API
MagAOX::app::kTracker Class Reference

The MagAO-X ADC Tracker. More...

#include <kTracker.hpp>

Inheritance diagram for MagAOX::app::kTracker:
Inheritance graph
Collaboration diagram for MagAOX::app::kTracker:
Collaboration graph

Public Types

typedef logger::logManager< MagAOXApp< _useINDI >, logFileRawlogManagerT
 The log manager type. More...
 

Public Member Functions

 kTracker ()
 Default c'tor. More...
 
 ~kTracker () noexcept
 D'tor, declared and defined for noexcept. More...
 
virtual void setupConfig ()
 
int loadConfigImpl (mx::app::appConfigurator &_config)
 Implementation of loadConfig logic, separated for testing. More...
 
virtual void loadConfig ()
 
virtual int appStartup ()
 Startup function. More...
 
virtual int appLogic ()
 Implementation of the FSM for kTracker. More...
 
virtual int appShutdown ()
 Shutdown the app. More...
 
int shutdown ()
 Get the value of the shutdown flag. More...
 
virtual void setDefaults (int argc, char **argv)
 Set the paths for config files. More...
 
virtual void setupBasicConfig ()
 The basic MagAO-X configuration setup method. Should not normally be overridden. More...
 
virtual void loadBasicConfig ()
 The basic MagAO-X configuration processing method. Should not normally be overridden. More...
 
virtual void checkConfig ()
 Check for unused and unrecognized config options and settings. More...
 
virtual int execute ()
 The execute method implementing the standard main loop. Should not normally be overridden. More...
 
Threads
int 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)
 Start a thread, using this class's privileges to set priority, etc. More...
 
Member Accessors
std::string configName ()
 Get the config name. More...
 
std::string configDir ()
 Get the config directory. More...
 
std::string driverInName ()
 Get the INDI input FIFO file name. More...
 
std::string driverOutName ()
 Get the INDI output FIFO file name. More...
 
std::string driverCtrlName ()
 Get the INDI control FIFO file name. More...
 

Protected Attributes

bool m_tracking {false}
 The interval at which to update positions, in seconds. Default is 10 secs. More...
 
float m_zd {0}
 
std::string MagAOXPath
 The base path of the MagAO-X system. More...
 
std::string m_configName
 The name of the configuration file (minus .conf). More...
 
std::string m_configDir
 The path to configuration files for MagAOX. More...
 
std::string m_configBase
 The name of a base config class for this app (minus .conf). More...
 
std::string m_calibDir
 The path to calibration files for MagAOX. More...
 
std::string sysPath
 The path to the system directory, for PID file, etc. More...
 
std::string secretsPath
 Path to the secrets directory, where passwords, etc, are stored. More...
 
unsigned long m_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. More...
 
int m_shutdown
 Flag to signal it's time to shutdown. When not 0, the main loop exits. More...
 
Configurable Parameters
float m_zero {0}
 The starting point for the K-mirorr at zd=0. More...
 
int m_sign {1}
 The sign to apply to the zd to rotate the k-mirror. More...
 
std::string m_devName {"stagek"}
 The device name of the K-mirror stage. Default is 'stagek'. More...
 
std::string m_tcsDevName {"tcsi"}
 The device name of the TCS Interface providing 'teldata.zd'. Default is 'tcsi'. More...
 
float m_updateInterval {10}
 
cpusets

The path to the cpusets mount is configured by the environment varialbe defined by MAGOX_env_cpuset in environment.hpp. This environment varialbe is normally named "CGROUPS1_CPUSET_MOUNTPOINT". If the environment variable is not set, the default defined by MAGAOX_cpusetPath in paths.hpp is used. This is normally "/opt/MagAOX/cpuset/"

std::string m_cpusetPath
 

Private Member Functions

int clearFSMAlert ()
 Clear the FSM alert state. More...
 

Friends

class kTracker_test
 

INDI

pcf::IndiProperty m_indiP_tracking
 
pcf::IndiProperty m_indiP_teldata
 
pcf::IndiProperty m_indiP_kpos
 
 INDI_NEWCALLBACK_DECL (kTracker, m_indiP_tracking)
 
 INDI_SETCALLBACK_DECL (kTracker, m_indiP_teldata)
 

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. More...
 
pid_t m_pid
 This process's PID. More...
 
int lockPID ()
 Attempt to lock the PID by writing it to a file. Fails if a process is already running with the same config name. More...
 
int unlockPID ()
 Remove the PID file. More...
 

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.

std::unordered_map< std::string, indiCallBack > m_indiNewCallBacks
 Map to hold the NewProperty indiCallBacks for this App, with fast lookup by property name. More...
 
std::unordered_map< std::string, indiCallBack > m_indiSetCallBacks
 Map to hold the SetProperty indiCallBacks for this App, with fast lookup by property name. More...
 
bool m_allDefsReceived
 Flag indicating that all registered Set properties have been updated since last Get. More...
 
std::string m_driverInName
 Full path name of the INDI driver input FIFO. More...
 
std::string m_driverOutName
 Full path name of the INDI driver output FIFO. More...
 
std::string m_driverCtrlName
 Full path name of the INDI driver control FIFO. More...
 
pcf::IndiProperty m_indiP_state
 indi Property to report the application state. More...
 
pcf::IndiProperty m_indiP_clearFSMAlert
 indi Property to clear an FSM alert. More...
 
int createStandardIndiText (pcf::IndiProperty &prop, const std::string &propName, const std::string &label="", const std::string &group="")
 Create a standard R/W INDI Text property with target and current elements. More...
 
int createROIndiText (pcf::IndiProperty &prop, const std::string &propName, const std::string &elName, const std::string &propLabel="", const std::string &propGroup="", const std::string &elLabel="")
 Create a standard ReadOnly INDI Text property, with at least one element. More...
 
int 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="")
 Create a standard R/W INDI Number property with target and current elements. More...
 
int createROIndiNumber (pcf::IndiProperty &prop, const std::string &propName, const std::string &propLabel="", const std::string &propGroup="")
 Create a ReadOnly INDI Number property. More...
 
int createStandardIndiToggleSw (pcf::IndiProperty &prop, const std::string &name, const std::string &label="", const std::string &group="")
 Create a standard R/W INDI switch with a single toggle element. More...
 
int createStandardIndiRequestSw (pcf::IndiProperty &prop, const std::string &name, const std::string &label="", const std::string &group="")
 Create a standard R/W INDI switch with a single request element. More...
 
int 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="")
 Create a standard R/W INDI selection (one of many) switch with vector of elements and element labels. More...
 
int createStandardIndiSelectionSw (pcf::IndiProperty &prop, const std::string &name, const std::vector< std::string > &elements, const std::string &label="", const std::string &group="")
 Create a standard R/W INDI selection (one of many) switch with vector of elements using the element strings as their own labels. More...
 
int registerIndiPropertyReadOnly (pcf::IndiProperty &prop)
 Register an INDI property which is read only. More...
 
