dm.hpp

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/** \file dm.hpp
 * \brief The MagAO-X generic deformable mirror controller.
 *
 * \author Jared R. Males (jaredmales@gmail.com)
 *
 * \ingroup app_files
 */
 
#ifndef dm_hpp
#define dm_hpp
 
#include <mx/improc/eigenImage.hpp>
#include <mx/improc/milkImage.hpp>
#include <mx/ioutils/fits/fitsFile.hpp>
 
#include "shmimMonitor.hpp"
 
namespace MagAOX
{
namespace app
{
namespace dev
{
 
template <typename typeT>
constexpr uint8_t ImageStreamTypeCode()
{
    return 0;
}
 
template <>
constexpr uint8_t ImageStreamTypeCode<float>()
{
    return _DATATYPE_FLOAT;
}
 
template <>
constexpr uint8_t ImageStreamTypeCode<double>()
{
    return _DATATYPE_DOUBLE;
}
 
/** MagAO-X generic deformable mirror controller
 *
 *
 * The derived class `derivedT` must meet the following requirements:
 * - Must be a MagAOXApp<true>
 *
 * - Must be a dev::shmimMonitor<derivedT>
 *
 * - Must NOT call dev::shmimMonitor<derivedT>::setupConfog and dev::shmimMonitor<derivedT>::loadConfig.  These are
 *   handled by this class.
 *
 * - Must expose the following interface
 *   \code
 *       int initDM();
 *       int commandDM(void * cmd);
 *       int zeroDM();
 *      int releaseDM();
 *    \endcode
 *   Each of the above functions should return 0 on success, and -1 on an error.
 *
 * - This class must be declared a friend in the derived class, like so:
 *   \code
 *       friend class dev::dm<derivedT,realT>;
 *   \endcode
 *
 * - Must contain the following typedef:
 *   \code
 *       typedef dev::dm<derivedT, realT> dmT;
 *   \endcode
 *
 * - Calls to this class's `setupConfig`, `loadConfig`, `appStartup`, `appLogic`, `appShutdown`, and `udpdateINDI`
 *   functions must be placed in the derived class's functions of the same name. For convenience the
 *   following macros are defined to provide error checking:
 *   \code
 *       DM_SETUP_CONFIG( cfig )
 *       DM_LOAD_CONFIG( cfig )
 *       DM_APP_STARTUP
 *       DM_APP_LOGIC
 *       DM_UPDATE_INDI
 *       DM_APP_SHUTDOWN
 *   \endcode
 *
 *
 * \ingroup appdev
 */
template <class derivedT, typename realT>
class dm
{
 
    typedef mx::verbose::vvv verboseT;
 
  protected:
    /** \name Configurable Parameters
     * @{
     */
 
    std::string m_calibPath; ///< The path to this DM's calibration files.
    std::string m_flatPath;  ///< The path to this DM's flat files (usually the same as calibPath)
    std::string m_testPath;  ///< The path to this DM's test files (default is calibPath/tests;
 
    std::string m_actMaskPath; ///< The file name of the actuator mask for this DM
 
    std::string m_flatDefault; ///< The file name of the this DM's default flat command. Path and extension will be
                               ///< ignored and can be omitted.
    std::string m_testDefault; ///< The file name of the this DM's default test command. Path and extension will be
                               ///< ignored and can be omitted.
 
    std::string m_shmimFlat;    ///< The name of the shmim stream to write the flat to.
    std::string m_shmimTest;    ///< The name of the shmim stream to write the test to.
    std::string m_shmimSat;     ///< The name of the shmim stream to write the saturation map to.
    std::string m_shmimSatPerc; ///< The name of the shmim stream to write the saturation percentage map to.
 
    int m_satAvgInt{ 100 }; ///< The time in milliseconds to accumulate saturation over.
 
    int m_satThreadPrio{ 0 }; ///< Priority of the saturation thread.  Usually ok to be 0.
 
    std::string m_shmimShape; ///< The name of the shmim stream to write the desaturated true shape to.
    std::string m_shmimDelta; ///< The name of the shmim stream to write the desaturated delta command to.
    std::string m_shmimDiff;  ///< The name of the shmim stream to write the difference to.
 
    uint32_t m_dmWidth{ 0 };  ///< The width of the images in the stream
    uint32_t m_dmHeight{ 0 }; ///< The height of the images in the stream
 
    static constexpr uint8_t m_dmDataType = ImageStreamTypeCode<realT>(); ///< The ImageStreamIO type code.
 
    float m_percThreshold{ 0.98 }; ///<  Threshold on percentage of frames an actuator is saturated over an interval.
 
    float m_intervalSatThreshold{ 0.50 }; /**< Threshold on percentage of actuators which exceed
                                               percThreshold in an interval.*/
 
    int m_intervalSatCountThreshold{ 10 }; /**< Threshold on number of consecutive intervals
                                                the intervalSatThreshold is exceeded. */
 
    std::vector<std::string> m_satTriggerDevice; ///< Device(s) with a toggle switch to toggle on saturation trigger.
 
