...

2026-03-18 23:34:46 +03:00 · 2026-03-18 19:00:23 +03:00 · 2026-03-17 17:18:11 +03:00 · 2026-03-17 00:23:44 +03:00 · 2026-03-12 23:50:47 +03:00 · 2026-03-12 22:20:56 +03:00
38 changed files with 8647 additions and 359 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,3 @@
 CMakeLists.txt.user
 build
 .qtcreator
--- a/.qtcreator/CMakeLists.txt.user.25c9513
+++ b/.qtcreator/CMakeLists.txt.user.25c9513
@@ -0,0 +1,746 @@
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   <value type="qlonglong" key="ProjectExplorer.Target.DeployConfigurationCount">2</value>
   <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
    <value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
    <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
    <value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
    <value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
    <value type="QString" key="Analyzer.Valgrind.ValgrindExecutable">/usr/bin/valgrind</value>
    <valuelist type="QVariantList" key="CustomOutputParsers"/>
    <value type="int" key="PE.EnvironmentAspect.Base">2</value>
    <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
    <value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
    <value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">CMakeProjectManager.CMakeRunConfiguration.</value>
    <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey">exe</value>
    <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
    <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
    <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
    <value type="bool" key="RunConfiguration.UseLibrarySearchPath">true</value>
    <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
    <value type="QString" key="RunConfiguration.WorkingDirectory.default">%{RunConfig:Executable:Path}</value>
   </valuemap>
   <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.1">
    <value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
    <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
    <value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
    <value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
    <value type="QString" key="Analyzer.Valgrind.ValgrindExecutable">/usr/bin/valgrind</value>
    <valuelist type="QVariantList" key="CustomOutputParsers"/>
    <value type="int" key="PE.EnvironmentAspect.Base">2</value>
    <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
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    <value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">CMakeProjectManager.CMakeRunConfiguration.</value>
    <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey">mcc_telemetry_test</value>
    <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
    <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
    <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
    <value type="bool" key="RunConfiguration.UseLibrarySearchPath">true</value>
    <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
    <value type="QString" key="RunConfiguration.WorkingDirectory.default">%{RunConfig:Executable:Path}</value>
   </valuemap>
   <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.2">
    <value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
    <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
    <value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
    <value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
    <value type="QString" key="Analyzer.Valgrind.ValgrindExecutable">/usr/bin/valgrind</value>
    <valuelist type="QVariantList" key="CustomOutputParsers"/>
    <value type="int" key="PE.EnvironmentAspect.Base">2</value>
    <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
    <value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
    <value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">CMakeProjectManager.CMakeRunConfiguration.</value>
    <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey">mcc_coord_test</value>
    <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
    <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
    <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
    <value type="bool" key="RunConfiguration.UseLibrarySearchPath">true</value>
    <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
    <value type="QString" key="RunConfiguration.WorkingDirectory.default">%{RunConfig:Executable:Path}</value>
   </valuemap>
   <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.3">
    <value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
    <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
    <value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
    <value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
    <value type="QString" key="Analyzer.Valgrind.ValgrindExecutable">/usr/bin/valgrind</value>
    <valuelist type="QVariantList" key="CustomOutputParsers"/>
    <value type="int" key="PE.EnvironmentAspect.Base">2</value>
    <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
    <value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
    <value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">CMakeProjectManager.CMakeRunConfiguration.</value>
    <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey">mcc_pzone_test</value>
    <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
    <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
    <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
    <value type="bool" key="RunConfiguration.UseLibrarySearchPath">true</value>
    <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
    <value type="QString" key="RunConfiguration.WorkingDirectory.default">%{RunConfig:Executable:Path}</value>
   </valuemap>
   <value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">4</value>
  </valuemap>
 </data>
 <data>
  <variable>ProjectExplorer.Project.TargetCount</variable>
  <value type="qlonglong">2</value>
 </data>
 <data>
  <variable>Version</variable>
  <value type="int">22</value>
 </data>
 </qtcreator>
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,11 +1,11 @@
 cmake_minimum_required(VERSION 3.14)
 set(QT_CREATOR_SKIP_MAINTENANCE_TOOL_PROVIDER ON)
 # ******* MOUNT CONTROL COMPONENTS *******
 project(mcc LANGUAGES C CXX Fortran VERSION 0.1)
 # set(CMAKE_BUILD_TYPE Release)
 set(CMAKE_CXX_STANDARD 23)
@@ -13,13 +13,27 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake")
 # ******* LIBRARY OPTIONS *******
-option(USE_SPDLOG "Use of SPDLOG library (add implementation of logger class based on this library)" ON)
+option(
-option(USE_ERFA "Use of ERFA library (add implementation of CCTE based on this library)" ON)
+    USE_SPDLOG
    "Use of SPDLOG library (add implementation of logger class based on this library)"
    ON
 )
 option(
    USE_ERFA
    "Use of ERFA library (add implementation of CCTE based on this library)"
    ON
 )
 option(USE_BSPLINE_PCM "Use of FITPACK bivariate splines for PCM" ON)
 option(
    USE_ASIO
    "Use of ASIO-library (add generic implementation of network capabilities)"
    ON
 )
 option(BUILD_TESTS "Build tests" ON)
@@ -30,153 +44,248 @@ include(ExternalProject)
 # ******* SPDLOG LIBRARY *******
-if (USE_SPDLOG)
+if(USE_SPDLOG)
    set(SPDLOG_USE_STD_FORMAT ON CACHE INTERNAL "Use of C++20 std::format")
    set(SPDLOG_FMT_EXTERNAL OFF CACHE INTERNAL "Turn off external fmt library")
    set(USE_SPDLOG_SYSTEM ON)
    find_package(spdlog CONFIG)
-    if (NOT ${spdlog_FOUND})
+    if(NOT ${spdlog_FOUND})
-        FetchContent_Declare(spdlog
+        message(STATUS "\tfetch spdlog-lib ...")
-             GIT_REPOSITORY "https://github.com/gabime/spdlog.git"
+        FetchContent_Declare(
-             GIT_TAG "v1.15.1"
+            spdlog
-             GIT_SHALLOW TRUE
+            GIT_REPOSITORY "https://github.com/gabime/spdlog.git"
-             GIT_SUBMODULES ""
+            GIT_TAG "v1.15.1"
-             GIT_PROGRESS TRUE
+            GIT_SHALLOW TRUE
-             CMAKE_ARGS "-DSPDLOG_USE_STD_FORMAT=ON -DSPDLOG_FMT_EXTERNAL=OFF"
+            GIT_SUBMODULES ""
-             OVERRIDE_FIND_PACKAGE
+            GIT_PROGRESS TRUE
            # CMAKE_ARGS
            # -DSPDLOG_USE_STD_FORMAT=ON
            # -DSPDLOG_FMT_EXTERNAL=OFF
            OVERRIDE_FIND_PACKAGE
        )
-        find_package(spdlog CONFIG)
+
        set(SPDLOG_INSTALL ON CACHE BOOL "Enable spdlog installation" FORCE)
        FetchContent_MakeAvailable(spdlog)
        find_package(spdlog REQUIRED CONFIG)
        set(USE_SPDLOG_SYSTEM OFF)
    endif()
 endif()
 # ******* ERFA LIBRARY *******
 find_program(MESON_PROG NAMES meson HINTS ENV PATHS)
 if (NOT MESON_PROG)
    message(FATAL "meson executable can not be found!!!")
 endif()
 find_program(NINJA_PROG NAMES ninja ninja-build)
 if (NOT NINJA_PROG)
    message(FATAL "ninja executable can not be found!!!")
 endif()
 find_package(PkgConfig REQUIRED)
-pkg_check_modules(ERFALIB IMPORTED_TARGET GLOBAL erfa)
+if(USE_ERFA)
 if (NOT ERFALIB_FOUND)
    message(STATUS "\tfetch erfa-lib ...")
    # ExternalProject_Add(erfalib
    #     PREFIX ${CMAKE_BINARY_DIR}/erfa_lib
    #     GIT_REPOSITORY "https://github.com/liberfa/erfa.git"
    #     GIT_TAG "v2.0.1"
    #     UPDATE_COMMAND ""
    #     PATCH_COMMAND ""
    #     LOG_CONFIGURE 1
    #     CONFIGURE_COMMAND meson setup --reconfigure -Ddefault_library=static -Dbuildtype=release
    #                               -Dprefix=${CMAKE_BINARY_DIR}/erfa_lib -Dlibdir= -Dincludedir= -Ddatadir= <SOURCE_DIR>
    #     BUILD_COMMAND ninja -C <BINARY_DIR>
    #     INSTALL_COMMAND meson install -C <BINARY_DIR>
    #     BUILD_BYPRODUCTS ${CMAKE_BINARY_DIR}/erfa_lib/liberfa.a
    # )
    # add_library(PkgConfig::ERFALIB STATIC IMPORTED GLOBAL)
    # set_target_properties(PkgConfig::ERFALIB PROPERTIES IMPORTED_LOCATION ${CMAKE_BINARY_DIR}/erfa_lib/liberfa.a)
    # set_target_properties(PkgConfig::ERFALIB PROPERTIES INTERFACE_INCLUDE_DIRECTORIES ${CMAKE_BINARY_DIR}/erfa_lib)
    # add_dependencies(PkgConfig::ERFALIB erfalib)
    # set(CACHE{ERFALIB_INCLUDE_DIRS} TYPE PATH VALUE "${CMAKE_BINARY_DIR}/erfa_lib")
    # set(CACHE{ERFALIB_LIBRARY_DIRS} TYPE PATH VALUE "${CMAKE_BINARY_DIR}/erfa_lib")
    # set(CACHE{ERFALIB_LIBRARIES} TYPE STRING VALUE "erfa;m")
    FetchContent_Declare(erfalib_project
        GIT_REPOSITORY "https://github.com/liberfa/erfa.git"
        GIT_TAG "v2.0.1"
        GIT_SHALLOW TRUE
        GIT_PROGRESS TRUE
    )
    FetchContent_MakeAvailable(erfalib_project)
    # message(STATUS "ERFA: ${erfalib_project_SOURCE_DIR}")
    message(STATUS "\tbuild erfa-lib ...")
    execute_process(
        COMMAND meson setup --reconfigure -Ddefault_library=static -Dbuildtype=release
                            -Dprefix=${CMAKE_BINARY_DIR}/erfa_lib -Dlibdir= -Dincludedir= -Ddatadir= ${CMAKE_BINARY_DIR}/erfa_lib ${erfalib_project_SOURCE_DIR}
    )
    execute_process(
        WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/erfa_lib
        COMMAND ninja -C ${CMAKE_BINARY_DIR}/erfa_lib
    )
    execute_process(
        WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/erfa_lib
        COMMAND meson install -C ${CMAKE_BINARY_DIR}/erfa_lib
    )
    set(ENV{PKG_CONFIG_PATH} "${CMAKE_BINARY_DIR}/erfa_lib/pkgconfig")
    pkg_check_modules(ERFALIB IMPORTED_TARGET GLOBAL erfa)
    if(NOT ERFALIB_FOUND)
        message(STATUS "\tfetch erfa-lib ...")
        # ExternalProject_Add(erfalib
        #     PREFIX ${CMAKE_BINARY_DIR}/erfa_lib
        #     GIT_REPOSITORY "https://github.com/liberfa/erfa.git"
        #     GIT_TAG "v2.0.1"
        #     UPDATE_COMMAND ""
        #     PATCH_COMMAND ""
        #     LOG_CONFIGURE 1
        #     CONFIGURE_COMMAND meson setup --reconfigure -Ddefault_library=static -Dbuildtype=release
        #                               -Dprefix=${CMAKE_BINARY_DIR}/erfa_lib -Dlibdir= -Dincludedir= -Ddatadir= <SOURCE_DIR>
        #     BUILD_COMMAND ninja -C <BINARY_DIR>
        #     INSTALL_COMMAND meson install -C <BINARY_DIR>
        #     BUILD_BYPRODUCTS ${CMAKE_BINARY_DIR}/erfa_lib/liberfa.a
        # )
        # add_library(PkgConfig::ERFALIB STATIC IMPORTED GLOBAL)
        # set_target_properties(PkgConfig::ERFALIB PROPERTIES IMPORTED_LOCATION ${CMAKE_BINARY_DIR}/erfa_lib/liberfa.a)
        # set_target_properties(PkgConfig::ERFALIB PROPERTIES INTERFACE_INCLUDE_DIRECTORIES ${CMAKE_BINARY_DIR}/erfa_lib)
        # add_dependencies(PkgConfig::ERFALIB erfalib)
        # set(CACHE{ERFALIB_INCLUDE_DIRS} TYPE PATH VALUE "${CMAKE_BINARY_DIR}/erfa_lib")
        # set(CACHE{ERFALIB_LIBRARY_DIRS} TYPE PATH VALUE "${CMAKE_BINARY_DIR}/erfa_lib")
        # set(CACHE{ERFALIB_LIBRARIES} TYPE STRING VALUE "erfa;m")
        find_program(MESON_PROG NAMES meson HINTS ENV PATHS)
        if(NOT MESON_PROG)
            message(FATAL "meson executable can not be found!!!")
        endif()
        find_program(NINJA_PROG NAMES ninja ninja-build)
        if(NOT NINJA_PROG)
            message(FATAL "ninja executable can not be found!!!")
        endif()
        FetchContent_Declare(
            erfalib_project
            GIT_REPOSITORY "https://github.com/liberfa/erfa.git"
            GIT_TAG "v2.0.1"
            GIT_SHALLOW TRUE
            GIT_PROGRESS TRUE
        )
        FetchContent_MakeAvailable(erfalib_project)
        # message(STATUS "ERFA: ${erfalib_project_SOURCE_DIR}")
        message(STATUS "\tbuild erfa-lib ...")
        execute_process(
            COMMAND
                meson setup --reconfigure -Ddefault_library=static
                -Dbuildtype=release -Dprefix=${CMAKE_BINARY_DIR}/erfa_lib
                -Dlibdir= -Dincludedir= -Ddatadir= ${CMAKE_BINARY_DIR}/erfa_lib
                ${erfalib_project_SOURCE_DIR}
        )
        execute_process(
            WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/erfa_lib
            COMMAND ninja -C ${CMAKE_BINARY_DIR}/erfa_lib
        )
        execute_process(
            WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/erfa_lib
            COMMAND meson install -C ${CMAKE_BINARY_DIR}/erfa_lib
        )
        set(ENV{PKG_CONFIG_PATH} "${CMAKE_BINARY_DIR}/erfa_lib/pkgconfig")
        pkg_check_modules(ERFALIB IMPORTED_TARGET GLOBAL erfa)
    endif()
    message(STATUS "ERFA LIBS: ${ERFALIB_LIBRARIES}")
    message(STATUS "ERFA LIB PATHS: ${ERFALIB_LIBRARY_DIRS}")
    message(STATUS "ERFA INC PATHS: ${ERFALIB_INCLUDE_DIRS}")
 endif()
 if(USE_ASIO)
    pkg_check_modules(ASIOLIB IMPORTED_TARGET GLOBAL asio)
-message(STATUS "ERFA LIBS: ${ERFALIB_LIBRARIES}")
+    set(USE_ASIO_SYSTEM ON)
 message(STATUS "ERFA LIB PATHS: ${ERFALIB_LIBRARY_DIRS}")
 message(STATUS "ERFA INC PATHS: ${ERFALIB_INCLUDE_DIRS}")
    if(NOT ASIOLIB_FOUND)
        message(STATUS "\tfetch asio-lib ...")
-if (USE_BSPLINE_PCM)
+        FetchContent_Declare(
            asiolib_project
            PREFIX
            ${CMAKE_BINARY_DIR}/asio
            GIT_REPOSITORY "https://github.com/chriskohlhoff/asio.git"
            GIT_TAG "asio-1-36-0"
            GIT_SHALLOW 1
        )
        FetchContent_MakeAvailable(asiolib_project)
        execute_process(
            WORKING_DIRECTORY ${asiolib_project_SOURCE_DIR}/asio
            COMMAND ./autogen.sh
        )
        execute_process(
            WORKING_DIRECTORY ${asiolib_project_SOURCE_DIR}/asio
            COMMAND ./configure --prefix=${asiolib_project_SOURCE_DIR}/asio
        )
        set(ENV{PKG_CONFIG_PATH} "${asiolib_project_SOURCE_DIR}/asio")
        pkg_check_modules(ASIOLIB IMPORTED_TARGET GLOBAL asio)
        message(STATUS "ASIO INC PATHS: ${ASIOLIB_INCLUDE_DIRS}")
        set(USE_ASIO_SYSTEM OFF)
    endif()
 endif()
 # if(USE_BSPLINE_PCM)
 #     # fitpack by P. Dierckx
 #     add_subdirectory(fitpack)
 # endif()
 set(MCC_SRC
    include/mcc/mcc_concepts.h
    include/mcc/mcc_constants.h
    include/mcc/mcc_epoch.h
    include/mcc/mcc_angle.h
    include/mcc/mcc_coordinate.h
    include/mcc/mcc_error.h
    include/mcc/mcc_traits.h
    include/mcc/mcc_utils.h
    include/mcc/mcc_pzone.h
    include/mcc/mcc_pzone_container.h
    include/mcc/mcc_pcm.h
    include/mcc/mcc_telemetry.h
    include/mcc/mcc_movement_controls.h
    include/mcc/mcc_generic_movecontrols.h
    include/mcc/mcc_serialization_common.h
    include/mcc/mcc_deserializer.h
    include/mcc/mcc_serializer.h
    include/mcc/mcc_generic_mount.h
 )
 if(USE_SPDLOG)
    list(APPEND MCC_SRC include/mcc/mcc_spdlog.h)
 endif()
 if(USE_ERFA)
    list(
        APPEND MCC_SRC
        include/mcc/mcc_ccte_iers.h
        include/mcc/mcc_ccte_iers_default.h
        include/mcc/mcc_ccte_erfa.h
    )
 endif()
 if(USE_ASIO)
    list(
        APPEND MCC_SRC
        include/mcc/mcc_netserver_endpoint.h
        include/mcc/mcc_netserver_proto.h
        include/mcc/mcc_netserver.h
    )
 endif()
 if(USE_BSPLINE_PCM)
    # fitpack by P. Dierckx
    list(APPEND MCC_SRC include/mcc/mcc_bsplines.h)
    add_subdirectory(fitpack)
 endif()
 set(MCC_SRC mcc_concepts.h mcc_constants.h mcc_epoch.h mcc_angle.h mcc_coordinate.h mcc_error.h
    mcc_traits.h mcc_utils.h mcc_ccte_iers.h mcc_ccte_iers_default.h mcc_ccte_erfa.h mcc_pzone.h
    mcc_pzone_container.h mcc_pcm.h mcc_telemetry.h mcc_serializer.h)
 if (USE_SPDLOG)
    list(APPEND MCC_SRC mcc_spdlog.h)
 endif()
 add_library(${PROJECT_NAME} INTERFACE ${MCC_SRC})
 target_compile_features(${PROJECT_NAME} INTERFACE cxx_std_23)
 target_link_libraries(${PROJECT_NAME} INTERFACE PkgConfig::ERFALIB)
 # target_link_libraries(${PROJECT_NAME} INTERFACE PkgConfig::ERFALIB fitpack)
 target_include_directories(
    ${PROJECT_NAME}
    INTERFACE
-    # $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR};${ERFALIB_INCLUDE_DIRS};${FITPACK_INCLUDE_DIR};>
+        "$<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/include>"
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR};${ERFALIB_INCLUDE_DIRS};>
+        "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
    $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
 )
-if (USE_BSPLINE_PCM)
+
-    target_compile_definitions(${PROJECT_NAME} INTERFACE USE_BSPLINE_PCM)
+if(USE_ERFA)
-    target_link_libraries(${PROJECT_NAME} INTERFACE fitpack)
+    target_link_libraries(${PROJECT_NAME} INTERFACE PkgConfig::ERFALIB)
    # target_include_directories(
    #     ${PROJECT_NAME}
    #     INTERFACE
    #     $<BUILD_INTERFACE:${FITPACK_INCLUDE_DIR};>)
 endif()
-# get_target_property(ZZ ${PROJECT_NAME} INTERFACE_INCLUDE_DIRECTORIES)
+if(USE_BSPLINE_PCM)
    target_compile_definitions(${PROJECT_NAME} INTERFACE USE_BSPLINE_PCM)
    target_link_libraries(${PROJECT_NAME} INTERFACE fitpack)
    target_link_directories(
        ${PROJECT_NAME}
        INTERFACE "$<BUILD_INTERFACE:${CMAKE_BINARY_DIR}/fitpack>"
    )
 endif()
-# message(STATUS "INT: ${ZZ}")
+if(USE_ASIO)
    target_link_libraries(${PROJECT_NAME} INTERFACE PkgConfig::ASIOLIB)
 endif()
 if(USE_SPDLOG)
    target_link_libraries(${PROJECT_NAME} INTERFACE spdlog::spdlog_header_only)
    # target_compile_definitions(${PROJECT_NAME} INTERFACE SPDLOG_USE_STD_FORMAT=1 SPDLOG_FMT_EXTERNAL=0)
    target_compile_definitions(
        ${PROJECT_NAME}
        INTERFACE SPDLOG_USE_STD_FORMAT=1
    )
 endif()
-
+if(BUILD_TESTS)
 # add_executable(exe EXCLUDE_FROM_ALL main.cpp)
 # target_link_libraries(exe PUBLIC ${PROJECT_NAME})
 # get_target_property(ZZ exe INCLUDE_DIRECTORIES)
 # message(STATUS "INT: ${ZZ_STRING}")
 if (BUILD_TESTS)
    add_executable(mcc_telemetry_test tests/mcc_telemetry_test.cpp)
    target_link_libraries(mcc_telemetry_test PRIVATE ${PROJECT_NAME})
@@ -185,40 +294,79 @@ if (BUILD_TESTS)
    add_executable(mcc_pzone_test tests/mcc_pzone_test.cpp)
    target_link_libraries(mcc_pzone_test PRIVATE ${PROJECT_NAME})
    add_executable(mcc_netmsg_test tests/mcc_netmsg_test.cpp)
    target_link_libraries(mcc_netmsg_test PRIVATE ${PROJECT_NAME})
    add_executable(mcc_fitpack_test tests/mcc_fitpack_test.cpp)
    target_link_libraries(mcc_fitpack_test PRIVATE ${PROJECT_NAME})
 else()
    # This is just a stub to allow access to the path and library settings for the ${PROJECT_NAME} target during development
    add_executable(just_stub EXCLUDE_FROM_ALL main.cpp)
    target_link_libraries(just_stub PUBLIC ${PROJECT_NAME})
 endif()
 include(GNUInstallDirs)
 install(
    TARGETS ${PROJECT_NAME}
    EXPORT ${PROJECT_NAME}_Targets
    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
    RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
 )
 include(CMakePackageConfigHelpers)
-write_basic_package_version_file("${PROJECT_NAME}ConfigVersion.cmake"
+write_basic_package_version_file(
-                                 VERSION ${PROJECT_VERSION}
+    "${PROJECT_NAME}ConfigVersion.cmake"
-                                 COMPATIBILITY SameMajorVersion)
+    VERSION ${PROJECT_VERSION}
    COMPATIBILITY SameMajorVersion
 )
 set(MCC_CONFIG_INSTALLDIR
    ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}
    # CACHE PATH
    # "install path for generated library config files"
 )
 set(MCC_HEADERS_INSTALLDIR
    ${CMAKE_INSTALL_INCLUDEDIR}/${PROJECT_NAME}
    # CACHE PATH
    # "install path for headers"
 )
-set(MCC_CONFIG_INSTALLDIR ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME} CACHE PATH "install path for generated library config files")
+configure_package_config_file(
-set(MCC_HEADERS_INSTALLDIR ${CMAKE_INSTALL_INCLUDEDIR} CACHE PATH "install path for headers")
+    "${PROJECT_SOURCE_DIR}/${PROJECT_NAME}Config.cmake.in"
-
+    "${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
-configure_package_config_file("${PROJECT_SOURCE_DIR}/${PROJECT_NAME}Config.cmake.in"
+    INSTALL_DESTINATION ${MCC_CONFIG_INSTALLDIR}
-                              "${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+    PATH_VARS MCC_HEADERS_INSTALLDIR
-                              INSTALL_DESTINATION
+)
                              ${MCC_CONFIG_INSTALLDIR}
                              PATH_VARS MCC_HEADERS_INSTALLDIR)
 #install(EXPORT ${PROJECT_NAME}_Targets FILE ${PROJECT_NAME}Targets.cmake NAMESPACE ${PROJECT_NAME_NAMESPACE}:: DESTINATION ${MCC_CONFIG_INSTALLDIR})
 #install(FILES "${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake" "${PROJECT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake" DESTINATION ${MCC_CONFIG_INSTALLDIR})
 #install(FILES ${MCC_SRC} DESTINATION include/${PROJECT_NAME})
 install(
    EXPORT ${PROJECT_NAME}_Targets
    FILE ${PROJECT_NAME}Targets.cmake
    NAMESPACE ${PROJECT_NAME_NAMESPACE}::
    DESTINATION ${MCC_CONFIG_INSTALLDIR}
 )
 install(
    FILES
        "${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
        "${PROJECT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
    DESTINATION ${MCC_CONFIG_INSTALLDIR}
 )
 install(FILES ${MCC_SRC} DESTINATION include/${PROJECT_NAME})
 # uninstall target
 if(NOT TARGET uninstall)
    configure_file(
        "${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in"
        "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
-        IMMEDIATE @ONLY)
+        IMMEDIATE
        @ONLY
    )
-    add_custom_target(uninstall
+    add_custom_target(
-        COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
+        uninstall
        COMMAND
            ${CMAKE_COMMAND} -P
            ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake
    )
 endif()
--- a/fitpack/CMakeLists.txt
+++ b/fitpack/CMakeLists.txt
@@ -5,8 +5,8 @@ set(func_name "")
 file(GLOB src_files "*.f")
 foreach(ff IN LISTS src_files)
-  get_filename_component(sn ${ff} NAME_WE)
+    get_filename_component(sn ${ff} NAME_WE)
-  list(APPEND func_name ${sn})
+    list(APPEND func_name ${sn})
 endforeach()
 # message(STATUS "${func_name}")
@@ -18,21 +18,36 @@ string(REPLACE ";" " " func_str "${func_name}")
 enable_language(Fortran CXX)
 include(FortranCInterface)
-FortranCInterface_HEADER(FortranCInterface.h
+FortranCInterface_HEADER(
-  MACRO_NAMESPACE "FC_"
+    FortranCInterface.h
-  # SYMBOL_NAMESPACE "fp_"
+    MACRO_NAMESPACE "FC_"
-  SYMBOL_NAMESPACE ""
+    # SYMBOL_NAMESPACE "fp_"
-  # SYMBOLS ${func_str}
+    SYMBOL_NAMESPACE ""
-  SYMBOLS ${func_name}
+    # SYMBOLS ${func_str}
    SYMBOLS ${func_name}
 )
 FortranCInterface_VERIFY(CXX)
-# set(FITPACK_INCLUDE_DIR ${CMAKE_CURRENT_BINARY_DIR} PARENT_SCOPE)
+# set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
 # include_directories(${BSPLINES_INCLUDE_DIR})
-add_library(fitpack_project STATIC EXCLUDE_FROM_ALL ${src_files} mcc_bsplines.h)
+# add_library(fitpack_project STATIC EXCLUDE_FROM_ALL ${src_files} mcc_bsplines.h)
 # add_library(fitpack_project STATIC EXCLUDE_FROM_ALL ${src_files})
 add_library(fitpack_project STATIC ${src_files})
 # get_target_property(FP_LIBDIR fitpack_project LIBRARY_OUTPUT_DIRECTORY)
 # message(STATUS "FP_LIBDIR: ${FP_LIBDIR}")
 add_library(fitpack STATIC IMPORTED GLOBAL)
-set_target_properties(fitpack PROPERTIES IMPORTED_LOCATION ${CMAKE_BINARY_DIR}/fitpack/libfitpack_project.a)
+set_target_properties(
-set_target_properties(fitpack PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_CURRENT_SOURCE_DIR};${CMAKE_CURRENT_BINARY_DIR}")
+    fitpack
    PROPERTIES
        IMPORTED_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/libfitpack_project.a
    # PROPERTIES IMPORTED_LOCATION ${FP_LIBDIR}/libfitpack_project.a
    # IMPORTED_LOCATION ${CMAKE_BINARY_DIR}/fitpack/libfitpack_project.a
 )
 set_target_properties(
    fitpack
    PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_CURRENT_BINARY_DIR}"
    # "${CMAKE_CURRENT_SOURCE_DIR};${CMAKE_CURRENT_BINARY_DIR}"
 )
 add_dependencies(fitpack fitpack_project)
--- a/include/mcc/mcc_angle.h
+++ b/include/mcc/mcc_angle.h
@@ -16,7 +16,6 @@
 #include "mcc_traits.h"
 #include "mcc_utils.h"
 /*                          HELPERS TO REPRESENT ANGLE VALUE                            */
 constexpr double operator""_rads(long double val)  // angle in radians (no conversion)
@@ -434,25 +433,38 @@ static T1 operator/(const T1& v1, const T2& v2)
 std::string MccAngleFancyString(std::convertible_to<MccAngle> auto const& ang,
-                                std::format_string<double> val_fmt = "{}")
+                                std::format_string<double> val_fmt = "{:.2f}")
 {
    using ang_t = std::decay_t<decltype(ang)>;
    std::string s;
    double abs_ang;
-    if constexpr (std::is_arithmetic_v<std::decay_t<decltype(ang)>>) {
+    if constexpr (std::is_arithmetic_v<ang_t>) {
        abs_ang = std::abs(ang);
    } else {
        abs_ang = std::abs(MccAngle{ang});
    }
    if (abs_ang < 1.0_arcmins) {
-        std::format_to(std::back_inserter(s), val_fmt, MccAngle{ang}.arcsecs());
+        if constexpr (std::derived_from<ang_t, MccAngle>) {
            std::format_to(std::back_inserter(s), val_fmt, ang.arcsecs());
        } else {
            std::format_to(std::back_inserter(s), val_fmt, MccAngle{ang}.arcsecs());
        }
        s += " arcsecs";
    } else if (abs_ang < 1.0_degs) {
-        std::format_to(std::back_inserter(s), val_fmt, MccAngle{ang}.arcmins());
+        if constexpr (std::derived_from<ang_t, MccAngle>) {
            std::format_to(std::back_inserter(s), val_fmt, ang.arcmins());
        } else {
            std::format_to(std::back_inserter(s), val_fmt, MccAngle{ang}.arcmins());
        }
        s += " arcmins";
    } else {
-        std::format_to(std::back_inserter(s), val_fmt, MccAngle{ang}.degrees());
+        if constexpr (std::derived_from<ang_t, MccAngle>) {
            std::format_to(std::back_inserter(s), val_fmt, ang.degrees());
        } else {
            std::format_to(std::back_inserter(s), val_fmt, MccAngle{ang}.degrees());
        }
        s += " degs";
    }
@@ -649,7 +661,7 @@ static constexpr bool mcc_is_app_coordpair(MccCoordPairKind kind)
 };
-static constexpr std::string_view MCC_COORDPAIR_KIND_RADEC_ICRS_STR = "RADEC-IRCS";
+static constexpr std::string_view MCC_COORDPAIR_KIND_RADEC_ICRS_STR = "RADEC-ICRS";
 static constexpr std::string_view MCC_COORDPAIR_KIND_RADEC_APP_STR = "RADEC-APP";
 static constexpr std::string_view MCC_COORDPAIR_KIND_RADEC_OBS_STR = "RADEC-OBS";
 static constexpr std::string_view MCC_COORDPAIR_KIND_HADEC_APP_STR = "HADEC-APP";
@@ -715,21 +727,21 @@ static constexpr MccCoordPairKind MccCoordStrToPairKind(R&& spair)
 }
-enum class MccCoordinatePairRep : int {
+// enum class MccCoordinatePairRep : int {
-    MCC_COORDPAIR_REP_DEGREES,       // both angles are in decimal degrees
+//     MCC_COORDPAIR_REP_DEGREES,       // both angles are in decimal degrees
-    MCC_COORDPAIR_REP_SXGM_HOURDEG,  // X is in hour and Y is in degree sexagesimal representation
+//     MCC_COORDPAIR_REP_SXGM_HOURDEG,  // X is in hour and Y is in degree sexagesimal representation
-    MCC_COORDPAIR_REP_SXGM_DEGDEG    // both angles are in sexagesimal degrees
+//     MCC_COORDPAIR_REP_SXGM_DEGDEG    // both angles are in sexagesimal degrees
-};
+// };
-// default wide-acceptable sexagesimal representation
+// // default wide-acceptable sexagesimal representation
-static constexpr MccCoordinatePairRep MccCoordinatePairToSxgmRep(MccCoordPairKind kind)
+// static constexpr MccCoordinatePairRep MccCoordinatePairToSxgmRep(MccCoordPairKind kind)
-{
+// {
-    return kind == MccCoordPairKind::COORDS_KIND_AZALT || kind == MccCoordPairKind::COORDS_KIND_AZZD ||
+//     return kind == MccCoordPairKind::COORDS_KIND_AZALT || kind == MccCoordPairKind::COORDS_KIND_AZZD ||
-                   kind == MccCoordPairKind::COORDS_KIND_XY || kind == MccCoordPairKind::COORDS_KIND_LONLAT ||
+//                    kind == MccCoordPairKind::COORDS_KIND_XY || kind == MccCoordPairKind::COORDS_KIND_LONLAT ||
-                   kind == MccCoordPairKind::COORDS_KIND_GENERIC
+//                    kind == MccCoordPairKind::COORDS_KIND_GENERIC
-               ? MccCoordinatePairRep::MCC_COORDPAIR_REP_SXGM_DEGDEG
+//                ? MccCoordinatePairRep::MCC_COORDPAIR_REP_SXGM_DEGDEG
-               : MccCoordinatePairRep::MCC_COORDPAIR_REP_SXGM_HOURDEG;  // RA-DEC or HA-DEC
+//                : MccCoordinatePairRep::MCC_COORDPAIR_REP_SXGM_HOURDEG;  // RA-DEC or HA-DEC
-}
+// }
 }  // namespace mcc::impl
--- a/include/mcc/mcc_bsplines.h
+++ b/include/mcc/mcc_bsplines.h
@@ -366,4 +366,111 @@ int fitpack_eval_spl2d(const TXT& tx,
    return fitpack_eval_spl2d(tx, ty, coeffs, xv, yv, fv, kx, ky);
 }
-}  // namespace mcc::fitpack
+
 /*  partial derivatives  */
 template <std::ranges::contiguous_range TXT,
          std::ranges::contiguous_range TYT,
          std::ranges::contiguous_range XT,
          std::ranges::contiguous_range YT,
          std::ranges::contiguous_range CoeffT,
          std::ranges::contiguous_range PderT>
 int fitpack_parder_spl2d(const TXT& tx,
                         const TYT& ty,
                         const CoeffT& coeffs,
                         const XT& x,
                         const YT& y,
                         PderT& pder,
                         int dx,  // partial derivatives order along X
                         int dy,  // partial derivatives order along Y
                         int kx = 3,
                         int ky = 3)
 {
    static_assert(std::same_as<std::ranges::range_value_t<TXT>, double> &&
                      std::same_as<std::ranges::range_value_t<TYT>, double> &&
                      std::same_as<std::ranges::range_value_t<XT>, double> &&
                      std::same_as<std::ranges::range_value_t<YT>, double> &&
                      std::same_as<std::ranges::range_value_t<CoeffT>, double> &&
                      std::same_as<std::ranges::range_value_t<PderT>, double>,
                  "Input ranges elements type must be double!");
    if (kx < 0 || ky < 0 || dx < 0 || dy < 0) {
        return 10;
    }
    int ntx = std::ranges::size(tx);
    int nty = std::ranges::size(ty);
    auto n_coeffs = (ntx - kx - 1) * (nty - ky - 1);
    if (std::ranges::size(coeffs) < n_coeffs) {
        return 10;
    }
    int mx = std::ranges::size(x), my = std::ranges::size(y);
    int N = mx * my;
    if (std::ranges::size(pder) < N) {
        std::ranges::fill_n(std::back_inserter(pder), N - std::ranges::size(pder), 0.0);
    }
    // mx >=1, my >=1, 0 <= nux < kx, 0 <= nuy < ky, kwrk>=mx+my
    // lwrk>=mx*(kx+1-nux)+my*(ky+1-nuy)+(nx-kx-1)*(ny-ky-1),
    // compute sizes of working arrays according parder.f
    int lwrk = mx * (kx + 1 - dx) + my * (ky + 1 - dy) + (ntx - kx - 1) * (nty - ky - 1);
    std::vector<double> wrk(lwrk);
    int kwrk = mx + my;
    std::vector<int> iwrk(kwrk);
    auto tx_ptr = const_cast<double*>(std::ranges::data(tx));
    auto ty_ptr = const_cast<double*>(std::ranges::data(ty));
    auto coeffs_ptr = const_cast<double*>(std::ranges::data(coeffs));
    auto x_ptr = const_cast<double*>(std::ranges::data(x));
    auto y_ptr = const_cast<double*>(std::ranges::data(y));
    int ier = 0;
    parder(tx_ptr, &ntx, ty_ptr, &nty, coeffs_ptr, &kx, &ky, &dx, &dy, x_ptr, &mx, y_ptr, &my, std::ranges::data(pder),
           wrk.data(), &lwrk, iwrk.data(), &kwrk, &ier);
    return ier;
 }
 // scalar version
 template <std::ranges::contiguous_range TXT,
          std::ranges::contiguous_range TYT,
          typename XT,
          typename YT,
          std::ranges::contiguous_range CoeffT,
          typename PderT>
 int fitpack_parder_spl2d(const TXT& tx,
                         const TYT& ty,
                         const CoeffT& coeffs,
                         const XT& x,
                         const YT& y,
                         PderT& pder,
                         int dx,  // partial derivatives order along X
                         int dy,  // partial derivatives order along Y
                         int kx = 3,
                         int ky = 3)
 {
    static_assert(std::same_as<std::ranges::range_value_t<TXT>, double> &&
                      std::same_as<std::ranges::range_value_t<TYT>, double> &&
                      std::same_as<std::ranges::range_value_t<CoeffT>, double>,
                  "Input ranges elements type must be double!");
    static_assert(
        std::convertible_to<XT, double> && std::convertible_to<YT, double> && std::convertible_to<PderT, double>,
        "XT, YT and FuncT types must be a scalar convertible to double!");
    auto xv = std::vector<double>(1, x);
    auto yv = std::vector<double>(1, y);
    auto pv = std::vector<double>(1, pder);
    return fitpack_parder_spl2d(tx, ty, coeffs, xv, yv, pv, dx, dy, kx, ky);
 }
 }  // namespace mcc::bsplines
--- a/include/mcc/mcc_ccte_erfa.h
+++ b/include/mcc/mcc_ccte_erfa.h
@@ -280,15 +280,15 @@ public:
    }
-    // latitude and longitude
+    // longitude and latitude
-    template <mcc_angle_c LAT_T, mcc_angle_c LON_T>
+    template <mcc_angle_c LON_T, mcc_angle_c LAT_T>
-    void geoPosition(std::pair<LAT_T, LON_T>* coords) const
+    void geoPosition(std::pair<LON_T, LAT_T>* coords) const
    {
        std::lock_guard lock{*_stateMutex};
        if (coords) {
-            coords->first = _currentState.lat;
+            coords->first = _currentState.lon;
-            coords->second = _currentState.lon;
+            coords->second = _currentState.lat;
        }
    }
--- a/include/mcc/mcc_ccte_iers.h
+++ b/include/mcc/mcc_ccte_iers.h
--- a/include/mcc/mcc_ccte_iers_default.h
+++ b/include/mcc/mcc_ccte_iers_default.h
--- a/include/mcc/mcc_concepts.h
+++ b/include/mcc/mcc_concepts.h
@@ -58,10 +58,23 @@ concept mcc_error_c = std::default_initializable<T> && (std::convertible_to<T, b
 template <mcc_error_c ErrT, mcc_error_c DefErrT>
-DefErrT mcc_deduced_err(ErrT const& err, DefErrT const& default_err)
+auto mcc_deduced_err(ErrT const& err, DefErrT const& default_err)
 // DefErrT mcc_deduced_err(ErrT const& err, DefErrT const& default_err)
 {
    if constexpr (std::same_as<ErrT, DefErrT>) {
        return err;
    } else if constexpr (std::is_error_code_enum_v<DefErrT>) {
        if constexpr (std::same_as<ErrT, std::error_code>) {
            return err;
        } else {
            return default_err;
        }
    } else if constexpr (std::is_error_condition_enum_v<DefErrT>) {
        if constexpr (std::same_as<ErrT, std::error_condition>) {
            return err;
        } else {
            return default_err;
        }
    } else {
        return default_err;
    }
@@ -147,6 +160,11 @@ concept mcc_fp_type_like_c =
 /*                          GEOMETRICAL ANGLE REPRESENTATION CLASS CONCEPT                           */
 /*    REQUIREMENT: in the MCC-library it is assumed that an arithmetic representation of angles are measured in the
                   radians!!! This means that possible conversion operator 'SOME_USER_ANGLE_CLASS::operator double()'
                   must return an angle in radians!
