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This commit is contained in:
Timur A. Fatkhullin
2026-02-25 18:09:46 +03:00
parent dcd935e9a7
commit 69e49283dd
5 changed files with 283 additions and 11 deletions
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16
.vscode/c_cpp_properties.json vendored Normal file
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@@ -0,0 +1,16 @@
{
"configurations": [
{
"name": "Linux",
"includePath": [
"${workspaceFolder}/**"
],
"defines": [],
"compilerPath": "/usr/bin/gcc",
"intelliSenseMode": "linux-gcc-x64",
"cppStandard": "c++26",
"cStandard": "gnu99"
}
],
"version": 4
}

75
asibfm700_common.h
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@@ -15,6 +15,81 @@
namespace asibfm700
{
namespace details
{
struct movement_pars_t {
// ******* common for all modes *******
// mean celestial rate
static constexpr double sideralRate = 15.0410686_arcsecs; // in radians per second
// timeout to telemetry updating
std::chrono::milliseconds telemetryTimeout{3000};
// minimal time to prohibited zone (at current speed in slewing mode). if it is lesser then exit with error
std::chrono::seconds minTimeToPZone{10};
// time interval to update prohibited zones related quantities (e.g. intersection points)
std::chrono::milliseconds updatingPZoneInterval{5000};
// ******* slewing mode *******
bool slewAndStop{false}; // slew to target and stop mount
// coordinates difference to stop slewing (in radians)
double slewToleranceRadius{5.0_arcsecs};
// telemetry request interval
std::chrono::milliseconds slewingTelemetryInterval{100};
// target-mount coordinate difference to start adjusting of slewing (in radians)
double adjustCoordDiff{slewToleranceRadius * 10.0};
// slew process timeout
std::chrono::seconds slewTimeout{3600};
double slewRateX{0.0}; // maximal slewing rate (0 means move with maximal allowed rate????!!!!!)
double slewRateY{0.0}; // maximal slewing rate (0 means move with maximal allowed rate????!!!!!)
std::chrono::milliseconds adjustCycleInterval{500}; // minimum time between two successive adjustments
double adjustRateX{5.0_arcmins}; // maximal adjusting rate (a rate at the final slewing stage)
double adjustRateY{5.0_arcmins}; // maximal adjusting rate (a rate at the final slewing stage)
// braking acceleration after execution of mount stopping command (in rads/s^2)
// it must be given as non-negative value!!!
double brakingAccelX{0.0};
double brakingAccelY{0.0};
// slewing trajectory file. if empty - just skip saving
std::string slewingPathFilename{};
// ******* tracking mode *******
// telemetry request interval
std::chrono::milliseconds trackingTelemetryInterval{100};
double trackSpeedX{};
double trackSpeedY{};
std::chrono::milliseconds trackingCycleInterval{500}; // minimum time between two successive tracking corrections
bool dualAxisTracking{true}; // mount must be of an equatorial type: false means guiding along only HA-axis
// time shift into future to compute target position in future (UT1-scale time duration)
std::chrono::milliseconds timeShiftToTargetPoint{10000};
// maximal target-to-mount difference for tracking process (in arcsecs)
// it it is greater then the current mount coordinates are used as target one
double trackingMaxCoordDiff{20.0};
// tracking trajectory file. if empty - just skip saving
std::string trackingPathFilename{};
};
} // namespace details
static constexpr mcc::MccMountType asibfm700MountType = mcc::MccMountType::FORK_TYPE;

7
asibfm700_configfile.h
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@@ -156,6 +156,9 @@ static auto Asibfm700MountConfigDefaults = std::make_tuple(
// slew process timeout in seconds
simple_config_record_t{"slewTimeout", std::chrono::seconds(3600), {"slew process timeout in seconds"}},
// mount stopping process timeout in seconds
simple_config_record_t{"stopTimeout", std::chrono::seconds(30), {"mount stopping process timeout in seconds"}},
// a time shift into future to compute target position in future (UT1-scale time duration, millisecs)
simple_config_record_t{
"timeShiftToTargetPoint",
