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This commit is contained in:
Timur A. Fatkhullin
2026-02-20 14:44:14 +03:00
parent e6004a6c8a
commit f8162779d6
1 changed files with 48 additions and 36 deletions
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84
include/mcc/mcc_movement_controls.h
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@@ -49,6 +49,7 @@ enum class MccSimpleMovementControlsErrorCode : int {
ERROR_OK,
ERROR_HW_GETSTATE,
ERROR_HW_SETSTATE,
ERROR_HW_ERROR,
ERROR_PCM_COMP,
ERROR_CCTE_COMP,
ERROR_GET_TELEMETRY,
@@ -100,6 +101,8 @@ struct MccSimpleMovementControlsCategory : public std::error_category {
return "cannot get hardware state";
case MccSimpleMovementControlsErrorCode::ERROR_HW_SETSTATE:
return "cannot set hardware state";
case MccSimpleMovementControlsErrorCode::ERROR_HW_ERROR:
return "hardware error occured";
case MccSimpleMovementControlsErrorCode::ERROR_PCM_COMP:
return "PCM computation error";
case MccSimpleMovementControlsErrorCode::ERROR_CCTE_COMP:
@@ -633,6 +636,8 @@ public:
*_stopMoving = false;
hw_state.movementState = HARDWARE_T::hardware_movement_state_t::HW_MOVE_ADJUSTING;
while (!*_stopMoving) {
t_err = telemetry->telemetryData(&tdata);
if (t_err) {
@@ -642,6 +647,10 @@ public:
return;
}
hw_state.XY.setX(tdata.targetXY.x());
hw_state.XY.setY(tdata.targetXY.y());
hw_state.XY.setEpoch(ep_t::now());
log_pos(tdata, dist);
// logger->logInfo("\tMNT.XY {} {}; MNT.HADEC {} {}", (double)tdata.hwState.XY.x(),
@@ -667,9 +676,45 @@ public:
*_lastError = MccSimpleMovementControlsErrorCode::ERROR_TIMEOUT;
break;
}
if (std::get<2>(dist) <= _currentParams.slewToleranceRadius) {
logger->logInfo("target-to-mount distance is lesser than slew acceptable radius - exit!");
break;
}
// start adjusting (precise pointing) the slewing
if (std::get<2>(dist) <= _currentParams.adjustCoordDiff) {
(*cb_sptr)(STATUS_T::MOUNT_STATUS_ADJUSTING);
*_lastError = send_to_hardware(hw_state);
if (_lastError->load()) {
break;
}
}
if (tdata.hwState.movementState == HARDWARE_T::hardware_movement_state_t::HW_MOVE_STOPPED) {
// the mount stopped but still to far from target position!!!
if (std::get<2>(dist) > _currentParams.slewToleranceRadius) {
(*cb_sptr)(STATUS_T::MOUNT_STATUS_ADJUSTING);
*_lastError = send_to_hardware(hw_state);
if (_lastError->load()) {
break;
}
} else {
break;
}
}
}
if (tdata.hwState.movementState == HARDWARE_T::hardware_movement_state_t::HW_MOVE_ERROR) {
*_lastError = MccSimpleMovementControlsErrorCode::ERROR_HW_ERROR;
break;
}
/*
if (slew_and_stop) { // just wait until the mount stops
if (tdata.hwState.movementState == HARDWARE_T::hardware_movement_state_t::HW_MOVE_STOPPED) {
// if (std::get<2>(dist) > _currentParams.slewToleranceRadius) {
@@ -696,23 +741,6 @@ public:
last_hw_time = tdata.hwState.XY.epoch().UTC();
// auto ccte_err = tdata.targetPos.toAtSameEpoch(tag_cp);
// if (ccte_err) {
// *_lastError = mcc_deduced_err(ccte_err, MccSimpleMovementControlsErrorCode::ERROR_CCTE_COMP);
// }
// ccte_err = tdata.mountPos.toAtSameEpoch(mnt_cp);
// if (ccte_err) {
// *_lastError = mcc_deduced_err(ccte_err, MccSimpleMovementControlsErrorCode::ERROR_CCTE_COMP);
// }
// auto dist = utils::distanceOnSphere(tag_cp.x(), tag_cp.y(), mnt_cp.x(), mnt_cp.y());
// logger->logTrace(std::format(
// " target-to-mount distance: {} (dx = {}, dy = {})",
// MccAngleFancyString(std::get<2>(dist)), MccAngleFancyString(std::get<0>(dist)),
// MccAngleFancyString(std::get<1>(dist))));
// stop slewing and exit from the cycle?
if (std::get<2>(dist) <= _currentParams.slewToleranceRadius) {
if (tdata.hwState.movementState == HARDWARE_T::hardware_movement_state_t::HW_MOVE_STOPPED ||
@@ -744,6 +772,7 @@ public:
break;
}
}
*/
// sleep here
std::this_thread::sleep_for(_currentParams.slewingTelemetryInterval);
@@ -776,27 +805,10 @@ public:
return;
}
// auto ccte_err = tdata.targetPos.to(tag_cp);
// if (ccte_err) {
// *_lastError = mcc_deduced_err(ccte_err, MccSimpleMovementControlsErrorCode::ERROR_CCTE_COMP);
// (*cb_sptr)(STATUS_T::MOUNT_STATUS_ERROR);
// return;
// }
// ccte_err = tdata.mountPos.to(mnt_cp);
// if (ccte_err) {
// *_lastError = mcc_deduced_err(ccte_err, MccSimpleMovementControlsErrorCode::ERROR_CCTE_COMP);
// (*cb_sptr)(STATUS_T::MOUNT_STATUS_ERROR);
// return;
// }
// auto dist = utils::distanceOnSphere(tag_cp.x(), tag_cp.y(), mnt_cp.x(), mnt_cp.y());
log_pos(tdata, dist);
// logger->logDebug(
// std::format(" target-to-mount distance {}", MccAngleFancyString(std::get<2>(dist))));
logger->logInfo(
std::format(" final target-to-mount distance {}", MccAngleFancyString(std::get<2>(dist))));
if (!slew_and_stop) { // start tracking
_trackingFunc();