MagAOXApp.hpp

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/** \file magAOXApp.hpp
 * \brief The basic MagAO-X Application
 * \author Jared R. Males (jaredmales@gmail.com)
 *
 * History:
 * - 2017-12-24 created by JRM
 *
 * \ingroup app_files
 */
 
#ifndef app_MagAOXApp_hpp
#define app_MagAOXApp_hpp
 
#include <signal.h>
#include <sys/stat.h>
#include <sys/syscall.h>
 
#include <cstdlib>
#include <fstream>
#include <sstream>
#include <thread>
#include <mutex>
 
#include <unordered_map>
 
#include <mx/mxlib.hpp>
#include <mx/app/application.hpp>
#include <mx/sys/environment.hpp>
#include <mx/sys/timeUtils.hpp>
#include <mx/ioutils/fileUtils.hpp>
 
#include "../common/environment.hpp"
#include "../common/paths.hpp"
#include "../common/defaults.hpp"
#include "../common/config.hpp"
 
#include "../logger/logFileRaw.hpp"
#include "../logger/logManager.hpp"
 
#include "../sys/thSetuid.hpp"
 
#include "stateCodes.hpp"
#include "indiDriver.hpp"
#include "indiMacros.hpp"
#include "indiUtils.hpp"
 
using namespace mx::app;
 
using namespace MagAOX::logger;
 
namespace MagAOX
{
namespace app
{
 
/// The base-class for MagAO-X applications.
/**
 * You can define a base configuration file for this class by defining
 * \code
 *  m_configBase = "base_name";
 *  \endcode
 * in the derived class constructor. This would be used, for instance to have a config common to
 * all filter wheels.
 *
 *
 * \todo make m_powerMgtEnabled a template parameter, and static_assert check if _useINDI== false and power management
 * is true
 *
 * \ingroup magaoxapp
 */
template <bool _useINDI = true>
class MagAOXApp : public application
{
    friend class MagAOXApp_test;
 
  public:
    /// The log manager type.
    typedef logger::logManager<MagAOXApp<_useINDI>, logFileRaw> logManagerT;
 
  protected:
    std::string MagAOXPath; ///< The base path of the MagAO-X system.
 
    std::string m_configName; ///< The name of the configuration file (minus .conf).
 
    std::string m_configDir; ///< The path to configuration files for MagAOX.
 
    std::string m_configBase; ///< The name of a base config class for this app (minus .conf).
 
    std::string m_calibDir; ///< The path to calibration files for MagAOX.
 
    std::string sysPath; ///< The path to the system directory, for PID file, etc.
 
    std::string secretsPath; ///< Path to the secrets directory, where passwords, etc, are stored.
 
    unsigned long m_loopPause{ MAGAOX_default_loopPause }; /**< The time in nanoseconds to pause the main loop.
                                                                The appLogic() function of the derived class is called
                                                                every m_loopPause nanoseconds.  Default is
                                                                1,000,000,000 ns.  Config with loopPause=X.*/
 
    int m_shutdown{ 0 }; ///< Flag to signal it's time to shutdown.  When not 0, the main loop exits.
 
  private:
    /// Default c'tor is deleted.
    MagAOXApp() = delete;
 
  public:
    /// Public c'tor.  Handles uid, logs git repo status, and initializes static members.
    /**
     * Only one MagAOXApp can be instantiated per program.  Hence this c'tor will issue exit(-1)
     * if the static self-pointer m_self is already initialized.
     *
     * euid is set to 'real' to ensure that the application has normal privileges unless
     * explicitly needed.
     *
     * Reference: http://man7.org/linux/man-pages/man2/getresuid.2.html
     *
     * The git repository status is required to create a MagAOXApp.  Derived classes
     * should include the results of running `gengithead.sh` and pass the defined
     * sha1 and modified flags.
     *
     */
    MagAOXApp( const std::string &git_sha1, ///< [in] The current SHA1 hash of the git repository
               const bool git_modified      ///< [in] Whether or not the repo is modified.
    );
 
    ~MagAOXApp() noexcept( true );
 
    /// Get the value of the shutdown flag.
    /**
     * \returns the current value of m_shutdown
     */
    int shutdown();
 
    /// Set the paths for config files
    /** Replaces the mx::application defaults with the MagAO-X config system.
     *
     * This function parses the CL for "-n" or "--name".
     *
     *
     * Do not override this unless you intend to depart from the MagAO-X standard.
     */
    virtual void setDefaults( int argc,   ///< [in] standard command line result specifying number of arguments in argv
                              char **argv ///< [in] standard command line result containing the arguments.
    );
 
    /// The basic MagAO-X configuration setup method.  Should not normally be overridden.
    /** This method sets up the config system with the standard MagAO-X key=value pairs.
     *
     * Though it is virtual, it should not normally be overridden unless you need
     * to depart from the MagAO-X standard.
     *
     * Setting up app specific config goes in setupConfig() implemented in the derived class.
     */
    virtual void setupBasicConfig();
 
    /// The basic MagAO-X configuration processing method.  Should not normally be overridden.
    /** This method processes the standard MagAO-X key=value pairs.
     *
     * Though it is virtual, it should not normally be overridden unless you need
     * to depart from the MagAO-X standard.
     *
     * Processing of app specific config goes in loadConfig() implemented by the derived class.
     */
    virtual void loadBasicConfig();
 
    /// Check for unused and unrecognized config options and settings.
    /** Logs the unused targets as warnings.  Unrecognized and unused options are logged as critical, and m_shutdown is
     * set. Any command line argument (not an option) will also be critical and cause shutdown.
     */
    virtual void checkConfig();
 
    /// The execute method implementing the standard main loop.  Should not normally be overridden.
    /** Performs final startup steps.  That is:
     * - Verifies correct effective user-id by comparison to logs directory.
     * - PID locking lockPID()
     * - log thread startup by logThreadStart()
     * - signal handling installation by setSigTermHandler()
     * - appStartup() is called
     * - INDI communications started by startINDI()
     * - power state is checked, pausing if unknown (if being managed)
     *
     * Errors in the above steps will cause a process exit.
     *
     * Then commences the main event loop.
     * Conditions on entry to the main loop:
     * - PID locked
     * - Log thread running
     * - Signal handling installed
     * - appStartup successful
     * - INDI communications started successfully (if being used)
     * - power state known (if being managed)
     *
     * In the event loop, the power state is checked (if being managed).  If power is off, then onPowerOff is called.
     * If power is on, or power is not managed, appLogic is called.  These methods are implemented in derived classes,
     * and are called every m_loopPause interval.
     *
     * If an error is returned by either onPowerOff or appLogic, or a signal is handled, then the shutdown is managed.
     * This includes shutting down INDI, calling appShutdown, and unlocking the PID.  The log thread will shutdown.
     */
    virtual int execute();
 
    /** \name Pure Virtual Functions
     * Derived applications must implement these.
     * @{
     */
 
    /// Any tasks to perform prior to the main event loop go here.
    /** This is called after signal handling is installed.  FSM state is
     * stateCodes::INITIALIZED when this is called.
     *
     * Set m_shutdown = 1 on any fatal errors here.
     */
    virtual int appStartup() = 0;
 
    /// This is where derived applications implement their main FSM logic.
    /** This will be called every m_loopPause nanoseconds until the application terminates.
     *
     * FSM state will be whatever it is on exti from appStartup.
     *
     * Should return -1 on an any unrecoverable errors which will caues app to terminate.  Could also set m_shutdown=1.
     * Return 0 on success, or at least intent to continue.
     *
     */
    virtual int appLogic() = 0;
 
    /// Any tasks to perform after main loop exit go here.
    /** Should be able to handle case where appStartup and/or appLogic have not run.
     */
    virtual int appShutdown() = 0;
 
    ///@} -- Pure Virtual Functions
 
    /** \name Logging
     * @{
     */
  public:
    static logManagerT m_log;
 
    /// Make a log entry
    /** Wrapper for logManager::log
     *
     * \tparam logT the log entry type
     * \tparam retval the value returned by this method.
     *
     */
    template <typename logT, int retval = 0>
    static int log( const typename logT::messageT &msg,   ///< [in] the message to log
                    logPrioT level = logPrio::LOG_DEFAULT /**< [in] [optional] the log level.  The default
                                                                               is used if not specified.*/
    );
 
    /// Make a log entry
    /** Wrapper for logManager::log
     *
     * \tparam logT the log entry type
     * \tparam retval the value returned by this method.
     *
     */
    template <typename logT, int retval = 0>
    static int log( logPrioT level = logPrio::LOG_DEFAULT /**< [in] [optional] the log level.  The default is
                                                                               used if not specified.*/
    );
 
    /// Handle a log message from the logging system
    /** This is a callback from the logManager, and is called when the log thread is processing log entries.
     *
     * Decides whether to display to stderr and whether to send via INDI.
     */
    void logMessage( bufferPtrT &b );
 
  protected:
    /// Callback for config system logging.
    /** Called by appConfigurator each time a value is set using the config() operator.
     * You never need to call this directly.
     */
    static void configLog( const std::string &name,  ///< [in] The name of the config value
                           const int &code,          ///< [in] numeric code specifying the type
                           const std::string &value, ///< [in] the value read by the config system
                           const std::string &source ///< [in] the source of the value.
    );
 
    ///@} -- logging
 
    /** \name Signal Handling
     * @{libMagAOX/logger/types/software_log.hpp
     */
  private:
    static MagAOXApp
        *m_self; ///< Static pointer to this (set in constructor).  Used to test whether a a MagAOXApp is already
                 ///< instatiated (a fatal error) and used for getting out of static signal handlers.
 
    /// Sets the handler for SIGTERM, SIGQUIT, and SIGINT.
    int setSigTermHandler();
 
    /// The handler called when SIGTERM, SIGQUIT, or SIGINT is received.  Just a wrapper for handlerSigTerm.
    static void _handlerSigTerm( int signum,        ///< [in] specifies the signal.
                                 siginfo_t *siginf, ///< [in] ignored by MagAOXApp
                                 void *ucont        ///< [in] ignored by MagAOXApp
    );
 
    /// Handles SIGTERM, SIGQUIT, and SIGINT.  Sets m_shutdown to 1 and logs the signal.
    void handlerSigTerm( int signum,        ///< [in] specifies the signal.
                         siginfo_t *siginf, ///< [in] ignored by MagAOXApp
                         void *ucont        ///< [in] ignored by MagAOXApp
    );
 
    ///@} -- Signal Handling
 
    /** \name Privilege Management
     * @{
     */
  private:
    uid_t m_euidReal;   ///< The real user id of the proces (i.e. the lower privileged id of the user)
    uid_t m_euidCalled; ///< The user id of the process as called (i.e. the higher privileged id of the owner, root if
                        ///< setuid).
    uid_t m_suid;       ///< The save-set user id of the process
 
  protected:
    /// Internal class to manage setuid privilege escalation with RAII
    /** Upon construction this elevates to the called user id, root in a setuid process.
     * Restores privileges to real user id upon destruction (i.e. when it goes out of scope).
     */
    class elevatedPrivileges
    {
      private:
        MagAOXApp *m_app;
        bool m_elevated{ false };
 
      public:
        explicit elevatedPrivileges( MagAOXApp *app )
        {
            m_app = app;
            elevate();
        }
 
        void elevate()
        {
            if( m_elevated )
                return;
 
            m_app->setEuidCalled();
            m_elevated = true;
        }
 
        void restore()
        {
            if( !m_elevated )
                return;
 
            m_app->setEuidReal();
            m_elevated = false;
        }
 
        ~elevatedPrivileges()
        {
            restore();
        }
    };
 
  private:
    /// Set the effective user ID to the called value, i.e. the highest possible.
    /** If setuid is set on the file, this will be super-user privileges.
     *
     * Reference: http://pubs.opengroup.org/onlinepubs/009695399/functions/seteuid.html
     *
     * \returns 0 on success
     * \returns -1 on error from setuid().
     */
    int setEuidCalled();
 
    /// Set the effective user ID to the real value, i.e. the file owner.
    /**
     * Reference: http://pubs.opengroup.org/onlinepubs/009695399/functions/seteuid.html
     *
     * \returns 0 on success
     * \returns -1 on error from setuid().
     */
    int setEuidReal();
 
    ///@} -- Privilege Management
 
  protected:
    /** \name PID Locking
     *
     * Each MagAOXApp has a PID lock file in the system directory.  The app will not
     * startup if it detects that the PID is already locked, preventing duplicates.  This is
     * based on the configured name, not the invoked name (argv[0]).
     *
     * @{
     */
 
    std::string pidFileName; ///< The name of the PID file
 
    pid_t m_pid{ 0 }; ///< This process's PID
 
    /// Attempt to lock the PID by writing it to a file. Fails if a process is already running with the same config
    /// name.
    /** First checks the PID file for an existing PID.  If found, interrogates /proc to determine if that process is
     * running and if so if the command line matches.  If a matching process is currently running, then this returns an
     * error.
     *
     * Will not fail if a PID file exists but the stored PID does not correspond to a running process with the same
     * command line name.
     *
     * Reference: https://linux.die.net/man/3/getpid
     *
     * \returns 0 on success.
     * \returns -1 on any error, including creating the PID file or if this app is already running.
     */
    int lockPID();
 
    /// Remove the PID file.
    int unlockPID();
 
    ///@} -- PID Locking
 
    /** \name cpusets
     * The path to the cpusets mount is configured by the environment varialbe defined by MAGOX_env_cpuset
     * in environment.hpp.  This environment varialbe is normally named "CGROUPS1_CPUSET_MOUNTPOINT".  If
     * the environment variable is not set, the default defined by MAGAOX_cpusetPath in paths.hpp is used.
     * This is normally "/opt/MagAOX/cpuset/"
     */
 
    std::string m_cpusetPath{ MAGAOX_cpusetPath };
 