@@ -581,11 +584,11 @@ public:
}
mcc::impl::MccSimpleMovementControlsParameters movingModelParams() const
details::movement_pars_t movingModelParams() const
{
static constexpr double arcsecs2rad = std::numbers::pi / 180.0 / 3600.0; // arcseconds to radians
mcc::impl::MccSimpleMovementControlsParameters pars;
details::movement_pars_t pars;
auto get_value = [this]<typename VT>(std::string_view name, VT& val) {
val = getValue<VT>(name).value_or(val);

159
asibfm700_mount.cpp
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@@ -14,9 +14,12 @@ Asibfm700Mount::Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_p
_pcm(config.pcmData()),
gm_class_t(std::make_tuple(&_servolController, &_pcm),
std::make_tuple(),
std::make_tuple(&_servolController,
this,
[this](Asibfm700Mount::mount_status_t const& status) { *_mountStatus = status; }),
// std::make_tuple(&_servolController,
// this,
// [this](Asibfm700Mount::mount_status_t const& status) { *_mountStatus = status; }),
std::make_tuple([this](bool sl) { return slewingImpl(sl); },
[this]() { return trackingImpl(); },
[this]() { return stoppingImpl(); }),
std::make_tuple(logger, Asibfm700Logger::LOGGER_DEFAULT_FORMAT)),
_mountConfig(config),
_mountConfigMutex(new std::mutex)
@@ -346,4 +349,154 @@ void Asibfm700Mount::errorLogging(const std::string& msg, const std::error_code&
}
}
/* MOVEMENT METHODS */
Asibfm700Mount::error_t Asibfm700Mount::sendToHardware(AsibFM700ServoController::hardware_state_t const& hw_state)
{
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(),
hw_state.XY.y().degrees(), tp);
*_lastMountError = _servolController.hardwareSetState(hw_state);
if (_lastMountError->load()) {
errorLogging("An error occured while send command to servo controller: ", _lastMountError->load());
} else {
logDebug(" the 'hardwareSetState' method performed successfully!");
}
return _lastMountError->load();
}
void Asibfm700Mount::logMountPos(telemetry_t::telemetry_data_t const& tdata)
{
// NOTE: the implementation of MccTelemetry class guarantees that
// tdata.mountPos and tdata.targetPos are coordinates in the HA-DEC
// equathorial system
logTrace(" current target: HA = {}, DEC = {} (encoders: {} {})",
mcc::impl::MccAngle(tdata.targetPos.co_lon()).sexagesimal(true),
mcc::impl::MccAngle(tdata.targetPos.co_lat()).sexagesimal(), tdata.targetXY.x().sexagesimal(),
tdata.targetXY.y().sexagesimal());
logTrace(" current mount: HA = {}, DEC = {} (encoders: {} {})",
mcc::impl::MccAngle(tdata.mountPos.co_lon()).sexagesimal(true),
mcc::impl::MccAngle(tdata.mountPos.co_lat()).sexagesimal(), tdata.hwState.XY.x().sexagesimal(),
tdata.hwState.XY.y().sexagesimal());
_pathFile.addToPath(tdata);
auto dist = tdata.mountPos.distance(tdata.targetPos);
logTrace(" target-to-mount distance: {} (dx = {}, dy = {})", mcc::impl::MccAngleFancyString(dist.dist),
mcc::impl::MccAngleFancyString(dist.dx), mcc::impl::MccAngleFancyString(dist.dy));
}
Asibfm700Mount::error_t Asibfm700Mount::checkPZone(typename telemetry_t::telemetry_data_t const& tdata)
{
mcc::impl::MccGenXY braking_accel{getMovementParams().brakingAccelX, getMovementParams().brakingAccelY}, dxy{};
auto new_pos = this->coordsAfterTime(tdata.mountPos, tdata.hwState.speedXY, braking_accel,
getMovementParams().minTimeToPZone, &dxy);
logTrace(" the distance that will be covered in the next {} seconds: HA-axis: {}, DEC-axis: {}",
getMovementParams().minTimeToPZone.count(), mcc::impl::MccAngleFancyString(dxy.x()),
mcc::impl::MccAngleFancyString(dxy.y()));
bool in_zone;
std::vector<bool> in_zone_vec;
*_lastMountError = this->inPZone(new_pos, &in_zone, &in_zone_vec);
if (_lastMountError->load()) {
return _lastMountError->load();
}
if (in_zone) {
size_t i = 0;
for (; i < in_zone_vec.size(); ++i) {
if (in_zone_vec[i]) {
break;
}
}
auto names = this->pzoneNames();
auto it = names.begin();
std::ranges::advance(it, i);
logError("target point is near prohibited zone (zone index: {}, zone name: {})! Current mount position:", i,
*it);
mcc::impl::MccSkyHADEC_OBS hadec;
mcc::impl::MccSkyRADEC_OBS radec;
mcc::impl::MccSkyAZZD azzd;