 */
 template <typename T>
 concept mcc_angle_c = mcc_fp_type_like_c<T> && requires(T v, double vd) {
    // mandatory arithmetic operations
@@ -468,11 +486,11 @@ struct mcc_skypoint_interface_t {
        return std::forward<SelfT>(self).refractInverseCorrection(dZ);
    }
-    // returns apparent sideral time (Greenwich) for the epoch of the celestial point
+    // returns apparent sideral time (Greenwich or local) for the epoch of the celestial point
    template <std::derived_from<mcc_skypoint_interface_t> SelfT>
-    auto appSideralTime(this SelfT&& self, mcc_angle_c auto* st)
+    auto appSideralTime(this SelfT&& self, mcc_angle_c auto* st, bool is_local)
    {
-        return std::forward<SelfT>(self).appSideralTime(st);
+        return std::forward<SelfT>(self).appSideralTime(st, is_local);
    }
    // returns equation of origins for the epoch of the celestial point
@@ -481,15 +499,55 @@ struct mcc_skypoint_interface_t {
    {
        return std::forward<SelfT>(self).EO(eo);
    }
    // template <std::derived_from<mcc_skypoint_interface_t> SelfT>
    // typename std::remove_cvref_t<SelfT>::dist_result_t distance(this SelfT&& self, auto const& sp)
    // {
    //     return std::forward<SelfT>(self).distance(sp);
    // }
    // template <std::derived_from<mcc_skypoint_interface_t> SelfT>
    // SelfT& operator+=(this SelfT& self, mcc_coord_pair_c auto const& dxy)
    // {
    //     return self.operator+=(dxy);
    // }
    // template <std::derived_from<mcc_skypoint_interface_t> SelfT>
    // SelfT& operator-=(this SelfT& self, mcc_coord_pair_c auto const& dxy)
    // {
    //     return self.operator-=(dxy);
    // }
 };
 template <typename T>
-concept mcc_skypoint_c = std::derived_from<T, mcc_skypoint_interface_t> && requires(const T t_const) {
+concept mcc_skypoint_c =
-    { t_const.epoch() } -> mcc_coord_epoch_c;
+    std::derived_from<T, mcc_skypoint_interface_t> && requires(const T t_const, const T t_other_const, T t) {
        { t_const.epoch() } -> mcc_coord_epoch_c;
-    // currently stored coordinates pair
+        // currently stored coordinates pair kind
-    { t_const.pairKind() } -> std::same_as<impl::MccCoordPairKind>;
+        { t_const.pairKind() } -> std::same_as<impl::MccCoordPairKind>;
-};
+
        // currently stored co-longitude coordinate
        { t_const.co_lon() } -> std::convertible_to<double>;
        // currently stored co-latitude coordinate
        { t_const.co_lat() } -> std::convertible_to<double>;
        requires requires(typename T::dist_result_t res) {
            requires mcc_angle_c<decltype(res.dist)>;  // distance on sphere
            requires mcc_angle_c<decltype(res.dx)>;    // difference along co-longitude coordinate
            requires mcc_angle_c<decltype(res.dy)>;    // difference along co-latitude coordinate
            requires mcc_angle_c<decltype(res.x2)>;    // co-longitude coordinates of target sky point (in the same
                                                       // coordinate system as 'this')
            requires mcc_angle_c<decltype(res.y2)>;    // co-latitude coordinates of target sky point (in the same
                                                       // coordinate system as 'this')
        };
        // distance on sphere between two sky points
        { t_const.distance(std::declval<const T&>()) } -> std::same_as<typename T::dist_result_t>;
        // { t_const - t_other_const } -> mcc_coord_pair_c;
        // { t_const + t_other_const } -> mcc_coord_pair_c;
    };
@@ -536,9 +594,11 @@ concept mcc_pcm_c = std::derived_from<T, mcc_pcm_interface_t<typename T::error_t
    requires mcc_error_c<typename T::error_t>;
    // the 'T' class must contain static constexpr member of 'MccMountType' type
-    requires std::same_as<decltype(T::mountType), const MccMountType>;
+    requires std::same_as<decltype(T::pcmMountType), const MccMountType>;
    // requires std::same_as<decltype(T::mountType), const MccMountType>;
    []() {
-        [[maybe_unused]] static constexpr MccMountType val = T::mountType;
+        // [[maybe_unused]] static constexpr MccMountType val = T::mountType;
        [[maybe_unused]] static constexpr MccMountType val = T::pcmMountType;
    }();  // to ensure 'mountType' can be used in compile-time context
    // static const variable with name of PCM
@@ -566,7 +626,7 @@ concept mcc_pcm_c = std::derived_from<T, mcc_pcm_interface_t<typename T::error_t
 //         static constexpr uint16_t HW_MOVE_ERROR = 555;
 //     }
 template <typename T>
-concept mcc_hardware_movement_state_c = requires {
+concept mcc_hardware_movement_state_c = std::formattable<T, char> && requires {
    []() {
        // // mount axes were stopped
        // [[maybe_unused]] static constexpr auto v0 = T::HW_MOVE_STOPPED;
@@ -616,7 +676,6 @@ concept mcc_hardware_movement_state_c = requires {
 template <typename T>
 concept mcc_hardware_state_c = requires(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)> &&
                 (decltype(state.XY)::pairKind == impl::MccCoordPairKind::COORDS_KIND_GENERIC ||
                  decltype(state.XY)::pairKind == impl::MccCoordPairKind::COORDS_KIND_XY);
@@ -639,75 +698,20 @@ concept mcc_hardware_c = requires(T t) {
    // static const variable with name of hardware
    requires std::formattable<decltype(T::hardwareName), char> && std::is_const_v<decltype(T::hardwareName)>;
-    // 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
+    // the 'T' class must contain static constexpr member of 'MccMountType' type
-    // a possible tunning of hardware hardwareSetState-related commands and detect the stop and error states from
+    requires std::same_as<decltype(T::hwMountType), const MccMountType>;
-    // hardware
+    []() {
-    //
+        [[maybe_unused]] static constexpr MccMountType val = T::hwMountType;
-    // e.g. an implementations can be as follows:
+    }();  // to ensure 'mountType' can be used in compile-time context
-    //     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 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 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:
    { t.hardwareSetState(std::declval<typename T::hardware_state_t const&>()) } -> std::same_as<typename T::error_t>;
@@ -716,6 +720,8 @@ concept mcc_hardware_c = requires(T t) {
    // { t.hardwareStop() } -> std::same_as<typename T::error_t>;  // stop any moving
    { t.hardwareInit() } -> std::same_as<typename T::error_t>;  // initialize hardware
    { t.hardwareShutdown() } -> std::same_as<typename T::error_t>;  // shutdown hardware
 };
@@ -726,6 +732,14 @@ concept mcc_telemetry_data_c = requires(T t) {
    // target celestial point (position on sky where mount must be slewed)
    requires mcc_skypoint_c<decltype(t.targetPos)>;
    // computed target encoder coordinates
    requires(mcc_coord_pair_c<decltype(t.targetXY)> &&
             (decltype(t.targetXY)::pairKind == impl::MccCoordPairKind::COORDS_KIND_GENERIC ||
              decltype(t.targetXY)::pairKind == impl::MccCoordPairKind::COORDS_KIND_XY));
    // corrections to transform observed celestial coordinates of target to hardware encoder ones
    requires mcc_pcm_result_c<decltype(t.pcmReverseCorrection)>;
    // mount current celestial position
    requires mcc_skypoint_c<decltype(t.mountPos)>;
@@ -779,23 +793,33 @@ struct mcc_telemetry_interface_t {
    // set target position
    template <std::derived_from<mcc_telemetry_interface_t> SelfT>
-    RetT setTarget(this SelfT&& self, mcc_skypoint_c auto const& pt)
+    RetT setPointingTarget(this SelfT&& self, mcc_skypoint_c auto const& pt)
    {
        return std::forward<SelfT>(self).setTarget(pt);
    }
    // get entered target position
    template <std::derived_from<mcc_telemetry_interface_t> SelfT>
    RetT getPointingTarget(this SelfT&& self, mcc_skypoint_c auto* pt)
    {
        return std::forward<SelfT>(self).getTarget(pt);
    }
 };
 template <typename T>
-concept mcc_telemetry_c = std::derived_from<T, mcc_telemetry_interface_t<typename T::error_t>> && requires(T t) {
+concept mcc_telemetry_c =
-    // error type
+    std::derived_from<T, mcc_telemetry_interface_t<typename T::error_t>> && requires(T t, const T t_const) {
-    requires mcc_error_c<typename T::error_t>;
+        // error type
        requires mcc_error_c<typename T::error_t>;
-    // telemetry data type definition
+        // telemetry data type definition
-    requires mcc_telemetry_data_c<typename T::telemetry_data_t>;
+        requires mcc_telemetry_data_c<typename T::telemetry_data_t>;
-    // get telemetry data
+        // get telemetry data
-    { t.telemetryData(std::declval<typename T::telemetry_data_t*>()) } -> std::same_as<typename T::error_t>;
+        { t.telemetryData(std::declval<typename T::telemetry_data_t*>()) } -> std::same_as<typename T::error_t>;
-};
+
        { t_const.getPointingTarget() } -> mcc_skypoint_c;
    };
@@ -903,10 +927,15 @@ struct mcc_pzone_container_interface_t {
 template <typename T>
-concept mcc_pzone_container_c = std::derived_from<T, mcc_pzone_container_interface_t<typename T::error_t>> && requires {
+concept mcc_pzone_container_c =
-    // error type
+    std::derived_from<T, mcc_pzone_container_interface_t<typename T::error_t>> && requires(const T t_const) {
-    requires mcc_error_c<typename T::error_t>;
+        // error type
-};
+        requires mcc_error_c<typename T::error_t>;
        []<std::ranges::range R>(R const&) {
            return requires { requires std::formattable<std::ranges::range_value_t<R>, char>; };
        }(t_const.pzoneNames());
    };
@@ -944,27 +973,28 @@ concept mcc_movement_controls_c = requires(T t) {
 template <typename T>
 concept mcc_mount_status_c = requires {
    []() {
-        [[maybe_unused]] static constexpr std::array arr = {
+        [[maybe_unused]]
-            T::MOUNT_STATUS_ERROR,     T::MOUNT_STATUS_IDLE,    T::MOUNT_STATUS_INITIALIZATION,
+        static constexpr std::array arr = {T::MOUNT_STATUS_ERROR,          T::MOUNT_STATUS_IDLE,
-            T::MOUNT_STATUS_ERROR,     T::MOUNT_STATUS_STOPPED, T::MOUNT_STATUS_SLEWING,
+                                           T::MOUNT_STATUS_INITIALIZATION, T::MOUNT_STATUS_STOPPED,
-            T::MOUNT_STATUS_ADJUSTING, T::MOUNT_STATUS_GUIDING, T::MOUNT_STATUS_TRACKING};
+                                           T::MOUNT_STATUS_SLEWING,        T::MOUNT_STATUS_ADJUSTING,
                                           T::MOUNT_STATUS_GUIDING,        T::MOUNT_STATUS_TRACKING};
    };  // to ensure mount status is compile-time constants
 };
 template <typename T>
-concept mcc_generic_mount_c =
+concept mcc_generic_mount_c = mcc_logger_c<T> && mcc_pzone_container_c<T> && mcc_telemetry_c<T> &&
-    mcc_logger_c<T> && mcc_pzone_container_c<T> && mcc_telemetry_c<T> && mcc_movement_controls_c<T> && requires(T t) {
+                              mcc_movement_controls_c<T> && requires(T t, const T t_const) {
-        // error type
+                                  // error type
-        requires mcc_error_c<typename T::error_t>;
+                                  requires mcc_error_c<typename T::error_t>;
-        requires mcc_mount_status_c<typename T::mount_status_t>;
+                                  requires mcc_mount_status_c<typename T::mount_status_t>;
-        { t.initMount() } -> std::same_as<typename T::error_t>;
+                                  { t.initMount() } -> std::same_as<typename T::error_t>;
-        { t.mountStatus() } -> std::same_as<typename T::mount_status_t>;
+                                  { t_const.mountStatus() } -> std::same_as<typename T::mount_status_t>;
-    };
+                              };
 }  // namespace mcc
--- a/include/mcc/mcc_constants.h
+++ b/include/mcc/mcc_constants.h
@@ -18,11 +18,17 @@
 namespace mcc
 {
-constexpr double MCC_HALF_PI = std::numbers::pi / 2.0;
+static constexpr double MCC_DEGRESS_TO_RADS = std::numbers::pi / 180.0;
-constexpr double MCC_TWO_PI = std::numbers::pi * 2.0;
+static constexpr double MCC_RADS_TO_DEGRESS = 1.0 / MCC_DEGRESS_TO_RADS;
 static constexpr double MCC_HALF_PI = std::numbers::pi / 2.0;
 static constexpr double MCC_TWO_PI = std::numbers::pi * 2.0;
 static constexpr double MCC_SIDERAL_TO_UT1_RATIO = 1.002737909350795;  // sideral/UT1
 static constexpr double MCC_J2000_MJD = 51544.5;
 static constexpr double MCC_MJD_ZERO = 2400000.5;
 // a value to represent of infinite time duration according to type of duration representation
 template <traits::mcc_time_duration_c DT>
--- a/include/mcc/mcc_coordinate.h
+++ b/include/mcc/mcc_coordinate.h
@@ -234,7 +234,7 @@ struct MccSkyRADEC_ICRS : MccCoordPair<MccAngleRA_ICRS, MccAngleDEC_ICRS> {
    // ignore epoch setting (it is always J2000.0)
    void setEpoch(mcc_coord_epoch_c auto const&)
    {
-        static_assert(false, "CANNOT SET EPOCH FOR ICRS-KIND COORDINATE PAIR!!!");
+        // static_assert(false, "CANNOT SET EPOCH FOR ICRS-KIND COORDINATE PAIR!!!");
    }
 };
@@ -344,14 +344,24 @@ struct MccSkyAZALT : MccCoordPair<MccAngleAZ, MccAngleALT> {
    }
 };
 using MccGenXY = MccCoordPair<MccAngleX, MccAngleY>;
 using MccGeoLONLAT = MccCoordPair<MccAngleLON, MccAngleLAT>;
 // utility type definition: deduce a coordinate pair kind according to mount type
 // mcc_deduced_coord_pair_t = MccSkyHADEC_OBS for equathorial mounts,
 // mcc_deduced_coord_pair_t = MccSkyAZZD for altazimuthal ones and
 // mcc_deduced_coord_pair_t = std::nullptr_t otherwise
 template <MccMountType MOUNT_TYPE>
 using mcc_deduced_coord_pair_t =
    std::conditional_t<mccIsEquatorialMount(MOUNT_TYPE),
                       MccSkyHADEC_OBS,
                       std::conditional_t<mccIsAltAzMount(MOUNT_TYPE), MccSkyAZZD, std::nullptr_t>>;
-static MccSkyHADEC_APP hadec = MccGenXY{};
+
-static MccSkyAZALT azalt{MccSkyAZZD{1.0, 1.1}};
+
 // static MccSkyHADEC_APP hadec = MccGenXY{};
 // static MccSkyAZALT azalt{MccSkyAZZD{1.0, 1.1}};
 /*                          MCC-LIBRARY DEFAULT GENERIC SKY POINT CLASS IMPLEMENTATION                    */
@@ -370,6 +380,14 @@ public:
    using error_t = typename CCTE_T::error_t;
    struct dist_result_t {
        MccAngle dist{};
        MccAngle dx{};
        MccAngle dy{};
        MccAngle x2{};
        MccAngle y2{};
    };
    MccGenericSkyPoint() {}
    template <mcc_coord_pair_c PT>
@@ -423,6 +441,17 @@ public:
        return _epoch;
    }
    double co_lon() const
    {
        return _x;
    }
    double co_lat() const
    {
        return _y;
    }
    template <mcc_coord_pair_c PT>
    MccGenericSkyPoint& from(const PT& coord_pair)
    {
@@ -475,7 +504,7 @@ public:
            std::pair<double, double> pos;
            cctEngine.geoPosition(&pos);
-            return MccGeoLONLAT(pos.second, pos.first);
+            return MccGeoLONLAT(pos.first, pos.second);
        }
@@ -516,6 +545,78 @@ public:
        return error_t{};
    }
    // 'inner' transformation
    error_t to(MccCoordPairKind pair_kind)
    {
        return to(pair_kind, _epoch);
    }
    error_t to(MccCoordPairKind pair_kind, mcc_coord_epoch_c auto const& epoch)
    {
        // do not use here "mcc_coord_epoch_c::operator==" to avoid
        // unnecessary computations (astrometrical algorithms mainly use Julian date as input)
        if (pair_kind == _pairKind && utils::isEqual(epoch.MJD(), _epoch.MJD())) {
            _epoch = epoch;
            return error_t{};
        }
        auto tr_func = [&, this]<mcc_coord_pair_c T>(T& cp) {
            if constexpr (T::pairKind != MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
                cp.setEpoch(epoch);
            }
            auto err = to(cp);
            if (!err) {
                from(cp);
            }
            return err;
        };
        switch (pair_kind) {
            case MccCoordPairKind::COORDS_KIND_RADEC_ICRS: {
                MccSkyRADEC_ICRS cp;
                return tr_func(cp);
            } break;
            case MccCoordPairKind::COORDS_KIND_RADEC_OBS: {
                MccSkyRADEC_OBS cp;
                return tr_func(cp);
            } break;
            case MccCoordPairKind::COORDS_KIND_RADEC_APP: {
                MccSkyRADEC_APP cp;
                return tr_func(cp);
            } break;
            case MccCoordPairKind::COORDS_KIND_HADEC_OBS: {
                MccSkyHADEC_OBS cp;
                return tr_func(cp);
            } break;
            case MccCoordPairKind::COORDS_KIND_HADEC_APP: {
                MccSkyHADEC_APP cp;
                return tr_func(cp);
            } break;
            case MccCoordPairKind::COORDS_KIND_AZZD: {
                MccSkyAZZD cp;
                return tr_func(cp);
            } break;
            case MccCoordPairKind::COORDS_KIND_AZALT: {
                MccSkyAZALT cp;
                return tr_func(cp);
            } break;
            case MccCoordPairKind::COORDS_KIND_GENERIC:
            case MccCoordPairKind::COORDS_KIND_UNKNOWN:
            case MccCoordPairKind::COORDS_KIND_LONLAT:
            case MccCoordPairKind::COORDS_KIND_XY: {
                MccGenXY cp;
                return tr_func(cp);
            } break;
            default:
                return error_t{};
        }
        return error_t{};
    }
    error_t refractCorrection(mcc_angle_c auto* dZ) const
    {
@@ -581,23 +682,45 @@ public:
    }
-    error_t appSideralTime(mcc_angle_c auto* st) const
+    error_t appSideralTime(mcc_angle_c auto* st, bool is_local = false) const
    {
-        // return Greenwich apparent sideral time since epoch is UTC
+        return cctEngine.apparentSideralTime(_epoch, st, is_local);
        return cctEngine.apparentSideralTime(_epoch, st, false);
    }
-    error_t EO(mcc_angle_c auto* eo)
+    error_t EO(mcc_angle_c auto* eo) const
    {
        return cctEngine.equationOrigins(_epoch, eo);
    }
    dist_result_t distance(MccGenericSkyPoint const& sp) const
    // dist_result_t distance(mcc_skypoint_c auto const& sp)
    {
        double x, y;
        if (_pairKind == sp.pairKind() && utils::isEqual(_epoch.MJD(), sp.epoch().MJD())) {
            x = sp.co_lon();
            y = sp.co_lat();
        } else {  // convert to the same coordinates kind
            MccGenericSkyPoint p{sp};
            p.to(_pairKind, _epoch);
            x = p.co_lon();
            y = p.co_lat();
        }
        auto d = utils::distanceOnSphere(_x, _y, x, y);
        return {.dist = std::get<2>(d), .dx = std::get<0>(d), .dy = std::get<1>(d), .x2 = x, .y2 = y};
    }
 protected:
    double _x{0.0}, _y{0.0};
    MccCoordPairKind _pairKind{MccCoordPairKind::COORDS_KIND_RADEC_ICRS};
    MccCelestialCoordEpoch _epoch{};  // J2000.0
    template <mcc_skypoint_c T>
    void fromOtherSkyPoint(T&& other)
    {
@@ -659,30 +782,30 @@ protected:
    // HA, DEC to AZ, ALT (AZ from the South through the West)
    void hadec2azalt(double ha, double dec, double phi, double& az, double& alt) const
    {
-        eraHd2ae(ha, dec, phi, &az, &alt);
+        // eraHd2ae(ha, dec, phi, &az, &alt);
-        // from ERFA "from N" to "from S"
+        // // from ERFA "from N" to "from S"
-        if (az > std::numbers::pi) {
+        // if (az > std::numbers::pi) {
-            az -= std::numbers::pi;
+        //     az -= std::numbers::pi;
-        } else {
+        // } else {
-            az += std::numbers::pi;
+        //     az += std::numbers::pi;
-        }
+        // }
-        return;
+        // return;
        const auto cos_phi = std::cos(phi), sin_phi = std::sin(phi);
        const auto cos_dec = std::cos(dec), sin_dec = std::sin(dec);
        const auto cos_ha = std::cos(ha), sin_ha = std::sin(ha);
        auto x = sin_phi * cos_dec * cos_ha - cos_phi * sin_dec;
-        auto y = -cos_dec * sin_ha;
+        auto y = cos_dec * sin_ha;
        auto z = cos_phi * cos_dec * cos_ha + sin_phi * sin_dec;
        auto xx = x * x, yy = y * y;
        decltype(x) r;
        if (xx < yy) {
-            r = yy * sqrt(1.0 + xx / yy);
+            r = std::abs(y) * sqrt(1.0 + xx / yy);
        } else {
-            r = xx * sqrt(1.0 + yy / xx);
+            r = std::abs(x) * sqrt(1.0 + yy / xx);
        }
        az = utils::isEqual(r, 0.0) ? 0.0 : std::atan2(y, x);
@@ -697,10 +820,10 @@ protected:
    // AZ, ALT to HA, DEC (AZ from the South through the West)
    void azalt2hadec(double az, double alt, double phi, double& ha, double& dec) const
    {
-        az += std::numbers::pi;
+        // az += std::numbers::pi;
-        eraAe2hd(az, alt, phi, &ha, &dec);
+        // eraAe2hd(az, alt, phi, &ha, &dec);
-        return;
+        // return;
        const auto cos_phi = std::cos(phi), sin_phi = std::sin(phi);
        const auto cos_az = std::cos(az), sin_az = std::sin(az);
@@ -713,9 +836,9 @@ protected:
        auto xx = x * x, yy = y * y;
        decltype(x) r;
        if (xx < yy) {
-            r = yy * sqrt(1.0 + xx / yy);
+            r = std::abs(y) * sqrt(1.0 + xx / yy);
        } else {
-            r = xx * sqrt(1.0 + yy / xx);
+            r = std::abs(x) * sqrt(1.0 + yy / xx);
        }
        ha = utils::isEqual(r, 0.0) ? 0.0 : std::atan2(y, x);
@@ -731,10 +854,22 @@ protected:
        double phi = cctEngine.getStateERFA().lat;
        double ra_icrs, dec_icrs, ra, dec, ha, az, zd, alt, lst, eo;
        static_assert(PT::pairKind != MccCoordPairKind::COORDS_KIND_LONLAT, "UNSUPPORTED SKY POINT TRANSFORMATION!");
        // static_assert(PT::pairKind != MccCoordPairKind::COORDS_KIND_XY, "UNSUPPORTED SKY POINT TRANSFORMATION!");
        static_assert(PT::pairKind != MccCoordPairKind::COORDS_KIND_GENERIC, "UNSUPPORTED SKY POINT TRANSFORMATION!");
        static_assert(PT::pairKind != MccCoordPairKind::COORDS_KIND_UNKNOWN, "UNSUPPORTED SKY POINT TRANSFORMATION!");
        if constexpr (PT::pairKind == MccCoordPairKind::COORDS_KIND_LONLAT) {  // returns geographic site coordinates
            std::pair<double, double> pos;
            cctEngine.geoPosition(&pos);
            cpair.setX(pos.first);
            cpair.setY(pos.second);
            return error_t{};
        }
        if (_pairKind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS &&
            PT::pairKind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {  // from ICRS to ICRS - just copy and exit
            cpair = PT(typename PT::x_t(_x), typename PT::y_t(_y));
@@ -756,7 +891,8 @@ protected:
        // 1) convert stored coordinates to ICRS ones
        // 2) convert from the computed ICRS coordinates to required ones
        MccCoordPairKind pkind = _pairKind;
-        if (!utils::isEqual(_epoch.MJD(), cpair.MJD())) {  // convert stored pair to ICRS one (ra_icrs, dec_icrs)
+        if (!utils::isEqual(_epoch.MJD(),
                            cpair.MJD())) {  // convert stored pair to ICRS one (ra_icrs, dec_icrs)
            if (_pairKind != MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
                pkind = MccCoordPairKind::COORDS_KIND_RADEC_ICRS;
@@ -925,7 +1061,8 @@ protected:
                    cpair.setY(dec);
                } else {
                    obj->hadec2azalt(ha, dec, phi, az, alt);
-                    if constexpr (mccIsObsCoordPairKind<PT::pairKind>) {  // RADEC_OBS, HADEC_OBS, AZALT, AZZD
+                    if constexpr (mccIsObsCoordPairKind<PT::pairKind>) {  // RADEC_OBS, HADEC_OBS,
                                                                          // AZALT, AZZD
                        // correct for refraction: alt += dz_refr
                        double dZ;
                        ccte_err = cctEngine.refractionInverseCorrection(MCC_HALF_PI - alt, &dZ);
@@ -978,7 +1115,8 @@ protected:
 };
-/*                          MCC-LIBRARY DEFAULT SKY POINT CLASS IMPLEMENTATION BASED ON THE ERFA LIBRARY */
+/*                          MCC-LIBRARY DEFAULT SKY POINT CLASS IMPLEMENTATION BASED ON THE ERFA LIBRARY
 */
 typedef MccGenericSkyPoint<mcc::ccte::erfa::MccCCTE_ERFA> MccSkyPoint;
--- a/include/mcc/mcc_deserializer.h
+++ b/include/mcc/mcc_deserializer.h
@@ -0,0 +1,462 @@
 #pragma once
 #include <algorithm>
 #include "mcc_coordinate.h"
 #include "mcc_epoch.h"
 #include "mcc_serialization_common.h"
 namespace mcc::impl
 {
 enum class MccDeserializerErrorCode : int {
    ERROR_OK,
    ERROR_UNDERLYING_DESERIALIZER,
    ERROR_INVALID_SERIALIZED_VALUE,
    ERROR_COORD_TRANSFORM
 };
 }  // namespace mcc::impl
 namespace std
 {
 template <>
 class is_error_code_enum<mcc::impl::MccDeserializerErrorCode> : public true_type
 {
 };
 }  // namespace std
 namespace mcc::impl
 {
 // error category
 struct MccDeserializerCategory : public std::error_category {
    MccDeserializerCategory() : std::error_category() {}
    const char* name() const noexcept
    {
        return "MCC-DESERIALIZER-ERR-CATEGORY";
    }
    std::string message(int ec) const
    {
        MccDeserializerErrorCode err = static_cast<MccDeserializerErrorCode>(ec);
        switch (err) {
            case MccDeserializerErrorCode::ERROR_OK:
                return "OK";
            case MccDeserializerErrorCode::ERROR_UNDERLYING_DESERIALIZER:
                return "error returned by underlying deserializer";
            case MccDeserializerErrorCode::ERROR_INVALID_SERIALIZED_VALUE:
                return "invalid serialized value";
            case MccDeserializerErrorCode::ERROR_COORD_TRANSFORM:
                return "coordinates transformation error";
            default:
                return "UNKNOWN";
        }
    }
    static const MccDeserializerCategory& get()
    {
        static const MccDeserializerCategory constInst;
        return constInst;
    }
 };
 inline std::error_code make_error_code(MccDeserializerErrorCode ec)
 {
    return std::error_code(static_cast<int>(ec), MccDeserializerCategory::get());
 }
 /*    BASE DESERIALIZER CLASS (FOR IMPLEMENTATIONS BELOW)    */
 struct MccDeserializerBase : mcc_deserializer_interface_t<MccError> {
    using typename mcc_deserializer_interface_t<MccError>::error_t;
    virtual ~MccDeserializerBase() = default;
 protected:
    MccDeserializerBase() = default;
    //
    // empty == true, if the 'input' is empty or if all elements consist of only spaces
    //
    static std::vector<std::string_view> splitValueIntoElements(traits::mcc_input_char_range auto const& input,
                                                                mcc_serialization_params_c auto const& params,
                                                                bool& empty)
    {
        static_assert(std::ranges::contiguous_range<decltype(input)>, "NOT IMPLEMENTED FOR NON-CONTIGUIUS RANGES!!!");
        std::vector<std::string_view> res;
        if (std::ranges::size(input)) {
            empty = true;
            std::ranges::for_each(std::views::split(input, params.elem_delim), [&res, &empty](auto const& el) {
                std::back_inserter(res) = utils::trimSpaces(std::string_view{el.begin(), el.end()});
                if (empty && res.back().size()) {
                    empty = false;
                }
            });
        } else {
            empty = true;
        }
        return res;
    }
    template <typename VT, std::ranges::output_range<VT> R, typename... DeserParamsT>
    static error_t deserializingRange(mcc_deserializer_c auto& dsr,
                                      traits::mcc_input_char_range auto const& input,
                                      R& r,
                                      mcc_serialization_params_c auto const& params)
    {
        if (std::ranges::size(input) == 0) {  // ignore an empty input, just return empty range?!!
