...

asibfm700_config.h

@@ -7,6 +7,9 @@
 #include <mcc/mcc_pcm.h>
 #include "mcc/mcc_pzone.h"
 
+#include "asibfm700_common.h"
+#include "asibfm700_servocontroller.h"
+
 namespace asibfm700
 {
 
@@ -29,7 +32,7 @@ static config_record_t<T> make_config_record(
     std::string_view icomm = {},
     mcc::impl::mcc_serialization_params_t const& spars = mcc::impl::mcc_serialization_params_t{})
 {
-    return config_record_t<T>{key, value, value, spars, hcomm, icomm};
+    return config_record_t<T>{{key, value, value, spars}, hcomm, icomm};
 }
 
 
@@ -463,6 +466,296 @@ public:
         return _lastConfigPath;
     }
 
+
+    /*  some most often used quantities  */
+
+    template <mcc::mcc_angle_c T>
+    T siteLatitude() const
+    {
+        return static_cast<double>(getValue<mcc::impl::MccAngle>("siteLatitude").value_or(mcc::impl::MccAngle{}));
+    };
+
+    mcc::impl::MccAngle siteLatitude() const
+    {
+        return siteLatitude<mcc::impl::MccAngle>();
+    };
+
+    template <mcc::mcc_angle_c T>
+    T siteLongitude() const
+    {
+        return static_cast<double>(getValue<mcc::impl::MccAngle>("siteLongitude").value_or(mcc::impl::MccAngle{}));
+    };
+
+    mcc::impl::MccAngle siteLongitude() const
+    {
+        return siteLongitude<mcc::impl::MccAngle>();
+    };
+
+    template <typename T>
+    T siteElevation() const
+        requires std::is_arithmetic_v<T>
+    {
+        return getValue<double>("siteElevation").value_or(0.0);
+    }
+
+    double siteElevation() const
+    {
+        return getValue<double>("siteElevation").value_or(0.0);
+    };
+
+    template <typename T>
+    T refractWavelength() const
+        requires std::is_arithmetic_v<T>
+    {
+        return getValue<double>("refractWavelength").value_or(0.0);
+    }
+
+    double refractWavelength() const
+    {
+        return getValue<double>("refractWavelength").value_or(0.0);
+    };
+
+    template <mcc::traits::mcc_output_char_range R>
+    R leapSecondFilename() const
+    {
+        R r;
+
+        std::string val = getValue<std::string>("leapSecondFilename").value_or("");
+        std::ranges::copy(val, std::back_inserter(r));
+
+        return r;
+    }
+
+    std::string leapSecondFilename() const
+    {
+        return leapSecondFilename<std::string>();
+    };
+
+    template <mcc::traits::mcc_output_char_range R>
+    R bulletinAFilename() const
+    {
+        R r;
+        std::string val = getValue<std::string>("bulletinAFilename").value_or("");
+        std::ranges::copy(val, std::back_inserter(r));
+
+        return r;
+    }
+
+    std::string bulletinAFilename() const
+    {
+        return bulletinAFilename<std::string>();
+    };
+
+    AsibFM700ServoController::hardware_config_t servoControllerConfig() const
+    {
+        AsibFM700ServoController::hardware_config_t hw_cfg;
+
+        hw_cfg.hwConfig = {};
+
+        hw_cfg.MountDevPath = getValue<std::string>("MountDevPath").value_or(std::string{});
+        hw_cfg.EncoderDevPath = getValue<std::string>("EncoderDevPath").value_or(std::string{});
+        hw_cfg.EncoderXDevPath = getValue<std::string>("EncoderXDevPath").value_or(std::string{});
