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This commit is contained in:
Timur A. Fatkhullin
2026-02-17 15:59:14 +03:00
parent 1841664b63
commit 775dedd835
4 changed files with 39 additions and 14 deletions
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8
include/mcc/mcc_concepts.h
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@@ -505,8 +505,14 @@ template <typename T>
concept mcc_skypoint_c = std::derived_from<T, mcc_skypoint_interface_t> && requires(const T t_const) {
{ t_const.epoch() } -> mcc_coord_epoch_c;
// currently stored coordinates pair
// currently stored coordinates pair kind
{ t_const.pairKind() } -> std::same_as<impl::MccCoordPairKind>;
// currently stored co-longitude coordinate
{ t_const.co_lon() } -> std::convertible_to<double>;
// currently stored co-latitude coordinate
{ t_const.co_lat() } -> std::convertible_to<double>;
};

11
include/mcc/mcc_coordinate.h
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@@ -423,6 +423,17 @@ public:
return _epoch;
}
double co_lon() const
{
return _x;
}
double co_lat() const
{
return _y;
}
template <mcc_coord_pair_c PT>
MccGenericSkyPoint& from(const PT& coord_pair)
{

32
include/mcc/mcc_movement_controls.h
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@@ -271,7 +271,7 @@ protected:
private:
std::string _filename;
std::istringstream _st;
std::ostringstream _st;
};
@@ -296,7 +296,7 @@ public:
template <mcc_hardware_c HARDWARE_T,
mcc_telemetry_c TELEMETRY_T,
mcc_pzone_container_c PZONE_CONT_T,
traits::mcc_callable_c CallbackFuncT,
typename CallbackFuncT,
mcc_logger_c LOGGER_T = MccNullLogger>
MccSimpleMovementControls(HARDWARE_T* hardware,
TELEMETRY_T* telemetry,
@@ -376,14 +376,14 @@ public:
static_assert(!std::is_null_pointer_v<decltype(mount_pos)>, "UNKNOWn MOUNT TYPE");
mount_pos.setX(tdata.hwState.XY.x() + tdata.pcmCorrection.x + dx);
mount_pos.setY(tdata.hwState.XY.y() + tdata.pcmCorrection.y + dy);
mount_pos.setX((double)tdata.hwState.XY.x() + tdata.pcmCorrection.pcmX + dx);
mount_pos.setY((double)tdata.hwState.XY.y() + tdata.pcmCorrection.pcmY + dy);
mount_pos.setEpoch(tdata.hwState.XY.epoch());
logger->logTrace(std::format(" mount: speedX = {}/s, speedY = {}/s", MccAngleFancyString(speedX),
MccAngleFancyString(speedY)));
auto pz_err = pzone_cont->inPZone(mount_pos, &in_zone, &in_zone_vec);
auto pz_err = pzone_cont->inPZone(MccSkyPoint(mount_pos), &in_zone, &in_zone_vec);
if (pz_err) {
return mcc_deduced_err(pz_err, MccSimpleMovementControlsErrorCode::ERROR_PZONE_CONTAINER_COMP);
}
@@ -474,9 +474,11 @@ public:
logger->logTrace(std::format(" current mount: {} = {}, {} = {}", x_str, coord_pair.x().sexagesimal(true),
y_str, coord_pair.y().sexagesimal()));
_pathFile << tdata.mountPos.epoch().UTC.time_since_epoch().count() << " " << x_tag << " " << y_tag << " "
_pathFile << tdata.mountPos.epoch().UTC().time_since_epoch().count() << " " << x_tag << " " << y_tag << " "
<< x_mnt << " " << y_mnt << " " << (x_tag - x_mnt) << " " << (y_tag - y_mnt) << " "
<< (int)tdata.hwState.movementState << "\n";
return MccSimpleMovementControlsErrorCode::ERROR_OK;
};
auto cb_sptr =
@@ -597,8 +599,12 @@ public:
(*cb_sptr)(STATUS_T::MOUNT_STATUS_SLEWING);
auto start_point = tdata.hwState.XY.epoch().UTC(); // needed for trajectory file
auto last_hw_time = start_point;
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;
while (!*_stopMoving) {
t_err = telemetry->telemetryData(&tdata);
@@ -645,8 +651,8 @@ public:
last_hw_time = tdata.hwState.XY.epoch().UTC();
auto dist = utils::distanceOnSphere(tdata.targetPos.x(), tdata.targetPos.y(), tdata.mountPos.x(),
tdata.mountPos.y());
auto dist = utils::distanceOnSphere(tdata.targetPos.co_lon(), tdata.targetPos.co_lat(),
tdata.mountPos.co_lon(), tdata.mountPos.co_lat());
logger->logTrace(std::format(" target-to-mount distance: {} (dx = {}, dy = {})",
MccAngleFancyString(std::get<2>(dist)), std::get<0>(dist),
@@ -654,7 +660,7 @@ public:
// stop slewing and exit from the cycle?
if (dist <= _currentParams.slewToleranceRadius) {
if (std::get<2>(dist) <= _currentParams.slewToleranceRadius) {
if (tdata.hwState.movementState == HARDWARE_T::hardware_movement_state_t::HW_MOVE_STOPPED ||
tdata.hwState.movementState == HARDWARE_T::hardware_movement_state_t::HW_MOVE_GUIDING) {
logger->logInfo("target-to-mount distance is lesser than slew acceptable radius - exit!");
@@ -705,8 +711,8 @@ public:
return;
}
auto dist = utils::distanceOnSphere(tdata.targetPos.x(), tdata.targetPos.y(), tdata.mountPos.x(),
tdata.mountPos.y());
auto dist = utils::distanceOnSphere(tdata.targetPos.co_lon(), tdata.targetPos.co_lat(),
tdata.mountPos.co_lon(), tdata.mountPos.co_lat());
log_pos(tdata);

2
include/mcc/mcc_netserver.h
View File

@@ -91,6 +91,8 @@ struct MccGenericMountNetworkServerErrorCategory : std::error_category {
defaut:
return "unknown";
};
return "unknown";
}
static const MccGenericMountNetworkServerErrorCategory& get()