131 lines
3.1 KiB
C++
131 lines
3.1 KiB
C++
#pragma once
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/* AstroSIB-FM700 FORK MOUNT CONTROL LIBRARY */
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/* HARDWARE WRAPPER IMPLEMENTATION */
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#include <thread>
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#include "../LibSidServo/sidservo.h"
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#include "mcc_mount_concepts.h"
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#include "mcc_mount_coord.h"
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namespace asibfm700
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{
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/* error codes enum definition */
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enum class AsibFM700HardwareErrorCode : int {
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// error codes from sidservo library
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ERROR_OK = MCC_E_OK,
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ERROR_FATAL = MCC_E_FATAL,
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ERROR_BADFORMAT = MCC_E_BADFORMAT,
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ERROR_ENCODERDEV = MCC_E_ENCODERDEV,
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ERROR_MOUNTDEV = MCC_E_MOUNTDEV,
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ERROR_FAILED = MCC_E_FAILED,
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// my codes ...
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};
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// error category
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struct AsibFM700HardwareErrorCategory : public std::error_category {
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const char* name() const noexcept;
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std::string message(int ec) const;
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static const AsibFM700HardwareErrorCategory& get();
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};
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static inline std::error_code make_error_code(AsibFM700HardwareErrorCode ec)
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{
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return std::error_code(static_cast<int>(ec), AsibFM700HardwareErrorCategory::get());
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}
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} // namespace asibfm700
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namespace std
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{
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template <>
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class is_error_code_enum<asibfm700::AsibFM700HardwareErrorCode> : public true_type
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{
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};
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} // namespace std
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namespace asibfm700
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{
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class AsibFM700Hardware final
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{
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public:
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static constexpr uint8_t XMOTOR_STOP_BIT = 0b00000001; // if 0th bit set then motor is stopped
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static constexpr uint8_t YMOTOR_STOP_BIT = 0b00010000; // if 4th bit set then motor is stopped
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// definitions from concept
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typedef std::error_code error_t;
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typedef mcc::MccAngle coord_t;
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typedef std::chrono::system_clock::time_point time_point_t; // UTC time
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enum class hw_moving_type_t : int { HW_MOVE_SLEWING, HW_MOVE_ADJUSTING, HW_MOVE_TRACKING, HW_MOVE_GUIDING };
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struct axes_pos_t {
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time_point_t time_point;
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coord_t x, y;
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coord_t xrate, yrate;
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hw_moving_type_t moving_type{hw_moving_type_t::HW_MOVE_TRACKING};
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slewflags_t flags;
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bool moveAndStop{false};
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};
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struct hardware_config_t {
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// the 'char*' fields from conf_t:
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// wrap it to std::string
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std::string MountDevPath;
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std::string EncoderDevPath;
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std::string EncoderXDevPath;
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std::string EncoderYDevPath;
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conf_t devConfig;
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hardware_configuration_t hwConfig;
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};
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AsibFM700Hardware(const hardware_config_t& conf);
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~AsibFM700Hardware();
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AsibFM700Hardware(const AsibFM700Hardware&) = delete;
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AsibFM700Hardware& operator=(const AsibFM700Hardware&) = delete;
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AsibFM700Hardware(AsibFM700Hardware&&) = default;
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AsibFM700Hardware& operator=(AsibFM700Hardware&&) = default;
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std::string_view id() const;
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error_t setPos(axes_pos_t);
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error_t getPos(axes_pos_t&);
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error_t stop();
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error_t init();
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private:
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hardware_config_t _hardwareConfig;
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std::jthread _statePollingThread;
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double _sideralRate2; // square of sideral rate
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double _sideralRateEps2;
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};
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static_assert(mcc::traits::mcc_mount_hardware_c<AsibFM700Hardware>, "AsibFM700Hardware!!!");
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} // namespace asibfm700
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