timur/ASIBFM700
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

...

Browse Source
This commit is contained in:
Timur A. Fatkhullin
2026-05-21 18:27:15 +03:00
parent 9e43516657
commit 2c6554883b
2 changed files with 154 additions and 55 deletions
Download Patch File Download Diff File Expand all files Collapse all files

205
asibfm700_config.h
View File

@@ -36,15 +36,15 @@ static auto Asibfm700MountConfigurationDefaults = std::make_tuple(
/* geographic coordinates of the observation site */
make_config_record("siteLatitude", mcc::impl::MccAngle(SAORAS_LATITUDE), {"site latitude in degrees"}),
make_config_record("siteLongitude", mcc::impl::MccAngle(SAORAS_LONGITUDE), {"site longitude in degrees"}),
make_config_record("siteElevation", 2070.0, {"site elevation in meters"}),
make_config_record("siteLatitude", mcc::impl::MccAngle(SAORAS_LATITUDE), {" site latitude in degrees"}),
make_config_record("siteLongitude", mcc::impl::MccAngle(SAORAS_LONGITUDE), {" site longitude in degrees"}),
make_config_record("siteElevation", 2070.0, {" site elevation in meters"}),
/* celestial coordinate transformation */
make_config_record("refractWavelength", 0.55, {"wavelength at which refraction is calculated (in mkm)"}),
make_config_record("leapSecondFilename", std::string(), {"an empty filename means default precompiled string"}),
make_config_record("bulletinAFilename", std::string(), {"an empty filename means default precompiled string"}),
make_config_record("refractWavelength", 0.55, {" wavelength at which refraction is calculated (in mkm)"}),
make_config_record("leapSecondFilename", std::string(), {" an empty filename means default precompiled string"}),
make_config_record("bulletinAFilename", std::string(), {" an empty filename means default precompiled string"}),
/* pointing correction model */
@@ -52,14 +52,14 @@ static auto Asibfm700MountConfigurationDefaults = std::make_tuple(
make_config_record(
"pcmType",
mcc::impl::MccDefaultPCMType::PCM_TYPE_GEOMETRY,
{"PCM type:", "a case-sensetive string:", " GEOMETRY - 'classic' geometry-based correction coefficients",
" GEOMETRY-BSPLINE - previous one and additional 2D B-spline corrections",
" BSPLINE - pure 2D B-spline corrections"}),
{" PCM type:", " a case-sensetive string:", " GEOMETRY - 'classic' geometry-based correction coefficients",
" GEOMETRY-BSPLINE - previous one and additional 2D B-spline corrections",
" BSPLINE - pure 2D B-spline corrections"}),
// PCM geometrical coefficients
make_config_record("pcmGeomCoeffs",
std::vector<double>{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
{"PCM geometrical coefficients"}),
{" PCM geometrical coefficients"}),
// make_config_record("pcmBsplineDegree", std::vector<size_t>{3, 3}, {"PCM B-spline degrees"}),
@@ -68,9 +68,9 @@ static auto Asibfm700MountConfigurationDefaults = std::make_tuple(
// Thus the array length must be equal to or greater than 2!
make_config_record("pcmBsplineXknots",
mcc::impl::mccGenerateBsplineKnots(0.0, 360.0_degs, 8),
{"PCM B-spline knots along X-axis (HA-angle or azimuth). By default from 0 to 2*PI radians",
"NOTE: The first and last values are interpretated as border knots!!!",
" Thus the array length must be equal to or greater than 2!"}),
{" PCM B-spline knots along X-axis (HA-angle or azimuth). By default from 0 to 2*PI radians",
" NOTE: The first and last values are interpretated as border knots!!!",
" Thus the array length must be equal to or greater than 2!"}),
// PCM B-spline knots along Y-axis (declination or zenithal distance).