            r = R{};
            return MccDeserializerErrorCode::ERROR_OK;
        }
        auto r_str = std::views::split(input, params.seq_delim);
        VT val;
        auto it = r.begin();
        for (auto const& el : r_str) {
            auto err = dsr(el, val, std::forward<DeserParamsT>(params)...);
            if (err) {
                return mcc_deduced_err(err, MccDeserializerErrorCode::ERROR_UNDERLYING_DESERIALIZER);
            }
            if (it == r.end()) {
                std::back_inserter(r) = val;
                it = r.end();
            } else {
                *it = val;
                ++it;
            }
        }
        return MccDeserializerErrorCode::ERROR_OK;
    }
 };
 /*    MAIN (FALLBACK) TEMPLATED IMPLEMENTATION    */
 template <typename VT>
 struct MccDeserializer : MccDeserializerBase {
    static constexpr std::string_view deserializerName{"MCC-FALLBACK-DESERIALIZER"};
    virtual ~MccDeserializer() = default;
    template <mcc_serialization_params_c ParamsT = mcc_serialization_params_t>
    error_t operator()(traits::mcc_input_char_range auto const& input,
                       VT& value,
                       ParamsT const& params = mcc_serialization_params_t{})
    {
        if constexpr (std::is_arithmetic_v<VT>) {
            auto v = mcc::utils::numFromStr<VT>(utils::trimSpaces(input));
            if (!v.has_value()) {
                return MccDeserializerErrorCode::ERROR_INVALID_SERIALIZED_VALUE;
            }
            value = v.value();
        } else if constexpr (mcc::traits::mcc_output_char_range<VT>) {
            VT r;
            if constexpr (traits::mcc_array_c<VT>) {
                size_t N =
                    std::ranges::size(r) <= std::ranges::size(input) ? std::ranges::size(r) : std::ranges::size(input);
                for (size_t i = 0; i < N; ++i) {
                    r[i] = input[i];
                }
                if (std::ranges::size(r) > N) {
                    for (size_t i = N; i < std::ranges::size(r); ++i) {
                        r[i] = '\0';
                    }
                }
            } else {
                std::ranges::copy(input, std::back_inserter(r));
            }
            value = r;
        } else if constexpr (std::ranges::range<VT>) {
            using el_t = std::ranges::range_value_t<VT>;
            static_assert(std::ranges::output_range<VT, el_t>, "INVALID RANGE TYPE!!!");
            // no reference or constants allowed
            static_assert(!(std::is_reference_v<el_t> || std::is_const_v<el_t>), "INVALID RANGE ELEMENT TYPE!!!");
            MccDeserializer<el_t> dsr;
            return deserializingRange<el_t>(dsr, input, value, params);
        } else if constexpr (traits::mcc_time_duration_c<VT>) {
            typename VT::rep vd;
            MccDeserializer<typename VT::rep> dsr;
            auto err = dsr(utils::trimSpaces(input), vd, params);
            if (err) {
                return mcc_deduced_err(err, MccDeserializerErrorCode::ERROR_UNDERLYING_DESERIALIZER);
            }
            value = VT{vd};
        } else {
            static_assert(false, "UNSUPPORTED VALUE TYPE!!!");
        }
        return MccDeserializerErrorCode::ERROR_OK;
    }
 };
 /*                          SPECIALIZATION FOR THE SOME CONCEPTS                            */
 template <mcc_coord_epoch_c VT>
 struct MccDeserializer<VT> : MccDeserializerBase {
    static constexpr std::string_view deserializerName{"MCC-COORD-EPOCH-DESERIALIZER"};
    template <mcc_serialization_params_c ParamsT = mcc_serialization_params_t>
    error_t operator()(traits::mcc_input_char_range auto const& input,
                       VT& value,
                       ParamsT const& params = mcc_serialization_params_t{})
    {
        bool ok = value.fromCharRange(input);
        if (!ok) {
            return MccDeserializerErrorCode::ERROR_INVALID_SERIALIZED_VALUE;
        }
        return MccDeserializerErrorCode::ERROR_OK;
    }
 };
 template <typename VT>
    requires(!std::is_arithmetic_v<VT> && mcc_angle_c<VT>)
 struct MccDeserializer<VT> : MccDeserializerBase {
    static constexpr std::string_view deserializerName{"MCC-ANGLE-DESERIALIZER"};
    template <mcc_serialization_params_c ParamsT = mcc_serialization_params_t>
    error_t operator()(traits::mcc_input_char_range auto const& input,
                       VT& value,
                       ParamsT const& params = mcc_serialization_params_t{})
    {
        bool hms = params.angle_format == MccSerializedAngleFormat::MCC_SERIALIZED_FORMAT_SXGM_HOURS;
        auto res = utils::parsAngleString(input, hms);
        if (res) {  // returned angle is in degrees!!!
            value = res.value() * MCC_DEGRESS_TO_RADS;
        } else {
            return MccDeserializerErrorCode::ERROR_INVALID_SERIALIZED_VALUE;
        }
        return MccDeserializerErrorCode::ERROR_OK;
    }
 };
 template <mcc_skypoint_c VT>
 struct MccDeserializer<VT> : MccDeserializerBase {
    static constexpr std::string_view deserializerName{"MCC-SKYPOINT-DESERIALIZER"};
    template <mcc_serialization_params_c ParamsT = mcc_serialization_params_t>
    error_t operator()(traits::mcc_input_char_range auto const& input,
                       VT& value,
                       ParamsT const& params = mcc_serialization_params_t{})
    {
        auto pars = params;
        //         valid format: X<elem-delim>Y[<elem-delim>TIME-POINT<elem-delim>PAIR-KIND]
        //                       X<elem-delim>Y (assumed RADEC_ICRS and J2000.0 epoch)
        // valid format: X<elem-delim>Y<elem-delim>PAIRKIND<elem-delim>EPOCH
        //               X<elem-delim>Y<elem-delim>PAIRKIND (assumed epoch is NOW, or J2000.0 if PAIRKIND == RADEC-ICRS)
        //               X<elem-delim>Y (assumed RADEC-ICRS and J2000.0 epoch)
        bool empty;
        auto elems = MccDeserializerBase::splitValueIntoElements(input, params, empty);
        if (empty || (elems.size() < 2)) {
            return MccDeserializerErrorCode::ERROR_INVALID_SERIALIZED_VALUE;
        }
        MccCoordPairKind pair_kind{MccCoordPairKind::COORDS_KIND_RADEC_ICRS};
        MccCelestialCoordEpoch epoch;  // J2000.0
        MccAngle x, y;
        MccDeserializer<MccAngle> dsr_ang;
        typename MccDeserializer<MccAngle>::error_t dsr_err;
        if (elems.size() > 2) {  // no epoch
            // deserialize pair kind string
            pair_kind = MccCoordStrToPairKind(elems[2]);
            if (pair_kind == MccCoordPairKind::COORDS_KIND_UNKNOWN) {
                return MccDeserializerErrorCode::ERROR_INVALID_SERIALIZED_VALUE;
            }
            if (pair_kind != MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
                epoch = MccCelestialCoordEpoch::now();
            }
        }
        if (elems.size() > 3) {  // full format
            // epoch
            if (pair_kind != MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {  // ignore epoch if PAIRKIND == RADEC-ICRS
                bool ok = epoch.fromCharRange(elems[3]);
                if (!ok) {
                    return MccDeserializerErrorCode::ERROR_INVALID_SERIALIZED_VALUE;
                }
            }
        }
        // deserialize X and Y
        if (params.coordpair_format == MccSerializedCoordPairFormat::MCC_SERIALIZED_FORMAT_SXGM_HOURDEG) {
            pars.angle_format = MccSerializedAngleFormat::MCC_SERIALIZED_FORMAT_SXGM_HOURS;
        } else {
            pars.angle_format = MccSerializedAngleFormat::MCC_SERIALIZED_FORMAT_SXGM_DEGS;
        }
        dsr_err = dsr_ang(elems[0], x, pars);
        if (dsr_err) {
            return mcc_deduced_err(dsr_err, MccDeserializerErrorCode::ERROR_UNDERLYING_DESERIALIZER);
        }
        pars.angle_format = MccSerializedAngleFormat::MCC_SERIALIZED_FORMAT_SXGM_DEGS;
        dsr_err = dsr_ang(elems[1], y, pars);
        if (dsr_err) {
            return mcc_deduced_err(dsr_err, MccDeserializerErrorCode::ERROR_UNDERLYING_DESERIALIZER);
        }
        switch (pair_kind) {
            case MccCoordPairKind::COORDS_KIND_RADEC_ICRS:
                value.from(MccSkyRADEC_ICRS{(double)x, (double)y});
                break;
            case MccCoordPairKind::COORDS_KIND_RADEC_OBS:
                value.from(MccSkyRADEC_OBS{(double)x, (double)y, epoch});
                break;
            case MccCoordPairKind::COORDS_KIND_RADEC_APP:
                value.from(MccSkyRADEC_APP{(double)x, (double)y, epoch});
                break;
            case MccCoordPairKind::COORDS_KIND_HADEC_OBS:
                value.from(MccSkyHADEC_OBS{(double)x, (double)y, epoch});
                break;
            case MccCoordPairKind::COORDS_KIND_HADEC_APP:
                value.from(MccSkyHADEC_APP{(double)x, (double)y, epoch});
                break;
            case MccCoordPairKind::COORDS_KIND_AZZD:
                value.from(MccSkyAZZD{(double)x, (double)y, epoch});
                break;
            case MccCoordPairKind::COORDS_KIND_AZALT:
                value.from(MccSkyAZALT{(double)x, (double)y, epoch});
                break;
            case MccCoordPairKind::COORDS_KIND_XY:
                value.from(MccGenXY{(double)x, (double)y, epoch});
                break;
            case MccCoordPairKind::COORDS_KIND_GENERIC:
                value.from(MccCoordPair{(double)x, (double)y, epoch});
                break;
            case MccCoordPairKind::COORDS_KIND_LONLAT:
                value.from(MccGeoLONLAT{(double)x, (double)y});
                break;
            default:
                return MccDeserializerErrorCode::ERROR_INVALID_SERIALIZED_VALUE;
        }
        return MccDeserializerErrorCode::ERROR_OK;
    }
 };
 template <>
 struct MccDeserializer<MccCoordPairKind> : MccDeserializerBase {
    static constexpr std::string_view deserializerName{"MCC-COORDPAIR-DESERIALIZER"};
    template <mcc_serialization_params_c ParamsT = mcc_serialization_params_t>
    error_t operator()(traits::mcc_input_char_range auto const& input,
                       MccCoordPairKind& value,
                       ParamsT const& params = mcc_serialization_params_t{})
    {
        value = MccCoordStrToPairKind(input);
        if (value == MccCoordPairKind::COORDS_KIND_UNKNOWN) {
            return MccDeserializerErrorCode::ERROR_INVALID_SERIALIZED_VALUE;
        }
        return MccDeserializerErrorCode::ERROR_OK;
    }
 };
 template <>
 struct MccDeserializer<MccSerializedAngleFormatPrec> : MccDeserializerBase {
    static constexpr std::string_view deserializerName{"MCC-ANGLE-FORMAT-PREC-DESERIALIZER"};
    template <mcc_serialization_params_c ParamsT = mcc_serialization_params_t>
    error_t operator()(traits::mcc_input_char_range auto const& input,
                       MccSerializedAngleFormatPrec& value,
                       ParamsT const& params = mcc_serialization_params_t{})
    {
        // valid format: hour_prec[<params.elem_delim>deg_prec<params.elem_delim>decimals]
        std::vector<uint8_t> v;
        auto err = MccDeserializer<decltype(v)>{}(input, v);
        if (err) {
            return MccDeserializerErrorCode::ERROR_UNDERLYING_DESERIALIZER;
        }
        if (v.size() > 0) {
            value.hour_prec = v[0];
        }
        if (v.size() > 1) {
            value.deg_prec = v[1];
        }
        if (v.size() > 2) {
            value.decimals = v[2];
        }
        return MccDeserializerErrorCode::ERROR_OK;
    }
 };
 template <>
 struct MccDeserializer<MccSerializedCoordPairFormat> : MccDeserializerBase {
    static constexpr std::string_view deserializerName{"MCC-COORDPAIR-FORMAT-DESERIALIZER"};
    template <mcc_serialization_params_c ParamsT = mcc_serialization_params_t>
    error_t operator()(traits::mcc_input_char_range auto const& input,
                       MccSerializedCoordPairFormat& value,
                       ParamsT const& params = mcc_serialization_params_t{})
    {
        value = MccSerializedCoordPairFormatStrToValue(input);
        if (value != MccSerializedCoordPairFormat::MCC_SERIALIZED_FORMAT_UNKNOWN) {
            return MccDeserializerErrorCode::ERROR_OK;
        } else {
            return MccDeserializerErrorCode::ERROR_INVALID_SERIALIZED_VALUE;
        }
    }
 };
 }  // namespace mcc::impl
--- a/include/mcc/mcc_deserializer.h.old
+++ b/include/mcc/mcc_deserializer.h.old
@@ -198,7 +198,7 @@ public:
    error_t operator()(traits::mcc_input_char_range auto const& input, VT& value)
    {
        if constexpr (std::is_arithmetic_v<VT>) {
-            auto v = mcc::utils::numFromStr<VT>(trimSpaces(input));
+            auto v = mcc::utils::numFromStr<VT>(utils::trimSpaces(input));
            if (!v.has_value()) {
                return MccDeserializerErrorCode::ERROR_INVALID_SERIALIZED_VALUE;
            }
@@ -302,8 +302,8 @@ public:
    {
        if constexpr (mcc_angle_c<VT>) {  // scalar
            auto res = utils::parsAngleString(input, hms);
-            if (res) {
+            if (res) {  // returned angle is in degrees!!!
-                value = res.value();
+                value = res.value() * MCC_DEGRESS_TO_RADS;
            } else {
                return MccDeserializerErrorCode::ERROR_INVALID_SERIALIZED_VALUE;
            }
--- a/include/mcc/mcc_epoch.h
+++ b/include/mcc/mcc_epoch.h
--- a/include/mcc/mcc_error.h
+++ b/include/mcc/mcc_error.h
@@ -53,7 +53,7 @@ struct std::formatter<mcc::impl::MccError, char> {
                    //     _currFmt.push_back(*(++it));
                    // }
-                    if (it++ != ctx.end() || it++ != '}') {
+                    if (it++ != ctx.end() || *(it++) != '}') {
                        _delim = *(++it);
                    }
                case '}':
--- a/include/mcc/mcc_generic_mount.h
+++ b/include/mcc/mcc_generic_mount.h
@@ -0,0 +1,268 @@
 #pragma once
 /****************************************************************************************
 *                                                                                      *
 *                          MOUNT CONTROL COMPONENTS LIBRARY                            *
 *                                                                                      *
 *                                                                                      *
 *                       IMPLEMENTATION OF A GENERIC MOUNT CLASS                        *
 *                     (A SOME OF POSSIBLE GENERIC IMPLEMENTATIONS)                     *
 *                                                                                      *
 ****************************************************************************************/
 #include <thread>
 #include "mcc/mcc_spdlog.h"
 #include "mcc_error.h"
 namespace mcc::impl
 {
 enum class MccGenericMountErrorCode : int {
    ERROR_OK,
    ERROR_HW_INIT,
    ERROR_HW_STOP,
    ERROR_HW_GETSTATE,
    ERROR_SET_TARGET,
    ERROR_MOUNT_SLEW,
    ERROR_MOUNT_TRACK,
    ERROR_GET_TELEMETRY,
    ERROR_UNSUPPORTED_TARGET_COORDPAIR,
    ERROR_PZONE_COMP,
    ERROR_TARGET_IN_ZONE
 };
 }  // namespace mcc::impl
 namespace std
 {
 template <>
 class is_error_code_enum<mcc::impl::MccGenericMountErrorCode> : public true_type
 {
 };
 }  // namespace std
 namespace mcc::impl
 {
 // error category
 struct MccGenericMountCategory : public std::error_category {
    MccGenericMountCategory() : std::error_category() {}
    const char* name() const noexcept
    {
        return "MCC-GENERIC-MOUNT";
    }
    std::string message(int ec) const
    {
        MccGenericMountErrorCode err = static_cast<MccGenericMountErrorCode>(ec);
        switch (err) {
            case MccGenericMountErrorCode::ERROR_OK:
                return "OK";
            case MccGenericMountErrorCode::ERROR_HW_INIT:
                return "an error occured while initializing mount hardware";
            case MccGenericMountErrorCode::ERROR_HW_STOP:
                return "an error occured while stopping mount";
            case MccGenericMountErrorCode::ERROR_HW_GETSTATE:
                return "cannot get state of hardware";
            case MccGenericMountErrorCode::ERROR_SET_TARGET:
                return "cannot set target coordinates";
            case MccGenericMountErrorCode::ERROR_MOUNT_SLEW:
                return "slewing error";
            case MccGenericMountErrorCode::ERROR_MOUNT_TRACK:
                return "tracking error";
            case MccGenericMountErrorCode::ERROR_GET_TELEMETRY:
                return "cannot get telemetry data";
            case MccGenericMountErrorCode::ERROR_UNSUPPORTED_TARGET_COORDPAIR:
                return "unsupported coordinate pair of target";
            case MccGenericMountErrorCode::ERROR_PZONE_COMP:
                return "an error occured while computing prohibited zone";
            case MccGenericMountErrorCode::ERROR_TARGET_IN_ZONE:
                return "target coordinates are in prohibitted zone";
            default:
                return "UNKNOWN";
        }
    }
    static const MccGenericMountCategory& get()
    {
        static const MccGenericMountCategory constInst;
        return constInst;
    }
 };
 inline std::error_code make_error_code(MccGenericMountErrorCode ec)
 {
    return std::error_code(static_cast<int>(ec), MccGenericMountCategory::get());
 }
 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 : public TELEMETRY_T, public PZONE_CONT_T, public MOVE_CNTRL_T, public LOGGER_T
 {
 public:
    using LOGGER_T::logDebug;
    using LOGGER_T::logError;
    using LOGGER_T::logInfo;
    using LOGGER_T::logTrace;
    using LOGGER_T::logWarn;
    typedef MccError error_t;
    using typename TELEMETRY_T::telemetry_data_t;
    enum class mount_status_t : int {
        MOUNT_STATUS_ERROR,
        MOUNT_STATUS_IDLE,
        MOUNT_STATUS_UNINITIALIZED,
        MOUNT_STATUS_INITIALIZATION,
        MOUNT_STATUS_STOPPED,
        MOUNT_STATUS_STOPPING,
        MOUNT_STATUS_SLEWING,
        MOUNT_STATUS_ADJUSTING,
        MOUNT_STATUS_GUIDING,
        MOUNT_STATUS_TRACKING
    };
    template <typename... TelemetryCtorTs,
              typename... PzoneContCtorTs,
              typename... MoveCntrCtorTs,
              typename... LoggerCtorTs>
    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)
        : TELEMETRY_T(std::make_from_tuple<TELEMETRY_T>(std::move(telemetry_ctor_args))),
          PZONE_CONT_T(std::make_from_tuple<PZONE_CONT_T>(std::move(pzone_cont_ctor_ars))),
          MOVE_CNTRL_T(std::make_from_tuple<MOVE_CNTRL_T>(std::move(move_cntrl_ctor_ars))),
          LOGGER_T(std::make_from_tuple<LOGGER_T>(std::move(logger_ctor_args)))
    {
        // logDebug(std::format("Create MccGenericMount class instance (thread: {})", std::this_thread::get_id()));
        logDebug("Create MccGenericMount class instance (thread: {})", std::this_thread::get_id());
    }
    template <typename... TelemetryCtorTs,
              typename... PzoneContCtorTs,
              typename... MoveCntrCtorTs,
              typename... LoggerCtorTs>
        requires std::derived_from<LOGGER_T, utils::MccSpdlogLogger>
    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)
        : 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...)
    {
        // logDebug(std::format("Create MccGenericMount class instance (thread: {})", std::this_thread::get_id()));
        logDebug("Create MccGenericMount class instance (thread: {})", std::this_thread::get_id());
    }
    /*    movable-only class    */
    MccGenericMount(const MccGenericMount&) = delete;
    MccGenericMount(MccGenericMount&&) = default;
    MccGenericMount& operator=(const MccGenericMount&) = delete;
    MccGenericMount& operator=(MccGenericMount&&) = default;
    virtual ~MccGenericMount()
    {
        // auto err = MOVE_CNTRL_T::stopMount();
        // if (err) {
        //     logError(formatError(err));
        // }
        // WARNING: it is assumed here that mount stopping is performed in a derived class or, it is more logicaly,
        //          in MOVE_CNTRL_T-class
        // logDebug(std::format("Delete MccGenericMount class instance (thread: {})", std::this_thread::get_id()));
        logDebug("Delete MccGenericMount class instance (thread: {})", std::this_thread::get_id());
    }
    error_t initMount()
    {
        logInfo("Start MccGenericMount class initialization (thread: {}) ...", std::this_thread::get_id());
        *_mountStatus = mount_status_t::MOUNT_STATUS_IDLE;
        return *_lastMountError = MccGenericMountErrorCode::ERROR_OK;
    }
    mount_status_t mountStatus() const
    {
        return _mountStatus->load();
    }
    error_t mountLastError() const
    {
        return _lastMountError->load();
    }
    /*  log-method wrappers for non-MccSpdlogger classes  */
    template <std::formattable<char>... ArgTs>
        requires(!std::derived_from<LOGGER_T, utils::MccSpdlogLogger>)
    void logInfo(std::format_string<ArgTs...> fmt, ArgTs&&... args)
    {
        LOGGER_T::logInfo(std::format(fmt, std::forward<ArgTs>(args)...));
    }
    template <std::formattable<char>... ArgTs>
        requires(!std::derived_from<LOGGER_T, utils::MccSpdlogLogger>)
    void logDebug(std::format_string<ArgTs...> fmt, ArgTs&&... args)
    {
        LOGGER_T::logDebug(std::format(fmt, std::forward<ArgTs>(args)...));
    }
    template <std::formattable<char>... ArgTs>
        requires(!std::derived_from<LOGGER_T, utils::MccSpdlogLogger>)
    void logError(std::format_string<ArgTs...> fmt, ArgTs&&... args)
    {
        LOGGER_T::logError(std::format(fmt, std::forward<ArgTs>(args)...));
    }
    template <std::formattable<char>... ArgTs>
        requires(!std::derived_from<LOGGER_T, utils::MccSpdlogLogger>)
    void logWarn(std::format_string<ArgTs...> fmt, ArgTs&&... args)
    {
        LOGGER_T::logWarn(std::format(fmt, std::forward<ArgTs>(args)...));
    }
    template <std::formattable<char>... ArgTs>
        requires(!std::derived_from<LOGGER_T, utils::MccSpdlogLogger>)
    void logTrace(std::format_string<ArgTs...> fmt, ArgTs&&... args)
    {
        LOGGER_T::logTrace(std::format(fmt, std::forward<ArgTs>(args)...));
    }
 protected:
    std::unique_ptr<std::atomic<mount_status_t>> _mountStatus{
        new std::atomic<mount_status_t>{mount_status_t::MOUNT_STATUS_UNINITIALIZED}};
    std::unique_ptr<std::atomic<error_t>> _lastMountError{new std::atomic<error_t>{MccGenericMountErrorCode::ERROR_OK}};
    std::string formatError(error_t const& err, std::string_view prefix = "") const
    {
        return std::format("{}{} (category: {}, code: {})", prefix, err.message(), err.category().name(), err.value());
    }
 };
 }  // namespace mcc::impl
--- a/include/mcc/mcc_generic_movecontrols.h
+++ b/include/mcc/mcc_generic_movecontrols.h
@@ -0,0 +1,715 @@
 #pragma once
 /****************************************************************************************
 *                                                                                      *
 *                          MOUNT CONTROL COMPONENTS LIBRARY                            *
 *                                                                                      *
 *                                                                                      *
 *                 GENERIC IMPLEMENTATION OF MOUNT MOVEMENT CONTROLS                    *
 *                                                                                      *
 ****************************************************************************************/
 #include <atomic>
 #include <fstream>
 #include <future>
 #include <thread>
 #include <type_traits>
 #include <print>
 #include "mcc_coordinate.h"
 #include "mcc_error.h"
 namespace mcc::impl
 {
 // mount movement-related generic errors
 enum class MccGenericMovementControlsErrorCode : int {
    ERROR_OK,
    ERROR_IN_PZONE,
    ERROR_NEAR_PZONE,
    ERROR_SLEW_TIMEOUT,
    ERROR_STOP_TIMEOUT,
    ERROR_HARDWARE,
    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::ERROR_NEAR_PZONE:
                return "mount is near zone";
            case MccGenericMovementControlsErrorCode::ERROR_SLEW_TIMEOUT:
                return "a timeout occured while slewing";
            case MccGenericMovementControlsErrorCode::ERROR_STOP_TIMEOUT:
                return "a timeout occured while mount stopping";
            case MccGenericMovementControlsErrorCode::ERROR_HARDWARE:
                return "a hardware error occured";
            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{};
 };
 /*                  UTILITY CLASS TO HOLD AND SAVE MOUNT MOVING TRAJECTORY                  */
 struct MccMovementPathFile {
    static constexpr std::string_view commentSeq{"# "};
    static constexpr std::string_view lineDelim{"\n"};
    void setCommentSeq(traits::mcc_input_char_range auto const& s)
    {
        _commentSeq.clear();
        std::ranges::copy(s, std::back_inserter(_commentSeq));
    }
    void setLineDelim(traits::mcc_input_char_range auto const& s)
    {
        _lineDelim.clear();
        std::ranges::copy(s, std::back_inserter(_lineDelim));
    }
    // add comment string/strings
    template <traits::mcc_input_char_range RT, traits::mcc_input_char_range... RTs>
    void addComment(RT const& r, RTs const&... rs)
    {
        std::ranges::copy(_commentSeq, std::back_inserter(_buffer));
        if constexpr (std::is_pointer_v<std::decay_t<RT>>) {  // const char*, char*, char[]
            std::ranges::copy(std::string_view{r}, std::back_inserter(_buffer));
        } else {
            std::ranges::copy(r, std::back_inserter(_buffer));
        }
        std::ranges::copy(lineDelim, std::back_inserter(_buffer));
        if constexpr (sizeof...(RTs)) {
            addComment(rs...);
        }
    }
    // comment corresponded to addToPath(mcc_telemetry_data_c auto const& tdata)
    void addDefaultComment()
    {
        addComment("Format (time is in milliseconds, coordinates are in degrees, speeds are in degrees/s):");
        addComment(
            "    <UNIXTIME> <mount X> <mount Y> <target X> <target Y> <dX_{mount-target}> "
            "<dY_{mount-target}> <mount-to-target-distance> <mount X-speed> <mount Y-speed> <moving state>");
    }
    // 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));
    // }
    // general purpose method
    template <std::formattable<char>... ArgTs>
    void addToPath(std::string_view fmt, ArgTs&&... args)
    {
        std::vformat_to(std::back_inserter(_buffer), fmt, std::make_format_args(args...));
        std::ranges::copy(lineDelim, std::back_inserter(_buffer));
    }
    // default-implemented method
    void addToPath(mcc_telemetry_data_c auto const& tdata)
    {
        // UNIX-time millisecs, mount X, mount Y, target X, target Y, dX(mount-target), dY(mount-target), dist, speedX,
        // speedY, state
        auto dist = tdata.mountPos.distance(tdata.targetPos);
        using d_t = std::chrono::milliseconds;
        auto tp = std::chrono::duration_cast<d_t>(tdata.mountPos.epoch().UTC().time_since_epoch());
        const std::string_view d_fmt = "{:14.8f}";
        const auto v = std::views::repeat(d_fmt, 9) | std::views::join_with(' ');
        std::string fmt = "{} " + std::string(v.begin(), v.end()) + " {}";
        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.dx.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,
                  tdata.hwState.speedXY.x().degrees(), tdata.hwState.speedXY.y().degrees(), state);
    }
    void clearPath()
    {
        _buffer.clear();
    }
    bool saveToFile(std::string const& filename, std::ios_base::openmode mode = std::ios::out | std::ios::trunc)
    {
        if (filename.empty()) {
            return true;
        }
        std::ofstream fst(filename, mode);
        if (fst.is_open()) {
            fst << _buffer;
            return true;
        } else {
            return false;
        }
    }
 protected:
    std::string _buffer{};
    std::string _commentSeq{commentSeq};
    std::string _lineDelim{lineDelim};
 };
 enum class MccGenericMovementControlsPolicy : int { POLICY_ASYNC, POLICY_BLOCKING };
 template <std::movable PARAMS_T,
          MccGenericMovementControlsPolicy EXEC_POLICY = MccGenericMovementControlsPolicy::POLICY_ASYNC>
 class MccGenericMovementControls
 {
 public:
    static constexpr MccGenericMovementControlsPolicy executePolicy = EXEC_POLICY;
    static constexpr std::chrono::seconds defaultWaitTimeout{3};
    typedef MccError error_t;
    typedef PARAMS_T movement_params_t;
    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))
    {
        if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC) {
            // *_stopMovementRequest = false;
            // *_fsmState = STATE_IDLE;
            // // start thread of movements
            // _fstFuture = std::async(
            //     [this](std::stop_token stoken) {
            //         auto do_state = _fsmState->load();
            //         while (!stoken.stop_requested()) {
            //             std::println("\n{:*^80}\n", "  WAIT LOCK  ");
            //             // wait here ...
