bmcCtrl.hpp

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/** \file bmcCtrl.hpp
  * \brief The MagAO-X BMC DM controller header file
  *
  * \ingroup bmcCtrl_files
  */
 
 
 
/*
Open questions:
* Fix actuator mapping issue (don't want a bunch of if statements)
 
 
Test:
* bias code
 
*/
 
 
// #define _GLIBCXX_USE_CXX11_ABI 0
 
 
#ifndef bmcCtrl_hpp
#define bmcCtrl_hpp
 
#include "../../libMagAOX/libMagAOX.hpp" //Note this is included on command line to trigger pch
#include "../../magaox_git_version.h"
 
 
/* BMC SDK C Header */
#include <BMCApi.h>
 
 
/** \defgroup bmcCtrl
  * \brief The MagAO-X application to control a BMC DM
  *
  * <a href="..//apps_html/page_module_bmcCtrl.html">Application Documentation</a>
  *
  * \ingroup apps
  *
  */
 
/** \defgroup bmcCtrl_files
  * \ingroup bmcCtrl
  */
 
namespace MagAOX
{
namespace app
{
 
/// The MagAO-X BMC DM Controller
/**
  * \ingroup bmcCtrl
  */
class bmcCtrl : public MagAOXApp<true>, public dev::dm<bmcCtrl,float>, public dev::shmimMonitor<bmcCtrl>
{
 
   //Give the test harness access.
   friend class bmcCtrl_test;
 
   friend class dev::dm<bmcCtrl,float>;
 
   friend class dev::shmimMonitor<bmcCtrl>;
 
   typedef float realT;  ///< This defines the datatype used to signal the DM using the ImageStreamIO library.
 
   typedef dev::dm<bmcCtrl,float> dmT;
   typedef dev::shmimMonitor<bmcCtrl> shmimMonitorT;
 
 
protected:
 
   /** \name Configurable Parameters
     *@{
     */
 
   std::string m_serialNumber; ///< The BMC serial number used to open the correct DM profile
 
   long m_satThresh {100000} ;///< Threshold above which to log saturation.
 
   ///@}
 
   long m_nsat {0};
public:
   /// Default c'tor.
   bmcCtrl();
 
   /// D'tor.
   ~bmcCtrl() noexcept;
 
   /// Setup the configuration system.
   virtual void setupConfig();
 
   /// Implementation of loadConfig logic, separated for testing.
   /** This is called by loadConfig().
     */
   int loadConfigImpl( mx::app::appConfigurator & _config /**< [in] an application configuration from which to load values*/);
 
   /// Load the configuration
   virtual void loadConfig();
 
   /// Startup function
   /** Sets up INDI, and starts the shmim thread.
     *
     */
   virtual int appStartup();
 
   /// Implementation of the FSM for bmcCtrl.
   /**
     * \returns 0 on no critical error
     * \returns -1 on an error requiring shutdown
     */
   virtual int appLogic();
 
   /// Shutdown the app.
   /**
     *
     */
   virtual int appShutdown();
 
   /// Cleanup after a power off.
   /**
     */
   virtual int onPowerOff();
 
   /// Maintenace while powered off.
   /**
     */
   virtual int whilePowerOff();
 
   /** \name DM Base Class Interface
     *
     *@{
     */
 
   /// Initialize the DM and prepare for operation.
   /** Application is in state OPERATING upon successful conclusion.
     *
     * \returns 0 on success
     * \returns -1 on error
     */
   int initDM();
 
   /// Zero all commands on the DM
   /** This does not update the shared memory buffer.
     *
     * \returns 0 on success
     * \returns -1 on error
     */
   int zeroDM();
 
   /// Send a command to the DM
   /** This is called by the shmim monitoring thread in response to a semaphore trigger.
     *
     * \returns 0 on success
     * \returns -1 on error
     */
   int commandDM(void * curr_src);
 
   /// Release the DM, making it safe to turn off power.
   /** The application will be state READY at the conclusion of this.
     *
     * \returns 0 on success
     * \returns -1 on error
     */
   int releaseDM();
 
