PCM corrections have small (arcseconds-arcminutes) values
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// since ususaly there is no reverse transformation for "hardware-to-apparent" relation!
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typename pcm_t::error_t pcm_err;
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struct {
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double dx, dy;
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} pcm_res;
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MccCelestialPoint pt;
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pt.time_point =
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std::chrono::time_point_cast<typename decltype(pt.time_point)::duration>(_data.target.time_point);
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if constexpr (mccIsEquatorialMount(pcm_t::mountType)) {
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pt.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
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pt.X = _data.target.HA;
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pt.Y = _data.target.DEC_APP;
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pcm_err = pcm->compute(std::move(pt), &pcm_res);
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if (!pcm_err) {
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_data.target.X = _data.target.HA - pcm_res.dx;
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_data.target.Y = _data.target.DEC_APP - pcm_res.dy;
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}
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} else if constexpr (mccIsAltAzMount(pcm_t::mountType)) {
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pt.pair_kind = MccCoordPairKind::COORDS_KIND_AZALT;
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pt.X = _data.target.AZ;
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pt.Y = _data.target.ALT;
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pcm_err = pcm->compute(std::move(pt), &pcm_res);
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if (!pcm_err) {
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_data.target.X = _data.target.AZ - pcm_res.dx;
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_data.target.Y = _data.target.ALT - pcm_res.dy;
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}
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} else {
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static_assert(false, "UNKNOWN MOUNT TYPE!");
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}
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if (pcm_err) {
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return mcc_deduce_error<error_t>(pcm_err, MccTelemetryErrorCode::ERROR_PCM_COMP);
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}
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return MccTelemetryErrorCode::ERROR_OK;
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};
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_updateFunc = [ccte, pcm, hardware, this](std::stop_token stop_token) {
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// first, update mount quantities
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typename hardware_t::axes_pos_t hw_pos;
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auto hw_err = hardware->getPos(&hw_pos);
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if (hw_err) {
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return mcc_deduce_error(hw_err, MccTelemetryErrorCode::ERROR_HARDWARE_GETPOS);
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}
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if (stop_token.stop_requested()) {
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return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
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}
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double eo;
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_data.time_point =
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std::chrono::time_point_cast<typename decltype(_data.time_point)::duration>(hw_pos.time_point);
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auto ccte_err = ccte->timepointToJulday(_data.time_point, &_data.JD);
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if (!ccte_err) {
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if (stop_token.stop_requested()) {
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return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
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}
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ccte_err = ccte->juldayToAppSideral(_data.JD, &_data.LST, true);
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if (!ccte_err) {
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if (stop_token.stop_requested()) {
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return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
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}
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ccte_err = ccte->equationOrigins(_data.JD, &eo);
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}
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}
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if (ccte_err) {
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return mcc_deduce_error(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
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}
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if (stop_token.stop_requested()) {
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return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
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}
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_data.speedX = (double)hw_pos.speedX;
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_data.speedY = (double)hw_pos.speedY;
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struct {
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double dx, dy;
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} pcm_res;
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auto pcm_err = pcm->computePCM(_data, &pcm_res);
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if (pcm_err) {
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return mcc_deduce_error(pcm_err, MccTelemetryErrorCode::ERROR_PCM_COMP);
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}
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_data.pcmX = pcm_res.dx;
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_data.pcmY = pcm_res.dy;
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if (stop_token.stop_requested()) {
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return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
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}
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MccCelestialPoint pt{.pair_kind = MccCoordPairKind::COORDS_KIND_AZALT, .time_point = _data.time_point};
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if constexpr (mccIsEquatorialMount(pcm_t::mountType)) {
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_data.HA = (double)hw_pos.X + pcm_res.dx;
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_data.DEC_APP = (double)hw_pos.Y + pcm_res.dy;
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_data.RA_APP = (double)_data.LST - (double)_data.HA + eo;
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_data.X = _data.HA;
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_data.Y = _data.DEC_APP;
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_data.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
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ccte_err = ccte->transformCoordinates(_data, &pt);
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if (!ccte_err) {
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_data.AZ = pt.X;
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_data.ALT = pt.Y;
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_data.ZD = std::numbers::pi / 2.0 - _data.ALT;
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}
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} else if constexpr (mccIsAltAzMount(pcm_t::mountType)) {
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_data.AZ = (double)hw_pos.X + pcm_res.dx;
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_data.ALT = (double)hw_pos.Y + pcm_res.dy;
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_data.ZD = std::numbers::pi / 2.0 - _data.ALT;
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_data.X = _data.AZ;
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_data.Y = _data.ALT;
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_data.pair_kind = MccCoordPairKind::COORDS_KIND_AZALT;