    std::vector<std::string> m_satTriggerProperty; /**< Property with a toggle switch to toggle on saturation trigger,
                                                        one per entry in satTriggerDevice.*/
 
    ///@}
 
    std::string m_calibRelDir; ///< The directory relative to the calibPath.  Set this before calling
                               ///< dm<derivedT,realT>::loadConfig().
 
    int m_numChannels{ 0 }; ///< The number of dmcomb channels found as part of allocation.
 
    std::vector<mx::improc::milkImage<realT> *> m_channels;
 
    std::map<std::string, std::string> m_flatCommands; ///< Map of flat file name to full path
    std::string                        m_flatCurrent;  ///< The name of the current flat command
 
    mx::improc::eigenImage<realT> m_flatCommand;         ///< Data storage for the flat command
    bool                          m_flatLoaded{ false }; ///< Flag indicating whether a flat is loaded in memory
 
    IMAGE m_flatImageStream;  ///< The ImageStreamIO shared memory buffer for the flat.
    bool  m_flatSet{ false }; ///< Flag indicating whether the flat command has been set.
 
    mx::improc::milkImage<realT> m_actMask;
 
    std::map<std::string, std::string> m_testCommands; ///< Map of test file name to full path
    std::string                        m_testCurrent;
 
    mx::improc::eigenImage<realT> m_testCommand;         ///< Data storage for the test command
    bool                          m_testLoaded{ false }; ///< Flag indicating whether a test command is loaded in memory
 
    IMAGE m_testImageStream;  ///< The ImageStreamIO shared memory buffer for the test.
    bool  m_testSet{ false }; ///< Flag indicating whether the test command has been set.
 
    mx::improc::eigenImage<uint8_t> m_instSatMap; /**< The instantaneous saturation map, 0/1, set by the commandDM()
                                    function of the derived class.*/
 
    mx::improc::eigenImage<uint16_t> m_accumSatMap; /**< The accumulated saturation map, which acccumulates for
                                                     m_satAvgInt then is publised as a 0/1 image. */
 
    mx::improc::eigenImage<float> m_satPercMap; /**< Map of the percentage of time each actuator was
                                                     saturated during the avg. interval.*/
 
    IMAGE m_satImageStream;     ///< The ImageStreamIO shared memory buffer for the sat map.
    IMAGE m_satPercImageStream; ///< The ImageStreamIO shared memory buffer for the sat percentage map.
 
    int  m_overSatAct{ 0 };         // counter
    int  m_intervalSatExceeds{ 0 }; // counter
    bool m_intervalSatTrip{ 0 };    // flag to trip the loop opening
 
    mx::improc::milkImage<realT> m_outputShape; ///< The true output shape after saturation.
 
    std::vector<std::string> m_deltaChannels; ///< The names of channels which are treated as delta commands
 
    std::vector<size_t> m_deltas;    ///< Indices of the channels which are delta commands
    std::vector<size_t> m_notDeltas; ///< Indices of the channels which are not delta commands
 
    mx::improc::eigenImage<realT> m_totalFlat;  ///< the total of all non-delta channels
    mx::improc::eigenImage<realT> m_totalDelta; ///< the total of all delta channels
 
    mx::improc::milkImage<realT> m_outputDelta; ///< The true output delta command after saturation.
    mx::improc::milkImage<realT>
        m_outputDiff; ///< The difference between command and true delta command after saturation.
 
    /** \name Saturation Thread Data
     * This thread processes the saturation maps
     * @{
     */
 
    sem_t m_satSemaphore; ///< Semaphore used to tell the saturation thread to run.
 
    bool m_satThreadInit{ true }; ///< Synchronizer for thread startup, to allow priority setting to finish.
 
    pid_t m_satThreadID{ 0 }; ///< The ID of the saturation thread.
 
    pcf::IndiProperty m_satThreadProp; ///< The property to hold the saturation thread details.
 
    std::thread m_satThread; ///< A separate thread for the actual saturation processing
 
    ///@}
 
  public:
    /// Destructor
    /** deallocates the m_channels vector
     *
     */
    ~dm();
 
    /// Get the
    /**
     * \returns the current value of
     */
    const std::string &calibPath() const;
 
    /// Get the
    /**
     * \returns the current value of
     */
    const std::string &flatPath() const;
 
    /// Get the
    /**
     * \returns the current value of
     */
    const std::string &testPath() const;
 
    /// Get the
    /**
     * \returns the current value of
     */
    const std::string &flatDefault() const;
 
    /// Get the
    /**
     * \returns the current value of
     */
    const std::string &testDefault() const;
 
    /// Get the
    /**
     * \returns the current value of
     */
    const std::string &shmimFlat() const;
 
