From e0b3ef225d1c027fbe3ec043bf178895fc7296ea Mon Sep 17 00:00:00 2001
From: "Timur A. Fatkhullin" <timur@sao.ru>
Date: Mon, 23 Feb 2026 11:38:23 +0300
Subject: [PATCH] ...

---
 include/mcc/mcc_generic_movecontrols.h | 116 +++++++++++++++++++++++++
 1 file changed, 116 insertions(+)
 create mode 100644 include/mcc/mcc_generic_movecontrols.h

diff --git a/include/mcc/mcc_generic_movecontrols.h b/include/mcc/mcc_generic_movecontrols.h
new file mode 100644
index 0000000..e16397f
--- /dev/null
+++ b/include/mcc/mcc_generic_movecontrols.h
@@ -0,0 +1,116 @@
+#pragma once
+
+#include "mcc_error.h"
+
+
+namespace mcc::impl
+{
+enum class MccGenericMovementControlsErrorCode : int {
+    ERROR_OK,
+    ERROR_IN_PZONE,
+    ERRROR_NEAR_PZONE,
+    ERROR_TELEMETRY_TIMEOUT
+};
+}  // namespace mcc::impl
+
+namespace std
+{
+template <>
+class is_error_code_enum<mcc::impl::MccGenericMovementControlsErrorCode> : public true_type
+{
+};
+}  // namespace std
+
+namespace mcc::impl
+{
+
+// error category
+struct MccGenericMovementControlsErrorCategory : std::error_category {
+    const char* name() const noexcept { return "MCC-GENERIC-MOVECONTRL"; }
+
+    std::string message(int ec) const
+    {
+        MccGenericMovementControlsErrorCode err = static_cast<MccGenericMovementControlsErrorCode>(ec);
+
+        switch (err) {
+            case MccGenericMovementControlsErrorCode::ERROR_OK:
+                return "OK";
+            case MccGenericMovementControlsErrorCode::ERROR_IN_PZONE:
+                return "target is in zone";
+            case MccGenericMovementControlsErrorCode::ERRROR_NEAR_PZONE:
+                return "mount is near zone";
+            case MccGenericMovementControlsErrorCode::ERROR_TELEMETRY_TIMEOUT:
+                return "telemetry data timeout";
+            default:
+                return "unknown";
+        }
+
+        static const MccGenericMovementControlsErrorCategory& get()
+        {
+            static const MccGenericMovementControlsErrorCategory constInst;
+            return constInst;
+        }
+    }
+};
+
+
+inline std::error_code make_error_code(MccGenericMovementControlsErrorCode ec)
+{
+    return std::error_code(static_cast<int>(ec), MccGenericMovementControlsErrorCategory::get());
+}
+
+
+struct MccGenericMovementControlsParams {
+    // timeout to telemetry updating
+    std::chrono::milliseconds telemetryTimeout{3000};
+
+    // braking acceleration after execution of mount stopping command (in rads/s^2)
+    // it must be given as non-negative value!!!
+    double brakingAccelX{0.0};
+    double brakingAccelY{0.0};
+
+    // *******    slewing mode    *******
+
+    // coordinates difference to stop slewing (in radians)
+    double slewToleranceRadius{5.0_arcsecs};
+
+    // slewing trajectory file. if empty - just skip saving
+    std::string slewingPathFilename{};
+
+
+    // *******    tracking mode    *******
+
+    // maximal target-to-mount difference for tracking process (in arcsecs)
+    // it it is greater then the current mount coordinates are used as target one
+    double trackingMaxCoordDiff{20.0};
+
+    // tracking trajectory file. if empty - just skip saving
+    std::string trackingPathFilename{};
+};
+
+
+template <std::default_constructible PARAMS_T>
+class MccGenericMovementControls
+{
+public:
+    typedef MccError error_t;
+
+    typedef PARAMS_T movement_params_t;
+
+    error_t slewToTarget(bool slew_and_stop) {}
+
+    error_t trackTarget() {}
+
+    error_t stopMount() {}
+
+    error_t setMovementParams(movement_params_t const& pars) { _currentParams->store(pars); }
+
+    movement_params_t getMovementParams() const { return _currentParams->load(); }
+
+protected:
+    MccGenericMovementControls() = default;
+
+    std::unique_ptr<std::atomic<PARAMS_T>> _currentParams{new std::atomic<PARAMS_T>{}};
+};
+
+}  // namespace mcc::impl