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This commit is contained in:
Timur A. Fatkhullin
2026-03-12 22:20:56 +03:00
parent f2aad0807d
commit 0ee87ccbf9
2 changed files with 141 additions and 42 deletions
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172
include/mcc/mcc_generic_movecontrols.h
View File

@@ -262,48 +262,50 @@ public:
_stopFunc(std::forward<STOP_FUNC_T>(stop_func))
{
if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC) {
*_stopMovementRequest = false;
// *_stopMovementRequest = false;
*_fsmState = STATE_IDLE;
// *_fsmState = STATE_IDLE;
// start thread of movements
_fstFuture = std::async(
[this](std::stop_token stoken) {
auto do_state = _fsmState->load();
// // start thread of movements
// _fstFuture = std::async(
// [this](std::stop_token stoken) {
// auto do_state = _fsmState->load();
while (!stoken.stop_requested()) {
std::println("\n{:*^80}\n", " WAIT LOCK ");
// wait here ...
_wakeupRequest->wait(false, std::memory_order_relaxed);
// while (!stoken.stop_requested()) {
// std::println("\n{:*^80}\n", " WAIT LOCK ");
// // wait here ...
// _wakeupRequest->wait(false, std::memory_order_relaxed);
_wakeupRequest->clear();
// _wakeupRequest->clear();
std::println("\n{:*^80}\n", " UNLOCKED ");
// std::println("\n{:*^80}\n", " UNLOCKED ");
// if (stoken.stop_requested()) {
// break;
// }
// // if (stoken.stop_requested()) {
// // break;
// // }
do_state = _fsmState->load();
// do_state = _fsmState->load();
if (do_state & STATE_STOP) {
// if (_fsmState->load() & STATE_STOP) {
*_stopMovementRequest = true;
_stopFunc();
}
// if (do_state & STATE_STOP) {
// // if (_fsmState->load() & STATE_STOP) {
// *_stopMovementRequest = true;
// _stopFunc();
// }
if (do_state & STATE_SLEW) {
// if (_fsmState->load() & STATE_SLEW) {
*_stopMovementRequest = false;
_slewFunc(_slewAndStop->load());
} else if (do_state & STATE_TRACK) {
// } else if (_fsmState->load() & STATE_TRACK) {
*_stopMovementRequest = false;
_trackFunc();
}
}
},
_fstStopSource.get_token());
// if (do_state & STATE_SLEW) {
// // if (_fsmState->load() & STATE_SLEW) {
// *_stopMovementRequest = false;
// _slewFunc(_slewAndStop->load());
// } else if (do_state & STATE_TRACK) {
// // } else if (_fsmState->load() & STATE_TRACK) {
// *_stopMovementRequest = false;
// _trackFunc();
// }
// }
// },
// _fstStopSource.get_token());
startAsyncMovementCycle();
}
}
@@ -316,20 +318,108 @@ public:
virtual ~MccGenericMovementControls()
{
if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC) {
*_fsmState = STATE_IDLE;
_fstStopSource.request_stop();
// *_fsmState = STATE_IDLE;
// _fstStopSource.request_stop();
_wakeupRequest->test_and_set();
_wakeupRequest->notify_one();
// _wakeupRequest->test_and_set();
// _wakeupRequest->notify_one();
std::this_thread::sleep_for(std::chrono::milliseconds(200));
// std::this_thread::sleep_for(std::chrono::milliseconds(200));
if (_fstFuture.valid()) {
auto status = _fstFuture.wait_for(_waitTimeout->load());
}
// if (_fstFuture.valid()) {
// auto status = _fstFuture.wait_for(_waitTimeout->load());
// }
stopAsyncMovementCycle();
}
}
template <typename SelfT>
void stopAsyncMovementCycle(this SelfT&& self)
requires(EXEC_POLICY == MccGenericMovementControlsPolicy::POLICY_ASYNC)
{
self->_fsmState = STATE_IDLE;
self._fstStopSource.request_stop();
self._wakeupRequest->test_and_set();
self._wakeupRequest->notify_all();
std::this_thread::sleep_for(std::chrono::milliseconds(200));
if (self._fstFuture.valid()) {
auto status = self._fstFuture.wait_for(self._waitTimeout->load());
}
}
template <typename SelfT>
void startAsyncMovementCycle(this SelfT&& self)
requires(EXEC_POLICY == MccGenericMovementControlsPolicy::POLICY_ASYNC)
{
using self_t = std::decay_t<SelfT>;
if (self._fstFuture.valid()) {
self.stopAsyncMovementCycle();
}
self->_stopMovementRequest = false;
self._fstStopSource = std::stop_source{};
self->_fsmState = STATE_IDLE;
// start thread of movements
self._fstFuture = std::async(
[&self](std::stop_token stoken) {
auto do_state = self._fsmState->load();
std::string log_str;
while (!stoken.stop_requested()) {
log_str = std::format("\n{:*^80}\n", " WAIT LOCK ");
if constexpr (mcc_generic_mount_c<self_t>) {
self.logTrace(log_str);
} else {
std::println(log_str);
}
// wait here ...
self._wakeupRequest->wait(false, std::memory_order_relaxed);
self._wakeupRequest->clear();
log_str = std::format("\n{:*^80}\n", " UNLOCKED ");
if constexpr (mcc_generic_mount_c<self_t>) {
self.logTrace(log_str);
} else {
std::println(log_str);
}
// if (stoken.stop_requested()) {
// break;
// }
do_state = self._fsmState->load();
if (do_state & STATE_STOP) {
// if (_fsmState->load() & STATE_STOP) {
self->_stopMovementRequest = true;
self._stopFunc();
}
if (do_state & STATE_SLEW) {
// if (_fsmState->load() & STATE_SLEW) {
self->_stopMovementRequest = false;
self._slewFunc(self._slewAndStop->load());
} else if (do_state & STATE_TRACK) {
// } else if (_fsmState->load() & STATE_TRACK) {
self->_stopMovementRequest = false;
self._trackFunc();
}
}
},
self._fstStopSource.get_token());
}
error_t slewToTarget(bool slew_and_stop)
{
// *_stopMovementRequest = false;

11
tests/mcc_telemetry_test.cpp
View File

@@ -14,6 +14,9 @@ static std::uniform_real_distribution<double> y_distrib(1000, 7000);
static std::uniform_real_distribution<double> xs_distrib(100, 700);
static std::uniform_real_distribution<double> ys_distrib(100, 700);
static std::uniform_int_distribution<uint8_t> err_distrib(0, 255);
struct hw_t {
static constexpr mcc::MccMountType hwMountType{mcc::MccMountType::ALTAZ_TYPE};
static constexpr std::string_view hardwareName{"HW-TEST"};
@@ -53,13 +56,19 @@ struct hw_t {
*state = hardware_state_t{.XY{x_distrib(gen), y_distrib(gen)}, .speedXY{xs_distrib(gen), ys_distrib(gen)}};
return 0;
// return 0;
return err_distrib(gen) < 5 ? 1 : 0;
}
error_t hardwareInit()
{
return 0;
}
error_t hardwareShutdown()
{
return 0;
}
};
template <>