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This commit is contained in:
Timur A. Fatkhullin
2026-02-26 22:14:03 +03:00
parent 5c8d9bd5f4
commit 982846d2b1
3 changed files with 78 additions and 43 deletions
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3
.vscode/settings.json vendored Normal file
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@@ -0,0 +1,3 @@
{
"C_Cpp.default.compilerPath": "/usr/bin/g++-15"
}

112
asibfm700_mount.cpp
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@@ -377,6 +377,8 @@ void Asibfm700Mount::logMountPos(telemetry_t::telemetry_data_t const& tdata)
// tdata.mountPos and tdata.targetPos are coordinates in the HA-DEC
// equathorial system
logTrace("Current telemetry data:");
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(),
@@ -387,6 +389,10 @@ void Asibfm700Mount::logMountPos(telemetry_t::telemetry_data_t const& tdata)
mcc::impl::MccAngle(tdata.mountPos.co_lat()).sexagesimal(), tdata.hwState.XY.x().sexagesimal(),
tdata.hwState.XY.y().sexagesimal());
logTrace(" current mount speed: HA = {}/s, DEC = {}/s",
mcc::impl::MccAngleFancyString(tdata.hwState.speedXY.x()),
mcc::impl::MccAngleFancyString(tdata.hwState.speedXY.y()));
_pathFile.addToPath(tdata);
auto dist = tdata.mountPos.distance(tdata.targetPos);
@@ -472,7 +478,7 @@ Asibfm700Mount::error_t Asibfm700Mount::slewingImpl(bool slew_and_stop)
{
_pathFile.clearPath();
_enteredBackupCoordinates = getPointingTarget();
_enteredBackupCoordinates = telemetry_t::getPointingTarget();
typename telemetry_t::telemetry_data_t tdata;
mcc::impl::MccSkyPoint start_target;
@@ -560,11 +566,14 @@ Asibfm700Mount::error_t Asibfm700Mount::slewingImpl(bool slew_and_stop)
mcc::impl::MccSkyPoint::dist_result_t dist;
while (!_stopMovementRequest->load()) {
// check for slewing timeout
if ((std::chrono::steady_clock::now() - start_point) > getMovementParams().slewTimeout) {
*_lastMountError = mcc::impl::MccGenericMovementControlsErrorCode::ERROR_SLEW_TIMEOUT;
break;
}
// get current mount and target coordinates
*_lastMountError = telemetryData(&tdata);
if (_lastMountError->load()) {
@@ -573,11 +582,21 @@ Asibfm700Mount::error_t Asibfm700Mount::slewingImpl(bool slew_and_stop)
break;
}
// detect hardware errors
if (tdata.hwState.movementState == hardware_t::hardware_movement_state_t::HW_MOVE_ERROR) {
*_lastMountError = mcc::impl::MccGenericMovementControlsErrorCode::ERROR_HARDWARE;
break;
}
// check for prohibited zones proximity
*_lastMountError = checkPZone(tdata, true);
if (_lastMountError->load()) {
break;
}
if (last_hw_time >= tdata.hwState.XY.epoch().UTC()) {
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()) {
@@ -589,18 +608,20 @@ Asibfm700Mount::error_t Asibfm700Mount::slewingImpl(bool slew_and_stop)
continue;
}
last_hw_time = tdata.hwState.XY.epoch().UTC();
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
// update target coordinates and corresponded encoder ones only in the "slew-and-track" mode
if (slew_and_stop) { // 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());
} else {
hw_state.XY.setX(tdata.targetXY.x());
hw_state.XY.setY(tdata.targetXY.y());
}
@@ -610,51 +631,46 @@ Asibfm700Mount::error_t Asibfm700Mount::slewingImpl(bool slew_and_stop)
break;
}
*_lastMountError = checkPZone(tdata, true);
if (_lastMountError->load()) {
break;
// return _lastMountError->load();
}
dist = tdata.mountPos.distance(tdata.targetPos);
if (dist.dist <= getMovementParams().slewToleranceRadius) { // start adjusting (precise pointing)
logInfo("target-to-mount distance is lesser than slew acceptable radius - exit!");
break;
}
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()) {
if (slew_and_stop) { // just wait for axes stopping
if (tdata.hwState.movementState == hardware_t::hardware_movement_state_t::HW_MOVE_STOPPED) {
break;
}
}
} else {
dist = tdata.mountPos.distance(tdata.targetPos);
if (tdata.hwState.movementState == hardware_t::hardware_movement_state_t::HW_MOVE_STOPPED &&
!_stopMovementRequest->load()) {
// the mount stopped but still to far from target position!!!