   ///@}
 
   /** \name BMC Interface
     *@{
     */
 
protected:
   double m_act_gain {0}; ///< Actuator gain (microns/volt)
   double m_volume_factor {0}; ///< the volume factor to convert from displacement to commands
   uint32_t m_nbAct {0}; ///< The number of actuators
 
   int * m_actuator_mapping {nullptr}; ///< Array containing the mapping from 2D grid position to linear index in the command vector
 
   double * m_dminputs {nullptr}; ///< Pre-allocated command vector, used only in commandDM
 
   DM m_dm = {}; ///< BMC SDK handle for the DM.
 
   bool m_dmopen {false}; ///< Track whether the DM connection has been opened
 
public:
 
   /// Parse the BMC calibration file
   /** \returns 0 on success
     * \returns -1 on error
     */
   int parse_calibration_file();
 
   /// Read the actuator mapping from a FITS file
   /**
     * \todo convert this to use mxlib::fitsFile
     *
     * \returns 0 on success
     * \returns -1 on error
     */
   int get_actuator_mapping();
 
   ///@}
 
 
};
 
bmcCtrl::bmcCtrl() : MagAOXApp(MAGAOX_CURRENT_SHA1, MAGAOX_REPO_MODIFIED)
{
   m_powerMgtEnabled = true;
   return;
}
 
bmcCtrl::~bmcCtrl() noexcept
{
   if(m_actuator_mapping) free(m_actuator_mapping);
   if(m_dminputs) free(m_dminputs);
 
}
 
void bmcCtrl::setupConfig()
{
   config.add("dm.serialNumber", "", "dm.serialNumber", argType::Required, "dm", "serialNumber", false, "string", "The BMC serial number used to find correct DM Profile.");
   config.add("dm.calibRelDir", "", "dm.calibRelDir", argType::Required, "dm", "calibRelDir", false, "string", "Used to find the default config directory.");
   config.add("dm.satThresh", "", "dm.satThresh", argType::Required, "dm", "satThresh", false, "string", "Threshold above which to log saturation.");
 
   dev::dm<bmcCtrl,float>::setupConfig(config);
 
}
 
int bmcCtrl::loadConfigImpl( mx::app::appConfigurator & _config )
{
   config(m_calibRelDir, "dm.calibRelDir");
   config(m_serialNumber, "dm.serialNumber");
   config(m_satThresh, "dm.satThresh");
 
   //m_calibRelDir = "dm/bmc_2k";
 
   dev::dm<bmcCtrl,float>::loadConfig(_config);
 
   return 0;
}
 
void bmcCtrl::loadConfig()
{
   loadConfigImpl(config);
 
}
 
int bmcCtrl::appStartup()
{
   if(parse_calibration_file() < 0)
   {
      log<software_critical>({__FILE__,__LINE__});
      return -1;
   }
 
   if(m_act_gain == 0 || m_volume_factor == 0)
   {
      log<software_critical>({__FILE__,__LINE__, "calibration not loaded properly"});
      return -1;
   }
 
   dev::dm<bmcCtrl,float>::appStartup();
 
   shmimMonitor<bmcCtrl>::appStartup();
 
   return 0;
}
 
int bmcCtrl::appLogic()
{
   dev::dm<bmcCtrl,float>::appLogic();
 
   shmimMonitor<bmcCtrl>::appLogic();
 
   if(state()==stateCodes::POWEROFF) return 0;
 
   if(state()==stateCodes::POWERON)
   {
      sleep(5);
      std::cerr << "initing DM" << std::endl;
      return initDM();
   }
 
   if(m_nsat > m_satThresh)
   {
      log<text_log>("Saturated actuators in last second: " + std::to_string(m_nsat), logPrio::LOG_WARNING);
   }
 
   m_nsat = 0;
 
   return 0;
}
 
int bmcCtrl::appShutdown()
{
   if(m_dmopen) releaseDM();
 
   dev::dm<bmcCtrl,float>::appShutdown();
 
