792 lines
27 KiB
C++
792 lines
27 KiB
C++
#pragma once
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/**/
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#include <expected>
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#include <filesystem>
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#include <fstream>
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#include <mcc_angle.h>
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#include <mcc_moving_model_common.h>
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#include <mcc_pcm.h>
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#include <mcc_utils.h>
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#include "asibfm700_common.h"
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#include "asibfm700_servocontroller.h"
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namespace asibfm700
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{
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/* A SIMPLE "KEYWORD - VALUE" HOLDER CLASS SUITABLE TO STORE SOME APPLICATION CONFIGURATION */
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// to follow std::variant requirements (not references, not array, not void)
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template <typename T>
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concept config_record_valid_type_c = requires { !std::is_array_v<T> && !std::is_void_v<T> && !std::is_reference_v<T>; };
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// simple minimal-requirement configuration record class
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template <config_record_valid_type_c T>
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struct simple_config_record_t {
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std::string_view key;
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T value;
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};
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/* ASTOROSIB FM700 MOUNT CONFIGURATION CLASS */
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// configuration description and its defaults
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static auto Asibfm700MountConfigDefaults = std::make_tuple(
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// main cycle period in millisecs
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simple_config_record_t{"hardwarePollingPeriod", std::chrono::milliseconds{100}},
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/* geographic coordinates of the observation site */
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// site latitude in degrees
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simple_config_record_t{"siteLatitude", mcc::MccAngle(43.646711_degs)},
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// site longitude in degrees
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simple_config_record_t{"siteLongitude", mcc::MccAngle(41.440732_degs)},
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// site elevation in meters
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simple_config_record_t{"siteElevation", 2070.0},
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/* celestial coordinate transformation */
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// wavelength at which refraction is calculated (in mkm)
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simple_config_record_t{"refractWavelength", 0.55},
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// an empty filename means default precompiled string
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simple_config_record_t{"leapSecondFilename", std::string()},
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// an empty filename means default precompiled string
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simple_config_record_t{"bulletinAFilename", std::string()},
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/* pointing correction model */
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// PCM default type
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simple_config_record_t{"pcmType", mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY},
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// PCM geometrical coefficients
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simple_config_record_t{"pcmGeomCoeffs", std::vector<double>{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}},
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// PCM B-spline degrees
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simple_config_record_t{"pcmBsplineDegree", std::vector<size_t>{3, 3}},
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// PCM B-spline knots along X-axis (HA-angle or azimuth). By default from 0 to 2*PI radians
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// NOTE: The first and last values are interpretated as border knots!!!
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// Thus the array length must be equal to or greater than 2!
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simple_config_record_t{"pcmBsplineXknots",
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std::vector<double>{0.0, 0.6981317, 1.3962634, 2.0943951, 2.7925268, 3.4906585, 4.1887902,
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4.88692191, 5.58505361, 6.28318531}},
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// PCM B-spline knots along Y-axis (declination or zenithal distance). By default from -PI/6 to PI/2 radians
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// NOTE: The first and last values are interpretated as border knots!!!
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// Thus the array length must be equal to or greater than 2!