// By default from -SAORAS-latitude to PI/2 radians
@@ -79,27 +79,29 @@ static auto Asibfm700MountConfigurationDefaults = std::make_tuple(
make_config_record(
"pcmBsplineYknots",
mcc::impl::mccGenerateBsplineKnots(-SAORAS_LATITUDE, 90.0_degs, 8),
{"PCM B-spline knots along Y-axis (declination or zenithal distance). By default from -PI/6 to PI/2 radians",
"NOTE: The first and last values are interpretated as border knots!!!",
" Thus the array length must be equal to or greater than 2!"}),
{" PCM B-spline knots along Y-axis (declination or zenithal distance). By default from -PI/6 to PI/2 radians",
" NOTE: The first and last values are interpretated as border knots!!!",
" Thus the array length must be equal to or greater than 2!"}),
// PCM B-spline coeffs for along X-axis (HA-angle or azimuth)
make_config_record("pcmBsplineXcoeffs", std::vector<double>{}, {"PCM B-spline coeffs for along X-axis (HA-angle)"}),
make_config_record("pcmBsplineXcoeffs",
std::vector<double>{},
{" PCM B-spline coeffs for along X-axis (HA-angle)"}),
// PCM B-spline coeffs for along Y-axis (declination or zenithal distance)
make_config_record("pcmBsplineYcoeffs",
std::vector<double>{},
{"PCM B-spline coeffs for along Y-axis (declination angle)"}),
{" PCM B-spline coeffs for along Y-axis (declination angle)"}),
// inverse PCM B-spline coeffs for along X-axis (HA-angle or azimuth)
make_config_record("pcmInverseBsplineXcoeffs",
std::vector<double>{},
{"Inverse PCM B-spline coeffs for along X-axis (HA-angle)"}),
{" Inverse PCM B-spline coeffs for along X-axis (HA-angle)"}),
// inverse PCM B-spline coeffs for along Y-axis (declination or zenithal distance)
make_config_record("pcmInverseBsplineYcoeffs",
std::vector<double>{},
{"Inverse PCM B-spline coeffs for along Y-axis (declination angle)"}),
{" Inverse PCM B-spline coeffs for along Y-axis (declination angle)"}),
/* prohibited zones */
@@ -107,116 +109,168 @@ static auto Asibfm700MountConfigurationDefaults = std::make_tuple(
// minimal altitude (default: 10.0 degrees and SAO RAS latitude)
make_config_record("altLimPZ",
mcc::impl::MccAltLimitPZ<mcc::impl::MccAltLimitKind::MIN_ALT_LIMIT>{10.0_degs, SAORAS_LATITUDE},
{"minimal altitude prohibited zone"}),
{" minimal altitude prohibited zone"}),
// HA-axis limit switch
make_config_record(
"axisLimitSwitchHA",
mcc::impl::MccAxisLimitSwitchPZ<mcc::impl::MccCoordKind::COORDS_KIND_HA_OBS>{-170.0_degs, 170.0_degs, nullptr},
{"HA-axis limit switch stop angles"}),
{" HA-axis limit switch stop angles"}),
// DEC-axis limit switch
make_config_record(
"axisLimitSwitchDEC",
mcc::impl::MccAxisLimitSwitchPZ<mcc::impl::MccCoordKind::COORDS_KIND_DEC_OBS>{-90.0_degs, 90.0_degs, nullptr},
{"DEC-axis limit switch stop angles"}),
{" DEC-axis limit switch stop angles"}),
/* hardware-related */
// hardware mode: 1 - model mode, otherwise real mode
make_config_record("RunModel", 0, {"hardware mode: 1 - model mode, otherwise real mode"}),
make_config_record("RunModel", 0, {" hardware mode: 1 - model mode, otherwise real mode"}),
// mount serial device paths
make_config_record("MountDevPath", std::string("/dev/ttyUSB0"), {"mount serial device paths"}),
make_config_record("MountDevPath", std::string("/dev/ttyUSB0"), {" mount serial device paths"}),
// mount serial device speed
make_config_record("MountDevSpeed", 19200, {"mount serial device speed"}),
make_config_record("MountDevSpeed", 19200, {" mount serial device speed"}),
// motor encoders serial device path
make_config_record("EncoderDevPath", std::string(""), {"motor encoders serial device path"}),
make_config_record("EncoderDevPath", std::string(""), {" motor encoders serial device path"}),
// X-axis encoder serial device path
make_config_record("EncoderXDevPath", std::string("/dev/encoder_X0"), {"X-axis encoder serial device path"}),
make_config_record("EncoderXDevPath", std::string("/dev/encoder_X0"), {" X-axis encoder serial device path"}),
// Y-axis encoder serial device path
make_config_record("EncoderYDevPath", std::string("/dev/encoder_Y0"), {"Y-axis encoder serial device path"}),
make_config_record("EncoderYDevPath", std::string("/dev/encoder_Y0"), {" Y-axis encoder serial device path"}),
// encoders serial device speed