   shmimMonitor<bmcCtrl>::appShutdown();
 
   return 0;
}
 
int bmcCtrl::onPowerOff()
{
   return dm<bmcCtrl,float>::onPowerOff();;
}
 
int bmcCtrl::whilePowerOff()
{
   return dm<bmcCtrl,float>::whilePowerOff();;
}
 
int bmcCtrl::initDM()
{
   if(m_dmopen)
   {
      log<text_log>("DM is already initialized.  Release first.", logPrio::LOG_ERROR);
      return -1;
   }
 
   std::string ser = mx::ioutils::toUpper(m_serialNumber);
   BMCRC ret = NO_ERR;
   ret = BMCOpen(&m_dm, ser.c_str());
 
   if(ret == NO_ERR) m_dmopen = true; // remember that the DM connection has been opened
 
   if(ret != NO_ERR)
   {
      const char *err;
      err = BMCErrorString(ret);
      log<text_log>(std::string("DM initialization failed: ") + err, logPrio::LOG_ERROR);
 
      m_dm = {};
      return -1;
   }
 
   if (!m_dmopen)
   {
      log<text_log>("DM initialization failed. Couldn't open DM handle.", logPrio::LOG_ERROR);
      return -1;
   }
 
   log<text_log>("BMC " + m_serialNumber + " initialized", logPrio::LOG_NOTICE);
 
   // Get number of actuators
   m_nbAct = m_dm.ActCount;
 
 
   // Load the DM map
   uint32_t *map_lut;
   map_lut = reinterpret_cast<uint32_t *>(malloc(sizeof(uint32_t)*MAX_DM_SIZE));
   ret = BMCLoadMap(&m_dm, NULL, map_lut);
 
   if(ret != NO_ERR)
   {
      const char *err;
      err = BMCErrorString(ret);
      log<text_log>(std::string("DM initialization failed. Couldn't load map.") + err, logPrio::LOG_ERROR);
 
      m_dm = {};
      return -1;
   }
 
 
   if(m_dminputs) free(m_dminputs);
   m_dminputs = reinterpret_cast<double*>(calloc( m_nbAct, sizeof( double ) ));
 
   if(zeroDM() < 0)
   {
      log<text_log>("DM initialization failed.  Error zeroing DM.", logPrio::LOG_ERROR);
      return -1;
   }
 
   /* get actuator mapping from 2D cacao image to 1D vector for BMC input */
   if(m_actuator_mapping) free(m_actuator_mapping);
   m_actuator_mapping = reinterpret_cast<int *>(malloc(m_nbAct * sizeof(int))); /* memory for actuator mapping */
 
    /* initialize to -1 to allow for handling addressable but ignored actuators */
    for (uint32_t idx = 0; idx < m_nbAct; ++idx)
    {
        m_actuator_mapping[idx] = -1;
    }
 
   if(get_actuator_mapping() < 0)
   {
      log<text_log>("DM initialization failed.  Failed to get actuator mapping.", logPrio::LOG_ERROR);
      return -1;
   }
 
   if(m_actuator_mapping == nullptr)
   {
      log<text_log>("DM initialization failed.  null pointer.", logPrio::LOG_ERROR);
      return -1;
   }
 
   state(stateCodes::OPERATING);
 
   return 0;
}
 
int bmcCtrl::zeroDM()
{
   if(!m_dmopen)
   {
      log<text_log>("DM not initialized (NULL pointer)", logPrio::LOG_ERROR);
      return -1;
   }
 
   if(m_nbAct == 0)
   {
      log<text_log>("DM not initialized (number of actuators)", logPrio::LOG_ERROR);
      return -1;
   }
 
   double * dminputs = reinterpret_cast<double*>(calloc( m_nbAct, sizeof( double ) ));
 
   /* Send the all 0 command to the DM */
   BMCRC ret = BMCSetArray(&m_dm, dminputs, NULL);
 
   /* Release memory */
   free( dminputs );
 
   if(ret != NO_ERR)
   {
      const char *err;
      err = BMCErrorString(ret);
      log<text_log>(std::string("Error zeroing DM: ") + err, logPrio::LOG_ERROR);
      return -1;
   }
 
   log<text_log>("DM zeroed");
   return 0;
}
 
int bmcCtrl::commandDM(void * curr_src)
{
   //This is based on Kyle Van Gorkoms original sendCommand function.
 