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simple_config_record_t{"pcmBsplineYknots",
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std::vector<double>{-0.52359878, -0.29088821, -0.05817764, 0.17453293, 0.40724349,
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0.63995406, 0.87266463, 1.10537519, 1.33808576, 1.57079633}},
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// PCM B-spline coeffs for along X-axis (HA-angle or azimuth)
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simple_config_record_t{"pcmBsplineXcoeffs", std::vector<double>{}},
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// PCM B-spline coeffs for along Y-axis (declination or zenithal distance)
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simple_config_record_t{"pcmBsplineYcoeffs", std::vector<double>{}},
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/* slewing and tracking parameters */
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// // arcseconds per second
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// simple_config_record_t{"sideralRate", 15.0410686},
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// timeout for telemetry updating in milliseconds
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simple_config_record_t{"telemetryTimeout", std::chrono::milliseconds(3000)},
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// minimal allowed time in seconds to prohibited zone
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simple_config_record_t{"minTimeToPZone", std::chrono::seconds(10)},
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// a time interval to update prohibited zones related quantities (millisecs)
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simple_config_record_t{"updatingPZoneInterval", std::chrono::milliseconds(5000)},
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// coordinates difference in arcsecs to stop slewing
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simple_config_record_t{"slewToleranceRadius", 5.0},
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// target-mount coordinate difference in arcsecs to start adjusting of slewing
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simple_config_record_t{"adjustCoordDiff", 50.0},
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// minimum time in millisecs between two successive adjustments
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simple_config_record_t{"adjustCycleInterval", std::chrono::milliseconds(300)},
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// slew process timeout in seconds
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simple_config_record_t{"slewTimeout", std::chrono::seconds(3600)},
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// a time shift into future to compute target position in future (UT1-scale time duration, millisecs)
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simple_config_record_t{"timeShiftToTargetPoint", std::chrono::milliseconds(10000)},
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// minimum time in millisecs between two successive tracking corrections
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simple_config_record_t{"trackingCycleInterval", std::chrono::milliseconds(300)},
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// maximal valid target-to-mount distance for tracking process (arcsecs)
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// if current distance is greater than assume current mount coordinate as target point
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simple_config_record_t{"trackingMaxCoordDiff", 20.0},
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/* prohibited zones */
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// minimal altitude
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simple_config_record_t{"pzMinAltitude", mcc::MccAngle(10.0_degs)},
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// HA-axis limit switch minimal value
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simple_config_record_t{"pzLimitSwitchHAMin", mcc::MccAngle(-170.0_degs)},
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// HA-axis limit switch maximal value
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simple_config_record_t{"pzLimitSwitchHAMax", mcc::MccAngle(170.0_degs)},
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// DEC-axis limit switch minimal value
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simple_config_record_t{"pzLimitSwitchDecMin", mcc::MccAngle(-90.0_degs)},
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// DEC-axis limit switch maximal value
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simple_config_record_t{"pzLimitSwitchDecMax", mcc::MccAngle(90.0_degs)},
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/* hardware-related */
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// hardware mode: 1 - model mode, otherwise real mode
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simple_config_record_t{"RunModel", 0},
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// mount serial device paths
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simple_config_record_t{"MountDevPath", std::string("/dev/ttyUSB0")},
