530 lines
20 KiB
C++
530 lines
20 KiB
C++
#pragma once
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/* MOUNT CONTROL COMPONENTS LIBRARY */
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/* A VERY SIMPLE SLEW MODEL GENERIC IMPLEMENTATION */
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#include "mcc_mount_concepts.h"
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namespace mcc
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{
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enum class MccSimpleSlewModelErrorCode : int {
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ERROR_OK,
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ERROR_UNSUPPORTED_COORD_PAIR,
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ERROR_IN_PROHIBITED_ZONE,
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ERROR_ASTROM_COMP,
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ERROR_TELEMETRY_DATA,
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ERROR_PEC_COMP,
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ERROR_HARDWARE_SETPOS,
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ERROR_HARDWARE_GETPOS,
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ERROR_SLEW_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::MccSimpleSlewModelErrorCode> : 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 MccSimpleSlewModelCategory : public std::error_category {
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MccSimpleSlewModelCategory() : std::error_category() {}
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const char* name() const noexcept
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{
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return "ADC_GENERIC_DEVICE";
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}
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std::string message(int ec) const
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{
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MccSimpleSlewModelErrorCode err = static_cast<MccSimpleSlewModelErrorCode>(ec);
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switch (err) {
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case MccSimpleSlewModelErrorCode::ERROR_OK:
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return "OK";
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case MccSimpleSlewModelErrorCode::ERROR_UNSUPPORTED_COORD_PAIR:
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return "slew model: unsupported coordinate pair";
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case MccSimpleSlewModelErrorCode::ERROR_IN_PROHIBITED_ZONE:
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return "slew model: position is in prohibited zone";
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case MccSimpleSlewModelErrorCode::ERROR_ASTROM_COMP:
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return "slew model: cannot perform astrometrical computations";
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case MccSimpleSlewModelErrorCode::ERROR_TELEMETRY_DATA:
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return "slew model: cannot get telemetry data";
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case MccSimpleSlewModelErrorCode::ERROR_PEC_COMP:
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return "slew model: cannot compute PEC corrections";
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case MccSimpleSlewModelErrorCode::ERROR_HARDWARE_SETPOS:
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return "slew model: cannot set position";
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case MccSimpleSlewModelErrorCode::ERROR_HARDWARE_GETPOS:
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return "slew model: cannot get position";
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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 MccSimpleSlewModelCategory& get()
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{
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static const MccSimpleSlewModelCategory 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(MccSimpleSlewModelErrorCode ec)
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{
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return std::error_code(static_cast<int>(ec), MccSimpleSlewModelCategory::get());
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}
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/*
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* WARNING: it is assumed that coordinates are in radians!
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* but this fact is only used if slew coordinate pair are given as
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* [azimuth, zenithal distance] (see sources code below)
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*/
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template <traits::mcc_logger_c LoggerT = MccNullLogger>
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class MccSimpleSlewModel : public LoggerT
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{
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public:
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using LoggerT::logDebug;
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using LoggerT::logError;
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using LoggerT::logInfo;
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using LoggerT::logMessage;
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using LoggerT::logWarn;
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typedef std::error_code error_t;
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typedef MccCelestialPoint slew_point_t;
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// struct slew_params_t {
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// typedef mcc::MccAngle coord_t;
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// mcc::MccCoordPairKind coordPairKind{mcc::MccCoordPairKind::COORDS_KIND_RADEC_ICRS};
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// coord_t x{0.0};
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// coord_t y{0.0};
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// // if <= 0 then hardware must assume default rate
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// coord_t xrate{-1};
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// coord_t yrate{-1};
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// bool stop{false};
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// };
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struct context_t {
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bool stopAfterSlew{false};
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std::chrono::seconds timeout{300};
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};
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template <traits::mcc_mount_controls_c MOUNT_CONTROLS_T, typename... LoggerCtorArgTs>
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MccSimpleSlewModel(MOUNT_CONTROLS_T& mount_controls, context_t context, LoggerCtorArgTs&&... ctor_args)
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requires(!std::same_as<LoggerT, MccNullLogger>)
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: LoggerT(std::forward<LoggerCtorArgTs>(ctor_args)...)