int registerIndiPropertyReadOnly (pcf::IndiProperty &prop, const std::string &propName, const pcf::IndiProperty::Type &propType, const pcf::IndiProperty::PropertyPermType &propPerm, const pcf::IndiProperty::PropertyStateType &propState)
 Register an INDI property which is read only. More...
 
int registerIndiPropertyNew (pcf::IndiProperty &prop, int(*)(void *, const pcf::IndiProperty &))
 Register an INDI property which is exposed for others to request a New Property for. More...
 
int registerIndiPropertyNew (pcf::IndiProperty &prop, const std::string &propName, const pcf::IndiProperty::Type &propType, const pcf::IndiProperty::PropertyPermType &propPerm, const pcf::IndiProperty::PropertyStateType &propState, int(*)(void *, const pcf::IndiProperty &))
 Register an INDI property which is exposed for others to request a New Property for. More...
 
int 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(*)(void *, const pcf::IndiProperty &))
 Register an INDI property which is exposed for others to request a New Property for, with a switch rule. More...
 
int registerIndiPropertySet (pcf::IndiProperty &prop, const std::string &devName, const std::string &propName, int(*)(void *, const pcf::IndiProperty &))
 Register an INDI property which is monitored for updates from others. More...
 
void sendGetPropertySetList (bool all=false)
 
void handleDefProperty (const pcf::IndiProperty &ipRecv)
 Handler for the DEF INDI properties notification. More...
 
void handleGetProperties (const pcf::IndiProperty &ipRecv)
 Handler for the get INDI properties request. More...
 
void handleNewProperty (const pcf::IndiProperty &ipRecv)
 Handler for the new INDI property request. More...
 
void handleSetProperty (const pcf::IndiProperty &ipRecv)
 Handler for the set INDI property request. More...
 
typedef std::pair< std::string, indiCallBack > callBackValueType
 Value type of the indiCallBack map. More...
 
typedef std::unordered_map< std::string, indiCallBack >::iterator callBackIterator
 Iterator type of the indiCallBack map. More...
 
typedef std::pair< callBackIterator, bool > callBackInsertResult
 Return type of insert on the indiCallBack map. More...
 
constexpr static bool m_useINDI
 Flag controlling whether INDI is used. If false, then no INDI code executes. More...
 
indiDriver< MagAOXApp > * m_indiDriver
 The INDI driver wrapper. Constructed and initialized by execute, which starts and stops communications. More...
 
std::mutex m_indiMutex
 Mutex for locking INDI communications. More...
 
int createINDIFIFOS ()
 Create the INDI FIFOs. More...
 
int startINDI ()
 Start INDI Communications. More...
 
void updateIfChanged (pcf::IndiProperty &p, const std::string &el, const T &newVal, pcf::IndiProperty::PropertyStateType ipState=pcf::IndiProperty::Ok)
 Update an INDI property element value if it has changed. More...
 
void updateIfChanged (pcf::IndiProperty &p, const std::string &el, const char *newVal, pcf::IndiProperty::PropertyStateType ipState=pcf::IndiProperty::Ok)
 Update an INDI property element value if it has changed. More...
 
void updateIfChanged (pcf::IndiProperty &p, const std::string &el, const std::vector< T > &newVals, pcf::IndiProperty::PropertyStateType ipState=pcf::IndiProperty::Ok)
 Update an INDI property if values have changed. More...
 
void updateIfChanged (pcf::IndiProperty &p, const std::vector< std::string > &els, const std::vector< T > &newVals)
 Update an INDI property if values have changed. More...
 
void updateSwitchIfChanged (pcf::IndiProperty &p, const std::string &el, const pcf::IndiElement::SwitchStateType &newVal, pcf::IndiProperty::PropertyStateType ipState=pcf::IndiProperty::Ok)
 Update an INDI switch element value if it has changed. More...
 
int indiTargetUpdate (pcf::IndiProperty &localProperty, T &localTarget, const pcf::IndiProperty &remoteProperty, bool setBusy=true)
 Get the target element value from an new property. More...
 
int sendNewProperty (const pcf::IndiProperty &ipSend, const std::string &el, const T &newVal)
 Send a newProperty command to another device (using the INDI Client interface) More...
 
int sendNewProperty (const pcf::IndiProperty &ipSend)
 Send a newProperty command to another device (using the INDI Client interface) More...
 
int sendNewStandardIndiToggle (const std::string &device, const std::string &property, bool onoff)
 Send a new property commmand for a standard toggle switch. More...
 
int newCallBack_clearFSMAlert (const pcf::IndiProperty &ipRecv)
 The callback called by the static version, to actually process the FSM Alert Clear request. More...
 
static int st_newCallBack_clearFSMAlert (void *app, const pcf::IndiProperty &ipRecv)
 The static callback function to be registered for requesting to clear the FSM alert. More...
 

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.

bool m_powerMgtEnabled
 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. More...
 
std::string m_powerDevice
 The INDI device name of the power controller. More...
 
std::string m_powerChannel
 The INDI property name of the channel controlling this device's power. More...
 
std::string m_powerElement
 The INDI element name to monitor for this device's power state. More...
 
std::string m_powerTargetElement
 The INDI element name to monitor for this device's power state. More...
 
unsigned long m_powerOnWait
 Time in sec to wait for device to boot after power on. More...
 
int m_powerOnCounter
 Counts numer of loops after power on, implements delay for device bootup. If -1, then device was NOT powered off on app startup. More...
 
int m_powerState
 Current power state, 1=On, 0=Off, -1=Unk. More...
 
int m_powerTargetState
 Current target power state, 1=On, 0=Off, -1=Unk. More...
 
pcf::IndiProperty m_indiP_powerChannel
 INDI property used to communicate power state. More...
 
int powerState ()
 Returns the current power state. More...
 
int powerStateTarget ()
 Returns the target power state. More...
 
 INDI_SETCALLBACK_DECL (MagAOXApp, m_indiP_powerChannel)
 
virtual int onPowerOff ()
 This method is called when the change to poweroff is detected. More...
 
virtual int whilePowerOff ()
 This method is called while the power is off, once per FSM loop. More...
 
bool powerOnWaitElapsed ()
 This method tests whether the power on wait time has elapsed. More...
 

Logging

void logMessage (bufferPtrT &b)
 Handle a log message from the logging system. More...
 
static logManagerT m_log
 
static int log (const typename logT::messageT &msg, logPrioT level=logPrio::LOG_DEFAULT)
 Make a log entry. More...
 
static int log (logPrioT level=logPrio::LOG_DEFAULT)
 Make a log entry. More...
 
static void configLog (const std::string &name, const int &code, const std::string &value, const std::string &source)
 Callback for config system logging. More...
 

Application State

stateCodes::stateCodeT state ()
 Get the current state code. More...
 
void state (const stateCodes::stateCodeT &s, bool stateAlert=false)
 Set the current state code. More...
 
int stateLogged ()
 Updates and returns the value of m_stateLogged. Will be 0 on first call after a state change, >0 afterwards. More...
 
stateCodes::stateCodeT m_state
 The application's state. Never ever set this directly, use state(const stateCodeT & s). More...
 
bool m_stateAlert
 
bool m_gitAlert
 
int m_stateLogged
 Counter and flag for use to log errors just once. Never ever access directly, use stateLogged(). More...
 