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// mount serial device speed
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simple_config_record_t{"MountDevSpeed", 19200},
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// motor encoders serial device path
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simple_config_record_t{"EncoderDevPath", std::string("")},
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// X-axis encoder serial device path
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simple_config_record_t{"EncoderXDevPath", std::string("/dev/encoderX0")},
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// Y-axis encoder serial device path
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simple_config_record_t{"EncoderYDevPath", std::string("/dev/encoderY0")},
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// encoders serial device speed
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simple_config_record_t{"EncoderDevSpeed", 153000},
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// ==1 if encoder works as separate serial device, ==2 if there's new version with two devices
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simple_config_record_t{"SepEncoder", 2},
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// mount polling interval in millisecs
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simple_config_record_t{"MountReqInterval", std::chrono::milliseconds(100)},
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// encoders polling interval in millisecs
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simple_config_record_t{"EncoderReqInterval", std::chrono::milliseconds(50)},
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// mount axes rate calculation interval in millisecs
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simple_config_record_t{"EncoderSpeedInterval", std::chrono::milliseconds(100)},
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// X-axis coordinate PID P,I,D-params
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simple_config_record_t{"XPIDC", std::vector<double>{0.8, 0.1, 0.3}},
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// X-axis rate PID P,I,D-params
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simple_config_record_t{"XPIDV", std::vector<double>{1.0, 0.01, 0.2}},
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// Y-axis coordinate PID P, I, D-params
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simple_config_record_t{"YPIDC", std::vector<double>{0.8, 0.1, 0.3}},
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// Y-axis rate PID P,I,D-params
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simple_config_record_t{"YPIDV", std::vector<double>{0.5, 0.2, 0.5}},
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// maximal moving rate (degrees per second) along HA-axis (Y-axis of Sidereal servo microcontroller)
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simple_config_record_t{"hwMaxRateHA", mcc::MccAngle(8.0_degs)},
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// maximal moving rate (degrees per second) along DEC-axis (X-axis of Sidereal servo microcontroller)
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simple_config_record_t{"hwMaxRateDEC", mcc::MccAngle(10.0_degs)}
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);
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class Asibfm700MountConfig : public mcc::utils::KeyValueHolder<decltype(Asibfm700MountConfigDefaults)>
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{
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using base_t = mcc::utils::KeyValueHolder<decltype(Asibfm700MountConfigDefaults)>;
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protected:
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inline static auto deserializer = []<typename VT>(std::string_view str, VT& value) {
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std::error_code ec{};
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mcc::utils::MccSimpleDeserializer deser;
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deser.setRangeDelim(base_t::VALUE_ARRAY_DELIM);
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if constexpr (std::is_arithmetic_v<VT> || mcc::traits::mcc_output_char_range<VT> || std::ranges::range<VT> ||
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mcc::traits::mcc_time_duration_c<VT>) {
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// ec = base_t::defaultDeserializeFunc(str, value);
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ec = deser(str, value);
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} else if constexpr (std::same_as<VT, mcc::MccAngle>) { // assume here all angles are in degrees
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double vd;
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// ec = base_t::defaultDeserializeFunc(str, vd);
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ec = deser(str, value);
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if (!ec) {
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value = mcc::MccAngle(vd, mcc::MccDegreeTag{});
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}
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} else if constexpr (std::same_as<VT, mcc::MccDefaultPCMType>) {