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{
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logDebug(std::format("Create 'MccSimpleSlewModel' class instance ({})", (void*)this));
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init(mount_controls, std::move(context));
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}
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template <traits::mcc_mount_controls_c MOUNT_CONTROLS_T>
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MccSimpleSlewModel(MOUNT_CONTROLS_T& mount_controls, context_t context)
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requires(std::same_as<LoggerT, MccNullLogger>)
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{
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init(mount_controls, std::move(context));
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}
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virtual ~MccSimpleSlewModel()
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{
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logDebug(std::format("Delete 'MccSimpleSlewModel' class instance ({})", (void*)this));
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}
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error_t slew(slew_point_t pars)
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{
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error_t res_err = _slewFunc(std::move(pars));
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return res_err;
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}
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protected:
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std::function<error_t(const slew_point_t&)> _slewFunc{};
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void init(auto& mount_controls, context_t context)
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{
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// deduce controls types
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using astrom_engine_t = decltype(mount_controls.astrometryEngine);
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using hardware_t = decltype(mount_controls.hardware);
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using pec_t = decltype(mount_controls.PEC);
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using telemetry_t = decltype(mount_controls.telemetry);
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using tpl_pz_t = decltype(mount_controls.prohibitedZones);
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static constexpr size_t Nzones = std::tuple_size_v<tpl_pz_t>;
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const auto p_mount_controls = &mount_controls;
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// prohibited zones related lambdas
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auto check_zones = [p_mount_controls]<size_t... Is>(std::index_sequence<Is...>) {
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// std::array<std::error_code, sizeof...(Is)> result{};
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error_t ret;
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(
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[&ret]() {
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if constexpr (Is > 0) {
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if (ret) {
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return;
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}
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}
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typename telemetry_t::mount_telemetry_data_t tdata;
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auto tel_err = p_mount_controls->telemetry.data(tdata);
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if (tel_err) {
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if constexpr (std::same_as<decltype(tel_err), error_t>) {
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ret = tel_err;
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} else {
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ret = MccSimpleSlewModelErrorCode::ERROR_TELEMETRY_DATA;
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}
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} else {
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ret = std::get<Is>(p_mount_controls->prohibitedZones).inZone(tdata)
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? MccSimpleSlewModelErrorCode::ERROR_IN_PROHIBITED_ZONE
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: MccSimpleSlewModelErrorCode::ERROR_OK;
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}
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}(),
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...);
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return ret;
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};
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_slewFunc = [p_mount_controls, context = std::move(context), check_zones](this auto&& self,
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slew_point_t slew_point) {
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auto& astrom_engine = p_mount_controls->astrometryEngine;
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auto& hardware = p_mount_controls->hardware;
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auto& pec = p_mount_controls->PEC;
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auto& telemetry = p_mount_controls->telemetry;
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using coord_t = typename astrom_engine_t::coord_t;
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using jd_t = typename astrom_engine_t::juldate_t;
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typename hardware_t::axes_pos_t ax_pos;
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error_t res_err;
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typename astrom_engine_t::error_t ast_err;
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typename pec_t::error_t pec_err;
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typename telemetry_t::error_t t_err;
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typename telemetry_t::mount_telemetry_data_t t_data;
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if (slew_point.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_XY) {
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// trivial case (the pair is interpretated as raw encoder coordinates)
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ax_pos.x = slew_point.x;
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ax_pos.y = slew_point.y;
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// ax_pos.xrate = slew_point.xrate;
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// ax_pos.yrate = slew_point.yrate;
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} else if (slew_point.coordPairKind ==
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mcc::MccCoordPairKind::COORDS_KIND_RADEC_ICRS) { // catalog coordinates
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jd_t jd;
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coord_t ra_app, dec_app, ha, az, alt;
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typename astrom_engine_t::eo_t eo;
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logDebug("Input slew coordinates are ICRS RA-DEC: convert it to apparent ...");
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ast_err = astrom_engine->greg2jul(astrom_engine_t::timePointNow(), jd);
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if (!ast_err) {
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ast_err = astrom_engine->icrs2obs(slew_point.x, slew_point.y, jd, ra_app, dec_app, ha, az, alt, eo);
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if (!ast_err) {
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if constexpr (mccIsEquatorialMount(pec_t::mountType)) {
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slew_point.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP;
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slew_point.x = ha;
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slew_point.y = dec_app;
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res_err = self(std::move(slew_point));
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} else if constexpr (mccIsAltAzMount(pec_t::mountType)) {
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slew_point.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_AZALT;
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slew_point.x = az;
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slew_point.y = alt;
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res_err = self(std::move(slew_point));
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} else {
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static_assert(false, "UNKNOWN MOUNT TYPE!");
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}
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}
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}
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} else if (slew_point.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_RADEC_APP) { // apparent
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jd_t jd;
