445 lines
17 KiB
C++
445 lines
17 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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#include "mcc_mount_telemetry.h"
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#include "mcc_slew_guiding_model_common.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_STOPPED,
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ERROR_SLEW_ADJ_MAXITER,
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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 { return "ADC_GENERIC_DEVICE"; }
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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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case MccSimpleSlewModelErrorCode::ERROR_SLEW_STOPPED:
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return "slew model: stopped";
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case MccSimpleSlewModelErrorCode::ERROR_SLEW_ADJ_MAXITER:
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return "slew model: max number of adjusting iteration was exceeded";
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case MccSimpleSlewModelErrorCode::ERROR_SLEW_TIMEOUT:
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return "slew model: timeout occured while slewing";
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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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* It is very simple slew model!
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* There are no any complex routes (bypass of prohibited),
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* just a strait path from current point to target
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*
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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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static constexpr size_t defaultAdjustSuccessCycles = 5;
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using slew_point_t = MccSlewAndGuidingPoint;
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template <traits::mcc_mount_telemetry_c TELEMETRY_T,
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traits::mcc_mount_hardware_c HARDWARE_T,
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traits::mcc_irange_of_pzones_c<typename TELEMETRY_T::mount_telemetry_data_t> PZ_T,
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// traits::mcc_tuple_c PZ_T, // std::tuple of prohibited zones
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typename... LoggerCtorArgTs>
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MccSimpleSlewModel(TELEMETRY_T* telemetry,
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HARDWARE_T* hardware,
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PZ_T* prohibited_zone,
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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(telemetry, hardware, prohibited_zone);
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}
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// template <traits::mcc_mount_telemetry_c TELEMETRY_T,
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// traits::mcc_mount_hardware_c HARDWARE_T,
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// traits::mcc_irange_of_pzones_c<typename TELEMETRY_T::mount_telemetry_data_t> PZ_T
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// // traits::mcc_tuple_c PZ_T // std::tuple of prohibited zones
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// >
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// MccSimpleSlewModel(TELEMETRY_T& telemetry, HARDWARE_T& hardware, PZ_T& prohibited_zone)
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// requires(std::same_as<LoggerT, MccNullLogger>)
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// {
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// init(telemetry, hardware, prohibited_zone);
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// }
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MccSimpleSlewModel(MccSimpleSlewModel&& other)
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: _stopRequested(other._stopRequested.load()), _slewFunc(std::move(other._slewFunc))
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{
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}
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MccSimpleSlewModel& operator=(MccSimpleSlewModel&& other)
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{
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if (this == &other) {
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return *this;
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}
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_stopRequested = other._stopRequested.load();
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_slewFunc = std::move(_slewFunc);
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return *this;
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};
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MccSimpleSlewModel(const MccSimpleSlewModel&) = delete;
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MccSimpleSlewModel& operator=(const MccSimpleSlewModel&) = delete;
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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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_stopRequested = false;
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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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error_t stop()
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{
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_stopRequested = true;
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return MccSimpleSlewModelErrorCode::ERROR_OK;
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}
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protected:
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std::atomic_bool _stopRequested{false};
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std::function<error_t(const slew_point_t&)> _slewFunc{};
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void init(auto* p_telemetry, auto* p_hardware, auto* p_prohibited_zones)
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{
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// deduce controls types
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using hardware_t = decltype(*p_hardware);
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using telemetry_t = decltype(*p_telemetry);
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static_assert(traits::mcc_mount_default_telemetry_c<telemetry_t>,
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"TELEMETRY CLASS MUST BE A DESCENDANT OF 'MccMountTelemetry'!");
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using astrom_engine_t = typename telemetry_t::astrom_engine_t;
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static constexpr size_t Nzones = std::tuple_size_v<decltype(*p_prohibited_zones)>;
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// const auto p_telemetry = &telemetry;
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// const auto p_hardware = &hardware;
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// const auto p_prohibited_zones = &prohibited_zones;
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_slewFunc = [p_telemetry, p_hardware, p_prohibited_zones, this](slew_point_t slew_point) {
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_stopRequested = false;
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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 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.withinToleranceCycleNumber == 0) {
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slew_point.withinToleranceCycleNumber = MccSlewAndGuidingPoint::defaultWithinToleranceCycleNumber;
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}
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// first, compute encoder coordinates
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ax_pos.time_point = astrom_engine_t::timePointNow();
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t_err = p_telemetry->toHardware(slew_point, ax_pos.time_point, ax_pos.x, ax_pos.y);
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if (!t_err) {
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// SETUP TARGET SKY POINT
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t_err = p_telemetry->setTarget(slew_point);
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}
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if (t_err) {
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if constexpr (std::same_as<decltype(t_err), error_t>) {
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logError(std::format("An telemetry error occured: code = {} ({})", t_err.value(), 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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// start moving the mount (it is assumed this is asynchronous operation!!!)
