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add hardwareShutdown method requirement to mcc_hardware_c concept

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Timur A. Fatkhullin
2026-02-27 14:24:45 +03:00
parent 3bd12bcf6d
commit ba03832ce6
1 changed files with 2 additions and 63 deletions
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65
include/mcc/mcc_concepts.h
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@@ -706,75 +706,12 @@ concept mcc_hardware_c = requires(T t) {
}(); // to ensure 'mountType' can be used in compile-time context }(); // 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,
// 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
// hardware
//
// e.g. an implementations can be as follows:
// enum class hardware_movement_state_t: int {HW_MOVE_ERROR = -1, HW_MOVE_STOPPED = 0, HW_MOVE_STOPPING,
// HW_MOVE_SLEWING, HW_MOVE_ADJUSTING, HW_MOVE_TRACKING, HW_MOVE_GUIDING}
//
// struct hardware_movement_state_t {
// static constexpr uint16_t HW_MOVE_STOPPED = 0;
// static constexpr uint16_t HW_MOVE_SLEWING = 111;
// static constexpr uint16_t HW_MOVE_ADJUSTING = 222;
// static constexpr uint16_t HW_MOVE_TRACKING = 333;
// static constexpr uint16_t HW_MOVE_GUIDING = 444;
// static constexpr uint16_t HW_MOVE_ERROR = 555;
// static constexpr uint16_t HW_MOVE_STOPPING = 666;
// }
requires mcc_hardware_movement_state_c<typename T::hardware_movement_state_t>; requires mcc_hardware_movement_state_c<typename T::hardware_movement_state_t>;
// requires requires(typename T::hardware_movement_state_t type) {
// []() {
// // mount axes were stopped
// static constexpr auto v0 = T::hardware_movement_state_t::HW_MOVE_STOPPED;
// // hardware was asked for slewing (move to given celestial point)
// static constexpr auto v1 = T::hardware_movement_state_t::HW_MOVE_SLEWING;
// // hardware was asked for adjusting after slewing
// // (adjusting actual mount position to align with target celestial point at the end of slewing process)
// static constexpr auto v2 = T::hardware_movement_state_t::HW_MOVE_ADJUSTING;
// // hardware was asked for tracking (track target celestial point)
// static constexpr auto v3 = T::hardware_movement_state_t::HW_MOVE_TRACKING;
// // hardware was asked for guiding
// // (small corrections to align actual mount position with target celestial point)
// static constexpr auto v4 = T::hardware_movement_state_t::HW_MOVE_GUIDING;
// // to detect possible hardware error
// static constexpr auto v5 = T::hardware_movement_state_t::HW_MOVE_ERROR;
// }();
// };
requires mcc_hardware_state_c<typename T::hardware_state_t> && requires(typename T::hardware_state_t state) { requires mcc_hardware_state_c<typename T::hardware_state_t> && requires(typename T::hardware_state_t state) {
requires std::same_as<decltype(state.movementState), typename T::hardware_movement_state_t>; requires std::same_as<decltype(state.movementState), typename T::hardware_movement_state_t>;
}; };
// requires requires(typename T::hardware_state_t state) {
// // encoder co-longitude and co-latiitude positions, as well as its measurement time point
// // the given constrains on coordinate pair kind can be used to deduce mount type
// requires mcc_coord_pair_c<decltype(state.XY)> &&
// ( // for equathorial mount:
// decltype(state.XY)::pairKind == impl::MccCoordPairKind::COORDS_KIND_HADEC_OBS ||
// // for alt-azimuthal mount:
// decltype(state.XY)::pairKind == impl::MccCoordPairKind::COORDS_KIND_AZALT ||
// decltype(state.XY)::pairKind == impl::MccCoordPairKind::COORDS_KIND_AZZD);
// // co-longitude and co-latiitude axis angular speeds, as well as its measurement/computation time point
// requires mcc_coord_pair_c<decltype(state.speedXY)> &&
// (decltype(state.XY)::pairKind == impl::MccCoordPairKind::COORDS_KIND_GENERIC ||
// decltype(state.XY)::pairKind == impl::MccCoordPairKind::COORDS_KIND_XY);
// requires std::same_as<typename T::hardware_movement_state_t, decltype(state.movementState)>;
// };
// set hardware state: // set hardware state:
{ t.hardwareSetState(std::declval<typename T::hardware_state_t const&>()) } -> std::same_as<typename T::error_t>; { t.hardwareSetState(std::declval<typename T::hardware_state_t const&>()) } -> std::same_as<typename T::error_t>;
@@ -783,6 +720,8 @@ concept mcc_hardware_c = requires(T t) {
// { t.hardwareStop() } -> std::same_as<typename T::error_t>; // stop any moving // { t.hardwareStop() } -> std::same_as<typename T::error_t>; // stop any moving
{ t.hardwareInit() } -> std::same_as<typename T::error_t>; // initialize hardware { t.hardwareInit() } -> std::same_as<typename T::error_t>; // initialize hardware
{ t.hardwareShutdown() } -> std::same_as<typename T::error_t>; // shutdown hardware
}; };