            //             _wakeupRequest->wait(false, std::memory_order_relaxed);
            //             _wakeupRequest->clear();
            //             std::println("\n{:*^80}\n", "  UNLOCKED  ");
            //             // if (stoken.stop_requested()) {
            //             //     break;
            //             // }
            //             do_state = _fsmState->load();
            //             if (do_state & STATE_STOP) {
            //                 // if (_fsmState->load() & STATE_STOP) {
            //                 *_stopMovementRequest = true;
            //                 _stopFunc();
            //             }
            //             if (do_state & STATE_SLEW) {
            //                 // if (_fsmState->load() & STATE_SLEW) {
            //                 *_stopMovementRequest = false;
            //                 _slewFunc(_slewAndStop->load());
            //             } else if (do_state & STATE_TRACK) {
            //                 // } else if (_fsmState->load() & STATE_TRACK) {
            //                 *_stopMovementRequest = false;
            //                 _trackFunc();
            //             }
            //         }
            //     },
            //     _fstStopSource.get_token());
            startAsyncMovementCycle();
        }
    }
    MccGenericMovementControls(const MccGenericMovementControls&) = delete;
    MccGenericMovementControls(MccGenericMovementControls&& other) = default;
    MccGenericMovementControls& operator=(const MccGenericMovementControls&) = delete;
    MccGenericMovementControls& operator=(MccGenericMovementControls&&) = default;
    virtual ~MccGenericMovementControls()
    {
        if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC) {
            // *_fsmState = STATE_IDLE;
            // _fstStopSource.request_stop();
            // _wakeupRequest->test_and_set();
            // _wakeupRequest->notify_one();
            // std::this_thread::sleep_for(std::chrono::milliseconds(200));
            // if (_fstFuture.valid()) {
            //     auto status = _fstFuture.wait_for(_waitTimeout->load());
            // }
            stopAsyncMovementCycle();
        }
    }
    template <typename SelfT>
    void stopAsyncMovementCycle(this SelfT&& self)
        requires(EXEC_POLICY == MccGenericMovementControlsPolicy::POLICY_ASYNC)
    {
        *self._fsmState = STATE_IDLE;
        self._fstStopSource.request_stop();
        self._wakeupRequest->test_and_set();
        self._wakeupRequest->notify_all();
        std::this_thread::sleep_for(std::chrono::milliseconds(200));
        if (self._fstFuture.valid()) {
            auto status = self._fstFuture.wait_for(self._waitTimeout->load());
        }
    }
    template <typename SelfT>
    void startAsyncMovementCycle(this SelfT& self)
        requires(EXEC_POLICY == MccGenericMovementControlsPolicy::POLICY_ASYNC)
    {
        using self_t = std::decay_t<SelfT>;
        if (self._fstFuture.valid()) {
            self.stopAsyncMovementCycle();
        }
        *self._stopMovementRequest = false;
        self._fstStopSource = std::stop_source{};
        *self._fsmState = STATE_IDLE;
        // start thread of movements
        self._fstFuture = std::async(
            std::launch::async,
            [&self](std::stop_token stoken) mutable {
                auto do_state = self._fsmState->load();
                std::string log_str;
                while (!stoken.stop_requested()) {
                    log_str = std::format("\n{:*^80}\n", "  WAIT LOCK  ");
                    if constexpr (mcc_generic_mount_c<self_t>) {
                        self.logTrace(log_str);
                    } else {
                        std::println("{}", log_str);
                    }
                    // wait here ...
                    self._wakeupRequest->wait(false, std::memory_order_relaxed);
                    self._wakeupRequest->clear();
                    log_str = std::format("\n{:*^80}\n", "  UNLOCKED  ");
                    if constexpr (mcc_generic_mount_c<self_t>) {
                        self.logTrace(log_str);
                    } else {
                        std::println("{}", log_str);
                    }
                    // if (stoken.stop_requested()) {
                    //     break;
                    // }
                    do_state = self._fsmState->load();
                    if (do_state & STATE_STOP) {
                        // if (_fsmState->load() & STATE_STOP) {
                        *self._stopMovementRequest = true;
                        self._stopFunc();
                    }
                    if (do_state & STATE_SLEW) {
                        // if (_fsmState->load() & STATE_SLEW) {
                        *self._stopMovementRequest = false;
                        self._slewFunc(self._slewAndStop->load());
                    } else if (do_state & STATE_TRACK) {
                        // } else if (_fsmState->load() & STATE_TRACK) {
                        *self._stopMovementRequest = false;
                        self._trackFunc();
                    }
                }
            },
            self._fstStopSource.get_token());
    }
    error_t slewToTarget(bool slew_and_stop)
    {
        // *_stopMovementRequest = false;
        if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC) {
            auto prev_state = _fsmState->load();
            *_fsmState = STATE_SLEW;
            if (prev_state & STATE_SLEW || prev_state & STATE_TRACK) {
                *_fsmState |= STATE_STOP;
                *_stopMovementRequest = true;  // to exit from slewing or tracking
            }
            *_slewAndStop = slew_and_stop;
            _wakeupRequest->test_and_set();
            _wakeupRequest->notify_one();
            return MccGenericMovementControlsErrorCode::ERROR_OK;
        } else if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_BLOCKING) {
            return _slewFunc(slew_and_stop);
        } else {
            static_assert(false, "UNKNOWN EXECUTION POLICY!");
        }
    }
    error_t trackTarget()
    {
        // *_stopMovementRequest = false;
        if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC) {
            auto prev_state = _fsmState->load();
            if (!(prev_state & STATE_TRACK)) {
                *_fsmState = STATE_TRACK;
                if (prev_state & STATE_SLEW) {
                    *_fsmState |= STATE_STOP;
                    *_stopMovementRequest = true;  // to exit from slewing
                }
                _wakeupRequest->test_and_set();
                _wakeupRequest->notify_one();
            }  // already tracking, just ignore
            return MccGenericMovementControlsErrorCode::ERROR_OK;
        } else if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_BLOCKING) {
            return _trackFunc();
        } else {
            static_assert(false, "UNKNOWN EXECUTION POLICY!");
        }
    }
    error_t stopMount()
    {
        // *_stopMovementRequest = true;
        if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC) {
            *_fsmState = STATE_STOP;
            *_stopMovementRequest = true;  // to exit from slewing or tracking
            _wakeupRequest->test_and_set();
            _wakeupRequest->notify_one();
            return MccGenericMovementControlsErrorCode::ERROR_OK;
        } else if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_BLOCKING) {
            return _stopFunc();
        } else {
            static_assert(false, "UNKNOWN EXECUTION POLICY!");
        }
    }
    error_t setMovementParams(movement_params_t const& pars)
    {
        std::lock_guard lock{*_currentMovementParamsMutex};
        _currentMovementParams = pars;
        return MccGenericMovementControlsErrorCode::ERROR_OK;
    }
    movement_params_t getMovementParams() const
    {
        std::lock_guard lock{*_currentMovementParamsMutex};
        return _currentMovementParams;
    }
 protected:
    std::unique_ptr<std::mutex> _currentMovementParamsMutex{new std::mutex{}};
    PARAMS_T _currentMovementParams{};
    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::unique_ptr<std::atomic<std::chrono::nanoseconds>> _waitTimeout{
        new std::atomic<std::chrono::nanoseconds>{defaultWaitTimeout}};
    std::conditional_t<executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC,
                       std::future<void>,
                       std::nullptr_t>
        _fstFuture{};
    std::stop_source _fstStopSource{};
    std::unique_ptr<std::atomic_flag> _wakeupRequest{new std::atomic_flag};
    std::unique_ptr<std::atomic_bool> _slewAndStop{new std::atomic_bool{false}};
    enum { STATE_IDLE = 0x00, STATE_SLEW = 0x01, STATE_TRACK = 0x02, STATE_STOP = 0x04 };
    std::unique_ptr<std::atomic_int> _fsmState{new std::atomic_int};
    // template <typename SelfT>
    // void mainCycle(this SelfT&& self, std::stop_token stoken)
    // {
    //     using self_t = std::decay_t<SelfT>;
    //     auto do_state = _fsmState->load();
    //     std::string log_str;
    //     while (!stoken.stop_requested()) {
    //         log_str = std::format("\n{:*^80}\n", "  WAIT LOCK  ");
    //         if constexpr (mcc_generic_mount_c<self_t>) {
    //             self.logTrace(log_str);
    //         } else {
    //             std::println(log_str);
    //         }
    //         // wait here ...
    //         _wakeupRequest->wait(false, std::memory_order_relaxed);
    //         _wakeupRequest->clear();
    //         log_str = std::format("\n{:*^80}\n", "  UNLOCKED  ");
    //         if constexpr (mcc_generic_mount_c<self_t>) {
    //             self.logTrace(log_str);
    //         } else {
    //             std::println(log_str);
    //         }
    //         // if (stoken.stop_requested()) {
    //         //     break;
    //         // }
    //         do_state = _fsmState->load();
    //         if (do_state & STATE_STOP) {
    //             // if (_fsmState->load() & STATE_STOP) {
    //             *_stopMovementRequest = true;
    //             _stopFunc();
    //         }
    //         if (do_state & STATE_SLEW) {
    //             // if (_fsmState->load() & STATE_SLEW) {
    //             *_stopMovementRequest = false;
    //             _slewFunc(_slewAndStop->load());
    //         } else if (do_state & STATE_TRACK) {
    //             // } else if (_fsmState->load() & STATE_TRACK) {
    //             *_stopMovementRequest = false;
    //             _trackFunc();
    //         }
    //     }
    // }
    // utility methods
    // 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 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,
                         mcc_coord_pair_c auto* dxy = nullptr)
    {
        // time to stop mount with given current speed and constant braking acceleration
        double tx_stop = std::abs(speedXY.x()) / braking_accelXY.x();
        double ty_stop = std::abs(speedXY.y()) / braking_accelXY.y();
        using secs_t = std::chrono::duration<double>;  // seconds as double
        double tx = std::chrono::duration_cast<secs_t>(time).count();
        double ty = std::chrono::duration_cast<secs_t>(time).count();
        if (std::isfinite(tx_stop) && (tx > tx_stop)) {
            tx = tx_stop;
        }
        if (std::isfinite(ty_stop) && (ty > ty_stop)) {
            ty = ty_stop;
        }
        // the distance:
        // here, one must take into account the sign of the speed!!!
        double dx = speedXY.x() * tx - std::copysign(braking_accelXY.x(), speedXY.x()) * tx * tx / 2.0;
        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() + time);
        cp_res.setX((double)cp.x() + dx);
        cp_res.setY((double)cp.y() + dy);
        if (dxy) {
            dxy->setX(dx);
            dxy->setY(dy);
            dxy->setEpoch(cp_res.epoch());
        }
        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;
        }
    }
 };
 template <std::default_initializable PARAMS_T>
 using MccGenericBlockingMovementControls =
    MccGenericMovementControls<PARAMS_T, MccGenericMovementControlsPolicy::POLICY_BLOCKING>;
 template <std::default_initializable PARAMS_T>
 using MccGenericAsyncMovementControls =
    MccGenericMovementControls<PARAMS_T, MccGenericMovementControlsPolicy::POLICY_ASYNC>;
 static_assert(mcc_movement_controls_c<MccGenericAsyncMovementControls<MccGenericMovementControlsParams>>, "!!!");
 }  // namespace mcc::impl
--- a/include/mcc/mcc_movement_controls.h
+++ b/include/mcc/mcc_movement_controls.h
--- a/include/mcc/mcc_netserver.h
+++ b/include/mcc/mcc_netserver.h
--- a/include/mcc/mcc_netserver_endpoint.h
+++ b/include/mcc/mcc_netserver_endpoint.h
@@ -0,0 +1,512 @@
 #pragma once
 /*                          MOUNT CONTROL COMPONENTS LIBRARY                            */
 /*                          NETWORK SERVER ENDPOINT CLASS IMPLEMENTATION                          */
 #include <algorithm>
 #include <array>
 #include <charconv>
 #include <cstdint>
 #include <filesystem>
 #include <ranges>
 #include <string_view>
 #include "mcc_traits.h"
 namespace mcc::network
 {
 namespace utils
 {
 static constexpr bool mcc_char_range_compare(const traits::mcc_char_view auto& what,
                                             const traits::mcc_char_view auto& where,
                                             bool case_insensitive = false)
 {
    if (std::ranges::size(what) == std::ranges::size(where)) {
        if (case_insensitive) {
            auto f = std::ranges::search(where,
                                         std::views::transform(what, [](const char& ch) { return std::tolower(ch); }));
            return !f.empty();
        } else {
            auto f = std::ranges::search(where, what);
            return !f.empty();
        }
    }
    return false;
 }
 }  // namespace utils
 /*
 *  Very simple various protocols endpoint parser and holder class
 *
 *  endpoint:  proto_mark://host_name:port_num/path
 *             where "path" is optional for all non-local protocol kinds;
 *
 *             for local kind of protocols the endpoint must be given as:
 *               local://stream/PATH
 *               local://seqpacket/PATH
 *               local://serial/PATH
 *             where 'stream' and 'seqpacket' "host_name"-field marks the
 *             stream-type and seqpacket-type UNIX domain sockets protocols;
 *             'serial' marks a serial (RS232/485) protocol.
 *             here, possible "port_num" field is allowed but ignored.
 *
 *             NOTE: "proto_mark" and "host_name" (for local kind) fields are parsed in case-insensitive manner!
 *
 *             EXAMPLES: tcp://192.168.70.130:3131
 *                       local://serial/dev/ttyS1
 *                       local://seqpacket/tmp/BM70_SERVER_SOCK
 *
 *
 */
 class MccNetServerEndpoint
 {
 public:
    static constexpr std::string_view protoHostDelim = "://";
    static constexpr std::string_view hostPortDelim = ":";
    static constexpr std::string_view portPathDelim = "/";
    enum proto_id_t : uint8_t {
        PROTO_ID_LOCAL,
        PROTO_ID_SEQLOCAL,
        PROTO_ID_SERLOCAL,
        PROTO_ID_TCP,
        PROTO_ID_TLS,
        PROTO_ID_UNKNOWN
    };
    static constexpr std::string_view protoMarkLocal{"local"};  // UNIX domain
    static constexpr std::string_view protoMarkTCP{"tcp"};      // TCP
    static constexpr std::string_view protoMarkTLS{"tls"};      // TLS
    static constexpr std::array validProtoMarks{protoMarkLocal, protoMarkTCP, protoMarkTLS};
    static constexpr std::string_view localProtoTypeStream{"stream"};        // UNIX domain stream
    static constexpr std::string_view localProtoTypeSeqpacket{"seqpacket"};  // UNIX domain seqpacket
    static constexpr std::string_view localProtoTypeSerial{"serial"};        // serial (RS232/485)
    static constexpr std::array validLocalProtoTypes{localProtoTypeStream, localProtoTypeSeqpacket,
                                                     localProtoTypeSerial};
    template <traits::mcc_input_char_range R>
    MccNetServerEndpoint(const R& ept)
    {
        fromRange(ept);
    }
    MccNetServerEndpoint(const MccNetServerEndpoint& other)
    {
        copyInst(other);
    }
    MccNetServerEndpoint(MccNetServerEndpoint&& other)
    {
        moveInst(std::move(other));
    }
    virtual ~MccNetServerEndpoint() = default;
    MccNetServerEndpoint& operator=(const MccNetServerEndpoint& other)
    {
        copyInst(other);
        return *this;
    }
    MccNetServerEndpoint& operator=(MccNetServerEndpoint&& other)
    {
        moveInst(std::move(other));
        return *this;
    }
    template <traits::mcc_input_char_range R>
        requires std::ranges::contiguous_range<R>
    bool fromRange(const R& ept)
    {
        _isValid = false;
        // at least 'ws://a' (proto, proto-host delimiter and at least a single character of hostname)
        if (std::ranges::size(ept) < 6) {
            return _isValid;
        }
        if constexpr (std::is_array_v<std::remove_cvref_t<R>>) {
            _endpoint = ept;
        } else {
            _endpoint.clear();
            std::ranges::copy(ept, std::back_inserter(_endpoint));
        }
        auto found = std::ranges::search(_endpoint, protoHostDelim);
        if (found.empty()) {
            return _isValid;
        }
        ssize_t idx;
        if ((idx = checkProtoMark(std::string_view{_endpoint.begin(), found.begin()})) < 0) {
            return _isValid;
        }
        _proto = validProtoMarks[idx];
        _host = std::string_view{found.end(), _endpoint.end()};
        auto f1 = std::ranges::search(_host, portPathDelim);
        // std::string_view port_sv;
        if (f1.empty() && isLocal()) {  // no path, but it is mandatory for 'local'!
            return _isValid;
        } else {
            _host = std::string_view(_host.begin(), f1.begin());
            _path = std::string_view(f1.end(), &*_endpoint.end());
            f1 = std::ranges::search(_host, hostPortDelim);
            if (f1.empty() && !isLocal()) {  // no port, but it is mandatory for non-local!
                return _isValid;
            }
            _portView = std::string_view(f1.end(), _host.end());
            if (_portView.size()) {
                _host = std::string_view(_host.begin(), f1.begin());
                if (!isLocal()) {
                    // convert port string to int
                    auto end_ptr = _portView.data() + _portView.size();
                    auto [ptr, ec] = std::from_chars(_portView.data(), end_ptr, _port);
                    if (ec != std::errc() || ptr != end_ptr) {
                        return _isValid;
                    }
                } else {  // ignore for local
                    _port = -1;
                }
            } else {
                _port = -1;
            }
            if (isLocal()) {  // check for special values
                idx = 0;
                if (std::ranges::any_of(validLocalProtoTypes, [&idx, this](const auto& el) {
                        bool ok = utils::mcc_char_range_compare(_host, el, true);
                        if (!ok) {
                            ++idx;
                        }
                        return ok;
                    })) {
                    _host = validLocalProtoTypes[idx];
                } else {
                    return _isValid;
                }
            }
        }
        _isValid = true;
        return _isValid;
    }
    bool isValid() const
    {
        return _isValid;
    }
    auto endpoint() const
    {
        return _endpoint;
    }
    template <traits::mcc_view_or_output_char_range R>
    R proto() const
    {
        return part<R>(PROTO_PART);
    }
    std::string_view proto() const
    {
        return proto<std::string_view>();
    }
    template <traits::mcc_view_or_output_char_range R>
    R host() const
    {
        return part<R>(HOST_PART);
    }
    std::string_view host() const
    {
        return host<std::string_view>();
    }
    int port() const
    {
        return _port;
    }
    template <traits::mcc_view_or_output_char_range R>
    R portView() const
    {
        return part<R>(PORT_PART);
    }
    std::string_view portView() const
    {
        return portView<std::string_view>();
    }
    template <traits::mcc_output_char_range R, traits::mcc_input_char_range RR = std::string_view>
    R path(RR&& root_path) const
    {
        if (_path.empty()) {
            if constexpr (traits::mcc_output_char_range<R>) {
                R res;
                std::ranges::copy(std::forward<RR>(root_path), std::back_inserter(res));
                return res;
            } else {  // can't add root path!!!
                return part<R>(PATH_PART);
            }
        }
        auto N = std::ranges::distance(root_path.begin(), root_path.end());
        if (N) {
            R res;
            std::filesystem::path pt(root_path.begin(), root_path.end());
            if (isLocal() && _path[0] == '\0') {
                std::ranges::copy(std::string_view(" "), std::back_inserter(res));
                pt /= _path.substr(1);
                std::ranges::copy(pt.string(), std::back_inserter(res));
                *res.begin() = '\0';
            } else {
                pt /= _path;
                std::ranges::copy(pt.string(), std::back_inserter(res));
            }
            return res;
        } else {
            return part<R>(PATH_PART);
        }
    }
    template <traits::mcc_input_char_range RR = std::string_view>
    std::string path(RR&& root_path) const
    {
        return path<std::string, RR>(std::forward<RR>(root_path));
    }
    template <traits::mcc_view_or_output_char_range R>
    R path() const
    {
        return part<R>(PATH_PART);
    }
    std::string_view path() const
    {
        return path<std::string_view>();
    }
    bool isLocal() const
    {
        return proto() == protoMarkLocal;
    }
    bool isLocalStream() const
    {
        return host() == localProtoTypeStream;
    }
    bool isLocalSerial() const
    {
        return host() == localProtoTypeSerial;
    }
    bool isLocalSeqpacket() const
    {
        return host() == localProtoTypeSeqpacket;
    }
    bool isTCP() const
    {
        return proto() == protoMarkTCP;
    }
    bool isTLS() const
    {
        return proto() == protoMarkTLS;
    }
    // add '\0' char (or replace special-meaning char/char-sequence) to construct UNIX abstract namespace
    // endpoint path
    template <typename T = std::nullptr_t>
    MccNetServerEndpoint& makeAbstract(const T& mark = nullptr)
        requires(traits::mcc_input_char_range<T> || std::same_as<std::remove_cv_t<T>, char> ||
                 std::is_null_pointer_v<std::remove_cv_t<T>>)
    {
        if (!(isLocalStream() || isLocalSeqpacket())) {  // only local proto is valid!
            return *this;
        }
        if constexpr (std::is_null_pointer_v<T>) {  // just insert '\0'
            auto it = _endpoint.insert(std::string::const_iterator(_path.begin()), '\0');
            _path = std::string_view(it, _endpoint.end());
        } else if constexpr (std::same_as<std::remove_cv_t<T>, char>) {  // replace a character (mark)
            auto pos = std::distance(_endpoint.cbegin(), std::string::const_iterator(_path.begin()));
            if (_endpoint[pos] == mark) {
                _endpoint[pos] = '\0';
            }
        } else {  // replace a character range (mark)
            if (std::ranges::equal(_path | std::views::take(std::ranges::size(mark), mark))) {
                auto pos = std::distance(_endpoint.cbegin(), std::string::const_iterator(_path.begin()));
                _endpoint.replace(pos, std::ranges::size(mark), 1, '\0');
                _path = std::string_view(_endpoint.begin() + pos, _endpoint.end());
            }
        }
        return *this;
    }
 protected:
    std::string _endpoint;
    std::string_view _proto, _host, _path, _portView;
    int _port;
    bool _isValid;
    virtual ssize_t checkProtoMark(std::string_view proto_mark)
    {
        ssize_t idx = 0;
        // case-insensitive look-up
        bool found = std::ranges::any_of(MccNetServerEndpoint::validProtoMarks, [&idx, &proto_mark](const auto& el) {
            bool ok = utils::mcc_char_range_compare(proto_mark, el, true);
            if (!ok) {
                ++idx;
            }
            return ok;
        });
        return found ? idx : -1;
    }
    enum EndpointPart { PROTO_PART, HOST_PART, PATH_PART, PORT_PART };
    template <traits::mcc_view_or_output_char_range R>
    R part(EndpointPart what) const
    {
        R res;
        // if (!_isValid) {
        //     return res;
        // }
        auto part = _proto;
        switch (what) {
            case PROTO_PART:
                part = _proto;
                break;
            case HOST_PART:
                part = _host;
                break;
            case PATH_PART:
                part = _path;
                break;
            case PORT_PART:
                part = _portView;
                break;
            default:
                break;
        }
        if constexpr (std::ranges::view<R>) {
            return {part.begin(), part.end()};
        } else {
            std::ranges::copy(part, std::back_inserter(res));
        }
        return res;
    }
    void copyInst(const MccNetServerEndpoint& other)
    {
        if (&other != this) {
            if (other._isValid) {
                _isValid = other._isValid;
                _endpoint = other._endpoint;
                _proto = other._proto;
                std::iterator_traits<const char*>::difference_type idx;
                if (other.isLocal()) {  // for 'local' host is one of static class constants
                    _host = other._host;
                } else {
                    idx = std::distance(other._endpoint.c_str(), other._host.data());
                    _host = std::string_view(_endpoint.c_str() + idx, other._host.size());
                }
                idx = std::distance(other._endpoint.c_str(), other._path.data());
                _path = std::string_view(_endpoint.c_str() + idx, other._path.size());
                idx = std::distance(other._endpoint.c_str(), other._portView.data());
                _portView = std::string_view(_endpoint.c_str() + idx, other._portView.size());
                _port = other._port;
            } else {
                _isValid = false;
                _endpoint = std::string();
                _proto = std::string_view();
                _host = std::string_view();
                _path = std::string_view();
                _portView = std::string_view();
                _port = -1;
            }
        }
    }
    void moveInst(MccNetServerEndpoint&& other)
    {
        if (&other != this) {
            if (other._isValid) {
                _isValid = std::move(other._isValid);
                _endpoint = std::move(other._endpoint);
                _proto = other._proto;
                _host = std::move(other._host);
                _path = std::move(other._path);
                _port = std::move(other._port);
                _portView = std::move(other._portView);
            } else {
                _isValid = false;
                _endpoint = std::string();
                _proto = std::string_view();
                _host = std::string_view();
                _path = std::string_view();
                _portView = std::string_view();
                _port = -1;
            }
        }
    }
 };
 }  // namespace mcc::network
--- a/include/mcc/mcc_netserver_proto.h
+++ b/include/mcc/mcc_netserver_proto.h
@@ -0,0 +1,605 @@
 #pragma once
 /*                          MOUNT CONTROL COMPONENTS LIBRARY                            */
 /*                          BASIC NETWORK PROTOCOL DEFINITIONS                          */
 #include <algorithm>
 #include <string_view>
 #include "mcc_deserializer.h"
 #include "mcc_serializer.h"
 #include "mcc_utils.h"
 namespace mcc::network
 {
 /*
 *  The network protocol is the ASCII-based, case-sensitive textual protocol.
 *  The "client-server" communication is performed through messages.
 *  The message is a minimal unit of this communication.
 *  The model of network communication is a simple "client-server" one, i.e.,
 *  client asks - server responds.
 *
 *  network communication message format:
 *      <keyword>[[<key-param-delim>]<param1>[<param-param-delim>][<param2>]...]<stop-seq>
 *
 *      where
 *          <keyword> - mandatory message keyword (one or more ASCII symbols)
 *          <key-param-delim>
 *
 *      e.g.
 *      "TARGET 12:23:45.56 00:32:21.978\n"
 */
 /*    low-level network message format definitions   */
 static constexpr std::string_view MCC_COMMPROTO_STOP_SEQ = "\n";
 static constexpr std::string_view MCC_COMMPROTO_KEYPARAM_DELIM_SEQ = " ";
 static constexpr std::string_view MCC_COMMPROTO_PARAMPARAM_DELIM_SEQ = ";";
 static constexpr std::string_view MCC_COMMPROTO_RANGEPARAM_DELIM_SEQ = ",";
 /*    server special keywords    */
 static constexpr std::string_view MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR = "ACK";      // ACK
 static constexpr std::string_view MCC_COMMPROTO_KEYWORD_SERVER_ERROR_STR = "ERROR";  // mount operational error
 // pre-defined errors
 static constexpr std::string_view MCC_COMMPROTO_SERVER_ERROR_INVKEY_STR = "INVKEY";  // invalid keyword
 static constexpr std::string_view MCC_COMMPROTO_SERVER_ERROR_INVPAR_STR = "INVPAR";  // invalid parameter
 /*    server control keywords     */
 static constexpr std::string_view MCC_COMMPROTO_KEYWORD_RESTART_SERVER_STR = "RESTART";  // restart server
 /*                  BELOW IS ONE OF THE PROTOCOL OPTIONS CORRESPONDING MCC_GENERIC_MOUNT_C CONCEPT */
 /*    keywords    */
 // NOTE: THE COORDINATES AND TIME-RELATED QUANTITIES CAN BE EXPRESSED IN THE TWO FORMATS:
 //       1) fixed-point real number, e.g. 123.43987537359 or -0.09775
 //       2) sexagesimal number, e.g. 10:43:43.12 or -123:54:12.435
 //
 //       IN THE FIRST CASE ALL NUMBERS MUST BE INTERPRETATED AS DEGREES,
 //       IN THE SECOND CASE NUMBERS MUST BE INTERPRETATED ACCORDING TO ITS TYPE:
 //           ALL TIME-RELATED QUANTITIES AND RA/HA COORDINATES MUST BE EXPRESSED
 //           IN FORMAT 'HOURS:MINUTES:SECONDS', WHILE DEC/ALT/AZ/ZD COORDINATES MUST
 //           BE EXPRESSED AS '+/-DEGREES:ARCMINUTES:ARCSECONDS'
 //
 //       USER-ENTERED (FROM NETWORK CLIENTS) COORDINATE PAIR CAN BE PROVIDED IN A MIXED FORM, I.E.,
 //           12.34436658678 10:32:11.432 or
 //           10:32:11.432 12.34436658678
 //
 //       SERVER-RESPONDED COORDINATES ARE ALWAYS IN THE SAME FORMAT, SEXAGESIMAL OR FIXED-POINT
 //
 // format of output coordinates:
 //    "COORDFMT FMT-type\n"
 //    e.g.:
 //    "COORDFMT SGM\n"
 //    "COORDFMT\n"
 //
 // server must return "ACK" or "ERROR INVPAR" in the case of 'set'-operation and
 // "ACK COORDFMT FMT-type" in the case of 'get'-operation
 //    e.g.:
 //    "COORDFMT FIX\n" -> "ACK\n"
 //    "COORDFMT SXT\n" -> "ERROR INVPAR\n" (invalid parameter of format type)
 //    "COORDFMT\n" -> "ACK COORDFMT FIX\n"
 //
 static constexpr std::string_view MCC_COMMPROTO_KEYWORD_COORDFMT_STR = "COORDFMT";
 static constexpr std::string_view MCC_COMMPROTO_KEYWORD_COORDFMT_SEXGM_STR = "SGM";  // sexagesimal
 static constexpr std::string_view MCC_COMMPROTO_KEYWORD_COORDFMT_FIXED_STR = "FIX";  // fixed point
 // precision (number of decimal places) of returned coordinates:
 //     "COORDPREC seconds-prec arcseconds-prec\n"
 //     seconds-prec - precision of hour-based coordinates (RA and HA) or time-related quantities
 //     arcseconds-prec - precision of degree-based coordinates (DEC, AZ, ZD, ALT)
 //         precision must be given as non-negative integer number
 //     e.g.