    /** \name Threads
     *
     * @{
     */
  public:
    /// Start a thread, using this class's privileges to set priority, etc.
    /**
      * The thread initialization synchronizer `bool` is set to true at the beginning
      * of this function, then is set to false once all initialization is complete.  The
      * thread exec function should wait until this is false before doing _anything_ except
      * setting the pid.  This is to avoid privilege escalation bugs.
      *
      * The interface of the thread start function is:
      \code
      static void impl::myThreadStart( impl * o )
      {
         o->myThreadExec(); //A member function which actually executes the thread
      }
      \endcode
      * where `impl` is the derived class, and `mThreadStart` and `myThreadExec` are members
      * of `impl`.
      *
      * \returns 0 on success
      * \returns -1 on error
      */
    template <class thisPtr, class Function>
    int threadStart( std::thread &thrd,           /**< [out] The thread object to start executing */
                     bool &thrdInit,              /**< [in/out] The thread initilization synchronizer. */
                     pid_t &tpid,                 /**< [in/out] The thread pid to be filled in by thrdStart
                                                                 immediately upon call*/
                     pcf::IndiProperty &thProp,   /**< [in/out] The INDI property to publish the thread details */
                     int thrdPrio,                /**< [in] The r/t priority to set for this thread */
                     const std::string &cpuset,   /**< [in] the cpuset to place this thread on.  Ignored if "". */
                     const std::string &thrdName, /**< [in] The name of the thread (just for logging) */
                     thisPtr *thrdThis,           /**< [in] The `this` pointer to pass to the thread starter function */
                     Function &&thrdStart         /**< [in] The thread starting function, a static function taking a
                                                            `this` pointer as argument. */
    );
 
    ///@} -- Threads
 
    /** \name Application State
     *
     * @{
     */
  private:
    stateCodes::stateCodeT m_state{ stateCodes::UNINITIALIZED }; ///< The application's state.  Never ever set this
                                                                 ///< directly, use state(const stateCodeT & s).
 
    bool m_stateAlert{ false }; // Flag to control whether the FSM is in an alert state.  Once set, only user
                                // acknowledgement can change this.
 
    bool m_gitAlert{ false }; // Flag set if there is a git modified warning to alert on.
 
    int m_stateLogged{ 0 }; /**< Counter and flag for use to log errors just once.
                                 Never ever access directly, use stateLogged().*/
 
  public:
    /// Get the current state code
    /** \returns m_state
     */
    stateCodes::stateCodeT state();
 
    /// Set the current state code
    /*
     * If it is a change, the state change is logged.  Also resets m_stateLogged to 0.
     *
     * Will also update INDI if there is a change.
     */
    void state( const stateCodes::stateCodeT &s, ///< [in] The new application state
                bool stateAlert = false          ///< [in] [optional] flag to set the alert state of the FSM property.
    );
 
    /// Updates and returns the value of m_stateLogged.  Will be 0 on first call after a state change, >0 afterwards.
    /** This method exists to facilitate logging the reason for a state change once, but not
      * logging it on subsequent event loops.  Returns the current value upon entry, but updates
      * before returning so that the next call returns the incremented value.  Example usage:
      * \code
        if( connection_failed ) //some condition set this to true
        {
           state( stateCodes::NOTCONNECTED );
           if(!stateLogged()) log<text_log>("Not connected");
        }
        \endcode
      * In this example, the log entry is made the first time the state changes.  If there are no changes to a
      * different state in the mean time, then when the event loop gets here again and decides it is not connected,
      * the log entry will not be made.
      *
      * \returns current value of m_stateLogged, that is the value before it is incremented.
      */
    int stateLogged();
 
    ///@} --Application State
 
  private:
    /// Clear the FSM alert state.
    /** This can only be done from within this class, and this
     * should only be possible via user action via INDI.
     */
    int clearFSMAlert();
 
    /** \name INDI Interface
     *
     * For reference: "Get" and "New" refer to properties we own. "Set" refers to properties owned by others.
     * So we respond to GetProperties by listing our own properties, and NewProperty is a request to change
     * a property we own.  Whereas SetProperty is a notification that someone else has changed a property.
     *
     * @{
     */
  protected:
    /// Flag controlling whether INDI is used.  If false, then no INDI code executes.
    constexpr static bool m_useINDI = _useINDI;
 
    ///\todo instead of making this public, provide an accessor.
  public:
    /// The INDI driver wrapper.  Constructed and initialized by execute, which starts and stops communications.
    indiDriver<MagAOXApp> *m_indiDriver{ nullptr };
 
    /// Mutex for locking INDI communications.
    std::mutex m_indiMutex;
 
  protected:
    /// Structure to hold the call-back details for handling INDI communications.
    struct indiCallBack
    {
        pcf::IndiProperty *property{ 0 };                            ///< A pointer to an INDI property.
        int ( *callBack )( void *, const pcf::IndiProperty & ){ 0 }; /**< The function to call for a new or
                                   set property.*/
 
        bool m_defReceived{ false }; /**< Flag indicating that a DefProperty has been received
                                          after a GetProperty.*/
    };
 
  public:
    /// Value type of the indiCallBack map.
    typedef std::pair<std::string, indiCallBack> callBackValueType;
 
    /// Iterator type of the indiCallBack map.
    typedef typename std::unordered_map<std::string, indiCallBack>::iterator callBackIterator;
 
    /// Return type of insert on the indiCallBack map.
    typedef std::pair<callBackIterator, bool> callBackInsertResult;
 
  protected:
    /// Map to hold the NewProperty indiCallBacks for this App, with fast lookup by property name.
    /** The key for these is the property name.
     */
    std::unordered_map<std::string, indiCallBack> m_indiNewCallBacks;
 
    /// Map to hold the SetProperty indiCallBacks for this App, with fast lookup by property name.
    /** The key for these is device.name
     */
    std::unordered_map<std::string, indiCallBack> m_indiSetCallBacks;
 
  protected:
    /// Flag indicating that all registered Set properties have been updated since last Get.
    bool m_allDefsReceived{ false };
 
    /// Full path name of the INDI driver input FIFO.
    std::string m_driverInName;
 
    /// Full path name of the INDI driver output FIFO.
    std::string m_driverOutName;
 
    /// Full path name of the INDI driver control FIFO.
    /** This is currently only used to signal restarts.
     */
    std::string m_driverCtrlName;
 
  public:
    /// Create a standard R/W INDI Text property with target and current elements.
    /**
     * \returns 0 on success
     * \returns -1 on error
     */
    int createStandardIndiText( pcf::IndiProperty &prop,       /**< [out] the property to create and setup */
                                const std::string &propName,   /**< [in] the name of the property */
                                const std::string &label = "", /**< [in] [optional] the GUI label suggestion for this
                                                                                    property */
                                const std::string &group = ""  /**< [in] [optional] the group for this property  */
    );
 
    /// Create a standard ReadOnly INDI Text property, with at least one element.
    /**
     * \returns 0 on success
     * \returns -1 on error
     */
    int
    createROIndiText( pcf::IndiProperty &prop,           ///< [out] the property to create and setup
                      const std::string &propName,       ///< [in] the name of the property
                      const std::string &elName,         ///< [in] the name of the element
                      const std::string &propLabel = "", ///< [in] [optional] the GUI label suggestion for this property
                      const std::string &propGroup = "", ///< [in] [optional] the group for this property
                      const std::string &elLabel = ""    ///< [in] [optional] the GUI label suggestion for the element
    );
 
    /// Create a standard R/W INDI Number property with target and current elements.
    /**
     * \returns 0 on success
     * \returns -1 on error
     */
    template <typename T>
    int createStandardIndiNumber( pcf::IndiProperty &prop,       /**< [out] the property to create and setup */
                                  const std::string &name,       /**< [in] the name of the property */
                                  const T &min,                  /**< [in] the minimum value for the elements, applied
                                                                           to both target and current */
                                  const T &max,                  /**< [in] the minimum value for the elements, applied
                                                                           to both target and current */
                                  const T &step,                 /**< [in] the step size for the elements, applied to
                                                                           both target and current */
                                  const std::string &format,     /**< [in] the _ value for the elements, applied to
                                                                           both target and current.  Set to "" to use
                                                                           the MagAO-X standard for type. */
                                  const std::string &label = "", /**< [in] [optional] the GUI label suggestion for
                                                                                      this property */
                                  const std::string &group = ""  /**< [in] [optional] the group for this property*/
    );
 
    /// Create a ReadOnly INDI Number property
    /**
     * \returns 0 on success
     * \returns -1 on error
     */
    int createROIndiNumber( pcf::IndiProperty &prop,           /**< [out] the property to create and setup */
                            const std::string &propName,       /**< [in] the name of the property */
                            const std::string &propLabel = "", /**< [in] [optional] the GUI label suggestion for this
                                                                                    property */
                            const std::string &propGroup = ""  /**< [in] [optional] the group for this property */
    );
 
    /// Create a standard R/W INDI switch with a single toggle element.
    /** This switch is intended to function like an on/off toggle switch.
     *
     * \returns 0 on success
     * \returns -1 on error
     */
    int createStandardIndiToggleSw( pcf::IndiProperty &prop,       /**< [out] the property to create and setup */
                                    const std::string &name,       /**< [in] the name of the property */
                                    const std::string &label = "", /**< [in] [optional] the GUI label suggestion for
                                                                                        this property */
                                    const std::string &group = ""  /**< [in] [optional] the group for this property */
    );
 
    /// Create a standard R/W INDI switch with a single request element.
    /** This switch is intended to function like a momentary switch.
     *
     * \returns 0 on success
     * \returns -1 on error
     */
    int createStandardIndiRequestSw( pcf::IndiProperty &prop,       /**< [out] the property to create and setup  */
                                     const std::string &name,       /**< [in] the name of the property */
                                     const std::string &label = "", /**< [in] [optional] the GUI label suggestion
                                                                                         for this property */
                                     const std::string &group = ""  /**< [in] [optional] the group for this property */
    );
 
    /// Create a standard R/W INDI selection (one of many) switch with vector of elements and element labels
    /** This switch is intended to function like drop down menu.
     *
     * \returns 0 on success
     * \returns -1 on error
     */
    int createStandardIndiSelectionSw( pcf::IndiProperty &prop, /**< [out] the property to create and setup */
                                       const std::string &name, /**< [in] the name of the property, */
                                       const std::vector<std::string> &elements, /**< [in] the element names to give to
                                                                                           the switches */
                                       const std::vector<std::string> &elementLabels, /**< [in] the element labels to
                                                                                                give to the switches */
                                       const std::string &label = "", /**< [in] [optional] the GUI label suggestion for
                                                                                           this property */
                                       const std::string &group = "" /**< [in] [optional] the group for this property */
    );
 
    /// Create a standard R/W INDI selection (one of many) switch with vector of elements using the element strings as
    /// their own labels
    /** This switch is intended to function like drop down menu.
     *
     * \returns 0 on success
     * \returns -1 on error
     */
    int createStandardIndiSelectionSw( pcf::IndiProperty &prop, ///< [out] the property to create and setup
                                       const std::string &name, ///< [in] the name of the property,
                                       const std::vector<std::string> &elements, /**< [in] the element names to give to
                                                                                           the switches */
                                       const std::string &label = "", /**< [in] [optional] the GUI label suggestion for
                                                                                           this property */
                                       const std::string &group = ""  ///< [in] [optional] the group for this property
    );
 
    /// Register an INDI property which is read only.
    /** This version requires the property be fully set up.
     *
     * \returns 0 on success.
     * \returns -1 on error.
     *
     */
    int registerIndiPropertyReadOnly( pcf::IndiProperty &prop /**< [in] the property to register, must be
                                                                       completely setup */ );
 
    /// Register an INDI property which is read only.
    /** This verison sets up the INDI property according to the arguments.
     *
     * \returns 0 on success.
     * \returns -1 on error.
     *
     */
    int registerIndiPropertyReadOnly( pcf::IndiProperty &prop,                              /**< [out] the property to
                                                                                                       register, will
                                                                                                       be configured */
                                      const std::string &propName,                          /**< [in] the name of the
                                                                                                      property */
                                      const pcf::IndiProperty::Type &propType,              /**< [in] the type of the
                                                                                                          property */
                                      const pcf::IndiProperty::PropertyPermType &propPerm,  /**< [in] the permissions
                                                                                                      of the property
                                                                                                      */
                                      const pcf::IndiProperty::PropertyStateType &propState /**< [in] the state of the
                                                                                                      property */
    );
 
    /// Register an INDI property which is exposed for others to request a New Property for.
    /** In this version the supplied IndiProperty must be fully set up before passing in.
     *
     * \returns 0 on success.
     * \returns -1 on error.
     *
     */
    int registerIndiPropertyNew( pcf::IndiProperty &prop,                       /**< [in] the property to register,
                                                                                          must be fully set up */
                                 int ( * )( void *, const pcf::IndiProperty & ) /**< [in] the callback for changing
                                                                                          the property */
    );
 
    /// Register an INDI property which is exposed for others to request a New Property for.
    /** This verison sets up the INDI property according to the arguments.
     *
     * \returns 0 on success.
     * \returns -1 on error.
     *
     */
    int registerIndiPropertyNew(
        pcf::IndiProperty &prop,                               ///< [out] the property to register
        const std::string &propName,                           ///< [in] the name of the property
        const pcf::IndiProperty::Type &propType,               ///< [in] the type of the property
        const pcf::IndiProperty::PropertyPermType &propPerm,   ///< [in] the permissions of the property
        const pcf::IndiProperty::PropertyStateType &propState, ///< [in] the state of the property
        int ( * )( void *, const pcf::IndiProperty & )         ///< [in] the callback for changing the property
    );
 