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pt.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
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ccte_err = ccte->transformCoordinates(_data, &pt);
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if (!ccte) {
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_data.HA = pt.X;
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_data.DEC_APP = pt.Y;
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_data.RA_APP = (double)_data.LST - (double)_data.HA + eo;
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}
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} else {
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static_assert(false, "UNKNOWN MOUNT TYPE!");
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}
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if (!ccte_err) {
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if (stop_token.stop_requested()) {
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return MccTelemetryErrorCode::ERROR_UPDATE_STOPPED;
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}
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_data.pair_kind = MccCoordPairKind::COORDS_KIND_AZZD;
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_data.X = _data.AZ;
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_data.Y = _data.ZD;
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ccte_err = ccte->refractionCorrection(_data, &_data.refCorr);
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if (!ccte_err) {
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// restore hardware encoders coordinates
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_data.X = (double)hw_pos.X;
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_data.Y = (double)hw_pos.Y;
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// update target (assuming target ICRS coordinates are already set)
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auto ret = _updateTargetFunc(false, stop_token);
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if (ret) {
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return ret;
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}
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}
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}
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if (ccte_err) {
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return mcc_deduce_error(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
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}
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if constexpr (mccIsEquatorialMount(pcm_t::mountType)) {
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_data.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
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} else if constexpr (mccIsAltAzMount(pcm_t::mountType)) {
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_data.pair_kind = MccCoordPairKind::COORDS_KIND_AZALT;
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} else {
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static_assert(false, "UNKNOWN MOUNT TYPE!");
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}
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return MccTelemetryErrorCode::ERROR_OK;
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};
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_setTargetFunc = [ccte, this](MccCelestialPoint const& pt) {
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// in the case of apparent input coordinates
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// one must ensure the same time points
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_data.target.pair_kind = MccCoordPairKind::COORDS_KIND_RADEC_ICRS;
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_data.target.time_point =
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std::chrono::time_point_cast<typename decltype(_data.target.time_point)::duration>(pt.time_point);
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auto ret = ccte->transformCoordinates(pt, &_data.target);
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if (!ret) {
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if (pt.pair_kind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
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_data.target.RA_ICRS = _data.target.X;
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_data.target.DEC_ICRS = _data.target.Y;
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// update apparent coordinates
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ret = _updateTargetFunc(false, {});
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} else { // apparent coordinates were computed above
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// compute ICRS coordinates
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MccCelestialPoint cpt{.pair_kind = MccCoordPairKind::COORDS_KIND_RADEC_ICRS};
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ret = ccte->transformCoordinates(pt, &cpt);
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_data.target.RA_ICRS = cpt.X;
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_data.target.DEC_ICRS = cpt.Y;
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// compute only hardware coordinates
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ret = _updateTargetFunc(true, {});
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}
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}
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return mcc_deduce_error<error_t>(ret, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
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};
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}
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virtual ~MccTelemetry()
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{
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_internalUpdatingStopSource.request_stop();
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if (_internalUpdatingFuture.valid()) {
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_internalUpdatingFuture.get();
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}
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};
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template <traits::mcc_time_duration_c DT>
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DT telemetryDataUpdateInterval() const
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{
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return std::chrono::duration_cast<DT>(_currentUpdateInterval);
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}
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std::chrono::milliseconds telemetryDataUpdateInterval() const
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{
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return telemetryDataUpdateInterval<std::chrono::milliseconds>();
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}
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void setTelemetryDataUpdateInterval(traits::mcc_time_duration_c auto const& interval)
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{
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using d_t = std::remove_cvref_t<decltype(interval)>;
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if constexpr (std::floating_point<typename d_t::rep>) {
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_currentUpdateInterval = utils::isEqual(interval.count(), 0.0) ? defaultUpdateInterval : interval;
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} else {
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_currentUpdateInterval = interval.count() == 0 ? defaultUpdateInterval : interval;
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}
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}
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void startInternalTelemetryDataUpdating()
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{
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using intv_t = std::remove_cvref_t<decltype(_currentUpdateInterval)>;
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_internalUpdating = true;
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_internalUpdatingFuture = std::async(
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std::launch::async,
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[this](std::stop_token stop_token) {
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if (stop_token.stop_requested()) {
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return MccTelemetryErrorCode::ERROR_OK;
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}
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_lastUpdateError = updateTelemetryData(defaultInternalUpdateTimeout);