    /// Get the
    /**
     * \returns the current value of
     */
    const std::string &shmimTest() const;
 
    /// Get the
    /**
     * \returns the current value of
     */
    const std::string &shmimSat() const;
 
    /// Get the stream name for saturation percentage
    /**
     * \returns the current value of m_shmimSatPerc
     */
    const std::string &shmimSatPerc() const;
 
    /// Get the saturation accumulation interval
    /**
     * \returns the current value of m_satAvgInt
     */
    int satAvgInt() const;
 
    /// Get the saturation thread priority
    /**
     * \returns the current value of m_satThreadPrio
     */
    int satThreadPrio() const;
 
    /// Get the
    /**
     * \returns the current value of
     */
    const std::string &shmimShape() const;
 
    /// Get the
    /**
     * \returns the current value of
     */
    const std::string &shmimDelta() const;
 
    /// Get the DM Width
    /**
     * \returns the current value of m_dmWidth
     */
    uint32_t dmWidth() const;
 
    /// Get the DM Height
    /**
     * \returns the current value of m_dmHeight
     */
    uint32_t dmHeight() const;
 
    /// Get the DM data type
    /**
     * \returns the current value of m_dmDataType
     */
    uint8_t dmDataType() const;
 
    /// Get the saturation percentage threshold
    /**
     * \returns the current value of m_percThreshold
     */
    float percThreshold() const;
 
    /// Get the interval saturation threshold
    /**
     * \returns the current value of m_intervalSatThreshold
     */
    float intervalSatThreshold() const;
 
    /// Get the interval saturation count threshold
    /**
     * \returns the current value of m_intervalSatCountThreshold
     */
    int intervalSatCountThreshold() const;
 
    /// Get the saturation trigger device(s)
    /**
     * \returns the current value of m_satTriggerDevice
     */
    const std::vector<std::string> &satTriggerDevice() const;
 
    /// Get the saturation trigger property(ies)
    /**
     * \returns the current value of m_satTriggerProperty
     */
    const std::vector<std::string> &satTriggerProperty() const;
 
    const std::string &calibRelDir() const;
 
    int numChannels() const;
 
    const mx::improc::eigenImage<uint8_t> &instSatMap() const;
 
    const mx::improc::eigenImage<uint16_t> &accumSatMap() const;
 
    const mx::improc::eigenImage<float> &satPercMap() const;
 
    const std::vector<std::string> &deltaChannels() const;
 
    const std::vector<size_t> &notDeltas() const;
 
    const mx::improc::eigenImage<float> &totalFlat() const;
 
    /// Setup the configuration system
    /**
      * This should be called in `derivedT::setupConfig` as
      * \code
        dm<derivedT,realT>::setupConfig(config);
        \endcode
      * with appropriate error checking.
      */
    int setupConfig( mx::app::appConfigurator &config /**< [out] the derived classes configurator*/ );
 
    /// load the configuration system results
    /**
      * This should be called in `derivedT::loadConfig` as
      * \code
        dm<derivedT,realT>::loadConfig(config);
        \endcode
      * with appropriate error checking.
      */
    int loadConfig( mx::app::appConfigurator &config /**< [in] the derived classes configurator*/ );
 
    /// Startup function
    /**
      * This should be called in `derivedT::appStartup` as
      * \code
        dm<derivedT,realT>::appStartup();
        \endcode
      * with appropriate error checking.
      *
      * \returns 0 on success
      * \returns -1 on error, which is logged.
      */
    int appStartup();
 
    /// DM application logic
    /** This should be called in `derivedT::appLogic` as
      * \code
        dm<derivedT,realT>::appLogic();
        \endcode
      * with appropriate error checking.
      *
      * \returns 0 on success
      * \returns -1 on error, which is logged.
      */
    int appLogic();
 
    /// DM shutdown
    /** This should be called in `derivedT::appShutdown` as
      * \code
        dm<derivedT,realT>::appShutdown();
        \endcode
      * with appropriate error checking.
      *
      * \returns 0 on success
      * \returns -1 on error, which is logged.
      */
    int appShutdown();
 
    /// DM Poweroff
    /** This should be called in `derivedT::onPowerOff` as
      * \code
        dm<derivedT,realT>::onPowerOff();
        \endcode
      * with appropriate error checking.
      *
      * \returns 0 on success
      * \returns -1 on error, which is logged.
      */
    int onPowerOff();
 
    /// DM Poweroff Updates
    /** This should be called in `derivedT::whilePowerOff` as
      * \code
        dm<derivedT,realT>::whilePowerOff();
        \endcode
      * with appropriate error checking.
      *
      * \returns 0 on success
      * \returns -1 on error, which is logged.
      */
    int whilePowerOff();
 
