...

include/mcc/mcc_concepts.h

@@ -505,8 +505,14 @@ template <typename T>
 concept mcc_skypoint_c = std::derived_from<T, mcc_skypoint_interface_t> && requires(const T t_const) {
     { t_const.epoch() } -> mcc_coord_epoch_c;
 
-    // currently stored coordinates pair
+    // currently stored coordinates pair kind
     { 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>;
 };
 
 
@@ -656,6 +662,14 @@ 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)>;
 
+
+    // the 'T' class must contain static constexpr member of 'MccMountType' type
+    requires std::same_as<decltype(T::mountType), const MccMountType>;
+    []() {
+        [[maybe_unused]] static constexpr MccMountType val = T::mountType;
+    }();  // to ensure 'mountType' can be used in compile-time context
+
+
     // 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
     // a possible tunning of hardware hardwareSetState-related commands and detect the stop and error states from
@@ -804,14 +818,14 @@ 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 getTarget(this SelfT&& self, mcc_skypoint_c auto* pt)
+    RetT getPointingTarget(this SelfT&& self, mcc_skypoint_c auto* pt)
     {
         return std::forward<SelfT>(self).getTarget(pt);
     }

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                    */
@@ -423,6 +433,17 @@ 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)
     {

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 '}':

include/mcc/mcc_movement_controls.h

@@ -271,7 +271,7 @@ protected:
 
     private:
         std::string _filename;
-        std::istringstream _st;
+        std::ostringstream _st;
     };
 
 
@@ -283,29 +283,33 @@ public:
     template <mcc_hardware_c HARDWARE_T,
               mcc_generic_mount_c MOUNT_T,  // MOUNT_T is mcc_telemetry_c, mcc_pzone_container_c and mcc_logger_c
                                             // (see mcc_concepts.h)
-              mcc_mount_status_c STATUS_T,
+              std::invocable<typename MOUNT_T::mount_status_t const&> CallbackFuncT =
-              std::invocable<STATUS_T const&> CallbackFuncT = decltype([](STATUS_T const&) {})>
+                  decltype([](typename MOUNT_T::mount_status_t const&) {})>
     MccSimpleMovementControls(
         HARDWARE_T* hardware,
         MOUNT_T* mount,
-        CallbackFuncT&& mode_switch_callback = [](STATUS_T const&) {})
+        CallbackFuncT&& mode_switch_callback = [](typename MOUNT_T::mount_status_t const&) {})
-        : MccSimpleMovementControls(hardware, mount, mount, mode_switch_callback, *mount)
+        : MccSimpleMovementControls(hardware, mount, mount, std::forward<CallbackFuncT>(mode_switch_callback), mount)
     {
     }
 
     template <mcc_hardware_c HARDWARE_T,
               mcc_telemetry_c TELEMETRY_T,
               mcc_pzone_container_c PZONE_CONT_T,
-              mcc_mount_status_c STATUS_T,
+              typename CallbackFuncT,
-              std::invocable<STATUS_T const&> CallbackFuncT = decltype([](STATUS_T const&) {}),
               mcc_logger_c LOGGER_T = MccNullLogger>
-    MccSimpleMovementControls(
+    MccSimpleMovementControls(HARDWARE_T* hardware,
-        HARDWARE_T* hardware,
+                              TELEMETRY_T* telemetry,
-        TELEMETRY_T* telemetry,
+                              PZONE_CONT_T* pzone_cont,
-        PZONE_CONT_T* pzone_cont,
+                              CallbackFuncT&& mode_switch_callback,
-        CallbackFuncT&& mode_switch_callback = [](STATUS_T const&) {},
+                              LOGGER_T* logger = &details::NullLogger)
-        LOGGER_T* logger = &details::NullLogger)
     {
+        static_assert(traits::mcc_func_traits<CallbackFuncT>::arity == 1 &&
+                          mcc_mount_status_c<std::decay_t<traits::mcc_func_arg1_t<CallbackFuncT>>>,
+                      "INVALID 'CallbackFuncT' CALLABLE SIGNATURE!");
+
+        using STATUS_T = std::decay_t<traits::mcc_func_arg1_t<CallbackFuncT>>;
+
         auto send_to_hardware = [hardware, logger](typename HARDWARE_T::hardware_state_t const& hw_state) -> error_t {
             if constexpr (std::derived_from<decltype(hw_state.XY), MccCoordPair<MccAngleX, MccAngleY>>) {
                 logger->logDebug(std::format("Send to hardware: X = {} degs, Y = {} degs", hw_state.XY.x().degrees(),
@@ -372,14 +376,14 @@ public:
 
             static_assert(!std::is_null_pointer_v<decltype(mount_pos)>, "UNKNOWn MOUNT TYPE");
 
