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This commit is contained in:
Timur A. Fatkhullin
2026-03-02 19:12:02 +03:00
parent 9f4bae7f95
commit 296f8e3b03
2 changed files with 20 additions and 8 deletions
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14
asibfm700_mount.cpp
View File

@@ -2,6 +2,7 @@
#include <mcc/mcc_coordinate.h> #include <mcc/mcc_coordinate.h>
#include <mcc/mcc_pzone.h> #include <mcc/mcc_pzone.h>
#include "mcc/mcc_serializer.h"
namespace asibfm700 namespace asibfm700
{ {
@@ -363,8 +364,10 @@ Asibfm700Mount::error_t Asibfm700Mount::sendToHardware(AsibFM700ServoController:
{ {
auto tp = std::chrono::duration_cast<std::chrono::milliseconds>(hw_state.XY.epoch().UTC().time_since_epoch()); auto tp = std::chrono::duration_cast<std::chrono::milliseconds>(hw_state.XY.epoch().UTC().time_since_epoch());
logDebug("Send to hardware: X = {} degs, Y = {} degs (timepoint: {})", hw_state.XY.x().degrees(), logDebug("Send to hardware: X = {} degs, Y = {} degs, sX = {}/s, sY = {}/s, STATE = {} (timepoint: {})",
hw_state.XY.y().degrees(), tp); hw_state.XY.x().degrees(), hw_state.XY.y().degrees(),
mcc::impl::MccAngleFancyString(hw_state.speedXY.x().degrees()),
mcc::impl::MccAngleFancyString(hw_state.speedXY.y().degrees()), hw_state.movementState, tp);
*_lastMountError = _servolController.hardwareSetState(hw_state); *_lastMountError = _servolController.hardwareSetState(hw_state);
@@ -799,6 +802,11 @@ Asibfm700Mount::error_t Asibfm700Mount::trackingImpl()
setPointingTarget(tdata.mountPos); setPointingTarget(tdata.mountPos);
std::string s;
mcc::impl::MccSerializer<mcc::impl::MccSkyPoint> ser;
ser(s, tdata.mountPos);
logTrace("The target point is set to {}", s);
*_lastMountError = telemetryData(&tdata); *_lastMountError = telemetryData(&tdata);
if (_lastMountError->load()) { if (_lastMountError->load()) {
@@ -824,6 +832,8 @@ Asibfm700Mount::error_t Asibfm700Mount::trackingImpl()
hw_state.movementState = hardware_t::hardware_movement_state_t::HW_MOVE_TRACKING; hw_state.movementState = hardware_t::hardware_movement_state_t::HW_MOVE_TRACKING;
logTrace("Start main tracking cycle ...");
while (!_stopMovementRequest->load()) { while (!_stopMovementRequest->load()) {
*_lastMountError = telemetryData(&tdata); *_lastMountError = telemetryData(&tdata);

14
asibfm700_servocontroller.h
View File

@@ -148,12 +148,14 @@ struct std::formatter<asibfm700::AsibFM700ServoController::hardware_movement_sta
auto format(asibfm700::AsibFM700ServoController::hardware_movement_state_t e, auto& ctx) const auto format(asibfm700::AsibFM700ServoController::hardware_movement_state_t e, auto& ctx) const
{ {
return formatter<std::string_view>::format( return formatter<std::string_view>::format(
e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_ERROR ? "ERROR" e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_ERROR ? "ERROR"
: e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_STOPPED ? "STOPPED" : e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_STOPPED ? "STOPPED"
: e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_STOPPING ? "STOPPING" : e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_STOPPING ? "STOPPING"
: e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_SLEWING ? "SLEWING" : e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_SLEWING ? "SLEWING"
: e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_TRACKING ? "TRACKING" : e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_ADJUSTING ? "ADJUSTING"
: "UNKNOWN", : e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_TRACKING ? "TRACKING"
: e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_GUIDING ? "GUIDING"
: "UNKNOWN",
ctx); ctx);
} }
}; };