    /// Find the DM comb channels
    /** Introspectively finds all dmXXdispYY channels, zeroes them, and raises the semapahore
     * on the last to cause dmcomb to update.
     */
    int findDMChannels();
 
    /// Called after shmimMonitor connects to the dmXXdisp stream.  Checks for proper size.
    /**
     * \returns 0 on success
     * \returns -1 if incorrect size or data type in stream.
     */
    int allocate( const dev::shmimT &sp );
 
    /// Called by shmimMonitor when a new DM command is available.  This is just a pass-through to
    /// derivedT::commandDM(char*).
    int processImage( void *curr_src, const dev::shmimT &sp );
 
    /// Calls derived()->initDM()
    /**
     * \returns 0 on success
     * \returns -1 on error from derived()->initDM()
     */
    int baseInitDM();
 
    /// Calls derived()->releaseDM() and then 0s all channels and the sat map.
    /** This is called by the relevant INDI callback
     *
     * \returns 0 on success
     * \returns -1 on error
     */
    int baseReleaseDM();
 
    /// Check the flats directory and update the list of flats if anything changes
    /** This is called once per appLogic and whilePowerOff loops.
     *
     * \returns 0 on success
     * \returns -1 on error
     */
    int checkFlats();
 
    /// Load a flat file
    /** Uses the target argument for lookup in m_flatCommands to find the path
     * and loads the command in the local memory.  Calls setFlat if the flat
     * is currently set.
     *
     * \returns 0 on success
     * \returns -1 on error
     */
    int loadFlat( const std::string &target /**< [in] the name of the flat to load */ );
 
    /// Send the current flat command to the DM
    /** Writes the command to the designated shmim.
     *
     * \returns 0 on success
     * \returns -1 on error
     */
    int setFlat( bool update = false /**< [in] If true, this is an update rather than a new set*/ );
 
    /// Zero the flat command on the DM
    /** Writes a 0 array the designated shmim.
     *
     * \returns 0 on success
     * \returns -1 on error
     */
    int zeroFlat();
 
    /// Check the tests directory and update the list of tests if anything changes
    /** This is called once per appLogic and whilePowerOff loops.
     *
     * \returns 0 on success
     * \returns -1 on error
     */
    int checkTests();
 
    /// Load a test file
    /** Uses the target argument for lookup in m_testCommands to find the path
     * and loads the command in the local memory.  Calls setTest if the test
     * is currently set.
     */
    int loadTest( const std::string &target );
 
    /// Send the current test command to the DM
    /** Writes the command to the designated shmim.
     *
     * \returns 0 on success
     * \returns -1 on error
     */
    int setTest();
 
    /// Zero the test command on the DM
    /** Writes a 0 array the designated shmim.
     *
     * \returns 0 on success
     * \returns -1 on error
     */
    int zeroTest();
 
    /// Zero all channels
    /**
     * \returns 0 on sucess
     * \returns <0 on an error
     */
    int zeroAll( bool nosem = false /**< [in] [optional] if true then the semaphore
                                                         is not raised after zeroing all channels*/
    );
 
    /// Calculate the delta command from the output shape.
    int makeDelta();
 
    /// Clear the saturation maps and zero the shared memory.
    /**
     * \returns 0 on success
     * \returns -1 on error
     */
    int clearSat();
 
  protected:
    /** \name Saturation Thread Functions
     * This thread processes the saturation maps
     * @{
     */
 
    /// Thread starter, called by MagAOXApp::threadStart on thread construction.  Calls satThreadExec.
    static void satThreadStart( dm *d /**< [in] a pointer to a dm instance (normally this) */ );
 
    /// Execute saturation processing
    void satThreadExec();
 
    /// Trigger loop openings because of excessive saturation
    void intervalSatTrip();
 
    ///@}
 
  protected:
    /** \name INDI
     *
     *@{
     */
  protected:
    // declare our properties
 
    pcf::IndiProperty m_indiP_flat; ///< Property used to set and report the current flat
 
    pcf::IndiProperty m_indiP_init;
    pcf::IndiProperty m_indiP_zero;
    pcf::IndiProperty m_indiP_release;
 
    pcf::IndiProperty m_indiP_flats;     ///< INDI Selection switch containing the flat files.
    pcf::IndiProperty m_indiP_flatShmim; ///< Publish the shmim being used for the flat
    pcf::IndiProperty m_indiP_setFlat;   ///< INDI toggle switch to set the current flat.
 
    pcf::IndiProperty m_indiP_tests;     ///< INDI Selection switch containing the test pattern files.
    pcf::IndiProperty m_indiP_testShmim; ///< Publish the shmim being used for the test command
    pcf::IndiProperty m_indiP_setTest;   ///< INDI toggle switch to set the current test pattern.
 
    pcf::IndiProperty m_indiP_zeroAll;
 
  public:
    /// The static callback function to be registered for initializing the DM.
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    static int st_newCallBack_init( void *app,                      /**< [in] a pointer to this, will be
                                                                              static_cast-ed to derivedT.*/
                                    const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the
                                                                              the new property request.*/
    );
 