Signal Handling

libMagAOX/logger/types/software_log.hpp

static MagAOXAppm_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. More...
 
static void _handlerSigTerm (int signum, siginfo_t *siginf, void *ucont)
 The handler called when SIGTERM, SIGQUIT, or SIGINT is received. Just a wrapper for handlerSigTerm. More...
 
int setSigTermHandler ()
 Sets the handler for SIGTERM, SIGQUIT, and SIGINT. More...
 
void handlerSigTerm (int signum, siginfo_t *siginf, void *ucont)
 Handles SIGTERM, SIGQUIT, and SIGINT. Sets m_shutdown to 1 and logs the signal. More...
 

Privilege Management

uid_t m_euidReal
 The real user id of the proces (i.e. the lower privileged id of the user) More...
 
uid_t m_euidCalled
 The user id of the process as called (i.e. the higher privileged id of the owner, root if setuid). More...
 
uid_t m_suid
 The save-set user id of the process. More...
 
int setEuidCalled ()
 Set the effective user ID to the called value, i.e. the highest possible. More...
 
int setEuidReal ()
 Set the effective user ID to the real value, i.e. the file owner. More...
 

Detailed Description

The MagAO-X ADC Tracker.

Definition at line 39 of file kTracker.hpp.

Member Typedef Documentation

◆ callBackInsertResult

typedef std::pair<callBackIterator,bool> MagAOX::app::MagAOXApp< _useINDI >::callBackInsertResult
inherited

Return type of insert on the indiCallBack map.

Definition at line 561 of file MagAOXApp.hpp.

◆ callBackIterator

typedef std::unordered_map<std::string, indiCallBack>::iterator MagAOX::app::MagAOXApp< _useINDI >::callBackIterator
inherited

Iterator type of the indiCallBack map.

Definition at line 558 of file MagAOXApp.hpp.

◆ callBackValueType

typedef std::pair<std::string, indiCallBack> MagAOX::app::MagAOXApp< _useINDI >::callBackValueType
inherited

Value type of the indiCallBack map.

Definition at line 555 of file MagAOXApp.hpp.

◆ logManagerT

typedef logger::logManager<MagAOXApp<_useINDI>, logFileRaw> MagAOX::app::MagAOXApp< _useINDI >::logManagerT
inherited

The log manager type.

Definition at line 82 of file MagAOXApp.hpp.

Constructor & Destructor Documentation

◆ kTracker()

MagAOX::app::kTracker::kTracker ( )

Default c'tor.

Definition at line 128 of file kTracker.hpp.

◆ ~kTracker()

MagAOX::app::kTracker::~kTracker ( )
inlinenoexcept

D'tor, declared and defined for noexcept.

Definition at line 72 of file kTracker.hpp.

Member Function Documentation

◆ _handlerSigTerm()

void MagAOX::app::MagAOXApp< _useINDI >::_handlerSigTerm ( int  signum,
siginfo_t *  siginf,
void *  ucont 
)
staticprivateinherited

The handler called when SIGTERM, SIGQUIT, or SIGINT is received. Just a wrapper for handlerSigTerm.

Parameters
[in]signumspecifies the signal.
[in]siginfignored by MagAOXApp
[in]ucontignored by MagAOXApp

Definition at line 297 of file MagAOXApp.hpp.

◆ appLogic()

int MagAOX::app::kTracker::appLogic ( )
virtual

Implementation of the FSM for kTracker.

Returns
0 on no critical error
-1 on an error requiring shutdown

Implements MagAOX::app::MagAOXApp< true >.

Definition at line 187 of file kTracker.hpp.

◆ appShutdown()

int MagAOX::app::kTracker::appShutdown ( )
virtual

Shutdown the app.

Implements MagAOX::app::MagAOXApp< true >.

Definition at line 210 of file kTracker.hpp.

◆ appStartup()

int MagAOX::app::kTracker::appStartup ( )
virtual

Startup function.

Implements MagAOX::app::MagAOXApp< true >.

Definition at line 167 of file kTracker.hpp.

◆ checkConfig()

void MagAOX::app::MagAOXApp< _useINDI >::checkConfig
virtualinherited

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.

Definition at line 174 of file MagAOXApp.hpp.

◆ clearFSMAlert()

int MagAOX::app::MagAOXApp< _useINDI >::clearFSMAlert
privateinherited

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.

Definition at line 519 of file MagAOXApp.hpp.

◆ configDir()

std::string MagAOX::app::MagAOXApp< _useINDI >::configDir
inherited

Get the config directory.

Returns
the current value of m_configDir

Definition at line 1064 of file MagAOXApp.hpp.

◆ configLog()

void MagAOX::app::MagAOXApp< _useINDI >::configLog ( const std::string &  name,
const int &  code,
const std::string &  value,
const std::string &  source 
)
staticprivateinherited

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.

Parameters
[in]nameThe name of the config value
[in]codenumeric code specifying the type
[in]valuethe value read by the config system
[in]sourcethe source of the value.

Definition at line 278 of file MagAOXApp.hpp.

◆ configName()

std::string MagAOX::app::MagAOXApp< _useINDI >::configName
inherited

Get the config name.

Returns
the current value of m_configName

Definition at line 1058 of file MagAOXApp.hpp.

◆ createINDIFIFOS()

int MagAOX::app::MagAOXApp< _useINDI >::createINDIFIFOS
protectedinherited

Create the INDI FIFOs.

Changes permissions to max available and creates the FIFOs at the configured path.

Todo:
make driver FIFO path full configurable.

Definition at line 776 of file MagAOXApp.hpp.

◆ createROIndiNumber()

int MagAOX::app::MagAOXApp< _useINDI >::createROIndiNumber ( pcf::IndiProperty &  prop,
const std::string &  propName,
const std::string &  propLabel = "",
const std::string &  propGroup = "" 
)
inherited

Create a ReadOnly INDI Number property.

Returns
0 on success
-1 on error
Parameters
[out]propthe property to create and setup
[in]propNamethe name of the property
[in]propLabel[optional] the GUI label suggestion for this property
[in]propGroup[optional] the group for this property

Definition at line 636 of file MagAOXApp.hpp.

◆ createROIndiText()

int MagAOX::app::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 = "" 
)
inherited

Create a standard ReadOnly INDI Text property, with at least one element.

Returns
0 on success
-1 on error
Parameters
[out]propthe property to create and setup
[in]propNamethe name of the property
[in]elNamethe name of the element
[in]propLabel[optional] the GUI label suggestion for this property
[in]propGroup[optional] the group for this property
[in]elLabel[optional] the GUI label suggestion for the element

Definition at line 607 of file MagAOXApp.hpp.

◆ createStandardIndiNumber()

int MagAOX::app::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 = "" 
)
inherited

Create a standard R/W INDI Number property with target and current elements.