-            mount_pos.setX(tdata.hwState.XY.x() + tdata.pcmCorrection.x + dx);
+            mount_pos.setX((double)tdata.hwState.XY.x() + tdata.pcmCorrection.pcmX + dx);
-            mount_pos.setY(tdata.hwState.XY.y() + tdata.pcmCorrection.y + dy);
+            mount_pos.setY((double)tdata.hwState.XY.y() + tdata.pcmCorrection.pcmY + dy);
             mount_pos.setEpoch(tdata.hwState.XY.epoch());
 
             logger->logTrace(std::format("    mount:  speedX = {}/s, speedY = {}/s", MccAngleFancyString(speedX),
                                          MccAngleFancyString(speedY)));
 
-            auto pz_err = pzone_cont->inPZone(mount_pos, &in_zone, &in_zone_vec);
+            auto pz_err = pzone_cont->inPZone(MccSkyPoint(mount_pos), &in_zone, &in_zone_vec);
             if (pz_err) {
                 return mcc_deduced_err(pz_err, MccSimpleMovementControlsErrorCode::ERROR_PZONE_CONTAINER_COMP);
             }
@@ -433,7 +437,7 @@ public:
         };
 
 
-        auto log_pos = [logger, this](typename TELEMETRY_T::telemetry_data_t const& tdata) {
+        auto log_pos = [logger, this](typename TELEMETRY_T::telemetry_data_t const& tdata) -> error_t {
             double x_mnt, y_mnt, x_tag, y_tag;
 
             std::conditional_t<mccIsEquatorialMount(HARDWARE_T::mountType), MccSkyHADEC_OBS,
@@ -470,9 +474,11 @@ public:
             logger->logTrace(std::format("    current mount: {} = {}, {} = {}", x_str, coord_pair.x().sexagesimal(true),
                                          y_str, coord_pair.y().sexagesimal()));
 
-            _pathFile << tdata.mountPos.epoch().UTC.time_since_epoch().count() << " " << x_tag << " " << y_tag << " "
+            _pathFile << tdata.mountPos.epoch().UTC().time_since_epoch().count() << " " << x_tag << " " << y_tag << " "
                       << x_mnt << " " << y_mnt << " " << (x_tag - x_mnt) << " " << (y_tag - y_mnt) << " "
                       << (int)tdata.hwState.movementState << "\n";
+
+            return MccSimpleMovementControlsErrorCode::ERROR_OK;
         };
 
         auto cb_sptr =
@@ -593,8 +599,10 @@ public:
 
             (*cb_sptr)(STATUS_T::MOUNT_STATUS_SLEWING);
 
-            auto start_point = tdata.hwState.XY.epoch().UTC();  // needed for trajectory file
+            auto start_point = std::chrono::steady_clock::now();
-            auto last_hw_time = start_point;
+            auto last_hw_time = tdata.hwState.XY.epoch().UTC();
+
+            mcc_deduced_coord_pair_t<HARDWARE_T::mountType> tag_cp, mnt_cp;
 
             while (!*_stopMoving) {
                 t_err = telemetry->telemetryData(&tdata);
@@ -641,8 +649,16 @@ public:
 
                     last_hw_time = tdata.hwState.XY.epoch().UTC();
 
-                    auto dist = utils::distanceOnSphere(tdata.targetPos.x(), tdata.targetPos.y(), tdata.mountPos.x(),
+                    auto ccte_err = tdata.targetPos.to(tag_cp);
-                                                        tdata.mountPos.y());
+                    if (ccte_err) {
+                        *_lastError = mcc_deduced_err(ccte_err, MccSimpleMovementControlsErrorCode::ERROR_CCTE_COMP);
+                    }
+                    ccte_err = tdata.mountPos.to(mnt_cp);
+                    if (ccte_err) {
+                        *_lastError = mcc_deduced_err(ccte_err, MccSimpleMovementControlsErrorCode::ERROR_CCTE_COMP);
+                    }
+
+                    auto dist = utils::distanceOnSphere(tag_cp.x(), tag_cp.y(), mnt_cp.x(), mnt_cp.y());
 
                     logger->logTrace(std::format("    target-to-mount distance: {} (dx = {}, dy = {})",
                                                  MccAngleFancyString(std::get<2>(dist)), std::get<0>(dist),
@@ -650,7 +666,7 @@ public:
 