    /// The callback called by the static version, to actually process the new request.
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_init( const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with
                                                                    the the new property request.*/
    );
 
    /// The static callback function to be registered for initializing the DM.
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    static int st_newCallBack_zero( void *app,                      /**< [in] a pointer to this, will be
                                                                              static_cast-ed to derivedT.*/
                                    const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with
                                                                              the the new property request.*/
    );
 
    /// The callback called by the static version, to actually process the new request.
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_zero(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the
        the new property request.*/ );
 
    /// The static callback function to be registered for initializing the DM.
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    static int st_newCallBack_release( void *app,                      /**< [in] a pointer to this, will be
                                                                                 static_cast-ed to derivedT.*/
                                       const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with
                                                                                 the the new property request.*/
    );
 
    /// The callback called by the static version, to actually process the new request.
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_release( const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with
                             the new property request.*/
    );
 
    /// The static callback function to be registered for selecting the flat file
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    static int st_newCallBack_flats( void *app,                      /**< [in] a pointer to this, will be
                                                                               static_cast-ed to derivedT.*/
                                     const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with
                                                                               the new property request.*/
    );
 
    /// The callback called by the static version, to actually process the new request.
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_flats(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// The static callback function to be registered for setting the flat
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    static int st_newCallBack_setFlat(
        void                    *app,   ///< [in] a pointer to this, will be static_cast-ed to derivedT.
        const pcf::IndiProperty &ipRecv ///< [in] the INDI property sent with the the new property request.
    );
 
    /// The callback called by the static version, to actually process the new request.
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_setFlat(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// The static callback function to be registered for selecting the test file
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    static int st_newCallBack_tests(
        void                    *app,   ///< [in] a pointer to this, will be static_cast-ed to derivedT.
        const pcf::IndiProperty &ipRecv ///< [in] the INDI property sent with the the new property request.
    );
 
    /// The callback called by the static version, to actually process the new request.
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_tests(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// The static callback function to be registered for setting the test shape
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    static int st_newCallBack_setTest( void *app,                      /**< [in] a pointer to this, will be
                                                                                 static_cast-ed to derivedT.*/
                                       const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with
                                                                                 the the new property request.*/
    );
 
    /// The callback called by the static version, to actually process the new request.
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_setTest( const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the
                                                                       the new property request.*/
    );
 
    /// The static callback function to be registered for zeroing all channels
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    static int st_newCallBack_zeroAll(
        void                    *app,   ///< [in] a pointer to this, will be static_cast-ed to derivedT.
        const pcf::IndiProperty &ipRecv ///< [in] the INDI property sent with the the new property request.
    );
 
    /// The callback for the zeroAll toggle switch, called by the static version
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_zeroAll(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Update the INDI properties for this device controller
    /** You should call this once per main loop.
     * It is not called automatically.
     *
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int updateINDI();
 
    ///@}
 
  public:
    // clang-format off
    #ifdef XWC_DMTIMINGS //clang-format on
 
    typedef int32_t cbIndexT;
 
    double m_t0{ 0 }, m_tf{ 0 }, m_tsat0{ 0 }, m_tsatf{ 0 };
    double m_tact0{ 0 }, m_tact1{ 0 }, m_tact2{ 0 }, m_tact3{ 0 }, m_tact4{ 0 };
    double m_tdelta0 {0}, m_tdeltaf {0};
 
    mx::sigproc::circularBufferIndex<double, cbIndexT> m_piTimes;
 
    mx::sigproc::circularBufferIndex<double, cbIndexT> m_satSem;
 
    mx::sigproc::circularBufferIndex<double, cbIndexT> m_actProc;
 
    mx::sigproc::circularBufferIndex<double, cbIndexT> m_actCom;
 
    mx::sigproc::circularBufferIndex<double, cbIndexT> m_satUp;
 
    mx::sigproc::circularBufferIndex<double, cbIndexT> m_deltaUp;
 
 
    std::vector<double> m_piTimesD;
    std::vector<double> m_satSemD;
    std::vector<double> m_actProcD;
    std::vector<double> m_actComD;
    std::vector<double> m_satUpD;
    std::vector<double> m_deltaUpD;
 
