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This commit is contained in:
Timur A. Fatkhullin
2026-02-20 17:39:25 +03:00
parent f8162779d6
commit 32ed709222
3 changed files with 126 additions and 26 deletions
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21
include/mcc/mcc_angle.h
View File

@@ -435,23 +435,36 @@ static T1 operator/(const T1& v1, const T2& v2)
std::string MccAngleFancyString(std::convertible_to<MccAngle> auto const& ang,
std::format_string<double> val_fmt = "{:.2f}")
{
using ang_t = std::decay_t<decltype(ang)>;
std::string s;
double abs_ang;
if constexpr (std::is_arithmetic_v<std::decay_t<decltype(ang)>>) {
if constexpr (std::is_arithmetic_v<ang_t>) {
abs_ang = std::abs(ang);
} else {
abs_ang = std::abs(MccAngle{ang});
}
if (abs_ang < 1.0_arcmins) {
std::format_to(std::back_inserter(s), val_fmt, MccAngle{ang}.arcsecs());
if constexpr (std::derived_from<ang_t, MccAngle>) {
std::format_to(std::back_inserter(s), val_fmt, ang.arcsecs());
} else {
std::format_to(std::back_inserter(s), val_fmt, MccAngle{ang}.arcsecs());
}
s += " arcsecs";
} else if (abs_ang < 1.0_degs) {
std::format_to(std::back_inserter(s), val_fmt, MccAngle{ang}.arcmins());
if constexpr (std::derived_from<ang_t, MccAngle>) {
std::format_to(std::back_inserter(s), val_fmt, ang.arcmins());
} else {
std::format_to(std::back_inserter(s), val_fmt, MccAngle{ang}.arcmins());
}
s += " arcmins";
} else {
std::format_to(std::back_inserter(s), val_fmt, MccAngle{ang}.degrees());
if constexpr (std::derived_from<ang_t, MccAngle>) {
std::format_to(std::back_inserter(s), val_fmt, ang.degrees());
} else {
std::format_to(std::back_inserter(s), val_fmt, MccAngle{ang}.degrees());
}
s += " degs";
}

83
include/mcc/mcc_coordinate.h
View File

@@ -537,6 +537,78 @@ public:
return error_t{};
}
// 'inner' transformation
error_t to(MccCoordPairKind pair_kind)
{
return to(pair_kind, _epoch);
}
error_t to(MccCoordPairKind pair_kind, mcc_coord_epoch_c auto const& epoch)
{
// do not use here "mcc_coord_epoch_c::operator==" to avoid
// unnecessary computations (astrometrical algorithms mainly use Julian date as input)
if (pair_kind == _pairKind && utils::isEqual(epoch.MJD(), _epoch.MJD())) {
_epoch = epoch;
return error_t{};
}
auto tr_func = [&, this]<mcc_coord_pair_c T>(T& cp) {
if constexpr (T::pairKind != MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
cp.setEpoch(epoch);
}
auto err = to(cp);
if (!err) {
from(cp);
}
return err;
};
switch (pair_kind) {
case MccCoordPairKind::COORDS_KIND_RADEC_ICRS: {
MccSkyRADEC_ICRS cp;
return tr_func(cp);
} break;
case MccCoordPairKind::COORDS_KIND_RADEC_OBS: {
MccSkyRADEC_OBS cp;
return tr_func(cp);
} break;
case MccCoordPairKind::COORDS_KIND_RADEC_APP: {
MccSkyRADEC_APP cp;
return tr_func(cp);
} break;
case MccCoordPairKind::COORDS_KIND_HADEC_OBS: {
MccSkyHADEC_OBS cp;
return tr_func(cp);
} break;
case MccCoordPairKind::COORDS_KIND_HADEC_APP: {
MccSkyHADEC_APP cp;
return tr_func(cp);
} break;
case MccCoordPairKind::COORDS_KIND_AZZD: {
MccSkyAZZD cp;
return tr_func(cp);
} break;
case MccCoordPairKind::COORDS_KIND_AZALT: {
MccSkyAZALT cp;
return tr_func(cp);
} break;
case MccCoordPairKind::COORDS_KIND_GENERIC:
case MccCoordPairKind::COORDS_KIND_UNKNOWN:
case MccCoordPairKind::COORDS_KIND_LONLAT:
case MccCoordPairKind::COORDS_KIND_XY: {
MccGenXY cp;
return tr_func(cp);
} break;
default:
return error_t{};
}
return error_t{};
}
error_t refractCorrection(mcc_angle_c auto* dZ) const
{
@@ -751,6 +823,8 @@ protected:
double phi = cctEngine.getStateERFA().lat;
double ra_icrs, dec_icrs, ra, dec, ha, az, zd, alt, lst, eo;
static_assert(PT::pairKind != MccCoordPairKind::COORDS_KIND_LONLAT, "UNSUPPORTED SKY POINT TRANSFORMATION!");
// static_assert(PT::pairKind != MccCoordPairKind::COORDS_KIND_XY, "UNSUPPORTED SKY POINT TRANSFORMATION!");
static_assert(PT::pairKind != MccCoordPairKind::COORDS_KIND_GENERIC, "UNSUPPORTED SKY POINT TRANSFORMATION!");
static_assert(PT::pairKind != MccCoordPairKind::COORDS_KIND_UNKNOWN, "UNSUPPORTED SKY POINT TRANSFORMATION!");
@@ -786,7 +860,8 @@ protected:
// 1) convert stored coordinates to ICRS ones
// 2) convert from the computed ICRS coordinates to required ones
MccCoordPairKind pkind = _pairKind;
if (!utils::isEqual(_epoch.MJD(), cpair.MJD())) { // convert stored pair to ICRS one (ra_icrs, dec_icrs)
if (!utils::isEqual(_epoch.MJD(),
cpair.MJD())) { // convert stored pair to ICRS one (ra_icrs, dec_icrs)
if (_pairKind != MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
pkind = MccCoordPairKind::COORDS_KIND_RADEC_ICRS;
@@ -955,7 +1030,8 @@ protected:
cpair.setY(dec);
} else {
obj->hadec2azalt(ha, dec, phi, az, alt);
if constexpr (mccIsObsCoordPairKind<PT::pairKind>) { // RADEC_OBS, HADEC_OBS, AZALT, AZZD
if constexpr (mccIsObsCoordPairKind<PT::pairKind>) { // RADEC_OBS, HADEC_OBS,
// AZALT, AZZD
// correct for refraction: alt += dz_refr
double dZ;
ccte_err = cctEngine.refractionInverseCorrection(MCC_HALF_PI - alt, &dZ);
@@ -1008,7 +1084,8 @@ protected:
};
/* MCC-LIBRARY DEFAULT SKY POINT CLASS IMPLEMENTATION BASED ON THE ERFA LIBRARY */
/* MCC-LIBRARY DEFAULT SKY POINT CLASS IMPLEMENTATION BASED ON THE ERFA LIBRARY
*/
typedef MccGenericSkyPoint<mcc::ccte::erfa::MccCCTE_ERFA> MccSkyPoint;