 //     "COORDPREC 2,1\n" (output sexagesimal RA=12:34:56.67, DEC=32:54:21.9)
 //
 static constexpr std::string_view MCC_COMMPROTO_KEYWORD_COORDPREC_STR = "COORDPREC";
 // set/get target coordinates
 //     "TARGET X-coord Y-coord XY-kind\n", if 'XY-kind' is omitted then one should assume RADEC_ICRS
 //     e.g.:
 //     "TARGET 12.7683487 10:23:09.75 AZZD\n"
 //     "TARGET HADEC\n"
 //     "TARGET\n"
 //
 // server must return "ACK" or "ERROR INVPAR" in the case of 'set'-operation and
 // "ACK TARGET X-coord Y-coord XY-kind" in the case of 'get'-operation
 //     e.g.:
 //     "TARGET 12.7683487 10:23:09.75 AZZD\n" -> "ACK\n"
 //     "TARGET 12.7683487 10:23:09.75 AZZE\n" -> "ERROR INVPAR\n" (invalid parameter of coordinates pair kind)
 //
 //     "TARGET HADEC\n" -> "ACK TARGET 20:21:56.32 -01:32:34.2 HADEC\n"
 //     "TARGET\n"  -> "ACK TARGET 20:21:56.32 -01:32:34.2 RADEC_ICRS\n"
 //
 static constexpr std::string_view MCC_COMMPROTO_KEYWORD_TARGET_STR = "TARGET";
 // get mount coordinates:
 //     "MOUNT coord-kind", if 'coord-kind' is omitted then coordinates are according to mount type,
 //                         i.e., HADEC for equathorial-type mount and AZZD for alt-azimuthal one
 //     e.g.:
 //     "MOUNT RADEC\n" (get current apparent RA and DEC mount coordinates)
 //
 // server must return "ACK MOUNT X-coord Y-coord XY-kind" or "ERROR INVPAR"
 //     e.g.
 //     "MOUNT AZALT\n" -> "ACK MOUNT 1.2332325 54.23321312 AZALT\n"
 //     "MOUNT AZAL\n" -> "ERROR INVPAR\n" (invalid parameter of coordinates pair kind)
 //     "MOUNT\n" -> "ACK MOUNT 1.2332325 54.23321312 AZZD\n" for alt-azimuthal mount
 //     "MOUNT\n" -> "ACK MOUNT 1.2332325 54.23321312 HADEC\n" for equathorial mount
 static constexpr std::string_view MCC_COMMPROTO_KEYWORD_MOUNT_STR = "MOUNT";
 // get entered target coordinates:
 static constexpr std::string_view MCC_COMMPROTO_KEYWORD_ENTEREDTAG_STR = "ENTEREDTAG";
 static constexpr std::string_view MCC_COMMPROTO_KEYWORD_TELEMETRY_STR = "TELEMETRY";
 // init mount
 //     "INIT\n"
 static constexpr std::string_view MCC_COMMPROTO_KEYWORD_INIT_STR = "INIT";
 // stop any movements
 //     "STOP\n"
 static constexpr std::string_view MCC_COMMPROTO_KEYWORD_STOP_STR = "STOP";
 // slew mount and track target:
 //     "SLEW\n"
 static constexpr std::string_view MCC_COMMPROTO_KEYWORD_SLEW_STR = "SLEW";
 // slew mount and stop:
 //     "MOVE\n"
 static constexpr std::string_view MCC_COMMPROTO_KEYWORD_MOVE_STR = "MOVE";
 // track target
 //     "TRACK\n"
 static constexpr std::string_view MCC_COMMPROTO_KEYWORD_TRACK_STR = "TRACK";
 // get mount status
 //     "STATUS\n"
 static constexpr std::string_view MCC_COMMPROTO_KEYWORD_STATUS_STR = "STATUS";
 // valid keywords
 // static constexpr std::array MCC_COMMPROTO_VALID_KEYS = {
 //     MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, MCC_COMMPROTO_KEYWORD_SERVER_ERROR_STR, MCC_COMMPROTO_KEYWORD_COORDFMT_STR,
 //     MCC_COMMPROTO_KEYWORD_COORDPREC_STR,  MCC_COMMPROTO_KEYWORD_TARGET_STR,       MCC_COMMPROTO_KEYWORD_MOUNT_STR,
 //     MCC_COMMPROTO_KEYWORD_ENTEREDTAG_STR, MCC_COMMPROTO_KEYWORD_TELEMETRY_STR,    MCC_COMMPROTO_KEYWORD_INIT_STR,
 //     MCC_COMMPROTO_KEYWORD_STOP_STR,       MCC_COMMPROTO_KEYWORD_SLEW_STR,         MCC_COMMPROTO_KEYWORD_MOVE_STR,
 //     MCC_COMMPROTO_KEYWORD_TRACK_STR,      MCC_COMMPROTO_KEYWORD_STATUS_STR};
 // // hashes of valid keywords
 // static constexpr std::array MCC_COMMPROTO_VALID_KEYS_HASH = []<size_t... Is>(std::index_sequence<Is...>) {
 //     return std::array{mcc::utils::FNV1aHash(MCC_COMMPROTO_VALID_KEYS[Is])...};
 // }(std::make_index_sequence<MCC_COMMPROTO_VALID_KEYS.size()>());
 template <typename T>
 concept mcc_netmsg_valid_keys_c = requires(T t) {
    // std::array of valid message keywords
    []<size_t N>(std::array<std::string_view, N>) {
        // to ensure T::NETMSG_VALID_KEYWORDS can be used as compile-time constant
        static constexpr auto v0 = T::NETMSG_VALID_KEYWORDS[0];
        return v0;
    }(T::NETMSG_VALID_KEYWORDS);
    // std::array of valid message keywords hashes
    []<size_t N>(std::array<size_t, N>) {
        // to ensure T::NETMSG_VALID_KEYWORD_HASHES can be used as compile-time constant
        static constexpr auto v0 = T::NETMSG_VALID_KEYWORD_HASHES[0];
        return v0;
    }(T::NETMSG_VALID_KEYWORD_HASHES);
    requires T::NETMSG_VALID_KEYWORDS.size() == T::NETMSG_VALID_KEYWORD_HASHES.size();
 };
 struct MccNetMessageValidKeywords {
    static constexpr std::array NETMSG_VALID_KEYWORDS = {
        MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, MCC_COMMPROTO_KEYWORD_SERVER_ERROR_STR,
        MCC_COMMPROTO_KEYWORD_COORDFMT_STR,   MCC_COMMPROTO_KEYWORD_COORDPREC_STR,
        MCC_COMMPROTO_KEYWORD_TARGET_STR,     MCC_COMMPROTO_KEYWORD_MOUNT_STR,
        MCC_COMMPROTO_KEYWORD_ENTEREDTAG_STR, MCC_COMMPROTO_KEYWORD_TELEMETRY_STR,
        MCC_COMMPROTO_KEYWORD_INIT_STR,       MCC_COMMPROTO_KEYWORD_STOP_STR,
        MCC_COMMPROTO_KEYWORD_SLEW_STR,       MCC_COMMPROTO_KEYWORD_MOVE_STR,
        MCC_COMMPROTO_KEYWORD_TRACK_STR,      MCC_COMMPROTO_KEYWORD_STATUS_STR};
    // hashes of valid keywords
    static constexpr std::array NETMSG_VALID_KEYWORD_HASHES = []<size_t... Is>(std::index_sequence<Is...>) {
        return std::array{mcc::utils::FNV1aHash(NETMSG_VALID_KEYWORDS[Is])...};
    }(std::make_index_sequence<NETMSG_VALID_KEYWORDS.size()>());
    constexpr static const size_t* isKeywordValid(std::string_view key)
    {
        const auto hash = mcc::utils::FNV1aHash(key);
        for (auto const& h : NETMSG_VALID_KEYWORD_HASHES) {
            if (h == hash) {
                return &h;
            }
        }
        return nullptr;
    }
 };
 static_assert(mcc_netmsg_valid_keys_c<MccNetMessageValidKeywords>, "");
 template <typename T>
 concept mcc_netmessage_c = requires(T t) { T(); };
 template <mcc::traits::mcc_char_range BYTEREPR_T = std::string_view,
          mcc_netmsg_valid_keys_c BASE_T = MccNetMessageValidKeywords>
 class MccNetMessage
 {
 protected:
    // just a wrapper class to hold MccSerializer<T> specializations
    struct DefaultSerializer {
        template <traits::mcc_output_char_range OR, typename T>
        auto operator()(OR& bytes, const T& value, mcc_serialization_params_c auto const& pars) const
        {
            return impl::MccSerializer<T>{}(bytes, value, pars);
        }
    };
 public:
    typedef BASE_T valid_keys_t;
    typedef BYTEREPR_T byte_repr_t;
    enum MccNetMessageError { ERROR_OK, ERROR_EMPTY_MESSAGE, ERROR_INVALID_KEYWORD, ERROR_EMPTY_KEYWORD };
    MccNetMessage() = default;
    template <traits::mcc_input_char_range KT, typename... PTs>
    MccNetMessage(KT&& key, PTs&&... params)
        requires traits::mcc_output_char_range<BYTEREPR_T>
    {
        construct(_defaultSerializer, std::forward<KT>(key), std::forward<PTs>(params)...);
    }
    template <traits::mcc_input_char_range R>
    constexpr MccNetMessage(const R& msg)
        requires traits::mcc_input_char_range<BYTEREPR_T>
    {
        fromCharRange(msg);
    }
    // constexpr MccNetMessage(const BYTEREPR_T& msg)
    //     requires traits::mcc_input_char_range<BYTEREPR_T>
    // {
    //     fromCharRange(msg);
    // }
    virtual ~MccNetMessage() = default;
    template <traits::mcc_input_char_range KT>
    constexpr bool withKey(const KT& key) const
    {
        if constexpr (std::is_pointer_v<std::decay_t<KT>>) {
            return withKey(std::string_view{key});
        }
        return mcc::utils::FNV1aHash(key) == _keywordHash;
    }
    template <traits::mcc_view_or_output_char_range R>
    R keyword() const
    {
        if constexpr (traits::mcc_char_view<R>) {
            return R{_keyword.begin(), _keyword.end()};
        } else {
            R r;
            std::ranges::copy(_keyword, std::back_inserter(r));
            return r;
        }
    }
    std::string_view keyword() const
    {
        return _keyword;
    }
    size_t paramSize() const
    {
        return _params.size();
    }
    template <std::ranges::range R>
    R params(size_t start_idx = 0, size_t Nelemes = std::numeric_limits<size_t>::max()) const
        requires(traits::mcc_view_or_output_char_range<R> || traits::mcc_range_of_char_range<R>)
    {
        if (start_idx >= _params.size()) {
            return R{};
        }
        auto stop_idx = start_idx + Nelemes - 1;
        if (stop_idx >= _params.size()) {
            stop_idx = _params.size() - 1;
        }
        if constexpr (traits::mcc_range_of_char_range<R>) {  // returm parameters as array
            using el_t = std::ranges::range_value_t<R>;
            R r;
            if constexpr (traits::mcc_char_view<el_t> || traits::mcc_output_char_range<el_t>) {
                for (size_t i = start_idx; i <= stop_idx; ++i) {
                    auto& el = _params[i];
                    std::back_inserter(r) = el_t{el.begin(), el.end()};
                }
            } else {
                static_assert(false, "UNSUPPORTED RANGE TYPE!!!");
            }
            return r;
        } else {
            if constexpr (traits::mcc_char_view<R>) {  // return joined parameters as a single char-range
                return R{_params[start_idx].begin(), _params[stop_idx].end()};
            } else {
                R r;
                std::ranges::copy(std::string_view{_params[start_idx].begin(), _params[stop_idx].end()},
                                  std::back_inserter(r));
                return r;
            }
        }
    }
    std::string_view params(size_t start_idx = 0, size_t Nelemes = std::numeric_limits<size_t>::max()) const
    {
        return params<std::string_view>(start_idx, Nelemes);
    }
    template <traits::mcc_view_or_output_char_range R>
    R param(size_t idx) const
    {
        if (idx >= _params.size()) {
            return {};
        }
        if constexpr (traits::mcc_char_view<R>) {
            return R{_params[idx].begin(), _params[idx].end()};
        } else {
            R r;
            std::ranges::copy(_params[idx], std::back_inserter(r));
            return r;
        }
    }
    std::string_view param(size_t idx) const
    {
        if (idx >= _params.size()) {
            return {};
        }
        return _params[idx];
    }
    template <typename T, typename DeserFuncT>
    std::expected<T, std::error_code> paramValue(size_t idx, DeserFuncT&& deser_func) const
    {
        static_assert(std::invocable<DeserFuncT, typename decltype(_params)::value_type const&, T&,
                                     impl::mcc_serialization_params_t const&>,
                      "INVALID DESERIALIZATION FUNCTION!");
        static_assert(std::same_as<std::invoke_result_t<DeserFuncT, typename decltype(_params)::value_type const&, T&,
                                                        impl::mcc_serialization_params_t const&>,
                                   std::error_code>,
                      "INVALID DESERIALIZATION FUNCTION!");
        if (idx >= _params.size()) {
            return std::unexpected{std::make_error_code(std::errc::value_too_large)};
        }
        T val;
        auto ec = std::forward<DeserFuncT>(deser_func)(_params[idx], val, _serializationParams);
        if (ec) {
            return std::unexpected(ec);
        } else {
            return val;
        }
    }
    template <typename T>
    std::expected<T, std::error_code> paramValue(size_t idx) const
    {
        return paramValue<T>(
            idx, impl::MccDeserializer<T>{});  // use one of specialization of MccDeserializer templated class
    }
    template <traits::mcc_view_or_output_char_range R>
    R byteRepr() const
    {
        if constexpr (traits::mcc_char_view<R>) {
            return R{_msgBuffer.begin(), _msgBuffer.end()};
        } else {
            R r;
            std::ranges::copy(_msgBuffer, std::back_inserter(r));
            return r;
        }
    }
    std::string_view byteRepr() const
    {
        return byteRepr<std::string_view>();
    }
    template <traits::mcc_input_char_range KT, typename... PTs>
    std::error_code construct(KT&& key, PTs&&... params)
        requires traits::mcc_output_char_range<BYTEREPR_T>
    {
        return construct(_defaultSerializer, std::forward<KT>(key), std::forward<PTs>(params)...);
    }
    //
    // serializing function SerFuncT - a callable with the signature:
    //    template<typename T, mcc_output_char_range R>
    //    void ser_func(R&& buffer, const T& val, mcc_serialization_params_t const& pars)
    //
    template <typename SerFuncT, traits::mcc_input_char_range KT, typename... PTs>
    std::error_code construct(SerFuncT&& ser_func, KT&& key, PTs&&... params)
        requires(traits::mcc_output_char_range<BYTEREPR_T> &&
                 !traits::mcc_input_char_range<std::remove_cvref_t<SerFuncT>>)
    {
        if constexpr (std::is_pointer_v<std::decay_t<KT>>) {
            return construct(std::forward<SerFuncT>(ser_func), std::string_view(key), std::forward<PTs>(params)...);
        }
        if (!std::ranges::size(key)) {
            return std::make_error_code(std::errc::invalid_argument);
        }
        auto r = valid_keys_t::isKeywordValid(key);
        if (!r) {
            return std::make_error_code(std::errc::not_supported);
        }
        _keywordHash = *r;
        _msgBuffer = BYTEREPR_T{};
        std::ranges::copy(std::forward<KT>(key), std::back_inserter(_msgBuffer));
        // _keyword = {_msgBuffer.begin(), _msgBuffer.end()};
        size_t key_idx = std::distance(_msgBuffer.begin(), _msgBuffer.end());
        std::vector<size_t> par_idx;
        _params.clear();
        if constexpr (sizeof...(PTs)) {
            std::ranges::copy(MCC_COMMPROTO_KEYPARAM_DELIM_SEQ, std::back_inserter(_msgBuffer));
            convertFunc(std::forward<SerFuncT>(ser_func), par_idx, std::forward<PTs>(params)...);
            for (size_t i = 0; i < par_idx.size(); i += 2) {
                _params.emplace_back(_msgBuffer.begin() + par_idx[i], _msgBuffer.begin() + par_idx[i + 1]);
            }
        }
        _keyword = std::string_view{_msgBuffer.begin(), _msgBuffer.begin() + key_idx};
        return {};
    }
    template <traits::mcc_input_char_range R>
    constexpr MccNetMessageError fromCharRange(const R& r)
    {
        if constexpr (std::is_pointer_v<std::decay_t<R>>) {
            return fromCharRange(std::string_view(r));
        }
        if (std::ranges::size(r) == 0) {
            return ERROR_EMPTY_MESSAGE;
        }
        std::string_view key;
        // auto prev_msg_buff = _msgBuffer;
        if constexpr (traits::mcc_output_char_range<BYTEREPR_T>) {
            _msgBuffer = BYTEREPR_T{};
            std::ranges::copy(r, std::back_inserter(_msgBuffer));
        } else {
            _msgBuffer = {std::begin(r), std::end(r)};
        }
        auto found = std::ranges::search(_msgBuffer, MCC_COMMPROTO_KEYPARAM_DELIM_SEQ);
        if (found.empty()) {  // only keyword
            key = mcc::utils::trimSpaces(std::string_view{_msgBuffer.begin(), _msgBuffer.end()});
        } else {
            key = mcc::utils::trimSpaces(std::string_view{_msgBuffer.begin(), found.begin()});
        }
        auto kv = valid_keys_t::isKeywordValid(key);
        if (!kv) {
            // _msgBuffer = prev_msg_buff;  // restore previous netmessage state
            return ERROR_INVALID_KEYWORD;
        }
        _keywordHash = *kv;
        _keyword = key;
        if (!found.empty()) {  // params ...
            _params.clear();
            auto pr =
                std::views::split(std::string_view{found.end(), _msgBuffer.end()}, MCC_COMMPROTO_PARAMPARAM_DELIM_SEQ);
            for (auto const& p : pr) {
                _params.emplace_back(p.begin(), p.end());
            }
        }
        return ERROR_OK;
    }
 protected:
    size_t _keywordHash{};
    std::string_view _keyword{};
    std::vector<std::string_view> _params{};
    BYTEREPR_T _msgBuffer{};
    DefaultSerializer _defaultSerializer{};
    impl::mcc_serialization_params_t _serializationParams{.seq_delim{MCC_COMMPROTO_PARAMPARAM_DELIM_SEQ},
                                                          .elem_delim{MCC_COMMPROTO_RANGEPARAM_DELIM_SEQ}};
    template <typename SerFuncT, typename T, typename... Ts>
    void convertFunc(SerFuncT&& ser_func, std::vector<size_t>& idx, const T& par, const Ts&... pars)
    {
        if constexpr (std::same_as<T, MccSerializedCoordPairFormat>) {
            _serializationParams.coordpair_format = par;
        } else if constexpr (std::same_as<T, MccSerializedAngleFormatPrec>) {
            _serializationParams.angle_prec = par;
        } else {
            idx.emplace_back(std::distance(_msgBuffer.begin(), _msgBuffer.end()));
            std::forward<SerFuncT>(ser_func)(_msgBuffer, par, _serializationParams);
            idx.emplace_back(std::distance(_msgBuffer.begin(), _msgBuffer.end()));
            if constexpr (sizeof...(Ts)) {
                std::ranges::copy(_serializationParams.seq_delim, std::back_inserter(_msgBuffer));
            }
        }
        if constexpr (sizeof...(Ts)) {
            convertFunc(std::forward<SerFuncT>(ser_func), idx, pars...);
        }
    }
 };
 static_assert(MccNetMessage<std::string, MccNetMessageValidKeywords>{"ACK"}.withKey("ACK"));
 static_assert(MccNetMessage{"ACK"}.withKey("ACK"));
 }  // namespace mcc::network
--- a/include/mcc/mcc_pcm.h
+++ b/include/mcc/mcc_pcm.h
@@ -2,15 +2,21 @@
 #pragma once
-/*                          MOUNT CONTROL COMPONENTS LIBRARY                            */
+/****************************************************************************************
 *                                                                                      *
 *                          MOUNT CONTROL COMPONENTS LIBRARY                            *
 *                                                                                      *
 *                                                                                      *
 *             A REFERENCE "POINTING-CORRECTION-MODEL" CLASS IMPLEMENTATION             *
 *                                                                                      *
 ****************************************************************************************/
 /*                          A REFERENCE "POINTING-CORRECTION-MODEL" CLASS IMPLEMENTATION                            */
 #include <mutex>
 #ifdef USE_BSPLINE_PCM
-#include "fitpack/mcc_bsplines.h"
+#include "mcc_bsplines.h"
 #endif
 #include "mcc_concepts.h"
@@ -26,7 +32,8 @@ enum class MccDefaultPCMErrorCode : int {
    ERROR_INVALID_INPUTS_BISPLEV,
 #endif
    ERROR_EXCEED_MAX_ITERS,
-    ERROR_NULLPTR
+    ERROR_NULLPTR,
    ERROR_JACINV
 };
 /*  error category definition  */
@@ -37,7 +44,7 @@ struct MccDefaultPCMCategory : public std::error_category {
    const char* name() const noexcept
    {
-        return "ADC_GENERIC_DEVICE";
+        return "MCC-DEFAULT-PCM-ERROR-CATEGORY";
    }
    std::string message(int ec) const
@@ -57,6 +64,8 @@ struct MccDefaultPCMCategory : public std::error_category {
                return "exceed maximum of iterations number";
            case MccDefaultPCMErrorCode::ERROR_NULLPTR:
                return "nullptr input argument";
            case MccDefaultPCMErrorCode::ERROR_JACINV:
                return "Jacobian is near singular";
            default:
                return "UNKNOWN";
        }
@@ -112,7 +121,8 @@ template <MccMountType MOUNT_TYPE>
 class MccDefaultPCM : public mcc_pcm_interface_t<std::error_code>
 {
 public:
-    static constexpr MccMountType mountType = MOUNT_TYPE;
+    // static constexpr MccMountType mountType = MOUNT_TYPE;
    static constexpr MccMountType pcmMountType = MOUNT_TYPE;
 #ifdef USE_BSPLINE_PCM
    static constexpr std::string_view pcmName{"MCC-GEOMETRY-BSPLINES-PCM"};
@@ -156,6 +166,9 @@ public:
        std::vector<coeff_t> coeffsX{};
        std::vector<coeff_t> coeffsY{};
        std::vector<coeff_t> inverseCoeffsX{};
        std::vector<coeff_t> inverseCoeffsY{};
    };
 #endif
@@ -293,7 +306,7 @@ public:
        // to be computed as observed celestial X and Y cordinate according to mount type (HA-DEC or AZ-ZD)
        double x, y;
-        auto getXY = [&, this](auto& cp) {
+        auto getXY = [&, this](auto& cp) -> error_t {
            auto err = obs_skycoord.toAtSameEpoch(cp);
            if (err) {
                return mcc_deduced_err(err, MccDefaultPCMErrorCode::ERROR_CCTE);
@@ -315,13 +328,65 @@ public:
        std::lock_guard lock(*_pcmDataMutex);
-        ret = _compResult(x, y, res, true);
+        if (_pcmData.type != MccDefaultPCMType::PCM_TYPE_BSPLINE) {  // compute using Newton-Raphson correction
-        if (!ret) {
+            struct {
                double pcmX, pcmY;
            } dfx, dfy, df;  // partial derivatives
            ret = _computeFuncDeriv(x, y, res, true, &dfx, &dfy);
            if (!ret) {
                return ret;
            }
            dfx.pcmX += 1.0;  // a
            dfx.pcmY += 1.0;  // b
            dfy.pcmX += 1.0;  // c
            dfy.pcmY += 1.0;  // d
            // Jacobian determinant
            auto detJ = dfx.pcmX * dfy.pcmY - dfx.pcmY * dfy.pcmX;
            if (utils::isEqual(detJ, 0.0)) {
                return MccDefaultPCMErrorCode::ERROR_JACINV;
            }
            //        | a  b |
            // if A = | c  d |, then
            //
            //     -1            | d  -b |
            //    A   = 1/detA * | -c  a |
            //
            df.pcmX = dfy.pcmY * res->pcmX - dfx.pcmY * res->pcmY;
            df.pcmY = -dfy.pcmX * res->pcmX + dfx.pcmX * res->pcmY;
            res->pcmX -= df.pcmX;
            res->pcmY -= df.pcmY;
            if constexpr (mcc_coord_pair_c<T>) {
-                *hw_pt = MccCoordPair<typename T::x_t, typename T::y_t>{x + res->pcmX, y + res->pcmY};
+                *hw_pt = MccCoordPair<typename T::x_t, typename T::y_t>{res->pcmX, res->pcmY, obs_skycoord.epoch()};
            }
        } else {  // for B-splines the result is computed directly from inverse B-spline coefficients
            ret = _computeFuncDeriv(x, y, res);
            if (!ret) {
                if constexpr (mcc_coord_pair_c<T>) {
                    *hw_pt = MccCoordPair<typename T::x_t, typename T::y_t>{x + res->pcmX, y + res->pcmY,
                                                                            obs_skycoord.epoch()};
                }
            }
        }
        // ret = _compResult(x, y, res, true);
        // if (!ret) {
        //     if constexpr (mcc_coord_pair_c<T>) {
        //         *hw_pt =
        //             MccCoordPair<typename T::x_t, typename T::y_t>{x + res->pcmX, y + res->pcmY,
        //             obs_skycoord.epoch()};
        //     }
        // }
        return ret;
    }
@@ -382,6 +447,204 @@ private:
    std::unique_ptr<std::mutex> _pcmDataMutex{new std::mutex};
    // compute PCM function and its partial derivatives if asked
    template <typename DXT = std::nullptr_t, typename DYT = std::nullptr_t>
    error_t _computeFuncDeriv(double x,
                              double y,
                              mcc_pcm_result_c auto* res,
                              bool inverse = false,
                              DXT derivX = nullptr,
                              DYT derivY = nullptr)
        requires((std::is_null_pointer_v<DXT> || mcc_pcm_result_c<std::remove_pointer_t<DXT>>) &&
                 (std::is_null_pointer_v<DYT> || mcc_pcm_result_c<std::remove_pointer_t<DYT>>))
    {
        if constexpr (std::is_null_pointer_v<DXT> || std::is_null_pointer_v<DYT>) {
            if (_pcmData.type != MccDefaultPCMType::PCM_TYPE_BSPLINE && inverse) {
                return MccDefaultPCMErrorCode::ERROR_NULLPTR;
            }
        }
        pcm_geom_coeffs_t* geom_coeffs = &_pcmData.geomCoefficients;
 #ifdef USE_BSPLINE_PCM
        pcm_bspline_t* bspline = &_pcmData.bspline;
        // pcm_bspline_t* inv_bspline = &_pcmData.inverseBspline;
 #endif
 #ifdef USE_BSPLINE_PCM
        if (_pcmData.type == MccDefaultPCMType::PCM_TYPE_GEOMETRY ||
            _pcmData.type == MccDefaultPCMType::PCM_TYPE_GEOMETRY_BSPLINE) {
 #endif
            const auto tanY = std::tan(y);
            const auto sinX = std::sin(x);
            const auto cosX = std::cos(x);
            const auto cosY = std::cos(y);
            const auto sinY = std::sin(y);
            if (utils::isEqual(cosY, 0.0)) {
                res->pcmX = _pcmData.geomCoefficients.zeroPointX;
                if constexpr (!std::is_null_pointer_v<DXT>) {
                    derivX->pcmX = 0.0;  // dpcmX/dX
                    derivX->pcmY = 0.0;  // dpcmX/dY
                }
            } else {
                res->pcmX = geom_coeffs->zeroPointX + geom_coeffs->collimationErr / cosY +
                            geom_coeffs->nonperpendErr * tanY - geom_coeffs->misalignErr1 * cosX * tanY +
                            geom_coeffs->misalignErr2 * sinX * tanY + geom_coeffs->tubeFlexure * _cosPhi * sinX / cosY -
                            geom_coeffs->DECaxisFlexure * (_cosPhi * cosX + _sinPhi * tanY);
                if constexpr (!std::is_null_pointer_v<DXT>) {
                    auto cos2Y = cosY * cosY;
                    derivX->pcmX = (geom_coeffs->misalignErr1 * sinX + geom_coeffs->misalignErr2 * cosX) * tanY +
                                   geom_coeffs->tubeFlexure * _cosPhi * cosX / cosY +
                                   geom_coeffs->DECaxisFlexure * _cosPhi * sinX;  // dpcmX/dX
                    derivX->pcmY =
                        (geom_coeffs->collimationErr * sinY + geom_coeffs->nonperpendErr -
                         geom_coeffs->misalignErr1 * cosX + geom_coeffs->misalignErr2 * sinX +
                         geom_coeffs->tubeFlexure * _cosPhi * sinX * sinY - geom_coeffs->DECaxisFlexure * _sinPhi) /
                        cos2Y;  // dpcmX/dY
                }
            }
            res->pcmY = geom_coeffs->zeroPointY + geom_coeffs->misalignErr1 * sinX + geom_coeffs->misalignErr2 * cosX +
                        geom_coeffs->tubeFlexure * (_cosPhi * cosX * sinY - _sinPhi * cosY);
            if constexpr (!std::is_null_pointer_v<DYT>) {
                derivY->pcmX = geom_coeffs->misalignErr1 * cosX - geom_coeffs->misalignErr2 * sinX -
                               geom_coeffs->tubeFlexure * _cosPhi * sinX * sinY;  // dpcmY/dX
                derivY->pcmY = geom_coeffs->tubeFlexure * (_cosPhi * cosX * cosY + _sinPhi * sinY);  // dpcmY/dY
            }
            if constexpr (pcmMountType == MccMountType::FORK_TYPE) {
                if (!utils::isEqual(cosX, 0.0)) {
                    res->pcmY += geom_coeffs->forkFlexure / cosX;
                    if constexpr (!std::is_null_pointer_v<DYT>) {
                        derivY->pcmY += geom_coeffs->forkFlexure * sinX / cosX / cosY;  // dpcmY/dY
                    }
                }
            }
 #ifdef USE_BSPLINE_PCM
        }
 #endif
 #ifdef USE_BSPLINE_PCM
        if (_pcmData.type == MccDefaultPCMType::PCM_TYPE_BSPLINE ||
            (_pcmData.type == MccDefaultPCMType::PCM_TYPE_GEOMETRY_BSPLINE && !inverse)) {
            double spl_valX, spl_valY;
            int ret = bsplines::fitpack_eval_spl2d(bspline->knotsX, bspline->knotsY, bspline->coeffsX, x, y, spl_valX,
                                                   bspline->bsplDegreeX, bspline->bsplDegreeY);
            if (ret) {
                res->pcmX = std::numeric_limits<double>::quiet_NaN();
                res->pcmY = std::numeric_limits<double>::quiet_NaN();
                return MccDefaultPCMErrorCode::ERROR_INVALID_INPUTS_BISPLEV;
            }
            ret = bsplines::fitpack_eval_spl2d(bspline->knotsX, bspline->knotsY, bspline->coeffsY, x, y, spl_valY,
                                               bspline->bsplDegreeX, bspline->bsplDegreeY);
            if (ret) {
                res->pcmX = std::numeric_limits<double>::quiet_NaN();
                res->pcmY = std::numeric_limits<double>::quiet_NaN();
                return MccDefaultPCMErrorCode::ERROR_INVALID_INPUTS_BISPLEV;
            }
            res->pcmX += spl_valX;
            res->pcmY += spl_valY;
        }
        // compute partial derivatives of the bivariate B-spline
        if (_pcmData.type == MccDefaultPCMType::PCM_TYPE_GEOMETRY_BSPLINE && inverse) {
            double dspl_valX, dspl_valY;
            int ret = 0;
            if constexpr (!std::is_null_pointer_v<DXT>) {
                ret = bsplines::fitpack_parder_spl2d(bspline->knotsX, bspline->knotsY, bspline->coeffsX, x, y,
                                                     dspl_valX, 1, 0, bspline->bsplDegreeX, bspline->bsplDegreeY);
                if (ret) {
                    return MccDefaultPCMErrorCode::ERROR_INVALID_INPUTS_BISPLEV;
                }
                derivX->pcmX += dspl_valX;  // dpcmX/dX
                ret = bsplines::fitpack_parder_spl2d(bspline->knotsX, bspline->knotsY, bspline->coeffsX, x, y,
                                                     dspl_valX, 0, 1, bspline->bsplDegreeX, bspline->bsplDegreeY);
                if (ret) {
                    return MccDefaultPCMErrorCode::ERROR_INVALID_INPUTS_BISPLEV;
                }
                derivX->pcmY += dspl_valX;  // dpcmX/dY
            }
            if constexpr (!std::is_null_pointer_v<DYT>) {
                ret = bsplines::fitpack_parder_spl2d(bspline->knotsX, bspline->knotsY, bspline->coeffsY, x, y,
                                                     dspl_valY, 1, 0, bspline->bsplDegreeX, bspline->bsplDegreeY);
                if (ret) {
                    return MccDefaultPCMErrorCode::ERROR_INVALID_INPUTS_BISPLEV;
                }
                derivY->pcmX += dspl_valY;  // dpcmY/dX
                ret = bsplines::fitpack_parder_spl2d(bspline->knotsX, bspline->knotsY, bspline->coeffsY, x, y,
                                                     dspl_valY, 0, 1, bspline->bsplDegreeX, bspline->bsplDegreeY);
                if (ret) {
                    return MccDefaultPCMErrorCode::ERROR_INVALID_INPUTS_BISPLEV;
                }
                derivY->pcmY += dspl_valY;  // dpcmY/dY
            }
        }
        // for inverse PCM the inverse spline coefficients are used (derivatives are not computed)!!!