    // clang-format off
    #endif // clang-format on
 
  private:
    derivedT &derived()
    {
        return *static_cast<derivedT *>( this );
    }
};
 
template <class derivedT, typename realT>
dm<derivedT, realT>::~dm()
{
    for( auto &mi : m_channels )
    {
        if( mi != nullptr )
        {
            delete mi;
        }
    }
}
 
template <class derivedT, typename realT>
const std::string &dm<derivedT, realT>::calibPath() const
{
    return m_calibPath;
}
 
template <class derivedT, typename realT>
const std::string &dm<derivedT, realT>::flatPath() const
{
    return m_flatPath;
}
 
template <class derivedT, typename realT>
const std::string &dm<derivedT, realT>::testPath() const
{
    return m_testPath;
}
 
template <class derivedT, typename realT>
const std::string &dm<derivedT, realT>::flatDefault() const
{
    return m_flatDefault;
}
 
template <class derivedT, typename realT>
const std::string &dm<derivedT, realT>::testDefault() const
{
    return m_testDefault;
}
 
template <class derivedT, typename realT>
const std::string &dm<derivedT, realT>::shmimFlat() const
{
    return m_shmimFlat;
}
 
template <class derivedT, typename realT>
const std::string &dm<derivedT, realT>::shmimTest() const
{
    return m_shmimTest;
}
 
template <class derivedT, typename realT>
const std::string &dm<derivedT, realT>::shmimSat() const
{
    return m_shmimSat;
}
 
template <class derivedT, typename realT>
const std::string &dm<derivedT, realT>::shmimSatPerc() const
{
    return m_shmimSatPerc;
}
 
template <class derivedT, typename realT>
const std::string &dm<derivedT, realT>::shmimShape() const
{
    return m_shmimShape;
}
 
template <class derivedT, typename realT>
const std::string &dm<derivedT, realT>::shmimDelta() const
{
    return m_shmimDelta;
}
 
template <class derivedT, typename realT>
uint32_t dm<derivedT, realT>::dmWidth() const
{
    return m_dmWidth;
}
 
template <class derivedT, typename realT>
uint32_t dm<derivedT, realT>::dmHeight() const
{
    return m_dmHeight;
}
 
template <class derivedT, typename realT>
uint8_t dm<derivedT, realT>::dmDataType() const
{
    return m_dmDataType;
}
 
template <class derivedT, typename realT>
float dm<derivedT, realT>::percThreshold() const
{
    return m_percThreshold;
}
 
template <class derivedT, typename realT>
float dm<derivedT, realT>::intervalSatThreshold() const
{
    return m_intervalSatThreshold;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::intervalSatCountThreshold() const
{
    return m_intervalSatCountThreshold;
}
 
template <class derivedT, typename realT>
const std::vector<std::string> &dm<derivedT, realT>::satTriggerDevice() const
{
    return m_satTriggerDevice;
}
 
template <class derivedT, typename realT>
const std::vector<std::string> &dm<derivedT, realT>::satTriggerProperty() const
{
    return m_satTriggerProperty;
}
 
template <class derivedT, typename realT>
const std::string &dm<derivedT, realT>::calibRelDir() const
{
    return m_calibRelDir;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::numChannels() const
{
    return m_numChannels;
}
 
template <class derivedT, typename realT>
const mx::improc::eigenImage<uint8_t> &dm<derivedT, realT>::instSatMap() const
{
    return m_instSatMap;
}
 
template <class derivedT, typename realT>
const mx::improc::eigenImage<uint16_t> &dm<derivedT, realT>::accumSatMap() const
{
    return m_accumSatMap;
}
 
template <class derivedT, typename realT>
const mx::improc::eigenImage<float> &dm<derivedT, realT>::satPercMap() const
{
    return m_satPercMap;
}
 
template <class derivedT, typename realT>
const std::vector<std::string> &dm<derivedT, realT>::deltaChannels() const
{
    return m_deltaChannels;
}
 
template <class derivedT, typename realT>
const std::vector<size_t> &dm<derivedT, realT>::notDeltas() const
{
    return m_notDeltas;
}
 
template <class derivedT, typename realT>
const mx::improc::eigenImage<float> &dm<derivedT, realT>::totalFlat() const
{
    return m_totalFlat;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::setupConfig( mx::app::appConfigurator &config )
{
    config.add( "dm.calibPath",
                "",
                "dm.calibPath",
                argType::Required,
                "dm",
                "calibPath",
                false,
                "string",
                "The path to calibration files, relative to the MagAO-X calibration path." );
 
    config.add( "dm.flatPath",
                "",
                "dm.flatPath",
                argType::Required,
                "dm",
                "flatPath",
                false,
                "string",
                "The path to flat files.  Default is the calibration path." );
 
    config.add( "dm.flatDefault",
                "",
                "dm.flatDefault",
                argType::Required,
                "dm",
                "flatDefault",
                false,
                "string",
                "The default flat file (path and extension are not required)." );
 
    config.add( "dm.testPath",
                "",
                "dm.testPath",
                argType::Required,
                "dm",
                "testPath",
                false,
                "string",
                "The path to test files.  Default is the calibration path plus /tests." );
 
    config.add( "dm.testDefault",
                "",
                "dm.testDefault",
                argType::Required,
                "dm",
                "testDefault",
                false,
                "string",
                "The default test file (path and extension are not required)." );
 
    config.add( "dm.actMaskPath",
                "",
                "dm.actMaskPath",
                argType::Required,
                "dm",
                "actMaskPath",
                false,
                "string",
                "The path to the actuator mask for this DM, relative to the calib path." );
 
