...

LibSidServo/main.c

@@ -47,10 +47,10 @@ static movemodel_t *Xmodel, *Ymodel;
 // accelerations: xa=12.6 deg/s^2, ya= 9.5 deg/s^2
 limits_t
     Xlimits = {
-        .min = {.coord = -3.1241, .speed = 1e-10, .accel = 1e-6},
+        .min = {.coord = -3.1241, .speed = -1e-10, .accel = 1e-6},
         .max = {.coord = 3.1241, .speed = 0.174533, .accel = 0.219911}},
     Ylimits = {
-        .min = {.coord = -3.1241, .speed = 1e-10, .accel = 1e-6},
+        .min = {.coord = -3.1241, .speed = -1e-10, .accel = 1e-6},
         .max = {.coord = 3.1241, .speed = 0.139626, .accel = 0.165806}}
 ;
 static mcc_errcodes_t shortcmd(short_command_t *cmd);
@@ -93,7 +93,7 @@ static int initstarttime(){
 // return difference (in seconds) between time1 and time0
 double timediff(const struct timespec *time1, const struct timespec *time0){
     if(!time1 || !time0) return -1.;
-    return (time1->tv_sec - time0->tv_sec) + (time1->tv_nsec - time0->tv_nsec) / 1e9;
+    return (double)(time1->tv_sec - time0->tv_sec) + (double)(time1->tv_nsec - time0->tv_nsec) / 1e9;
 }
 // difference between given time and  last initstarttime() call
 double timediff0(const struct timespec *time1){
@@ -319,8 +319,8 @@ static mcc_errcodes_t setspeed(const coordpair_t *tagspeed){
  */
 static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed){
     if(!target || !speed) return MCC_E_BADFORMAT;
-    if(!chkX(target->X) || !chkY(target->Y)) return MCC_E_BADFORMAT;
+    // if(!chkX(target->X) || !chkY(target->Y)) return MCC_E_BADFORMAT;
-    if(!chkXs(speed->X) || !chkYs(speed->Y)) return MCC_E_BADFORMAT;
+    // if(!chkXs(speed->X) || !chkYs(speed->Y)) return MCC_E_BADFORMAT;
     // updateMotorPos() here can make a problem; TODO: remove?
     if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
     short_command_t cmd = {0};

asibfm700_mount.cpp

@@ -475,6 +475,10 @@ Asibfm700Mount::error_t Asibfm700Mount::slewingImpl(bool slew_and_stop)
     _enteredBackupCoordinates = getPointingTarget();
 
     typename telemetry_t::telemetry_data_t tdata;
+    mcc::impl::MccSkyPoint start_target;
+    mcc::impl::MccSkyHADEC_OBS init_target;
+    decltype(tdata.targetXY) start_targetXY;
+
     *_lastMountError = telemetryData(&tdata);
     if (_lastMountError->load()) {
         errorLogging("An error occured while telemetry requesting: ", _lastMountError->load());
@@ -486,6 +490,18 @@ Asibfm700Mount::error_t Asibfm700Mount::slewingImpl(bool slew_and_stop)
         return _lastMountError->load();
     }
 
+    if (slew_and_stop) {
+        // store initial target coordinates in the "slew-and-stop" mode
+        // and use it below!
+        start_target = tdata.targetPos;
+
+        init_target.setX(tdata.targetPos.co_lon());
+        init_target.setY(tdata.targetPos.co_lat());
+
+        start_targetXY = tdata.targetXY;
+    }
+
+
     logInfo("Start slewing in mode '{}'", slew_and_stop ? "SLEW-AND-STOP" : "SLEW-AND-TRACK");
     logInfo("    slewing process timeout: {} secs", _currentMovementParams.slewTimeout.count());
     logInfo("    slewing tolerance radius: {} arcsecs",
@@ -544,6 +560,11 @@ Asibfm700Mount::error_t Asibfm700Mount::slewingImpl(bool slew_and_stop)
     mcc::impl::MccSkyPoint::dist_result_t dist;
 
     while (!_stopMovementRequest->load()) {
+        if ((std::chrono::steady_clock::now() - start_point) > getMovementParams().slewTimeout) {
+            *_lastMountError = mcc::impl::MccGenericMovementControlsErrorCode::ERROR_SLEW_TIMEOUT;
+            break;
+        }
+
         *_lastMountError = telemetryData(&tdata);
 
         if (_lastMountError->load()) {
@@ -552,10 +573,37 @@ Asibfm700Mount::error_t Asibfm700Mount::slewingImpl(bool slew_and_stop)
             break;
         }
 
-        hw_state.XY.setX(tdata.targetXY.x());
+        if (last_hw_time >= tdata.hwState.XY.epoch().UTC()) {
-        hw_state.XY.setY(tdata.targetXY.y());
+            logTrace("\nSame hardware timepoint! Just continue to polling!\n");
+
+            last_hw_time = tdata.hwState.XY.epoch().UTC();
+
+            auto d = getMovementParams().slewingTelemetryInterval / 3;
+
+            if (d.count()) {
+                std::this_thread::sleep_for(d);
+            } else {
+                std::this_thread::sleep_for(std::chrono::milliseconds(10));
+            }
+
+            continue;
+        }
+
+
         hw_state.XY.setEpoch(ep_t::now());
 