        if (_pcmData.type == MccDefaultPCMType::PCM_TYPE_BSPLINE && inverse) {
            double spl_valX, spl_valY;
            int ret = bsplines::fitpack_eval_spl2d(bspline->knotsX, bspline->knotsY, bspline->inverseCoeffsX, x, y,
                                                   spl_valX, bspline->bsplDegreeX, bspline->bsplDegreeY);
            if (ret) {
                res->pcmX = std::numeric_limits<double>::quiet_NaN();
                res->pcmY = std::numeric_limits<double>::quiet_NaN();
                return MccDefaultPCMErrorCode::ERROR_INVALID_INPUTS_BISPLEV;
            }
            ret = bsplines::fitpack_eval_spl2d(bspline->knotsX, bspline->knotsY, bspline->inverseCoeffsY, x, y,
                                               spl_valY, bspline->bsplDegreeX, bspline->bsplDegreeY);
            if (ret) {
                res->pcmX = std::numeric_limits<double>::quiet_NaN();
                res->pcmY = std::numeric_limits<double>::quiet_NaN();
                return MccDefaultPCMErrorCode::ERROR_INVALID_INPUTS_BISPLEV;
            }
            res->pcmX = spl_valX;
            res->pcmY = spl_valY;
        }
 #endif
        return MccDefaultPCMErrorCode::ERROR_OK;
    }
    error_t _compResult(double x, double y, mcc_pcm_result_c auto* res, bool inverse)
    {
        pcm_geom_coeffs_t* geom_coeffs;
@@ -394,11 +657,10 @@ private:
        bspline = inverse ? &_pcmData.inverseBspline : &_pcmData.bspline;
 #endif
        if (_pcmData.type == MccDefaultPCMType::PCM_TYPE_GEOMETRY
 #ifdef USE_BSPLINE_PCM
-            || _pcmData.type == MccDefaultPCMType::PCM_TYPE_GEOMETRY_BSPLINE
+        if (_pcmData.type == MccDefaultPCMType::PCM_TYPE_GEOMETRY ||
            _pcmData.type == MccDefaultPCMType::PCM_TYPE_GEOMETRY_BSPLINE) {
 #endif
        ) {
            const auto tanY = std::tan(y);
            const auto sinX = std::sin(x);
            const auto cosX = std::cos(x);
@@ -417,12 +679,15 @@ private:
            res->pcmY = geom_coeffs->zeroPointY + geom_coeffs->misalignErr1 * sinX + geom_coeffs->misalignErr2 * cosX +
                        geom_coeffs->tubeFlexure * (_cosPhi * cosX * std::sin(y) - _sinPhi * cosY);
-            if constexpr (mountType == MccMountType::FORK_TYPE) {
+            // if constexpr (mountType == MccMountType::FORK_TYPE) {
            if constexpr (pcmMountType == MccMountType::FORK_TYPE) {
                if (!utils::isEqual(cosX, 0.0)) {
                    res->pcmY += geom_coeffs->forkFlexure / cosX;
                }
            }
 #ifdef USE_BSPLINE_PCM
        }
 #endif
 #ifdef USE_BSPLINE_PCM
--- a/include/mcc/mcc_pcm_construct.h
+++ b/include/mcc/mcc_pcm_construct.h
@@ -0,0 +1,373 @@
 #pragma once
 /****************************************************************************************
 *                                                                                      *
 *                          MOUNT CONTROL COMPONENTS LIBRARY                            *
 *                                                                                      *
 *                                                                                      *
 *                        "POINTING-CORRECTION-MODEL" FITTER                            *
 *                                                                                      *
 ****************************************************************************************/
 #include <eigen3/Eigen/Dense>
 #include "mcc_concepts.h"
 #include "mcc_coordinate.h"
 #include "mcc_pcm.h"
 namespace mcc::impl
 {
 enum class MccDefaultPCMConstructorErrorCode : int {
    ERROR_OK,
    ERROR_NOT_ENOUGH_DATA,
 #ifdef USE_BSPLINE_PCM
    ERROR_INVALID_KNOTS_NUMBER,
    ERROR_BSPLINE_FIT
 #endif
 };
 // error category
 struct MccDefaultPCMConstructorErrorCategory : std::error_category {
    MccDefaultPCMConstructorErrorCategory() = default;
    const char* name() const noexcept
    {
        return "MCC-DEFAULT-PCM-CONSTRUCTOR-ERROR-CATEGORY";
    }
    std::string message(int ec) const
    {
        MccDefaultPCMConstructorErrorCode err = static_cast<MccDefaultPCMConstructorErrorCode>(ec);
        switch (err) {
            case MccDefaultPCMConstructorErrorCode::ERROR_OK:
                return "OK";
            case MccDefaultPCMConstructorErrorCode::ERROR_NOT_ENOUGH_DATA:
                return "not enough data point";
 #ifdef USE_BSPLINE_PCM
            case MccDefaultPCMConstructorErrorCode::ERROR_INVALID_KNOTS_NUMBER:
                return "invalid number of B-spline knots";
            case MccDefaultPCMConstructorErrorCode::ERROR_BSPLINE_FIT:
                return "B-spline fitting error";
 #endif
            default:
                return "UNKNOWN";
        }
    }
    static const MccDefaultPCMConstructorErrorCategory& get()
    {
        static const MccDefaultPCMConstructorErrorCategory constInst;
        return constInst;
    }
 };
 inline std::error_code make_error_code(MccDefaultPCMConstructorErrorCode ec)
 {
    return std::error_code(static_cast<int>(ec), MccDefaultPCMConstructorErrorCategory::get());
 }
 }  // namespace mcc::impl
 namespace std
 {
 template <>
 class is_error_code_enum<mcc::impl::MccDefaultPCMConstructorErrorCode> : public true_type
 {
 };
 }  // namespace std
 namespace mcc::impl
 {
 template <MccMountType MOUNT_TYPE>
 class MccPCMConstructor
 {
 public:
    using ref_coordpair_t = std::conditional_t<mcc_is_equatorial_mount<MOUNT_TYPE>,
                                               MccSkyHADEC_OBS,
                                               std::conditional_t<mcc_is_altaz_mount<MOUNT_TYPE>, MccSkyAZZD, void>>;
    static_assert(!std::is_void_v<ref_coordpair_t>, "UNSUPPORTED MOUNT TYPE!");
    struct table_elem_t {
        double target_colon, target_colat;
        double hw_colon, hw_colat;
        double colon_res, colat_res;  // target - hw
    };
    struct table_t {
        std::vector<double> target_colon, target_colat;
        std::vector<double> hw_colon, hw_colat;
        std::vector<double> colon_res, colat_res;  // target - hw
    };
    struct compute_result_t {
        MccDefaultPCMType pcm_type;
        MccError error{};  // final model computation error
        std::vector<double> model_colon, model_colat;  // fitted model values
        std::vector<double> colon_res, colat_res;      // target - model
 #ifdef USE_BSPLINE_PCM
        int bspline_fit_err{};  // bivariate B-spline fitting exit code (see FITPACK)
        // quantities below are computed only fo pcm_type == MccDefaultPCMType::PCM_TYPE_BSPLINE
        std::vector<double> inv_model_colon, inv_model_colat;  // fitted inverse model values
        std::vector<double> inv_colon_res, inv_colat_res;      // encoder - model
 #endif
    };
    MccError addPoint(mcc_skypoint_c auto target_coords,
                      mcc_coord_pair_c auto const& hw_counts,
                      mcc_coord_epoch_c auto const& ref_epoch)
        requires(decltype(hw_counts)::pairKind == MccCoordPairKind::COORDS_KIND_XY)
    {
        auto err = target_coords.to(ref_coordpair_t::pairKind, ref_epoch);
        if (err) {
            return mcc_deduced_err(err, MccDefaultPCMErrorCode::ERROR_CCTE);
        }
        // _table.push_back({target_coords.co_lon(), target_coords.co_lat(), hw_counts.x(), hw_counts.y(),
        //                   target_coords.co_lon() - hw_counts.x(), target_coords.co_lat() - hw_counts.y()});
        _table.target_colon.emplace_back(target_coords.co_lon());
        _table.target_colat.emplace_back(target_coords.co_lon());
        _table.hw_colon.emplace_back(hw_counts.x());
        _table.hw_colat.emplace_back(hw_counts.y());
        _table.colon_res.emplace_back(target_coords.co_lon() - hw_counts.x());
        _table.colat_res.emplace_back(target_coords.co_lat() - hw_counts.y());
        return {};
    }
    MccError addPoint(mcc_skypoint_c auto target_coords, mcc_coord_pair_c auto const& hw_counts)
    {
        auto ref_epoch = hw_counts.epoch();
        return addPoint(std::move(target_coords), hw_counts, ref_epoch);
    }
    size_t numberOfPoints() const
    {
        return _table.colon_res.size();
    }
    void deletePoints()
    {
        _table.target_colon.clear();
        _table.target_colat.clear();
        _table.hw_colon.clear();
        _table.hw_colat.clear();
        _table.colon_res.clear();
        _table.colat_res.clear();
    }
    //
    // for B-splines interior knots along axes must be given in 'pcm_data'
    // NOTE: the size of the interior knots array must be at least 2 as
    //       it are interpretated as border knots and final full knots set is:
    //       knots = [input_knots[0], input_knots[0], input_knots[0], input_knots[0], input_knots[1], input_knots[2],
    //       ..., input_knots[N-1], input_knots[N-1], input_knots[N-1], input_knots[N-1]], where N = input_knots.size()
    //
    // WARNING: the input knots for inverse B-spline are ignored so the direct and inverse B-spline coefficients are
    //          calculated on the same mesh!
    compute_result_t computeModel(MccDefaultPCM<MOUNT_TYPE>::pcm_data_t& pcm_data)
    {
        compute_result_t result{.pcm_type = pcm_data.type, .error = MccDefaultPCMConstructorErrorCode::ERROR_OK};
        size_t min_data_size = 2;  // 2 is for BSPLINE
        if (pcm_data.type == MccDefaultPCMType::PCM_TYPE_GEOMETRY
 #ifdef USE_BSPLINE_PCM
            || pcm_data.type == MccDefaultPCMType::PCM_TYPE_GEOMETRY_BSPLINE
 #endif
        ) {
            if constexpr (MOUNT_TYPE == MccMountType::FORK_TYPE) {
                min_data_size = 9;
            } else {
                min_data_size = 8;
            }
            if (_table.size() < min_data_size) {
                result.error = MccDefaultPCMConstructorErrorCode::ERROR_NOT_ENOUGH_DATA;
                return result;
            }
            // robust linear regression with Tukey's loss function
        }
 #ifdef USE_BSPLINE_PCM
        if (pcm_data.type == MccDefaultPCMType::PCM_TYPE_BSPLINE ||
            pcm_data.type == MccDefaultPCMType::PCM_TYPE_GEOMETRY_BSPLINE) {
            if (pcm_data.bspline.knotsX.size() < 2 || pcm_data.bspline.knotsY.size() < 2) {
                return MccDefaultPCMConstructorErrorCode::ERROR_INVALID_KNOTS_NUMBER;
            }
            double resi2x, resi2y;  // fitting residuals
            std::vector<double> tx(pcm_data.bspline.knotsX.size() + 6), ty(pcm_data.bspline.knotsY.size() + 6);
            size_t Ncoeffs = (tx.size() - 4) * (ty.size() - 4);
            pcm_data.bspline.coeffsX.resize(Ncoeffs);
            pcm_data.bspline.coeffsY.resize(Ncoeffs);
            if (pcm_data.type == MccDefaultPCMType::PCM_TYPE_BSPLINE) {
                if (_table.size() < min_data_size) {
                    result.error = MccDefaultPCMConstructorErrorCode::ERROR_NOT_ENOUGH_DATA;
                    return result;
                }
                // here both direct and inverse coefficients will be calculated
                pcm_data.inverseBspline.coeffsX.resize(Ncoeffs);
                pcm_data.inverseBspline.coeffsY.resize(Ncoeffs);
                // direct (celestial = encoder + pcm)
                result.bspline_fit_err = bsplines::fitpack_sphere_fit(
                    _table.hw_colat, _table.hw_colon, _table.colon_res, 1.0, pcm_data.bspline.knotsY,
                    pcm_data.bspline.knotsX, pcm_data.bspline.coeffsX, resi2x);
                if (result.bspline_fit_err > 0) {
                    result.error = MccDefaultPCMConstructorErrorCode::ERROR_BSPLINE_FIT;
                    return result;
                }
                result.bspline_fit_err = bsplines::fitpack_sphere_fit(
                    _table.hw_colat, _table.hw_colon, _table.colat_res, 1.0, pcm_data.bspline.knotsY,
                    pcm_data.bspline.knotsX, pcm_data.bspline.coeffsY, resi2y);
                if (result.bspline_fit_err > 0) {
                    result.error = MccDefaultPCMConstructorErrorCode::ERROR_BSPLINE_FIT;
                    return result;
                }
                // inverse (encoder = celestial + pcm)
                std::vector<double> colon_res = _table.colon_res;
                std::vector<double> colat_res = _table.colat_res;
                for (size_t i = 0; i < colat_res.size(); ++i) {
                    colon_res[i] = -colon_res[i];
                    colat_res[i] = -colat_res[i];
                }
                result.bspline_fit_err = bsplines::fitpack_sphere_fit(
                    _table.target_colon, _table.target_colat, colon_res, 1.0, pcm_data.bspline.knotsY,
                    pcm_data.bspline.knotsX, pcm_data.bspline.inverseCoeffsX, resi2x);
                if (result.bspline_fit_err > 0) {
                    result.error = MccDefaultPCMConstructorErrorCode::ERROR_BSPLINE_FIT;
                    return result;
                }
                result.bspline_fit_err = bsplines::fitpack_sphere_fit(
                    _table.target_colon, _table.target_colat, colat_res, 1.0, pcm_data.bspline.knotsY,
                    pcm_data.bspline.knotsX, pcm_data.bspline.inverseCoeffsY, resi2y);
                if (result.bspline_fit_err > 0) {
                    result.error = MccDefaultPCMConstructorErrorCode::ERROR_BSPLINE_FIT;
                    return result;
                }
            } else {  // geometry + B-spline
                // the fitting for geometrical coefficients is already done above so
                // one must fit residuals by bivariate B-splines
                std::vector<double> xres(_table.size()), yres(_table.size());
                // for (size_t i = 0; i < _table.size(); ++i) {
                //     xres = _table[i].target_colon;
                //     yres = _table[i].target_colat;
                // }
                for (size_t i = 0; i < _table.size(); ++i) {
                    xres = _table.target_colon[i];
                    yres = _table.target_colat[i];
                }
            }
        }
    }
 #endif
 protected:
    // std::vector<table_elem_t> _table;
    table_t _table;
    compute_result_t bsplineFitting(MccDefaultPCM<MOUNT_TYPE>::pcm_data_t& pcm_data)
    {
        compute_result_t result{.pcm_type = pcm_data.type, .error = MccDefaultPCMConstructorErrorCode::ERROR_OK};
        if (pcm_data.bspline.knotsX.size() < 2 || pcm_data.bspline.knotsY.size() < 2) {
            return MccDefaultPCMConstructorErrorCode::ERROR_INVALID_KNOTS_NUMBER;
        }
        double resi2x, resi2y;  // fitting residuals
        std::vector<double> tx(pcm_data.bspline.knotsX.size() + 6), ty(pcm_data.bspline.knotsY.size() + 6);
        size_t Ncoeffs = (tx.size() - 4) * (ty.size() - 4);
        pcm_data.bspline.coeffsX.resize(Ncoeffs);
        pcm_data.bspline.coeffsY.resize(Ncoeffs);
        if (pcm_data.type == MccDefaultPCMType::PCM_TYPE_BSPLINE) {
            // here both direct and inverse coefficients will be calculated
            pcm_data.inverseBspline.coeffsX.resize(Ncoeffs);
            pcm_data.inverseBspline.coeffsY.resize(Ncoeffs);
            // direct (celestial = encoder + pcm)
            result.bspline_fit_err = bsplines::fitpack_sphere_fit(_table.hw_colat, _table.hw_colon, _table.colon_res,
                                                                  1.0, pcm_data.bspline.knotsY, pcm_data.bspline.knotsX,
                                                                  pcm_data.bspline.coeffsX, resi2x);
            if (result.bspline_fit_err > 0) {
                result.error = MccDefaultPCMConstructorErrorCode::ERROR_BSPLINE_FIT;
                return result;
            }
            result.bspline_fit_err = bsplines::fitpack_sphere_fit(_table.hw_colat, _table.hw_colon, _table.colat_res,
                                                                  1.0, pcm_data.bspline.knotsY, pcm_data.bspline.knotsX,
                                                                  pcm_data.bspline.coeffsY, resi2y);
            if (result.bspline_fit_err > 0) {
                result.error = MccDefaultPCMConstructorErrorCode::ERROR_BSPLINE_FIT;
                return result;
            }
            // inverse (encoder = celestial + pcm)
            std::vector<double> colon_res = _table.colon_res;
            std::vector<double> colat_res = _table.colat_res;
            for (size_t i = 0; i < colat_res.size(); ++i) {
                colon_res[i] = -colon_res[i];
                colat_res[i] = -colat_res[i];
            }
            result.bspline_fit_err = bsplines::fitpack_sphere_fit(_table.target_colon, _table.target_colat, colon_res,
                                                                  1.0, pcm_data.bspline.knotsY, pcm_data.bspline.knotsX,
                                                                  pcm_data.bspline.inverseCoeffsX, resi2x);
            if (result.bspline_fit_err > 0) {
                result.error = MccDefaultPCMConstructorErrorCode::ERROR_BSPLINE_FIT;
                return result;
            }
            result.bspline_fit_err = bsplines::fitpack_sphere_fit(_table.target_colon, _table.target_colat, colat_res,
                                                                  1.0, pcm_data.bspline.knotsY, pcm_data.bspline.knotsX,
                                                                  pcm_data.bspline.inverseCoeffsY, resi2y);
            if (result.bspline_fit_err > 0) {
                result.error = MccDefaultPCMConstructorErrorCode::ERROR_BSPLINE_FIT;
                return result;
            }
        }
    }
 };
 }  // namespace mcc::impl
--- a/include/mcc/mcc_pzone.h
+++ b/include/mcc/mcc_pzone.h
--- a/include/mcc/mcc_pzone_container.h
+++ b/include/mcc/mcc_pzone_container.h
@@ -115,7 +115,7 @@ public:
    {
        auto sptr = std::make_shared<decltype(zone)>(std::move(zone));
-        _inZoneFunc.emplace_back([sptr](MccSkyPoint const& pt, bool* res) {
+        _inZoneFunc.emplace_back([sptr](MccSkyPoint const& pt, bool* res) -> error_t {
            auto err = sptr->inPZone(pt, res);
            if (err) {
                return mcc_deduced_err(err, MccPZoneContainerErrorCode::ERROR_INZONE_FUNC);
@@ -125,7 +125,7 @@ public:
        });
-        _timeToZoneFunc.emplace_back([sptr](MccSkyPoint const& pt, duration_t* res) {
+        _timeToZoneFunc.emplace_back([sptr](MccSkyPoint const& pt, duration_t* res) -> error_t {
            auto err = sptr->timeToPZone(pt, res);
            if (err) {
                return mcc_deduced_err(err, MccPZoneContainerErrorCode::ERROR_TIMETO_FUNC);
@@ -135,7 +135,7 @@ public:
        });
-        _timeFromZoneFunc.emplace_back([sptr](MccSkyPoint const& pt, duration_t* res) {
+        _timeFromZoneFunc.emplace_back([sptr](MccSkyPoint const& pt, duration_t* res) -> error_t {
            auto err = sptr->timeFromPZone(pt, res);
            if (err) {
                return mcc_deduced_err(err, MccPZoneContainerErrorCode::ERROR_TIMEFROM_FUNC);
@@ -144,17 +144,26 @@ public:
            return MccPZoneContainerErrorCode::ERROR_OK;
        });
        _names.push_back(std::format("{}", zone.pzoneName));
        return _inZoneFunc.size();
    }
-    void clearZones()
+    void clearPZones()
    {
        _inZoneFunc.clear();
        _timeToZoneFunc.clear();
        _timeFromZoneFunc.clear();
        _names.clear();
    }
    std::vector<std::string> pzoneNames() const
    {
        return _names;
    }
    error_t inPZone(mcc_skypoint_c auto const& coords, bool* at_least_one, std::ranges::output_range<bool> auto* result)
    {
        auto err = forEach(_inZoneFunc, coords, result);
@@ -188,9 +197,11 @@ public:
 protected:
    typedef std::chrono::nanoseconds duration_t;
-    std::vector<std::function<error_t(MccSkyPoint const& pt, bool*)>> _inZoneFunc;
+    std::vector<std::function<error_t(MccSkyPoint const& pt, bool*)>> _inZoneFunc{};
-    std::vector<std::function<error_t(MccSkyPoint const& pt, duration_t*)>> _timeToZoneFunc;
+    std::vector<std::function<error_t(MccSkyPoint const& pt, duration_t*)>> _timeToZoneFunc{};
-    std::vector<std::function<error_t(MccSkyPoint const& pt, duration_t*)>> _timeFromZoneFunc;
+    std::vector<std::function<error_t(MccSkyPoint const& pt, duration_t*)>> _timeFromZoneFunc{};
    std::vector<std::string> _names{};
    error_t forEach(auto& func_cont, MccSkyPoint const& pt, auto* result)
    {
@@ -205,7 +216,7 @@ protected:
        res_elem_t res_elem;
-        size_t res_sz = std::ranges::size(*result);
+        // size_t res_sz = std::ranges::size(*result);
        auto it = result->begin();
        for (auto& func : func_cont) {
--- a/include/mcc/mcc_serialization_common.h
+++ b/include/mcc/mcc_serialization_common.h
@@ -0,0 +1,390 @@
 #pragma once
 /****************************************************************************************
 *                                                                                      *
 *                          MOUNT CONTROL COMPONENTS LIBRARY                            *
 *                                                                                      *
 *                                                                                      *
 *             COMMON DEFINITIONS FOR DATA SERIALIZATION/DESERIALIZATION                *
 *                                                                                      *
 ****************************************************************************************/
 #include "mcc_concepts.h"
 #include "mcc_error.h"
 #include "mcc_traits.h"
 namespace mcc
 {
 /*  celestial angle serialization   */
 enum class MccSerializedAngleFormat {
    MCC_SERIALIZED_FORMAT_DEGREES,     // degrees as floating-point number
    MCC_SERIALIZED_FORMAT_SXGM_HOURS,  // sexagesimal representation: hours:mins:secs
    MCC_SERIALIZED_FORMAT_SXGM_DEGS,   // sexagesimal representation: degs:arcmins:arcsecs
    MCC_SERIALIZED_FORMAT_UNKNOWN
 };
 static constexpr std::string_view MCC_SERIALIZED_ANG_FORMAT_DEGREES_STR = "SRANG-FORMAT-DEGREES";
 static constexpr std::string_view MCC_SERIALIZED_ANG_FORMAT_SXGM_HOURS_STR = "SRANG-FORMAT-SXGM_HOURDEG";
 static constexpr std::string_view MCC_SERIALIZED_ANG_FORMAT_SXGM_DEGS_STR = "SRANG-FORMAT-SXGM_DEGDEG";
 static constexpr std::string_view MccSerializedAngleFormatToStr(MccSerializedAngleFormat fmt)
 {
    return fmt == MccSerializedAngleFormat::MCC_SERIALIZED_FORMAT_DEGREES ? MCC_SERIALIZED_ANG_FORMAT_DEGREES_STR
           : fmt == MccSerializedAngleFormat::MCC_SERIALIZED_FORMAT_SXGM_HOURS
               ? MCC_SERIALIZED_ANG_FORMAT_SXGM_HOURS_STR
           : fmt == MccSerializedAngleFormat::MCC_SERIALIZED_FORMAT_SXGM_DEGS ? MCC_SERIALIZED_ANG_FORMAT_SXGM_DEGS_STR
                                                                              : MCC_SERIALIZED_ANG_FORMAT_DEGREES_STR;
 }
 template <traits::mcc_input_char_range R>
 static constexpr MccSerializedAngleFormat MccSerializedAngleFormatStrToValue(R&& str)
 {
    if constexpr (std::is_array_v<std::decay_t<R>>) {
        return MccSerializedAngleFormatStrToValue(std::string_view{str});
    }
    const auto hash = mcc::utils::FNV1aHash(std::forward<R>(str));
    return hash == mcc::utils::FNV1aHash(MCC_SERIALIZED_ANG_FORMAT_DEGREES_STR)
               ? MccSerializedAngleFormat::MCC_SERIALIZED_FORMAT_DEGREES
           : hash == mcc::utils::FNV1aHash(MCC_SERIALIZED_ANG_FORMAT_SXGM_HOURS_STR)
               ? MccSerializedAngleFormat::MCC_SERIALIZED_FORMAT_SXGM_HOURS
           : hash == mcc::utils::FNV1aHash(MCC_SERIALIZED_ANG_FORMAT_SXGM_DEGS_STR)
               ? MccSerializedAngleFormat::MCC_SERIALIZED_FORMAT_SXGM_DEGS
               : MccSerializedAngleFormat::MCC_SERIALIZED_FORMAT_UNKNOWN;
 }
 /*  coordinates pair serialization   */
 enum class MccSerializedCoordPairFormat {
    MCC_SERIALIZED_FORMAT_DEGREES,       // both angles are in  degrees as floating-point number
    MCC_SERIALIZED_FORMAT_SXGM_HOURDEG,  // X is in hour (if RA or HA) and Y is in degree sexagesimal representation
    MCC_SERIALIZED_FORMAT_SXGM_DEGDEG,   // both angles are in sexagesimal degrees
    MCC_SERIALIZED_FORMAT_UNKNOWN
 };
 static constexpr std::string_view MCC_SERIALIZED_CP_FORMAT_DEGREES_STR = "SRCP-FORMAT-DEGREES";
 static constexpr std::string_view MCC_SERIALIZED_CP_FORMAT_SXGM_HOURDEG_STR = "SRCP-FORMAT-SXGM_HOURDEG";
 static constexpr std::string_view MCC_SERIALIZED_CP_FORMAT_SXGM_DEGDEG_STR = "SRCP-FORMAT-SXGM_DEGDEG";
 static constexpr std::string_view MccSerializedCoordPairFormatToStr(MccSerializedCoordPairFormat fmt)
 {
    return fmt == MccSerializedCoordPairFormat::MCC_SERIALIZED_FORMAT_DEGREES ? MCC_SERIALIZED_CP_FORMAT_DEGREES_STR
           : fmt == MccSerializedCoordPairFormat::MCC_SERIALIZED_FORMAT_SXGM_HOURDEG
               ? MCC_SERIALIZED_CP_FORMAT_SXGM_HOURDEG_STR
           : fmt == MccSerializedCoordPairFormat::MCC_SERIALIZED_FORMAT_SXGM_DEGDEG
               ? MCC_SERIALIZED_CP_FORMAT_SXGM_DEGDEG_STR
               : MCC_SERIALIZED_CP_FORMAT_DEGREES_STR;
 }
 template <traits::mcc_input_char_range R>
 static constexpr MccSerializedCoordPairFormat MccSerializedCoordPairFormatStrToValue(R&& str)
 {
    if constexpr (std::is_array_v<std::decay_t<R>>) {
        return MccSerializedCoordPairFormatStrToValue(std::string_view{str});
    }
    const auto hash = mcc::utils::FNV1aHash(std::forward<R>(str));
    return hash == mcc::utils::FNV1aHash(MCC_SERIALIZED_CP_FORMAT_DEGREES_STR)
               ? MccSerializedCoordPairFormat::MCC_SERIALIZED_FORMAT_DEGREES
           : hash == mcc::utils::FNV1aHash(MCC_SERIALIZED_CP_FORMAT_SXGM_HOURDEG_STR)
               ? MccSerializedCoordPairFormat::MCC_SERIALIZED_FORMAT_SXGM_HOURDEG
           : hash == mcc::utils::FNV1aHash(MCC_SERIALIZED_CP_FORMAT_SXGM_DEGDEG_STR)
               ? MccSerializedCoordPairFormat::MCC_SERIALIZED_FORMAT_SXGM_DEGDEG
               : MccSerializedCoordPairFormat::MCC_SERIALIZED_FORMAT_UNKNOWN;
 }
 /*  precision of representation of serialized celestial angle/coordinates pair    */
 struct MccSerializedAngleFormatPrec {
    uint8_t hour_prec = 2;  // number of decimal places in hour seconds (sexagesimal format)
    uint8_t deg_prec = 1;   // number of decimal places in arcseconds (sexagesimal format)
    // slightly better than 0.1 arcsecond precision
    uint8_t decimals = 6;  // number of decimal places in degrees (floating-point number format)
    // if 0, then number of decimal places is according to formating rules of 'double' type
 };
 enum class MccTimePointFormat {
    MCC_TIMEPOINT_FORMAT_DATE,    // UTC date
    MCC_TIMEPOINT_FORMAT_MJD,     // MJD
    MCC_TIMEPOINT_FORMAT_JD,      // JD
    MCC_TIMEPOINT_FORMAT_JEPOCH,  // Julian epoch
    MCC_TIMEPOINT_FORMAT_UNKNOWN
 };
 static constexpr std::string_view MCC_TIMEPOINT_FORMAT_DATE_STR = "TP-FORMAT-DATE";
 static constexpr std::string_view MCC_TIMEPOINT_FORMAT_MJD_STR = "TP-FORMAT-MJD";
 static constexpr std::string_view MCC_TIMEPOINT_FORMAT_JD_STR = "TP-FORMAT-JD";
 static constexpr std::string_view MCC_TIMEPOINT_FORMAT_JEPOCH_STR = "TP-FORMAT-JEPOCH";
 static constexpr std::string_view MccTimePointFormatToStr(MccTimePointFormat fmt)
 {
    return fmt == MccTimePointFormat::MCC_TIMEPOINT_FORMAT_DATE     ? MCC_TIMEPOINT_FORMAT_DATE_STR
           : fmt == MccTimePointFormat::MCC_TIMEPOINT_FORMAT_MJD    ? MCC_TIMEPOINT_FORMAT_MJD_STR
           : fmt == MccTimePointFormat::MCC_TIMEPOINT_FORMAT_JD     ? MCC_TIMEPOINT_FORMAT_JD_STR
           : fmt == MccTimePointFormat::MCC_TIMEPOINT_FORMAT_JEPOCH ? MCC_TIMEPOINT_FORMAT_JEPOCH_STR
                                                                    : MCC_TIMEPOINT_FORMAT_MJD_STR;
 }
 template <traits::mcc_input_char_range R>
 static constexpr MccTimePointFormat MccTimePointFormatStrToValue(R&& str)
 {
    if constexpr (std::is_array_v<std::decay_t<R>>) {
        return MccTimePointFormatStrToValue(std::string_view{str});
    }
    const auto hash = mcc::utils::FNV1aHash(std::forward<R>(str));
    return hash == mcc::utils::FNV1aHash(MCC_TIMEPOINT_FORMAT_DATE_STR)  ? MccTimePointFormat::MCC_TIMEPOINT_FORMAT_DATE
           : hash == mcc::utils::FNV1aHash(MCC_TIMEPOINT_FORMAT_MJD_STR) ? MccTimePointFormat::MCC_TIMEPOINT_FORMAT_MJD
           : hash == mcc::utils::FNV1aHash(MCC_TIMEPOINT_FORMAT_JD_STR)  ? MccTimePointFormat::MCC_TIMEPOINT_FORMAT_JD
           : hash == mcc::utils::FNV1aHash(MCC_TIMEPOINT_FORMAT_JEPOCH_STR)
               ? MccTimePointFormat::MCC_TIMEPOINT_FORMAT_JEPOCH
               : MccTimePointFormat::MCC_TIMEPOINT_FORMAT_UNKNOWN;
 }
 /*                          SERIALIZATION/DESERIALIZATION PROCESS TUNING PARAMETERS                            */
 // delimiter between items of serializing values sequence
 static constexpr std::string_view MCC_SERIALIZING_DEFAULT_SEQ_DELIMITER{";"};
 // delimiter between items of aggregative (multi-element) serializing value
 static constexpr std::string_view MCC_SERIALIZING_DEFAULT_ELEM_DELIMITER{","};
 template <typename T>
 concept mcc_serialization_params_c = std::copyable<T> && requires(T t) {
    requires traits::mcc_output_char_range<decltype(t.seq_delim)>;
    requires traits::mcc_output_char_range<decltype(t.elem_delim)>;
    requires std::same_as<decltype(t.angle_format), MccSerializedAngleFormat>;
    requires std::same_as<decltype(t.angle_prec), MccSerializedAngleFormatPrec>;
    requires std::same_as<decltype(t.coordpair_format), MccSerializedCoordPairFormat>;
    requires std::same_as<decltype(t.timepoint_format), MccTimePointFormat>;
    // a format string for mcc_systime_c types (std;:chrono::sys_time)
    requires std::same_as<decltype(t.systime_format), std::string_view>;
    // if true - normalize angle in sexagesimal format (to control rounding)
    // (to avoid something like "24:00:00.0" for sexagesimal 'hours:minutes:seconds' format)
    requires std::convertible_to<decltype(t.norm_sxgm), bool>;
    // if true - interpretate serialized angle in sexagesimal format as 'hours:minutes:seconds'
    // otherwise as 'degrees:arcmins:arcsecs'
    requires std::convertible_to<decltype(t.sxgm_hms), bool>;
 };
 /*                          SERIALIZER/DESERIALIZER CONCEPTS                            */
 template <mcc_error_c RetT>
 struct mcc_serializer_interface_t {
    virtual ~mcc_serializer_interface_t() = default;
    typedef RetT error_t;
    template <std::derived_from<mcc_serializer_interface_t> SelfT, traits::mcc_output_char_range R, typename ValueT>
    RetT operator()(this SelfT&& self, R& output, ValueT const& value)
    {
        return std::forward<SelfT>(self)(output, value);
    }
    template <std::derived_from<mcc_serializer_interface_t> SelfT, traits::mcc_output_char_range R, typename ValueT>
    RetT operator()(this SelfT&& self, R& output, ValueT const& value, mcc_serialization_params_c auto const& params)
    {
        return std::forward<SelfT>(self)(output, value, params);
    }
 protected:
    mcc_serializer_interface_t() = default;
 };
 template <typename T>
 concept mcc_serializer_c =
    std::derived_from<T, mcc_serializer_interface_t<typename T::error_t>> && requires(T t, const T t_const) {
        // static const variable with name of the serializer
        requires std::formattable<decltype(T::serializerName), char> && std::is_const_v<decltype(T::serializerName)>;
        // // must define a type "params_t"
        // requires mcc_serialization_params_c<typename T::params_t>;
        // { t.setParams(std::declval<typename T::params_t const&>()) };
        // { t_const.getParams() } -> std::same_as<typename T::params_t>;
    };
 template <mcc_error_c RetT>
 struct mcc_deserializer_interface_t {
    virtual ~mcc_deserializer_interface_t() = default;
    typedef RetT error_t;
    template <std::derived_from<mcc_deserializer_interface_t> SelfT, traits::mcc_input_char_range R, typename ValueT>
    RetT operator()(this SelfT&& self, R const& input, ValueT& value)
    {
        return std::forward<SelfT>(self)(input, value);
    }
    template <std::derived_from<mcc_deserializer_interface_t> SelfT, traits::mcc_input_char_range R, typename ValueT>
    RetT operator()(this SelfT&& self, R const& input, ValueT& value, mcc_serialization_params_c auto& params)
    {
        return std::forward<SelfT>(self)(input, value, params);
    }
 protected:
    mcc_deserializer_interface_t() = default;
 };
 template <typename T>
 concept mcc_deserializer_c =
    std::derived_from<T, mcc_deserializer_interface_t<typename T::error_t>> && requires(T t, const T t_const) {
        // static const variable with name of the deserializer
        requires std::formattable<decltype(T::deserializerName), char> &&
                     std::is_const_v<decltype(T::deserializerName)>;
        // // must define a type "params_t"
        // requires mcc_serialization_params_c<typename T::params_t>;
        // { t.setParams(std::declval<typename T::params_t const&>()) };
        // { t_const.getParams() } -> std::same_as<typename T::params_t>;
    };
 /*                     BASE CLASS IMPLEMENTATION FOR SERIALIZER/DESERIALIZER                           */
 namespace impl
 {
 // default definition of serialization/deserialization process parameters structure
 struct mcc_serialization_params_t {
    std::string seq_delim{MCC_SERIALIZING_DEFAULT_SEQ_DELIMITER};
    std::string elem_delim{MCC_SERIALIZING_DEFAULT_ELEM_DELIMITER};
    MccSerializedAngleFormat angle_format{MccSerializedAngleFormat::MCC_SERIALIZED_FORMAT_DEGREES};
    MccSerializedAngleFormatPrec angle_prec{MccSerializedAngleFormatPrec{.hour_prec = 2, .deg_prec = 1, .decimals = 6}};
    MccSerializedCoordPairFormat coordpair_format{MccSerializedCoordPairFormat::MCC_SERIALIZED_FORMAT_SXGM_HOURDEG};
    MccTimePointFormat timepoint_format{MccTimePointFormat::MCC_TIMEPOINT_FORMAT_DATE};
    std::string_view systime_format{"{:%FT%T}"};
    bool norm_sxgm{false};
    bool sxgm_hms{false};
 };
 static_assert(mcc_serialization_params_c<mcc_serialization_params_t>, "!!!");
 namespace details
 {
 template <mcc_serialization_params_c ParamsT>
 struct _params_manipulator_t {
    virtual ~_params_manipulator_t() = default;
    typedef ParamsT params_t;
    template <mcc_serialization_params_c p_t>
    void setParams(p_t const& pars)
    {
        if constexpr (std::same_as<p_t, params_t>) {
            _params = pars;
        } else {
            _params.seq_delim = pars.seq_delim;
            _params.elem_delim = pars.elem_delim;
            _params.coordpair_format = pars.coordpair_format;
            _params.angle_prec = pars.angle_prec;
            _params.timepoint_format = pars.timepoint_format;
