...

include/mcc/mcc_concepts.h

@@ -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>;
 };
 
 

include/mcc/mcc_coordinate.h

@@ -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)
     {

include/mcc/mcc_movement_controls.h

@@ -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.setX((double)tdata.hwState.XY.x() + tdata.pcmCorrection.pcmX + dx);
-            mount_pos.setY(tdata.hwState.XY.y() + tdata.pcmCorrection.y + dy);
+            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 start_point = std::chrono::steady_clock::now();
-            auto last_hw_time = start_point;
+            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(),
+                    auto dist = utils::distanceOnSphere(tdata.targetPos.co_lon(), tdata.targetPos.co_lat(),
-                                                        tdata.mountPos.y());
+                                                        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(),
+                auto dist = utils::distanceOnSphere(tdata.targetPos.co_lon(), tdata.targetPos.co_lat(),
-                                                    tdata.mountPos.y());
+                                                    tdata.mountPos.co_lon(), tdata.mountPos.co_lat());
 
                 log_pos(tdata);
 

include/mcc/mcc_netserver.h

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