Returns
0 on success
-1 on error
Parameters
[out]propthe property to create and setup
[in]namethe name of the property
[in]minthe minimum value for the elements, applied to both target and current
[in]maxthe minimum value for the elements, applied to both target and current
[in]stepthe step size for the elements, applied to both target and current
[in]formatthe _ value for the elements, applied to both target and current. Set to "" to use the MagAO-X standard for type.
[in]label[optional] the GUI label suggestion for this property
[in]group[optional] the group for this property

Definition at line 621 of file MagAOXApp.hpp.

◆ createStandardIndiRequestSw()

int MagAOX::app::MagAOXApp< _useINDI >::createStandardIndiRequestSw ( pcf::IndiProperty &  prop,
const std::string &  name,
const std::string &  label = "",
const std::string &  group = "" 
)
inherited

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
-1 on error
Parameters
[out]propthe property to create and setup
[in]namethe name of the property
[in]label[optional] the GUI label suggestion for this property
[in]group[optional] the group for this property

Definition at line 660 of file MagAOXApp.hpp.

◆ createStandardIndiSelectionSw() [1/2]

int MagAOX::app::MagAOXApp< _useINDI >::createStandardIndiSelectionSw ( pcf::IndiProperty &  prop,
const std::string &  name,
const std::vector< std::string > &  elements,
const std::string &  label = "",
const std::string &  group = "" 
)
inherited

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
-1 on error
Parameters
[out]propthe property to create and setup
[in]namethe name of the property,
[in]elementsthe element names to give to the switches
[in]label[optional] the GUI label suggestion for this property
[in]group[optional] the group for this property

Definition at line 686 of file MagAOXApp.hpp.

◆ createStandardIndiSelectionSw() [2/2]

int MagAOX::app::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 = "" 
)
inherited

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
-1 on error
Parameters
[out]propthe property to create and setup
[in]namethe name of the property,
[in]elementsthe element names to give to the switches
[in]elementLabelsthe element labels to give to the switches
[in]label[optional] the GUI label suggestion for this property
[in]group[optional] the group for this property

Definition at line 672 of file MagAOXApp.hpp.

◆ createStandardIndiText()

int MagAOX::app::MagAOXApp< _useINDI >::createStandardIndiText ( pcf::IndiProperty &  prop,
const std::string &  propName,
const std::string &  label = "",
const std::string &  group = "" 
)
inherited

Create a standard R/W INDI Text property with target and current elements.

Returns
0 on success
-1 on error
Parameters
[out]propthe property to create and setup
[in]propNamethe name of the property
[in]label[optional] the GUI label suggestion for this property
[in]group[optional] the group for this property

Definition at line 596 of file MagAOXApp.hpp.

◆ createStandardIndiToggleSw()

int MagAOX::app::MagAOXApp< _useINDI >::createStandardIndiToggleSw ( pcf::IndiProperty &  prop,
const std::string &  name,
const std::string &  label = "",
const std::string &  group = "" 
)
inherited

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
-1 on error
Parameters
[out]propthe property to create and setup
[in]namethe name of the property
[in]label[optional] the GUI label suggestion for this property
[in]group[optional] the group for this property

Definition at line 648 of file MagAOXApp.hpp.

◆ driverCtrlName()

std::string MagAOX::app::MagAOXApp< _useINDI >::driverCtrlName
inherited

Get the INDI control FIFO file name.

Returns
the current value of m_driverCtrlName

Definition at line 1082 of file MagAOXApp.hpp.

◆ driverInName()

std::string MagAOX::app::MagAOXApp< _useINDI >::driverInName
inherited

Get the INDI input FIFO file name.

Returns
the current value of m_driverInName

Definition at line 1070 of file MagAOXApp.hpp.

◆ driverOutName()

std::string MagAOX::app::MagAOXApp< _useINDI >::driverOutName
inherited

Get the INDI output FIFO file name.

Returns
the current value of m_driverOutName

Definition at line 1076 of file MagAOXApp.hpp.

◆ execute()

int MagAOX::app::MagAOXApp< _useINDI >::execute ( void  )
virtualinherited

The execute method implementing the standard main loop. Should not normally be overridden.

Performs final startup steps. That is:

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.

Todo:
Need a heartbeat update here.

Definition at line 204 of file MagAOXApp.hpp.

◆ handleDefProperty()

void MagAOX::app::MagAOXApp< _useINDI >::handleDefProperty ( const pcf::IndiProperty &  ipRecv)
inherited

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.

Parameters
[in]ipRecvThe property being sent.

Definition at line 793 of file MagAOXApp.hpp.

◆ handleGetProperties()

void MagAOX::app::MagAOXApp< _useINDI >::handleGetProperties ( const pcf::IndiProperty &  ipRecv)
inherited

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.

Parameters
[in]ipRecvThe property being requested.

Definition at line 799 of file MagAOXApp.hpp.

◆ handleNewProperty()

void MagAOX::app::MagAOXApp< _useINDI >::handleNewProperty ( const pcf::IndiProperty &  ipRecv)
inherited

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?
Parameters
[in]ipRecvThe property being changed.

Definition at line 809 of file MagAOXApp.hpp.

◆ handlerSigTerm()

void MagAOX::app::MagAOXApp< _useINDI >::handlerSigTerm ( int  signum,
siginfo_t *  siginf,
void *  ucont 
)
privateinherited

Handles SIGTERM, SIGQUIT, and SIGINT. Sets m_shutdown to 1 and logs the signal.

Parameters
[in]signumspecifies the signal.
[in]siginfignored by MagAOXApp
[in]ucontignored by MagAOXApp

Definition at line 303 of file MagAOXApp.hpp.

◆ handleSetProperty()

void MagAOX::app::MagAOXApp< _useINDI >::handleSetProperty ( const pcf::IndiProperty &  ipRecv)
inherited

Handler for the set INDI property request.

This is called by m_indiDriver's indiDriver::handleSetProperties.

Todo:
handle errors, are they FATAL?
Todo:
log an error here because callBack should not be null
Todo:
log invalid SetProperty request.
Parameters
[in]ipRecvThe property being changed.

Definition at line 818 of file MagAOXApp.hpp.

◆ INDI_NEWCALLBACK_DECL()

MagAOX::app::kTracker::INDI_NEWCALLBACK_DECL ( kTracker  ,
m_indiP_tracking   
)

◆ INDI_SETCALLBACK_DECL() [1/2]

MagAOX::app::kTracker::INDI_SETCALLBACK_DECL ( kTracker  ,
m_indiP_teldata   
)

◆ INDI_SETCALLBACK_DECL() [2/2]

MagAOX::app::MagAOXApp< _useINDI >::INDI_SETCALLBACK_DECL ( MagAOXApp< true >  ,
m_indiP_powerChannel   
)
inherited

◆ indiTargetUpdate()

int MagAOX::app::MagAOXApp< _useINDI >::indiTargetUpdate ( pcf::IndiProperty &  localProperty,
T &  localTarget,
const pcf::IndiProperty &  remoteProperty,
bool  setBusy = true 
)
protectedinherited

Get the target element value from an new property.

Returns
0 on success
-1 on error
Parameters
[out]localPropertyThe local property to update
[out]localTargetThe local value to update
[in]remotePropertythe new property received
[in]setBusy[optional] set property to busy if true

Definition at line 908 of file MagAOXApp.hpp.