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ax_pos.xrate = slew_point.slewXRate;
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ax_pos.yrate = slew_point.slewYRate;
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ax_pos.moving_type = hardware_t::hw_moving_type_t::HW_MOVE_SLEWING;
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typename hardware_t::error_t hw_err = p_hardware->setPos(ax_pos);
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if (hw_err) {
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if constexpr (std::same_as<decltype(hw_err), error_t>) {
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logError(
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std::format("An hardware error occured: code = {} ({})", hw_err.value(), hw_err.message()));
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return hw_err;
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} else {
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if constexpr (traits::mcc_formattable<decltype(hw_err)>) {
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logError(std::format("An hardware error occured: code = {}", hw_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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// typename hardware_t::axes_pos_t::time_point_t prev_time_point{};
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auto adj_ax_pos = ax_pos; // to prevent possible effects in hardware 'setPos' method
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adj_ax_pos.xrate = slew_point.adjustXRate;
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adj_ax_pos.yrate = slew_point.adjustYRate;
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adj_ax_pos.moving_type = hardware_t::hw_moving_type_t::HW_MOVE_ADJUSTING;
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typename telemetry_t::mount_telemetry_data_t::coord_t adj_rad2 = slew_point.adjustCoordDiff *
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slew_point.adjustCoordDiff,
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tol_rad2 = slew_point.slewToleranceRadius *
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slew_point.slewToleranceRadius;
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std::array<bool, Nzones> in_zone_flag;
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size_t i_adj_cycle = 0;
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size_t i_in_tol_cycle = 0;
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bool in_adj_mode = false;
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// compute new hardware coordinate of target
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// auto compute_new_coord = [](auto const& t_data, typename hardware_t::axes_pos_t& hw_pos) {
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// // current celestial position of target is already computed for given time point
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// // so one needs only correct apparent coordinates for PEC corrections
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// hw_pos.time_point = t_data.time_point;
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// if constexpr (mccIsEquatorialMount(pec_t::mountType)) {
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// hw_pos.x = t_data.tagHA - t_data.pecX;
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// hw_pos.y = t_data.tagDEC - t_data.pecY;
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// } else if constexpr (mccIsAltAzMount(pec_t::mountType)) {
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// hw_pos.x = t_data.tagAZ - t_data.pecX;
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// hw_pos.y = t_data.tagALT - t_data.pecY;
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// } else {
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// static_assert(false, "UNSUPPORTED MOUNT TYPE!");
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// }
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// };
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auto cycle_func = [&](auto& t_data) mutable {
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if (_stopRequested) {
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res_err = MccSimpleSlewModelErrorCode::ERROR_SLEW_STOPPED;
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}
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// check for prohibited zones
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if (mccCheckInZonePZTuple(t_data, *p_prohibited_zones, in_zone_flag)) {
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return MccSimpleSlewModelErrorCode::ERROR_IN_PROHIBITED_ZONE;
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};
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// t_data was updated in caller!!!
