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This commit is contained in:
Timur A. Fatkhullin
2026-02-25 18:08:21 +03:00
parent 09a234ddc9
commit d9cb52f755
2 changed files with 108 additions and 34 deletions
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2
include/mcc/mcc_coordinate.h
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@@ -712,7 +712,7 @@ public:
auto d = utils::distanceOnSphere(_x, _y, x, y);
return {.dist = std::get<2>(d), .dx = std::get<0>(d), .dx = std::get<1>(d), .x2 = x, .y2 = y};
return {.dist = std::get<2>(d), .dx = std::get<0>(d), .dy = std::get<1>(d), .x2 = x, .y2 = y};
}
protected:

140
include/mcc/mcc_generic_movecontrols.h
View File

@@ -16,9 +16,9 @@
#include <future>
#include <type_traits>
#include "mcc_coordinate.h"
#include "mcc_error.h"
namespace mcc::impl
{
enum class MccGenericMovementControlsErrorCode : int {
@@ -140,18 +140,18 @@ struct MccMovementPathFile {
}
// general purpose method
template <std::formattable<char>... ArgTs>
void addToPath(std::format_string<ArgTs...> fmt, ArgTs&&... args)
{
std::format_to(std::back_inserter(_buffer), fmt, std::forward<ArgTs>(args)...);
std::ranges::copy(lineDelim, std::back_inserter(_buffer));
}
// template <std::formattable<char>... ArgTs>
// void addToPath(std::format_string<ArgTs...> fmt, ArgTs&&... args)
// {
// std::format_to(std::back_inserter(_buffer), fmt, std::forward<ArgTs>(args)...);
// std::ranges::copy(lineDelim, std::back_inserter(_buffer));
// }
// general purpose method
template <std::formattable<char>... ArgTs>
void addToPath(std::string_view fmt, ArgTs&&... args)
void addToPath(std::string_view fmt, ArgTs&... args)
{
std::vformat_to(std::back_inserter(_buffer), fmt, std::make_format_args(std::forward<ArgTs>(args)...));
std::vformat_to(std::back_inserter(_buffer), fmt, std::make_format_args(args...));
std::ranges::copy(lineDelim, std::back_inserter(_buffer));
}
@@ -169,11 +169,15 @@ struct MccMovementPathFile {
const auto v = std::views::repeat(d_fmt, 7) | std::views::join_with(' ');
std::string fmt = "{} " + std::string(v.begin(), v.end()) + " {}";
addToPath(fmt, tp.count(), (double)tdata.mountPos.co_lon() * MCC_RADS_TO_DEGRESS,
(double)tdata.mountPos.co_lat() * MCC_RADS_TO_DEGRESS, (double)dist.x2 * MCC_RADS_TO_DEGRESS,
(double)dist.y2 * MCC_RADS_TO_DEGRESS, (double)dist.dx * MCC_RADS_TO_DEGRESS,
(double)dist.dy * MCC_RADS_TO_DEGRESS, (double)dist.dist * MCC_RADS_TO_DEGRESS,
(int)tdata.hwState.movementState);
int state = (int)tdata.hwState.movementState;
auto tp_val = tp.count();
double mnt_x = MccAngle(tdata.mountPos.co_lon()).degrees(), mnt_y = MccAngle(tdata.mountPos.co_lon()).degrees(),
tag_x = dist.x2.degrees(), tag_y = dist.y2.degrees(), dx = dist.dy.degrees(), dy = dist.dy.degrees(),
dd = dist.dist.degrees();
addToPath(std::string_view(fmt.begin(), fmt.end()), tp_val, mnt_x, mnt_y, tag_x, tag_y, dx, dy, dd, state);
}
void clearPath()
@@ -204,7 +208,7 @@ protected:
enum class MccGenericMovementControlsPolicy : int { POLICY_ASYNC, POLICY_BLOCKING };
template <std::default_initializable PARAMS_T,
template <std::movable PARAMS_T,
MccGenericMovementControlsPolicy EXEC_POLICY = MccGenericMovementControlsPolicy::POLICY_ASYNC>
class MccGenericMovementControls
{
@@ -217,7 +221,21 @@ public:
typedef PARAMS_T movement_params_t;
~MccGenericMovementControls()
template <std::invocable<bool> SLEW_FUNC_T, std::invocable<> TRACK_FUNC_T, std::invocable<> STOP_FUNC_T>
MccGenericMovementControls(SLEW_FUNC_T&& slew_func, TRACK_FUNC_T&& track_func, STOP_FUNC_T&& stop_func)
: _slewFunc(std::forward<SLEW_FUNC_T>(slew_func)),
_trackFunc(std::forward<TRACK_FUNC_T>(track_func)),
_stopFunc(std::forward<STOP_FUNC_T>(stop_func))
{
}
MccGenericMovementControls(const MccGenericMovementControls&) = delete;
MccGenericMovementControls(MccGenericMovementControls&& other) = default;
MccGenericMovementControls& operator=(const MccGenericMovementControls&) = delete;
MccGenericMovementControls& operator=(MccGenericMovementControls&&) = default;
virtual ~MccGenericMovementControls()
{
stopMount();
@@ -238,7 +256,7 @@ public:
error_t slewToTarget(bool slew_and_stop)
{
_stopMovementRequest = false;
*_stopMovementRequest = false;