◆ loadBasicConfig()

void MagAOX::app::MagAOXApp< _useINDI >::loadBasicConfig
virtualinherited

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.

Definition at line 168 of file MagAOXApp.hpp.

◆ loadConfig()

void MagAOX::app::kTracker::loadConfig ( )
virtual

Definition at line 162 of file kTracker.hpp.

◆ loadConfigImpl()

int MagAOX::app::kTracker::loadConfigImpl ( mx::app::appConfigurator &  _config)

Implementation of loadConfig logic, separated for testing.

This is called by loadConfig().

Parameters
[in]_configan application configuration from which to load values

Definition at line 149 of file kTracker.hpp.

Referenced by loadConfig().

◆ lockPID()

int MagAOX::app::MagAOXApp< _useINDI >::lockPID
protectedinherited

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.
-1 on any error, including creating the PID file or if this app is already running.

Definition at line 407 of file MagAOXApp.hpp.

◆ log() [1/2]

int MagAOX::app::MagAOXApp< _useINDI >::log ( const typename logT::messageT &  msg,
logPrioT  level = logPrio::LOG_DEFAULT 
)
staticinherited

Make a log entry.

Wrapper for logManager::log

Template Parameters
logTthe log entry type
retvalthe value returned by this method.
Parameters
[in]msgthe message to log
[in]level[optional] the log level. The default is used if not specified.

Definition at line 252 of file MagAOXApp.hpp.

◆ log() [2/2]

int MagAOX::app::MagAOXApp< _useINDI >::log ( logPrioT  level = logPrio::LOG_DEFAULT)
staticinherited

Make a log entry.

Wrapper for logManager::log

Template Parameters
logTthe log entry type
retvalthe value returned by this method.
Parameters
[in]level[optional] the log level. The default is used if not specified.

Definition at line 264 of file MagAOXApp.hpp.

◆ logMessage()

void MagAOX::app::MagAOXApp< _useINDI >::logMessage ( bufferPtrT b)
inherited

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.

Definition at line 271 of file MagAOXApp.hpp.

◆ newCallBack_clearFSMAlert()

int MagAOX::app::MagAOXApp< _useINDI >::newCallBack_clearFSMAlert ( const pcf::IndiProperty &  ipRecv)
protectedinherited

The callback called by the static version, to actually process the FSM Alert Clear request.

Returns
0 on success.
-1 on error.
Parameters
[in]ipRecvthe INDI property sent with the the new property request.

Definition at line 964 of file MagAOXApp.hpp.

◆ onPowerOff()

int MagAOX::app::MagAOXApp< _useINDI >::onPowerOff
protectedvirtualinherited

This method is called when the change to poweroff is detected.

Returns
0 on success.
-1 on any error which means the app should exit.

Reimplemented in MagAOX::app::zaberLowLevel, MagAOX::app::irisaoCtrl, MagAOX::app::bmcCtrl, and MagAOX::app::alpaoCtrl.

Definition at line 1005 of file MagAOXApp.hpp.

◆ powerOnWaitElapsed()

bool MagAOX::app::MagAOXApp< _useINDI >::powerOnWaitElapsed
protectedinherited

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
false otherwise

Definition at line 1021 of file MagAOXApp.hpp.

◆ powerState()

int MagAOX::app::MagAOXApp< _useINDI >::powerState
inherited

Returns the current power state.

If power management is not enabled, this always returns 1=On.

Returns
-1 if power state is unknown
0 if power is off
1 if power is on or m_powerMgtEnabled==false

Definition at line 1032 of file MagAOXApp.hpp.

◆ powerStateTarget()

int MagAOX::app::MagAOXApp< _useINDI >::powerStateTarget
inherited

Returns the target power state.

If power management is not enabled, this always returns 1=On.

Returns
-1 if target power state is unknown
0 if target power state is off
1 if target power is on or m_powerMgtEnabled==false

Definition at line 1041 of file MagAOXApp.hpp.

◆ registerIndiPropertyNew() [1/3]

int MagAOX::app::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(*)(void *, const pcf::IndiProperty &)   
)
inherited

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.
-1 on error.
Parameters
[out]propthe property to register
[in]propNamethe name of the property
[in]propTypethe type of the property
[in]propPermthe permissions of the property
[in]propStatethe state of the property
[in]propRulethe switch rule type

◆ registerIndiPropertyNew() [2/3]

int MagAOX::app::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(*)(void *, const pcf::IndiProperty &)   
)
inherited

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.
-1 on error.
Parameters
[out]propthe property to register
[in]propNamethe name of the property
[in]propTypethe type of the property
[in]propPermthe permissions of the property
[in]propStatethe state of the property

◆ registerIndiPropertyNew() [3/3]

int MagAOX::app::MagAOXApp< _useINDI >::registerIndiPropertyNew ( pcf::IndiProperty &  prop,
int(*)(void *, const pcf::IndiProperty &)   
)
inherited

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.
-1 on error.
Parameters
[in]propthe property to register, must be fully set up

◆ registerIndiPropertyReadOnly() [1/2]

int MagAOX::app::MagAOXApp< _useINDI >::registerIndiPropertyReadOnly ( pcf::IndiProperty &  prop)
inherited

Register an INDI property which is read only.

This version requires the property be fully set up.

Returns
0 on success.
-1 on error.
Parameters
[in]propthe property to register, must be completely setup

Definition at line 700 of file MagAOXApp.hpp.

◆ registerIndiPropertyReadOnly() [2/2]

int MagAOX::app::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 
)
inherited

Register an INDI property which is read only.

This verison sets up the INDI property according to the arguments.

Returns
0 on success.
-1 on error.
Parameters
[out]propthe property to register, will be configured
[in]propNamethe name of the property
[in]propTypethe type of the property
[in]propPermthe permissions of the property
[in]propStatethe state of the property

Definition at line 709 of file MagAOXApp.hpp.

◆ registerIndiPropertySet()

int MagAOX::app::MagAOXApp< _useINDI >::registerIndiPropertySet ( pcf::IndiProperty &  prop,
const std::string &  devName,
const std::string &  propName,
int(*)(void *, const pcf::IndiProperty &)   
)
inherited

Register an INDI property which is monitored for updates from others.

Returns
0 on success.
-1 on error.
Parameters
[out]propthe property to register
[in]devNamethe device which owns this property
[in]propNamethe name of the property

Definition at line 765 of file MagAOXApp.hpp.

◆ sendGetPropertySetList()

void MagAOX::app::MagAOXApp< _useINDI >::sendGetPropertySetList ( bool  all = false)
inherited

Definition at line 787 of file MagAOXApp.hpp.

◆ sendNewProperty() [1/2]

int MagAOX::app::MagAOXApp< _useINDI >::sendNewProperty ( const pcf::IndiProperty &  ipSend)
protectedinherited

Send a newProperty command to another device (using the INDI Client interface)

Returns
0 on success.
-1 on an error, which will be logged
Parameters
[in]ipSendThe property to send a "new" INDI command for

Definition at line 931 of file MagAOXApp.hpp.

