...

asibfm700_mount.h

@@ -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}};
 };