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typename astrom_engine_t::eo_t eo;
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logDebug("Input slew coordinates are apparent RA-DEC: convert it to apparent HA-DEC ...");
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ast_err = astrom_engine->greg2jul(astrom_engine_t::timePointNow(), jd);
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if (!ast_err) {
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typename astrom_engine_t::sideral_time_t lst;
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ast_err = astrom_engine->apparentSiderTime(jd, lst, true);
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if (!ast_err) {
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ast_err = astrom_engine->eqOrigins(jd, eo);
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if (!ast_err) {
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slew_point.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP;
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slew_point.x = lst - slew_point.x + eo; // HA = LST - RA_APP + EO
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res_err = self(std::move(slew_point));
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}
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}
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}
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} else if (slew_point.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP) { // apparent
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if constexpr (mccIsEquatorialMount(pec_t::mountType)) { // compute encoder coordinates
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logDebug("Input slew coordinates are apparent HA-DEC: convert it to hardware encoder ones ...");
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coord_t eps = 1.0 / 3600.0 * std::numbers::pi / 180.0;
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typename pec_t::pec_result_t pec_res;
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// pec_err = pec->reverseCompute(slew_point.x, slew_point.y, pec_res, context.eps, context.maxIter);
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pec_err = pec->compute(slew_point.x, slew_point.y, pec_res);
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if (!pec_err) {
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slew_point.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_XY;
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slew_point.x -= pec_res.dx;
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slew_point.y -= pec_res.dy;
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res_err = self(std::move(slew_point));
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}
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} else if constexpr (mccIsAltAzMount(pec_t::mountType)) {
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coord_t az, alt;
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logDebug("Input slew coordinates are apparent HA-DEC: convert it to AZ-ALT ...");
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ast_err = astrom_engine->hadec2azalt(slew_point.x, slew_point.y, az, alt);
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if (!ast_err) {
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slew_point.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_AZALT;
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slew_point.x = az;
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slew_point.y = alt;
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res_err = self(std::move(slew_point));
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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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} else if (slew_point.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_AZALT) {
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if constexpr (mccIsEquatorialMount(pec_t::mountType)) {
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coord_t ha, dec;
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logDebug("Input slew coordinates are AZ-ALT: convert it to HA-DEC ...");
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ast_err = astrom_engine->azalt2hadec(slew_point.x, slew_point.y, ha, dec);
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if (!ast_err) {
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slew_point.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP;
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slew_point.x = ha;
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slew_point.y = dec;
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res_err = self(std::move(slew_point));
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}
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} else if constexpr (mccIsAltAzMount(pec_t::mountType)) { // compute encoder coordinates
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coord_t eps = 1.0 / 3600.0 * std::numbers::pi / 180.0;
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logDebug("Input slew coordinates are AZ-ALT: convert it to hardware encoder ones ...");
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typename pec_t::pec_result_t pec_res;
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// pec_err = pec->reverseCompute(slew_point.x, slew_point.y, pec_res, context.eps, context.maxIter);
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pec_err = pec->compute(slew_point.x, slew_point.y, pec_res);
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if (!pec_err) {
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slew_point.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_XY;
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slew_point.x -= pec_res.dx;
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slew_point.y -= pec_res.dy;
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res_err = self(std::move(slew_point));
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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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} else if (slew_point.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_AZZD) {
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//
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// WARNING: it is assumed that coordinates are in radians!
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//
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logDebug("Input slew coordinates are AZ-ZD: convert it to AZ-ALT ...");
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slew_point.y = std::numbers::pi / 2.0 - slew_point.y;
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res_err = self(std::move(slew_point));
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} else {
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return MccSimpleSlewModelErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
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}
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if (res_err) {
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return res_err;
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}
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if (pec_err) {
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if constexpr (std::same_as<decltype(pec_err), error_t>) {
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logError(std::format("An PEC error occured: code = {} ({})", pec_err.value(), pec_err.message()));
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return pec_err;
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} else {
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if constexpr (traits::mcc_formattable<decltype(pec_err)>) {
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logError(std::format("An PEC error occured: code = {}", pec_err));
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}
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return MccSimpleSlewModelErrorCode::ERROR_PEC_COMP;
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}
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}
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if (ast_err) {
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if constexpr (std::same_as<decltype(ast_err), error_t>) {
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logError(std::format("An error occured while performing astrometry computations: code = {} ({})",
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ast_err.value(), ast_err.message()));
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return ast_err;
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} else {
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if constexpr (traits::mcc_formattable<decltype(ast_err)>) {
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logError(std::format("An error occured while performing astrometry computations: code = {}",
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ast_err));
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}
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return MccSimpleSlewModelErrorCode::ERROR_ASTROM_COMP;
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}
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}
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// move mount (it is assumed this is asynchronous operation!!!)