mcc::impl::MccSkyAZALT azalt;
mcc::impl::MccAngle lst;
*_lastMountError = tdata.mountPos.appSideralTime(&lst, true);
if (_lastMountError->load()) {
return _lastMountError->load();
}
*_lastMountError = tdata.mountPos.toAtSameEpoch(radec, hadec, azzd, azalt);
if (_lastMountError->load()) {
return _lastMountError->load();
}
logError(" RA-APP, DEC-APP, HA, LST: {}, {}, {}, {}", radec.x().sexagesimal(true), radec.y().sexagesimal(),
hadec.x().sexagesimal(true), lst.sexagesimal(true));
logError(" AZ, ZD, ALT: {}, {}, {}", azzd.x().sexagesimal(), azzd.y().sexagesimal(),
azalt.y().sexagesimal());
logError(" hardware X, Y: {}, {}", tdata.hwState.XY.x().sexagesimal(), tdata.hwState.XY.y().sexagesimal());
return MccSimpleMovementControlsErrorCode::ERROR_NEAR_PZONE;
}
}
Asibfm700Mount::error_t Asibfm700Mount::slewingImpl(bool slew_and_stop) {}
Asibfm700Mount::error_t Asibfm700Mount::stoppingImpl()
{
typename AsibFM700ServoController::hardware_state_t hw_state;
hw_state.movementState == AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_STOPPING;
*_lastMountError = sendToHardware(hw_state);
if (!_lastMountError->load()) {
*_mountStatus = mount_status_t::MOUNT_STATUS_STOPPING;
auto start_tp = std::chrono::steady_clock::now();
*_lastMountError = _servolController.hardwareGetState(&hw_state);
while (hw_state.movementState != AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_STOPPED &&
!_lastMountError->load()) {
if ((std::chrono::steady_clock::now() - start_tp) >
_mountConfig.getValue<std::chrono::seconds>("stopTimeout").value()) {
// set timeout error!
// *_lastMountError =
break;
}
std::this_thread::sleep_for(std::chrono::milliseconds(300));
*_lastMountError = _servolController.hardwareGetState(&hw_state);
}
}
if (!_lastMountError->load()) {
*_mountStatus = mount_status_t::MOUNT_STATUS_IDLE;
} else {
*_mountStatus = mount_status_t::MOUNT_STATUS_ERROR;
errorLogging("An error occured while stoppping mount: ", _lastMountError->load());
}
return _lastMountError->load();
}
} // namespace asibfm700

37
asibfm700_mount.h
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@@ -1,6 +1,7 @@
#pragma once
#include <mcc/mcc_generic_mount.h>
#include <mcc/mcc_generic_movecontrols.h>
#include <mcc/mcc_movement_controls.h>
#include <mcc/mcc_pzone_container.h>
#include <mcc/mcc_spdlog.h>
@@ -14,19 +15,29 @@ namespace asibfm700
class Asibfm700Mount : public mcc::impl::MccGenericMount<mcc::impl::MccTelemetry<AsibFM700ServoController>,
Asibfm700PZoneContainer,
mcc::impl::MccSimpleMovementControls,
Asibfm700Logger>
class Asibfm700Mount
: public mcc::impl::MccGenericMount<mcc::impl::MccTelemetry<AsibFM700ServoController>,
Asibfm700PZoneContainer,
// mcc::impl::MccSimpleMovementControls,
mcc::impl::MccGenericAsyncMovementControls<details::movement_pars_t>,
Asibfm700Logger>
{
typedef mcc::impl::MccGenericMount<mcc::impl::MccTelemetry<AsibFM700ServoController>,
Asibfm700PZoneContainer,
mcc::impl::MccSimpleMovementControls,
// mcc::impl::MccSimpleMovementControls,
mcc::impl::MccGenericAsyncMovementControls<details::movement_pars_t>,
Asibfm700Logger>
gm_class_t;
public:
using gm_class_t::error_t;
typedef mcc::impl::MccTelemetry<AsibFM700ServoController> telemetry_t;
typedef mcc::impl::MccGenericAsyncMovementControls<details::movement_pars_t> movement_controls_t;
using typename gm_class_t::error_t;
using typename movement_controls_t::movement_params_t;
// using Asibfm700CCTE::setStateERFA;
// using Asibfm700CCTE::updateBulletinA;
@@ -70,6 +81,20 @@ protected:
Asibfm700PCM _pcm;
void errorLogging(const std::string&, const std::error_code&);
// movement methods
mcc::impl::MccMovementPathFile _pathFile{};
error_t slewingImpl(bool);
error_t trackingImpl();
error_t stoppingImpl();
error_t sendToHardware(AsibFM700ServoController::hardware_state_t const& hw_state);
error_t checkPZone(typename telemetry_t::telemetry_data_t const& tdata);
void logMountPos(telemetry_t::telemetry_data_t const& tdata);
std::unique_ptr<std::atomic<error_t>> _lastMountError{
new std::atomic<error_t>{mcc::impl::MccGenericMountErrorCode::ERROR_OK}};
};