MagAOX::app::zaberLowLevel Class Reference

The low-level ASCII-protocol Zaber controller. More...

#include <zaberLowLevel.hpp>

Inheritance diagram for MagAOX::app::zaberLowLevel:

Collaboration diagram for MagAOX::app::zaberLowLevel:

Public Types
typedef XWC_DEFAULT_VERBOSITY	verboseT
typedef logger::logManager< MagAOXApp< _useINDI >, logFileRaw< verboseT > >	logManagerT
	The log manager type.

Public Member Functions
	zaberLowLevel ()
	Default constructor.
	~zaberLowLevel () noexcept
	Destructor, declared and defined for noexcept.
virtual void	setupConfig ()
	Set up application configuration.
virtual void	loadConfig ()
	Load application configuration.
int	connect ()
	Connect to the ASCII-protocol stage chain and discover configured devices.
int	loadStages (std::string &serialRes)
	Apply a parsed system.serial snapshot to the configured stages.
int	refreshStageDiscovery ()
	Refresh discovery on an already-connected ASCII bus.
int	resetConnection ()
	Reset the active ASCII connection bookkeeping.
int	recoverFromError (bool devicePresent)
	Recover from an ASCII-transport error without terminating the app.
virtual int	appStartup ()
	Set up the INDI properties and restore retained stage state.
virtual int	appLogic ()
	Execute the main FSM for zaberLowLevel.
virtual int	onPowerOff ()
	Handle the transition into the powered-off state.
virtual int	whilePowerOff ()
	Execute the powered-off loop.
virtual int	appShutdown ()
	Perform any shutdown tasks before exit.
virtual void	setDefaults (int argc, char **argv)
	Set the paths for config files.
virtual void	setupBasicConfig ()
	The basic MagAO-X configuration setup method. Should not normally be overridden.
virtual void	loadBasicConfig ()
	The basic MagAO-X configuration processing method. Should not normally be overridden.
virtual void	checkConfig ()
	Check for unused and unrecognized config options and settings.
virtual int	execute ()
	The execute method implementing the standard main loop. Should not normally be overridden.
int	setupConfig (mx::app::appConfigurator &config)
	Setup an application configurator for the USB section.
int	loadConfig (mx::app::appConfigurator &config)
	Load the USB section from an application configurator.
int	getDeviceName ()
	Get the device name from udev using the vendor, product, and serial number.
INDI Stage State
	INDI_NEWCALLBACK_DECL (zaberLowLevel, m_indiP_tgt_pos)
	INDI_NEWCALLBACK_DECL (zaberLowLevel, m_indiP_req_home)
	INDI_NEWCALLBACK_DECL (zaberLowLevel, m_indiP_req_home_all)
	INDI_NEWCALLBACK_DECL (zaberLowLevel, m_indiP_req_halt)
	INDI_NEWCALLBACK_DECL (zaberLowLevel, m_indiP_req_ehalt)
	INDI_NEWCALLBACK_DECL (zaberLowLevel, m_indiP_knob_enable)
	INDI_NEWCALLBACK_DECL (zaberLowLevel, m_indiP_led_enable)
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.
Member Accessors
std::string	basePath ()
	Get the.
std::string	configName ()
	Get the config name.
std::string	configDir ()
	Get the config directory.
std::string	configBase ()
	Get the config base file.
std::string	calibDir ()
	Get the calibration directory.
std::string	sysPath ()
	Get the system path.
std::string	secretsPath ()
	Get the secrets path.
std::string	cpusetPath ()
	Get the cpuset path.
unsigned long	loopPause ()
	Get the loop pause time.
int	shutdown ()
	Get the value of the shutdown flag.
std::string	driverInName ()
	Get the INDI input FIFO file name.
std::string	driverOutName ()
	Get the INDI output FIFO file name.
std::string	driverCtrlName ()
	Get the INDI control FIFO file name.

Public Attributes
std::string	m_idVendor
	The vendor id 4-digit code.
std::string	m_idProduct
	The product id 4-digit code.
std::string	m_serial
	The serial number.
speed_t	m_baudRate {0}
	The baud rate specification.
std::string	m_deviceName
	The device path name, e.g. /dev/ttyUSB0.
int	m_fileDescrip {0}
	The file descriptor.

Protected Attributes
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.
std::string	m_cpusetPath
	Path to the cpusets mount.
unsigned long	m_loopPause
int	m_shutdown
	Flag to signal it's time to shutdown. When not 0, the main loop exits.
Stage Mapping - Data
int	m_numStages { 0 }
	Number of configured stages.
z_port	m_port { 0 }
	Connected ASCII protocol port.
std::vector< zaberStage< zaberLowLevel > >	m_stages
	Stage helpers in configuration order.
std::unordered_map< int, size_t >	m_stageAddress
	Map from ASCII device address to configured stage index.
std::unordered_map< std::string, size_t >	m_stageSerial
	Map from configured serial number to configured stage index.
std::unordered_map< std::string, size_t >	m_stageName
	Map from configured stage name to configured stage index.
bool	m_stageDiscoveryInitialized { false }
	Whether the active connection has completed an initial discovery pass.
INDI Stage State - Data
pcf::IndiProperty	m_indiP_curr_state
	Current state of the stage.
pcf::IndiProperty	m_indiP_max_pos
	Maximum raw position of the stage.
pcf::IndiProperty	m_indiP_parked
	Parked state of the stage.
pcf::IndiProperty	m_indiP_lastHomed
	Time of last homing for the stage.
pcf::IndiProperty	m_indiP_curr_pos
	Current raw position of the stage.
pcf::IndiProperty	m_indiP_temp
	Current temperature of the stage.
pcf::IndiProperty	m_indiP_warn
	Whether the stage has existing warnings.
pcf::IndiProperty	m_indiP_tgt_pos
	Target raw position of the stage.
pcf::IndiProperty	m_indiP_req_home
	Command a stage to home.
pcf::IndiProperty	m_indiP_req_home_all
	Command all stages to home.
pcf::IndiProperty	m_indiP_req_halt
	Command a stage to safely halt.
pcf::IndiProperty	m_indiP_req_ehalt
	Command a stage to safely immediately halt.
pcf::IndiProperty	m_indiP_knob_enable
	Enable or disable a stage's potentiometer.
pcf::IndiProperty	m_indiP_led_enable
	Enable or disable a stage's LED.

Private Member Functions
int	clearFSMAlert ()
	Clear the FSM alert state.

Friends
class	zaberLowLevel_test

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
	This process's PID.
int	lockPID ()
int	unlockPID ()
	Remove the PID file.

