...

.vscode/settings.json

@@ -0,0 +1,3 @@
+{
+    "C_Cpp.default.compilerPath": "/usr/bin/g++-15"
+}

asibfm700_mount.cpp

@@ -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
+        // update target coordinates and corresponded encoder ones only in the "slew-and-track" mode
-            hw_state.XY.setX(tdata.targetXY.x());
+        if (slew_and_stop) {  // restore initial target coordinate
-            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());
+        } else {
+            hw_state.XY.setX(tdata.targetXY.x());
+            hw_state.XY.setY(tdata.targetXY.y());
         }
 
 
@@ -610,15 +631,14 @@ Asibfm700Mount::error_t Asibfm700Mount::slewingImpl(bool slew_and_stop)
             break;
         }
 
-        *_lastMountError = checkPZone(tdata, true);
+        if (slew_and_stop) {  // just wait for axes stopping
-        if (_lastMountError->load()) {
+            if (tdata.hwState.movementState == hardware_t::hardware_movement_state_t::HW_MOVE_STOPPED) {
                 break;
-            // return _lastMountError->load();
             }
-
+        } else {
             dist = tdata.mountPos.distance(tdata.targetPos);
 
-        if (dist.dist <= getMovementParams().slewToleranceRadius) {  // start adjusting (precise pointing)
+            if (dist.dist <= getMovementParams().slewToleranceRadius) {
                 logInfo("target-to-mount distance is lesser than slew acceptable radius - exit!");
 
                 break;
@@ -634,27 +654,23 @@ Asibfm700Mount::error_t Asibfm700Mount::slewingImpl(bool slew_and_stop)
                     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;
-            }
         }
 
-        if (tdata.hwState.movementState == hardware_t::hardware_movement_state_t::HW_MOVE_ERROR) {
+        // if (tdata.hwState.movementState == hardware_t::hardware_movement_state_t::HW_MOVE_STOPPED &&
-            *_lastMountError = mcc::impl::MccGenericMovementControlsErrorCode::ERROR_HARDWARE;
+        //     !_stopMovementRequest->load()) {
-            break;
+        //     // 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()) {
+        logError("Try to perform emergency stop!");
-        *_lastMountError = mcc::impl::MccGenericMountErrorCode::ERROR_OK;
+        *_lastMountError = static_cast<AsibFM700ServoControllerErrorCode>(Mount.emergStop());
+        if (_lastMountError->load()) {
+            errorLogging("An error occured while trying emergency stop: ", _lastMountError->load());
+        }
     }
 
     return _lastMountError->load();

asibfm700_mount.h

@@ -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;