    /// Register an INDI property which is exposed for others to request a New Property for, with a switch rule
    /** This verison sets up the INDI property according to the arguments.
     *
     * \returns 0 on success.
     * \returns -1 on error.
     *
     */
    int registerIndiPropertyNew(
        pcf::IndiProperty &prop,                               ///< [out] the property to register
        const std::string &propName,                           ///< [in] the name of the property
        const pcf::IndiProperty::Type &propType,               ///< [in] the type of the property
        const pcf::IndiProperty::PropertyPermType &propPerm,   ///< [in] the permissions of the property
        const pcf::IndiProperty::PropertyStateType &propState, ///< [in] the state of the property
        const pcf::IndiProperty::SwitchRuleType &propRule,     ///< [in] the switch rule type
        int ( * )( void *, const pcf::IndiProperty & )         ///< [in] the callback for changing the property
    );
 
    /// Register an INDI property which is monitored for updates from others.
    /**
     *
     * \returns 0 on success.
     * \returns -1 on error.
     *
     */
    int registerIndiPropertySet(
        pcf::IndiProperty &prop,                       ///< [out] the property to register
        const std::string &devName,                    ///< [in] the device which owns this property
        const std::string &propName,                   ///< [in] the name of the property
        int ( * )( void *, const pcf::IndiProperty & ) ///< [in] the callback for processing the property change
    );
 
  protected:
    /// Create the INDI FIFOs
    /** Changes permissions to max available and creates the
     * FIFOs at the configured path.
     */
    int createINDIFIFOS();
 
    /// Start INDI Communications
    /**
     * \returns 0 on success
     * \returns -1 on error.  This is fatal.
     */
    int startINDI();
 
  public:
    void sendGetPropertySetList( bool all = false );
 
    /// Handler for the DEF INDI properties notification
    /** Uses the properties registered in m_indiSetCallBacks to process the notification.  This is called by
     * m_indiDriver's indiDriver::handleDefProperties.
     */
    void handleDefProperty( const pcf::IndiProperty &ipRecv /**< [in] The property being sent. */ );
 
    /// Handler for the get INDI properties request
    /** Uses the properties registered in m_indiCallBacks to respond to the request.  This is called by
     * m_indiDriver's indiDriver::handleGetProperties.
     */
    void handleGetProperties( const pcf::IndiProperty &ipRecv /**< [in] The property being requested. */ );
 
    /// Handler for the new INDI property request
    /** Uses the properties registered in m_indiCallBacks to respond to the request, looking up the callback for this
     * property and calling it.
     *
     * This is called by m_indiDriver's indiDriver::handleGetProperties.
     *
     * \todo handle errors, are they FATAL?
     */
    void handleNewProperty( const pcf::IndiProperty &ipRecv /**< [in] The property being changed. */ );
 
    /// Handler for the set INDI property request
    /**
     *
     * This is called by m_indiDriver's indiDriver::handleSetProperties.
     *
     * \todo handle errors, are they FATAL?
     */
    void handleSetProperty( const pcf::IndiProperty &ipRecv /**< [in] The property being changed. */ );
 
  protected:
    /// Update an INDI property element value if it has changed.
    /** Will only peform a SetProperty if the new element value has changed
     * compared to the stored value, or if the property state has changed.
     *
     * This comparison is done in the true
     * type of the value.
     *
     * For a property with multiple elements, you should use the vector version to minimize network traffic.
     */
    template <typename T>
    void updateIfChanged( pcf::IndiProperty &p,  ///< [in/out] The property containing the element to possibly update
                          const std::string &el, ///< [in] The element name
                          const T &newVal,       ///< [in] the new value
                          pcf::IndiProperty::PropertyStateType ipState = pcf::IndiProperty::Ok );
 
    /// Update an INDI property element value if it has changed.
    /** Will only peform a SetProperty if the new element value has changed
     * compared to the stored value, or if the property state has changed.
     *
     * This comparison is done in the true
     * type of the value.
     *
     * This is a specialization for `const char *` to `std::string`.
     *
     * For a property with multiple elements, you should use the vector version to minimize network traffic.
     * \overload
     */
    void updateIfChanged( pcf::IndiProperty &p,  ///< [in/out] The property containing the element to possibly update
                          const std::string &el, ///< [in] The element name
                          const char *newVal,    ///< [in] the new value
                          pcf::IndiProperty::PropertyStateType ipState = pcf::IndiProperty::Ok );
 
    /// Update an INDI switch element value if it has changed.
    /** Will only peform a SetProperty if the new element switch state has changed, or the propery state
     * has changed.
     *
     */
    void
    updateSwitchIfChanged( pcf::IndiProperty &p,  ///< [in/out] The property containing the element to possibly update
                           const std::string &el, ///< [in] The element name
                           const pcf::IndiElement::SwitchStateType &newVal, ///< [in] the new value
                           pcf::IndiProperty::PropertyStateType ipState = pcf::IndiProperty::Ok );
 
    /// Update an INDI property if values have changed.
    /** Will only peform a SetProperty if at least one value has changed
     * compared to the stored value, or if the property state has changed.
     *
     * Constructs the element names for each value as elX where X is the index of the vector.
     *
     * This comparison is done in the true
     * type of the value.
     *
     *
     * \overload
     */
    template <typename T>
    void updateIfChanged(
        pcf::IndiProperty &p,          ///< [in/out] The property containing the element to possibly update
        const std::string &el,         ///< [in] Beginning of each element name
        const std::vector<T> &newVals, ///< [in] the new values
        pcf::IndiProperty::PropertyStateType ipState = pcf::IndiProperty::Ok ///< [in] [optional] the new state
    );
 
    /// Update an INDI property if values have changed.
    /** Will only peform a SetProperty if at least one value has changed
     * compared to the stored value, or if the property state has changed.
     *
     * This comparison is done in the true
     * type of the value.
     *
     * \overload
     */
    template <typename T>
    void updateIfChanged( pcf::IndiProperty &p, ///< [in/out] The property containing the element to possibly update
                          const std::vector<std::string> &els, ///< [in] String vector of element names
                          const std::vector<T> &newVals,       ///< [in] the new values
                          pcf::IndiProperty::PropertyStateType newState =
                              pcf::IndiProperty::Ok ///< [in] [optional] The state of the property
    );
 
    /// Get the target element value from an new property
    /**
     * \returns 0 on success
     * \returns -1 on error
     */
    template <typename T>
    int indiTargetUpdate( pcf::IndiProperty &localProperty,        ///< [out] The local property to update
                          T &localTarget,                          ///< [out] The local value to update
                          const pcf::IndiProperty &remoteProperty, ///< [in] the new property received
                          bool setBusy = true                      ///< [in] [optional] set property to busy if true
    );
 
    /// Send a newProperty command to another device (using the INDI Client interface)
    /** Copies the input IndiProperty, then updates the element with the new value.
     *
     * \returns 0 on success.
     * \returns -1 on an errory.
     */
    template <typename T>
    int sendNewProperty( const pcf::IndiProperty &ipSend, ///< [in] The property to send a "new" INDI command for
                         const std::string &el,           ///< [in] The element of the property to change
                         const T &newVal                  ///< [in] The value to request for the element.
    );
    /// Send a newProperty command to another device (using the INDI Client interface)
    /**
     *
     * \returns 0 on success.
     * \returns -1 on an error, which will be logged
     */
    int sendNewProperty( const pcf::IndiProperty &ipSend /**< [in] The property to send a "new" INDI command for */ );
 
    /// Send a new property commmand for a standard toggle switch
    /**
     * \returns 0 on success
     * \returns -1 on an error, which will be logged.
     */
    int sendNewStandardIndiToggle( const std::string &device,   ///< [in] The device name
                                   const std::string &property, ///< [in] The property name
                                   bool onoff                   ///< [in] Switch state to send: true = on, false = off
    );
 
    /// indi Property to report the application state.
    pcf::IndiProperty m_indiP_state;
 
    /// indi Property to clear an FSM alert.
    pcf::IndiProperty m_indiP_clearFSMAlert;
 
    /// The static callback function to be registered for requesting to clear the FSM alert
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    static int st_newCallBack_clearFSMAlert( void *app,                      /**< [in] a pointer to this, will be
                                                                                       static_cast-ed to MagAOXApp. */
                                             const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with
                                                                                       the new property request. */
    );
 
    /// The callback called by the static version, to actually process the FSM Alert Clear request.
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_clearFSMAlert( const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with
                                                                             the new property request.*/ );
 
    ///@} --INDI Interface
 
    /** \name Power Management
     * For devices which have remote power management (e.g. from one of the PDUs) we implement
     * a standard power state monitoring and management component for the FSM.  This needs to be enabled
     * in the derived app constructor.  To stay enabled, m_powerDevice and m_powerChannel must be
     * not empty strings after the configuration.  These could be set in the derived app defaults.
     *
     * If power management is enabled, then while power is off, appLogic will not be called.
     * Instead a parrallel set of virtual functions is called, onPowerOff (to allow apps to
     * perform cleanup) and whilePowerOff (to allow apps to keep variables updated, etc).
     * Note that these could merely call appLogic if desired.
     *
     */
  protected:
    bool m_powerMgtEnabled{ false }; ///< Flag controls whether power mgt is used.  Set this in the constructor of a
                                     ///< derived app.  If true, then if after loadConfig the powerDevice and
                                     ///< powerChannel are empty, then the app will exit with a critical error.
 
    /* Configurables . . . */
    std::string m_powerDevice;             ///< The INDI device name of the power controller
    std::string m_powerChannel;            ///< The INDI property name of the channel controlling this device's power.
    std::string m_powerElement{ "state" }; ///< The INDI element name to monitor for this device's power state.
    std::string m_powerTargetElement{ "target" }; ///< The INDI element name to monitor for this device's power state.
 
    unsigned long m_powerOnWait{ 0 }; ///< Time in sec to wait for device to boot after power on.
 
    /* Power on waiting counter . . . */
    int m_powerOnCounter{ -1 }; ///< Counts numer of loops after power on, implements delay for device bootup.  If -1,
                                ///< then device was NOT powered off on app startup.
 
    /* Power state . . . */
    int m_powerState{ -1 };       ///< Current power state, 1=On, 0=Off, -1=Unk.
    int m_powerTargetState{ -1 }; ///< Current target power state, 1=On, 0=Off, -1=Unk.
 
    pcf::IndiProperty m_indiP_powerChannel; ///< INDI property used to communicate power state.
 
    /// This method is called when the change to poweroff is detected.
    /**
     * \returns 0 on success.
     * \returns -1 on any error which means the app should exit.
     */
    virtual int onPowerOff();
 
    /// This method is called while the power is off, once per FSM loop.
    /**
     * \returns 0 on success.
     * \returns -1 on any error which means the app should exit.
     */
    virtual int whilePowerOff();
 
    /// This method tests whether the power on wait time has elapsed.
    /** You would call this once per appLogic loop while in state POWERON.  While false, you would return 0.
     * Once it becomes true, take post-power-on actions and go on with life.
     *
     * \returns true if the time since POWERON is greater than the power-on wait, or if power management is not enabled
     * \returns false otherwise
     */
    bool powerOnWaitElapsed();
 
  public:
    /// Returns the current power state.
    /** If power management is not enabled, this always returns 1=On.
     *
     * \returns -1 if power state is unknown
     * \returns 0 if power is off
     * \returns 1 if power is on or m_powerMgtEnabled==false
     */
    int powerState();
 
    /// Returns the target power state.
    /** If power management is not enabled, this always returns 1=On.
     *
     * \returns -1 if target power state is unknown
     * \returns 0 if target power state is off
     * \returns 1 if target power is on or m_powerMgtEnabled==false
     */
    int powerStateTarget();
 
    INDI_SETCALLBACK_DECL( MagAOXApp, m_indiP_powerChannel );
 
    ///@} Power Management
 
  public:
    /** \name Member Accessors
     *
     * @{
     */
 
    /// Get the config name
    /**
     * \returns the current value of m_configName
     */
    std::string configName();
 
    /// Get the config directory
    /**
     * \returns the current value of m_configDir
     */
    std::string configDir();
 
    /// Get the INDI input FIFO file name
    /**
     * \returns the current value of m_driverInName
     */
    std::string driverInName();
 
    /// Get the INDI output FIFO file name
    /**
     * \returns the current value of m_driverOutName
     */
    std::string driverOutName();
 
    /// Get the INDI control FIFO file name
    /**
     * \returns the current value of m_driverCtrlName
     */
    std::string driverCtrlName();
 
    ///@} --Member Accessors
};
 
// Set self pointer to null so app starts up uninitialized.
template <bool _useINDI>
MagAOXApp<_useINDI> *MagAOXApp<_useINDI>::m_self = nullptr;
 
// Define the logger
template <bool _useINDI>
typename MagAOXApp<_useINDI>::logManagerT MagAOXApp<_useINDI>::m_log;
 
template <bool _useINDI>
MagAOXApp<_useINDI>::MagAOXApp( const std::string &git_sha1, const bool git_modified )
{
    if( m_self != nullptr )
    {
        std::cerr << "Attempt to instantiate 2nd MagAOXApp.  Exiting immediately.\n";
        exit( -1 );
    }
 
    m_self = this;
 
    // Get the uids of this process.
    getresuid( &m_euidReal, &m_euidCalled, &m_suid );
    setEuidReal(); // immediately step down to unpriveleged uid.
 
    m_log.parent( this );
 
    // Set up config logging
    config.m_sources = true;
    config.configLog = configLog;
 