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.
std::unordered_map< std::string, indiCallBack >	m_indiSetCallBacks
	Map to hold the SetProperty indiCallBacks for this App, with fast lookup by property name.
bool	m_allDefsReceived
	Flag indicating that all registered Set properties have been updated since last Get.
std::string	m_driverInName
	Full path name of the INDI driver input FIFO.
std::string	m_driverOutName
	Full path name of the INDI driver output FIFO.
std::string	m_driverCtrlName
	Full path name of the INDI driver control FIFO.
pcf::IndiProperty	m_indiP_state
	indi Property to report the application state.
pcf::IndiProperty	m_indiP_clearFSMAlert
	indi Property to clear an FSM alert.
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.
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.
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.
int	createROIndiNumber (pcf::IndiProperty &prop, const std::string &propName, const std::string &propLabel="", const std::string &propGroup="")
	Create a ReadOnly INDI Number property.
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.
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.
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.
int	createStandardIndiSelectionSw (pcf::IndiProperty &prop, const std::string &name, const std::vector< std::string > &elements, const std::string &label="", const std::string &group="")
int	registerIndiPropertyReadOnly (pcf::IndiProperty &prop)
	Register an INDI property which is read only.
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.
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.
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.
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.
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.
void	resetIndiSetPropertyRetry (indiCallBack &callBack)
	Reset retry tracking for a monitored INDI Set-property subscription.
bool	indiSetPropertyShouldRequest (const indiCallBack &callBack, bool all, const std::chrono::steady_clock::time_point &now) const
	Determine whether an unresolved Set-property subscription should be requested now.
void	noteIndiSetPropertyRequested (indiCallBack &callBack, const std::chrono::steady_clock::time_point &now)
	Update retry tracking after sending a GetProperties request for a monitored Set-property.
void	sendGetPropertySetList (bool all=false)
void	handleDefProperty (const pcf::IndiProperty &ipRecv)
	Handler for the DEF INDI properties notification.
void	handleGetProperties (const pcf::IndiProperty &ipRecv)
	Handler for the get INDI properties request.
void	handleNewProperty (const pcf::IndiProperty &ipRecv)
	Handler for the new INDI property request.
void	handleSetProperty (const pcf::IndiProperty &ipRecv)
	Handler for the set INDI property request.
typedef std::pair< std::string, indiCallBack >	callBackValueType
	Value type of the indiCallBack map.
typedef std::unordered_map< std::string, indiCallBack >::iterator	callBackIterator
	Iterator type of the indiCallBack map.
typedef std::pair< callBackIterator, bool >	callBackInsertResult
	Return type of insert on the indiCallBack map.
static constexpr bool	m_useINDI
	Flag controlling whether INDI is used. If false, then no INDI code executes.
indiDriver< MagAOXApp > *	m_indiDriver
	The INDI driver wrapper. Constructed and initialized by execute, which starts and stops communications.
std::mutex	m_indiMutex
	Mutex for locking INDI communications.
std::mutex	m_indiCallBackMutex
	Mutex for locking INDI callback maps and per-entry callback state.
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.
int	createINDIFIFOS ()
	Create the INDI FIFOs.
int	startINDI ()
	Start INDI Communications.
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.
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.
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.
void	updateIfChanged (pcf::IndiProperty &p, const std::vector< std::string > &els, const std::vector< T > &newVals, pcf::IndiProperty::PropertyStateType newState=pcf::IndiProperty::Ok)
	Update an INDI property if values have changed.
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.
void	updatesIfChanged (pcf::IndiProperty &p, const std::vector< const char * > &els, const std::vector< T > &newVals, pcf::IndiProperty::PropertyStateType newState=pcf::IndiProperty::Ok)
int	indiTargetUpdate (pcf::IndiProperty &localProperty, T &localTarget, const pcf::IndiProperty &remoteProperty, bool setBusy=true)
	Get the target element value from an new property.
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)
int	sendNewProperty (const pcf::IndiProperty &ipSend)
	Send a newProperty command to another device (using the INDI Client interface)
int	sendNewStandardIndiToggle (const std::string &device, const std::string &property, bool onoff)
	Send a new property commmand for a standard toggle switch.
int	newCallBack_clearFSMAlert (const pcf::IndiProperty &ipRecv)
	The callback called by the static version, to actually process the FSM Alert Clear request.

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
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
	The INDI element name to monitor for this device's power state.
std::string	m_powerTargetElement
	The INDI element name to monitor for this device's power state.
unsigned long	m_powerOnWait
	Default time in sec to wait for device to boot after power on.
int	m_powerOnCounter
int	m_powerState
	Current power state, 1=On, 0=Off, -1=Unk.
int	m_powerTargetState
	Current target power state, 1=On, 0=Off, -1=Unk.
pcf::IndiProperty	m_indiP_powerChannel
	INDI property used to communicate power state.
int	powerState ()
	Returns the current power state.
int	powerStateTarget ()
	Returns the target power state.
	INDI_SETCALLBACK_DECL (MagAOXApp, m_indiP_powerChannel)
bool	powerOnWaitElapsed ()
	This method tests whether the power on wait time has elapsed.

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

Application State
stateCodes::stateCodeT	state ()
	Get the current state code.
void	state (const stateCodes::stateCodeT &s, bool stateAlert=false)
	Set the current state code.
bool	stateAlert ()
	Get the value of the state alert flag.
bool	gitAlert ()
	Get the value of the git alert flag.
int	stateLogged ()
	Updates and returns the value of m_stateLogged. Will be 0 on first call after a state change, >0 afterwards.
stateCodes::stateCodeT	m_state
bool	m_stateAlert
bool	m_gitAlert
int	m_stateLogged

Signal Handling
libMagAOX/logger/types/software_log.hpp
static MagAOXApp *	m_self
int	setSigTermHandler ()
	Sets the handler for SIGTERM, SIGQUIT, and SIGINT.
void	handlerSigTerm (int signum, siginfo_t *siginf, void *ucont)
	Handles SIGTERM, SIGQUIT, and SIGINT. Sets m_shutdown to 1 and logs the signal.
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.

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

Detailed Description

The low-level ASCII-protocol Zaber controller.

This app manages a daisy-chained ASCII Zaber bus and keeps its discovery, recovery, and INDI reporting behavior aligned with the binary-protocol app.

Definition at line 51 of file zaberLowLevel.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 701 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 698 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 695 of file MagAOXApp.hpp.

logManagerT

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

inherited

The log manager type.

Definition at line 185 of file MagAOXApp.hpp.

verboseT

typedef XWC_DEFAULT_VERBOSITY MagAOX::app::MagAOXApp< _useINDI >::verboseT

inherited

Definition at line 182 of file MagAOXApp.hpp.

Constructor & Destructor Documentation

zaberLowLevel()

MagAOX::app::zaberLowLevel::zaberLowLevel

(

)

Default constructor.

