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This commit is contained in:
Timur A. Fatkhullin
2026-02-17 16:24:33 +03:00
parent 775dedd835
commit 578339fd8b
3 changed files with 47 additions and 13 deletions
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8
include/mcc/mcc_concepts.h
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@@ -662,6 +662,14 @@ concept mcc_hardware_c = requires(T t) {
// static const variable with name of hardware // static const variable with name of hardware
requires std::formattable<decltype(T::hardwareName), char> && std::is_const_v<decltype(T::hardwareName)>; 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, // 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 // 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 // a possible tunning of hardware hardwareSetState-related commands and detect the stop and error states from

22
include/mcc/mcc_coordinate.h
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@@ -344,14 +344,24 @@ struct MccSkyAZALT : MccCoordPair<MccAngleAZ, MccAngleALT> {
} }
}; };
// utility type definition: deduce a coordinate pair kind according to mount type
using MccGenXY = MccCoordPair<MccAngleX, MccAngleY>; // mcc_deduced_coord_pair_t = MccSkyHADEC_OBS for equathorial mounts,
// mcc_deduced_coord_pair_t = MccSkyAZZD for altazimuthal ones and
using MccGeoLONLAT = MccCoordPair<MccAngleLON, MccAngleLAT>; // 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{}; // using MccGenXY = MccCoordPair<MccAngleX, MccAngleY>;
static MccSkyAZALT azalt{MccSkyAZZD{1.0, 1.1}};
// 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 */ /* MCC-LIBRARY DEFAULT GENERIC SKY POINT CLASS IMPLEMENTATION */

30
include/mcc/mcc_movement_controls.h
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@@ -602,9 +602,7 @@ public:
auto start_point = std::chrono::steady_clock::now(); auto start_point = std::chrono::steady_clock::now();
auto last_hw_time = tdata.hwState.XY.epoch().UTC(); auto last_hw_time = tdata.hwState.XY.epoch().UTC();
std::conditional_t<mccIsEquatorialMount(HARDWARE_T::mountType), MccSkyHADEC_OBS, mcc_deduced_coord_pair_t<HARDWARE_T::mountType> tag_cp, mnt_cp;
std::conditional_t<mccIsAltAzMount(HARDWARE_T::mountType), MccSkyAZZD, std::nullptr_t>>
tag_cp, mnt_cp;
while (!*_stopMoving) { while (!*_stopMoving) {
t_err = telemetry->telemetryData(&tdata); t_err = telemetry->telemetryData(&tdata);
@@ -651,8 +649,16 @@ public:
last_hw_time = tdata.hwState.XY.epoch().UTC(); last_hw_time = tdata.hwState.XY.epoch().UTC();
auto dist = utils::distanceOnSphere(tdata.targetPos.co_lon(), tdata.targetPos.co_lat(), auto ccte_err = tdata.targetPos.to(tag_cp);
tdata.mountPos.co_lon(), tdata.mountPos.co_lat()); 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 = {})", logger->logTrace(std::format(" target-to-mount distance: {} (dx = {}, dy = {})",
MccAngleFancyString(std::get<2>(dist)), std::get<0>(dist), MccAngleFancyString(std::get<2>(dist)), std::get<0>(dist),
@@ -711,8 +717,18 @@ public:
return; return;
} }
auto dist = utils::distanceOnSphere(tdata.targetPos.co_lon(), tdata.targetPos.co_lat(), auto ccte_err = tdata.targetPos.to(tag_cp);
tdata.mountPos.co_lon(), tdata.mountPos.co_lat()); 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); log_pos(tdata);