    // We log the current GIT status.
    logPrioT gl = logPrio::LOG_INFO;
    if( git_modified )
    {
        gl = logPrio::LOG_WARNING;
        m_gitAlert = true;
    }
    log<git_state>( git_state::messageT( "MagAOX", git_sha1, git_modified ), gl );
 
    gl = logPrio::LOG_INFO;
    if( MXLIB_UNCOMP_REPO_MODIFIED )
    {
        gl = logPrio::LOG_WARNING;
        m_gitAlert = true;
    }
 
    log<git_state>( git_state::messageT( "mxlib", MXLIB_UNCOMP_CURRENT_SHA1, MXLIB_UNCOMP_REPO_MODIFIED ), gl );
}
 
template <bool _useINDI>
MagAOXApp<_useINDI>::~MagAOXApp() noexcept( true )
{
    if( m_indiDriver )
        delete m_indiDriver;
    m_log.parent( nullptr );
 
    MagAOXApp<_useINDI>::m_self = nullptr;
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::shutdown()
{
    return m_shutdown;
}
 
template <bool _useINDI>
void MagAOXApp<_useINDI>::setDefaults( int argc,
                                       char **argv ) // virtual
{
    std::string tmpstr;
 
    tmpstr = mx::sys::getEnv( MAGAOX_env_path );
    if( tmpstr != "" )
    {
        MagAOXPath = tmpstr;
    }
    else
    {
        MagAOXPath = MAGAOX_path;
    }
 
    // Set the config path relative to MagAOXPath
    tmpstr = mx::sys::getEnv( MAGAOX_env_config );
    if( tmpstr == "" )
    {
        tmpstr = MAGAOX_configRelPath;
    }
    m_configDir = MagAOXPath + "/" + tmpstr;
    m_configPathGlobal = m_configDir + "/magaox.conf";
 
    // Set the calib path relative to MagAOXPath
    tmpstr = mx::sys::getEnv( MAGAOX_env_calib );
    if( tmpstr == "" )
    {
        tmpstr = MAGAOX_calibRelPath;
    }
    m_calibDir = MagAOXPath + "/" + tmpstr;
 
    // Setup default log path
    tmpstr = MagAOXPath + "/" + MAGAOX_logRelPath;
 
    m_log.logPath( tmpstr );
 
    // Setup default sys path
    tmpstr = MagAOXPath + "/" + MAGAOX_sysRelPath;
    sysPath = tmpstr;
 
    // Setup default secrets path
    tmpstr = MagAOXPath + "/" + MAGAOX_secretsRelPath;
    secretsPath = tmpstr;
 
    // Setup default cpuset path
    tmpstr = mx::sys::getEnv( MAGAOX_env_cpuset );
    if( tmpstr != "" )
    {
        m_cpusetPath = tmpstr;
    }
    // else we stick with the default
 
    if( m_configBase != "" )
    {
        // We use mx::application's configPathUser for this components base config file
        m_configPathUser = m_configDir + "/" + m_configBase + ".conf";
    }
 
    // Parse CL just to get the "name".
    config.add( "name",
                "n",
                "name",
                argType::Required,
                "",
                "",
                true,
                "string",
                "The name of the application and its device name in INDI (if used), specifies the config file in the XWC config directory." );
 
    config.parseCommandLine( argc, argv, "name" );
    config( m_configName, "name" );
 
    if( m_configName == "" )
    {
        m_configName = mx::ioutils::pathStem( invokedName );
        if(!doHelp)
        {
            log<text_log>( "Configuration Error: Application name (-n --name) not set." );
            doHelp = true;
        }
    }
 
    // We use mx::application's configPathLocal for this component's config file
    m_configPathLocal = m_configDir + "/" + m_configName + ".conf";
 
    // Now we can setup common INDI properties
    if( registerIndiPropertyNew(
            m_indiP_state, "fsm", pcf::IndiProperty::Text, pcf::IndiProperty::ReadOnly, pcf::IndiProperty::Idle, 0 ) <
        0 )
    {
        log<software_error>( { __FILE__, __LINE__, "failed to register read only fsm_state property" } );
    }
 
    m_indiP_state.add( pcf::IndiElement( "state" ) );
 
    createStandardIndiRequestSw( m_indiP_clearFSMAlert, "fsm_clear_alert", "Clear FSM Alert", "FSM" );
    if( registerIndiPropertyNew( m_indiP_clearFSMAlert, st_newCallBack_clearFSMAlert ) < 0 )
    {
        log<software_error>( { __FILE__, __LINE__, "failed to register new fsm_alert property" } );
    }
 
    return;
}
 
template <bool _useINDI>
void MagAOXApp<_useINDI>::setupBasicConfig() // virtual
{
    // Validate config
    config.add( "config.validate",
                "",
                "config.validate",
                argType::True,
                "",
                "",
                false,
                "bool",
                "Validate the configuration.  App will exit after loading the configuration, but before entering the event loop. Errors from configuratin processing will be shown. Always safe to run." );
 
    // App stuff
    config.add( "loopPause",
                "p",
                "loopPause",
                argType::Required,
                "",
                "loopPause",
                false,
                "unsigned long",
                "The main loop pause time in ns" );
 
    config.add(
        "ignore_git", "", "ignore-git", argType::True, "", "", false, "bool", "set to true to ignore git status to prevent the fsm_alert" );
 
    // Logger Stuff
    m_log.setupConfig( config );
 
    if( m_powerMgtEnabled )
    {
        if( _useINDI == false )
        {
            // If this condition obtains, we should not go on because it means we'll never leave power off!!!
            log<software_critical>( { __FILE__, __LINE__, "power management is enabled but we are not using INDI" } );
            m_shutdown = true;
        }
 
        // Power Management
        config.add( "power.device",
                    "",
                    "power.device",
                    argType::Required,
                    "power",
                    "device",
                    false,
                    "string",
                    "Device controlling power for this app's device (INDI name)." );
        config.add( "power.channel",
                    "",
                    "power.channel",
                    argType::Required,
                    "power",
                    "channel",
                    false,
                    "string",
                    "Channel on device for this app's device (INDI name)." );
        config.add( "power.element",
                    "",
                    "power.element",
                    argType::Required,
                    "power",
                    "element",
                    false,
                    "string",
                    "INDI power state element name.  Default is \"state\", only need to specify if different." );
        config.add( "power.targetElement",
                    "",
                    "power.targetElement",
                    argType::Required,
                    "power",
                    "targetElement",
                    false,
                    "string",
                    "INDI power target element name.  Default is \"target\", only need to specify if different." );
        config.add( "power.powerOnWait",
                    "",
                    "power.powerOnWait",
                    argType::Required,
                    "power",
                    "powerOnWait",
                    false,
                    "int",
                    "Time after power-on to wait before continuing [sec].  Default is 0 sec, max is 3600 sec." );
    }
}
 
template <bool _useINDI>
void MagAOXApp<_useINDI>::loadBasicConfig() // virtual
{
    //--------- Ignore Git State --------//
    bool ig{ false };
    config( ig, "ignore_git" );
 
    if( !ig && m_gitAlert )
    {
        m_stateAlert = true;
    }
 
    //--------- Config Validation Mode --------//
    if(config.isSet("config.validate"))
    {
        m_configOnly = true; //m_configOnly is from mx::application
    }
 
    //---------- Setup the logger ----------//
    m_log.logName( m_configName );
    m_log.loadConfig( config );
 
    //--------- Loop Pause Time --------//
    config( m_loopPause, "loopPause" );
 
    //--------Power Management --------//
    if( m_powerMgtEnabled )
    {
        config( m_powerDevice, "power.device" );
        config( m_powerChannel, "power.channel" );
        config( m_powerElement, "power.element" );
        config( m_powerTargetElement, "power.targetElement" );
 
        if( m_powerDevice != "" && m_powerChannel != "" )
        {
            log<text_log>( "enabling power management: " + m_powerDevice + "." + m_powerChannel + "." + m_powerElement +
                           "/" + m_powerTargetElement );
            if( registerIndiPropertySet(
                    m_indiP_powerChannel, m_powerDevice, m_powerChannel, INDI_SETCALLBACK( m_indiP_powerChannel ) ) <
                0 )
            {
                log<software_error>( { __FILE__, __LINE__, "failed to register set property" } );
            }
        }
        else
        {
            log<text_log>( "power management not configured!", logPrio::LOG_CRITICAL );
            m_shutdown = true;
        }
 
        config( m_powerOnWait, "power.powerOnWait" );
        if( m_powerOnWait > 3600 )
        {
            log<text_log>( "powerOnWait longer than 1 hour.  Setting to 0.", logPrio::LOG_ERROR );
        }
    }
}
 
template <bool _useINDI>
void MagAOXApp<_useINDI>::checkConfig() // virtual
{
    // This checks for unused but valid config options and arguments, and logs them.
    // This will catch options we aren't actually using but are configured(debugging).
    for( auto it = config.m_targets.begin(); it != config.m_targets.end(); ++it )
    {
        if( it->second.used == false )
        {
            std::string msg = it->second.name;
            if( config.m_sources && it->second.sources.size() > 0 )
            {
                msg += " [" + it->second.sources[0] + "]";
            }
            log<text_log>( "Unused config target: " + msg, logPrio::LOG_WARNING );
        }
    }
 
    // This checks for invalid/unknown config options and arguments, and logs them.
    // This diagnosis problems in the config file
    if( config.m_unusedConfigs.size() > 0 )
    {
        for( auto it = config.m_unusedConfigs.begin(); it != config.m_unusedConfigs.end(); ++it )
        {
            if( it->second.used == true )
            {
                continue;
            }
 
            std::string msg = it->second.name;
            if( config.m_sources && it->second.sources.size() > 0 )
            {
                msg += " [" + it->second.sources[0] + "]";
            }
            log<text_log>( "Unrecognized config setting: " + msg, logPrio::LOG_CRITICAL );
 
            m_shutdown = true;
        }
    }
 
    //MagAO-X does not use non-option CLI arguments. Presence probably points to a typo (missing - or --).
    if( config.nonOptions.size() > 0 )
    {
        for( size_t n = 0; n < config.nonOptions.size(); ++n )
        {
            log<text_log>( "Unrecognized command line argument: " + config.nonOptions[n], logPrio::LOG_CRITICAL );
        }
        m_shutdown = true;
    }
 
    if(m_configOnly) //validation mode
    {
        if(m_shutdown == true)
        {
            std::cerr << "\nThere were configuration errors.\n\n";
        }
        else
        {
            std::cerr << "\nConfiguration is valid.\n\n";
        }
    }
    else if(m_shutdown == true)
    {
        doHelp = true; //Causes mx::application to print help and exit.
    }
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::execute() // virtual
{
//----------------------------------------//
//        Check user
//----------------------------------------//
#ifndef XWC_DISABLE_USER_CHECK
    struct stat logstat;
 
    if( stat( m_log.logPath().c_str(), &logstat ) < 0 )
    {
        state( stateCodes::FAILURE );
        std::cerr << "\nCRITICAL: Can not stat the log path.\n\n";
        return -1;
    }
 
    if( logstat.st_uid != geteuid() )
    {
        state( stateCodes::FAILURE );
        std::cerr << "\nCRITICAL: You are running this app as the wrong user.\n\n";
        return -1;
    }
#endif
 
    //----------------------------------------//
    //        Get the PID Lock
    //----------------------------------------//
    if( lockPID() < 0 )
    {
        state( stateCodes::FAILURE );
 
        // We don't log this, because it won't be logged anyway.
        std::cerr << "\nCRITICAL: Failed to lock PID.  Exiting.\n\n";
 
        // Return immediately, not safe to go on.
        return -1;
    }
 
    /* ***************************** */
    /*        start logging          */
    /* ***************************** */
    m_log.logThreadStart(); // no return type
 
    // Give up to 2 secs to make sure log thread has time to get started and try to open a file.
    int w = 0;
    while( m_log.logThreadRunning() == false && w < 20 )
    {
        // Sleep for 100 msec
        std::this_thread::sleep_for( std::chrono::duration<unsigned long, std::nano>( 100000000 ) );
        ++w;
    }
 
    if( m_log.logThreadRunning() == false )
    {
        state( stateCodes::FAILURE );
 
        // We don't log this, because it won't be logged anyway.
        std::cerr << "\nCRITICAL: log thread not running.  Exiting.\n\n";
 
        m_shutdown = 1; //just in case, though this should not have an effect yet.
 
        if( unlockPID() < 0 )
        {
            log<software_error>( { __FILE__, __LINE__, "error from unlockPID()" } );
        }
 
        return -1;
    }
 
    /* ***************************** */
    /*       signal handling         */
    /* ***************************** */
    if( m_shutdown == 0 )
    {
        if( setSigTermHandler() < 0 )
        {
            state( stateCodes::FAILURE );
 
            log<software_critical>( { __FILE__, __LINE__, "error from setSigTermHandler()" } );
 
            m_shutdown = 1; //just in case, though this should not have an effect yet.
 
            if( unlockPID() < 0 )
            {
                log<software_error>( { __FILE__, __LINE__, "error from unlockPID()" } );
            }
 
            return -1;
        }
    }
 
    /* ***************************** */
    /*         appStartup()          */
    /* ***************************** */
    if( m_shutdown == 0 )
    {
        state( stateCodes::INITIALIZED );
 
        if( appStartup() < 0 )
        {
            state( stateCodes::FAILURE );
 
            log<software_critical>( { __FILE__, __LINE__, "error from appStartup()" } );
 
            m_shutdown = 1; //just in case, though this should not have an effect yet.
 
            if( unlockPID() < 0 )
            {
                log<software_error>( { __FILE__, __LINE__, "error from unlockPID()" } );
            }
 
            return -1;
        }
    }
 
    //====Begin INDI Communications
    if( m_useINDI && m_shutdown == 0 ) // if we're using INDI and not already dead, that is
    {
        if( startINDI() < 0 )
        {
            state( stateCodes::FAILURE );
 
            log<software_critical>( { __FILE__, __LINE__, "INDI failed to start." } );
 
            m_shutdown = 1; //have to set so that child event loops know to exit
 
            // Have to call appShutdown since appStartup was called
            if( appShutdown() < 0 )
            {
                log<software_error>( { __FILE__, __LINE__, "error from appShutdown()" } );
            }
 
            if( unlockPID() < 0 )
            {
                log<software_error>( { __FILE__, __LINE__, "error from unlockPID()" } );
            }
 
            return -1;
        }
    }
 
    // We have to wait for power status to become available
    if( m_powerMgtEnabled && m_shutdown == 0 )
    {
        int nwaits = 0;
        while( m_powerState < 0 && !m_shutdown )
        {
            sleep( 1 );
            if( m_powerState < 0 )
            {
                if( !stateLogged() )
                    log<text_log>( "waiting for power state" );
            }
 
