timur/mcc
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

...

Browse Source
This commit is contained in:
Timur A. Fatkhullin
2026-03-02 19:11:41 +03:00
parent 5e9e8897f0
commit 5d498d47f8
1 changed files with 52 additions and 115 deletions
Download Patch File Download Diff File Expand all files Collapse all files

167
include/mcc/mcc_generic_movecontrols.h
View File

@@ -19,6 +19,7 @@
#include <print>
#include <typeinfo>
#include "mcc_coordinate.h"
#include "mcc_error.h"
@@ -240,8 +241,6 @@ template <std::movable PARAMS_T,
MccGenericMovementControlsPolicy EXEC_POLICY = MccGenericMovementControlsPolicy::POLICY_ASYNC>
class MccGenericMovementControls
{
enum { STATE_SLEW, STATE_TRACK, STATE_IDLE } _currentState;
public:
static constexpr MccGenericMovementControlsPolicy executePolicy = EXEC_POLICY;
@@ -258,51 +257,45 @@ public:
_stopFunc(std::forward<STOP_FUNC_T>(stop_func))
{
if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC) {
*_doStop = false;
*_doSlew = false;
*_doTrack = false;
*_stopMovementRequest = false;
_currentState = STATE_IDLE;
*_fsmState = STATE_IDLE;
// start thread of movements
_fstFuture = std::async(
[&, this](std::stop_token stoken) {
[this](std::stop_token stoken) {
auto do_state = _fsmState->load();
while (!stoken.stop_requested()) {
if (_doStop->load()) {
std::println("******* DO-STOP ({} {} {}) *******", _doStop->load(), _doSlew->load(),
_doTrack->load());
*_stopMovementRequest = true;
// _currentState = STATE_IDLE;
_stopFunc();
// *_doStop = false;
}
if (_doSlew->load()) {
std::println("******* DO-SLEW ({} {} {}) *******", _doStop->load(), _doSlew->load(),
_doTrack->load());
*_stopMovementRequest = false;
_currentState = STATE_SLEW;
_slewFunc(_slewAndStop->load());
// _currentState = STATE_IDLE;
// *_doSlew = false;
continue; // to guarantee execute doStop if tracking is requested!!!
}
if (_doTrack->load()) {
std::println("******* DO-TRACK ({} {} {}) *******", _doStop->load(), _doSlew->load(),
_doTrack->load());
*_stopMovementRequest = false;
_currentState = STATE_TRACK;
_trackFunc();
// _currentState = STATE_IDLE;
// *_doTrack = false;
}
_currentState = STATE_IDLE;
std::println("\n{:*^80}\n", " WAIT LOCK ");
// wait here ...
_wakeupRequest->wait(false, std::memory_order_relaxed);
_wakeupRequest->clear();
std::println("\n{:*^80}\n", " UNLOCKED ");
// if (stoken.stop_requested()) {
// break;
// }
do_state = _fsmState->load();
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());
@@ -318,24 +311,9 @@ public:
virtual ~MccGenericMovementControls()
{
if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC) {
// if (_slewFuncFuture.valid()) {
// auto status = _slewFuncFuture.wait_for(_waitTimeout->load());
// }
// if (_trackFuncFuture.valid()) {
// auto status = _trackFuncFuture.wait_for(_waitTimeout->load());
// }
// if (_stopFuncFuture.valid()) {
// auto status = _stopFuncFuture.wait_for(_waitTimeout->load());
// }
*_doSlew = false;
*_doTrack = false;
// *_stopMovementRequest = false;
*_fsmState = STATE_IDLE;
_fstStopSource.request_stop();
_wakeupRequest->test_and_set();
_wakeupRequest->notify_one();
@@ -352,34 +330,18 @@ public:
// *_stopMovementRequest = false;
if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC) {
// if (_slewFuncFuture.valid()) { // already slewing
// _slewFuncFuture = std::async(
// std::launch::async,
// [this](bool st) {
// auto err = _stopFunc(); // first, stop mount
// if (!err) {
// *_stopMovementRequest = false;
auto prev_state = _fsmState->load();
// return _slewFunc(st);
// } else {
// return err;
// }
// },
// slew_and_stop);
// } else {
// _slewFuncFuture = std::async(std::launch::async, _slewFunc, slew_and_stop);
// }
*_fsmState = STATE_SLEW;
if (prev_state & STATE_SLEW || prev_state & STATE_TRACK) {
*_fsmState |= STATE_STOP;
if (_currentState == STATE_SLEW || _currentState == STATE_TRACK) { // first, stop mount
*_doStop = true;
*_stopMovementRequest = true; // to exit from slewing or tracking
} else {
*_doStop = false;
}
*_doTrack = false;
*_doSlew = true;
*_slewAndStop = slew_and_stop;
_wakeupRequest->test_and_set();
_wakeupRequest->notify_one();
@@ -396,19 +358,16 @@ public:
// *_stopMovementRequest = false;
if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC) {
// if (!_trackFuncFuture.valid()) {
// _trackFuncFuture = std::async(std::launch::async, _trackFunc);
// } // already tracking, just ignore
auto prev_state = _fsmState->load();
if (!(prev_state & STATE_TRACK)) {
*_fsmState = STATE_TRACK;
if (prev_state & STATE_SLEW) {
*_fsmState |= STATE_STOP;
if (_currentState != STATE_TRACK) {
if (_currentState == STATE_SLEW) { // first, stop mount
*_doStop = true;
*_stopMovementRequest = true; // to exit from slewing
} else {
*_doStop = false;
}
*_doSlew = false;
*_doTrack = true;
_wakeupRequest->test_and_set();
_wakeupRequest->notify_one();
@@ -427,14 +386,7 @@ public:
// *_stopMovementRequest = true;
if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC) {
// if future is valid then stop is already called
// if (!_stopFuncFuture.valid()) {
// _stopFuncFuture = std::async(std::launch::async, _stopFunc);
// }
*_doStop = true;
*_doSlew = false;
*_doTrack = false;
*_fsmState = STATE_STOP;
*_stopMovementRequest = true; // to exit from slewing or tracking
@@ -475,22 +427,6 @@ protected:
std::function<error_t()> _trackFunc{};
std::function<error_t()> _stopFunc{};
std::conditional_t<executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC,
std::future<error_t>,
std::nullptr_t>
_slewFuncFuture{};
std::conditional_t<executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC,
std::future<error_t>,
std::nullptr_t>
_trackFuncFuture{};
std::conditional_t<executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC,
std::future<error_t>,
std::nullptr_t>
_stopFuncFuture{};
std::unique_ptr<std::atomic<std::chrono::nanoseconds>> _waitTimeout{
new std::atomic<std::chrono::nanoseconds>{defaultWaitTimeout}};
@@ -504,11 +440,12 @@ protected:
std::stop_source _fstStopSource{};
std::unique_ptr<std::atomic_flag> _wakeupRequest{new std::atomic_flag};
std::unique_ptr<std::atomic_bool> _doStop{new std::atomic_bool{false}};
std::unique_ptr<std::atomic_bool> _doSlew{new std::atomic_bool{false}};
std::unique_ptr<std::atomic_bool> _doTrack{new std::atomic_bool{false}};
std::unique_ptr<std::atomic_bool> _slewAndStop{new std::atomic_bool{false}};
enum { STATE_IDLE = 0x00, STATE_SLEW = 0x01, STATE_TRACK = 0x02, STATE_STOP = 0x04 };
std::unique_ptr<std::atomic_int> _fsmState{new std::atomic_int};
// utility methods