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std::string vstr;
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// ec = base_t::defaultDeserializeFunc(str, vstr);
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ec = deser(str, value);
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if (!ec) {
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auto s = mcc::utils::trimSpaces(vstr);
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if (s == mcc::MccDefaultPCMTypeString<mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY>) {
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value = mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY;
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} else if (s == mcc::MccDefaultPCMTypeString<mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY_BSPLINE>) {
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value = mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY;
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} else if (s == mcc::MccDefaultPCMTypeString<mcc::MccDefaultPCMType::PCM_TYPE_BSPLINE>) {
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value = mcc::MccDefaultPCMType::PCM_TYPE_BSPLINE;
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} else {
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ec = std::make_error_code(std::errc::invalid_argument);
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}
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}
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} else {
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ec = std::make_error_code(std::errc::invalid_argument);
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}
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return ec;
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};
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public:
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/* the most usefull config fields */
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template <mcc::traits::mcc_time_duration_c DT>
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DT hardwarePollingPeriod() const
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{
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return std::chrono::duration_cast<DT>(
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getValue<std::chrono::milliseconds>("hardwarePollingPeriod").value_or(std::chrono::milliseconds{}));
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};
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std::chrono::milliseconds hardwarePollingPeriod() const
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{
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return hardwarePollingPeriod<std::chrono::milliseconds>();
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};
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template <mcc::mcc_angle_c T>
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T siteLatitude() const
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{
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return static_cast<double>(getValue<mcc::MccAngle>("siteLatitude").value_or(mcc::MccAngle{}));
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};
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mcc::MccAngle siteLatitude() const
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{
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return siteLatitude<mcc::MccAngle>();
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};
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template <mcc::mcc_angle_c T>
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T siteLongitude() const
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{
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return static_cast<double>(getValue<mcc::MccAngle>("siteLongitude").value_or(mcc::MccAngle{}));
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};
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mcc::MccAngle siteLongitude() const
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{
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return siteLongitude<mcc::MccAngle>();
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};
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template <typename T>
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T siteElevation() const
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requires std::is_arithmetic_v<T>
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{
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return getValue<double>("siteElevation").value_or(0.0);
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}
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double siteElevation() const
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{
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return getValue<double>("siteElevation").value_or(0.0);
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};
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template <typename T>
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T refractWavelength() const
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requires std::is_arithmetic_v<T>
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{