   /*This loop performs the following steps:
     1) converts from float to double
     2) convert to volume-normalized displacement
     3) convert to squared fractional voltage clamped from 0 to 1.
   */
 
   #ifdef XWC_DMTIMINGS
   dmT::m_tact0 = mx::sys::get_curr_time();
   #endif
 
   for (uint32_t idx = 0; idx < m_nbAct; ++idx)
   {
      int address = m_actuator_mapping[idx];
      if(address == -1)
      {
         m_dminputs[idx] = 0.; // addressable but ignored actuators set to 0
      }
      else
      {
         m_dminputs[idx] = ((double)  (static_cast<realT *>(curr_src)[address])) * m_volume_factor/m_act_gain;
 
         if (m_dminputs[idx] > 1)
         {
            m_dminputs[idx] = 1;
         }
         else if (m_dminputs[idx] < 0)
         {
            m_dminputs[idx] = 0;
         }
         else
         {
            m_dminputs[idx] = sqrt(m_dminputs[idx]);
         }
      }
   }
 
   #ifdef XWC_DMTIMINGS
   dmT::m_tact1 = mx::sys::get_curr_time();
   #endif
 
   /* Send the command to the DM */
   BMCRC ret = BMCSetArray(&m_dm, m_dminputs, NULL);
 
   #ifdef XWC_DMTIMINGS
   dmT::m_tact2 = mx::sys::get_curr_time();
   #endif
 
   /* Return immediately upon error, logging the error
   message first and then return the failure code. */
   if(ret != NO_ERR)
   {
      const char *err;
      err = BMCErrorString(ret);
      log<text_log>(std::string("DM command failed: ") + err, logPrio::LOG_ERROR);
      return -1;
   }
 
   #ifdef XWC_DMTIMINGS
   dmT::m_tact3 = mx::sys::get_curr_time();
   #endif
 
   /* Now update the instantaneous sat map */
   for (uint32_t idx = 0; idx < m_nbAct; ++idx)
   {
      int address = m_actuator_mapping[idx];
 
      if(address == -1)
      {
         continue;
      }
      else if(m_dminputs[idx] >= 1 || m_dminputs[idx] <= 0)
      {
         ++m_nsat;
         m_instSatMap.data()[address] = 1;
      }
      else
      {
         m_instSatMap.data()[address] = 0;
      }
   }
 
   #ifdef XWC_DMTIMINGS
   dmT::m_tact4 = mx::sys::get_curr_time();
   #endif
 
   return ret;
}
 
int bmcCtrl::releaseDM()
{
   // Safe DM shutdown on interrupt
 
   if(!m_dmopen)
   {
      return 0;
   }
 
   state(stateCodes::READY);
 
   if(!shutdown())
   {
      pthread_kill(m_smThread.native_handle(), SIGUSR1);
   }
 
   sleep(1);
 
   if(zeroDM() < 0)
   {
      log<text_log>("DM release failed.  Error zeroing DM.", logPrio::LOG_ERROR);
      return -1;
   }
 
    // Zero all actuators (this is probably redundant after zeroing the DM above)
    BMCRC ret = NO_ERR;
    ret = BMCClearArray(&m_dm);
 
   if(ret != NO_ERR)
   {
      const char *err;
      err = BMCErrorString(ret);
      log<text_log>(std::string("DM reset failed: ") + err, logPrio::LOG_ERROR);
      return -1;
   }
 
