414 lines
14 KiB
C++
414 lines
14 KiB
C++
#pragma once
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/* MOUNT CONTROL COMPONENTS LIBRARY */
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/* SIMPLE SLEWING MODEL IMPLEMENTATION */
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#include "mcc_defaults.h"
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#include "mcc_generics.h"
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#include "mcc_moving_model_common.h"
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namespace mcc
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{
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enum class MccSimpleSlewingModelErrorCode : int {
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ERROR_OK,
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ERROR_HW_GETSTATE,
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ERROR_HW_SETSTATE,
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ERROR_PCM_COMP,
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ERROR_GET_TELEMETRY,
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ERROR_DIST_TELEMETRY,
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ERROR_PZONE_CONTAINER_COMP,
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ERROR_TARGET_IN_PZONE,
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ERROR_NEAR_PZONE,
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ERROR_TIMEOUT,
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ERROR_ALREADY_SLEW,
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ERROR_ALREADY_STOPPED,
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ERROR_STOPPED
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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::MccSimpleSlewingModelErrorCode> : 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
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struct MccSimpleSlewingModelCategory : public std::error_category {
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MccSimpleSlewingModelCategory() : std::error_category() {}
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const char* name() const noexcept
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{
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return "SIMPLE-TRACKING-MODEL";
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}
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std::string message(int ec) const
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{
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MccSimpleSlewingModelErrorCode err = static_cast<MccSimpleSlewingModelErrorCode>(ec);
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switch (err) {
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case MccSimpleSlewingModelErrorCode::ERROR_OK:
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return "OK";
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case MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE:
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return "cannot get hardware state";
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case MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE:
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return "cannot set hardware state";
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case MccSimpleSlewingModelErrorCode::ERROR_PCM_COMP:
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return "PCM computation error";
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case MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY:
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return "cannot get telemetry";
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case MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY:
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return "cannot get target-to-mount-position distance";
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case MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP:
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return "pzone container computation error";
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case MccSimpleSlewingModelErrorCode::ERROR_TARGET_IN_PZONE:
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return "target is in prohibited zone";
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case MccSimpleSlewingModelErrorCode::ERROR_NEAR_PZONE:
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return "near prohibited zone";
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case MccSimpleSlewingModelErrorCode::ERROR_TIMEOUT:
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return "a timeout occured while slewing";
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case MccSimpleSlewingModelErrorCode::ERROR_ALREADY_SLEW:
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return "already slewing";
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case MccSimpleSlewingModelErrorCode::ERROR_ALREADY_STOPPED:
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return "slewing is already stopped";
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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 MccSimpleSlewingModelCategory& get()
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{
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static const MccSimpleSlewingModelCategory 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(MccSimpleSlewingModelErrorCode ec)
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{
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return std::error_code(static_cast<int>(ec), MccSimpleSlewingModelCategory::get());
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}
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/*
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The target celestial point must be set in telemetry->target
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*/
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class MccSimpleSlewingModel
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{
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public:
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typedef std::error_code error_t;
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typedef MccSimpleMovingModelParams slewing_params_t;
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template <mcc_all_controls_c CONTROLS_T>
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MccSimpleSlewingModel(CONTROLS_T* controls)
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: _stopSlewing(new std::atomic_bool()), _currentParamsMutex(new std::mutex)
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{
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*_stopSlewing = true;
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_slewingFunc = [controls, this](bool slew_and_stop) -> error_t {
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// first, check target coordinates
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typename CONTROLS_T::error_t t_err;
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MccTelemetryData tdata;
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{
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std::lock_guard lock{*_currentParamsMutex};
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t_err = controls->telemetryData(&tdata);
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if (t_err) {
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return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
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}
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}
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bool in_zone;
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auto pz_err = controls->inPZone(tdata.target, &in_zone);
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if (pz_err) {
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*_stopSlewing = true;
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return mcc_deduce_error_code(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
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}
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if (in_zone) {
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*_stopSlewing = true;
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return MccSimpleSlewingModelErrorCode::ERROR_TARGET_IN_PZONE;