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return getValue<double>("refractWavelength").value_or(0.0);
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}
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double refractWavelength() const
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{
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return getValue<double>("refractWavelength").value_or(0.0);
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};
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template <mcc::traits::mcc_view_or_output_char_range R>
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R leapSecondFilename() const
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{
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R r;
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if constexpr (std::ranges::view<R>) {
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std::string const& val = getValue<std::string>("leapSecondFilename").value_or("");
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r = R{val.begin(), val.end()};
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} else {
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std::string val = getValue<std::string>("leapSecondFilename").value_or("");
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std::ranges::copy(val, std::back_inserter(r));
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}
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return r;
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}
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std::string_view leapSecondFilename() const
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{
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return leapSecondFilename<std::string_view>();
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};
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template <mcc::traits::mcc_view_or_output_char_range R>
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R bulletinAFilename() const
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{
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R r;
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if constexpr (std::ranges::view<R>) {
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std::string const& val = getValue<std::string>("bulletinAFilename").value_or("");
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r = R{val.begin(), val.end()};
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} else {
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std::string val = getValue<std::string>("bulletinAFilename").value_or("");
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std::ranges::copy(val, std::back_inserter(r));
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}
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return r;
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}
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std::string_view bulletinAFilename() const
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{
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return bulletinAFilename<std::string_view>();
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};
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template <mcc::mcc_angle_c T>
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T pzMinAltitude() const
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{
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return static_cast<double>(getValue<mcc::MccAngle>("pzMinAltitude").value_or(mcc::MccAngle{}));
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};
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mcc::MccAngle pzMinAltitude() const
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{
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return pzMinAltitude<mcc::MccAngle>();
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};
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template <mcc::mcc_angle_c T>
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T pzLimitSwitchHAMin() const
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{
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return static_cast<double>(getValue<mcc::MccAngle>("pzLimitSwitchHAMin").value_or(mcc::MccAngle{}));
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};
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mcc::MccAngle pzLimitSwitchHAMin() const
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{
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return pzLimitSwitchHAMin<mcc::MccAngle>();
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};
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template <mcc::mcc_angle_c T>
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T pzLimitSwitchHAMax() const
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{
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return static_cast<double>(getValue<mcc::MccAngle>("pzLimitSwitchHAMax").value_or(mcc::MccAngle{}));
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};
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mcc::MccAngle pzLimitSwitchHAMax() const
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{
