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asibfm700_servocontroller.h

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+#pragma once
+
+// #include <mcc_defaults.h>
+// #include <mcc_generics.h>
+
+#include <mcc/mcc_angle.h>
+#include <mcc/mcc_coordinate.h>
+
+#include "LibSidServo/sidservo.h"
+#include "asibfm700_common.h"
+
+
+namespace asibfm700
+{
+
+/*  error codes enum definition  */
+
+enum class AsibFM700ServoControllerErrorCode : int {
+    // error codes from sidservo library
+    ERROR_OK = MCC_E_OK,
+    ERROR_FATAL = MCC_E_FATAL,
+    ERROR_BADFORMAT = MCC_E_BADFORMAT,
+    ERROR_ENCODERDEV = MCC_E_ENCODERDEV,
+    ERROR_MOUNTDEV = MCC_E_MOUNTDEV,
+    ERROR_FAILED = MCC_E_FAILED,
+    // my codes ...
+    ERROR_POLLING_TIMEOUT,
+    ERROR_NULLPTR
+};
+
+// error category
+struct AsibFM700ServoControllerErrorCategory : public std::error_category {
+    const char* name() const noexcept;
+    std::string message(int ec) const;
+
+    static const AsibFM700ServoControllerErrorCategory& get();
+};
+
+
+static inline std::error_code make_error_code(AsibFM700ServoControllerErrorCode ec)
+{
+    return std::error_code(static_cast<int>(ec), AsibFM700ServoControllerErrorCategory::get());
+}
+
+}  // namespace asibfm700
+
+
+namespace std
+{
+
+template <>
+class is_error_code_enum<asibfm700::AsibFM700ServoControllerErrorCode> : public true_type
+{
+};
+
+}  // namespace std
+
+
+namespace asibfm700
+{
+
+class AsibFM700ServoController
+{
+public:
+    static constexpr mcc::MccMountType hwMountType{mcc::MccMountType::FORK_TYPE};
+
+    static constexpr std::string_view hardwareName = "Sidereal-ServoControllerII";
+
+    typedef std::error_code error_t;
+
+    enum class hardware_movement_state_t : int {
+        HW_MOVE_ERROR = -1,
+        HW_MOVE_STOPPED = 0,
+        HW_MOVE_STOPPING,
+        HW_MOVE_SLEWING,
+        HW_MOVE_ADJUSTING,
+        HW_MOVE_TRACKING,
+        HW_MOVE_GUIDING,
+        HW_MOVE_UNKNOWN
+    };
+
+    // typedef AsibFM700ServoControllerMovementState hardware_movement_state_t;
+
+    struct hardware_state_t {
+        mcc::impl::MccGenXY XY{0.0, 0.0}, speedXY{0.0, 0.0};
+        hardware_movement_state_t movementState{hardware_movement_state_t::HW_MOVE_STOPPED};
+    };
+
+
+    struct hardware_config_t {
+        // the 'char*' fields from conf_t:
+        //    wrap it to std::string
+        std::string MountDevPath;
+        std::string EncoderDevPath;
+        std::string EncoderXDevPath;
+        std::string EncoderYDevPath;
+
+        conf_t devConfig;                   // devices paths and PIDs parameters
+        hardware_configuration_t hwConfig;  // EEPROM-located configuration
+
+        std::chrono::milliseconds pollingInterval{300};   // hardware polling interval
+        std::chrono::milliseconds pollingTimeout{30000};  // hardware polling timeout
+    };
+
+    /*  constructors and destructor  */
+
+    AsibFM700ServoController();
+
+    AsibFM700ServoController(hardware_config_t config);
+
+    AsibFM700ServoController(const AsibFM700ServoController&) = delete;
+    AsibFM700ServoController& operator=(const AsibFM700ServoController&) = delete;
+
+    AsibFM700ServoController(AsibFM700ServoController&&) = default;
+    AsibFM700ServoController& operator=(AsibFM700ServoController&&) = default;
+
+    virtual ~AsibFM700ServoController();
+
+    /*  public methods  */
+
+    error_t hardwareSetState(hardware_state_t const& state);
+    error_t hardwareGetState(hardware_state_t* state);
+
+    error_t hardwareInit();
+
+    void hardwareUpdateConfig(conf_t cfg);
+
+    // save config to EEPROM
+    error_t hardwareUpdateConfig(hardware_configuration_t cfg);
+    // load config from EEPROM
+    error_t hardwareUpdateConfig();
+
+    hardware_config_t getHardwareConfig() const;
+
+protected:
+    hardware_config_t _hardwareConfig;
+
+    std::unique_ptr<std::mutex> _setStateMutex;
+};
+
+}  // namespace asibfm700
+
+template <>
+struct std::formatter<asibfm700::AsibFM700ServoController::hardware_movement_state_t, char>
+    : std::formatter<std::string_view> {
+    auto format(asibfm700::AsibFM700ServoController::hardware_movement_state_t e, auto& ctx) const
+    {
+        return formatter<std::string_view>::format(
+            e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_ERROR      ? "ERROR"
+            : e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_STOPPED  ? "STOPPED"
+            : e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_STOPPING ? "STOPPING"
+            : e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_SLEWING  ? "SLEWING"
+            : e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_TRACKING ? "TRACKING"
+                                                                                                    : "UNKNOWN",
+            ctx);
+    }
+};
+
+
+static_assert(mcc::mcc_hardware_c<asibfm700::AsibFM700ServoController>, "!!!");