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if (_lastUpdateError) {
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_internalUpdating = false;
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return _lastUpdateError;
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}
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auto sleep_td = _currentUpdateInterval / internalUpdatingIntervalDiv;
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for (uint16_t i = 0; i < internalUpdatingIntervalDiv - 1; ++i) {
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if (stop_token.stop_requested()) {
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return MccTelemetryErrorCode::ERROR_OK;
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}
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std::this_thread::sleep_for(sleep_td);
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}
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if (stop_token.stop_requested()) {
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return MccTelemetryErrorCode::ERROR_OK;
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}
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if constexpr (std::floating_point<intv_t>) {
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std::this_thread::sleep_for(sleep_td);
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} else {
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auto rem = _currentUpdateInterval % internalUpdatingIntervalDiv;
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if (rem.count()) {
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std::this_thread::sleep_for(rem);
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} else {
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std::this_thread::sleep_for(sleep_td);
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}
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}
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},
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_internalUpdatingStopSource.get_token());
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}
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void stopInternalTelemetryDataUpdating()
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{
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_internalUpdatingStopSource.request_stop();
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_internalUpdating = false;
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}
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bool isInternalTelemetryDataUpdating() const
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{
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return _internalUpdating;
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}
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error_t updateTelemetryData(traits::mcc_time_duration_c auto const& timeout)
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{
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std::lock_guard thread_lock{*_updateMutex};
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std::stop_source stop_source;
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_isDataUpdated = false;
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std::future<error_t> update_ft = std::async(std::launch::async, _updateFunc, stop_source.get_token());
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auto status = update_ft.wait_for(timeout);
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if (status != std::future_status::ready) {
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auto ok = stop_source.stop_requested();
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return _lastUpdateError = MccTelemetryErrorCode::ERROR_DATA_TIMEOUT;
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}
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_isDataUpdated = true;
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_updateCondVar->notify_all();
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return _lastUpdateError = update_ft.get();
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}
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// block the thread and wait for data to be ready (external synchronization)
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error_t waitForTelemetryData(mcc_telemetry_data_c auto* tdata, traits::mcc_time_duration_c auto const& timeout)
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{
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if (tdata == nullptr) {
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return MccTelemetryErrorCode::ERROR_NULLPTR;
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}
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std::unique_lock ulock(*_updateMutex);
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auto res = _updateCondVar->wait_for(ulock, timeout, [this]() { return _isDataUpdated; });
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if (res == std::cv_status::timeout) {
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return MccTelemetryErrorCode::ERROR_DATA_TIMEOUT;
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}
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std::lock_guard thread_lock{*_updateMutex};
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if (!_lastUpdateError) {
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mcc_copy_telemetry_data(_data, tdata);
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}
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return _lastUpdateError;
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}
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// just get current data
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error_t telemetryData(mcc_telemetry_data_c auto* tdata)
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{
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if (tdata == nullptr) {
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return MccTelemetryErrorCode::ERROR_NULLPTR;
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}
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|
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std::lock_guard thread_lock{*_updateMutex};
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mcc_copy_telemetry_data(_data, tdata);
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|
|
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return MccTelemetryErrorCode::ERROR_OK;
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}
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error_t setPointingTarget(mcc_celestial_point_c auto pt)
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|
{
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std::lock_guard lock{*_updateMutex};
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|
|
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return _setTargetFunc(pt);
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}
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protected:
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std::atomic_bool _isDataUpdated;
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MccTelemetryData _data;
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|
|
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std::atomic_bool _internalUpdating{false};
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std::chrono::nanoseconds _currentUpdateInterval{std::chrono::milliseconds(100)};
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std::future<error_t> _internalUpdatingFuture{};
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|
std::stop_source _internalUpdatingStopSource{};
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|
|
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std ::function<error_t(bool, std::stop_token)> _updateTargetFunc{};
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std::function<error_t(std::stop_token)> _updateFunc{};
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std::function<error_t()> _setTargetFunc{};
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|
|
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std::unique_ptr<std::mutex> _updateMutex;
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|
std::unique_ptr<std::condition_variable> _updateCondVar;
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|
|
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error_t _lastUpdateError{MccTelemetryErrorCode::ERROR_OK};
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std::jthread _timerThread;
|
|
};
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|
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} // namespace mcc
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