48
include/mcc/mcc_movement_controls.h
View File

@@ -807,9 +807,6 @@ public:
log_pos(tdata, dist);
logger->logInfo(
std::format(" final target-to-mount distance {}", MccAngleFancyString(std::get<2>(dist))));
if (!slew_and_stop) { // start tracking
_trackingFunc();
} else {
@@ -858,6 +855,8 @@ public:
logger->logInfo(std::format(" braking acceleration Y: {} degs/s^2 (in config: {} rads/s^2)",
MccAngle(braking_accelY).degrees(), _currentParams.brakingAccelY));
logger->logInfo(std::format(" min time to prohibited zone: {} seconds", min_time_to_pzone_in_secs));
logger->logInfo(
std::format(" max target-to-mount distance: {} arcseconds", _currentParams.trackingMaxCoordDiff));
_pathFile << "# \n";
@@ -870,6 +869,8 @@ public:
typename TELEMETRY_T::telemetry_data_t tdata;
typename HARDWARE_T::hardware_state_t hw_state;
std::tuple<double, double, double> dist;
auto t_err = telemetry->telemetryData(&tdata);
if (t_err) {
@@ -881,6 +882,31 @@ public:
return;
}
log_pos(tdata, dist);
{
std::lock_guard lock{*_currentParamsMutex};
if (_currentParams.trackingMaxCoordDiff < std::get<2>(dist)) {
logger->logInfo(
std::format("The target-to-mount distance {} is greater than allowed one ({})! Track current "
"mount position!",
MccAngleFancyString(std::get<2>(dist)),
MccAngleFancyString(_currentParams.trackingMaxCoordDiff)));
telemetry->setPointingTarget(tdata.mountPos);
}
}
t_err = telemetry->telemetryData(&tdata);
if (t_err) {
*_lastError = mcc_deduced_err(t_err, MccSimpleMovementControlsErrorCode::ERROR_GET_TELEMETRY);
(*cb_sptr)(STATUS_T::MOUNT_STATUS_ERROR);
_pathFile.save();
return;
}
*_lastError = check_pzones(tdata, min_time_to_pzone_in_secs, braking_accelX, braking_accelY);
if (_lastError->load()) {
@@ -895,8 +921,6 @@ public:
mcc_deduced_coord_pair_t<HARDWARE_T::hwMountType> tag_cp, mnt_cp;
std::tuple<double, double, double> dist;
*_stopMoving = false;
while (!_stopMoving->load()) {
@@ -928,20 +952,6 @@ public:
last_hw_time = tdata.hwState.XY.epoch().UTC();
// auto ccte_err = tdata.targetPos.to(tag_cp);
// if (ccte_err) {
// *_lastError = mcc_deduced_err(ccte_err, MccSimpleMovementControlsErrorCode::ERROR_CCTE_COMP);
// }
// ccte_err = tdata.mountPos.to(mnt_cp);
// if (ccte_err) {
// *_lastError = mcc_deduced_err(ccte_err, MccSimpleMovementControlsErrorCode::ERROR_CCTE_COMP);
// }
// auto dist = utils::distanceOnSphere(tag_cp.x(), tag_cp.y(), mnt_cp.x(), mnt_cp.y());
// logger->logTrace(std::format(
// " target-to-mount distance: {} (dx = {}, dy = {})", MccAngleFancyString(std::get<2>(dist)),
// MccAngleFancyString(std::get<0>(dist)), MccAngleFancyString(std::get<1>(dist))));
// resend new position since target coordinates are changed in time
hw_state.movementState = HARDWARE_T::hardware_movement_state_t::HW_MOVE_TRACKING;