Definition at line 192 of file zaberLowLevel.hpp.

References MagAOX::app::MagAOXApp< true >::m_powerMgtEnabled.

~zaberLowLevel()

MagAOX::app::zaberLowLevel::~zaberLowLevel ( )

inlinenoexcept

Destructor, declared and defined for noexcept.

Definition at line 89 of file zaberLowLevel.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]	signum	specifies the signal.
[in]	siginf	ignored by MagAOXApp
[in]	ucont	ignored by MagAOXApp

Definition at line 404 of file MagAOXApp.hpp.

appLogic()

int MagAOX::app::zaberLowLevel::appLogic ( )

virtual

Execute the main FSM for zaberLowLevel.

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

Definition at line 671 of file zaberLowLevel.hpp.

References connect(), MagAOX::app::stateCodes::CONNECTED, MagAOX::app::stateCodes::ERROR, MagAOX::app::stateCodes::FAILURE, MagAOX::tty::usbDevice::getDeviceName(), MagAOX::app::stateCodes::INITIALIZED, MagAOX::app::MagAOXApp< true >::log(), flatlogs::logPrio::LOG_CRITICAL, flatlogs::logPrio::LOG_WARNING, MagAOX::app::MagAOXApp< true >::m_configName, MagAOX::tty::usbDevice::m_deviceName, MagAOX::tty::usbDevice::m_idProduct, MagAOX::tty::usbDevice::m_idVendor, MagAOX::app::MagAOXApp< true >::m_indiMutex, m_indiP_curr_pos, m_indiP_curr_state, m_indiP_knob_enable, m_indiP_lastHomed, m_indiP_led_enable, m_indiP_max_pos, m_indiP_parked, m_indiP_temp, m_indiP_tgt_pos, m_indiP_warn, m_port, MagAOX::tty::usbDevice::m_serial, m_stages, MagAOX::app::MagAOXApp< true >::m_sysPath, MagAOX::app::stateCodes::NODEVICE, MagAOX::app::stateCodes::NOTCONNECTED, MagAOX::app::stateCodes::POWERON, MagAOX::app::MagAOXApp< true >::powerState(), MagAOX::app::MagAOXApp< true >::powerStateTarget(), MagAOX::app::stateCodes::READY, recoverFromError(), refreshStageDiscovery(), MagAOX::app::MagAOXApp< true >::state(), MagAOX::app::MagAOXApp< true >::stateLogged(), TTY_E_DEVNOTFOUND, TTY_E_NODEVNAMES, MagAOX::tty::ttyErrorString(), MagAOX::app::MagAOXApp< true >::updateIfChanged(), MagAOX::app::MagAOXApp< true >::updateSwitchIfChanged(), ZC_CONNECTED, ZC_ERROR, and ZC_NOT_CONNECTED.

appShutdown()

int MagAOX::app::zaberLowLevel::appShutdown ( )

inlinevirtual

Perform any shutdown tasks before exit.

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

Definition at line 1132 of file zaberLowLevel.hpp.

References MagAOX::app::MagAOXApp< true >::log(), m_indiP_curr_state, m_stages, and MagAOX::app::MagAOXApp< true >::updateIfChanged().

appStartup()

int MagAOX::app::zaberLowLevel::appStartup ( )

virtual

Set up the INDI properties and restore retained stage state.

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

Definition at line 556 of file zaberLowLevel.hpp.

References CREATE_REG_INDI_NEW_REQUESTSWITCH, MagAOX::app::MagAOXApp< true >::log(), flatlogs::logPrio::LOG_CRITICAL, MagAOX::app::MagAOXApp< true >::m_configName, m_indiP_curr_pos, m_indiP_curr_state, m_indiP_knob_enable, m_indiP_lastHomed, m_indiP_led_enable, m_indiP_max_pos, m_indiP_parked, m_indiP_req_ehalt, m_indiP_req_halt, m_indiP_req_home, m_indiP_req_home_all, m_indiP_temp, m_indiP_tgt_pos, m_indiP_warn, m_stages, MagAOX::app::MagAOXApp< true >::m_sysPath, REG_INDI_NEWPROP, REG_INDI_NEWPROP_NOCB, MagAOX::app::MagAOXApp< true >::state(), and MagAOX::app::stateCodes::UNINITIALIZED.

basePath()

std::string MagAOX::app::MagAOXApp< _useINDI >::basePath ( )

inherited

Get the.

Returns

the value of m_ *

Definition at line 1251 of file MagAOXApp.hpp.

calibDir()

std::string MagAOX::app::MagAOXApp< _useINDI >::calibDir ( )

inherited

Get the calibration directory.

Returns

the value of m_calibDir

Definition at line 1273 of file MagAOXApp.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 278 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 642 of file MagAOXApp.hpp.

configBase()

std::string MagAOX::app::MagAOXApp< _useINDI >::configBase ( )

inherited

Get the config base file.

Returns

the value of m_confgBase

Definition at line 1268 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 1263 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  )

staticprotectedinherited

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]	name	The name of the config value
[in]	code	numeric code specifying the type
[in]	value	the value read by the config system
[in]	source	the source of the value.

Definition at line 384 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 1257 of file MagAOXApp.hpp.

connect()

int MagAOX::app::zaberLowLevel::connect

(

)

Connect to the ASCII-protocol stage chain and discover configured devices.

Definition at line 247 of file zaberLowLevel.hpp.

References MagAOX::app::stateCodes::ERROR, loadStages(), MagAOX::app::MagAOXApp< true >::log(), flatlogs::logPrio::LOG_DEBUG, flatlogs::logPrio::LOG_ERROR, flatlogs::logPrio::LOG_WARNING, MagAOX::tty::usbDevice::m_deviceName, m_port, MagAOX::app::parseSystemSerial(), MagAOX::app::MagAOXApp< true >::state(), MagAOX::app::MagAOXApp< true >::stateLogged(), Z_ERROR_SYSTEM_ERROR, Z_ERROR_TIMEOUT, Z_SUCCESS, za_connect(), za_disconnect(), za_drain(), za_receive(), za_send(), ZC_CONNECTED, ZC_ERROR, ZC_NOT_CONNECTED, and ZUTILS_E_BADSERIAL.

Referenced by appLogic().

cpusetPath()

std::string MagAOX::app::MagAOXApp< _useINDI >::cpusetPath ( )

inherited

Get the cpuset path.

