MagAOXApp.hpp

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/** \file magAOXApp.hpp
 *  \brief The basic MagAO-X Application
 *  \author Jared R. Males (jaredmales@gmail.com)
 *  \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
{
 
/** \addtogroup magaoxapp
 *
 * A typical XWCApp is the interface to a single piece of hardware, such as a camera or a filter wheel.
 * Through various optional CRTP base classes, many different standard functionalities can be included.
 * The following figure illustrates the facilities provided by a typical app.
 *
 * \image html xwcapp.png "Block diagram of a typical XWCApp. Note that ImageStreamIO (ISIO) is not included by default, but there are several ways to interface with 'image streams' provided in XWCTk.  Many different hardware device interfaces are similarly provided."
 *
 * The following figure illustrates the logic of the XWCApp finite state machine (FSM).
 *
 * \image html xwcapp_fsm.png "The XWCApp FSM. The blue sequence highlights the normal 'appLogic' loop."
 
 *
 *
 *
*/
 
 
/// The base-class for XWCTk applications.
/**
 * This class implements the standard logic for an XWCTk application, including PID locking,
 * privilege management, configuration, logging, INDI communications, and a finite state machine (FSM).
 *
 *
 *
 * This class is inherited using standard virtual inheritance. The virtual interface consists of the
 * following functions:
 *
 *  - \ref virtual void loadConfig();
 *
 * \code
 *     /// Setup the configuration system (called by MagAOXApp::setup())
 *     virtual void setupConfig();
 *
 *     /// load the configuration system results (called by MagAOXApp::setup())
 *     virtual void loadConfig();
 *
 *     /// Startup functions
 *
 *     /// Sets up the INDI vars, starts any threads, and other preparatory tasks.
 *     virtual int appStartup();
 *
 *     /// Implementation of the FSM specific to the application
 *     virtual int appLogic();
 *
 *     /// Implementation of the on-power-off logic (called once on change to POWEROFF)
 *     virtual int onPowerOff();
 *
 *     /// Implementation of the while-powered-off logic (called every loop while powered off)
 *     virtual int whilePowerOff();
 *
 *     /// Do any needed shutdown tasks.
 *     virtual int appShutdown();
 *
 * \endcode
 *
 *
 * Standard configurable options are set in \ref setupBasicConfig().  See either the source code for that function
 * or run an application with `-h`.
 *
 * 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 add a 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 m_basePath; ///< 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 m_sysPath; ///< The path to the system directory, for PID file, etc.
 
    std::string m_secretsPath; ///< Path to the secrets directory, where passwords, etc, are stored.
 
    /// Path to the cpusets mount
    /** The path to the cpusets mount is configured by the environment variable defined by MAGOX_env_cpuset
     * in environment.hpp.  This environment variable is normally named "CGROUPS1_CPUSET_MOUNTPOINT".  If
     * the environment variable is not set, the default defined by MAGAOX_cpusetPath in paths.hpp is used.
     */
    std::string m_cpusetPath{ MAGAOX_cpusetPath };
 
    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 );
 
    /// 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 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.
    );
 
    /// Get the value of the state alert flag
    /**
     * \returns the current value of m_stateAlert
     */
    bool stateAlert();
 
    /// Get the value of the git alert flag
    /**
     * \returns the current value of m_gitAlert
     */
    bool gitAlert();
 
    /// 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
    );
 
    template <typename T>
    void updatesIfChanged( pcf::IndiProperty &p, ///< [in/out] The property containing the element to possibly update
                          const std::vector<const char *> &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
    /**
     * \returns the value of m_ *
     */
    std::string basePath();
 
    /// 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 config base file
    /** \returns the value of m_confgBase
     */
    std::string configBase();
 
    /// Get the calibration directory
    /** \returns the value of m_calibDir
     */
    std::string calibDir();
 
    /// Get the system path
    /** \returns the value of m_sysPath
     */
    std::string sysPath();
 
    /// Get the secrets path
    /** \returns the value of m_secretsPath
     */
    std::string secretsPath();
 