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return pzLimitSwitchHAMax<mcc::MccAngle>();
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};
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AsibFM700ServoController::hardware_config_t servoControllerConfig() const
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{
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AsibFM700ServoController::hardware_config_t hw_cfg;
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hw_cfg.hwConfig = {};
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hw_cfg.MountDevPath = getValue<std::string>("MountDevPath").value_or({});
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hw_cfg.EncoderDevPath = getValue<std::string>("EncoderDevPath").value_or({});
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hw_cfg.EncoderXDevPath = getValue<std::string>("EncoderXDevPath").value_or({});
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hw_cfg.EncoderYDevPath = getValue<std::string>("EncoderYDevPath").value_or({});
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hw_cfg.devConfig.MountDevPath = hw_cfg.MountDevPath.data();
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hw_cfg.devConfig.EncoderDevPath = hw_cfg.EncoderDevPath.data();
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hw_cfg.devConfig.EncoderXDevPath = hw_cfg.EncoderXDevPath.data();
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hw_cfg.devConfig.EncoderYDevPath = hw_cfg.EncoderYDevPath.data();
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hw_cfg.devConfig.RunModel = getValue<int>("RunModel").value_or({});
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hw_cfg.devConfig.MountDevSpeed = getValue<int>("MountDevSpeed").value_or({});
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hw_cfg.devConfig.EncoderDevSpeed = getValue<int>("EncoderDevSpeed").value_or({});
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hw_cfg.devConfig.SepEncoder = getValue<int>("SepEncoder").value_or({});
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std::chrono::duration<double> secs; // seconds as floating-point
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secs = getValue<std::chrono::milliseconds>("MountReqInterval").value_or({});
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hw_cfg.devConfig.MountReqInterval = secs.count();
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secs = getValue<std::chrono::milliseconds>("EncoderReqInterval").value_or({});
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hw_cfg.devConfig.EncoderReqInterval = secs.count();
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secs = getValue<std::chrono::milliseconds>("EncoderSpeedInterval").value_or({});
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hw_cfg.devConfig.EncoderSpeedInterval = secs.count();
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std::vector<double> pid = getValue<std::vector<double>>("XPIDC").value_or({});
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if (pid.size() > 2) {
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hw_cfg.devConfig.XPIDC.P = pid[0];
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hw_cfg.devConfig.XPIDC.I = pid[1];
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hw_cfg.devConfig.XPIDC.D = pid[2];
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}
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pid = getValue<std::vector<double>>("XPIDV").value_or({});
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if (pid.size() > 2) {
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hw_cfg.devConfig.XPIDV.P = pid[0];
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hw_cfg.devConfig.XPIDV.I = pid[1];
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hw_cfg.devConfig.XPIDV.D = pid[2];
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}
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pid = getValue<std::vector<double>>("YPIDC").value_or({});
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if (pid.size() > 2) {
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hw_cfg.devConfig.YPIDC.P = pid[0];
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hw_cfg.devConfig.YPIDC.I = pid[1];
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hw_cfg.devConfig.YPIDC.D = pid[2];
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}
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pid = getValue<std::vector<double>>("YPIDV").value_or({});
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if (pid.size() > 2) {
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hw_cfg.devConfig.YPIDV.P = pid[0];
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hw_cfg.devConfig.YPIDV.I = pid[1];
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hw_cfg.devConfig.YPIDV.D = pid[2];
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}
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return hw_cfg;
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}
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mcc::MccSimpleMovingModelParams movingModelParams() const
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{
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static constexpr double arcsecs2rad = std::numbers::pi / 180.0 / 3600.0; // arcseconds to radians