Returns

the value of m_cpusetPath

Definition at line 1288 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 960 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]	prop	the property to create and setup
[in]	propName	the 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 783 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]	prop	the property to create and setup
[in]	propName	the name of the property
[in]	elName	the 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 748 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]	prop	the property to create and setup
[in]	name	the name of the property
[in]	min	the minimum value for the elements, applied to both target and current
[in]	max	the minimum value for the elements, applied to both target and current
[in]	step	the step size for the elements, applied to both target and current
[in]	format	the _ 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 762 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]	prop	the property to create and setup
[in]	name	the 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 809 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]	prop	the property to create and setup
[in]	name	the name of the property,
[in]	elements	the 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 840 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]	prop	the property to create and setup
[in]	name	the name of the property,
[in]	elements	the element names to give to the switches
[in]	elementLabels	the 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 822 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]	prop	the property to create and setup
[in]	propName	the 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 735 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]	prop	the property to create and setup
[in]	name	the 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 796 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 1317 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 1305 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 1311 of file MagAOXApp.hpp.

execute()

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

virtualinherited

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.

Todo:

Need a heartbeat update here.

Definition at line 308 of file MagAOXApp.hpp.

getDeviceName()

int MagAOX::tty::usbDevice::getDeviceName ( )

inherited

Get the device name from udev using the vendor, product, and serial number.

Definition at line 103 of file usbDevice.cpp.

References MagAOX::tty::usbDevice::m_deviceName, MagAOX::tty::usbDevice::m_idProduct, MagAOX::tty::usbDevice::m_idVendor, MagAOX::tty::usbDevice::m_serial, and MagAOX::tty::ttyUSBDevName().

Referenced by MagAOX::app::filterWheelCtrl::appLogic(), MagAOX::app::flipperCtrl::appLogic(), MagAOX::app::koolanceCtrl::appLogic(), MagAOX::app::pi335Ctrl::appLogic(), MagAOX::app::smc100ccCtrl::appLogic(), appLogic(), MagAOX::app::zaberLowLevelBinary::appLogic(), MagAOX::app::rhusbMon::connect(), and MagAOX::tty::usbDevice::loadConfig().

gitAlert()

bool MagAOX::app::MagAOXApp< _useINDI >::gitAlert ( )

inherited

Get the value of the git alert flag.

Returns

the current value of m_gitAlert

Definition at line 613 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]

ipRecv

The property being sent.

Definition at line 976 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]

ipRecv

The property being requested.

Definition at line 982 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]

ipRecv

The property being changed.

Definition at line 992 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]	signum	specifies the signal.
[in]	siginf	ignored by MagAOXApp
[in]	ucont	ignored by MagAOXApp

Definition at line 410 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]

ipRecv

The property being changed.

Definition at line 1001 of file MagAOXApp.hpp.

INDI_NEWCALLBACK_DECL() [1/7]

MagAOX::app::zaberLowLevel::INDI_NEWCALLBACK_DECL	(	zaberLowLevel	,
		m_indiP_knob_enable
	)

INDI_NEWCALLBACK_DECL() [2/7]

MagAOX::app::zaberLowLevel::INDI_NEWCALLBACK_DECL	(	zaberLowLevel	,
		m_indiP_led_enable
	)

INDI_NEWCALLBACK_DECL() [3/7]

MagAOX::app::zaberLowLevel::INDI_NEWCALLBACK_DECL	(	zaberLowLevel	,
		m_indiP_req_ehalt
	)

INDI_NEWCALLBACK_DECL() [4/7]

MagAOX::app::zaberLowLevel::INDI_NEWCALLBACK_DECL	(	zaberLowLevel	,
		m_indiP_req_halt
	)

INDI_NEWCALLBACK_DECL() [5/7]

MagAOX::app::zaberLowLevel::INDI_NEWCALLBACK_DECL	(	zaberLowLevel	,
		m_indiP_req_home
	)

INDI_NEWCALLBACK_DECL() [6/7]

MagAOX::app::zaberLowLevel::INDI_NEWCALLBACK_DECL	(	zaberLowLevel	,
		m_indiP_req_home_all
	)

INDI_NEWCALLBACK_DECL() [7/7]

MagAOX::app::zaberLowLevel::INDI_NEWCALLBACK_DECL	(	zaberLowLevel	,
		m_indiP_tgt_pos
	)

INDI_SETCALLBACK_DECL()

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

inherited

indiSetPropertyShouldRequest()

bool MagAOX::app::MagAOXApp< _useINDI >::indiSetPropertyShouldRequest ( const indiCallBack &  callBack, bool  all, const std::chrono::steady_clock::time_point &  now  ) const

inlineinherited

Determine whether an unresolved Set-property subscription should be requested now.

Parameters

[in]	callBack	the subscription retry state to evaluate
[in]	all	if true, force an immediate refresh regardless of retry timing
[in]	now	the current monotonic time for scheduling

Definition at line 944 of file MagAOXApp.hpp.

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]	localProperty	The local property to update
[out]	localTarget	The local value to update
[in]	remoteProperty	the new property received
[in]	setBusy	[optional] set property to busy if true

Definition at line 1098 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 272 of file MagAOXApp.hpp.

loadConfig() [1/2]

void MagAOX::app::zaberLowLevel::loadConfig ( )

virtual

Load application configuration.

Definition at line 204 of file zaberLowLevel.hpp.

References MagAOX::tty::usbDevice::loadConfig(), MagAOX::app::MagAOXApp< true >::log(), MagAOX::tty::usbDevice::m_baudRate, m_stageName, m_stages, m_stageSerial, TTY_E_DEVNOTFOUND, TTY_E_NODEVNAMES, and MagAOX::tty::ttyErrorString().

loadConfig() [2/2]

int MagAOX::tty::usbDevice::loadConfig ( mx::app::appConfigurator &  config )

inherited

Load the USB section from an application configurator.

If config does not contain a baud rate, m_baudRate is unchanged. If m_baudRate is 0 at the end of this method, an error is returned. Set m_baudRate prior to calling to avoid this error.

Returns

0 on success

-1 on error (nothing implemented yet)

Parameters

[in]

config

an application configuration from which to load values

Definition at line 34 of file usbDevice.cpp.

References MagAOX::tty::usbDevice::getDeviceName(), MagAOX::tty::usbDevice::m_baudRate, MagAOX::tty::usbDevice::m_idProduct, MagAOX::tty::usbDevice::m_idVendor, MagAOX::tty::usbDevice::m_serial, and TTY_E_BADBAUDRATE.

Referenced by MagAOX::app::filterWheelCtrl::loadConfig(), MagAOX::app::smc100ccCtrl::loadConfig(), loadConfig(), MagAOX::app::zaberLowLevelBinary::loadConfig(), MagAOX::app::flipperCtrl::loadConfigImpl(), MagAOX::app::koolanceCtrl::loadConfigImpl(), MagAOX::app::pi335Ctrl::loadConfigImpl(), and MagAOX::app::rhusbMon::loadConfigImpl().

loadStages()

int MagAOX::app::zaberLowLevel::loadStages

(

std::string &

serialRes

)

Apply a parsed system.serial snapshot to the configured stages.