    // Overriding the shmimMonitor setup so that these all go in the dm section
    // Otherwise, would call shmimMonitor<dm<derivedT,realT>>::setupConfig();
    ///\todo shmimMonitor now has configSection so this isn't necessary.
    config.add( "dm.threadPrio",
                "",
                "dm.threadPrio",
                argType::Required,
                "dm",
                "threadPrio",
                false,
                "int",
                "The real-time priority of the dm control thread." );
 
    config.add( "dm.cpuset",
                "",
                "dm.cpuset",
                argType::Required,
                "dm",
                "cpuset",
                false,
                "int",
                "The cpuset for the dm control thread." );
 
    config.add( "dm.shmimName",
                "",
                "dm.shmimName",
                argType::Required,
                "dm",
                "shmimName",
                false,
                "string",
                "The name of the ImageStreamIO shared memory image to monitor for DM comands. Will be used as "
                "/tmp/<shmimName>.im.shm." );
 
    // end of shmimmonitor overrides
 
    config.add( "dm.shmimFlat",
                "",
                "dm.shmimFlat",
                argType::Required,
                "dm",
                "shmimFlat",
                false,
                "string",
                "The name of the ImageStreamIO shared memory image to write the flat command to.  Default is shmimName "
                "with 00 apended (i.e. dm00disp -> dm00disp00). " );
 
    config.add( "dm.shmimTest",
                "",
                "dm.shmimTest",
                argType::Required,
                "dm",
                "shmimTest",
                false,
                "string",
                "The name of the ImageStreamIO shared memory image to write the test command to.  Default is shmimName "
                "with 01 apended (i.e. dm00disp -> dm00disp01). " );
 
    config.add( "dm.shmimSat",
                "",
                "dm.shmimSat",
                argType::Required,
                "dm",
                "shmimSat",
                false,
                "string",
                "The name of the ImageStreamIO shared memory image to write the saturation map to.  Default is "
                "shmimName with SA apended (i.e. dm00disp -> dm00dispSA).  This is created." );
 
    config.add( "dm.shmimSatPerc",
                "",
                "dm.shmimSatPerc",
                argType::Required,
                "dm",
                "shmimSatPerc",
                false,
                "string",
                "The name of the ImageStreamIO shared memory image to write the saturation percentage map to.  Default "
                "is shmimName with SP apended (i.e. dm00disp -> dm00dispSP).  This is created." );
 
    config.add( "dm.satAvgInt",
                "",
                "dm.satAvgInt",
                argType::Required,
                "dm",
                "satAvgInt",
                false,
                "int",
                "The interval in milliseconds over which saturation "
                "is accumulated before updating.  Default is 100 ms." );
 
    config.add( "dm.satThreadPrio",
                "",
                "dm.satThreadPrio",
                argType::Required,
                "dm",
                "satThreadPrio",
                false,
                "int",
                "The priority for the saturation thread. "
                "Usually ok to be 0." );
 
    config.add( "dm.shmimShape",
                "",
                "dm.shmimShape",
                argType::Required,
                "dm",
                "shmimShape",
                false,
                "string",
                "The name of the ImageStreamIO shared memory image to write the desaturated shape to.  Default is "
                "shmimName with _shape apended (i.e. dm00disp -> dm00disp_shape).  This is created." );
 
    config.add( "dm.shmimDelta",
                "",
                "dm.shmimDelta",
                argType::Required,
                "dm",
                "shmimDelta",
                false,
                "string",
                "The name of the ImageStreamIO shared memory image to write the "
                "desaturated delta-shape to.  Default is "
                "shmimName with _delta apended (i.e. dm00disp -> dm00disp_delta).  This is created." );
 
    config.add( "dm.deltaChannels",
                "",
                "dm.deltaChannels",
                argType::Required,
                "dm",
                "deltaChannels",
                false,
                "vector<string>",
                "The names of the DM channels which are delta commands to be excluded from the total flat." );
 
    config.add( "dm.width",
                "",
                "dm.width",
                argType::Required,
                "dm",
                "width",
                false,
                "string",
                "The width of the DM in actuators." );
 
    config.add( "dm.height",
                "",
                "dm.height",
                argType::Required,
                "dm",
                "height",
                false,
                "string",
                "The height of the DM in actuators." );
 
    config.add( "dm.percThreshold",
                "",
                "dm.percThreshold",
                argType::Required,
                "dm",
                "percThreshold",
                false,
                "float",
                "Threshold on percentage of frames an actuator is saturated over an interval.  Default is 0.98." );
 