 
                     // stop slewing and exit from the cycle?
-                    if (dist <= _currentParams.slewToleranceRadius) {
+                    if (std::get<2>(dist) <= _currentParams.slewToleranceRadius) {
                         if (tdata.hwState.movementState == HARDWARE_T::hardware_movement_state_t::HW_MOVE_STOPPED ||
                             tdata.hwState.movementState == HARDWARE_T::hardware_movement_state_t::HW_MOVE_GUIDING) {
                             logger->logInfo("target-to-mount distance is lesser than slew acceptable radius - exit!");
@@ -701,8 +717,18 @@ public:
                     return;
                 }
 
-                auto dist = utils::distanceOnSphere(tdata.targetPos.x(), tdata.targetPos.y(), tdata.mountPos.x(),
+                auto ccte_err = tdata.targetPos.to(tag_cp);
-                                                    tdata.mountPos.y());
+                if (ccte_err) {
+                    *_lastError = mcc_deduced_err(ccte_err, MccSimpleMovementControlsErrorCode::ERROR_CCTE_COMP);
+                    return;
+                }
+                ccte_err = tdata.mountPos.to(mnt_cp);
+                if (ccte_err) {
+                    *_lastError = mcc_deduced_err(ccte_err, MccSimpleMovementControlsErrorCode::ERROR_CCTE_COMP);
+                    return;
+                }
+
+                auto dist = utils::distanceOnSphere(tag_cp.x(), tag_cp.y(), mnt_cp.x(), mnt_cp.y());
 
                 log_pos(tdata);
 

include/mcc/mcc_netserver.h

@@ -38,6 +38,7 @@
 
 
 #include "mcc_concepts.h"
+#include "mcc_coordinate.h"
 #include "mcc_netserver_endpoint.h"
 #include "mcc_netserver_proto.h"
 #include "mcc_traits.h"
@@ -90,6 +91,8 @@ struct MccGenericMountNetworkServerErrorCategory : std::error_category {
             defaut:
                 return "unknown";
         };
+
+        return "unknown";
     }
 
     static const MccGenericMountNetworkServerErrorCategory& get()
@@ -1088,7 +1091,7 @@ protected:
                     if (vc) {  // set operation
                         auto m_err = mount_ptr->setPointingTarget(vc.value());
                         if (m_err) {
-                            err = mcc_deduce_err(m_err, MccGenericMountNetworkServerErrorCode::ERROR_MOUNT_SET_TARGET);
+                            err = mcc_deduced_err(m_err, MccGenericMountNetworkServerErrorCode::ERROR_MOUNT_SET_TARGET);
                         } else {
                             output_msg.construct(MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, input_msg.byteRepr());
                         }
@@ -1182,10 +1185,10 @@ protected:
 
         auto t_err = mount->telemetryData(&tdata);
         if (t_err) {
-            return mcc_deduce_err(t_err, MccGenericMountNetworkServerErrorCode::ERROR_MOUNT_GET_TELEMETRY);
+            return mcc_deduced_err(t_err, MccGenericMountNetworkServerErrorCode::ERROR_MOUNT_GET_TELEMETRY);
         }
 
-        auto get_coords = [&]<mcc_coord_pair_c T>(T& cp) {
+        auto get_coords = [&]<mcc_coord_pair_c T>(T& cp) -> std::error_code {
             cp.setEpoch(tdata.mountPos.epoch());
 
             if (target) {

include/mcc/mcc_telemetry.h

@@ -315,7 +315,7 @@ public:
         }
     }
 
-    error_t setTarget(mcc_skypoint_c auto const& sp)
+    error_t setPointingTarget(mcc_skypoint_c auto const& sp)
     {
         _enteredTargetPos = sp;
 
@@ -323,7 +323,7 @@ public:
     }
 
 
-    error_t getTarget(mcc_skypoint_c auto* sp)
+    error_t getPointingTarget(mcc_skypoint_c auto* sp)
     {
         sp = _enteredTargetPos;