+        if (!slew_and_stop) {  // update target coordinates only in the "slew-and-track" mode
+            hw_state.XY.setX(tdata.targetXY.x());
+            hw_state.XY.setY(tdata.targetXY.y());
+        } else {  // restore initial target coordinate
+            init_target.setEpoch(tdata.mountPos.epoch());
+            tdata.targetPos.from(init_target);
+
+            tdata.targetXY = start_targetXY;
+            tdata.targetXY.setEpoch(tdata.mountPos.epoch());
+        }
+
+
         logMountPos(tdata);
 
         if (_stopMovementRequest->load()) {  // external stop
@@ -568,16 +616,18 @@ Asibfm700Mount::error_t Asibfm700Mount::slewingImpl(bool slew_and_stop)
             // return _lastMountError->load();
         }
 
-        if ((std::chrono::steady_clock::now() - start_point) > getMovementParams().slewTimeout) {
+        dist = tdata.mountPos.distance(tdata.targetPos);
-            *_lastMountError = mcc::impl::MccGenericMovementControlsErrorCode::ERROR_SLEW_TIMEOUT;
+
+        if (dist.dist <= getMovementParams().slewToleranceRadius) {  // start adjusting (precise pointing)
+            logInfo("target-to-mount distance is lesser than slew acceptable radius - exit!");
+
             break;
         }
 
-        dist = tdata.mountPos.distance(tdata.targetPos);
-
         if (dist.dist <= getMovementParams().adjustCoordDiff) {  // start adjusting (precise pointing)
             *_mountStatus = mount_status_t::MOUNT_STATUS_ADJUSTING;
 
+            // LibSidServo.correctTo
             *_lastMountError = sendToHardware(hw_state);
 
             if (_lastMountError->load()) {
@@ -613,7 +663,7 @@ Asibfm700Mount::error_t Asibfm700Mount::slewingImpl(bool slew_and_stop)
     if (_stopMovementRequest->load()) {  // external stop
         logWarn("Slewing was stopped!");
         *_lastMountError = mcc::impl::MccGenericMovementControlsErrorCode::ERROR_OK;
-        *_mountStatus = mount_status_t::MOUNT_STATUS_IDLE;
+        *_mountStatus = mount_status_t::MOUNT_STATUS_STOPPED;
     } else {
         if (_lastMountError->load()) {
             *_mountStatus = mount_status_t::MOUNT_STATUS_ERROR;
@@ -621,6 +671,7 @@ Asibfm700Mount::error_t Asibfm700Mount::slewingImpl(bool slew_and_stop)
             logError("Slewing finished with error: {} ({}::{})", err.message(), err.category().name(), err.value());
         } else {
             logInfo("Slewing finished without errors!");
+            *_mountStatus = mount_status_t::MOUNT_STATUS_IDLE;
         }
     }
 
@@ -632,6 +683,13 @@ Asibfm700Mount::error_t Asibfm700Mount::slewingImpl(bool slew_and_stop)
             errorLogging("An error occured while telemetry requesting: ", _lastMountError->load());
         } else {
             logInfo("Final mount slewing position:");
+
+            if (slew_and_stop) {  // restore initial target position
+                init_target.setEpoch(tdata.mountPos.epoch());
+                tdata.targetPos.from(init_target);
+
+                tdata.targetXY = start_targetXY;
+            }
             logMountPos(tdata);
         }
     }
@@ -755,21 +813,19 @@ Asibfm700Mount::error_t Asibfm700Mount::trackingImpl()
         std::this_thread::sleep_for(_currentMovementParams.trackingTelemetryInterval);
     }
 
-    if (_stopMovementRequest->load()) {  // external stop
+    logWarn("Tracking was stopped!");
-        logWarn("Tracking was stopped!");
+
+    if (_lastMountError->load()) {
+        *_mountStatus = mount_status_t::MOUNT_STATUS_ERROR;
+        auto err = _lastMountError->load();
+        logError("Tracking finished with error: {} ({}::{})", err.message(), err.category().name(), err.value());
+    } else {  // ???!!!!!
         *_lastMountError = mcc::impl::MccGenericMovementControlsErrorCode::ERROR_OK;
+        logInfo("Tracking finished without errors!");
         *_mountStatus = mount_status_t::MOUNT_STATUS_IDLE;
-    } else {
-        if (_lastMountError->load()) {
-            *_mountStatus = mount_status_t::MOUNT_STATUS_ERROR;
-            auto err = _lastMountError->load();
-            logError("Tracking finished with error: {} ({}::{})", err.message(), err.category().name(), err.value());
-        } else {  // ???!!!!!
-            logInfo("Tracking finished without errors!");
-        }
     }
 
-    bool ok = _pathFile.saveToFile(_currentMovementParams.trackingPathFilename, std::ios_base::app);
+    bool ok = _pathFile.saveToFile(_currentMovementParams.trackingPathFilename, std::ios::out | std::ios::app);
     if (!ok && !_currentMovementParams.trackingPathFilename.empty()) {
         logError("Cannot save trajectory file!");
     }

asibfm700_servocontroller.cpp

@@ -144,6 +144,7 @@ AsibFM700ServoController::error_t AsibFM700ServoController::hardwareSetState(har
     ns -= secs;
     std::timespec tp{.tv_sec = secs.count(), .tv_nsec = ns.count()};
 
+    Mount.currentT(&tp);
 
     if (state.movementState == hardware_movement_state_t::HW_MOVE_SLEWING) {
         // according to"SiTech protocol notes" X is DEC-axis and Y is HA-axis