Parameters

[in]

serialRes

the raw response to / get system.serial

Definition at line 374 of file zaberLowLevel.hpp.

References MagAOX::app::stateCodes::ERROR, MagAOX::app::MagAOXApp< true >::log(), flatlogs::logPrio::LOG_ERROR, flatlogs::logPrio::LOG_WARNING, m_stageAddress, m_stageDiscoveryInitialized, m_stages, m_stageSerial, MagAOX::app::parseSystemSerial(), MagAOX::app::MagAOXApp< true >::state(), ZC_CONNECTED, and ZC_ERROR.

Referenced by connect(), refreshStageDiscovery(), and libXWCTest::zaberLowLevelTest::SCENARIO().

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 522 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

logT	the log entry type
retval	the value returned by this method.

Parameters

[in]	msg	the message to log
[in]	level	[optional] the log level. The default is used if not specified.

Definition at line 355 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

logT	the log entry type
retval	the value returned by this method.

Parameters

[in]

level

[optional] the log level. The default is used if not specified.

Definition at line 368 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 377 of file MagAOXApp.hpp.

loopPause()

unsigned long MagAOX::app::MagAOXApp< _useINDI >::loopPause ( )

inherited

Get the loop pause time.

Returns

the value of m_loopPause

Definition at line 1293 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]

ipRecv

the INDI property sent with the new property request.

Definition at line 1155 of file MagAOXApp.hpp.

noteIndiSetPropertyRequested()

void MagAOX::app::MagAOXApp< _useINDI >::noteIndiSetPropertyRequested ( indiCallBack &  callBack, const std::chrono::steady_clock::time_point &  now  )

inlineinherited

Update retry tracking after sending a GetProperties request for a monitored Set-property.

Parameters

	callBack	[in/out] the subscription retry state to update
[in]	now	the current monotonic time for scheduling

Definition at line 951 of file MagAOXApp.hpp.

onPowerOff()

int MagAOX::app::zaberLowLevel::onPowerOff ( )

inlinevirtual

Handle the transition into the powered-off state.

Reimplemented from MagAOX::app::MagAOXApp< true >.

Definition at line 1096 of file zaberLowLevel.hpp.

References MagAOX::app::lock(), MagAOX::app::MagAOXApp< true >::log(), MagAOX::app::MagAOXApp< true >::m_indiMutex, m_indiP_curr_pos, m_indiP_curr_state, m_indiP_knob_enable, m_indiP_lastHomed, m_indiP_led_enable, m_indiP_max_pos, m_indiP_parked, m_indiP_temp, m_indiP_tgt_pos, m_indiP_warn, m_stages, resetConnection(), MagAOX::app::MagAOXApp< true >::updateIfChanged(), and MagAOX::app::MagAOXApp< true >::updateSwitchIfChanged().

Referenced by libXWCTest::zaberLowLevelTest::SCENARIO().

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 1216 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 1226 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 1235 of file MagAOXApp.hpp.

recoverFromError()

int MagAOX::app::zaberLowLevel::recoverFromError

(

bool

devicePresent

)

Recover from an ASCII-transport error without terminating the app.

Parameters

[in]

devicePresent

True if the USB tty still exists in udev.

Definition at line 528 of file zaberLowLevel.hpp.

References MagAOX::app::MagAOXApp< true >::log(), m_indiP_curr_state, m_stages, MagAOX::app::stateCodes::NODEVICE, MagAOX::app::stateCodes::NOTCONNECTED, resetConnection(), MagAOX::app::MagAOXApp< true >::state(), and MagAOX::app::MagAOXApp< true >::updateIfChanged().

Referenced by appLogic(), and libXWCTest::zaberLowLevelTest::SCENARIO().

refreshStageDiscovery()

int MagAOX::app::zaberLowLevel::refreshStageDiscovery

(

)

Refresh discovery on an already-connected ASCII bus.

Definition at line 458 of file zaberLowLevel.hpp.

References MagAOX::app::stateCodes::ERROR, loadStages(), MagAOX::app::MagAOXApp< true >::log(), flatlogs::logPrio::LOG_DEBUG, flatlogs::logPrio::LOG_ERROR, m_port, MagAOX::app::MagAOXApp< true >::state(), Z_ERROR_SYSTEM_ERROR, Z_ERROR_TIMEOUT, Z_SUCCESS, za_drain(), za_receive(), za_send(), ZC_ERROR, and ZC_NOT_CONNECTED.

Referenced by appLogic().

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]	prop	the property to register
[in]	propName	the name of the property
[in]	propType	the type of the property
[in]	propPerm	the permissions of the property
[in]	propState	the state of the property
[in]	propRule	the 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]	prop	the property to register
[in]	propName	the name of the property
[in]	propType	the type of the property
[in]	propPerm	the permissions of the property
[in]	propState	the 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]

prop

the 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]

prop

the property to register, must be completely setup

Definition at line 856 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]	prop	the property to register, will be configured
[in]	propName	the name of the property
[in]	propType	the type of the property
[in]	propPerm	the permissions of the property
[in]	propState	the state of the property

Definition at line 866 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]	prop	the property to register
[in]	devName	the device which owns this property
[in]	propName	the name of the property

Definition at line 933 of file MagAOXApp.hpp.

resetConnection()

int MagAOX::app::zaberLowLevel::resetConnection

(

)

Reset the active ASCII connection bookkeeping.

Definition at line 511 of file zaberLowLevel.hpp.

References MagAOX::app::MagAOXApp< true >::log(), flatlogs::logPrio::LOG_ERROR, m_port, m_stageDiscoveryInitialized, and za_disconnect().

Referenced by onPowerOff(), recoverFromError(), and libXWCTest::zaberLowLevelTest::SCENARIO().

resetIndiSetPropertyRetry()

void MagAOX::app::MagAOXApp< _useINDI >::resetIndiSetPropertyRetry ( indiCallBack &  callBack )

inlineinherited

Reset retry tracking for a monitored INDI Set-property subscription.

Parameters

callBack

[in/out] the subscription retry state to reset

Definition at line 941 of file MagAOXApp.hpp.

secretsPath()

std::string MagAOX::app::MagAOXApp< _useINDI >::secretsPath ( )

inherited

Get the secrets path.

Returns

the value of m_secretsPath

Definition at line 1283 of file MagAOXApp.hpp.

sendGetPropertySetList()

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

inherited

Definition at line 970 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]

ipSend

The property to send a "new" INDI command for

Definition at line 1121 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]	ipSend	The property to send a "new" INDI command for
[in]	el	The element of the property to change
[in]	newVal	The value to request for the element.