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typename hardware_t::error_t err = hardware->setPos(ax_pos);
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if (err) {
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if constexpr (std::same_as<decltype(err), error_t>) {
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logError(std::format("An hardware error occured: code = {} ({})", err.value(), err.message()));
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return err;
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} else {
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if constexpr (traits::mcc_formattable<decltype(err)>) {
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logError(std::format("An hardware error occured: code = {}", err));
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}
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return MccSimpleSlewModelErrorCode::ERROR_HARDWARE_SETPOS;
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}
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}
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size_t i_iter = 0;
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// context.guidingRateEps *= context.guidingRateEps;
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typename hardware_t::axes_pos_t::time_point_t prev_time_point{};
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// typename telemetry_t::mount_telemetry_data_t::time_point_t prev_time_point{};
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// typename telemetry_t::mount_telemetry_data_t::coord_t xrate, yrate, mount_rate2;
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auto start_poll_tm = std::chrono::steady_clock::now();
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while (true) {
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// check prohibited zones
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res_err = check_zones(std::make_index_sequence<Nzones>{});
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if (res_err) {
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hardware.stop();
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return res_err;
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}
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// it is assumed here that telemetry data is in actual state!
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// t_err = telemetry.data(t_data);
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// if (t_err) {
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// hardware.stop();
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// if constexpr (std::same_as<decltype(t_err), error_t>) {
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// logError(
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// std::format("An telemetry error occured: code = {} ({})", t_err.value(),
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// t_err.message()));
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// return t_err;
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// } else {
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// if constexpr (traits::mcc_formattable<decltype(t_err)>) {
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// logError(std::format("An telemetry error occured: code = {}", t_err));
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// }
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// return MccSimpleSlewModelErrorCode::ERROR_TELEMETRY_DATA;
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// }
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// }
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err = hardware->getPos(ax_pos);
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if (err) {
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if constexpr (std::same_as<decltype(err), error_t>) {
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logError(std::format("An hardware error occured: code = {} ({})", err.value(), err.message()));
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return err;
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} else {
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if constexpr (traits::mcc_formattable<decltype(err)>) {
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logError(std::format("An hardware error occured: code = {}", err));
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}
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return MccSimpleSlewModelErrorCode::ERROR_HARDWARE_GETPOS;
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}
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}
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// if (prev_time_point == t_data.time_point) {
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if (prev_time_point == ax_pos.time_point) {
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continue;
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}
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if (context.stopAfterSlew) { // slew and stop, so mount moving rate must be 0 at the end
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if (ax_pos.state == hardware_t::hw_state_t::HW_STATE_STOP) {
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|
break;
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|
}
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// mount_rate2 = t_data.mntRateX * t_data.mntRateX + t_data.mntRateY * t_data.mntRateY;
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|
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|
// if (utils::isEqual((double)mount_rate2, 0.0)) {
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|
// ++i_iter;
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// } else {
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|
// i_iter = 0;
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|
// }
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} else { // slew and guiding, so mount rate must be near tracking rate at the end
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|
if (ax_pos.state == hardware_t::hw_state_t::HW_STATE_TRACK) {
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|
break;
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|
}
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// xrate = t_data.mntRateX - context.guidingRateX;
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|
// yrate = t_data.mntRateY - context.guidingRateY;
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|
// mount_rate2 = xrate * xrate + yrate * yrate;
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|
|
|
// if (mount_rate2 <= context.guidingRateEps) {
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|
// ++i_iter;
|
|
// } else {
|
|
// i_iter = 0;
|
|
// }
|
|
}
|
|
|
|
// if (i_iter >= context.maxRateCycles) {
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|
// break;
|
|
// }
|
|
|
|
prev_time_point = t_data.time_point;
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|
|
|
if ((std::chrono::steady_clock::now() - start_poll_tm) > context.timeout) {
|
|
logError("Waiting time for completion of slewing expired!");
|
|
return MccSimpleSlewModelErrorCode::ERROR_SLEW_TIMEOUT;
|
|
}
|
|
}
|
|
|
|
|
|
return MccSimpleSlewModelErrorCode::ERROR_OK;
|
|
};
|
|
}
|
|
};
|
|
|
|
|
|
// static_assert(traits::mcc_slew_model_c<>);
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|
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} // namespace mcc
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