◆ sendNewProperty() [2/2]

int MagAOX::app::MagAOXApp< _useINDI >::sendNewProperty ( const pcf::IndiProperty &  ipSend,
const std::string &  el,
const T &  newVal 
)
protectedinherited

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.
-1 on an errory.
Parameters
[in]ipSendThe property to send a "new" INDI command for
[in]elThe element of the property to change
[in]newValThe value to request for the element.

Definition at line 921 of file MagAOXApp.hpp.

◆ sendNewStandardIndiToggle()

int MagAOX::app::MagAOXApp< _useINDI >::sendNewStandardIndiToggle ( const std::string &  device,
const std::string &  property,
bool  onoff 
)
protectedinherited

Send a new property commmand for a standard toggle switch.

Returns
0 on success
-1 on an error, which will be logged.
Parameters
[in]deviceThe device name
[in]propertyThe property name
[in]onoffSwitch state to send: true = on, false = off

Definition at line 938 of file MagAOXApp.hpp.

◆ setDefaults()

void MagAOX::app::MagAOXApp< _useINDI >::setDefaults ( int  argc,
char **  argv 
)
virtualinherited

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.

Parameters
[in]argcstandard command line result specifying number of arguments in argv
[in]argvstandard command line result containing the arguments.

Definition at line 146 of file MagAOXApp.hpp.

◆ setEuidCalled()

int MagAOX::app::MagAOXApp< _useINDI >::setEuidCalled
privateinherited

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
-1 on error from setuid().

Definition at line 368 of file MagAOXApp.hpp.

◆ setEuidReal()

int MagAOX::app::MagAOXApp< _useINDI >::setEuidReal
privateinherited

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
-1 on error from setuid().

Definition at line 377 of file MagAOXApp.hpp.

◆ setSigTermHandler()

int MagAOX::app::MagAOXApp< _useINDI >::setSigTermHandler
privateinherited

Sets the handler for SIGTERM, SIGQUIT, and SIGINT.

Definition at line 294 of file MagAOXApp.hpp.

◆ setupBasicConfig()

void MagAOX::app::MagAOXApp< _useINDI >::setupBasicConfig
virtualinherited

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.

Definition at line 158 of file MagAOXApp.hpp.

◆ setupConfig()

void MagAOX::app::kTracker::setupConfig ( )
virtual

Definition at line 134 of file kTracker.hpp.

◆ shutdown()

int MagAOX::app::MagAOXApp< _useINDI >::shutdown
inherited

Get the value of the shutdown flag.

Returns
the current value of m_shutdown

Definition at line 136 of file MagAOXApp.hpp.

◆ st_newCallBack_clearFSMAlert()

int MagAOX::app::MagAOXApp< _useINDI >::st_newCallBack_clearFSMAlert ( void *  app,
const pcf::IndiProperty &  ipRecv 
)
staticprotectedinherited

The static callback function to be registered for requesting to clear the FSM alert.

Returns
0 on success.
-1 on error.
Parameters
[in]appa pointer to this, will be static_cast-ed to MagAOXApp.
[in]ipRecvthe INDI property sent with the the new property request.

Definition at line 955 of file MagAOXApp.hpp.

◆ startINDI()

int MagAOX::app::MagAOXApp< _useINDI >::startINDI
protectedinherited

Start INDI Communications.

Returns
0 on success
-1 on error. This is fatal.

Definition at line 783 of file MagAOXApp.hpp.

◆ state() [1/2]

stateCodes::stateCodeT MagAOX::app::MagAOXApp< _useINDI >::state
inherited

Get the current state code.

Returns
m_state

Definition at line 480 of file MagAOXApp.hpp.

◆ state() [2/2]

void MagAOX::app::MagAOXApp< _useINDI >::state ( const stateCodes::stateCodeT s,
bool  stateAlert = false 
)
inherited

Set the current state code.

Todo:
move this to a function in stateCodes
Parameters
[in]sThe new application state
[in]stateAlert[optional] flag to set the alert state of the FSM property.

Definition at line 488 of file MagAOXApp.hpp.

◆ stateLogged()

int MagAOX::app::MagAOXApp< _useINDI >::stateLogged
inherited

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:

if( connection_failed ) //some condition set this to true
{
if(!stateLogged()) log<text_log>("Not connected");
}
stateCodes::stateCodeT state()
Get the current state code.
Definition: MagAOXApp.hpp:2082
int stateLogged()
Updates and returns the value of m_stateLogged. Will be 0 on first call after a state change,...
Definition: MagAOXApp.hpp:2140
@ NOTCONNECTED
The application is not connected to the device or service.
Definition: stateCodes.hpp:44

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.

Definition at line 509 of file MagAOXApp.hpp.

◆ threadStart()

int MagAOX::app::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 
)
inherited

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:

static void impl::myThreadStart( impl * o )
{
o->myThreadExec(); //A member function which actually executes the thread
}

where impl is the derived class, and mThreadStart and myThreadExec are members of impl.

Returns
0 on success
-1 on error
Parameters
[out]thrdThe thread object to start executing
thrdInit[in/out] The thread initilization synchronizer.
tpid[in/out] The thread pid to be filled in by thrdStart immediately upon call
thProp[in/out] The INDI property to publish the thread details
[in]thrdPrioThe r/t priority to set for this thread
[in]cpusetthe cpuset to place this thread on. Ignored if "".
[in]thrdNameThe name of the thread (just for logging)
[in]thrdThisThe `this` pointer to pass to the thread starter function
[in]thrdStartThe thread starting function, a static function taking a `this` pointer as argument.

Definition at line 450 of file MagAOXApp.hpp.

◆ unlockPID()

int MagAOX::app::MagAOXApp< _useINDI >::unlockPID
protectedinherited

Remove the PID file.

Definition at line 410 of file MagAOXApp.hpp.

◆ updateIfChanged() [1/4]

void MagAOX::app::MagAOXApp< _useINDI >::updateIfChanged ( pcf::IndiProperty &  p,
const std::string &  el,
const char *  newVal,
pcf::IndiProperty::PropertyStateType  ipState = pcf::IndiProperty::Ok 
)
protectedinherited

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. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters
p[in/out] The property containing the element to possibly update
[in]elThe element name
[in]newValthe new value

Definition at line 850 of file MagAOXApp.hpp.

◆ updateIfChanged() [2/4]

void MagAOX::app::MagAOXApp< _useINDI >::updateIfChanged ( pcf::IndiProperty &  p,
const std::string &  el,
const std::vector< T > &  newVals,
pcf::IndiProperty::PropertyStateType  ipState = pcf::IndiProperty::Ok 
)
protectedinherited

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.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters
p[in/out] The property containing the element to possibly update
[in]elBeginning of each element name
[in]newValsthe new values
[in]ipState[optional] the new state

Definition at line 880 of file MagAOXApp.hpp.

◆ updateIfChanged() [3/4]

void MagAOX::app::MagAOXApp< _useINDI >::updateIfChanged ( pcf::IndiProperty &  p,
const std::string &  el,
const T &  newVal,
pcf::IndiProperty::PropertyStateType  ipState = pcf::IndiProperty::Ok 
)
protectedinherited

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.