   // Close BMC connection
   ret = BMCClose(&m_dm);
 
   if(ret == NO_ERR) m_dmopen = false;
 
   if(ret != NO_ERR)
   {
      const char *err;
      err = BMCErrorString(ret);
      log<text_log>(std::string("DM release failed: ") + err, logPrio::LOG_ERROR);
      return -1;
   }
 
   m_dm = {};
 
   log<text_log>("BMC " + m_serialNumber + " reset and released", logPrio::LOG_NOTICE);
 
   return 0;
}
 
/* Read in a configuration file with user-calibrated
values to determine the conversion from physical to
fractional stroke as well as the volume displaced by
the influence function. */
int bmcCtrl::parse_calibration_file()
{
    FILE * fp;
    char * line = NULL;
    size_t len = 0;
    ssize_t read;
    double * calibvals;
 
    std::string calibpath = m_calibPath + "/" + "bmc_2k_userconfig.txt";
 
    // open file
    fp = fopen(calibpath.c_str(), "r");
    if (fp == NULL)
    {
       log<text_log>("Could not read configuration file at " + calibpath, logPrio::LOG_ERROR);
        return -1;
    }
 
    calibvals = reinterpret_cast<double*>(malloc(2*sizeof(double)));
    int idx = 0;
    while ((read = getline(&line, &len, fp)) != -1)
    {
        // grab first value from each line
        calibvals[idx] = strtod(line, NULL);
        idx++;
    }
 
    fclose(fp);
 
    // assign stroke and volume factors
    m_act_gain = calibvals[0];
    m_volume_factor = calibvals[1];
 
    free(calibvals);
 
    log<text_log>("BMC " + m_serialNumber + ": Using stroke and volume calibration from " + calibpath);
    std::cerr << m_act_gain << " " << m_volume_factor << "\n";
    return 0;
}
 
int bmcCtrl::get_actuator_mapping() //const char * serial, int nbAct, int * actuator_mapping)
{
    /* This function closely follows the CFITSIO imstat
    example */
 
    fitsfile *fptr;  /* FITS file pointer */
    int status = 0;  /* CFITSIO status value MUST be initialized to zero! */
 
 
    // get file path to actuator map
    std::string calibpath = m_calibPath + "/" + "bmc_2k_actuator_mapping.fits";
 
    if ( !fits_open_image(&fptr, calibpath.c_str(), READONLY, &status) )
    {
      int hdutype, naxis;
      long naxes[2];
 
      if (fits_get_hdu_type(fptr, &hdutype, &status) || hdutype != IMAGE_HDU) {
        printf("Error: this program only works on images, not tables\n");
        return(1);
      }
 
      fits_get_img_dim(fptr, &naxis, &status);
      fits_get_img_size(fptr, 2, naxes, &status);
 
      if (status || naxis != 2) {
        printf("Error: NAXIS = %d.  Only 2-D images are supported.\n", naxis);
        return(1);
      }
 
      int * pix = reinterpret_cast<int *>(malloc(naxes[0] * sizeof(int))); /* memory for 1 row */
 
      if (pix == NULL) {
        printf("Memory allocation error\n");
        return(1);
      }
 
      long fpixel[2];
      //totpix = naxes[0] * naxes[1];
      fpixel[0] = 1;  /* read starting with first pixel in each row */
 
      /* process image one row at a time; increment row # in each loop */
      int ij = 0;/* actuator mapping index */
      for (fpixel[1] = 1; fpixel[1] <= naxes[1]; fpixel[1]++)
      {
         /* give starting pixel coordinate and number of pixels to read */
         if (fits_read_pix(fptr, TINT, fpixel, naxes[0],0, pix,0, &status))
            break;   /* jump out of loop on error */
 
         // get indices of active actuators in order
         for (int ii = 0; ii < naxes[0]; ii++) {
           if (pix[ii] > 0) {
                m_actuator_mapping[pix[ii] - 1] = ij;
           }
           ij++;
         }
      }
      fits_close_file(fptr, &status);
 
      free(pix);
    }
 
    if (status)  {
        fits_report_error(stderr, status); /* print any error message */
    }
 
 
    log<text_log>("BMC " + m_serialNumber + ": Using actuator mapping from " + calibpath);
    return 0;
}
 
} //namespace app
} //namespace MagAOX
 
#endif //bmcCtrl_hpp