            _params.norm_sxgm = pars.norm_sxgm;
            _params.sxgm_hms = pars.sxgm_hms;
        }
    }
    template <mcc_serialization_params_c p_t>
        requires(!std::same_as<p_t, params_t>)
    p_t getParams() const
    {
        p_t pars;
        pars.seq_delim = _params.seq_delim;
        pars.elem_delim = _params.elem_delim;
        pars.coordpair_format = _params.coordpair_format;
        pars.angle_prec = _params.angle_prec;
        pars.timepoint_format = _params.timepoint_format;
        pars.norm_sxgm = _params.norm_sxgm;
        pars.sxgm_hms = _params.sxgm_hms;
        return pars;
    }
    params_t getParams() const
    {
        return _params;
    }
 protected:
    _params_manipulator_t() = default;
    params_t _params;
 };
 }  // namespace details
 // struct MccDeserializerBase : mcc_deserializer_interface_t<MccError> {
 //     virtual ~MccDeserializerBase() = default;
 //     using typename mcc_deserializer_interface_t<MccError>::error_t;
 // protected:
 //     MccDeserializerBase() = default;
 // };
 // template <mcc_serialization_params_c ParamsT>
 // struct MccSerializerBase : mcc_serializer_interface_t<MccError>, details::_params_manipulator_t<ParamsT> {
 //     virtual ~MccSerializerBase() = default;
 //     using typename mcc_serializer_interface_t<MccError>::error_t;
 //     using typename details::_params_manipulator_t<ParamsT>::params_t;
 // protected:
 //     MccSerializerBase() = default;
 // };
 // template <mcc_serialization_params_c ParamsT>
 // struct MccDeserializerBase : mcc_deserializer_interface_t<MccError>, details::_params_manipulator_t<ParamsT> {
 //     virtual ~MccDeserializerBase() = default;
 //     using typename mcc_deserializer_interface_t<MccError>::error_t;
 //     using typename details::_params_manipulator_t<ParamsT>::params_t;
 // protected:
 //     MccDeserializerBase() = default;
 // };
 }  // namespace impl
 }  // namespace mcc
--- a/include/mcc/mcc_serializer.h
+++ b/include/mcc/mcc_serializer.h
@@ -0,0 +1,777 @@
 #pragma once
 #include "mcc_coordinate.h"
 #include "mcc_serialization_common.h"
 namespace mcc::impl
 {
 enum class MccSerializerErrorCode : int {
    ERROR_OK,
    ERROR_UNDERLYING_SERIALIZER,
    ERROR_INVALID_EPOCH,
    ERROR_COORD_TRANSFORM
 };
 }  // namespace mcc::impl
 namespace std
 {
 template <>
 class is_error_code_enum<mcc::impl::MccSerializerErrorCode> : public true_type
 {
 };
 }  // namespace std
 namespace mcc::impl
 {
 // error category
 struct MccSerializerCategory : public std::error_category {
    MccSerializerCategory() : std::error_category() {}
    const char* name() const noexcept
    {
        return "MCC-SERIALIZER-ERR-CATEGORY";
    }
    std::string message(int ec) const
    {
        MccSerializerErrorCode err = static_cast<MccSerializerErrorCode>(ec);
        switch (err) {
            case MccSerializerErrorCode::ERROR_OK:
                return "OK";
            case MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER:
                return "error returned by underlying serializer";
            case MccSerializerErrorCode::ERROR_INVALID_EPOCH:
                return "invalid coordinate epoch";
            case MccSerializerErrorCode::ERROR_COORD_TRANSFORM:
                return "coordinates transformation error";
            default:
                return "UNKNOWN";
        }
    }
    static const MccSerializerCategory& get()
    {
        static const MccSerializerCategory constInst;
        return constInst;
    }
 };
 inline std::error_code make_error_code(MccSerializerErrorCode ec)
 {
    return std::error_code(static_cast<int>(ec), MccSerializerCategory::get());
 }
 /*    BASE SERIALIZER CLASS (FOR IMPLEMENTATIONS BELOW)    */
 struct MccSerializerBase : mcc_serializer_interface_t<MccError> {
    virtual ~MccSerializerBase() = default;
    using typename mcc_serializer_interface_t<MccError>::error_t;
 protected:
    MccSerializerBase() = default;
    enum CoordType { CO_LON, CO_LAT };
    static void addElemDelimiter(traits::mcc_output_char_range auto& output,
                                 mcc_serialization_params_c auto const& params)
    {
        std::format_to(std::back_inserter(output), "{}", params.elem_delim);
    }
    static void addSeqDelimiter(traits::mcc_output_char_range auto& output,
                                mcc_serialization_params_c auto const& params)
    {
        std::format_to(std::back_inserter(output), "{}", params.seq_delim);
    }
    // set serialized angle format according to coordinates pair format and type of
    // serializing mcc_coord_pair_c::pairKind
    template <MccCoordPairKind PAIRKIND, CoordType TYPE = MccSerializerBase::CO_LON>
    static void angleFormatFromCoordPairType(mcc_serialization_params_c auto& pars)
    {
        if (pars.coordpair_format == MccSerializedCoordPairFormat::MCC_SERIALIZED_FORMAT_DEGREES) {
            pars.angle_format = MccSerializedAngleFormat::MCC_SERIALIZED_FORMAT_DEGREES;
        } else {  // format to sexagesimal form according to celestial coordinate type
            if constexpr (TYPE == MccSerializerBase::CO_LON) {
                if (pars.coordpair_format == MccSerializedCoordPairFormat::MCC_SERIALIZED_FORMAT_SXGM_DEGDEG) {
                    pars.angle_format = MccSerializedAngleFormat::MCC_SERIALIZED_FORMAT_SXGM_DEGS;
                } else if (pars.coordpair_format == MccSerializedCoordPairFormat::MCC_SERIALIZED_FORMAT_SXGM_HOURDEG) {
                    if constexpr (PAIRKIND == MccCoordPairKind::COORDS_KIND_AZZD ||
                                  PAIRKIND == MccCoordPairKind::COORDS_KIND_AZALT ||
                                  PAIRKIND == MccCoordPairKind::COORDS_KIND_XY ||
                                  PAIRKIND == MccCoordPairKind::COORDS_KIND_GENERIC) {  // azimuth is in degrees
                        pars.angle_format = MccSerializedAngleFormat::MCC_SERIALIZED_FORMAT_SXGM_DEGS;
                        pars.norm_sxgm = true;
                    } else {  // RA or HA
                        pars.angle_format = MccSerializedAngleFormat::MCC_SERIALIZED_FORMAT_SXGM_HOURS;
                        pars.norm_sxgm = true;
                    }
                } else {
                    // !!!!!!!!!!!!!!!!!!
                }
            } else {  // Y-coordinates (co-latitude one, DEC, ALT, ZD, generic X) is always in degrees for celestial
                // point
                pars.angle_format = MccSerializedAngleFormat::MCC_SERIALIZED_FORMAT_SXGM_DEGS;
            }
        }
    }
    template <typename VT, typename R>
        requires(std::ranges::input_range<R> && std::same_as<VT, std::ranges::range_value_t<R>>)
    static error_t serializeRange(mcc_serializer_c auto& sr,
                                  R const& r,
                                  traits::mcc_output_char_range auto& output,
                                  mcc_serialization_params_c auto const& params)
    {
        size_t i = 0, N = std::ranges::size(r);
        for (auto const& el : r) {
            auto err = sr(output, el, params);
            if (err) {
                return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
            }
            if (++i < N) {
                // MccSerializerBase::addSeqDelimiter(output, params);
                MccSerializerBase::addElemDelimiter(output, params);
            }
        }
        return MccSerializerErrorCode::ERROR_OK;
    }
 };
 /*    MAIN (FALLBACK) TEMPLATED IMPLEMENTATION    */
 template <typename VT>
 struct MccSerializer : MccSerializerBase {
    constexpr static std::string_view serializerName{"MCC-FALLBACK-SERIALIZER"};
    template <mcc_serialization_params_c ParamsT = mcc_serialization_params_t>
    error_t operator()(traits::mcc_output_char_range auto& output,
                       VT const& value,
                       ParamsT const& params = mcc_serialization_params_t{})
    {
        if constexpr (std::convertible_to<VT, std::string>) {
            std::string s = value;
            std::ranges::copy(s, std::back_inserter(output));
            // auto err = MccSerializer<std::string>{}(output, static_cast<std::string>(value), params);
            // if (err) {
            //     return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
            // }
        } else if constexpr (std::ranges::range<VT>) {
            using value_t = std::remove_cv_t<std::ranges::range_value_t<VT>>;
            // special range (character sequence)
            if constexpr (std::same_as<value_t, char>) {
                std::ranges::copy(value, std::back_inserter(output));
            } else {
                MccSerializer<value_t> sr;
                return MccSerializerBase::serializeRange<value_t>(sr, value, output, params);
            }
        } else if constexpr (std::formattable<VT, char>) {
            std::format_to(std::back_inserter(output), "{}", value);
        } else {
            static_assert(false, "UNSUPPORTED TYPE!!!");
        }
        return MccSerializerErrorCode::ERROR_OK;
    }
 };
 /*                          SPECIALIZATION FOR THE SOME CONCEPTS                            */
 template <traits::mcc_time_duration_c VT>
 struct MccSerializer<VT> : MccSerializerBase {
    virtual ~MccSerializer() = default;
    constexpr static std::string_view serializerName{"MCC-TIME-DURATION-SERIALIZER"};
    template <mcc_serialization_params_c ParamsT = mcc_serialization_params_t>
    error_t operator()(traits::mcc_output_char_range auto& output,
                       VT const& value,
                       ParamsT const& params = mcc_serialization_params_t{})
    {
        std::format_to(std::back_inserter(output), "{}", value.count());
        return MccSerializerErrorCode::ERROR_OK;
    }
 };
 /*    std::chrono::sys_time variants and its sequence    */
 template <traits::mcc_systime_c VT>
 struct MccSerializer<VT> : MccSerializerBase {
    virtual ~MccSerializer() = default;
    constexpr static std::string_view serializerName{"MCC-SYSTIME-SERIALIZER"};
    template <mcc_serialization_params_c ParamsT = mcc_serialization_params_t>
    error_t operator()(traits::mcc_output_char_range auto& output,
                       VT const& value,
                       ParamsT const& params = mcc_serialization_params_t{})
    {
        // std::vformat_to(std::back_inserter(output), params.systime_format, std::make_format_args(value));
        auto tp = std::chrono::round<std::chrono::milliseconds>(value);
        std::vformat_to(std::back_inserter(output), params.systime_format, std::make_format_args(tp));
        return MccSerializerErrorCode::ERROR_OK;
    }
 };
 template <typename VT>
    requires(!std::is_arithmetic_v<VT> && mcc_angle_c<VT>)
 struct MccSerializer<VT> : MccSerializerBase {
    constexpr static std::string_view serializerName{"MCC-ANGLE-SERIALIZER"};
    template <mcc_serialization_params_c ParamsT = mcc_serialization_params_t>
    error_t operator()(traits::mcc_output_char_range auto& output,
                       VT const& value,
                       ParamsT const& params = mcc_serialization_params_t{})
    {
        double v = (double)value;  // radians (see mcc_angle_c concept)
        std::string sgm;
        switch (params.angle_format) {
            case MccSerializedAngleFormat::MCC_SERIALIZED_FORMAT_DEGREES: {
                v *= MCC_RADS_TO_DEGRESS;
                std::string_view fmt = "{:." + std::to_string(params.angle_prec.decimals) + "f}";
                std::vformat_to(std::back_inserter(output), fmt, std::make_format_args(v));
                return MccSerializerErrorCode::ERROR_OK;
            }
                // return MccSerializer<double>{}(output, v, params);
            case MccSerializedAngleFormat::MCC_SERIALIZED_FORMAT_SXGM_DEGS:
                if (params.norm_sxgm) {
                    sgm = utils::rad2sxg<true>(v, false, params.angle_prec.deg_prec);
                } else {
                    sgm = utils::rad2sxg<false>(v, false, params.angle_prec.deg_prec);
                }
                break;
            case MccSerializedAngleFormat::MCC_SERIALIZED_FORMAT_SXGM_HOURS:
                if (params.norm_sxgm) {
                    sgm = utils::rad2sxg<true>(v, true, params.angle_prec.hour_prec);
                } else {
                    sgm = utils::rad2sxg<false>(v, true, params.angle_prec.hour_prec);
                }
                break;
            default:
                break;
        }
        auto err = MccSerializer<std::string>{}(output, sgm, params);
        if (err) {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        return MccSerializerErrorCode::ERROR_OK;
    };
 };
 template <mcc_coord_epoch_c VT>
 struct MccSerializer<VT> : MccSerializerBase {
    constexpr static std::string_view serializerName{"MCC-COORD-EPOCH-SERIALIZER"};
    template <mcc_serialization_params_c ParamsT = mcc_serialization_params_t>
    error_t operator()(traits::mcc_output_char_range auto& output,
                       VT const& value,
                       ParamsT const& params = mcc_serialization_params_t{})
    {
        double jd;
        switch (params.timepoint_format) {
            case MccTimePointFormat::MCC_TIMEPOINT_FORMAT_DATE: {
                auto tp = value.UTC();
                auto err = MccSerializer<decltype(tp)>{}(output, tp, params);
                if (err) {
                    return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
                }
                return MccSerializerErrorCode::ERROR_OK;
            };
            case MccTimePointFormat::MCC_TIMEPOINT_FORMAT_JEPOCH: {
                auto ep = value.JEpoch();
                auto err = MccSerializer<decltype(ep)>{}(output, ep, params);
                if (err) {
                    return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
                }
                return MccSerializerErrorCode::ERROR_OK;
            } break;
            case MccTimePointFormat::MCC_TIMEPOINT_FORMAT_JD:
                jd = value.MJD() + MCC_J2000_MJD;
                break;
            case MccTimePointFormat::MCC_TIMEPOINT_FORMAT_MJD:
                jd = value.MJD();
                break;
        }
        auto err = MccSerializer<double>{}(output, jd, params);
        if (err) {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        return MccSerializerErrorCode::ERROR_OK;
    }
 };
 template <mcc_coord_pair_c VT>
 struct MccSerializer<VT> : MccSerializerBase {
    constexpr static std::string_view serializerName{"MCC-COORD-PAIR-SERIALIZER"};
    template <mcc_serialization_params_c ParamsT = mcc_serialization_params_t>
    error_t operator()(traits::mcc_output_char_range auto& output,
                       VT const& value,
                       ParamsT const& params = mcc_serialization_params_t{})
    {
        // format: X<elem-delim>Y<elem-delim>PAIRKIND<elem-delim>EPOCH
        auto pars = params;
        // X-coordinate
        MccSerializerBase::angleFormatFromCoordPairType<VT::pairKind, MccSerializerBase::CO_LON>(pars);
        auto err = MccSerializer<MccAngle>{}(output, value.x(), pars);
        if (err) {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        MccSerializerBase::addElemDelimiter(output, params);
        // pars.norm_sxgm = false;  // do not normalize co-latitude angle
        // Y-coordinate
        MccSerializerBase::angleFormatFromCoordPairType<VT::pairKind, MccSerializerBase::CO_LAT>(pars);
        err = MccSerializer<MccAngle>{}(output, value.y(), pars);
        if (err) {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        MccSerializerBase::addElemDelimiter(output, params);
        // pair kind
        auto pk_err = MccSerializer<std::string_view>{}(output, MccCoordPairKindToStr(VT::pairKind), params);
        if (pk_err) {
            return mcc_deduced_err(pk_err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        MccSerializerBase::addElemDelimiter(output, params);
        // epoch
        auto ep = value.epoch();
        auto ep_err = MccSerializer<decltype(ep)>{}(output, ep, params);
        if (ep_err) {
            return mcc_deduced_err(ep_err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        return MccSerializerErrorCode::ERROR_OK;
    }
 };
 template <mcc_skypoint_c VT>
 struct MccSerializer<VT> : MccSerializerBase {
    constexpr static std::string_view serializerName{"MCC-SKYPOINT-SERIALIZER"};
    template <mcc_serialization_params_c ParamsT = mcc_serialization_params_t>
    error_t operator()(traits::mcc_output_char_range auto& output,
                       VT const& value,
                       ParamsT const& params = mcc_serialization_params_t{})
    {
        auto serialize_cpair = [&]<typename T>(T& cp) -> error_t {
            auto ccte_err = value.toAtSameEpoch(cp);
            if (ccte_err) {
                return mcc_deduced_err(ccte_err, MccSerializerErrorCode::ERROR_COORD_TRANSFORM);
            }
            auto err = MccSerializer<T>{}(output, cp, params);
            if (err) {
                return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
            }
            return MccSerializerErrorCode::ERROR_OK;
        };
        switch (value.pairKind()) {
            case MccCoordPairKind::COORDS_KIND_RADEC_ICRS: {
                MccSkyRADEC_ICRS cp;
                return serialize_cpair(cp);
            }
            case MccCoordPairKind::COORDS_KIND_RADEC_OBS: {
                MccSkyRADEC_OBS cp;
                return serialize_cpair(cp);
            }
            case MccCoordPairKind::COORDS_KIND_RADEC_APP: {
                MccSkyRADEC_APP cp;
                return serialize_cpair(cp);
            }
            case MccCoordPairKind::COORDS_KIND_HADEC_OBS: {
                MccSkyHADEC_OBS cp;
                return serialize_cpair(cp);
            }
            case MccCoordPairKind::COORDS_KIND_HADEC_APP: {
                MccSkyHADEC_APP cp;
                return serialize_cpair(cp);
            }
            case MccCoordPairKind::COORDS_KIND_AZZD: {
                MccSkyAZZD cp;
                return serialize_cpair(cp);
            }
            case MccCoordPairKind::COORDS_KIND_AZALT: {
                MccSkyAZALT cp;
                return serialize_cpair(cp);
            }
            case MccCoordPairKind::COORDS_KIND_XY: {
                MccGenXY cp;
                return serialize_cpair(cp);
            }
            case MccCoordPairKind::COORDS_KIND_GENERIC: {
                MccGenXY cp;
                return serialize_cpair(cp);
            }
            default:
                return MccSerializerErrorCode::ERROR_COORD_TRANSFORM;
        }
    }
 };
 template <mcc_telemetry_data_c VT>
 struct MccSerializer<VT> : MccSerializerBase {
    constexpr static std::string_view serializerName{"MCC-TELEMETRY-DATA-SERIALIZER"};
    template <mcc_serialization_params_c ParamsT = mcc_serialization_params_t>
    error_t operator()(traits::mcc_output_char_range auto& output,
                       VT const& value,
                       ParamsT const& params = mcc_serialization_params_t{})
    {
        // FORMAT: RA_OBS_MOUNT, DEC_OBS_MOUNT, RA_APP_MOUNT, DEC_APP_MOUNT, HA_APP_MOUNT, AZ_MOUNT, ZD_MOUNT,
        // REFR_CORR_MOUNT, ENC_X, ENC_Y, PCM_X, PCM_Y, RA_APP_TAG, DEC_APP_TAG, AZ_TAG, ZD_TAG, LAST, EO, TIMEPOINT,
        // STATUS
        // NOTE: One must assume that the returned RA coordinates are in format of underlying celestial coordinate
        //       transformation engine used in the mcc_skypoint_c class implementation. E.g. ERFA-library uses the
        //       CIO-based representation of RA
        auto pars_h = params;
        auto pars_d = params;
        pars_h.norm_sxgm = true;
        pars_h.coordpair_format = MccSerializedCoordPairFormat::MCC_SERIALIZED_FORMAT_SXGM_HOURDEG;
        pars_d.norm_sxgm = true;
        pars_d.coordpair_format = MccSerializedCoordPairFormat::MCC_SERIALIZED_FORMAT_SXGM_HOURDEG;
        MccSkyRADEC_OBS rd_obs;
        MccSkyRADEC_APP rd_app;
        MccSkyHADEC_APP hd_app;
        MccSkyAZZD azzd;
        // quantities in hour representation
        MccSerializerBase::angleFormatFromCoordPairType<MccCoordPairKind::COORDS_KIND_RADEC_ICRS,
                                                        MccSerializerBase::CO_LON>(pars_h);
        // quantities in degree representation
        MccSerializerBase::angleFormatFromCoordPairType<MccCoordPairKind::COORDS_KIND_RADEC_ICRS,
                                                        MccSerializerBase::CO_LAT>(pars_d);
        MccSerializer<MccAngle> ang_sr;
        // RA_OBS_MOUNT, DEC_OBS_MOUNT
        auto ccte_err = value.mountPos.toAtSameEpoch(rd_obs);
        if (ccte_err) {
            return mcc_deduced_err(ccte_err, MccSerializerErrorCode::ERROR_COORD_TRANSFORM);
        }
        auto err = ang_sr(output, rd_obs.x(), pars_h);
        if (err) {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        MccSerializerBase::addElemDelimiter(output, pars_h);
        err = ang_sr(output, rd_obs.y(), pars_d);
        if (err) {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        MccSerializerBase::addElemDelimiter(output, pars_h);
        // RA_APP_MOUNT, DEC_APP_MOUNT
        ccte_err = value.mountPos.toAtSameEpoch(rd_app);
        if (ccte_err) {
            return mcc_deduced_err(ccte_err, MccSerializerErrorCode::ERROR_COORD_TRANSFORM);
        }
        err = ang_sr(output, rd_app.x(), pars_h);
        if (err) {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        MccSerializerBase::addElemDelimiter(output, pars_h);
        err = ang_sr(output, rd_app.y(), pars_d);
        if (err) {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        MccSerializerBase::addElemDelimiter(output, pars_h);
        // HA_APP_MOUNT
        ccte_err = value.mountPos.toAtSameEpoch(hd_app);
        if (ccte_err) {
            return mcc_deduced_err(ccte_err, MccSerializerErrorCode::ERROR_COORD_TRANSFORM);
        }
        err = ang_sr(output, hd_app.x(), pars_h);
        if (err) {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        MccSerializerBase::addElemDelimiter(output, pars_h);
        // AZ_MOUNT, ZD_MOUNT
        ccte_err = value.mountPos.toAtSameEpoch(azzd);
        if (ccte_err) {
            return mcc_deduced_err(ccte_err, MccSerializerErrorCode::ERROR_COORD_TRANSFORM);
        }
        err = ang_sr(output, azzd.x(), pars_d);
        if (err) {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        MccSerializerBase::addElemDelimiter(output, pars_h);
        err = ang_sr(output, azzd.y(), pars_d);
        if (err) {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        MccSerializerBase::addElemDelimiter(output, pars_h);
        // refraction correction
        MccAngle ang;
        ccte_err = value.mountPos.refractCorrection(&ang);
        if (ccte_err) {
            return mcc_deduced_err(ccte_err, MccSerializerErrorCode::ERROR_COORD_TRANSFORM);
        }
        err = ang_sr(output, ang, pars_d);
        if (err) {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        MccSerializerBase::addElemDelimiter(output, pars_h);
        // encoder X and Y
        err = ang_sr(output, value.hwState.XY.x(), pars_d);
        if (err) {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        MccSerializerBase::addElemDelimiter(output, pars_h);
        err = ang_sr(output, value.hwState.XY.y(), pars_d);
        if (err) {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        MccSerializerBase::addElemDelimiter(output, pars_h);
        // PCM X and Y
        err = ang_sr(output, value.pcmCorrection.pcmX, pars_d);
        if (err) {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        MccSerializerBase::addElemDelimiter(output, pars_h);
        err = ang_sr(output, value.pcmCorrection.pcmY, pars_d);
        if (err) {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        MccSerializerBase::addElemDelimiter(output, pars_h);
        // RA_APP_TAG, DEC_APP_TAG
        ccte_err = value.targetPos.toAtSameEpoch(rd_app);
        if (ccte_err) {
            return mcc_deduced_err(ccte_err, MccSerializerErrorCode::ERROR_COORD_TRANSFORM);
        }
        err = ang_sr(output, rd_app.x(), pars_h);
        if (err) {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        MccSerializerBase::addElemDelimiter(output, pars_h);
        err = ang_sr(output, rd_app.y(), pars_d);
        if (err) {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        MccSerializerBase::addElemDelimiter(output, pars_h);
        // AZ_TAG, ZD_TAG
        ccte_err = value.targetPos.toAtSameEpoch(azzd);
        if (ccte_err) {
            return mcc_deduced_err(ccte_err, MccSerializerErrorCode::ERROR_COORD_TRANSFORM);
        }
        err = ang_sr(output, azzd.x(), pars_d);
        if (err) {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        MccSerializerBase::addElemDelimiter(output, pars_h);
        err = ang_sr(output, azzd.y(), pars_d);
        if (err) {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        MccSerializerBase::addElemDelimiter(output, pars_h);
        // LAST, local apparent sideral time
        ccte_err = value.mountPos.appSideralTime(&ang, true);
        if (ccte_err) {
            return mcc_deduced_err(ccte_err, MccSerializerErrorCode::ERROR_COORD_TRANSFORM);
        }
        err = ang_sr(output, ang, pars_h);
        if (err) {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        MccSerializerBase::addElemDelimiter(output, pars_h);
        // EO, equation of origins
        ccte_err = value.mountPos.EO(&ang);
        if (ccte_err) {
            return mcc_deduced_err(ccte_err, MccSerializerErrorCode::ERROR_COORD_TRANSFORM);
        }
        err = ang_sr(output, ang, pars_h);
        if (err) {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        MccSerializerBase::addElemDelimiter(output, pars_h);
        // coordinates epoch
        auto ep_err = MccSerializer<MccCelestialCoordEpoch>{}(output, value.mountPos.epoch(), pars_d);
        if (ep_err) {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        MccSerializerBase::addElemDelimiter(output, pars_h);
        // status (it must be formattable, see mcc_concepts.h)
        auto st_err =
            MccSerializer<decltype(value.hwState.movementState)>{}(output, value.hwState.movementState, pars_d);
        if (st_err) {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        return MccSerializerErrorCode::ERROR_OK;
    }
 };
 template <>
 struct MccSerializer<MccSerializedCoordPairFormat> : MccSerializerBase {
    constexpr static std::string_view serializerName{"MCC-COORDPAIR-FORMAT-SERIALIZER"};
    template <mcc_serialization_params_c ParamsT = mcc_serialization_params_t>
    error_t operator()(traits::mcc_output_char_range auto& output,
                       MccSerializedCoordPairFormat const& value,
                       ParamsT const& params = mcc_serialization_params_t{})
    {
        std::ranges::copy(MccSerializedCoordPairFormatToStr(value), std::back_inserter(output));
        return MccSerializerErrorCode::ERROR_OK;
    }
 };
 template <>
 struct MccSerializer<MccSerializedAngleFormatPrec> : MccSerializerBase {
    constexpr static std::string_view serializerName{"MCC-ANGLE-FORMAT-PREC-SERIALIZER"};
    template <mcc_serialization_params_c ParamsT = mcc_serialization_params_t>
    error_t operator()(traits::mcc_output_char_range auto& output,
                       MccSerializedAngleFormatPrec const& value,
                       ParamsT const& params = mcc_serialization_params_t{})
    {
        auto err = MccSerializer<decltype(value.hour_prec)>{}(output, value.hour_prec, params);
        if (!err) {
            auto err = MccSerializer<decltype(value.deg_prec)>{}(output, value.deg_prec, params);
            if (!err) {
                auto err = MccSerializer<decltype(value.decimals)>{}(output, value.decimals, params);
                if (err) {
                    return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
                }
            } else {
                return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
            }
        } else {
            return mcc_deduced_err(err, MccSerializerErrorCode::ERROR_UNDERLYING_SERIALIZER);
        }
        return MccSerializerErrorCode::ERROR_OK;
    }
 };
 static_assert(mcc_serializer_c<MccSerializer<MccAngle>>, "!!!");
 }  // namespace mcc::impl
--- a/include/mcc/mcc_serializer.h.old
+++ b/include/mcc/mcc_serializer.h.old
--- a/include/mcc/mcc_spdlog.h
+++ b/include/mcc/mcc_spdlog.h
--- a/include/mcc/mcc_telemetry.h
+++ b/include/mcc/mcc_telemetry.h
@@ -104,20 +104,26 @@ inline std::error_code make_error_code(MccTelemetryErrorCode ec)
 template <mcc_hardware_c HARDWARE_T>
-class MccTelemetry
+class MccTelemetry : public mcc_telemetry_interface_t<MccError>
 {
 public:
    typedef HARDWARE_T hardware_t;
-    typedef std::error_code error_t;
+    typedef MccError error_t;
    struct telemetry_data_t {
-        MccSkyPoint targetPos{};
+        MccSkyPoint targetPos{};  // celestial coordinates
-        MccSkyPoint mountPos{};
+        MccGenXY targetXY{};  // encoder coordinates
-        typename HARDWARE_T::hardware_state_t hwState{};
+        struct {
            double pcmX{}, pcmY{};
        } pcmReverseCorrection{};
        MccSkyPoint mountPos{};  // celestial coordinates
        typename HARDWARE_T::hardware_state_t hwState{};  // here encoder coordinates
        struct {
            double pcmX{}, pcmY{};
@@ -210,8 +216,8 @@ public:
                                    mcc_deduced_err(hw_err, MccTelemetryErrorCode::ERROR_HARDWARE_GETSTATE);
                            } else {
                                // compute PCM corrections and observed (corrected for PCM) mount coordinates
-                                auto pcm_err = pcm_ptr->computePCM(_tdataPtr->hwState.XY, &_tdataPtr->pcmCorrection,
+                                auto pcm_err = pcm_ptr->computePCM(_tdataPtr->hwState.XY, &(_tdataPtr->pcmCorrection),
-                                                                   &_tdataPtr->mountPos);
+                                                                   &(_tdataPtr->mountPos));
                                if (!pcm_err) {
                                    // set target coordinates
@@ -229,14 +235,46 @@ public:
                                                    mcc_deduced_err(pcm_err, MccTelemetryErrorCode::ERROR_PCM_COMP);
                                            }
                                            _tdataPtr->pcmReverseCorrection.pcmX = -pcm_corr.pcmX;
                                            _tdataPtr->pcmReverseCorrection.pcmY = -pcm_corr.pcmY;
                                        } else {
                                            _lastUpdateError =
                                                mcc_deduced_err(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
                                        }
                                    } else {  // observed, apparent or ICRS
                                        _tdataPtr->targetPos = _enteredTargetPos;
                                    }
                                    } else {  // observed, apparent or ICRS
                                        // _tdataPtr->targetPos = _enteredTargetPos;
                                        using pcm_t = std::remove_pointer_t<decltype(pcm_ptr)>;
                                        std::conditional_t<mcc_is_equatorial_mount<pcm_t::pcmMountType>,
                                                           MccSkyHADEC_OBS,
                                                           std::conditional_t<mcc_is_altaz_mount<pcm_t::pcmMountType>,
                                                                              MccSkyAZZD, std::nullptr_t>>
                                            cp;
                                        static_assert(!std::is_null_pointer_v<decltype(cp)>, "UNKNOW MOUNT TYPE!");
                                        // calculate target celestial coordinates (of the same type as .mountPos) at the
                                        // epoch of the current mount position
                                        cp.setEpoch(_tdataPtr->mountPos.epoch());
                                        auto ccte_err = _enteredTargetPos.to(cp);
                                        if (ccte_err) {
                                            _lastUpdateError =
                                                mcc_deduced_err(ccte_err, MccTelemetryErrorCode::ERROR_COORD_TRANSFORM);
                                        } else {
                                            _tdataPtr->targetPos.from(cp);
                                            // calculate reverse PCM corrections for the current target position and
                                            // its encoder XY
                                            auto pcm_err = pcm_ptr->computeInversePCM(_tdataPtr->targetPos,
                                                                                      &_tdataPtr->pcmReverseCorrection,
                                                                                      &_tdataPtr->targetXY);
                                            if (pcm_err) {
                                                _lastUpdateError =
                                                    mcc_deduced_err(pcm_err, MccTelemetryErrorCode::ERROR_PCM_COMP);
                                            }
                                        }
                                    }
                                } else {
                                    _lastUpdateError = mcc_deduced_err(pcm_err, MccTelemetryErrorCode::ERROR_PCM_COMP);
                                }
@@ -278,14 +316,34 @@ public:
        }
    }
-    error_t setTarget(mcc_skypoint_c auto const& sp)
+    error_t setPointingTarget(mcc_skypoint_c auto const& sp)
    {
        std::lock_guard lock{*_updateMutex};
        _enteredTargetPos = sp;
        return MccTelemetryErrorCode::ERROR_OK;
    }
    auto getPointingTarget() const
    {
        std::lock_guard lock{*_updateMutex};
        return _enteredTargetPos;
    }
    // error_t getPointingTarget(mcc_skypoint_c auto* sp)
    // {
    //     if (sp) {
    //         *sp = _enteredTargetPos;
    //     }
    //     return MccTelemetryErrorCode::ERROR_OK;
    // }
    //
    // blocks the current thread until telemetry data is received.