make_config_record("EncoderDevSpeed", 153000, {"encoders serial device speed"}),
make_config_record("EncoderDevSpeed", 153000, {" encoders serial device speed"}),
// ==1 if encoder works as separate serial device, ==2 if there's new version with two devices
make_config_record("SepEncoder",
2,
{"==1 if encoder works as separate serial device, ==2 if there's new version with two devices"}),
make_config_record(
"SepEncoder",
2,
{" ==1 if encoder works as separate serial device, ==2 if there's new version with two devices"}),
// mount polling interval in millisecs
make_config_record("MountReqInterval", std::chrono::milliseconds(100), {"mount polling interval in millisecs"}),
make_config_record("MountReqInterval", std::chrono::milliseconds(100), {" mount polling interval in millisecs"}),
// encoders polling interval in millisecs
make_config_record("EncoderReqInterval", std::chrono::milliseconds(1), {"encoders polling interval in millisecs"}),
make_config_record("EncoderReqInterval", std::chrono::milliseconds(1), {" encoders polling interval in millisecs"}),
// mount axes rate calculation interval in millisecs
make_config_record("EncoderSpeedInterval",
std::chrono::milliseconds(50),
{"mount axes rate calculation interval in millisecs"}),
{" mount axes rate calculation interval in millisecs"}),
make_config_record("PIDMaxDt",
std::chrono::milliseconds(1000),
{"maximal PID refresh time interval in millisecs",
"NOTE: if PID data will be refreshed with interval longer than this value (e.g. user polls "
"encoder data too rarely)",
"then the PID 'expired' data will be cleared and new computing loop is started"}),
{" maximal PID refresh time interval in millisecs",
" NOTE: if PID data will be refreshed with interval longer than this value (e.g. user polls "
" encoder data too rarely)",
" then the PID 'expired' data will be cleared and new computing loop is started"}),
make_config_record("PIDRefreshDt", std::chrono::milliseconds(100), {"PID refresh interval"}),
make_config_record("PIDRefreshDt", std::chrono::milliseconds(100), {" PID refresh interval"}),
make_config_record("PIDCycleDt",
std::chrono::milliseconds(5000),
{"PID I cycle time (analog of 'RC' for PID on opamps)"}),
{" PID I cycle time (analog of 'RC' for PID on opamps)"}),
// X-axis coordinate PID P,I,D-params
make_config_record("XPIDC", std::vector<double>{0.5, 0.1, 0.2}, {"X-axis coordinate PID P,I,D-params"}),
// // X-axis coordinate PID P,I,D-params
// make_config_record("XPIDC", std::vector<double>{0.5, 0.1, 0.2}, {" X-axis coordinate PID P,I,D-params"}),
// X-axis rate PID P,I,D-params
make_config_record("XPIDV", std::vector<double>{0.09, 0.0, 0.05}, {"X-axis rate PID P,I,D-params"}),
make_config_record("XPIDV", std::vector<double>{0.09, 0.0, 0.05}, {" X-axis rate PID P,I,D-params"}),
// Y-axis coordinate PID P, I, D-params
make_config_record("YPIDC", std::vector<double>{0.5, 0.1, 0.2}, {"Y-axis coordinate PID P, I, D-params"}),
// // Y-axis coordinate PID P, I, D-params
// make_config_record("YPIDC", std::vector<double>{0.5, 0.1, 0.2}, {" Y-axis coordinate PID P, I, D-params"}),
// Y-axis rate PID P,I,D-params
make_config_record("YPIDV", std::vector<double>{0.09, 0.0, 0.05}, {"Y-axis rate PID P,I,D-params"}),
make_config_record("YPIDV", std::vector<double>{0.09, 0.0, 0.05}, {" Y-axis rate PID P,I,D-params"}),
// maximal moving rate (degrees per second) along HA-axis (Y-axis of Sidereal servo microcontroller)
make_config_record(
"hwMaxRateHA",
mcc::impl::MccAngle(8.0_degs),
{"maximal moving rate (degrees per second) along HA-axis (Y-axis of Sidereal servo microcontroller)"}),
{" maximal moving rate (degrees per second) along HA-axis (Y-axis of Sidereal servo microcontroller)"}),
// maximal moving rate (degrees per second) along DEC-axis (X-axis of Sidereal servo microcontroller)
make_config_record(
"hwMaxRateDEC",
mcc::impl::MccAngle(10.0_degs),
{"maximal moving rate (degrees per second) along DEC-axis (X-axis of Sidereal servo microcontroller)"}),
{" maximal moving rate (degrees per second) along DEC-axis (X-axis of Sidereal servo microcontroller)"}),
make_config_record("MaxPointingErr",
mcc::impl::MccAngle(8.0_degs),
{"slewing-to-pointing mode angular limit in degrees"}),
