114 lines
3.1 KiB
C++
114 lines
3.1 KiB
C++
#pragma once
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/* MOUNT CONTROL COMPONENTS LIBRARY */
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/* MOUNT HARDWARE CONCEPTS */
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#include <utility>
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#include "mcc_traits.h"
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namespace mcc
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{
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namespace traits
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{
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// encoder basic concept (e.g. mount axis encoder or motor shaft one)
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template <typename T>
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concept mcc_hw_encoder_c = requires(T t, const T t_const) {
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typename T::error_t;
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typename T::time_point_t;
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typename T::coord_t;
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typename T::speed_t;
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typename T::accel_t;
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// typename T::high_order_deriv_t;
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requires requires(typename T::state_t st) {
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std::same_as<decltype(st.time), typename T::time_point_t>;
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std::same_as<decltype(st.pos), typename T::coord_t>;
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std::same_as<decltype(st.speed), typename T::speed_t>;
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std::same_as<decltype(st.accel), typename T::accel_t>;
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// std::same_as<decltype(st.high_order), typename T::high_order_deriv_t>;
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};
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{ t_const.id() } -> mcc_formattable;
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{ t.getState(std::declval<typename T::state_t&>()) } -> std::same_as<typename T::error_t>;
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};
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template <typename T>
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concept mcc_hw_motor_c = requires(T t, const T t_const) {
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typename T::coord_t;
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typename T::speed_t;
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typename T::accel_t;
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requires requires(typename T::pos_t st) {
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std::same_as<decltype(st.pos), typename T::coord_t>;
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std::same_as<decltype(st.speed), typename T::speed_t>; // means maximal allowed speed
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std::same_as<decltype(st.accel), typename T::accel_t>; // means a maximal allowed acceleration (jerk)
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};
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{ t_const.id() } -> mcc_formattable;
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{ t.rotate(std::declval<typename T::pos_t>()) } -> std::same_as<typename T::error_t>;
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{ t.stop() } -> std::same_as<typename T::error_t>;
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};
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namespace details
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{
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template <typename T>
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concept mcc_tuple_enc_ref_c = mcc_tuple_c<T> && requires(T t) {
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[]<template <typename...> typename TT, mcc_hw_encoder_c... Ts>(TT<Ts & ...>) {}(t);
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};
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template <typename T>
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concept mcc_tuple_enc_cref_c = mcc_tuple_c<T> && requires(T t) {
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[]<template <typename...> typename TT, mcc_hw_encoder_c... Ts>(TT<const Ts & ...>) {}(t);
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};
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template <typename T>
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concept mcc_tuple_motor_ref_c = mcc_tuple_c<T> && requires(T t) {
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[]<template <typename...> typename TT, mcc_hw_motor_c... Ts>(TT<Ts & ...>) {}(t);
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};
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template <typename T>
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concept mcc_hw_enc_lref_c = std::is_lvalue_reference_v<T> && mcc_hw_encoder_c<std::remove_reference_t<T>>;
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template <typename T>
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concept mcc_hw_motor_lref_c = std::is_lvalue_reference_v<T> && mcc_hw_motor_c<std::remove_reference_t<T>>;
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} // namespace details
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// a very generic mount hardware concept
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template <typename T>
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concept mcc_mount_hardware_c = requires(T t, const T t_const) {
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{ t_const.id() } -> mcc_formattable;
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// access to encoders
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{ t_const.encoders() } -> details::mcc_tuple_enc_cref_c;
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{ t.encoders() } -> details::mcc_tuple_enc_ref_c;
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{ t.encoderPosX() } -> details::mcc_hw_enc_lref_c;
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{ t.encoderPosY() } -> details::mcc_hw_enc_lref_c;
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// access to motors
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{ t.motors() } -> details::mcc_tuple_motor_ref_c;
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{ t.motorX() } -> details::mcc_hw_motor_lref_c;
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{ t.motorY() } -> details::mcc_hw_motor_lref_c;
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};
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} // namespace traits
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} // namespace mcc
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