Definition at line 1111 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]	device	The device name
[in]	property	The property name
[in]	onoff	Switch state to send: true = on, false = off

Definition at line 1128 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]	argc	standard command line result specifying number of arguments in argv
[in]	argv	standard command line result containing the arguments.

Definition at line 250 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 481 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 490 of file MagAOXApp.hpp.

setSigTermHandler()

int MagAOX::app::MagAOXApp< _useINDI >::setSigTermHandler ( )

privateinherited

Sets the handler for SIGTERM, SIGQUIT, and SIGINT.

Definition at line 401 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 262 of file MagAOXApp.hpp.

setupConfig() [1/2]

void MagAOX::app::zaberLowLevel::setupConfig ( )

virtual

Set up application configuration.

Definition at line 199 of file zaberLowLevel.hpp.

References MagAOX::tty::usbDevice::setupConfig().

setupConfig() [2/2]

int MagAOX::tty::usbDevice::setupConfig ( mx::app::appConfigurator &  config )

inherited

Setup an application configurator for the USB section.

Returns

0 on success.

-1 on error (nothing implemented yet)

Parameters

[in]

config

an application configuration to setup

Definition at line 24 of file usbDevice.cpp.

Referenced by MagAOX::app::filterWheelCtrl::setupConfig(), MagAOX::app::flipperCtrl::setupConfig(), MagAOX::app::koolanceCtrl::setupConfig(), MagAOX::app::pi335Ctrl::setupConfig(), MagAOX::app::rhusbMon::setupConfig(), MagAOX::app::smc100ccCtrl::setupConfig(), setupConfig(), and MagAOX::app::zaberLowLevelBinary::setupConfig().

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 1299 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]	app	a pointer to this, will be static_cast-ed to MagAOXApp.
[in]	ipRecv	the INDI property sent with the new property request.

Definition at line 1144 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 967 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 591 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]	s	The new application state
[in]	stateAlert	[optional] flag to set the alert state of the FSM property.

Definition at line 599 of file MagAOXApp.hpp.

stateAlert()

bool MagAOX::app::MagAOXApp< _useINDI >::stateAlert ( )

inherited

Get the value of the state alert flag.

Returns

the current value of m_stateAlert

Definition at line 607 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
{
   state( stateCodes::NOTCONNECTED );
   if(!stateLogged()) log<text_log>("Not connected");
}

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 632 of file MagAOXApp.hpp.

sysPath()

std::string MagAOX::app::MagAOXApp< _useINDI >::sysPath ( )

inherited

Get the system path.

Returns

the value of m_sysPath

Definition at line 1278 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]	thrd	The 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]	thrdPrio	The r/t priority to set for this thread
[in]	cpuset	the cpuset to place this thread on. Ignored if "".
[in]	thrdName	The name of the thread (just for logging)
[in]	thrdThis	The this pointer to pass to the thread starter function
[in]	thrdStart	The thread starting function, a static function taking a this pointer as argument.

Definition at line 556 of file MagAOXApp.hpp.

unlockPID()

int MagAOX::app::MagAOXApp< _useINDI >::unlockPID ( )

protectedinherited

Remove the PID file.

Definition at line 525 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]	el	The element name
[in]	newVal	the new value

Definition at line 1031 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]	el	Beginning of each element name
[in]	newVals	the new values
[in]	ipState	[optional] the new state

Definition at line 1060 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]	el	The element name
[in]	newVal	the new value

Definition at line 1014 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, pcf::IndiProperty::PropertyStateType  newState = 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.

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]	els	String vector of element names
[in]	newVals	the new values
[in]	newState	[optional] The state of the property

Definition at line 1077 of file MagAOXApp.hpp.

updatesIfChanged()

void MagAOX::app::MagAOXApp< _useINDI >::updatesIfChanged ( pcf::IndiProperty &  p, const std::vector< const char * > &  els, const std::vector< T > &  newVals, pcf::IndiProperty::PropertyStateType  newState = pcf::IndiProperty::Ok  )

protectedinherited

Parameters

	p	[in/out] The property containing the element to possibly update
[in]	els	String vector of element names
[in]	newVals	the new values
[in]	newState	[optional] The state of the property

Definition at line 1085 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]	el	The element name
[in]	newVal	the new value

Definition at line 1042 of file MagAOXApp.hpp.

whilePowerOff()

int MagAOX::app::zaberLowLevel::whilePowerOff ( )

inlinevirtual

Execute the powered-off loop.

Reimplemented from MagAOX::app::MagAOXApp< true >.

Definition at line 1127 of file zaberLowLevel.hpp.

Friends And Related Symbol Documentation

zaberLowLevel_test

friend class zaberLowLevel_test

friend

Definition at line 55 of file zaberLowLevel.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 716 of file MagAOXApp.hpp.

m_basePath

std::string MagAOX::app::MagAOXApp< _useINDI >::m_basePath

protectedinherited

The base path of the MagAO-X system.

Definition at line 188 of file MagAOXApp.hpp.

m_baudRate

speed_t MagAOX::tty::usbDevice::m_baudRate {0}

inherited

The baud rate specification.

Definition at line 38 of file usbDevice.hpp.

Referenced by MagAOX::tty::usbDevice::connect(), MagAOX::app::filterWheelCtrl::loadConfig(), MagAOX::app::smc100ccCtrl::loadConfig(), loadConfig(), MagAOX::app::zaberLowLevelBinary::loadConfig(), MagAOX::tty::usbDevice::loadConfig(), MagAOX::app::flipperCtrl::loadConfigImpl(), MagAOX::app::koolanceCtrl::loadConfigImpl(), and MagAOX::app::pi335Ctrl::loadConfigImpl().

m_calibDir

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

protectedinherited

The path to calibration files for MagAOX.

Definition at line 196 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 194 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 192 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 190 of file MagAOXApp.hpp.

m_cpusetPath

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

protectedinherited

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.

Definition at line 207 of file MagAOXApp.hpp.

m_deviceName

std::string MagAOX::tty::usbDevice::m_deviceName

inherited

The device path name, e.g. /dev/ttyUSB0.

Definition at line 40 of file usbDevice.hpp.

Referenced by MagAOX::app::filterWheelCtrl::appLogic(), MagAOX::app::flipperCtrl::appLogic(), MagAOX::app::koolanceCtrl::appLogic(), MagAOX::app::pi335Ctrl::appLogic(), MagAOX::app::smc100ccCtrl::appLogic(), appLogic(), MagAOX::app::zaberLowLevelBinary::appLogic(), MagAOX::app::pi335Ctrl::appStartup(), MagAOX::app::rhusbMon::connect(), connect(), MagAOX::app::zaberLowLevelBinary::connect(), MagAOX::tty::usbDevice::connect(), MagAOX::tty::usbDevice::getDeviceName(), and MagAOX::app::pi335Ctrl::testConnection().