if (dist.dist > getMovementParams().slewToleranceRadius) {
if (dist.dist <= getMovementParams().slewToleranceRadius) {
logInfo("target-to-mount distance is lesser than slew acceptable radius - exit!");
break;
}
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()) {
break;
}
} else { // just exit
break;
}
}
if (tdata.hwState.movementState == hardware_t::hardware_movement_state_t::HW_MOVE_ERROR) {
*_lastMountError = mcc::impl::MccGenericMovementControlsErrorCode::ERROR_HARDWARE;
break;
}
// if (tdata.hwState.movementState == hardware_t::hardware_movement_state_t::HW_MOVE_STOPPED &&
// !_stopMovementRequest->load()) {
// // the mount stopped but still to far from target position!!!
// if (dist.dist > getMovementParams().slewToleranceRadius) {
// *_mountStatus = mount_status_t::MOUNT_STATUS_ADJUSTING;
// *_lastMountError = sendToHardware(hw_state);
// if (_lastMountError->load()) {
// break;
// }
// } else { // just exit
// break;
// }
// }
// sleep here
std::this_thread::sleep_for(getMovementParams().slewingTelemetryInterval);
@@ -753,7 +769,8 @@ Asibfm700Mount::error_t Asibfm700Mount::trackingImpl()
mcc::impl::MccAngleFancyString(dist.dist),
mcc::impl::MccAngleFancyString(_currentMovementParams.trackingMaxCoordDiff));
_enteredBackupCoordinates = getPointingTarget();
_enteredBackupCoordinates = telemetry_t::getPointingTarget();
setPointingTarget(tdata.mountPos);
*_lastMountError = telemetryData(&tdata);
@@ -796,6 +813,12 @@ Asibfm700Mount::error_t Asibfm700Mount::trackingImpl()
break;
}
// detect hardware errors
if (tdata.hwState.movementState == hardware_t::hardware_movement_state_t::HW_MOVE_ERROR) {
*_lastMountError = mcc::impl::MccGenericMovementControlsErrorCode::ERROR_HARDWARE;
break;
}
hw_state.XY.setX(tdata.targetXY.x());
hw_state.XY.setY(tdata.targetXY.y());
hw_state.XY.setEpoch(ep_t::now());
@@ -865,13 +888,16 @@ Asibfm700Mount::error_t Asibfm700Mount::stoppingImpl()
if (!_lastMountError->load()) {
*_mountStatus = mount_status_t::MOUNT_STATUS_IDLE;
*_lastMountError = mcc::impl::MccGenericMovementControlsErrorCode::ERROR_OK;
} else {
*_mountStatus = mount_status_t::MOUNT_STATUS_ERROR;
errorLogging("An error occured while stoppping mount: ", _lastMountError->load());
}
if (!_lastMountError->load()) {
*_lastMountError = mcc::impl::MccGenericMountErrorCode::ERROR_OK;
logError("Try to perform emergency stop!");
*_lastMountError = static_cast<AsibFM700ServoControllerErrorCode>(Mount.emergStop());
if (_lastMountError->load()) {
errorLogging("An error occured while trying emergency stop: ", _lastMountError->load());
}
}
return _lastMountError->load();

6
asibfm700_mount.h
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@@ -63,6 +63,12 @@ public:
error_t updateMountConfig(std::string const&);
Asibfm700MountConfig currentMountConfig();
// redefined method
auto getPointingTarget() const
{
return _enteredBackupCoordinates;
}
protected:
Asibfm700MountConfig _mountConfig;
std::unique_ptr<std::mutex> _mountConfigMutex;