            ++nwaits;
            if( nwaits == 30 )
            {
                log<text_log>( "stalled waiting for power state", logPrio::LOG_ERROR );
                state( stateCodes::ERROR );
            }
        }
 
        if( m_powerState > 0 )
        {
            state( stateCodes::POWERON );
        }
        else
        {
            m_powerOnCounter = 0;
            state( stateCodes::POWEROFF );
            if( onPowerOff() < 0 )
            {
                log<software_error>( { __FILE__, __LINE__, "error from onPowerOff()" } );
                m_shutdown = 1;
            }
        }
    }
 
    // This is the main event loop.
    /* Conditions on entry:
     * -- PID locked
     * -- Log thread running
     * -- Signal handling installed
     * -- appStartup() successful
     * -- INDI communications started successfully (if being used)
     * -- power state known (if being managed)
     */
    while( m_shutdown == 0 )
    {
        // First check power state.
        if( m_powerMgtEnabled )
        {
            if( state() == stateCodes::POWEROFF )
            {
                if( m_powerState == 1 )
                {
                    m_powerOnCounter = 0;
                    state( stateCodes::POWERON );
                }
            }
            else // Any other state
            {
                if( m_powerState == 0 )
                {
                    state( stateCodes::POWEROFF );
                    if( onPowerOff() < 0 )
                    {
                        log<software_error>( { __FILE__, __LINE__, "error from onPowerOff()" } );
                        m_shutdown = 1;
                        continue;
                    }
                }
                // We don't do anything if m_powerState is -1, which is a startup condition.
            }
        }
 
        // Only run appLogic if power is on, or we are not managing power.
        if( !m_powerMgtEnabled || m_powerState > 0 )
        {
            if( appLogic() < 0 )
            {
                log<software_error>( { __FILE__, __LINE__, "error from appLogic()" } );
                m_shutdown = 1;
                continue;
            }
        }
        else if( m_powerState == 0 )
        {
            if( whilePowerOff() < 0 )
            {
                log<software_error>( { __FILE__, __LINE__, "error from whilePowerOff()" } );
                m_shutdown = 1;
                continue;
            }
        }
 
        /** \todo Need a heartbeat update here.
         */
 
        if( m_useINDI )
        {
            // Checkup on the INDI properties we're monitoring.
            // This will make sure we are up-to-date if indiserver restarts without us.
            // And handles cases where we miss a Def becuase the other driver wasn't started up
            // when we sent our Get.
            sendGetPropertySetList( false ); // Only does anything if it needs to be done.
        }
 
        // This is purely to make sure INDI is up to date in case
        // mutex was locked on last attempt.
        state( state() );
 
        // Pause loop unless shutdown is set
        if( m_shutdown == 0 )
        {
            std::this_thread::sleep_for( std::chrono::duration<unsigned long, std::nano>( m_loopPause ) );
        }
    }
 
    if( appShutdown() < 0 )
    {
        log<software_error>( { __FILE__, __LINE__, "error from appShutdown()" } );
    }
 
    state( stateCodes::SHUTDOWN );
 
    // Stop INDI communications
    if( m_indiDriver != nullptr )
    {
        pcf::IndiProperty ipSend;
        ipSend.setDevice( m_configName );
        try
        {
            m_indiDriver->sendDelProperty( ipSend );
        }
        catch( const std::exception &e )
        {
            log<software_error>(
                { __FILE__, __LINE__, std::string( "exception caught from sendDelProperty: " ) + e.what() } );
        }
 
        m_indiDriver->quitProcess();
        m_indiDriver->deactivate();
        log<indidriver_stop>();
    }
 
    if( unlockPID() < 0 )
    {
        log<software_error>( { __FILE__, __LINE__, "error from unlockPID()" } );
    }
 
    sleep( 1 );
    return 0;
}
 
template <bool _useINDI>
template <typename logT, int retval>
int MagAOXApp<_useINDI>::log( const typename logT::messageT &msg, logPrioT level )
{
    m_log.template log<logT>( msg, level );
    return retval;
}
 
template <bool _useINDI>
template <typename logT, int retval>
int MagAOXApp<_useINDI>::log( logPrioT level )
{
    m_log.template log<logT>( level );
    return retval;
}
 
template <bool _useINDI>
void MagAOXApp<_useINDI>::logMessage( bufferPtrT &b )
{
    if( logHeader::logLevel( b ) <= logPrio::LOG_NOTICE )
    {
        logStdFormat( std::cerr, b );
        std::cerr << "\n";
    }
 
    if( logHeader::logLevel( b ) < logPrio::LOG_ERROR )
    {
        state( m_state, true ); // For anything worse than error, we set the FSM state to alert
    }
 
    if( _useINDI && m_indiDriver )
    {
        pcf::IndiProperty msg;
        msg.setDevice( m_configName );
 
        std::stringstream logstdf;
        logMinStdFormat( logstdf, b );
 
        msg.setMessage( logstdf.str() );
 
        // Set the INDI prop timespec to match the log entry
        timespecX ts = logHeader::timespec( b );
        timeval tv;
        tv.tv_sec = ts.time_s;
        tv.tv_usec = (long int)( ( (double)ts.time_ns ) / 1e3 );
 
        msg.setTimeStamp( pcf::TimeStamp( tv ) );
 
        try
        {
            m_indiDriver->sendMessage( msg );
        }
        catch( const std::exception &e )
        {
            log<software_error>(
                { __FILE__, __LINE__, std::string( "exception caught from sendMessage: " ) + e.what() } );
        }
    }
}
 
template <bool _useINDI>
void MagAOXApp<_useINDI>::configLog( const std::string &name,
                                     const int &code,
                                     const std::string &value,
                                     const std::string &source )
{
    m_log.template log<config_log>( { name, code, value, source } );
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::setSigTermHandler()
{
    struct sigaction act;
    sigset_t set;
 
    act.sa_sigaction = &MagAOXApp<_useINDI>::_handlerSigTerm;
    act.sa_flags = SA_SIGINFO;
    sigemptyset( &set );
    act.sa_mask = set;
 
    errno = 0;
    if( sigaction( SIGTERM, &act, 0 ) < 0 )
    {
        std::string logss = "Setting handler for SIGTERM failed. Errno says: ";
        logss += strerror( errno );
 
        log<software_error>( { __FILE__, __LINE__, errno, 0, logss } );
 
        return -1;
    }
 
    errno = 0;
    if( sigaction( SIGQUIT, &act, 0 ) < 0 )
    {
        std::string logss = "Setting handler for SIGQUIT failed. Errno says: ";
        logss += strerror( errno );
 
        log<software_error>( { __FILE__, __LINE__, errno, 0, logss } );
 
        return -1;
    }
 
    errno = 0;
    if( sigaction( SIGINT, &act, 0 ) < 0 )
    {
        std::string logss = "Setting handler for SIGINT failed. Errno says: ";
        logss += strerror( errno );
 
        log<software_error>( { __FILE__, __LINE__, errno, 0, logss } );
 
        return -1;
    }
 
    log<text_log>( "Installed SIGTERM/SIGQUIT/SIGINT signal handler.", logPrio::LOG_DEBUG );
 
    return 0;
}
 
template <bool _useINDI>
void MagAOXApp<_useINDI>::_handlerSigTerm( int signum, siginfo_t *siginf, void *ucont )
{
    m_self->handlerSigTerm( signum, siginf, ucont );
}
 
template <bool _useINDI>
void MagAOXApp<_useINDI>::handlerSigTerm( int signum,
                                          siginfo_t *siginf __attribute__( ( unused ) ),
                                          void *ucont __attribute__( ( unused ) ) )
{
    m_shutdown = 1;
 
    std::string signame;
    switch( signum )
    {
    case SIGTERM:
        signame = "SIGTERM";
        break;
    case SIGINT:
        signame = "SIGINT";
        break;
    case SIGQUIT:
        signame = "SIGQUIT";
        break;
    default:
        signame = "OTHER";
    }
 
    std::string logss = "Caught signal ";
    logss += signame;
    logss += ". Shutting down.";
 
    std::cerr << "\n" << logss << std::endl;
    log<text_log>( logss );
}
 
/// Empty signal handler.  SIGUSR1 is used to interrupt sleep in various threads.
void sigUsr1Handler( int signum, siginfo_t *siginf, void *ucont );
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::setEuidCalled()
{
    errno = 0;
    if( sys::th_seteuid( m_euidCalled ) < 0 )
    {
        std::string logss = "Setting effective user id to euidCalled (";
        logss += mx::ioutils::convertToString<int>( m_euidCalled );
        logss += ") failed.  Errno says: ";
        logss += strerror( errno );
 
        log<software_error>( { __FILE__, __LINE__, errno, 0, logss } );
 
        return -1;
    }
 
    return 0;
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::setEuidReal()
{
    errno = 0;
    if( sys::th_seteuid( m_euidReal ) < 0 )
    {
        std::string logss = "Setting effective user id to euidReal (";
        logss += mx::ioutils::convertToString<int>( m_euidReal );
        logss += ") failed.  Errno says: ";
        logss += strerror( errno );
 
        log<software_error>( { __FILE__, __LINE__, errno, 0, logss } );
 
        return -1;
    }
 
    return 0;
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::lockPID()
{
    m_pid = getpid();
 
    std::string statusDir = sysPath;
 
    // Get the maximum privileges available
    elevatedPrivileges elPriv( this );
 
    // Create statusDir root with read/write/search permissions for owner and group, and with read/search permissions
    // for others.
    errno = 0;
    if( mkdir( statusDir.c_str(), S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH ) < 0 )
    {
        if( errno != EEXIST )
        {
            std::stringstream logss;
            logss << "Failed to create root of statusDir (" << statusDir << ").  Errno says: " << strerror( errno );
            log<software_critical>( { __FILE__, __LINE__, errno, 0, logss.str() } );
            return -1;
        }
    }
 
    statusDir += "/";
    statusDir += m_configName;
 
    pidFileName = statusDir + "/pid";
 
    // Create statusDir with read/write/search permissions for owner and group, and with read/search permissions for
    // others.
    errno = 0;
    if( mkdir( statusDir.c_str(), S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH ) < 0 )
    {
        if( errno != EEXIST )
        {
            std::stringstream logss;
            logss << "Failed to create statusDir (" << statusDir << ").  Errno says: " << strerror( errno );
            log<software_critical>( { __FILE__, __LINE__, errno, 0, logss.str() } );
            return -1;
        }
 
        // If here, then we need to check the pid file.
 
        std::ifstream pidIn;
        pidIn.open( pidFileName );
 
        if( pidIn.good() ) // PID file exists, now read its contents and compare to proc/<pid>/cmdline
        {
            // Read PID from file
            pid_t testPid;
            pidIn >> testPid;
            pidIn.close();
 
            // Get command line used to start this process from /proc
            std::stringstream procN;
            procN << "/proc/" << testPid << "/cmdline";
 
            std::ifstream procIn;
            std::string pidCmdLine;
 
            try
            {
                procIn.open( procN.str() );
                if( procIn.good() )
                    procIn >> pidCmdLine;
                procIn.close();
            }
            catch( ... )
            {
                log<software_critical>( { __FILE__, __LINE__, 0, 0, "exception caught testing /proc/pid" } );
                return -1;
            }
 
            // If pidCmdLine == "" at this point we just allow the rest of the
            // logic to run...
 