{" slewing-to-pointing mode angular limit in degrees"}),
make_config_record("MaxFinePointingErr",
mcc::impl::MccAngle(1.5_degs),
{"pointing-to-guiding mode angular limit in degrees"}),
{" pointing-to-guiding mode angular limit in degrees"}),
make_config_record("MaxGuidingErr",
mcc::impl::MccAngle(0.5_arcsecs),
{"guiding 'good'-flag error cirle radius (mount-to-target distance) in degrees"}),
{" guiding 'good'-flag error cirle radius (mount-to-target distance) in degrees"}),
make_config_record("XEncZero", (int64_t)0, {"X-axis encoder zero-point in ticks"}),
make_config_record("XEncZero", (int64_t)0, {" X-axis encoder zero-point in ticks"}),
make_config_record("YEncZero", (int64_t)0, {" Y-axis encoder zero-point in ticks"}),
/* movement related common parameters */
// timeout for telemetry updating in milliseconds
make_config_record("telemetryTimeout",
std::chrono::milliseconds(3000),
{" timeout for telemetry updating in milliseconds"}),
// mount stopping process timeout in seconds
make_config_record("stopTimeout", std::chrono::seconds(30), {" mount stopping process timeout in seconds"}),
// minimal allowed time in seconds to prohibited zone
make_config_record("minTimeToPZone",
std::chrono::seconds(10),
{" minimal allowed time in seconds to prohibited zone"}),
/* slewing and tracking parameters */
// telemetry request interval (in millisecs) in slewing mode
make_config_record("slewingTelemetryInterval",
std::chrono::milliseconds(100),
{" telemetry request interval (in millisecs) in slewing mode"}),
// slew process timeout in seconds
make_config_record("slewTimeout", std::chrono::seconds(3600), {" slew process timeout in seconds"}),
// slewing trajectory filename (used for debugging purposes)
// if it is an empty - just skip saving
make_config_record("slewingPathFilename",
std::string(),
{" slewing trajectory filename", "if it is an empty - just skip saving"}),
make_config_record("trackingTelemetryInterval",
std::chrono::milliseconds(100),
{" telemetry request interval (in millisecs) in tracking mode"}),
// maximal valid target-to-mount distance for tracking process (arcsecs)
// if current distance is greater than assume current mount coordinate as target point
make_config_record("trackingMaxCoordDiff",
20.0,
{" maximal valid target-to-mount distance for tracking process (arcsecs)",
" if current distance is greater than assume current mount coordinate as target point"}),
make_config_record("trackingPathFilename",
std::string(),
{" tracking trajectory filename", "if it is an empty - just skip saving"})
make_config_record("YEncZero", (int64_t)0, {"Y-axis encoder zero-point in ticks"})
);
@@ -403,6 +457,47 @@ public:
return save(_lastConfigPath);
}
std::error_code dumpDefaultsToFile(const std::filesystem::path& path)
{
std::error_code ec{};
std::string output_buffer;
auto write_rec = [&output_buffer, &ec, this]<size_t I = 0>(this auto& self) {
if constexpr (I < NUMBER_OF_RECORDS) {
// add an empty string within records
std::format_to(std::back_inserter(output_buffer), "{}", DEFAULT_RECORD_DELIMITER);
ec = formatRecord<I>(output_buffer, DEFAULT_RECORD_DELIMITER, true);
if (ec) {
return;
}
self.template operator()<I + 1>();
}
};
write_rec();
if (!ec) {
std::ofstream fst(path, std::ios_base::trunc);
if (!fst.is_open()) {
ec = std::make_error_code(std::errc::io_error);
} else {
try {
fst << generateHeader();
fst << output_buffer;
} catch (std::ios_base::failure const& ex) {
ec = ex.code();
} catch (...) {
ec = std::make_error_code(std::errc::operation_canceled);
}
}
}
return ec;
}
std::filesystem::path configFilename() const
{
return _lastConfigPath;

4
asibfm700_pcm_fit.cpp
View File

@@ -8,6 +8,7 @@
#include <mcc/mcc_coordinate.h>
#include <mcc/mcc_pcm_fit.h>
#include "asibfm700_config.h"
#include "asibfm700_configfile.h"
// static constexpr mcc::MccMountType MOUNT_TYPE{mcc::MccMountType::CROSSAXIS_TYPE};
@@ -37,6 +38,9 @@ int main(int argc, char* argv[])
mcc::impl::MccPCMFitter<asibfm700::asibfm700MountType>::compute_params_t comp_pars;
asibfm700::Asibfm700MountConfig mount_cfg;
asibfm700::Asibfm700MountConfiguration cfg;
cfg.dumpDefaultsToFile("eecc.cfg");
try {
auto opt_result = options.parse(argc, argv);