Parameters
p[in/out] The property containing the element to possibly update
[in]elThe element name
[in]newValthe new value

Definition at line 832 of file MagAOXApp.hpp.

◆ updateIfChanged() [4/4]

void MagAOX::app::MagAOXApp< _useINDI >::updateIfChanged ( pcf::IndiProperty &  p,
const std::vector< std::string > &  els,
const std::vector< T > &  newVals 
)
protectedinherited

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.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters
p[in/out] The property containing the element to possibly update
[in]elsString vector of element names
[in]newValsthe new values

Definition at line 897 of file MagAOXApp.hpp.

◆ updateSwitchIfChanged()

void MagAOX::app::MagAOXApp< _useINDI >::updateSwitchIfChanged ( pcf::IndiProperty &  p,
const std::string &  el,
const pcf::IndiElement::SwitchStateType &  newVal,
pcf::IndiProperty::PropertyStateType  ipState = pcf::IndiProperty::Ok 
)
protectedinherited

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.

Parameters
p[in/out] The property containing the element to possibly update
[in]elThe element name
[in]newValthe new value

Definition at line 861 of file MagAOXApp.hpp.

◆ whilePowerOff()

int MagAOX::app::MagAOXApp< _useINDI >::whilePowerOff
protectedvirtualinherited

This method is called while the power is off, once per FSM loop.

Returns
0 on success.
-1 on any error which means the app should exit.

Reimplemented in MagAOX::app::zaberLowLevel, MagAOX::app::irisaoCtrl, MagAOX::app::bmcCtrl, and MagAOX::app::alpaoCtrl.

Definition at line 1012 of file MagAOXApp.hpp.

Friends And Related Function Documentation

◆ kTracker_test

friend class kTracker_test
friend

Definition at line 43 of file kTracker.hpp.

Member Data Documentation

◆ m_allDefsReceived

bool MagAOX::app::MagAOXApp< _useINDI >::m_allDefsReceived
protectedinherited

Flag indicating that all registered Set properties have been updated since last Get.

Definition at line 576 of file MagAOXApp.hpp.

◆ m_calibDir

std::string MagAOX::app::MagAOXApp< _useINDI >::m_calibDir
protectedinherited

The path to calibration files for MagAOX.

Definition at line 94 of file MagAOXApp.hpp.

◆ m_configBase

std::string MagAOX::app::MagAOXApp< _useINDI >::m_configBase
protectedinherited

The name of a base config class for this app (minus .conf).

Definition at line 92 of file MagAOXApp.hpp.

◆ m_configDir

std::string MagAOX::app::MagAOXApp< _useINDI >::m_configDir
protectedinherited

The path to configuration files for MagAOX.

Definition at line 90 of file MagAOXApp.hpp.

◆ m_configName

std::string MagAOX::app::MagAOXApp< _useINDI >::m_configName
protectedinherited

The name of the configuration file (minus .conf).

Definition at line 88 of file MagAOXApp.hpp.

◆ m_cpusetPath

std::string MagAOX::app::MagAOXApp< _useINDI >::m_cpusetPath
protectedinherited

Definition at line 421 of file MagAOXApp.hpp.

◆ m_devName

std::string MagAOX::app::kTracker::m_devName {"stagek"}
protected

The device name of the K-mirror stage. Default is 'stagek'.

Definition at line 56 of file kTracker.hpp.

Referenced by appStartup(), and loadConfigImpl().

◆ m_driverCtrlName

std::string MagAOX::app::MagAOXApp< _useINDI >::m_driverCtrlName
protectedinherited

Full path name of the INDI driver control FIFO.

This is currently only used to signal restarts.

Definition at line 587 of file MagAOXApp.hpp.

◆ m_driverInName

std::string MagAOX::app::MagAOXApp< _useINDI >::m_driverInName
protectedinherited

Full path name of the INDI driver input FIFO.

Definition at line 579 of file MagAOXApp.hpp.

◆ m_driverOutName

std::string MagAOX::app::MagAOXApp< _useINDI >::m_driverOutName
protectedinherited

Full path name of the INDI driver output FIFO.

Definition at line 582 of file MagAOXApp.hpp.

◆ m_euidCalled

uid_t MagAOX::app::MagAOXApp< _useINDI >::m_euidCalled
privateinherited

The user id of the process as called (i.e. the higher privileged id of the owner, root if setuid).

Definition at line 315 of file MagAOXApp.hpp.

◆ m_euidReal

uid_t MagAOX::app::MagAOXApp< _useINDI >::m_euidReal
privateinherited

The real user id of the proces (i.e. the lower privileged id of the user)

Definition at line 314 of file MagAOXApp.hpp.

◆ m_gitAlert

bool MagAOX::app::MagAOXApp< _useINDI >::m_gitAlert
privateinherited

Definition at line 472 of file MagAOXApp.hpp.

◆ m_indiDriver

indiDriver<MagAOXApp>* MagAOX::app::MagAOXApp< _useINDI >::m_indiDriver
inherited

The INDI driver wrapper. Constructed and initialized by execute, which starts and stops communications.

Todo:
instead of making this public, provide an accessor.

Definition at line 537 of file MagAOXApp.hpp.

◆ m_indiMutex

std::mutex MagAOX::app::MagAOXApp< _useINDI >::m_indiMutex
inherited

Mutex for locking INDI communications.

Definition at line 540 of file MagAOXApp.hpp.

◆ m_indiNewCallBacks

std::unordered_map< std::string, indiCallBack> MagAOX::app::MagAOXApp< _useINDI >::m_indiNewCallBacks
protectedinherited

Map to hold the NewProperty indiCallBacks for this App, with fast lookup by property name.

The key for these is the property name.

Definition at line 567 of file MagAOXApp.hpp.

◆ m_indiP_clearFSMAlert

pcf::IndiProperty MagAOX::app::MagAOXApp< _useINDI >::m_indiP_clearFSMAlert
protectedinherited

indi Property to clear an FSM alert.

Definition at line 948 of file MagAOXApp.hpp.

◆ m_indiP_kpos

pcf::IndiProperty MagAOX::app::kTracker::m_indiP_kpos
protected

Definition at line 115 of file kTracker.hpp.

Referenced by appLogic(), and appStartup().

◆ m_indiP_powerChannel

pcf::IndiProperty MagAOX::app::MagAOXApp< _useINDI >::m_indiP_powerChannel
protectedinherited

INDI property used to communicate power state.

Definition at line 998 of file MagAOXApp.hpp.

◆ m_indiP_state

pcf::IndiProperty MagAOX::app::MagAOXApp< _useINDI >::m_indiP_state
protectedinherited

indi Property to report the application state.

Definition at line 945 of file MagAOXApp.hpp.

◆ m_indiP_teldata

pcf::IndiProperty MagAOX::app::kTracker::m_indiP_teldata
protected

Definition at line 112 of file kTracker.hpp.

Referenced by appStartup().

◆ m_indiP_tracking

pcf::IndiProperty MagAOX::app::kTracker::m_indiP_tracking
protected

Definition at line 110 of file kTracker.hpp.