    /// Get the cpuset path
    /** \returns the value of m_cpusetPath
     */
    std::string cpusetPath();
 
    /// Get the loop pause time
    /** \returns the value of m_loopPause
     */
    unsigned long loopPause();
 
    /// Get the value of the shutdown flag.
    /**
     * \returns the current value of m_shutdown
     */
    int shutdown();
 
    /// 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>
void MagAOXApp<_useINDI>::setDefaults( int argc,
                                       char **argv ) // virtual
{
    std::string tmpstr;
 
    tmpstr = mx::sys::getEnv( MAGAOX_env_path );
    if( tmpstr != "" )
    {
        m_basePath = tmpstr;
    }
    else
    {
        m_basePath = MAGAOX_path;
    }
 
    // Set the config path relative to m_basePath
    tmpstr = mx::sys::getEnv( MAGAOX_env_config );
    if( tmpstr == "" )
    {
        tmpstr = MAGAOX_configRelPath;
    }
    m_configDir = m_basePath + "/" + tmpstr;
    m_configPathGlobal = m_configDir + "/magaox.conf";
 
    // Set the calib path relative to m_basePath
    tmpstr = mx::sys::getEnv( MAGAOX_env_calib );
    if( tmpstr == "" )
    {
        tmpstr = MAGAOX_calibRelPath;
    }
    m_calibDir = m_basePath + "/" + tmpstr;
 
    // Setup default log path
    tmpstr = mx::sys::getEnv( MAGAOX_env_log );
    if( tmpstr == "" )
    {
        tmpstr = MAGAOX_logRelPath;
    }
    m_log.logPath( m_basePath + "/" + tmpstr );
 
    // Setup default sys path
    tmpstr = mx::sys::getEnv( MAGAOX_env_sys );
    if( tmpstr == "" )
    {
        tmpstr = MAGAOX_sysRelPath;
    }
    m_sysPath = m_basePath + "/" + tmpstr;
 
    // Setup default secrets path
    tmpstr = mx::sys::getEnv( MAGAOX_env_secrets );
    if( tmpstr == "" )
    {
        tmpstr = MAGAOX_secretsRelPath;
    }
    m_secretsPath = m_basePath + "/" + 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 );
            m_powerOnWait = 0;
        }
    }
}
 
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 = m_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[128];
            snprintf( pids, sizeof( pids ), "%d", tpid );
 
            int w = write( wfd, pids, strnlen( pids, sizeof( pids ) ) );
            if( w != (int)strnlen( pids, sizeof(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>
bool MagAOXApp<_useINDI>::stateAlert()
{
    return m_stateAlert;
}
 
template <bool _useINDI>
bool MagAOXApp<_useINDI>::gitAlert()
{
    return m_gitAlert;
}
 
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>
void MagAOXApp<_useINDI>::updatesIfChanged( pcf::IndiProperty &p,
                                           const std::vector<const char *> &els,
                                           const std::vector<T> &newVals,
                                           pcf::IndiProperty::PropertyStateType newState )
{
    if( !_useINDI )
    {
        return;
    }
 
    if( !m_indiDriver )
    {
        return;
    }
 
    indi::updatesIfChanged( 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>::basePath()
{
    return m_basePath;
}
 
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>::configBase()
{
    return m_configBase;
}
 
template <bool _useINDI>
std::string MagAOXApp<_useINDI>::calibDir()
{
    return m_calibDir;
}
 
template <bool _useINDI>
std::string MagAOXApp<_useINDI>::sysPath()
{
    return m_sysPath;
}
 
template <bool _useINDI>
std::string MagAOXApp<_useINDI>::secretsPath()
{
    return m_secretsPath;
}
 
template <bool _useINDI>
std::string MagAOXApp<_useINDI>::cpusetPath()
{
    return m_cpusetPath;
}
 
template <bool _useINDI>
unsigned long MagAOXApp<_useINDI>::loopPause()
{
    return m_loopPause;
}
 
template <bool _useINDI>
int MagAOXApp<_useINDI>::shutdown()
{
    return m_shutdown;
}
 
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