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mcc::MccSimpleMovingModelParams pars;
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pars.telemetryTimeout =
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getValue<decltype(pars.telemetryTimeout)>("telemetryTimeout").value_or(pars.telemetryTimeout);
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|
|
|
pars.minTimeToPZone = getValue<decltype(pars.minTimeToPZone)>("minTimeToPZone").value_or(pars.minTimeToPZone);
|
|
|
|
pars.updatingPZoneInterval = getValue<decltype(pars.updatingPZoneInterval)>("updatingPZoneInterval")
|
|
.value_or(pars.updatingPZoneInterval);
|
|
|
|
pars.slewToleranceRadius =
|
|
getValue<decltype(pars.slewToleranceRadius)>("slewToleranceRadius").value_or(pars.slewToleranceRadius) *
|
|
arcsecs2rad;
|
|
|
|
pars.adjustCoordDiff =
|
|
getValue<decltype(pars.adjustCoordDiff)>("adjustCoordDiff").value_or(pars.adjustCoordDiff) * arcsecs2rad;
|
|
|
|
pars.adjustCycleInterval =
|
|
getValue<decltype(pars.adjustCycleInterval)>("adjustCycleInterval").value_or(pars.adjustCycleInterval);
|
|
|
|
pars.slewTimeout = getValue<decltype(pars.slewTimeout)>("slewTimeout").value_or(pars.slewTimeout);
|
|
|
|
pars.timeShiftToTargetPoint = getValue<decltype(pars.timeShiftToTargetPoint)>("timeShiftToTargetPoint")
|
|
.value_or(pars.timeShiftToTargetPoint);
|
|
|
|
pars.trackingCycleInterval = getValue<decltype(pars.trackingCycleInterval)>("trackingCycleInterval")
|
|
.value_or(pars.trackingCycleInterval);
|
|
|
|
pars.trackingMaxCoordDiff =
|
|
getValue<decltype(pars.trackingMaxCoordDiff)>("trackingMaxCoordDiff").value_or(pars.trackingMaxCoordDiff) *
|
|
arcsecs2rad;
|
|
|
|
return pars;
|
|
}
|
|
|
|
Asibfm700PCM::pcm_data_t pcmData() const
|
|
{
|
|
Asibfm700PCM::pcm_data_t pcm_data;
|
|
|
|
std::vector<double> empty_vec;
|
|
|
|
pcm_data.type = getValue<decltype(pcm_data.type)>("pcmType").value_or(pcm_data.type);
|
|
|
|
pcm_data.siteLatitude = getValue<mcc::MccAngle>("siteLatitude").value_or(pcm_data.siteLatitude);
|
|
|
|
std::vector<double> vec = getValue<std::vector<double>>("pcmGeomCoeffs").value_or(empty_vec);
|
|
if (vec.size() >= 9) { // must be 9 coefficients
|
|
pcm_data.geomCoefficients = {.zeroPointX = vec[0],
|
|
.zeroPointY = vec[1],
|
|
.collimationErr = vec[2],
|
|
.nonperpendErr = vec[3],
|
|
.misalignErr1 = vec[4],
|
|
.misalignErr2 = vec[5],
|
|
.tubeFlexure = vec[6],
|
|
.forkFlexure = vec[7],
|
|
.DECaxisFlexure = vec[8]};
|
|
}
|
|
|
|
std::vector<size_t> dd = getValue<decltype(dd)>("pcmBsplineDegree").value_or(dd);
|
|
if (dd.size() >= 2) {
|
|
pcm_data.bspline.bsplDegreeX = dd[0] > 0 ? dd[0] : 3;
|
|
pcm_data.bspline.bsplDegreeY = dd[1] > 0 ? dd[1] : 3;
|
|
}
|
|
|
|
vec = getValue<std::vector<double>>("pcmBsplineXknots").value_or(empty_vec);
|
|
// pid must contains interior and border (single point for each border) knots so minimal length must be 2
|
|
if (vec.size() >= 2) {
|
|
// generate full knots array (with border knots)
|
|
size_t Nknots = vec.size() + pcm_data.bspline.bsplDegreeX * 2 - 2;
|
|
pcm_data.bspline.knotsX.resize(Nknots);
|
|
|
|
for (size_t i = 0; i <= pcm_data.bspline.bsplDegreeX; ++i) { // border knots
|
|
pcm_data.bspline.knotsX[i] = vec[0];
|
|
pcm_data.bspline.knotsX[Nknots - i - 1] = vec.back();
|
|
}
|
|
for (size_t i = 0; i < (vec.size() - 2); ++i) { // interior knots
|
|
pcm_data.bspline.knotsX[i + pcm_data.bspline.bsplDegreeX] = vec[1 + i];
|
|
}
|
|
}
|
|
|
|
vec = getValue<std::vector<double>>("pcmBsplineYknots").value_or(empty_vec);
|
|
// pid must contains interior and border (single point for each border) knots so minimal length must be 2
|
|
if (vec.size() >= 2) {
|
|
// generate full knots array (with border knots)
|
|
size_t Nknots = vec.size() + pcm_data.bspline.bsplDegreeY * 2 - 2;
|
|
pcm_data.bspline.knotsY.resize(Nknots);
|
|
|
|
for (size_t i = 0; i <= pcm_data.bspline.bsplDegreeY; ++i) { // border knots
|
|
pcm_data.bspline.knotsY[i] = vec[0];
|
|
pcm_data.bspline.knotsY[Nknots - i - 1] = vec.back();
|
|
}
|
|
for (size_t i = 0; i < (vec.size() - 2); ++i) { // interior knots
|
|
pcm_data.bspline.knotsY[i + pcm_data.bspline.bsplDegreeY] = vec[1 + i];
|
|
}
|
|
}
|
|
|
|
// minimal allowed number of B-spline coefficients
|
|
size_t Ncoeffs = pcm_data.type == mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY
|
|
? 0
|
|
: (pcm_data.bspline.knotsX.size() - pcm_data.bspline.bsplDegreeX - 1) *
|
|
(pcm_data.bspline.knotsY.size() - pcm_data.bspline.bsplDegreeY - 1);
|
|
|
|
vec = getValue<std::vector<double>>("pcmBsplineXcoeffs").value_or(empty_vec);
|
|
|
|
if (vec.size() >= Ncoeffs) {
|
|
pcm_data.bspline.coeffsX.resize(Ncoeffs);
|
|
for (size_t i = 0; i < Ncoeffs; ++i) {
|
|
pcm_data.bspline.coeffsX[i] = vec[i];
|
|
}
|
|
}
|
|
|
|
vec = getValue<std::vector<double>>("pcmBsplineYcoeffs").value_or(empty_vec);
|
|
|
|
if (vec.size() >= Ncoeffs) {
|
|
pcm_data.bspline.coeffsY.resize(Ncoeffs);
|
|
for (size_t i = 0; i < Ncoeffs; ++i) {
|
|
pcm_data.bspline.coeffsY[i] = vec[i];
|
|
}
|
|
}
|
|
|
|
return pcm_data;
|
|
}
|
|
|
|
|
|
Asibfm700MountConfig() : base_t(Asibfm700MountConfigDefaults) {}
|
|
|
|
~Asibfm700MountConfig() = default;
|
|
|
|
std::error_code load(const std::filesystem::path& path)
|
|
{
|
|
std::string buffer;
|
|
|
|
std::error_code ec;
|
|
auto sz = std::filesystem::file_size(path, ec);