    // the maximum blocking time is equal to the set timeout (see setTelemetryDataTimeout method)
@@ -313,12 +371,14 @@ public:
        return _lastUpdateError;
    }
    //
    // Set a timeout for the telemetry receiving process
    //
-    void setTelemetryDataTimeout(traits::mcc_time_duration_c auto const& timeout)
+    template <traits::mcc_time_duration_c DT>
    void setTelemetryDataTimeout(DT const& timeout)
    {
-        if constexpr (std::floating_point<typename decltype(timeout)::rep>) {
+        if constexpr (std::floating_point<typename DT::rep>) {
            if (utils::isEqual(timeout.count(), 0.0) || timeout.count() < 0.0) {
                return;
            }
--- a/include/mcc/mcc_traits.h
+++ b/include/mcc/mcc_traits.h
--- a/include/mcc/mcc_utils.h
+++ b/include/mcc/mcc_utils.h
@@ -68,7 +68,7 @@ constexpr static std::string_view trimSpaces(const char* r, TrimType type = Trim
 }
 template <typename T, std::ranges::contiguous_range R>
-std::optional<T> numFromStr(R&& r)
+static std::optional<T> numFromStr(R&& r)
    requires((std::integral<T> || std::floating_point<T>) &&
             std::same_as<char, std::remove_cvref_t<std::ranges::range_value_t<R>>>)
 {
@@ -340,7 +340,10 @@ static std::string AZZD_rad2sxg(double az, double zd, std::string_view delim = "
 // "12:43:23.423,  102:43:12.124"
 // "  12.3453467, 102:43:12.124  "
 template <mcc::traits::mcc_input_char_range R>
-std::pair<double, double> parseAnglePair(R&& str, bool hms1 = false, bool hms2 = false, std::string_view delim = ",")
+static std::pair<double, double> parseAnglePair(R&& str,
                                                bool hms1 = false,
                                                bool hms2 = false,
                                                std::string_view delim = ",")
 {
    std::pair<double, double> res{std::numeric_limits<double>::quiet_NaN(), std::numeric_limits<double>::quiet_NaN()};
    auto found1 = std::ranges::search(std::forward<R>(str), delim);
@@ -376,6 +379,40 @@ std::pair<double, double> parseAnglePair(R&& str, bool hms1 = false, bool hms2 =
 }
 // calculate distance between two point on sphere:
 //     the function returns a std::tuple with
 //         0th element: difference along co-longitude axis
 //         1st element: difference along co-latitude axis
 //         2nd element: distance
 static std::tuple<double, double, double> distanceOnSphere(double co_lon1,
                                                           double co_lat1,
                                                           double co_lon2,
                                                           double co_lat2)
 {
    std::tuple<double, double, double> res{};
    std::get<0>(res) = co_lon1 - co_lon2;
    std::get<1>(res) = co_lat1 - co_lat2;
    double cosDco_lon = std::cos(std::abs(std::get<0>(res)));
    double cos1 = std::cos(co_lat1);
    double sin1 = std::sin(co_lat1);
    double cos2 = std::cos(co_lat2);
    double sin2 = std::sin(co_lat2);
    double term1 = cos2 * std::sin(std::abs(std::get<0>(res)));
    double term2 = cos1 * sin2 - sin1 * cos2 * cosDco_lon;
    std::get<2>(res) = std::atan2(sqrt(term1 * term1 + term2 * term2), sin1 * sin2 + cos1 * cos2 * cosDco_lon);
    // std::get<2>(res) = acos(sin1 * sin2 + cos1 * cos2 * cosDco_lon);
    return res;
 }
 template <traits::mcc_input_char_range R>
 static constexpr size_t FNV1aHash(const R& r)
 {
--- a/tests/mcc_coord_test.cpp
+++ b/tests/mcc_coord_test.cpp
@@ -1,8 +1,8 @@
 #include <iostream>
-// #include <mcc_ccte_erfa.h>
+#include <mcc/mcc_deserializer.h>
-#include <mcc_coordinate.h>
+#include <mcc/mcc_serializer.h>
-#include <mcc_serializer.h>
+
 using namespace mcc::impl;
@@ -25,15 +25,31 @@ void serialize(VT const& value)
 {
    MccSerializer<VT> ser;
    std::string s;
    mcc_serialization_params_t pars{};
    pars.norm_sxgm = true;
    pars.coordpair_format = mcc::MccSerializedCoordPairFormat::MCC_SERIALIZED_FORMAT_SXGM_HOURDEG;
-    auto err = ser(s, value);
+    auto err = ser(s, value, pars);
    if (err) {
-        std::cout << "SERIALIZing ERR: " << err << "\n";
+        std::cout << "SERIALIZING ERR: " << err.message() << "\n";
    } else {
        std::cout << "SERIALIZED: " << s << "\n";
    }
 }
 template <typename VT>
 void deserialize(mcc::traits::mcc_input_char_range auto const& s, VT& value)
 {
    MccDeserializer<VT> deser;
    auto err = deser(s, value);
    if (err) {
        std::cout << "DESERIALIZING ERR: " << err << "\n";
    } else {
        std::cout << "DESERIALIZION IS OK\n";
    }
 }
 int main()
 {
    skypt_t::cctEngine.setStateERFA(saoras);
@@ -122,6 +138,9 @@ int main()
    std::cout << "\tfor 'double' type: ";
    serialize(v);
    std::cout << "\tfor 'coord pair' type: ";
    serialize(icrs);
    std::cout << "\tfor 'coord pair' type: ";
    serialize(radec_obs);
@@ -141,5 +160,22 @@ int main()
    std::cout << "\tfor 'sky point' type: ";
    serialize(pt);
    std::cout << "\n\nDESERIALIZATION TEST:\n";
    v = 0.0;
    std::string s = "123.7687";
    deserialize(s, v);
    std::cout << "\tfor 'double' type: v = " << v << "\n";
    s = "  11:22:33.453,   -32.19820931,65632.87987987,RADEC-OBS   ";
    deserialize(s, pt);
    pt.toAtSameEpoch(radec_obs);
    std::cout << "\tfor 'sky point' type: x = " << radec_obs.x().sexagesimal(true)
              << ", y = " << radec_obs.y().degrees() << ", epoch = " << pt.epoch().MJD()
              << ", kind = " << MccCoordPairKindToStr(pt.pairKind()) << "\n";
    return 0;
 }
--- a/tests/mcc_fitpack_test.cpp
+++ b/tests/mcc_fitpack_test.cpp
@@ -0,0 +1,127 @@
 #include <algorithm>
 #include <functional>
 #include <iostream>
 #include <random>
 #include <ranges>
 #include <mcc/mcc_bsplines.h>
 int main()
 {
    size_t nt = 30, np = 60, N = nt * np, i = 1;
    // size_t nt = 10, np = 20, N = nt * np, i = 1;
    double ts = std::numbers::pi / (nt + 1);
    double ps = 2.0 * std::numbers::pi / (np + 1);
    std::vector<double> tetha(N), phi(N), func(N);
    auto gen_func = [](double st, size_t& idx) {
        double v = st * idx;
        ++idx;
        return v;
    };
    auto print_func = [](const auto& r, std::string_view name) {
        std::cout << name << ": ";
        for (auto& el : r) {
            std::cout << el << " ";
        }
        std::cout << "\n";
    };
    // std::ranges::generate(tetha, std::bind(gen_func, ts, i));
    // i = 1;
    // std::ranges::generate(phi, std::bind(gen_func, ps, i));
    size_t k = 1;
    i = 0;
    for (size_t j = 0; j < nt; ++j) {
        std::ranges::fill_n(tetha.begin() + i * np, np, ts * (i + 1));
        std::ranges::generate(phi | std::views::drop(i * np) | std::views::take(np), std::bind(gen_func, ps, k));
        ++i;
        k = 1;
    }
    // std::uniform_real_distribution<double> distr{-0.1, 0.1};
    std::normal_distribution<double> distr{0.0, 1.0};
    std::random_device device;
    std::mt19937 engine{device()};
    std::ranges::generate(func, [ii = 0, &distr, &engine, &tetha, &phi]() mutable {
        double v = (5.0 + tetha[ii]) * 1.3 + (3.0 + phi[ii]) * 3.1 + distr(engine);
        ++ii;
        return v;
    });
    int ntk = 24, npk = 29, nf = (ntk + 4) * (npk + 4);
    // int ntk = 3, npk = 6, nf = (ntk + 4) * (npk + 4);
    std::vector<double> tk(ntk + 8), pk(npk + 8), coeffs(nf);
    ts = std::numbers::pi / (ntk + 1);
    ps = 2.0 * std::numbers::pi / (npk + 1);
    i = 1;
    std::ranges::generate(tk | std::views::drop(4) | std::views::take(ntk), std::bind(gen_func, ts, i));
    i = 1;
    std::ranges::generate(pk | std::views::drop(4) | std::views::take(npk), std::bind(gen_func, ps, i));
    double rs = 0.0;
    int ec = mcc::bsplines::fitpack_sphere_fit(tetha, phi, func, 1.0, tk, pk, coeffs, rs);
    std::cout << "FIT EC = " << ec << "\n";
    std::cout << "FIT RESI = " << rs << "\n";
    ntk += 8;
    npk += 8;
    std::ranges::fill(tk, -1);
    std::ranges::fill(pk, -1);
    ec = mcc::bsplines::fitpack_sphere_smooth(tetha, phi, func, 1.0, 1800.0, ntk, npk, tk, pk, coeffs, rs);
    std::cout << "FIT EC = " << ec << "\n";
    std::cout << "FIT RESI = " << rs << "\n";
    std::cout << "NKNOTS: " << ntk << ", " << npk << "\n";
    print_func(coeffs, "coeffs");
    // print_func(tetha, "tetha");
    // print_func(phi, "phi");
    print_func(tk, "tetha_knots");
    print_func(pk, "phi_knots");
    print_func(func, "func");
    std::cout << "\n\n";
    k = 1;
    ts = std::numbers::pi / (nt + 1);
    std::ranges::generate_n(tetha.begin(), nt, std::bind(gen_func, ts, k));
    std::vector<double> f_func;
    tetha.resize(nt);
    phi.resize(np);
    tk.resize(ntk);
    pk.resize(npk);
    print_func(tetha, "TETHA:");
    print_func(phi, "PHI:");
    ec = mcc::bsplines::fitpack_eval_spl2d(tk, pk, coeffs, tetha, phi, f_func);
    // ec = mcc::bsplines::fitpack_eval_spl2d(pk, tk, coeffs, phi, tetha, f_func);
    std::cout << "EVAL EC = " << ec << "\n";
    print_func(f_func, "func");
    std::cout << "\n\n";
    for (size_t l = 0; l < f_func.size(); ++l) {
        auto r = f_func[l] - func[l];
        std::cout << r << " ";
    }
    std::cout << "\n";
    return 0;
 }
--- a/tests/mcc_netmsg_test.cpp
+++ b/tests/mcc_netmsg_test.cpp
@@ -0,0 +1,77 @@
 #include <list>
 #include <print>
 #include <mcc/mcc_netserver_proto.h>
 int main()
 {
    using msg1_t = mcc::network::MccNetMessage<std::string_view>;
    using msg2_t = mcc::network::MccNetMessage<std::string>;
    mcc::network::MccNetMessage msg3("ACK");
    std::string_view sv{"TARGET 11:22:33.212; -0.23876984;    RADEC   "};
    std::vector<char> arr{sv.begin(), sv.end()};
    msg1_t msg1;
    msg1.fromCharRange(arr);
    std::println("msg.key = <{}>", msg1.keyword());
    std::println("msg.par[1] = <{}>", msg1.param(1));
    std::vector<double> vd{1.1, 2.2, 3.3};
    msg2_t msg2("ACK", 12.43298042, "EEE", std::chrono::seconds(10), vd);
    // msg2_t msg2("ACK");
    std::println("msg.bytes = <{}>", msg2.byteRepr());
    std::println("msg.key = <{}>", msg2.keyword());
    std::println("msg.par[1] = <{}>", msg2.param(1));
    std::println("msg.par[2] = <{}>", msg2.param(2));
    auto p2 = msg2.paramValue<std::chrono::seconds>(2);
    std::println("msg.parvalue[2] = <{}>", p2.value_or(std::chrono::seconds{}));
    std::print("msg.parvalue[3] = <");
    auto p3 = msg2.paramValue<decltype(vd)>(3);
    if (p3.has_value()) {
        for (auto const& el : p3.value()) {
            std::print("{} ", el);
        }
    }
    std::println(">");
    std::println("msg.par[1-2] joined = <{}>", msg2.params(1, 2));
    auto vv = msg2.params<std::list<std::string_view>>(1, 3);
    std::print("msg.par[1-3] array = <");
    for (auto const& el : vv) {
        std::print("{} ", el);
    }
    std::println(">");
    std::println("\n\n");
    mcc::impl::MccSkyPoint spt(mcc::impl::MccSkyRADEC_APP{"10:00:00.0"_hms, 12.098687_degs});
    msg2.construct("ACK", "MOUNT", mcc::MccSerializedAngleFormatPrec{3, 2}, spt);
    std::println("msg2.bytes = <{}>", msg2.byteRepr());
    auto spt_d = msg2.paramValue<mcc::impl::MccSkyPoint>(1);
    if (spt_d) {
        std::println("msg2.parvalue(1).pairKind() = {}", MccCoordPairKindToStr(spt_d->pairKind()));
        std::println("msg2.parvalue(1).epoch() = {}", spt_d->epoch().MJD() + mcc::MCC_MJD_ZERO);
    } else {
        std::println("cannot deserialize MccSkyPoint value!");
    }
    msg2.construct("ACK", "MOUNT", mcc::MccSerializedCoordPairFormat::MCC_SERIALIZED_FORMAT_DEGREES, spt);
    std::println("msg2.bytes = <{}>", msg2.byteRepr());
    return 0;
 }
--- a/tests/mcc_pzone_test.cpp
+++ b/tests/mcc_pzone_test.cpp
@@ -1,8 +1,8 @@
 #include <iostream>
-#include <mcc_coordinate.h>
+#include <mcc/mcc_coordinate.h>
-#include <mcc_pzone.h>
+#include <mcc/mcc_pzone.h>
-#include <mcc_pzone_container.h>
+#include <mcc/mcc_pzone_container.h>
 using namespace mcc::impl;
--- a/tests/mcc_telemetry_test.cpp
+++ b/tests/mcc_telemetry_test.cpp
@@ -2,9 +2,9 @@
 #include <random>
-#include <mcc_pcm.h>
+#include <mcc/mcc_pcm.h>
-#include <mcc_telemetry.h>
+#include <mcc/mcc_serializer.h>
-
+#include <mcc/mcc_telemetry.h>
 static std::random_device rd;
 static std::mt19937 gen(rd());
@@ -14,7 +14,11 @@ static std::uniform_real_distribution<double> y_distrib(1000, 7000);
 static std::uniform_real_distribution<double> xs_distrib(100, 700);
 static std::uniform_real_distribution<double> ys_distrib(100, 700);
 static std::uniform_int_distribution<uint8_t> err_distrib(0, 255);
 struct hw_t {
    static constexpr mcc::MccMountType hwMountType{mcc::MccMountType::ALTAZ_TYPE};
    static constexpr std::string_view hardwareName{"HW-TEST"};
    typedef int error_t;
@@ -52,15 +56,47 @@ struct hw_t {
        *state = hardware_state_t{.XY{x_distrib(gen), y_distrib(gen)}, .speedXY{xs_distrib(gen), ys_distrib(gen)}};
-        return 0;
+        // return 0;
        return err_distrib(gen) < 5 ? 1 : 0;
    }
    error_t hardwareInit()
    {
        return 0;
    }
    error_t hardwareShutdown()
    {
        return 0;
    }
 };
 template <>
 struct std::formatter<hw_t::hardware_movement_state_t, char> : std::formatter<std::string_view> {
    auto format(hw_t::hardware_movement_state_t e, auto& ctx) const
    {
        return formatter<std::string_view>::format(e == hw_t::hardware_movement_state_t::HW_MOVE_ERROR      ? "ERROR"
                                                   : e == hw_t::hardware_movement_state_t::HW_MOVE_STOPPED  ? "STOPPED"
                                                   : e == hw_t::hardware_movement_state_t::HW_MOVE_STOPPING ? "STOPPING"
                                                   : e == hw_t::hardware_movement_state_t::HW_MOVE_SLEWING  ? "SLEWING"
                                                   : e == hw_t::hardware_movement_state_t::HW_MOVE_TRACKING ? "TRACKING"
                                                                                                            : "UNKNOWN",
                                                   ctx);
    }
 };
 // template <>
 // struct std::formatter<hw_t::hardware_movement_state_t, char>
 //     : std::formatter<std::underlying_type_t<hw_t::hardware_movement_state_t>, char> {
 //     auto format(hw_t::hardware_movement_state_t e, auto& ctx) const
 //     {
 //         return formatter<std::underlying_type_t<hw_t::hardware_movement_state_t>>::format(
 //             std::underlying_type_t<hw_t::hardware_movement_state_t>(e), ctx);
 //     }
 // };
 static_assert(mcc::mcc_hardware_c<hw_t>, "!!!!!");
@@ -86,5 +122,18 @@ int main()
        }
    }
    mcc::impl::MccSerializer<typename t_t::telemetry_data_t> ser;
    std::string str;
    auto err = ser(str, tdata);
    if (err) {
        std::cout << "ERR: " << err.message() << "\n";
    } else {
        std::cout << "\n\n";
        std::cout << str << "\n";
    }
    return 0;
 }
Author	SHA1	Message	Date
Timur A. Fatkhullin	9ad5bfb09b	...	2026-03-18 23:34:46 +03:00
Timur A. Fatkhullin	40d36545f3	...	2026-03-18 19:00:23 +03:00
Timur A. Fatkhullin	3dbd68b21c	...	2026-03-17 17:18:11 +03:00
Timur A. Fatkhullin	617bcec1a1	MccDefaultPCM: reverse PCM is computed with using partial derivatives (start developing)	2026-03-17 00:23:44 +03:00
Timur A. Fatkhullin	28352f6c64	...	2026-03-12 23:50:47 +03:00
Timur A. Fatkhullin	0ee87ccbf9	...	2026-03-12 22:20:56 +03:00
Timur A. Fatkhullin	f2aad0807d	fix addToPath	2026-03-12 10:44:34 +03:00
Timur A. Fatkhullin	de097d6db2	MccMovementPathFile: addToPath(mcc_telemetry_data_c auto const& tdata) add mount current speed saving	2026-03-11 22:49:24 +03:00
Timur A. Fatkhullin	be69df5068	fix trajectory file saving	2026-03-04 14:35:10 +03:00
Timur A. Fatkhullin	5d498d47f8	...	2026-03-02 19:11:41 +03:00
Timur A. Fatkhullin	5e9e8897f0	...	2026-03-01 23:42:34 +03:00
Timur A. Fatkhullin	f72d0bc3f0	...	2026-02-28 10:39:49 +03:00
Timur A. Fatkhullin	d42fa37a04	rewrite MccGenericMovementControls class (single thread version)	2026-02-27 18:02:02 +03:00
Timur A. Fatkhullin	ba03832ce6	add hardwareShutdown method requirement to mcc_hardware_c concept	2026-02-27 14:24:45 +03:00
Timur A. Fatkhullin	3bd12bcf6d	...	2026-02-27 12:29:45 +03:00
Timur A. Fatkhullin	6199af6392	...	2026-02-26 22:13:23 +03:00
Timur A. Fatkhullin	4401616d44	...	2026-02-26 18:28:22 +03:00
Timur A. Fatkhullin	2f10fa2796	...	2026-02-26 14:20:30 +03:00
Timur A. Fatkhullin	8aa58b727b	...	2026-02-26 12:13:39 +03:00
Timur A. Fatkhullin	d9cb52f755	...	2026-02-25 18:08:21 +03:00
Timur A. Fatkhullin	09a234ddc9	...	2026-02-25 10:58:01 +03:00
Timur A. Fatkhullin	76cebec136	...	2026-02-24 17:43:38 +03:00
Timur A. Fatkhullin	e0b3ef225d	...	2026-02-23 11:38:23 +03:00
Timur A. Fatkhullin	32ed709222	...	2026-02-20 17:39:25 +03:00
Timur A. Fatkhullin	f8162779d6	...	2026-02-20 14:44:14 +03:00
Timur A. Fatkhullin	e6004a6c8a	...	2026-02-20 12:08:21 +03:00
Timur A. Fatkhullin	099c6056d7	...	2026-02-19 18:49:30 +03:00
Timur A. Fatkhullin	18e6a99267	...	2026-02-18 18:50:55 +03:00
Timur A. Fatkhullin	889d4ff3b2	...	2026-02-18 16:22:58 +03:00
Timur A. Fatkhullin	53245002c5	...	2026-02-18 14:14:32 +03:00
Timur A. Fatkhullin	d11222a07f	...	2026-02-18 12:12:48 +03:00
Timur A. Fatkhullin	0ffee8eceb	...	2026-02-18 11:04:35 +03:00
Timur A. Fatkhullin	de98ead539	...	2026-02-18 10:49:27 +03:00
Timur A. Fatkhullin	2f80bcc78b	...	2026-02-18 00:08:19 +03:00
Timur A. Fatkhullin	408d23c376	...	2026-02-17 23:54:46 +03:00
Timur A. Fatkhullin	b98063b229	...	2026-02-17 23:22:46 +03:00
Timur A. Fatkhullin	00c7641d50	...	2026-02-17 22:35:56 +03:00
Timur A. Fatkhullin	af5d852db9	...	2026-02-17 22:02:27 +03:00
Timur A. Fatkhullin	1a8e1bbed0	...	2026-02-17 18:27:57 +03:00
Timur A. Fatkhullin	578339fd8b	...	2026-02-17 16:24:33 +03:00
Timur A. Fatkhullin	775dedd835	...	2026-02-17 15:59:14 +03:00
Timur A. Fatkhullin	1841664b63	...	2026-02-17 15:01:16 +03:00
Timur A. Fatkhullin	5cfa67d6a1	...	2026-02-17 15:00:45 +03:00
Timur A. Fatkhullin	8dd5e4751c	...	2026-02-17 14:42:48 +03:00
Timur A. Fatkhullin	b1c5b64879	...	2026-02-17 14:41:42 +03:00
Timur A. Fatkhullin	c5299d06bb	...	2026-02-17 14:23:10 +03:00
Timur A. Fatkhullin	5202f8dc84	...	2026-02-17 14:13:42 +03:00
Timur A. Fatkhullin	ec7b7d8506	...	2026-02-17 14:08:46 +03:00
Timur A. Fatkhullin	cc57643315	...	2026-02-17 14:02:02 +03:00
Timur A. Fatkhullin	dce1c62419	...	2026-02-17 13:56:53 +03:00
Timur A. Fatkhullin	d1a31fc52c	...	2026-02-17 11:41:04 +03:00
Timur A. Fatkhullin	7049317539	...	2026-02-17 11:38:15 +03:00
Timur A. Fatkhullin	c174021c40	...	2026-02-16 22:44:29 +03:00
Timur A. Fatkhullin	7b110fb7ff	...	2026-02-16 22:19:48 +03:00
Timur A. Fatkhullin	dff70225ef	...	2026-02-16 22:00:08 +03:00
Timur A. Fatkhullin	452bd1c3e4	...	2026-02-16 21:48:22 +03:00
Timur A. Fatkhullin	26011e7630	...	2026-02-16 18:38:59 +03:00
Timur A. Fatkhullin	82f1477edd	...	2026-02-16 01:33:06 +03:00
Timur A. Fatkhullin	66e5f37c74	move headers to include/mcc to match duild and deploy configurations move mcc_bsplines.h from fitpack to include/mcc rewrite CMakeLists.txt to incorporate these changes	2026-02-15 20:43:51 +03:00
Timur A. Fatkhullin	6ffc8e3582	...	2026-02-13 16:24:15 +03:00
Timur A. Fatkhullin	accbeff765	...	2026-02-13 09:57:10 +03:00
Timur A. Fatkhullin	affaf176e5	...	2026-02-12 23:33:42 +03:00
Timur A. Fatkhullin	700ed63169	...	2026-02-12 09:25:40 +03:00
Timur A. Fatkhullin	9fbfb0d0b3	...	2026-02-12 00:36:20 +03:00
Timur A. Fatkhullin	7cc2c5e2a3	...	2026-02-11 22:44:17 +03:00
Timur A. Fatkhullin	4e08d985c9	...	2026-02-11 18:22:06 +03:00
Timur A. Fatkhullin	652fbd0890	...	2026-02-11 12:07:27 +03:00
Timur A. Fatkhullin	b1df84a87f	...	2026-02-10 19:12:16 +03:00
Timur A. Fatkhullin	5df3dcf596	...	2026-02-09 23:42:24 +03:00
Timur A. Fatkhullin	07cf211b3d	...	2026-02-08 21:50:48 +03:00
Timur A. Fatkhullin	86bb53d358	...	2026-02-06 17:47:48 +03:00
Timur A. Fatkhullin	97b908838c	...	2026-02-06 00:09:15 +03:00
Timur A. Fatkhullin	6352865610	...	2026-02-05 10:35:24 +03:00
Timur A. Fatkhullin	593a914d8d	...	2026-02-04 18:29:08 +03:00
Timur A. Fatkhullin	5b4456d6ef	...	2026-02-02 19:43:18 +03:00