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This commit is contained in:
Timur A. Fatkhullin
2026-02-20 08:51:09 +03:00
parent ca5618789e
commit a4d4e15f18
109 changed files with 11460 additions and 4 deletions
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asibfm700_mount.h Normal file
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#pragma once
#include <mcc/mcc_generic_mount.h>
#include <mcc/mcc_movement_controls.h>
#include <mcc/mcc_pzone_container.h>
#include <mcc/mcc_spdlog.h>
#include <mcc/mcc_telemetry.h>
#include "asibfm700_common.h"
#include "asibfm700_configfile.h"
namespace asibfm700
{
class Asibfm700Mount : public mcc::impl::MccGenericMount<mcc::impl::MccTelemetry<AsibFM700ServoController>,
Asibfm700PZoneContainer,
mcc::impl::MccSimpleMovementControls,
Asibfm700Logger>
{
typedef mcc::impl::MccGenericMount<mcc::impl::MccTelemetry<AsibFM700ServoController>,
Asibfm700PZoneContainer,
mcc::impl::MccSimpleMovementControls,
Asibfm700Logger>
gm_class_t;
public:
using gm_class_t::error_t;
// using Asibfm700CCTE::setStateERFA;
// using Asibfm700CCTE::updateBulletinA;
// using Asibfm700CCTE::updateLeapSeconds;
// using Asibfm700CCTE::updateMeteoERFA;
using gm_class_t::logCritical;
using gm_class_t::logDebug;
using gm_class_t::logError;
using gm_class_t::logInfo;
using gm_class_t::logWarn;
// using Asibfm700Logger::logCritical;
// using Asibfm700Logger::logDebug;
// using Asibfm700Logger::logError;
// using Asibfm700Logger::logInfo;
// using Asibfm700Logger::logWarn;
// using Asibfm700PZoneContainer::addPZone;
Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_ptr<spdlog::logger> logger);
~Asibfm700Mount();
Asibfm700Mount(Asibfm700Mount&&) = default;
Asibfm700Mount& operator=(Asibfm700Mount&&) = default;
Asibfm700Mount(const Asibfm700Mount&) = delete;
Asibfm700Mount& operator=(const Asibfm700Mount&) = delete;
error_t initMount();
error_t updateMountConfig(Asibfm700MountConfig const&);
Asibfm700MountConfig currentMountConfig();
protected:
Asibfm700MountConfig _mountConfig;
std::unique_ptr<std::mutex> _mountConfigMutex;
AsibFM700ServoController _servolController;
Asibfm700PCM _pcm;
void errorLogging(const std::string&, const std::error_code&);
};
/*
class Asibfm700Mount : public Asibfm700CCTE,
public Asibfm700PCM,
public mcc::MccGenericFsmMount<mcc::MccGenericMount<AsibFM700ServoController,
mcc::MccTelemetry,
Asibfm700PZoneContainer,
mcc::MccSimpleSlewingModel,
mcc::MccSimpleTrackingModel,
Asibfm700Logger>>
{
typedef mcc::MccGenericMount<AsibFM700ServoController,
mcc::MccTelemetry,
Asibfm700PZoneContainer,
mcc::MccSimpleSlewingModel,
mcc::MccSimpleTrackingModel,
Asibfm700Logger>
gm_class_t;
typedef mcc::MccGenericFsmMount<mcc::MccGenericMount<AsibFM700ServoController,
mcc::MccTelemetry,
Asibfm700PZoneContainer,
mcc::MccSimpleSlewingModel,
mcc::MccSimpleTrackingModel,
Asibfm700Logger>>
base_gm_class_t;
protected:
struct Asibfm700ErrorState : base_gm_class_t::MccGenericFsmMountBaseState {
static constexpr std::string_view ID{"ASIBFM700-MOUNT-ERROR-STATE"};
// void exit(MccGenericFsmMountErrorEvent& event)
// {
// event.mount()->logWarn("The mount already in error state!");
// }
void enter(MccGenericFsmMountErrorEvent& event)
{
enterLog(event);
// event.mount()->logWarn("The mount already in error state!");
auto err = event.eventData();
event.mount()->logError("An error occured: {} [{} {}]", err.message(), err.value(), err.category().name());
}
void exit(mcc::fsm::traits::fsm_event_c auto& event)
{
exitLog(event);
}
void enter(mcc::fsm::traits::fsm_event_c auto& event)
{
enterLog(event);
// ...
}
using transition_t = mcc::fsm::fsm_transition_table_t<
std::pair<MccGenericFsmMountErrorEvent, Asibfm700ErrorState>,
std::pair<MccGenericFsmMountInitEvent, MccGenericFsmMountInitState<Asibfm700ErrorState>>,
std::pair<MccGenericFsmMountIdleEvent, MccGenericFsmMountIdleState<Asibfm700ErrorState>>>;
};
typedef base_gm_class_t::MccGenericFsmMountStartState<Asibfm700ErrorState> Asibfm700StartState;
public:
using base_gm_class_t::error_t;
using Asibfm700CCTE::setStateERFA;
using Asibfm700CCTE::updateBulletinA;
using Asibfm700CCTE::updateLeapSeconds;
using Asibfm700CCTE::updateMeteoERFA;
using Asibfm700Logger::logCritical;
using Asibfm700Logger::logDebug;
using Asibfm700Logger::logError;
using Asibfm700Logger::logInfo;
using Asibfm700Logger::logWarn;
// using Asibfm700PZoneContainer::addPZone;
Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_ptr<spdlog::logger> logger);
~Asibfm700Mount();
Asibfm700Mount(Asibfm700Mount&&) = default;
Asibfm700Mount& operator=(Asibfm700Mount&&) = default;
Asibfm700Mount(const Asibfm700Mount&) = delete;
Asibfm700Mount& operator=(const Asibfm700Mount&) = delete;
error_t initMount();
error_t updateMountConfig(Asibfm700MountConfig const&);
Asibfm700MountConfig currentMountConfig();
protected:
Asibfm700MountConfig _mountConfig;
std::unique_ptr<std::mutex> _mountConfigMutex;
void errorLogging(const std::string&, const std::error_code&);
};
*/
// static_assert(mcc::mcc_position_controls_c<Asibfm700Mount>, "");
// static_assert(mcc::mcc_all_controls_c<Asibfm700Mount>, "");
static_assert(mcc::mcc_generic_mount_c<Asibfm700Mount>, "");
} // namespace asibfm700