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auto coord_diff = p_telemetry->targetToMountDiff();
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if (_stopRequested) {
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res_err = MccSimpleSlewModelErrorCode::ERROR_SLEW_STOPPED;
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}
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if (coord_diff.r2 < adj_rad2) { // adjusting mode
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in_adj_mode = true;
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// compute_new_coord(t_data, adj_ax_pos);
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adj_ax_pos.time_point = t_data.time_point;
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adj_ax_pos.x += coord_diff.xdiff;
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adj_ax_pos.y += coord_diff.ydiff;
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hw_err = p_hardware->setPos(adj_ax_pos);
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if (!hw_err) {
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++i_adj_cycle;
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if (coord_diff.r2 < tol_rad2) {
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++i_in_tol_cycle;
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if (i_in_tol_cycle == slew_point.withinToleranceCycleNumber) {
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res_err = MccSimpleSlewModelErrorCode::ERROR_OK;
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return;
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}
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}
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if (i_adj_cycle == slew_point.maxAdjustingCycleNumber) {
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res_err = MccSimpleSlewModelErrorCode::ERROR_SLEW_ADJ_MAXITER;
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return;
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}
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} else {
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if constexpr (std::same_as<decltype(hw_err), error_t>) {
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logError(std::format("An hardware error occured: code = {} ({})", hw_err.value(),
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hw_err.message()));
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res_err = hw_err;
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} else {
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if constexpr (traits::mcc_formattable<decltype(hw_err)>) {
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logError(std::format("An hardware error occured: code = {}", hw_err));
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}
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res_err = MccSimpleSlewModelErrorCode::ERROR_HARDWARE_SETPOS;
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}
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return;
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}
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} else { // continue to slewing
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if (in_adj_mode) { // ?!!!!!!!!!!!!! slew again?!!!
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logWarn(std::format(
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"The slewing is in adjusting mode but computed target-to-mount coordinate difference "
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"'{}' is greater than limit '{}' for adjusting mode!",
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coord_diff.r2, adj_rad2));
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in_adj_mode = false;
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i_adj_cycle = 0;
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i_in_tol_cycle = 0;
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// compute_new_coord(t_data, ax_pos);
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adj_ax_pos.time_point = t_data.time_point;
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adj_ax_pos.x += coord_diff.xdiff;
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adj_ax_pos.y += coord_diff.ydiff;
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ax_pos.time_point = t_data.time_point;
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ax_pos.x = adj_ax_pos.x;
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ax_pos.y = adj_ax_pos.y;
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// send command for slewing
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typename hardware_t::error_t hw_err = p_hardware->setPos(ax_pos);
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if (hw_err) {
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if constexpr (std::same_as<decltype(hw_err), error_t>) {
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logError(std::format("An hardware error occured: code = {} ({})", hw_err.value(),
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hw_err.message()));
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return hw_err;
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} else {
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if constexpr (traits::mcc_formattable<decltype(hw_err)>) {
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logError(std::format("An hardware error occured: code = {}", hw_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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}
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}
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};
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auto start_poll_tm = std::chrono::steady_clock::now();
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// NOTE: TARGET COORDINATES WILL BE UPDATED FOR CURRENT TIME-POINT IN TELEMETRY-CLASS!!!
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while (true) {
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t_err = p_telemetry->waitForUpdatedData(t_data, slew_point.telemetryUpdateTimeout);
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if (t_err) {
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std::string err_str = "An error occured while waiting for updated telemetry";
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if constexpr (std::same_as<decltype(t_err), error_t>) {
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std::format_to(std::back_inserter(err_str), ": code = {} ({})", t_err.value(), t_err.message());
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logError(err_str);
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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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std::format_to(std::back_inserter(err_str), ": code = {}", t_err.value());
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}
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logError(err_str);
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return MccSimpleSlewModelErrorCode::ERROR_TELEMETRY_DATA;
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}
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}
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cycle_func(t_data);
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if (res_err) {
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return res_err;
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}
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if ((std::chrono::steady_clock::now() - start_poll_tm) > slew_point.slewTimeout) {
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logError("Waiting time for completion of slewing expired!");
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return MccSimpleSlewModelErrorCode::ERROR_SLEW_TIMEOUT;
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}
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}
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return MccSimpleSlewModelErrorCode::ERROR_OK;
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};
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}
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};
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static_assert(std::movable<MccSimpleSlewModel<>>);
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} // namespace mcc
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