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 727 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 719 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 722 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 422 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 421 of file MagAOXApp.hpp.

m_fileDescrip

int MagAOX::tty::usbDevice::m_fileDescrip {0}

inherited

The file descriptor.

Definition at line 42 of file usbDevice.hpp.

Referenced by MagAOX::app::filterWheelCtrl::appLogic(), MagAOX::app::smc100ccCtrl::appLogic(), MagAOX::tty::usbDevice::connect(), MagAOX::app::pi335Ctrl::finishInit(), MagAOX::app::pi335Ctrl::getCom(), MagAOX::app::smc100ccCtrl::getCtrlState(), MagAOX::app::smc100ccCtrl::getLastError(), MagAOX::app::filterWheelCtrl::getMoving(), MagAOX::app::filterWheelCtrl::getPos(), MagAOX::app::flipperCtrl::getPos(), MagAOX::app::smc100ccCtrl::getPosition(), MagAOX::app::koolanceCtrl::getStatus(), MagAOX::app::filterWheelCtrl::getSwitch(), MagAOX::app::filterWheelCtrl::home(), MagAOX::app::pi335Ctrl::home_1(), MagAOX::app::pi335Ctrl::home_2(), MagAOX::app::pi335Ctrl::home_3(), MagAOX::app::pi335Ctrl::initDM(), MagAOX::app::koolanceCtrl::initialConnect(), MagAOX::app::pi335Ctrl::move_1(), MagAOX::app::pi335Ctrl::move_2(), MagAOX::app::pi335Ctrl::move_3(), MagAOX::app::smc100ccCtrl::moveTo(), MagAOX::app::flipperCtrl::moveTo(), MagAOX::app::filterWheelCtrl::moveToRaw(), MagAOX::app::filterWheelCtrl::moveToRawRelative(), MagAOX::app::filterWheelCtrl::onPowerOnConnect(), MagAOX::app::rhusbMon::readProbe(), MagAOX::app::pi335Ctrl::releaseDM(), MagAOX::app::koolanceCtrl::setFanLvl(), MagAOX::app::koolanceCtrl::setPumpLvl(), MagAOX::app::smc100ccCtrl::startHoming(), MagAOX::app::filterWheelCtrl::stop(), MagAOX::app::smc100ccCtrl::stop(), MagAOX::app::pi335Ctrl::testConnection(), and MagAOX::app::smc100ccCtrl::testConnection().

m_gitAlert

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

privateinherited

Definition at line 582 of file MagAOXApp.hpp.

m_idProduct

std::string MagAOX::tty::usbDevice::m_idProduct

inherited

The product id 4-digit code.

Definition at line 35 of file usbDevice.hpp.

Referenced by MagAOX::app::filterWheelCtrl::appLogic(), MagAOX::app::flipperCtrl::appLogic(), MagAOX::app::koolanceCtrl::appLogic(), MagAOX::app::pi335Ctrl::appLogic(), MagAOX::app::smc100ccCtrl::appLogic(), appLogic(), MagAOX::app::zaberLowLevelBinary::appLogic(), MagAOX::app::pi335Ctrl::appStartup(), MagAOX::app::usbtempMon::checkConnections(), MagAOX::app::rhusbMon::connect(), MagAOX::tty::usbDevice::getDeviceName(), MagAOX::tty::usbDevice::loadConfig(), and MagAOX::app::usbtempMon::loadConfigImpl().

m_idVendor

std::string MagAOX::tty::usbDevice::m_idVendor

inherited

The vendor id 4-digit code.

Definition at line 34 of file usbDevice.hpp.

Referenced by MagAOX::app::filterWheelCtrl::appLogic(), MagAOX::app::flipperCtrl::appLogic(), MagAOX::app::koolanceCtrl::appLogic(), MagAOX::app::pi335Ctrl::appLogic(), MagAOX::app::smc100ccCtrl::appLogic(), appLogic(), MagAOX::app::zaberLowLevelBinary::appLogic(), MagAOX::app::pi335Ctrl::appStartup(), MagAOX::app::usbtempMon::checkConnections(), MagAOX::app::rhusbMon::connect(), MagAOX::tty::usbDevice::getDeviceName(), MagAOX::tty::usbDevice::loadConfig(), and MagAOX::app::usbtempMon::loadConfigImpl().

m_indiCallBackMutex

std::mutex MagAOX::app::MagAOXApp< _useINDI >::m_indiCallBackMutex

inherited

Mutex for locking INDI callback maps and per-entry callback state.

Lock ordering policy: 1) Prefer never holding both m_indiMutex and m_indiCallBackMutex at the same time. 2) If both are required in future code, always acquire m_indiMutex before m_indiCallBackMutex.

Definition at line 669 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 659 of file MagAOXApp.hpp.

m_indiMutex

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

inherited

Mutex for locking INDI communications.

Definition at line 662 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 707 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 1137 of file MagAOXApp.hpp.

m_indiP_curr_pos

pcf::IndiProperty MagAOX::app::zaberLowLevel::m_indiP_curr_pos

protected

Current raw position of the stage.

Definition at line 147 of file zaberLowLevel.hpp.

Referenced by appLogic(), appStartup(), and onPowerOff().

m_indiP_curr_state

pcf::IndiProperty MagAOX::app::zaberLowLevel::m_indiP_curr_state

protected

Current state of the stage.

Definition at line 135 of file zaberLowLevel.hpp.

Referenced by appLogic(), appShutdown(), appStartup(), onPowerOff(), and recoverFromError().

m_indiP_knob_enable

pcf::IndiProperty MagAOX::app::zaberLowLevel::m_indiP_knob_enable

protected

Enable or disable a stage's potentiometer.

Definition at line 171 of file zaberLowLevel.hpp.

Referenced by appLogic(), appStartup(), and onPowerOff().

m_indiP_lastHomed

pcf::IndiProperty MagAOX::app::zaberLowLevel::m_indiP_lastHomed

protected

Time of last homing for the stage.

Definition at line 144 of file zaberLowLevel.hpp.

Referenced by appLogic(), appStartup(), and onPowerOff().

m_indiP_led_enable

pcf::IndiProperty MagAOX::app::zaberLowLevel::m_indiP_led_enable

protected

Enable or disable a stage's LED.

Definition at line 174 of file zaberLowLevel.hpp.

Referenced by appLogic(), appStartup(), and onPowerOff().

m_indiP_max_pos

pcf::IndiProperty MagAOX::app::zaberLowLevel::m_indiP_max_pos

protected

Maximum raw position of the stage.