+        hw_cfg.EncoderYDevPath = getValue<std::string>("EncoderYDevPath").value_or(std::string{});
+
+        hw_cfg.devConfig.MountDevPath = hw_cfg.MountDevPath.data();
+        hw_cfg.devConfig.EncoderDevPath = hw_cfg.EncoderDevPath.data();
+        hw_cfg.devConfig.EncoderXDevPath = hw_cfg.EncoderXDevPath.data();
+        hw_cfg.devConfig.EncoderYDevPath = hw_cfg.EncoderYDevPath.data();
+
+        hw_cfg.devConfig.RunModel = getValue<int>("RunModel").value_or(int{});
+        hw_cfg.devConfig.MountDevSpeed = getValue<int>("MountDevSpeed").value_or(int{});
+        hw_cfg.devConfig.EncoderDevSpeed = getValue<int>("EncoderDevSpeed").value_or(int{});
+        hw_cfg.devConfig.SepEncoder = getValue<int>("SepEncoder").value_or(int{});
+
+        std::chrono::duration<double> secs;  // seconds as floating-point
+
+        secs = getValue<std::chrono::milliseconds>("MountReqInterval").value_or(std::chrono::milliseconds{});
+        hw_cfg.devConfig.MountReqInterval = secs.count();
+
+        secs = getValue<std::chrono::milliseconds>("EncoderReqInterval").value_or(std::chrono::milliseconds{});
+        hw_cfg.devConfig.EncoderReqInterval = secs.count();
+
+        secs = getValue<std::chrono::milliseconds>("EncoderSpeedInterval").value_or(std::chrono::milliseconds{});
+        hw_cfg.devConfig.EncoderSpeedInterval = secs.count();
+
+        secs = getValue<std::chrono::milliseconds>("PIDMaxDt").value_or(std::chrono::milliseconds{1000});
+        hw_cfg.devConfig.PIDMaxDt = secs.count();
+
+        secs = getValue<std::chrono::milliseconds>("PIDRefreshDt").value_or(std::chrono::milliseconds{100});
+        hw_cfg.devConfig.PIDRefreshDt = secs.count();
+
+        secs = getValue<std::chrono::milliseconds>("PIDCycleDt").value_or(std::chrono::milliseconds{5000});
+        hw_cfg.devConfig.PIDCycleDt = secs.count();
+
+
+        std::vector<double> pid = getValue<std::vector<double>>("XPIDV").value_or(std::vector<double>{});
+        if (pid.size() > 2) {
+            hw_cfg.devConfig.XPIDV.P = pid[0];
+            hw_cfg.devConfig.XPIDV.I = pid[1];
+            hw_cfg.devConfig.XPIDV.D = pid[2];
+        }
+
+        pid = getValue<std::vector<double>>("YPIDV").value_or(std::vector<double>{});
+        if (pid.size() > 2) {
+            hw_cfg.devConfig.YPIDV.P = pid[0];
+            hw_cfg.devConfig.YPIDV.I = pid[1];
+            hw_cfg.devConfig.YPIDV.D = pid[2];
+        }
+
+        double ang = getValue<mcc::impl::MccAngle>("MaxPointingErr").value_or(mcc::impl::MccAngle(8.0_degs));
+        hw_cfg.devConfig.MaxPointingErr = ang;
+
+        ang = getValue<mcc::impl::MccAngle>("MaxFinePointingErr").value_or(mcc::impl::MccAngle(1.5_degs));
+        hw_cfg.devConfig.MaxFinePointingErr = ang;
+
+        ang = getValue<mcc::impl::MccAngle>("MaxGuidingErr").value_or(mcc::impl::MccAngle(0.5_arcsecs));
+        hw_cfg.devConfig.MaxGuidingErr = ang;
+
+        ang = getValue<int64_t>("XEncZero").value_or(0);
+        hw_cfg.devConfig.XEncZero = ang;
+
+
+        ang = getValue<int64_t>("YEncZero").value_or(0);
+        hw_cfg.devConfig.YEncZero = ang;
+
+
+
+        return hw_cfg;
+    }
+
+
+    Asibfm700PCM::pcm_data_t pcmData() const
