124 lines
4.2 KiB
C++
124 lines
4.2 KiB
C++
#pragma once
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#include <mcc_generic_mount.h>
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#include <mcc_pzone_container.h>
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#include <mcc_slewing_model.h>
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#include <mcc_spdlog.h>
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#include <mcc_telemetry.h>
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#include <mcc_tracking_model.h>
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#include "asibfm700_common.h"
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#include "asibfm700_configfile.h"
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namespace asibfm700
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{
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class Asibfm700Mount : public Asibfm700CCTE,
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public Asibfm700PCM,
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public mcc::MccGenericFsmMount<mcc::MccGenericMount<AsibFM700ServoController,
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mcc::MccTelemetry,
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Asibfm700PZoneContainer,
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mcc::MccSimpleSlewingModel,
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mcc::MccSimpleTrackingModel,
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Asibfm700Logger>>
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{
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typedef mcc::MccGenericMount<AsibFM700ServoController,
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mcc::MccTelemetry,
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Asibfm700PZoneContainer,
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mcc::MccSimpleSlewingModel,
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mcc::MccSimpleTrackingModel,
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Asibfm700Logger>
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gm_class_t;
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typedef mcc::MccGenericFsmMount<mcc::MccGenericMount<AsibFM700ServoController,
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mcc::MccTelemetry,
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Asibfm700PZoneContainer,
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mcc::MccSimpleSlewingModel,
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mcc::MccSimpleTrackingModel,
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Asibfm700Logger>>
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base_gm_class_t;
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protected:
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struct Asibfm700ErrorState : base_gm_class_t::MccGenericFsmMountBaseState {
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static constexpr std::string_view ID{"ASIBFM700-MOUNT-ERROR-STATE"};
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void exit(MccGenericFsmMountErrorEvent& event)
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{
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event.mount()->logWarn("The mount already in error state!");
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}
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void enter(MccGenericFsmMountErrorEvent& event)
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{
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event.mount()->logWarn("The mount already in error state!");
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}
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void exit(mcc::fsm::traits::fsm_event_c auto& event)
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{
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exitLog(event);
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}
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void enter(mcc::fsm::traits::fsm_event_c auto& event)
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{
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enterLog(event);
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// ...
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}
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using transition_t = mcc::fsm::fsm_transition_table_t<
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std::pair<MccGenericFsmMountErrorEvent, Asibfm700ErrorState>,
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std::pair<MccGenericFsmMountInitEvent, MccGenericFsmMountInitState<Asibfm700ErrorState>>,
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std::pair<MccGenericFsmMountIdleEvent, MccGenericFsmMountIdleState<Asibfm700ErrorState>>>;
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};
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typedef base_gm_class_t::MccGenericFsmMountStartState<Asibfm700ErrorState> Asibfm700StartState;
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public:
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using base_gm_class_t::error_t;
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using Asibfm700CCTE::setStateERFA;
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using Asibfm700CCTE::updateBulletinA;
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using Asibfm700CCTE::updateLeapSeconds;
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using Asibfm700CCTE::updateMeteoERFA;
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using Asibfm700Logger::logCritical;
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using Asibfm700Logger::logDebug;
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using Asibfm700Logger::logError;
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using Asibfm700Logger::logInfo;
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using Asibfm700Logger::logWarn;
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// using Asibfm700PZoneContainer::addPZone;
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Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_ptr<spdlog::logger> logger);
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~Asibfm700Mount();
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Asibfm700Mount(Asibfm700Mount&&) = default;
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Asibfm700Mount& operator=(Asibfm700Mount&&) = default;
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Asibfm700Mount(const Asibfm700Mount&) = delete;
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Asibfm700Mount& operator=(const Asibfm700Mount&) = delete;
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error_t initMount();
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error_t updateMountConfig(Asibfm700MountConfig const&);
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Asibfm700MountConfig currentMountConfig();
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protected:
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Asibfm700MountConfig _mountConfig;
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std::unique_ptr<std::mutex> _mountConfigMutex;
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void errorLogging(const std::string&, const std::error_code&);
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};
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static_assert(mcc::mcc_position_controls_c<Asibfm700Mount>, "");
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static_assert(mcc::mcc_all_controls_c<Asibfm700Mount>, "");
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static_assert(mcc::mcc_generic_mount_c<Asibfm700Mount>, "");
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} // namespace asibfm700
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