Definition at line 138 of file zaberLowLevel.hpp.

Referenced by appLogic(), appStartup(), and onPowerOff().

m_indiP_parked

pcf::IndiProperty MagAOX::app::zaberLowLevel::m_indiP_parked

protected

Parked state of the stage.

Definition at line 141 of file zaberLowLevel.hpp.

Referenced by appLogic(), appStartup(), and onPowerOff().

m_indiP_powerChannel

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

protectedinherited

INDI property used to communicate power state.

Definition at line 1193 of file MagAOXApp.hpp.

m_indiP_req_ehalt

pcf::IndiProperty MagAOX::app::zaberLowLevel::m_indiP_req_ehalt

protected

Command a stage to safely immediately halt.

Definition at line 168 of file zaberLowLevel.hpp.

Referenced by appStartup().

m_indiP_req_halt

pcf::IndiProperty MagAOX::app::zaberLowLevel::m_indiP_req_halt

protected

Command a stage to safely halt.

Definition at line 165 of file zaberLowLevel.hpp.

Referenced by appStartup().

m_indiP_req_home

pcf::IndiProperty MagAOX::app::zaberLowLevel::m_indiP_req_home

protected

Command a stage to home.

Definition at line 159 of file zaberLowLevel.hpp.

Referenced by appStartup().

m_indiP_req_home_all

pcf::IndiProperty MagAOX::app::zaberLowLevel::m_indiP_req_home_all

protected

Command all stages to home.

Definition at line 162 of file zaberLowLevel.hpp.

Referenced by appStartup().

m_indiP_state

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

protectedinherited

indi Property to report the application state.

Definition at line 1134 of file MagAOXApp.hpp.

m_indiP_temp

pcf::IndiProperty MagAOX::app::zaberLowLevel::m_indiP_temp

protected

Current temperature of the stage.

Definition at line 150 of file zaberLowLevel.hpp.

Referenced by appLogic(), appStartup(), and onPowerOff().

m_indiP_tgt_pos

pcf::IndiProperty MagAOX::app::zaberLowLevel::m_indiP_tgt_pos

protected

Target raw position of the stage.

Definition at line 156 of file zaberLowLevel.hpp.

Referenced by appLogic(), appStartup(), and onPowerOff().

m_indiP_warn

pcf::IndiProperty MagAOX::app::zaberLowLevel::m_indiP_warn

protected

Whether the stage has existing warnings.

Definition at line 153 of file zaberLowLevel.hpp.

Referenced by appLogic(), appStartup(), and onPowerOff().

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 712 of file MagAOXApp.hpp.

m_log

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

staticinherited

Definition at line 345 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 209 of file MagAOXApp.hpp.

m_numStages

int MagAOX::app::zaberLowLevel::m_numStages { 0 }

protected

Number of configured stages.

Definition at line 63 of file zaberLowLevel.hpp.

m_pid

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

protectedinherited

This process's PID.

Definition at line 506 of file MagAOXApp.hpp.

m_port

z_port MagAOX::app::zaberLowLevel::m_port { 0 }

protected

Connected ASCII protocol port.

Definition at line 66 of file zaberLowLevel.hpp.

Referenced by appLogic(), connect(), refreshStageDiscovery(), and resetConnection().

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 1179 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 1178 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 1180 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 1173 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 1186 of file MagAOXApp.hpp.

m_powerOnWait

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

protectedinherited

Default time in sec to wait for device to boot after power on.

Definition at line 1183 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 1190 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 1181 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 1191 of file MagAOXApp.hpp.

m_secretsPath

std::string MagAOX::app::MagAOXApp< _useINDI >::m_secretsPath

protectedinherited

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

Definition at line 200 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 397 of file MagAOXApp.hpp.

m_serial

std::string MagAOX::tty::usbDevice::m_serial

inherited

The serial number.

Definition at line 36 of file usbDevice.hpp.

Referenced by MagAOX::app::filterWheelCtrl::appLogic(), MagAOX::app::flipperCtrl::appLogic(), MagAOX::app::koolanceCtrl::appLogic(), MagAOX::app::pi335Ctrl::appLogic(), MagAOX::app::smc100ccCtrl::appLogic(), appLogic(), MagAOX::app::zaberLowLevelBinary::appLogic(), MagAOX::app::pi335Ctrl::appStartup(), MagAOX::app::usbtempMon::checkConnections(), MagAOX::app::rhusbMon::connect(), MagAOX::tty::usbDevice::getDeviceName(), and MagAOX::tty::usbDevice::loadConfig().

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 214 of file MagAOXApp.hpp.

m_stageAddress

std::unordered_map<int, size_t> MagAOX::app::zaberLowLevel::m_stageAddress

protected

Map from ASCII device address to configured stage index.

Definition at line 72 of file zaberLowLevel.hpp.

Referenced by loadStages().

m_stageDiscoveryInitialized

bool MagAOX::app::zaberLowLevel::m_stageDiscoveryInitialized { false }

protected

Whether the active connection has completed an initial discovery pass.

Definition at line 81 of file zaberLowLevel.hpp.

Referenced by loadStages(), and resetConnection().

m_stageName

std::unordered_map<std::string, size_t> MagAOX::app::zaberLowLevel::m_stageName

protected

Map from configured stage name to configured stage index.

Definition at line 78 of file zaberLowLevel.hpp.

Referenced by loadConfig().

m_stages

std::vector<zaberStage<zaberLowLevel> > MagAOX::app::zaberLowLevel::m_stages

protected

Stage helpers in configuration order.

Definition at line 69 of file zaberLowLevel.hpp.

Referenced by appLogic(), appShutdown(), appStartup(), loadConfig(), loadStages(), onPowerOff(), and recoverFromError().

m_stageSerial

std::unordered_map<std::string, size_t> MagAOX::app::zaberLowLevel::m_stageSerial

protected

Map from configured serial number to configured stage index.

Definition at line 75 of file zaberLowLevel.hpp.

Referenced by loadConfig(), and loadStages().

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 576 of file MagAOXApp.hpp.

m_stateAlert

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

privateinherited

Definition at line 579 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 584 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 424 of file MagAOXApp.hpp.

m_sysPath

std::string MagAOX::app::MagAOXApp< _useINDI >::m_sysPath

protectedinherited

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

Definition at line 198 of file MagAOXApp.hpp.

m_useINDI

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

staticconstexprprotectedinherited

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

Definition at line 654 of file MagAOXApp.hpp.

pidFileName

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

protectedinherited

The name of the PID file.

Definition at line 504 of file MagAOXApp.hpp.

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

• apps/zaberLowLevel/zaberLowLevel.hpp