+    {
+        Asibfm700PCM::pcm_data_t pcm_data;
+
+        std::vector<double> empty_vec;
+
+        pcm_data.type = getValue<decltype(pcm_data.type)>("pcmType").value_or(pcm_data.type);
+
+        pcm_data.siteLatitude = getValue<mcc::impl::MccAngle>("siteLatitude").value_or(pcm_data.siteLatitude);
+
+        std::vector<double> vec = getValue<std::vector<double>>("pcmGeomCoeffs").value_or(empty_vec);
+        if (vec.size() >= 9) {  // must be 9 coefficients
+            pcm_data.geomCoefficients = {.zeroPointX = vec[0],
+                                         .zeroPointY = vec[1],
+                                         .collimationErr = vec[2],
+                                         .nonperpendErr = vec[3],
+                                         .misalignErr1 = vec[4],
+                                         .misalignErr2 = vec[5],
+                                         .tubeFlexure = vec[6],
+                                         .DECaxisFlexure = vec[7],
+                                         .forkFlexure = vec[8]};
+        }
+
+#ifdef USE_BSPLINE_PCM
+        // std::vector<size_t> dd = getValue<decltype(dd)>("pcmBsplineDegree").value_or(dd);
+        // if (dd.size() >= 2) {
+        //     pcm_data.bspline.bsplDegreeX = dd[0] > 0 ? dd[0] : 3;
+        //     pcm_data.bspline.bsplDegreeY = dd[1] > 0 ? dd[1] : 3;
+        // }
+
+        vec = getValue<std::vector<double>>("pcmBsplineXknots").value_or(empty_vec);
+        // pid must contains interior and border (single point for each border) knots so minimal length must be 2
+        if (vec.size() >= 2) {
+            // generate full knots array (with border knots)
+            size_t Nknots = vec.size() + pcm_data.bspline.bsplDegreeX * 2 - 2;
+            pcm_data.bspline.knotsX.resize(Nknots);
+
+            for (size_t i = 0; i <= pcm_data.bspline.bsplDegreeX; ++i) {  // border knots
+                pcm_data.bspline.knotsX[i] = vec[0];
+                pcm_data.bspline.knotsX[Nknots - i - 1] = vec.back();
+            }
+            for (size_t i = 0; i < (vec.size() - 2); ++i) {  // interior knots
+                pcm_data.bspline.knotsX[i + pcm_data.bspline.bsplDegreeX] = vec[1 + i];
+            }
+        }
+
+        vec = getValue<std::vector<double>>("pcmBsplineYknots").value_or(empty_vec);
+        // pid must contains interior and border (single point for each border) knots so minimal length must be 2
+        if (vec.size() >= 2) {
+            // generate full knots array (with border knots)
+            size_t Nknots = vec.size() + pcm_data.bspline.bsplDegreeY * 2 - 2;
+            pcm_data.bspline.knotsY.resize(Nknots);
+
+            for (size_t i = 0; i <= pcm_data.bspline.bsplDegreeY; ++i) {  // border knots
+                pcm_data.bspline.knotsY[i] = vec[0];
+                pcm_data.bspline.knotsY[Nknots - i - 1] = vec.back();
+            }
+            for (size_t i = 0; i < (vec.size() - 2); ++i) {  // interior knots
+                pcm_data.bspline.knotsY[i + pcm_data.bspline.bsplDegreeY] = vec[1 + i];
+            }
+        }
+
+        // minimal allowed number of B-spline coefficients
