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This commit is contained in:
Timur A. Fatkhullin
2026-02-17 11:38:15 +03:00
parent c174021c40
commit 7049317539
1 changed files with 69 additions and 6 deletions
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75
include/mcc/mcc_generic_mount.h
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@@ -14,6 +14,7 @@
#include <thread>
#include "mcc/mcc_spdlog.h"
#include "mcc_error.h"
namespace mcc::impl
@@ -33,8 +34,6 @@ enum class MccGenericMountErrorCode : int {
ERROR_TARGET_IN_ZONE
};
enum class MccGenericFsmMountErrorCode : int { ERROR_OK, ERROR_INVALID_OPERATION, ERROR_UNKNOWN_EVENT };
} // namespace mcc::impl
@@ -70,7 +69,7 @@ struct MccGenericMountCategory : public std::error_category {
case MccGenericMountErrorCode::ERROR_OK:
return "OK";
case MccGenericMountErrorCode::ERROR_HW_INIT:
return "an error occured while initializing mount";
return "an error occured while initializing mount hardware";
case MccGenericMountErrorCode::ERROR_HW_STOP:
return "an error occured while stopping mount";
case MccGenericMountErrorCode::ERROR_HW_GETSTATE:
@@ -113,7 +112,7 @@ template <mcc_hardware_c HARDWARE_T,
mcc_telemetry_c TELEMETRY_T,
mcc_pzone_container_c PZONE_CONT_T,
mcc_movement_controls_c MOVE_CNTRL_T,
mcc_logger_c LOGGER_T>
mcc_logger_c LOGGER_T = utils::MccSpdlogLogger>
class MccGenericMount : protected HARDWARE_T,
public TELEMETRY_T,
public PZONE_CONT_T,
@@ -160,9 +159,33 @@ public:
MOVE_CNTRL_T(std::make_from_tuple<MOVE_CNTRL_T>(move_cntrl_ctor_ars)),
LOGGER_T(std::make_from_tuple<LOGGER_T>(logger_ctor_args))
{
logDebug(std::format("Create MccGenericMount class instance (thread: {})", std::this_thread::get_id()));
// logDebug(std::format("Create MccGenericMount class instance (thread: {})", std::this_thread::get_id()));
logDebug("Create MccGenericMount class instance (thread: {})", std::this_thread::get_id());
}
template <typename... HardwareCtorTs,
typename... TelemetryCtorTs,
typename... PzoneContCtorTs,
typename... MoveCntrCtorTs,
typename... LoggerCtorTs>
requires std::derived_from<LOGGER_T, utils::MccSpdlogLogger>
MccGenericMount(std::tuple<HardwareCtorTs...> hw_ctor_args,
std::tuple<TelemetryCtorTs...> telemetry_ctor_args,
std::tuple<PzoneContCtorTs...> pzone_cont_ctor_ars,
std::tuple<MoveCntrCtorTs...> move_cntrl_ctor_ars,
LoggerCtorTs... logger_ctor_args)
: HARDWARE_T(std::make_from_tuple<HARDWARE_T>(std::move(hw_ctor_args))),
TELEMETRY_T(std::make_from_tuple<TELEMETRY_T>(std::move(telemetry_ctor_args))),
PZONE_CONT_T(std::make_from_tuple<PZONE_CONT_T>(pzone_cont_ctor_ars)),
MOVE_CNTRL_T(std::make_from_tuple<MOVE_CNTRL_T>(move_cntrl_ctor_ars)),
mcc::utils::MccSpdlogLogger(logger_ctor_args...)
{
// logDebug(std::format("Create MccGenericMount class instance (thread: {})", std::this_thread::get_id()));
logDebug("Create MccGenericMount class instance (thread: {})", std::this_thread::get_id());
}
/* movable-only class */
MccGenericMount(const MccGenericMount&) = delete;
MccGenericMount(MccGenericMount&&) = default;
@@ -171,7 +194,8 @@ public:
virtual ~MccGenericMount()
{
logDebug(std::format("Delete MccGenericMount class instance (thread: {})", std::this_thread::get_id()));
// logDebug(std::format("Delete MccGenericMount class instance (thread: {})", std::this_thread::get_id()));
logDebug("Delete MccGenericMount class instance (thread: {})", std::this_thread::get_id());
auto err = MOVE_CNTRL_T::stopMount();
if (err) {
@@ -211,6 +235,45 @@ public:
return _lastMountError->load();
}
/* log-method wrappers for non-MccSpdlogger classes */
template <std::formattable<char>... ArgTs>
requires(!std::derived_from<LOGGER_T, utils::MccSpdlogLogger>)
void logInfo(std::format_string<ArgTs...> fmt, ArgTs&&... args)
{
LOGGER_T::logInfo(std::format(fmt, std::forward<ArgTs>(args)...));
}
template <std::formattable<char>... ArgTs>
requires(!std::derived_from<LOGGER_T, utils::MccSpdlogLogger>)
void logDebug(std::format_string<ArgTs...> fmt, ArgTs&&... args)
{
LOGGER_T::logDebug(std::format(fmt, std::forward<ArgTs>(args)...));
}
template <std::formattable<char>... ArgTs>
requires(!std::derived_from<LOGGER_T, utils::MccSpdlogLogger>)
void logError(std::format_string<ArgTs...> fmt, ArgTs&&... args)
{
LOGGER_T::logError(std::format(fmt, std::forward<ArgTs>(args)...));
}
template <std::formattable<char>... ArgTs>
requires(!std::derived_from<LOGGER_T, utils::MccSpdlogLogger>)
void logWarn(std::format_string<ArgTs...> fmt, ArgTs&&... args)
{
LOGGER_T::logWarn(std::format(fmt, std::forward<ArgTs>(args)...));
}
template <std::formattable<char>... ArgTs>
requires(!std::derived_from<LOGGER_T, utils::MccSpdlogLogger>)
void logTrace(std::format_string<ArgTs...> fmt, ArgTs&&... args)
{
LOGGER_T::logTrace(std::format(fmt, std::forward<ArgTs>(args)...));
}
protected:
std::unique_ptr<std::atomic<mount_status_t>> _mountStatus{
new std::atomic<mount_status_t>{mount_status_t::MOUNT_STATUS_UNINITIALIZED}};