            // Search for invokedName in command line.
            size_t invokedPos = pidCmdLine.find( invokedName );
 
            // If invokedName found, then we check for configName.
            size_t configPos = std::string::npos;
            if( invokedPos != std::string::npos )
                configPos = pidCmdLine.find( m_configName );
 
            // Check if PID is already locked by this program+config combo:
            if( invokedPos != std::string::npos && configPos != std::string::npos )
            {
                // This means that this app already exists for this config, and we need to die.
                std::stringstream logss;
                logss << "PID already locked (" << testPid << ").  Time to die.";
                std::cerr << logss.str() << std::endl;
 
                log<text_log>( logss.str(), logPrio::LOG_CRITICAL );
 
                return -1;
            }
        }
        else
        {
            // No PID File so we should just go on.
            pidIn.close();
        }
    }
 
    // Now write current PID to file and go on with life.
    std::ofstream pidOut;
    pidOut.open( pidFileName );
 
    if( !pidOut.good() )
    {
        log<software_critical>( { __FILE__, __LINE__, errno, 0, "could not open pid file for writing." } );
        // euidReal();
        return -1;
    }
 
    pidOut << m_pid;
 
    pidOut.close();
 
    std::stringstream logss;
    logss << "PID (" << m_pid << ") locked.";
    log<text_log>( logss.str() );
 
    // Go back to regular privileges
    /*if( euidReal() < 0 )
    {
       log<software_error>({__FILE__, __LINE__, 0, 0, "Seeting euid to real failed."});
       return -1;
    }*/
 
    return 0;
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::unlockPID()
{
    { // scope for elPriv
 
        // Get the maximum privileges available
        elevatedPrivileges elPriv( this );
 
        if( ::remove( pidFileName.c_str() ) < 0 )
        {
            log<software_error>(
                { __FILE__, __LINE__, errno, 0, std::string( "Failed to remove PID file: " ) + strerror( errno ) } );
            return -1;
        }
    }
 
    std::stringstream logss;
    logss << "PID (" << m_pid << ") unlocked.";
    log<text_log>( logss.str() );
 
    return 0;
}
 
template <bool _useINDI>
template <class thisPtr, class Function>
int MagAOXApp<_useINDI>::threadStart( std::thread &thrd,
                                      bool &thrdInit,
                                      pid_t &tpid,
                                      pcf::IndiProperty &thProp,
                                      int thrdPrio,
                                      const std::string &cpuset,
                                      const std::string &thrdName,
                                      thisPtr *thrdThis,
                                      Function &&thrdStart )
{
    thrdInit = true;
 
    tpid = 0;
 
    try
    {
        thrd = std::thread( thrdStart, thrdThis );
    }
    catch( const std::exception &e )
    {
        log<software_error>(
            { __FILE__, __LINE__, std::string( "Exception on " + thrdName + " thread start: " ) + e.what() } );
        return -1;
    }
    catch( ... )
    {
        log<software_error>( { __FILE__, __LINE__, "Unkown exception on " + thrdName + " thread start" } );
        return -1;
    }
 
    if( !thrd.joinable() )
    {
        log<software_error>( { __FILE__, __LINE__, thrdName + " thread did not start" } );
        return -1;
    }
 
    // Now set the RT priority.
 
    if( thrdPrio < 0 )
        thrdPrio = 0;
    if( thrdPrio > 99 )
        thrdPrio = 99;
 
    sched_param sp;
    sp.sched_priority = thrdPrio;
 
    int rv = 0;
 
    { // scope for elPriv
        // Get the maximum privileges available
        elevatedPrivileges elPriv( this );
 
        // We set return value based on result from sched_setscheduler
        // But we make sure to restore privileges no matter what happens.
        errno = 0;
        if( thrdPrio > 0 )
            rv = pthread_setschedparam( thrd.native_handle(), MAGAOX_RT_SCHED_POLICY, &sp );
        else
            rv = pthread_setschedparam( thrd.native_handle(), SCHED_OTHER, &sp );
    }
 
    if( rv < 0 )
    {
        log<software_error>(
            { __FILE__,
              __LINE__,
              errno,
              "Setting " + thrdName + " thread scheduler priority to " + std::to_string( thrdPrio ) + " failed." } );
    }
    else
    {
        log<text_log>( thrdName + " thread scheduler priority set to " + std::to_string( thrdPrio ) );
    }
 
    // Wait for tpid to be filled in, but only for one total second.
    if( tpid == 0 )
    {
        for( int i = 0; i < 10; ++i )
        {
            mx::sys::milliSleep( 100 );
            if( tpid != 0 )
                break;
        }
    }
 
    if( tpid == 0 )
    {
        return log<software_error, -1>( { __FILE__, __LINE__, errno, "tpid for " + thrdName + " not set." } );
    }
    else
    {
        log<text_log>( thrdName + " thread pid is " + std::to_string( tpid ) );
 
        if( _useINDI )
        {
            thProp = pcf::IndiProperty( pcf::IndiProperty::Number );
            thProp.setDevice( configName() );
            thProp.setName( std::string( "th-" ) + thrdName );
            thProp.setPerm( pcf::IndiProperty::ReadOnly );
            thProp.setState( pcf::IndiProperty::Idle );
            thProp.add( pcf::IndiElement( "pid" ) );
            thProp["pid"] = tpid;
            thProp.add( pcf::IndiElement( "prio" ) );
            thProp["prio"] = thrdPrio;
            registerIndiPropertyReadOnly( thProp );
        }
 
        if( cpuset != "" )
        {
            elevatedPrivileges ep( this );
            std::string cpuFile = m_cpusetPath;
            cpuFile += "/" + cpuset;
            cpuFile += "/tasks";
            int wfd = open( cpuFile.c_str(), O_WRONLY );
            if( wfd < 0 )
            {
                return log<software_error, -1>( { __FILE__, __LINE__, errno, "error from open for " + cpuFile } );
            }
 
            char pids[16];
            snprintf( pids, sizeof( pids ), "%d", tpid );
 
            int w = write( wfd, pids, strnlen( pids, sizeof( pids ) ) );
            if( w != (int)strlen( pids ) )
            {
                return log<software_error, -1>( { __FILE__, __LINE__, errno, "error on write" } );
            }
 
            close( wfd );
 
            log<text_log>( "moved " + thrdName + " to cpuset " + cpuset, logPrio::LOG_NOTICE );
        }
    }
 
    thrdInit = false;
 
    return 0;
}
 
template <bool _useINDI>
stateCodes::stateCodeT MagAOXApp<_useINDI>::state()
{
    return m_state;
}
 
template <bool _useINDI>
void MagAOXApp<_useINDI>::state( const stateCodes::stateCodeT &s, bool stateAlert )
{
    // Only log anything if it's a change
    if( m_state != s )
    {
        logPrioT lvl = logPrio::LOG_INFO;
        if( s == stateCodes::ERROR )
            lvl = logPrio::LOG_ERROR;
        if( s == stateCodes::FAILURE )
            lvl = logPrio::LOG_CRITICAL;
 
        log<state_change>( { m_state, s }, lvl );
 
        m_state = s;
        m_stateLogged = 0;
    }
 
    if( m_stateAlert != stateAlert && stateAlert == true )
    {
        m_stateAlert = stateAlert;
        log<text_log>( "FSM alert set", logPrio::LOG_WARNING );
    }
 
    // Check to make sure INDI is up to date
    std::unique_lock<std::mutex> lock( m_indiMutex,
                                       std::try_to_lock ); // Lock the mutex before conducting INDI communications.
 
    // Note this is called every execute loop to make sure we update eventually
    if( lock.owns_lock() )
    {
        ///\todo move this to a function in stateCodes
        pcf::IndiProperty::PropertyStateType stst = INDI_IDLE;
 
        // If it's already in the "ALERT" state, then this can't take it out of it.
        if( m_stateAlert == true )
        {
            stst = INDI_ALERT;
        }
        else
        {
            if( m_state == stateCodes::READY )
                stst = INDI_OK;
            else if( m_state == stateCodes::OPERATING || m_state == stateCodes::HOMING ||
                     m_state == stateCodes::CONFIGURING )
                stst = INDI_BUSY;
            else if( m_state < stateCodes::NODEVICE )
                stst = INDI_ALERT;
            else if( m_state <= stateCodes::LOGGEDIN )
                stst = INDI_IDLE;
            else if( m_state == stateCodes::NOTHOMED || m_state == stateCodes::SHUTDOWN )
                stst = INDI_IDLE;
        }
 
        updateIfChanged( m_indiP_state, "state", stateCodes::codeText( m_state ), stst );
    }
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::stateLogged()
{
    if( m_stateLogged > 0 )
    {
        ++m_stateLogged;
        return m_stateLogged - 1;
    }
    else
    {
        m_stateLogged = 1;
        return 0;
    }
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::clearFSMAlert()
{
    if( m_stateAlert == false )
        return 0;
    m_stateAlert = false;
    log<text_log>( "FSM alert cleared", logPrio::LOG_WARNING );
 
    pcf::IndiProperty::PropertyStateType stst = INDI_IDLE;
 
    if( m_state == stateCodes::READY )
        stst = INDI_OK;
    else if( m_state == stateCodes::OPERATING || m_state == stateCodes::HOMING || m_state == stateCodes::CONFIGURING )
        stst = INDI_BUSY;
    else if( m_state < stateCodes::NODEVICE )
        stst = INDI_ALERT;
    else if( m_state <= stateCodes::LOGGEDIN )
        stst = INDI_IDLE;
    else if( m_state == stateCodes::NOTHOMED || m_state == stateCodes::SHUTDOWN )
        stst = INDI_IDLE;
 
    updateIfChanged( m_indiP_state, "state", stateCodes::codeText( m_state ), stst );
 
    return 0;
}
 
/*-------------------------------------------------------------------------------------*/
/*                                  INDI Support                                       */
/*-------------------------------------------------------------------------------------*/
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::createStandardIndiText( pcf::IndiProperty &prop,
                                                 const std::string &propName,
                                                 const std::string &label,
                                                 const std::string &group )
{
    prop = pcf::IndiProperty( pcf::IndiProperty::Text );
    prop.setDevice( configName() );
    prop.setName( propName );
    prop.setPerm( pcf::IndiProperty::ReadWrite );
    prop.setState( pcf::IndiProperty::Idle );
    prop.add( pcf::IndiElement( "current" ) );
    prop.add( pcf::IndiElement( "target" ) );
 
    // Don't set "" just in case libcommon does something with defaults
    if( label != "" )
    {
        prop.setLabel( label );
    }
 
    if( group != "" )
    {
        prop.setGroup( group );
    }
 
    return 0;
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::createROIndiText( pcf::IndiProperty &prop,
                                           const std::string &propName,
                                           const std::string &elName,
                                           const std::string &propLabel,
                                           const std::string &propGroup,
                                           const std::string &elLabel )
{
    prop = pcf::IndiProperty( pcf::IndiProperty::Text );
    prop.setDevice( configName() );
    prop.setName( propName );
    prop.setPerm( pcf::IndiProperty::ReadOnly );
    prop.setState( pcf::IndiProperty::Idle );
 
    // Don't set "" just in case libcommon does something with defaults
    if( propLabel != "" )
    {
        prop.setLabel( propLabel );
    }
 
    if( propGroup != "" )
    {
        prop.setGroup( propGroup );
    }
 
    prop.add( pcf::IndiElement( elName ) );
 
    if( elLabel != "" )
    {
        prop[elName].setLabel( elLabel );
    }
 
    return 0;
}
 
template <bool _useINDI>
template <typename T>
int MagAOXApp<_useINDI>::createStandardIndiNumber( pcf::IndiProperty &prop,
                                                   const std::string &name,
                                                   const T &min,
                                                   const T &max,
                                                   const T &step,
                                                   const std::string &format,
                                                   const std::string &label,
                                                   const std::string &group )
{
    prop = pcf::IndiProperty( pcf::IndiProperty::Number );
    prop.setDevice( configName() );
    prop.setName( name );
    prop.setPerm( pcf::IndiProperty::ReadWrite );
    prop.setState( pcf::IndiProperty::Idle );
    prop.add( pcf::IndiElement( "current" ) );
    prop["current"].setMin( min );
    prop["current"].setMax( max );
    prop["current"].setStep( step );
    if( format != "" ) // don't override defaults
    {
        prop["current"].setFormat( format );
    }
 
    prop.add( pcf::IndiElement( "target" ) );
    prop["target"].setMin( min );
    prop["target"].setMax( max );
    prop["target"].setStep( step );
    if( format != "" ) // don't override defaults
    {
        prop["target"].setFormat( format );
    }
 
    // Don't set "" just in case libcommon does something with defaults
    if( label != "" )
    {
        prop.setLabel( label );
    }
 
    if( group != "" )
    {
        prop.setGroup( group );
    }
 
    return 0;
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::createROIndiNumber( pcf::IndiProperty &prop,
                                             const std::string &propName,
                                             const std::string &propLabel,
                                             const std::string &propGroup )
{
    prop = pcf::IndiProperty( pcf::IndiProperty::Number );
    prop.setDevice( configName() );
    prop.setName( propName );
    prop.setPerm( pcf::IndiProperty::ReadOnly );
    prop.setState( pcf::IndiProperty::Idle );
 
    // Don't set "" just in case libcommon does something with defaults
    if( propLabel != "" )
    {
        prop.setLabel( propLabel );
    }
 
    if( propGroup != "" )
    {
        prop.setGroup( propGroup );
    }
 
    return 0;
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::createStandardIndiToggleSw( pcf::IndiProperty &prop,
                                                     const std::string &name,
                                                     const std::string &label,
                                                     const std::string &group )
{
    prop = pcf::IndiProperty( pcf::IndiProperty::Switch );
    prop.setDevice( configName() );
    prop.setName( name );
    prop.setPerm( pcf::IndiProperty::ReadWrite );
    prop.setState( pcf::IndiProperty::Idle );
    prop.setRule( pcf::IndiProperty::AtMostOne );
 
    // Add the toggle element initialized to Off
    prop.add( pcf::IndiElement( "toggle", pcf::IndiElement::Off ) );
 
    // Don't set "" just in case libcommon does something with defaults
    if( label != "" )
    {
        prop.setLabel( label );
    }
 
    if( group != "" )
    {
        prop.setGroup( group );
    }
 
    return 0;
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::createStandardIndiRequestSw( pcf::IndiProperty &prop,
                                                      const std::string &name,
                                                      const std::string &label,
                                                      const std::string &group )
{
    prop = pcf::IndiProperty( pcf::IndiProperty::Switch );
    prop.setDevice( configName() );
    prop.setName( name );
    prop.setPerm( pcf::IndiProperty::ReadWrite );
    prop.setState( pcf::IndiProperty::Idle );
    prop.setRule( pcf::IndiProperty::AtMostOne );
 
    // Add the toggle element initialized to Off
    prop.add( pcf::IndiElement( "request", pcf::IndiElement::Off ) );
 
    // Don't set "" just in case libcommon does something with defaults
    if( label != "" )
    {
        prop.setLabel( label );
    }
 
    if( group != "" )
    {
        prop.setGroup( group );
    }
 
    return 0;
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::createStandardIndiSelectionSw( pcf::IndiProperty &prop,
                                                        const std::string &name,
                                                        const std::vector<std::string> &elements,
                                                        const std::vector<std::string> &elementLabels,
                                                        const std::string &label,
                                                        const std::string &group )
{
    if( elements.size() == 0 )
    {
        return log<software_error, -1>( { __FILE__, __LINE__, "elements vector has zero size" } );
    }
 
    prop = pcf::IndiProperty( pcf::IndiProperty::Switch );
    prop.setDevice( configName() );
    prop.setName( name );
    prop.setPerm( pcf::IndiProperty::ReadWrite );
    prop.setState( pcf::IndiProperty::Idle );
    prop.setRule( pcf::IndiProperty::OneOfMany );
 
