From 578339fd8b3031c109e76090d571465265ffd8c8 Mon Sep 17 00:00:00 2001
From: "Timur A. Fatkhullin" <timur@sao.ru>
Date: Tue, 17 Feb 2026 16:24:33 +0300
Subject: [PATCH] ...

---
 include/mcc/mcc_concepts.h          |  8 ++++++++
 include/mcc/mcc_coordinate.h        | 22 +++++++++++++++------
 include/mcc/mcc_movement_controls.h | 30 ++++++++++++++++++++++-------
 3 files changed, 47 insertions(+), 13 deletions(-)

diff --git a/include/mcc/mcc_concepts.h b/include/mcc/mcc_concepts.h
index 879c7fb..24a4974 100644
--- a/include/mcc/mcc_concepts.h
+++ b/include/mcc/mcc_concepts.h
@@ -662,6 +662,14 @@ concept mcc_hardware_c = requires(T t) {
     // static const variable with name of hardware
     requires std::formattable<decltype(T::hardwareName), char> && std::is_const_v<decltype(T::hardwareName)>;
 
+
+    // the 'T' class must contain static constexpr member of 'MccMountType' type
+    requires std::same_as<decltype(T::mountType), const MccMountType>;
+    []() {
+        [[maybe_unused]] static constexpr MccMountType val = T::mountType;
+    }();  // to ensure 'mountType' can be used in compile-time context
+
+
     // a type that defines at least HW_MOVE_ERROR, HW_MOVE_STOPPING, HW_MOVE_STOPPED, HW_MOVE_SLEWING,
     // HW_MOVE_ADJUSTING, HW_MOVE_TRACKING and HW_MOVE_GUIDING compile-time constants. The main purpose of this type is
     // a possible tunning of hardware hardwareSetState-related commands and detect the stop and error states from
diff --git a/include/mcc/mcc_coordinate.h b/include/mcc/mcc_coordinate.h
index c873aff..0f18b2c 100644
--- a/include/mcc/mcc_coordinate.h
+++ b/include/mcc/mcc_coordinate.h
@@ -344,14 +344,24 @@ struct MccSkyAZALT : MccCoordPair<MccAngleAZ, MccAngleALT> {
     }
 };
 
-
-using MccGenXY = MccCoordPair<MccAngleX, MccAngleY>;
-
-using MccGeoLONLAT = MccCoordPair<MccAngleLON, MccAngleLAT>;
+// utility type definition: deduce a coordinate pair kind according to mount type
+// mcc_deduced_coord_pair_t = MccSkyHADEC_OBS for equathorial mounts,
+// mcc_deduced_coord_pair_t = MccSkyAZZD for altazimuthal ones and
+// mcc_deduced_coord_pair_t = std::nullptr_t otherwise
+template <MccMountType MOUNT_TYPE>
+using mcc_deduced_coord_pair_t =
+    std::conditional_t<mccIsEquatorialMount(MOUNT_TYPE),
+                       MccSkyHADEC_OBS,
+                       std::conditional_t<mccIsAltAzMount(MOUNT_TYPE), MccSkyAZZD, std::nullptr_t>>;
 
 
-static MccSkyHADEC_APP hadec = MccGenXY{};
-static MccSkyAZALT azalt{MccSkyAZZD{1.0, 1.1}};
+// using MccGenXY = MccCoordPair<MccAngleX, MccAngleY>;
+
+// using MccGeoLONLAT = MccCoordPair<MccAngleLON, MccAngleLAT>;
+
+
+// static MccSkyHADEC_APP hadec = MccGenXY{};
+// static MccSkyAZALT azalt{MccSkyAZZD{1.0, 1.1}};
 
 
 /*                          MCC-LIBRARY DEFAULT GENERIC SKY POINT CLASS IMPLEMENTATION                    */
diff --git a/include/mcc/mcc_movement_controls.h b/include/mcc/mcc_movement_controls.h
index 6ec6fb3..b7db3fb 100644
--- a/include/mcc/mcc_movement_controls.h
+++ b/include/mcc/mcc_movement_controls.h
@@ -602,9 +602,7 @@ public:
             auto start_point = std::chrono::steady_clock::now();
             auto last_hw_time = tdata.hwState.XY.epoch().UTC();
 
-            std::conditional_t<mccIsEquatorialMount(HARDWARE_T::mountType), MccSkyHADEC_OBS,
-                               std::conditional_t<mccIsAltAzMount(HARDWARE_T::mountType), MccSkyAZZD, std::nullptr_t>>
-                tag_cp, mnt_cp;
+            mcc_deduced_coord_pair_t<HARDWARE_T::mountType> tag_cp, mnt_cp;
 
             while (!*_stopMoving) {
                 t_err = telemetry->telemetryData(&tdata);
@@ -651,8 +649,16 @@ public:
 
                     last_hw_time = tdata.hwState.XY.epoch().UTC();
 
-                    auto dist = utils::distanceOnSphere(tdata.targetPos.co_lon(), tdata.targetPos.co_lat(),
-                                                        tdata.mountPos.co_lon(), tdata.mountPos.co_lat());
+                    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)), std::get<0>(dist),
@@ -711,8 +717,18 @@ public:
                     return;
                 }
 
-                auto dist = utils::distanceOnSphere(tdata.targetPos.co_lon(), tdata.targetPos.co_lat(),
-                                                    tdata.mountPos.co_lon(), tdata.mountPos.co_lat());
+                auto ccte_err = tdata.targetPos.to(tag_cp);
+                if (ccte_err) {
+                    *_lastError = mcc_deduced_err(ccte_err, MccSimpleMovementControlsErrorCode::ERROR_CCTE_COMP);
+                    return;
+                }
+                ccte_err = tdata.mountPos.to(mnt_cp);
+                if (ccte_err) {
+                    *_lastError = mcc_deduced_err(ccte_err, MccSimpleMovementControlsErrorCode::ERROR_CCTE_COMP);
+                    return;
+                }
+
+                auto dist = utils::distanceOnSphere(tag_cp.x(), tag_cp.y(), mnt_cp.x(), mnt_cp.y());
 
                 log_pos(tdata);