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This commit is contained in:
Timur A. Fatkhullin
2026-02-17 11:41:04 +03:00
parent 7049317539
commit d1a31fc52c
1 changed files with 10 additions and 34 deletions
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44
include/mcc/mcc_generic_mount.h
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@@ -108,16 +108,11 @@ inline std::error_code make_error_code(MccGenericMountErrorCode ec)
template <mcc_hardware_c HARDWARE_T,
mcc_telemetry_c TELEMETRY_T,
template <mcc_telemetry_c TELEMETRY_T,
mcc_pzone_container_c PZONE_CONT_T,
mcc_movement_controls_c MOVE_CNTRL_T,
mcc_logger_c LOGGER_T = utils::MccSpdlogLogger>
class MccGenericMount : protected HARDWARE_T,
public TELEMETRY_T,
public PZONE_CONT_T,
public MOVE_CNTRL_T,
public LOGGER_T
class MccGenericMount : public TELEMETRY_T, public PZONE_CONT_T, public MOVE_CNTRL_T, public LOGGER_T
{
public:
using LOGGER_T::logDebug;
@@ -143,18 +138,15 @@ public:
MOUNT_STATUS_TRACKING
};
template <typename... HardwareCtorTs,
typename... TelemetryCtorTs,
template <typename... TelemetryCtorTs,
typename... PzoneContCtorTs,
typename... MoveCntrCtorTs,
typename... LoggerCtorTs>
MccGenericMount(std::tuple<HardwareCtorTs...> hw_ctor_args,
std::tuple<TelemetryCtorTs...> telemetry_ctor_args,
MccGenericMount(std::tuple<TelemetryCtorTs...> telemetry_ctor_args,
std::tuple<PzoneContCtorTs...> pzone_cont_ctor_ars,
std::tuple<MoveCntrCtorTs...> move_cntrl_ctor_ars,
std::tuple<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))),
: 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)),
LOGGER_T(std::make_from_tuple<LOGGER_T>(logger_ctor_args))
@@ -163,19 +155,16 @@ public:
logDebug("Create MccGenericMount class instance (thread: {})", std::this_thread::get_id());
}
template <typename... HardwareCtorTs,
typename... TelemetryCtorTs,
template <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,
MccGenericMount(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))),
: 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...)
@@ -207,22 +196,9 @@ public:
{
logInfo(std::format("Start MccGenericMount class initialization (thread: {}) ...", std::this_thread::get_id()));
*_lastMountError = MccGenericMountErrorCode::ERROR_OK;
*_mountStatus = mount_status_t::MOUNT_STATUS_IDLE;
*_mountStatus = mount_status_t::MOUNT_STATUS_INITIALIZATION;
auto hw_err = this->hardwareInit();
if (hw_err) {
*_mountStatus = mount_status_t::MOUNT_STATUS_ERROR;
*_lastMountError = mcc_deduce_err(hw_err, MccGenericMountErrorCode::ERROR_HW_INIT);
} else {
logInfo("Generic mount initialization was performed");
*_mountStatus = mount_status_t::IDLE;
}
return *_lastMountError;
return *_lastMountError = MccGenericMountErrorCode::ERROR_OK;
}
mount_status_t mountStatus() const