    // Add the toggle element initialized to Off
    for( size_t n = 0; n < elements.size(); ++n )
    {
        pcf::IndiElement elem = pcf::IndiElement( elements[n], pcf::IndiElement::Off );
        elem.setLabel( elementLabels[n] );
        prop.add( elem );
    }
 
    // Don't set "" just in case libcommon does something with defaults
    if( label != "" )
    {
        prop.setLabel( label );
    }
 
    if( group != "" )
    {
        prop.setGroup( group );
    }
 
    return 0;
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::createStandardIndiSelectionSw( pcf::IndiProperty &prop,
                                                        const std::string &name,
                                                        const std::vector<std::string> &elements,
                                                        const std::string &label,
                                                        const std::string &group )
{
    return createStandardIndiSelectionSw( prop, name, elements, elements, label, group );
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::registerIndiPropertyReadOnly( pcf::IndiProperty &prop )
{
    if( !m_useINDI )
        return 0;
 
    callBackInsertResult result =
        m_indiNewCallBacks.insert( callBackValueType( prop.createUniqueKey(), { &prop, nullptr } ) );
 
    try
    {
        if( !result.second )
        {
            return log<software_error, -1>(
                { __FILE__, __LINE__, "failed to insert INDI property: " + prop.createUniqueKey() } );
        }
    }
    catch( std::exception &e )
    {
        return log<software_error, -1>( { __FILE__, __LINE__, std::string( "Exception caught: " ) + e.what() } );
    }
    catch( ... )
    {
        return log<software_error, -1>( { __FILE__, __LINE__, "Unknown exception caught." } );
    }
 
    return 0;
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::registerIndiPropertyReadOnly( pcf::IndiProperty &prop,
                                                       const std::string &propName,
                                                       const pcf::IndiProperty::Type &propType,
                                                       const pcf::IndiProperty::PropertyPermType &propPerm,
                                                       const pcf::IndiProperty::PropertyStateType &propState )
{
    if( !m_useINDI )
        return 0;
 
    prop = pcf::IndiProperty( propType );
    prop.setDevice( m_configName );
    prop.setName( propName );
    prop.setPerm( propPerm );
    prop.setState( propState );
 
    callBackInsertResult result = m_indiNewCallBacks.insert( callBackValueType( propName, { &prop, nullptr } ) );
 
    try
    {
        if( !result.second )
        {
            return log<software_error, -1>(
                { __FILE__, __LINE__, "failed to insert INDI property: " + prop.createUniqueKey() } );
        }
    }
    catch( std::exception &e )
    {
        return log<software_error, -1>( { __FILE__, __LINE__, std::string( "Exception caught: " ) + e.what() } );
    }
    catch( ... )
    {
        return log<software_error, -1>( { __FILE__, __LINE__, "Unknown exception caught." } );
    }
    return 0;
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::registerIndiPropertyNew( pcf::IndiProperty &prop,
                                                  int ( *callBack )( void *, const pcf::IndiProperty &ipRecv ) )
{
    if( !m_useINDI )
        return 0;
 
    try
    {
        callBackInsertResult result =
            m_indiNewCallBacks.insert( callBackValueType( prop.createUniqueKey(), { &prop, callBack } ) );
 
        if( !result.second )
        {
            return log<software_error, -1>(
                { __FILE__, __LINE__, "failed to insert INDI property: " + prop.createUniqueKey() } );
        }
    }
    catch( std::exception &e )
    {
        return log<software_error, -1>( { __FILE__, __LINE__, std::string( "Exception caught: " ) + e.what() } );
    }
    catch( ... )
    {
        return log<software_error, -1>( { __FILE__, __LINE__, "Unknown exception caught." } );
    }
 
    return 0;
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::registerIndiPropertyNew( pcf::IndiProperty &prop,
                                                  const std::string &propName,
                                                  const pcf::IndiProperty::Type &propType,
                                                  const pcf::IndiProperty::PropertyPermType &propPerm,
                                                  const pcf::IndiProperty::PropertyStateType &propState,
                                                  int ( *callBack )( void *, const pcf::IndiProperty &ipRecv ) )
{
    if( !m_useINDI )
        return 0;
 
    prop = pcf::IndiProperty( propType );
    prop.setDevice( m_configName );
    prop.setName( propName );
    prop.setPerm( propPerm );
    prop.setState( propState );
 
    return registerIndiPropertyNew( prop, callBack );
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::registerIndiPropertyNew( pcf::IndiProperty &prop,
                                                  const std::string &propName,
                                                  const pcf::IndiProperty::Type &propType,
                                                  const pcf::IndiProperty::PropertyPermType &propPerm,
                                                  const pcf::IndiProperty::PropertyStateType &propState,
                                                  const pcf::IndiProperty::SwitchRuleType &propRule,
                                                  int ( *callBack )( void *, const pcf::IndiProperty &ipRecv ) )
{
    if( !m_useINDI )
        return 0;
 
    prop = pcf::IndiProperty( propType );
    prop.setDevice( m_configName );
    prop.setName( propName );
    prop.setPerm( propPerm );
    prop.setState( propState );
    prop.setRule( propRule );
    return registerIndiPropertyNew( prop, callBack );
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::registerIndiPropertySet( pcf::IndiProperty &prop,
                                                  const std::string &devName,
                                                  const std::string &propName,
                                                  int ( *callBack )( void *, const pcf::IndiProperty &ipRecv ) )
{
    if( !m_useINDI )
        return 0;
 
    prop = pcf::IndiProperty();
    prop.setDevice( devName );
    prop.setName( propName );
 
    callBackInsertResult result =
        m_indiSetCallBacks.insert( callBackValueType( prop.createUniqueKey(), { &prop, callBack } ) );
 
    try
    {
        if( !result.second )
        {
            return log<software_error, -1>(
                { __FILE__, __LINE__, "failed to insert INDI property: " + prop.createUniqueKey() } );
        }
    }
    catch( std::exception &e )
    {
        return log<software_error, -1>( { __FILE__, __LINE__, std::string( "Exception caught: " ) + e.what() } );
    }
    catch( ... )
    {
        return log<software_error, -1>( { __FILE__, __LINE__, "Unknown exception caught." } );
    }
 
    return 0;
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::createINDIFIFOS()
{
    if( !m_useINDI )
        return 0;
 
    ///\todo make driver FIFO path full configurable.
    std::string driverFIFOPath = MAGAOX_path;
    driverFIFOPath += "/";
    driverFIFOPath += MAGAOX_driverFIFORelPath;
 
    m_driverInName = driverFIFOPath + "/" + configName() + ".in";
    m_driverOutName = driverFIFOPath + "/" + configName() + ".out";
    m_driverCtrlName = driverFIFOPath + "/" + configName() + ".ctrl";
 
    // Get max permissions
    elevatedPrivileges elPriv( this );
 
    // Clear the file mode creation mask so mkfifo does what we want. Don't forget to restore it.
    mode_t prev = umask( 0 );
 
    errno = 0;
    if( mkfifo( m_driverInName.c_str(), S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP ) != 0 )
    {
        if( errno != EEXIST )
        {
            umask( prev );
            log<software_critical>( { __FILE__, __LINE__, errno, 0, "mkfifo failed" } );
            log<text_log>( "Failed to create input FIFO.", logPrio::LOG_CRITICAL );
            return -1;
        }
    }
 
    errno = 0;
    if( mkfifo( m_driverOutName.c_str(), S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP ) != 0 )
    {
        if( errno != EEXIST )
        {
            umask( prev );
            // euidReal();
            log<software_critical>( { __FILE__, __LINE__, errno, 0, "mkfifo failed" } );
            log<text_log>( "Failed to create ouput FIFO.", logPrio::LOG_CRITICAL );
            return -1;
        }
    }
 
    errno = 0;
    if( mkfifo( m_driverCtrlName.c_str(), S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP ) != 0 )
    {
        if( errno != EEXIST )
        {
            umask( prev );
            // euidReal();
            log<software_critical>( { __FILE__, __LINE__, errno, 0, "mkfifo failed" } );
            log<text_log>( "Failed to create ouput FIFO.", logPrio::LOG_CRITICAL );
            return -1;
        }
    }
 
    umask( prev );
    // euidReal();
    return 0;
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::startINDI()
{
    if( !m_useINDI )
        return 0;
 
    //===== Create the FIFOs for INDI communications ====
    if( createINDIFIFOS() < 0 )
    {
        return -1;
    }
 
    //======= Instantiate the indiDriver
    try
    {
        if( m_indiDriver != nullptr )
        {
            m_indiDriver->quitProcess();
            m_indiDriver->deactivate();
            log<indidriver_stop>();
            delete m_indiDriver;
            m_indiDriver = nullptr;
        }
 
        m_indiDriver = new indiDriver<MagAOXApp>( this, m_configName, "0", "0" );
    }
    catch( ... )
    {
        log<software_critical>( { __FILE__, __LINE__, 0, 0, "INDI Driver construction exception." } );
        return -1;
    }
 
    // Check for INDI failure
    if( m_indiDriver == nullptr )
    {
        log<software_critical>( { __FILE__, __LINE__, 0, 0, "INDI Driver construction failed." } );
        return -1;
    }
 
    // Check for INDI failure to open the FIFOs
    if( m_indiDriver->good() == false )
    {
        log<software_critical>( { __FILE__, __LINE__, 0, 0, "INDI Driver failed to open FIFOs." } );
        delete m_indiDriver;
        m_indiDriver = nullptr;
        return -1;
    }
 
    //======= Now we start talkin'
    m_indiDriver->activate();
    log<indidriver_start>();
 
    sendGetPropertySetList( true );
 
    return 0;
}
 
template <bool _useINDI>
void MagAOXApp<_useINDI>::sendGetPropertySetList( bool all )
{
    // Unless forced by all, we only do anything if allDefs are not received yet
    if( !all && m_allDefsReceived )
        return;
 
    callBackIterator it = m_indiSetCallBacks.begin();
 
    int nowFalse = 0;
    while( it != m_indiSetCallBacks.end() )
    {
        if( all || it->second.m_defReceived == false )
        {
            if( it->second.property )
            {
                try
                {
                    m_indiDriver->sendGetProperties( *( it->second.property ) );
                }
                catch( const std::exception &e )
                {
                    log<software_error>( { __FILE__,
                                           __LINE__,
                                           "exception caught from sendGetProperties for " +
                                               it->second.property->getName() + ": " + e.what() } );
                }
            }
 
            it->second.m_defReceived = false;
            ++nowFalse;
        }
        ++it;
    }
    if( nowFalse != 0 )
        m_allDefsReceived = false;
    if( nowFalse == 0 )
        m_allDefsReceived = true;
}
 
template <bool _useINDI>
void MagAOXApp<_useINDI>::handleDefProperty( const pcf::IndiProperty &ipRecv )
{
    handleSetProperty( ipRecv ); // We have the same response to both Def and Set.
}
 
template <bool _useINDI>
void MagAOXApp<_useINDI>::handleGetProperties( const pcf::IndiProperty &ipRecv )
{
    if( !m_useINDI )
        return;
    if( m_indiDriver == nullptr )
        return;
 
    // Ignore if not our device
    if( ipRecv.hasValidDevice() && ipRecv.getDevice() != m_indiDriver->getName() )
    {
        return;
    }
 
    // Send all properties if requested.
    if( !ipRecv.hasValidName() )
    {
        callBackIterator it = m_indiNewCallBacks.begin();
 
        while( it != m_indiNewCallBacks.end() )
        {
            if( it->second.property )
            {
                try
                {
                    m_indiDriver->sendDefProperty( *( it->second.property ) );
                }
                catch( const std::exception &e )
                {
                    log<software_error>( { __FILE__,
                                           __LINE__,
                                           "exception caught from sendDefProperty for " +
                                               it->second.property->getName() + ": " + e.what() } );
                }
            }
            ++it;
        }
 
        // This is a possible INDI server restart, so we re-register for all notifications.
        sendGetPropertySetList( true );
 
        return;
    }
 
    // Check if we actually have this.
    if( m_indiNewCallBacks.count( ipRecv.createUniqueKey() ) == 0 )
    {
        return;
    }
 
    // Otherwise send just the requested property, if property is not null
    if( m_indiNewCallBacks[ipRecv.createUniqueKey()].property )
    {
        try
        {
            m_indiDriver->sendDefProperty( *( m_indiNewCallBacks[ipRecv.createUniqueKey()].property ) );
        }
        catch( const std::exception &e )
        {
            log<software_error>( { __FILE__,
                                   __LINE__,
                                   "exception caught from sendDefProperty for " +
                                       m_indiNewCallBacks[ipRecv.createUniqueKey()].property->getName() + ": " +
                                       e.what() } );
        }
    }
    return;
}
 
template <bool _useINDI>
void MagAOXApp<_useINDI>::handleNewProperty( const pcf::IndiProperty &ipRecv )
{
    if( !m_useINDI )
        return;
    if( m_indiDriver == nullptr )
        return;
 
    // Check if this is a valid name for us.
    if( m_indiNewCallBacks.count( ipRecv.createUniqueKey() ) == 0 )
    {
        log<software_debug>( { __FILE__, __LINE__, "invalid NewProperty request for " + ipRecv.createUniqueKey() } );
        return;
    }
 
    int ( *callBack )( void *, const pcf::IndiProperty & ) = m_indiNewCallBacks[ipRecv.createUniqueKey()].callBack;
 
    if( callBack )
        callBack( this, ipRecv );
 
    log<software_debug>( { __FILE__, __LINE__, "NewProperty callback null for " + ipRecv.createUniqueKey() } );
 
    return;
}
 
template <bool _useINDI>
void MagAOXApp<_useINDI>::handleSetProperty( const pcf::IndiProperty &ipRecv )
{
    if( !m_useINDI )
        return;
    if( m_indiDriver == nullptr )
        return;
 
    std::string key = ipRecv.createUniqueKey();
 