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}
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if (*_stopSlewing) {
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return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
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}
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MccCelestialPoint cpt;
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double min_time_to_pzone_in_secs;
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if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
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cpt.pair_kind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
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} else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
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cpt.pair_kind = MccCoordPairKind::COORDS_KIND_AZZD;
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} else {
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static_assert(false, "UNKNOWN MOUNT TYPE!");
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}
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if (*_stopSlewing) {
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return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
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}
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typename CONTROLS_T::hardware_state_t hw_state;
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auto hw_err = controls->hardwareGetState(&hw_state);
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if (hw_err) {
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*_stopSlewing = true;
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return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
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}
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hw_state.X = (double)tdata.target.X;
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hw_state.Y = (double)tdata.target.Y;
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{
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std::lock_guard lock{*_currentParamsMutex};
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hw_state.speedX = _currentParams.slewRateX;
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hw_state.speedY = _currentParams.slewRateY;
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min_time_to_pzone_in_secs =
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std::chrono::duration_cast<std::chrono::duration<double>>(_currentParams.minTimeToPZone).count();
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}
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hw_state.moving_state = CONTROLS_T::hardware_moving_state_t::HW_MOVE_SLEWING;
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if (*_stopSlewing) {
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return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
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}
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// start slewing
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hw_err = controls->hardwareSetState(hw_state);
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if (hw_err) {
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*_stopSlewing = true;
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return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
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}
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std::chrono::steady_clock::time_point start_slewing_tp, last_adjust_tp;
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// mcc_tp2tp(hw_state.time_point, start_slewing_tp); // not compiled!!
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// double dist, dx, dy, sinY, rate2, xrate;
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// std::chrono::duration<double> dtx, dty; // seconds in double
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double dist;
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bool adjust_mode = false;
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static constexpr auto sideral_rate2 = slewing_params_t::sideralRate * slewing_params_t::sideralRate;
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while (true) {
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// wait for updated telemetry data
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{
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std::lock_guard lock{*_currentParamsMutex};
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t_err = controls->waitForTelemetryData(&tdata, _currentParams.telemetryTimeout);
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if (t_err) {
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*_stopSlewing = true;
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return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
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}
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}
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if (*_stopSlewing) {
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return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
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}
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// calculate coordinates at current speed '_currentParams.minTimeToPZone' seconds ahead
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// and check them for getting into the prohibited zones
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if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
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cpt.X = tdata.HA + tdata.speedX * min_time_to_pzone_in_secs;
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cpt.X = tdata.DEC_APP + tdata.speedY * min_time_to_pzone_in_secs;
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} else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
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cpt.X = tdata.AZ + tdata.speedX * min_time_to_pzone_in_secs;
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cpt.X = tdata.ZD + tdata.speedY * min_time_to_pzone_in_secs;
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}
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mcc_tp2tp(tdata.time_point, cpt.time_point);
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pz_err = controls->inPZone(cpt, &in_zone);
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if (pz_err) {
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*_stopSlewing = true;
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return mcc_deduce_error_code(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
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}
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if (in_zone) {
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*_stopSlewing = true;
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return MccSimpleSlewingModelErrorCode::ERROR_NEAR_PZONE;
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}
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{
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std::lock_guard lock{*_currentParamsMutex};
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if ((std::chrono::steady_clock::now() - start_slewing_tp) > _currentParams.slewTimeout) {
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return MccSimpleSlewingModelErrorCode::ERROR_TIMEOUT;
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}
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}
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hw_err = controls->hardwareGetState(&hw_state);
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if (hw_err) {
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*_stopSlewing = true;
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return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
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}
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t_err = controls->targetToMountDist(&dist);
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if (t_err) {
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*_stopSlewing = true;
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return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY);
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}
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if (*_stopSlewing) {
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return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
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}
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{
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std::lock_guard lock{*_currentParamsMutex};
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// if (adjust_mode && !_currentParams.slewAndStop) {
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if (adjust_mode && !slew_and_stop) {
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// do not allow mount speed fall below sideral
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if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
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// turn on sideral rate only if the current position point catches up with the target
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if ((tdata.target.HA - tdata.HA) <= 0.0 && tdata.speedX < slewing_params_t::sideralRate) {
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hw_state.X = (double)tdata.target.X;
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hw_state.Y = (double)tdata.target.Y;
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hw_state.speedX = slewing_params_t::sideralRate;
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hw_state.moving_state = CONTROLS_T::hardware_moving_state_t::HW_MOVE_TRACKING;
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hw_err = controls->hardwareSetState(hw_state);
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if (hw_err) {
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*_stopSlewing = true;
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return mcc_deduce_error_code(hw_err,
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MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
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}
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}
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} else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
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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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if (dist <= _currentParams.slewToleranceRadius) { // stop slewing and exit from cycle
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if (hw_state.moving_state ==
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CONTROLS_T::hardware_moving_state_t::HW_MOVE_STOPPED) { // mount was stopped
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*_stopSlewing = true;
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break;
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}
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}
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if (dist <= _currentParams.adjustCoordDiff) { // adjust mount pointing
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auto now = std::chrono::steady_clock::now();
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if ((now - last_adjust_tp) < _currentParams.adjustCycleInterval) {
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continue;
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}
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hw_state.X = (double)tdata.target.X;
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hw_state.Y = (double)tdata.target.Y;
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hw_state.speedX = _currentParams.adjustRateX;
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hw_state.speedY = _currentParams.adjustRateY;
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hw_state.moving_state = CONTROLS_T::hardware_moving_state_t::HW_MOVE_ADJUSTING;
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hw_err = controls->hardwareSetState(hw_state);
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if (hw_err) {
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*_stopSlewing = true;
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return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
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}
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last_adjust_tp = now;
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adjust_mode = true;
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} else {
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adjust_mode = false;
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}
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}
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if (*_stopSlewing) {
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return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
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}
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}
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return MccSimpleSlewingModelErrorCode::ERROR_OK;
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};
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}
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MccSimpleSlewingModel(MccSimpleSlewingModel&&) = default;
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MccSimpleSlewingModel& operator=(MccSimpleSlewingModel&&) = default;
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MccSimpleSlewingModel(const MccSimpleSlewingModel&) = delete;
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MccSimpleSlewingModel& operator=(const MccSimpleSlewingModel&) = delete;
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virtual ~MccSimpleSlewingModel() = default;
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error_t slewToTarget(bool slew_and_stop = false)
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{
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if (!(*_stopSlewing)) {
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return MccSimpleSlewingModelErrorCode::ERROR_ALREADY_SLEW;
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}
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*_stopSlewing = false;
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return _slewingFunc(slew_and_stop);
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}
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error_t stopSlewing()
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{
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if (*_stopSlewing) {
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return MccSimpleSlewingModelErrorCode::ERROR_ALREADY_STOPPED;
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}
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*_stopSlewing = true;
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return MccSimpleSlewingModelErrorCode::ERROR_OK;
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}
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error_t setSlewingParams(slewing_params_t pars)
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{
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std::lock_guard lock{*_currentParamsMutex};
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_currentParams = std::move(pars);
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return MccSimpleSlewingModelErrorCode::ERROR_OK;
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}
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slewing_params_t getSlewingParams() const
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{
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std::lock_guard lock{*_currentParamsMutex};
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return _currentParams;
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}
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protected:
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std::function<error_t(bool)> _slewingFunc{};
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std::unique_ptr<std::atomic_bool> _stopSlewing;
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slewing_params_t _currentParams{};
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std::unique_ptr<std::mutex> _currentParamsMutex{};
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};
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} // namespace mcc
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