|
|
|
|
if (!ec && sz) {
|
|
std::ifstream fst(path);
|
|
|
|
try {
|
|
buffer.resize(sz);
|
|
|
|
fst.read(buffer.data(), sz);
|
|
|
|
fst.close();
|
|
|
|
ec = base_t::fromCharRange(buffer, deserializer);
|
|
} catch (std::ios_base::failure const& ex) {
|
|
ec = ex.code();
|
|
} catch (std::length_error const& ex) {
|
|
ec = std::make_error_code(std::errc::no_buffer_space);
|
|
} catch (std::bad_alloc const& ex) {
|
|
ec = std::make_error_code(std::errc::not_enough_memory);
|
|
} catch (...) {
|
|
ec = std::make_error_code(std::errc::operation_canceled);
|
|
}
|
|
}
|
|
|
|
return ec;
|
|
}
|
|
};
|
|
|
|
|
|
|
|
static constexpr std::string_view Asibfm700MountConfigString =
|
|
R"--(
|
|
#
|
|
# ASTROSIB FM-700 MOUNT DEFAULT CONFIGURATION
|
|
#
|
|
# (created 2025-10-01T03:00:00.0)
|
|
#
|
|
|
|
# main cycle period
|
|
hardwarePollingPeriod = 100
|
|
|
|
# geographic coordinates of the observation site
|
|
|
|
# site latitude in degrees
|
|
siteLatitude = 43.646711
|
|
|
|
# site longitude in degrees
|
|
siteLongitude = 41.440732
|
|
|
|
# site elevation in meters
|
|
siteElevation = 2070.0
|
|
|
|
# celestial coordinate transformation
|
|
|
|
# wavelength at which refraction is calculated (in mkm)
|
|
refractWavelength = 0.5
|
|
|
|
# an empty filename means default precompiled string
|
|
leapSecondFilename =
|
|
|
|
# an empty filename means default precompiled string
|
|
bulletinAFilename =
|
|
|
|
# pointing correction model
|
|
|
|
# PCM default type
|
|
pcmType = GEOMETRY
|
|
|
|
# PCM geometrical coefficients
|
|
pcmGeomCoeffs = 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
|
|
|
|
# PCM B-spline degrees
|
|
pcmBsplineDegree = 3, 3
|
|
|
|
# PCM B-spline knots along X-axis (HA-angle or azimuth). By default from 0 to 2*PI radians
|
|
pcmBsplineXknots = 0.0, 0.6981317, 1.3962634, 2.0943951, 2.7925268, 3.4906585, 4.1887902, 4.88692191, 5.58505361, 6.28318531
|
|
|
|
# PCM B-spline knots along Y-axis (declination or zenithal distance). By default from -PI/6 to PI/2 radians
|
|
pcmBsplineYknots = -0.52359878, -0.29088821, -0.05817764, 0.17453293, 0.40724349, 0.63995406, 0.87266463, 1.10537519, 1.33808576, 1.57079633
|
|
|
|
# PCM B-spline coeffs for along X-axis (HA-angle or azimuth)
|
|
pcmBsplineXcoeffs =
|
|
|
|
# PCM B-spline coeffs for along Y-axis (declination or zenithal distance)
|
|
pcmBsplineYcoeffs =
|
|
|
|
|
|
# slewing and tracking parameters
|
|
|
|
# arcseconds per second
|
|
#sideralRate = 15.0410686
|
|
|
|
# timeout for telemetry updating in milliseconds
|
|
telemetryTimeout = 3000
|
|
|
|
# minimal allowed time in seconds to prohibited zone
|
|
minTimeToPZone = 10
|
|
|
|
# a time interval to update prohibited zones related quantities (millisecs)
|
|
updatingPZoneInterval = 5000
|
|
|
|
# coordinates difference in arcsecs to stop slewing
|
|
slewToleranceRadius = 5.0
|
|
|
|
# target-mount coordinate difference in arcsecs to start adjusting of slewing
|
|
adjustCoordDiff = 50.0
|
|
|
|
# minimum time in millisecs between two successive adjustments
|
|
adjustCycleInterval = 300
|
|
|
|
# slew process timeout in seconds
|
|
slewTimeout = 3600
|
|
|
|
# a time shift into future to compute target position in future (UT1-scale time duration, millisecs)
|
|
timeShiftToTargetPoint = 10000
|
|
|
|
# minimum time in millisecs between two successive tracking corrections
|
|
trackingCycleInterval = 300
|
|
|
|
|
|
# prohibited zones
|
|
|
|
# minimal altitude in degrees
|
|
pzMinAltitude = 10.0
|
|
|
|
# HA-axis limit switch minimal value in degrees
|
|
pzLimitSwitchHAMin = -170.0
|
|
|
|
# HA-axis limit switch maximal value in degrees
|
|
pzLimitSwitchHAMax = 170.0
|
|
|
|
# DEC-axis limit switch minimal value in degrees
|
|
pzLimitSwitchDecMin = -90.0
|
|
|
|
# DEC-axis limit switch maximal value in degrees
|
|
pzLimitSwitchDecMax = 90.0
|
|
|
|
|
|
# hardware-related
|
|
|
|
# hardware mode: 1 - model mode, otherwise real mode
|
|
RunModel = 0
|
|
|
|
# mount serial device paths
|
|
MountDevPath = /dev/ttyUSB0
|
|
|
|
# mount serial device speed
|
|
MountDevSpeed = 19200
|
|
|
|
# motor encoders serial device path
|
|
EncoderDevPath =
|
|
|
|
# X-axis encoder serial device path
|
|
EncoderXDevPath = /dev/encoderX0
|
|
|
|
# Y-axis encoder serial device path
|
|
EncoderYDevPath = /dev/encoderY0
|
|
|
|
# encoders serial device speed
|
|
EncoderDevSpeed = 153000
|
|
|
|
# ==1 if encoder works as separate serial device, ==2 if there's new version with two devices
|
|
SepEncoder = 2
|
|
|
|
# mount polling interval in millisecs
|
|
MountReqInterval = 100
|
|
|
|
# encoders polling interval in millisecs
|
|
EncoderReqInterval = 50
|
|
|
|
# mount axes rate calculation interval in millisecs
|
|
EncoderSpeedInterval = 100
|
|
|
|
# X-axis coordinate PID P,I,D-params
|
|
XPIDC = 0.8, 0.1, 0.3
|
|
|
|
# X-axis rate PID P,I,D-params
|
|
XPIDV = 1.0, 0.01, 0.2
|
|
|
|
# Y-axis coordinate PID P,I,D-params
|
|
YPIDC = 0.8, 0.1, 0.3
|
|
|
|
# Y-axis rate PID P,I,D-params
|
|
YPIDV = 0.5, 0.2, 0.5
|
|
|
|
|
|
# maximal moving rate (degrees per second) along HA-axis (Y-axis of Sidereal servo microcontroller)
|
|
hwMaxRateHA = 8.0
|
|
|
|
# maximal moving rate (degrees per second) along DEC-axis (X-axis of Sidereal servo microcontroller)
|
|
hwMaxRateDEC = 10.0
|
|
|
|
)--";
|
|
|
|
} // namespace asibfm700
|