    // Check if this is valid
    if( m_indiSetCallBacks.count( key ) > 0 )
    {
        m_indiSetCallBacks[key].m_defReceived = true; // record that we got this Def/Set
 
        // And call the callback
        int ( *callBack )( void *, const pcf::IndiProperty & ) = m_indiSetCallBacks[key].callBack;
        if( callBack )
            callBack( this, ipRecv );
 
        ///\todo log an error here because callBack should not be null
    }
    else
    {
        ///\todo log invalid SetProperty request.
    }
 
    return;
}
 
template <bool _useINDI>
template <typename T>
void MagAOXApp<_useINDI>::updateIfChanged( pcf::IndiProperty &p,
                                           const std::string &el,
                                           const T &newVal,
                                           pcf::IndiProperty::PropertyStateType ipState )
{
    if( !_useINDI )
        return;
 
    if( !m_indiDriver )
        return;
 
    indi::updateIfChanged( p, el, newVal, m_indiDriver, ipState );
}
 
template <bool _useINDI>
void MagAOXApp<_useINDI>::updateIfChanged( pcf::IndiProperty &p,
                                           const std::string &el,
                                           const char *newVal,
                                           pcf::IndiProperty::PropertyStateType ipState )
{
    updateIfChanged<std::string>( p, el, std::string( newVal ), ipState );
}
 
template <bool _useINDI>
void MagAOXApp<_useINDI>::updateSwitchIfChanged( pcf::IndiProperty &p,
                                                 const std::string &el,
                                                 const pcf::IndiElement::SwitchStateType &newVal,
                                                 pcf::IndiProperty::PropertyStateType ipState )
{
    if( !_useINDI )
        return;
 
    if( !m_indiDriver )
        return;
 
    indi::updateSwitchIfChanged( p, el, newVal, m_indiDriver, ipState );
}
 
template <bool _useINDI>
template <typename T>
void MagAOXApp<_useINDI>::updateIfChanged( pcf::IndiProperty &p,
                                           const std::string &el,
                                           const std::vector<T> &newVals,
                                           pcf::IndiProperty::PropertyStateType ipState )
{
    if( !_useINDI )
        return;
 
    if( !m_indiDriver )
        return;
 
    std::vector<std::string> descriptors( newVals.size(), el );
    for( size_t index = 0; index < newVals.size(); ++index )
    {
        descriptors[index] += std::to_string( index );
    }
    indi::updateIfChanged( p, descriptors, newVals, m_indiDriver );
}
 
template <bool _useINDI>
template <typename T>
void MagAOXApp<_useINDI>::updateIfChanged( pcf::IndiProperty &p,
                                           const std::vector<std::string> &els,
                                           const std::vector<T> &newVals,
                                           pcf::IndiProperty::PropertyStateType newState )
{
    if( !_useINDI )
        return;
 
    if( !m_indiDriver )
        return;
 
    indi::updateIfChanged( p, els, newVals, m_indiDriver, newState );
}
 
template <bool _useINDI>
template <typename T>
int MagAOXApp<_useINDI>::indiTargetUpdate( pcf::IndiProperty &localProperty,
                                           T &localTarget,
                                           const pcf::IndiProperty &remoteProperty,
                                           bool setBusy )
{
    if( remoteProperty.createUniqueKey() != localProperty.createUniqueKey() )
    {
        return log<text_log, -1>( "INDI property names do not match", logPrio::LOG_ERROR );
    }
 
    if( !( remoteProperty.find( "target" ) || remoteProperty.find( "current" ) ) )
    {
        return log<text_log, -1>( "no target or current element in INDI property", logPrio::LOG_ERROR );
    }
 
    bool set = false;
 
    if( remoteProperty.find( "target" ) )
    {
        localTarget = remoteProperty["target"].get<T>();
        set = true;
    }
 
    if( !set )
    {
        if( remoteProperty.find( "current" ) )
        {
            localTarget = remoteProperty["current"].get<T>();
            set = true;
        }
    }
 
    if( !set )
    {
        return log<text_log, -1>( "no non-empty value found in INDI property", logPrio::LOG_ERROR );
    }
 
    if( setBusy )
    {
        updateIfChanged( localProperty, "target", localTarget, INDI_BUSY );
    }
    else
    {
        updateIfChanged( localProperty, "target", localTarget );
    }
 
    return 0;
}
 
/// \todo move propType to an INDI utils file, and document.
 
template <typename T>
pcf::IndiProperty::Type propType()
{
    return pcf::IndiProperty::Unknown;
}
 
template <>
pcf::IndiProperty::Type propType<char *>();
 
template <>
pcf::IndiProperty::Type propType<std::string>();
 
template <>
pcf::IndiProperty::Type propType<int>();
 
template <>
pcf::IndiProperty::Type propType<double>();
 
template <bool _useINDI>
template <typename T>
int MagAOXApp<_useINDI>::sendNewProperty( const pcf::IndiProperty &ipSend, const std::string &el, const T &newVal )
{
    if( !_useINDI )
        return 0;
 
    if( !m_indiDriver )
    {
        log<software_error>( { __FILE__, __LINE__, "INDI communications not initialized." } );
        return -1;
    }
    pcf::IndiProperty ipToSend = ipSend;
 
    try
    {
        ipToSend[el].setValue( newVal );
    }
    catch( ... )
    {
        log<software_error>(
            { __FILE__, __LINE__, "Exception caught setting " + ipSend.createUniqueKey() + "." + el } );
        return -1;
    }
 
    int rv = m_indiDriver->sendNewProperty( ipToSend );
    if( rv < 0 )
    {
        log<software_error>( { __FILE__, __LINE__ } );
        return -1;
    }
 
    return 0;
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::sendNewProperty( const pcf::IndiProperty &ipSend )
{
    if( !_useINDI )
        return 0;
 
    if( !m_indiDriver )
    {
        return log<software_error, -1>( { __FILE__, __LINE__, "INDI communications not initialized." } );
    }
 
    if( m_indiDriver->sendNewProperty( ipSend ) < 0 )
    {
        return log<software_error, -1>( { __FILE__, __LINE__ } );
    }
 
    return 0;
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::sendNewStandardIndiToggle( const std::string &device, const std::string &property, bool onoff )
{
    if( !_useINDI )
        return 0;
 
    pcf::IndiProperty ipSend( pcf::IndiProperty::Switch );
 
    try
    {
        ipSend.setDevice( device );
        ipSend.setName( property );
        ipSend.add( pcf::IndiElement( "toggle" ) );
    }
    catch( std::exception &e )
    {
        return log<software_error, -1>( { __FILE__, __LINE__, std::string( "exception: " ) + e.what() } );
    }
 
    if( onoff == false )
    {
        ipSend["toggle"].setSwitchState( pcf::IndiElement::Off );
    }
    else
    {
        ipSend["toggle"].setSwitchState( pcf::IndiElement::On );
    }
 
    if( sendNewProperty( ipSend ) < 0 )
    {
        return log<software_error, -1>(
            { __FILE__, __LINE__, "sendNewProperty failed for " + device + "." + property } );
    }
 
    return 0;
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::st_newCallBack_clearFSMAlert( void *app, const pcf::IndiProperty &ipRecv )
{
    return static_cast<MagAOXApp<_useINDI> *>( app )->newCallBack_clearFSMAlert( ipRecv );
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::newCallBack_clearFSMAlert( const pcf::IndiProperty &ipRecv )
{
 
    if( ipRecv.createUniqueKey() != m_indiP_clearFSMAlert.createUniqueKey() )
    {
        return log<software_error, -1>( { __FILE__, __LINE__, "wrong indi property received" } );
    }
 
    if( !ipRecv.find( "request" ) )
        return 0;
 
    if( ipRecv["request"].getSwitchState() == pcf::IndiElement::On )
    {
        clearFSMAlert();
        updateSwitchIfChanged( m_indiP_clearFSMAlert, "request", pcf::IndiElement::Off, INDI_IDLE );
    }
 
    return 0;
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::onPowerOff()
{
    return 0;
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::whilePowerOff()
{
    return 0;
}
 
template <bool _useINDI>
bool MagAOXApp<_useINDI>::powerOnWaitElapsed()
{
    if( !m_powerMgtEnabled || m_powerOnWait == 0 || m_powerOnCounter < 0 )
        return true;
 
    if( m_powerOnCounter * m_loopPause > ( (double)m_powerOnWait ) * 1e9 )
    {
        return true;
    }
    else
    {
        ++m_powerOnCounter;
        return false;
    }
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::powerState()
{
    if( !m_powerMgtEnabled )
        return 1;
 
    return m_powerState;
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::powerStateTarget()
{
    if( !m_powerMgtEnabled )
        return 1;
 
    return m_powerTargetState;
}
 
template <bool _useINDI>
INDI_SETCALLBACK_DEFN( MagAOXApp<_useINDI>, m_indiP_powerChannel )
( const pcf::IndiProperty &ipRecv )
{
    std::string ps;
 
    if( ipRecv.find( m_powerElement ) )
    {
        ps = ipRecv[m_powerElement].get<std::string>();
 
        if( ps == "On" )
        {
            m_powerState = 1;
        }
        else if( ps == "Off" )
        {
            m_powerState = 0;
        }
        else
        {
            m_powerState = -1;
        }
    }
 
    if( ipRecv.find( m_powerTargetElement ) )
    {
        ps = ipRecv[m_powerTargetElement].get<std::string>();
 
        if( ps == "On" )
        {
            m_powerTargetState = 1;
        }
        else if( ps == "Off" )
        {
            m_powerTargetState = 0;
        }
        else
        {
            m_powerTargetState = -1;
        }
    }
 
    return 0;
}
 
template <bool _useINDI>
std::string MagAOXApp<_useINDI>::configName()
{
    return m_configName;
}
 
template <bool _useINDI>
std::string MagAOXApp<_useINDI>::configDir()
{
    return m_configDir;
}
 
template <bool _useINDI>
std::string MagAOXApp<_useINDI>::driverInName()
{
    return m_driverInName;
}
 
template <bool _useINDI>
std::string MagAOXApp<_useINDI>::driverOutName()
{
    return m_driverOutName;
}
 
template <bool _useINDI>
std::string MagAOXApp<_useINDI>::driverCtrlName()
{
    return m_driverCtrlName;
}
 
extern template class MagAOXApp<true>;
extern template class MagAOXApp<false>;
 
} // namespace app
} // namespace MagAOX
 
/// Error handling wrapper for the threadStart function of the XWCApp
/** This should be placed in appLogic for each thread managed by an MagAOXApp.
 * On error, this will cause the app to shutdown.
 * \see MagAOXApp::threadStart
 *
 * \param thrdSt     [out] (std::thread) The thread object to start executing
 * \param thrdInit   [in/out] (bool) The thread initilization synchronizer.
 * \param thrdId     [in/out] (pid_t) The thread pid to be filled in by thrdStart immediately upon call
 * \param thrdProp   [in/out](pcf::IndiProperty) The INDI property to publish the thread details
 * \param thrdPrio   [in] (int) The r/t priority to set for this thread
 * \param thrdCpuset [in] (const std::string &) the cpuset to place this thread on.  Ignored if "".
 * \param thrdName   [in] (const std::string &) The name of the thread (just for logging)
 * \param thrdStart  [in] (function) The thread starting function, a static function taking a `this` pointer as
 * argument.
 */
#define XWCAPP_THREAD_START( thrdSt, thrdInit, thrdId, thrdProp, thrdPrio, thrdCpuset, thrdName, thrdStart )           \
    if( threadStart( thrdSt, thrdInit, thrdId, thrdProp, thrdPrio, thrdCpuset, thrdName, this, thrdStart ) < 0 )       \
    {                                                                                                                  \
        log<software_error>( { __FILE__, __LINE__, "error from threadStart for " #thrdName } );                        \
        return -1;                                                                                                     \
    }
 
/// Error handling wrapper for checking on thread status with tryjoin
/** This should be placed in appLogic for each thread managed by an MagAOXApp.  If the
 * thread has exited or otherwise causes an error the app will exit.
 *
 * \param thrdSt   [in] (std::thread) The thread object to start executing
 * \param thrdName [in] (const std::string &) The name of the thread (just for logging)
 */
#define XWCAPP_THREAD_CHECK( thrdSt, thrdName )                                                                        \
    try                                                                                                                \
    {                                                                                                                  \
        if( pthread_tryjoin_np( thrdSt.native_handle(), 0 ) == 0 )                                                     \
        {                                                                                                              \
            log<software_error>( { __FILE__, __LINE__, #thrdName " thread has exited" } );                             \
            return -1;                                                                                                 \
        }                                                                                                              \
    }                                                                                                                  \
    catch( ... )                                                                                                       \
    {                                                                                                                  \
        log<software_error>( { __FILE__, __LINE__, #thrdName " thread has exited" } );                                 \
        return -1;                                                                                                     \
    }
 
/// Error handlng wrapper for stopping a thread
/** This should be placed in appShutdown for each thread managed by an MagAOXApp.
 *
 * \param thrdSt [in] (std::thread) The thread object to start executing
 */
#define XWCAPP_THREAD_STOP( thrdSt )                                                                                   \
    if( thrdSt.joinable() )                                                                                            \
    {                                                                                                                  \
        pthread_kill( thrdSt.native_handle(), SIGUSR1 );                                                               \
        try                                                                                                            \
        {                                                                                                              \
            thrdSt.join();                                                                                             \
        }                                                                                                              \
        catch( ... )                                                                                                   \
        {                                                                                                              \
        }                                                                                                              \
    }
 
#endif // app_MagAOXApp_hpp