if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC) {
_slewFuncFuture = std::async(std::launch::async, _slewFunc, slew_and_stop);
@@ -253,7 +271,7 @@ public:
error_t trackTarget()
{
_stopMovementRequest = false;
*_stopMovementRequest = false;
if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC) {
_trackFuncFuture = std::async(std::launch::async, _trackFunc);
@@ -268,7 +286,7 @@ public:
error_t stopMount()
{
_stopMovementRequest = true;
*_stopMovementRequest = true;
if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC) {
_stopFuncFuture = std::async(std::launch::async, _stopFunc);
@@ -283,30 +301,29 @@ public:
error_t setMovementParams(movement_params_t const& pars)
{
_currentParams->store(pars);
std::lock_guard lock{*_currentMovementParamsMutex};
_currentMovementParams = pars;
return MccGenericMovementControlsErrorCode::ERROR_OK;
}
movement_params_t getMovementParams() const
{
return _currentParams->load();
std::lock_guard lock{*_currentMovementParamsMutex};
return _currentMovementParams;
}
protected:
template <std::invocable<bool> SLEW_FUNC_T, std::invocable<> TRACK_FUNC_T, std::invocable<> STOP_FUNC_T>
MccGenericMovementControls(SLEW_FUNC_T&& slew_func, TRACK_FUNC_T&& track_func, STOP_FUNC_T&& stop_func)
: _slewFunc(std::forward<SLEW_FUNC_T>(slew_func)),
_trackFunc(std::forward<TRACK_FUNC_T>(track_func)),
_stopFunc(std::forward<STOP_FUNC_T>(stop_func)){};
std::unique_ptr<std::mutex> _currentMovementParamsMutex{new std::mutex{}};
PARAMS_T _currentMovementParams{};
std::unique_ptr<std::atomic<PARAMS_T>> _currentParams{new std::atomic<PARAMS_T>{}};
std::atomic_bool _stopMovementRequest{false};
std::unique_ptr<std::atomic_bool> _stopMovementRequest{new std::atomic_bool{false}};
std::function<error_t(bool)> _slewFunc{};
std::function<error_t()> _trackFunc;
std::function<error_t()> _stopFunc;
std::function<error_t()> _trackFunc{};
std::function<error_t()> _stopFunc{};
std::conditional_t<executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC,
std::future<error_t>,
@@ -332,7 +349,7 @@ protected:
// the method calculates the change in coordinates of a point over a given time given the current speed and braking
// acceleration. a position after given 'time' interval is returned
auto coordsAfterTime(mcc_coord_pair_c auto& cp,
auto coordsAfterTime(mcc_coord_pair_c auto const& cp,
mcc_coord_pair_c auto const& speedXY, // in radians per seconds
mcc_coord_pair_c auto const& braking_accelXY, // in radians per seconds in square
traits::mcc_time_duration_c auto const& time,
@@ -360,7 +377,7 @@ protected:
double dy = speedXY.y() * ty - std::copysign(braking_accelXY.y(), speedXY.y()) * ty * ty / 2.0;
std::remove_cvref_t<decltype(cp)> cp_res{};
cp_res.setEpoch(cp.epoch().UTC() + time);
cp_res.setEpoch(cp.epoch() + time);
cp_res.setX((double)cp.x() + dx);
cp_res.setY((double)cp.y() + dy);
@@ -373,6 +390,63 @@ protected:
return cp_res;
}
auto coordsAfterTime(mcc_skypoint_c auto const& sp,
mcc_coord_pair_c auto const& speedXY, // in radians per seconds
mcc_coord_pair_c auto const& braking_accelXY, // in radians per seconds in square
traits::mcc_time_duration_c auto const& time,
mcc_coord_pair_c auto* dxy = nullptr)
{
auto run_func = [&, this](auto& cp) {
sp.toAtSameEpoch(cp);
auto new_cp = coordsAfterTime(cp, speedXY, braking_accelXY, time, dxy);
std::remove_cvref_t<decltype(sp)> sp_res{};
sp_res.from(cp);
return sp_res;
};
switch (sp.pairKind()) {
case MccCoordPairKind::COORDS_KIND_RADEC_ICRS: {
MccSkyRADEC_ICRS rd;
return run_func(rd);
};
case MccCoordPairKind::COORDS_KIND_RADEC_OBS: {
MccSkyRADEC_OBS rd;
return run_func(rd);
};
case MccCoordPairKind::COORDS_KIND_RADEC_APP: {
MccSkyRADEC_APP rd;
return run_func(rd);
};
case MccCoordPairKind::COORDS_KIND_HADEC_OBS: {
MccSkyHADEC_OBS hd;
return run_func(hd);
};
case MccCoordPairKind::COORDS_KIND_HADEC_APP: {
MccSkyHADEC_APP hd;
return run_func(hd);
};
case MccCoordPairKind::COORDS_KIND_AZZD: {
MccSkyAZZD azzd;
return run_func(azzd);
};
case MccCoordPairKind::COORDS_KIND_AZALT: {
MccSkyAZALT azalt;
return run_func(azalt);
};
case MccCoordPairKind::COORDS_KIND_GENERIC:
case MccCoordPairKind::COORDS_KIND_XY: {
MccGenXY xy;
return run_func(xy);
};
default:
return sp;
}
}
};