Referenced by appStartup().

◆ m_indiSetCallBacks

std::unordered_map< std::string, indiCallBack> MagAOX::app::MagAOXApp< _useINDI >::m_indiSetCallBacks
protectedinherited

Map to hold the SetProperty indiCallBacks for this App, with fast lookup by property name.

The key for these is device.name

Definition at line 572 of file MagAOXApp.hpp.

◆ m_log

MagAOXApp< _useINDI >::logManagerT MagAOX::app::MagAOXApp< _useINDI >::m_log
staticinherited

Definition at line 242 of file MagAOXApp.hpp.

◆ m_loopPause

unsigned long MagAOX::app::MagAOXApp< _useINDI >::m_loopPause
protectedinherited

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.

Definition at line 100 of file MagAOXApp.hpp.

◆ m_pid

pid_t MagAOX::app::MagAOXApp< _useINDI >::m_pid
protectedinherited

This process's PID.

Definition at line 394 of file MagAOXApp.hpp.

◆ m_powerChannel

std::string MagAOX::app::MagAOXApp< _useINDI >::m_powerChannel
protectedinherited

The INDI property name of the channel controlling this device's power.

Definition at line 985 of file MagAOXApp.hpp.

◆ m_powerDevice

std::string MagAOX::app::MagAOXApp< _useINDI >::m_powerDevice
protectedinherited

The INDI device name of the power controller.

Definition at line 984 of file MagAOXApp.hpp.

◆ m_powerElement

std::string MagAOX::app::MagAOXApp< _useINDI >::m_powerElement
protectedinherited

The INDI element name to monitor for this device's power state.

Definition at line 986 of file MagAOXApp.hpp.

◆ m_powerMgtEnabled

bool MagAOX::app::MagAOXApp< _useINDI >::m_powerMgtEnabled
protectedinherited

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.

Definition at line 981 of file MagAOXApp.hpp.

◆ m_powerOnCounter

int MagAOX::app::MagAOXApp< _useINDI >::m_powerOnCounter
protectedinherited

Counts numer of loops after power on, implements delay for device bootup. If -1, then device was NOT powered off on app startup.

Definition at line 992 of file MagAOXApp.hpp.

◆ m_powerOnWait

unsigned long MagAOX::app::MagAOXApp< _useINDI >::m_powerOnWait
protectedinherited

Time in sec to wait for device to boot after power on.

Definition at line 989 of file MagAOXApp.hpp.

◆ m_powerState

int MagAOX::app::MagAOXApp< _useINDI >::m_powerState
protectedinherited

Current power state, 1=On, 0=Off, -1=Unk.

Definition at line 995 of file MagAOXApp.hpp.

◆ m_powerTargetElement

std::string MagAOX::app::MagAOXApp< _useINDI >::m_powerTargetElement
protectedinherited

The INDI element name to monitor for this device's power state.

Definition at line 987 of file MagAOXApp.hpp.

◆ m_powerTargetState

int MagAOX::app::MagAOXApp< _useINDI >::m_powerTargetState
protectedinherited

Current target power state, 1=On, 0=Off, -1=Unk.

Definition at line 996 of file MagAOXApp.hpp.

◆ m_self

MagAOXApp< _useINDI > * MagAOX::app::MagAOXApp< _useINDI >::m_self
staticprivateinherited

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.

Definition at line 291 of file MagAOXApp.hpp.

◆ m_shutdown

int MagAOX::app::MagAOXApp< _useINDI >::m_shutdown
protectedinherited

Flag to signal it's time to shutdown. When not 0, the main loop exits.

Definition at line 102 of file MagAOXApp.hpp.

◆ m_sign

int MagAOX::app::kTracker::m_sign {1}
protected

The sign to apply to the zd to rotate the k-mirror.

Definition at line 54 of file kTracker.hpp.

Referenced by appLogic(), and loadConfigImpl().

◆ m_state

stateCodes::stateCodeT MagAOX::app::MagAOXApp< _useINDI >::m_state
privateinherited

The application's state. Never ever set this directly, use state(const stateCodeT & s).

Definition at line 468 of file MagAOXApp.hpp.

◆ m_stateAlert

bool MagAOX::app::MagAOXApp< _useINDI >::m_stateAlert
privateinherited

Definition at line 470 of file MagAOXApp.hpp.

◆ m_stateLogged

int MagAOX::app::MagAOXApp< _useINDI >::m_stateLogged
privateinherited

Counter and flag for use to log errors just once. Never ever access directly, use stateLogged().

Definition at line 474 of file MagAOXApp.hpp.

◆ m_suid

uid_t MagAOX::app::MagAOXApp< _useINDI >::m_suid
privateinherited

The save-set user id of the process.

Definition at line 316 of file MagAOXApp.hpp.

◆ m_tcsDevName

std::string MagAOX::app::kTracker::m_tcsDevName {"tcsi"}
protected

The device name of the TCS Interface providing 'teldata.zd'. Default is 'tcsi'.

Definition at line 57 of file kTracker.hpp.

Referenced by appStartup(), and loadConfigImpl().

◆ m_tracking

bool MagAOX::app::kTracker::m_tracking {false}
protected

The interval at which to update positions, in seconds. Default is 10 secs.

Definition at line 63 of file kTracker.hpp.

Referenced by appLogic().

◆ m_updateInterval

float MagAOX::app::kTracker::m_updateInterval {10}
protected

Definition at line 59 of file kTracker.hpp.

Referenced by appLogic(), and loadConfigImpl().

◆ m_useINDI

constexpr static bool MagAOX::app::MagAOXApp< _useINDI >::m_useINDI
staticconstexprprotectedinherited

Flag controlling whether INDI is used. If false, then no INDI code executes.

Definition at line 532 of file MagAOXApp.hpp.

◆ m_zd

float MagAOX::app::kTracker::m_zd {0}
protected

Definition at line 65 of file kTracker.hpp.

Referenced by appLogic().

◆ m_zero

float MagAOX::app::kTracker::m_zero {0}
protected

The starting point for the K-mirorr at zd=0.

Definition at line 52 of file kTracker.hpp.

Referenced by appLogic(), and loadConfigImpl().

◆ MagAOXPath

std::string MagAOX::app::MagAOXApp< _useINDI >::MagAOXPath
protectedinherited

The base path of the MagAO-X system.

Definition at line 86 of file MagAOXApp.hpp.

◆ pidFileName

std::string MagAOX::app::MagAOXApp< _useINDI >::pidFileName
protectedinherited

The name of the PID file.

Definition at line 392 of file MagAOXApp.hpp.

◆ secretsPath

std::string MagAOX::app::MagAOXApp< _useINDI >::secretsPath
protectedinherited

Path to the secrets directory, where passwords, etc, are stored.

Definition at line 98 of file MagAOXApp.hpp.

◆ sysPath

std::string MagAOX::app::MagAOXApp< _useINDI >::sysPath
protectedinherited

The path to the system directory, for PID file, etc.

Definition at line 96 of file MagAOXApp.hpp.


The documentation for this class was generated from the following file: