146 lines
3.7 KiB
C++
146 lines
3.7 KiB
C++
#pragma once
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/* MOUNT CONTROL COMPONENTS LIBRARY */
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#include <atomic>
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#include <chrono>
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#include <concepts>
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#include <cstdint>
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#include <functional>
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#include <string_view>
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#include "spdlog/sinks/null_sink.h"
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// low-level functions
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namespace lowlevel
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{
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#include "../LibSidServo/sidservo.h"
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} // namespace lowlevel
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namespace mcc
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{
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enum class MccMountType : uint8_t { GERMAN_TYPE, FORK_TYPE, CROSSAXIS_TYPE, ALTAZ_TYPE };
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// mount state type concept
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template <typename T>
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concept mcc_mount_state_c = requires(T t, const T t_const) {
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{ t_const.ident() } -> std::same_as<std::string_view>;
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{ t.enter() } -> std::same_as<void>;
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{ t.exit() } -> std::same_as<void>;
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};
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// implements a Finite State Machine Pattern
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template <MccMountType MOUNT_TYPE>
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class MccMount
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{
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typedef double mnt_coord_t;
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typedef double mnt_speed_t;
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typedef double time_point_t;
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public:
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static constexpr MccMountType mountType = MOUNT_TYPE;
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/* low-level hardware related constants */
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// number of attempts to get low-level hardware data before emit an error
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static constexpr uint8_t LOWLEVEL_HW_POLL_ATTEMPTS = 10;
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/* mount main-cycle variable quantities (mount orientation) */
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struct mount_orient_t {
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// time-related
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std::chrono::system_clock::time_point utc;
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time_point_t mjd; // modified Julian date
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time_point_t siderTime; // sideral time (in radians)
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// apparent target (user-input) current coordinates (in radians)
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mnt_coord_t tagRA, tagDEC;
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mnt_coord_t tagHA;
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mnt_coord_t tagAZ, tagZD;
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// encoder-measured current mount coordinates (in radians)
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mnt_coord_t mntRA, mntDEC;
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mnt_coord_t mntHA;
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mnt_coord_t mntAZ, mntZD;
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// encoder-measured current mount moving speed (in radians/s)
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mnt_speed_t mntSpeedX,
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mntSpeedY; // X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ZD for horizontal-type one
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// current refraction coefficient
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mnt_coord_t currRefr;
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// PCS (pointing correction system) corrections
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mnt_coord_t pcsX, pcsY; // X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ZD for horizontal-type one
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// mount current state
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};
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struct mount_config_t {
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uint8_t hw_poll_attempts = LOWLEVEL_HW_POLL_ATTEMPTS;
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};
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MccMount(std::shared_ptr<spdlog::logger> logger = spdlog::null_logger_mt("NULL"))
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: _mountLogger(logger), _exitCurrentState([]() {})
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{
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}
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virtual ~MccMount() {}
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template <mcc_mount_state_c StateT>
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void setMountState(StateT& state)
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{
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_exitCurrentState(); // exit from current state
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_exitCurrentState = [&state]() { state.exit(); };
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state.enter();
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}
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mount_orient_t getMountData() const noexcept
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{
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return _currentMountOrient.load();
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}
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protected:
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mount_config_t _mountCurrentConfig;
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std::shared_ptr<spdlog::logger> _mountLogger;
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std::function<void()> _exitCurrentState;
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std::atomic<mount_orient_t> _currentMountOrient;
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void updateMountState()
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{
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mount_orient_t orient;
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lowlevel::mountdata_t hw_mdata;
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// get data from encoders
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decltype(mount_config_t::hw_poll_attempts) n_attempts = 0;
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do {
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auto ret_code = lowlevel::Mount.getMountData(&hw_mdata);
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if (ret_code != lowlevel::MCC_E_OK) {
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++n_attempts;
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}
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} while (n_attempts < _mountCurrentConfig.hw_poll_attempts);
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if (n_attempts >= _mountCurrentConfig.hw_poll_attempts) {
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// log error heres
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return;
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}
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_currentMountOrient.store(orient);
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}
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};
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} // namespace mcc
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