+        size_t Ncoeffs = pcm_data.type == mcc::impl::MccDefaultPCMType::PCM_TYPE_GEOMETRY
+                             ? 0
+                             : (pcm_data.bspline.knotsX.size() - pcm_data.bspline.bsplDegreeX - 1) *
+                                   (pcm_data.bspline.knotsY.size() - pcm_data.bspline.bsplDegreeY - 1);
+
+        vec = getValue<std::vector<double>>("pcmBsplineXcoeffs").value_or(empty_vec);
+
+        if (vec.size() >= Ncoeffs) {
+            pcm_data.bspline.coeffsX.clear();
+            std::ranges::copy_n(vec.begin(), Ncoeffs, std::back_inserter(pcm_data.bspline.coeffsX));
+            // pcm_data.bspline.coeffsX.resize(Ncoeffs);
+            // for (size_t i = 0; i < Ncoeffs; ++i) {
+            //     pcm_data.bspline.coeffsX[i] = vec[i];
+            // }
+        }
+
+        vec = getValue<std::vector<double>>("pcmBsplineYcoeffs").value_or(empty_vec);
+
+        if (vec.size() >= Ncoeffs) {
+            pcm_data.bspline.coeffsY.clear();
+            std::ranges::copy_n(vec.begin(), Ncoeffs, std::back_inserter(pcm_data.bspline.coeffsY));
+            // pcm_data.bspline.coeffsY.resize(Ncoeffs);
+            // for (size_t i = 0; i < Ncoeffs; ++i) {
+            //     pcm_data.bspline.coeffsY[i] = vec[i];
+            // }
+        }
+
+        vec = getValue<std::vector<double>>("pcmInverseBsplineXcoeffs").value_or(empty_vec);
+
+        if (vec.size() >= Ncoeffs) {
+            pcm_data.bspline.inverseCoeffsX.clear();
+            std::ranges::copy_n(vec.begin(), Ncoeffs, std::back_inserter(pcm_data.bspline.inverseCoeffsX));
+        }
+
+        vec = getValue<std::vector<double>>("pcmInverseBsplineYcoeffs").value_or(empty_vec);
+
+        if (vec.size() >= Ncoeffs) {
+            pcm_data.bspline.inverseCoeffsY.clear();
+            std::ranges::copy_n(vec.begin(), Ncoeffs, std::back_inserter(pcm_data.bspline.inverseCoeffsY));
+        }
+#endif
+        return pcm_data;
+    }
+
+
+    mcc::impl::MccAltLimitPZ<mcc::impl::MccAltLimitKind::MIN_ALT_LIMIT> minAltPZone()
+    {
+        return getValue<mcc::impl::MccAltLimitPZ<mcc::impl::MccAltLimitKind::MIN_ALT_LIMIT>>("altLimPZ")
+            .value_or(mcc::impl::MccAltLimitPZ<mcc::impl::MccAltLimitKind::MIN_ALT_LIMIT>{10.0, SAORAS_LATITUDE});
+    }
+
+
+    mcc::impl::MccAxisLimitSwitchPZ<mcc::impl::MccCoordKind::COORDS_KIND_HA_OBS> axisLimitSwitchHA()
+    {
+        return getValue<mcc::impl::MccAxisLimitSwitchPZ<mcc::impl::MccCoordKind::COORDS_KIND_HA_OBS>>(
+                   "axisLimitSwitchHA")
+            .value_or(mcc::impl::MccAxisLimitSwitchPZ<mcc::impl::MccCoordKind::COORDS_KIND_HA_OBS>{
+                -170.0_degs, 170.0_degs, nullptr});
+    }
+
+    mcc::impl::MccAxisLimitSwitchPZ<mcc::impl::MccCoordKind::COORDS_KIND_DEC_OBS> axisLimitSwitchDEC()
+    {
+        return getValue<mcc::impl::MccAxisLimitSwitchPZ<mcc::impl::MccCoordKind::COORDS_KIND_DEC_OBS>>(
+                   "axisLimitSwitchDEC")
+            .value_or(mcc::impl::MccAxisLimitSwitchPZ<mcc::impl::MccCoordKind::COORDS_KIND_DEC_OBS>{
+                -90.0_degs, 90.0_degs, nullptr});
+    }
+
+
 private:
     std::filesystem::path _lastConfigPath{};