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This commit is contained in:
Timur A. Fatkhullin
2026-02-20 14:44:34 +03:00
parent 84e9b9a7ae
commit 19c5e17765
1 changed files with 19 additions and 24 deletions
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43
asibfm700_servocontroller.cpp
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@@ -104,8 +104,10 @@ AsibFM700ServoController::error_t AsibFM700ServoController::hardwareSetState(har
{ {
std::lock_guard lock{*_setStateMutex}; std::lock_guard lock{*_setStateMutex};
error_t err;
if (state.movementState == hardware_movement_state_t::HW_MOVE_STOPPING) { // stop! if (state.movementState == hardware_movement_state_t::HW_MOVE_STOPPING) { // stop!
error_t err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.stop()); err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.stop());
if (err) { if (err) {
return err; return err;
} }
@@ -136,37 +138,30 @@ AsibFM700ServoController::error_t AsibFM700ServoController::hardwareSetState(har
return err; return err;
} }
// static thread_local coordval_pair_t cvalpair{.X{0.0, 0.0}, .Y{0.0, 0.0}};
// static thread_local coordpair_t cpair{.X = 0.0, .Y = 0.0};
// cvalpair.X = {.val = state.Y, .t = tp};
// cvalpair.Y = {.val = state.X, .t = tp};
// cpair.X = state.tagY;
// cpair.Y = state.tagX;
// time point from sidservo library is 'double' number represented UNIXTIME with
// microseconds/nanoseconds precision
// double tp = std::chrono::duration<double>(state.time_point.time_since_epoch()).count();
// 2025-12-04: coordval_pair_t.X.t is now of type struct timespec
auto ns = std::chrono::duration_cast<std::chrono::nanoseconds>(state.XY.epoch().UTC().time_since_epoch()); auto ns = std::chrono::duration_cast<std::chrono::nanoseconds>(state.XY.epoch().UTC().time_since_epoch());
auto secs = std::chrono::floor<std::chrono::seconds>(ns); auto secs = std::chrono::floor<std::chrono::seconds>(ns);
ns -= secs; ns -= secs;
std::timespec tp{.tv_sec = secs.count(), .tv_nsec = ns.count()}; std::timespec tp{.tv_sec = secs.count(), .tv_nsec = ns.count()};
// according to"SiTech protocol notes" X is DEC-axis and Y is HA-axis
coordval_pair_t cvalpair{.X{.val = state.XY.y(), .t = tp}, .Y{.val = state.XY.x(), .t = tp}};
coordpair_t cp{.X = state.XY.y(), .Y = state.XY.x()}; if (state.movementState == hardware_movement_state_t::HW_MOVE_SLEWING) {
// according to"SiTech protocol notes" X is DEC-axis and Y is HA-axis
coordpair_t cp{.X = state.XY.y(), .Y = state.XY.x()};
// correctTo is asynchronous function!!! err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.moveTo(&cp));
// } else if (state.movementState == hardware_movement_state_t::HW_MOVE_ADJUSTING ||
// according to the Eddy's implementation of the LibSidServo library it is safe state.movementState == hardware_movement_state_t::HW_MOVE_TRACKING ||
// to pass the addresses of 'cvalpair' and 'cpair' automatic variables state.movementState == hardware_movement_state_t::HW_MOVE_GUIDING) {
auto err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.moveTo(&cp)); // according to"SiTech protocol notes" X is DEC-axis and Y is HA-axis
// auto err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.correctTo(&cvalpair)); coordval_pair_t cvalpair{.X{.val = state.XY.y(), .t = tp}, .Y{.val = state.XY.x(), .t = tp}};
// correctTo is asynchronous function!!!
//
// according to the Eddy's implementation of the LibSidServo library it is safe
// to pass the addresses of 'cvalpair' and 'cpair' automatic variables
err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.correctTo(&cvalpair));
}
return err; return err;
} }