    config.add( "dm.intervalSatThreshold",
                "",
                "dm.intervalSatThreshold",
                argType::Required,
                "dm",
                "intervalSatThreshold",
                false,
                "float",
                "Threshold on percentage of actuators which exceed percThreshold in an interval.  Default is 0.5." );
 
    config.add( "dm.intervalSatCountThreshold",
                "",
                "dm.intervalSatCountThreshold",
                argType::Required,
                "dm",
                "intervalSatCountThreshold",
                false,
                "float",
                "Threshold on number of consecutive intervals the intervalSatThreshold is exceeded.  Default is 10." );
 
    config.add( "dm.satTriggerDevice",
                "",
                "dm.satTriggerDevice",
                argType::Required,
                "dm",
                "satTriggerDevice",
                false,
                "vector<string>",
                "Device(s) with a toggle switch to toggle on saturation trigger." );
 
    config.add( "dm.satTriggerProperty",
                "",
                "dm.satTriggerProperty",
                argType::Required,
                "dm",
                "satTriggerProperty",
                false,
                "vector<string>",
                "Property with a toggle switch to toggle on saturation trigger, one per entry in satTriggerDevice." );
 
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::loadConfig( mx::app::appConfigurator &config )
{
 
    m_calibPath = derived().m_calibDir + "/" + m_calibRelDir;
    config( m_calibPath, "dm.calibPath" );
 
    // setup flats
    m_flatPath = m_calibPath + "/flats";
    config( m_flatPath, "dm.flatPath" );
 
    config( m_flatDefault, "dm.flatDefault" );
    if( m_flatDefault != "" )
    {
        m_flatDefault = mx::ioutils::pathStem( m_flatDefault ); // strip off path and extension if provided.
        m_flatCurrent = "default";
    }
 
    // setup tests
    m_testPath = m_calibPath + "/tests";
    config( m_testPath, "dm.testPath" );
 
    config( m_testDefault, "dm.testDefault" );
    if( m_testDefault != "" )
    {
        m_testDefault = mx::ioutils::pathStem( m_testDefault ); // strip off path and extension if provided.
        m_testCurrent = "default";
    }
 
    config( m_actMaskPath, "dm.actMaskPath" );
 
    // Overriding the shmimMonitor setup so that these all go in the dm section
    // Otherwise, would call shmimMonitor<dm<derivedT,realT>>::loadConfig(config);
    config( derived().m_smThreadPrio, "dm.threadPrio" );
    config( derived().m_smCpuset, "dm.cpuset" );
 
    config( derived().m_shmimName, "dm.shmimName" );
 
    derived().m_getExistingFirst = true;
    // end of shmimmonitor overrides
 
    if( derived().m_shmimName != "" )
    {
        m_shmimFlat = derived().m_shmimName + "00";
        config( m_shmimFlat, "dm.shmimFlat" );
 
        m_shmimTest = derived().m_shmimName + "02";
        config( m_shmimTest, "dm.shmimTest" );
 
        m_shmimSat = derived().m_shmimName + "ST";
        config( m_shmimSat, "dm.shmimSat" );
 
        m_shmimSatPerc = derived().m_shmimName + "SP";
        config( m_shmimSatPerc, "dm.shmimSatPerc" );
 
        config( m_satAvgInt, "dm.satAvgInt" );
 
        config( m_satThreadPrio, "dm.satSatThreadPrio" );
 
        m_shmimShape = derived().m_shmimName + "_shape";
        config( m_shmimShape, "dm.shmimShape" );
 
        m_shmimDelta = derived().m_shmimName + "_delta";
        config( m_shmimDelta, "dm.shmimDelta" );
 
        m_shmimDiff = derived().m_shmimName + "_diff";
        config( m_shmimDiff, "dm.shmimDiff" );
 
        config( m_deltaChannels, "dm.deltaChannels" );
    }
    else
    {
        // Avoid unused error
        config.isSet( "dm.shmimFlat" );
        config.isSet( "dm.shmimTest" );
        config.isSet( "dm.shmimSat" );
        config.isSet( "dm.shmimSatPerc" );
        config.isSet( "dm.satAvgInt" );
        config.isSet( "dm.shmimShape" );
        config.isSet( "dm.shmimDelta" );
        config.isSet( "dm.deltaChannels" );
    }
 
    config( m_dmWidth, "dm.width" );
    config( m_dmHeight, "dm.height" );
 
    config( m_percThreshold, "dm.percThreshold" );
    config( m_intervalSatThreshold, "dm.intervalSatThreshold" );
    config( m_intervalSatCountThreshold, "dm.intervalSatCountThreshold" );
    config( m_satTriggerDevice, "dm.satTriggerDevice" );
    config( m_satTriggerProperty, "dm.satTriggerProperty" );
 
    if( m_dmWidth > 0 && m_dmHeight > 0 )
    {
        try
        {
            m_actMask.create( derived().m_shmimName + "_actmask", m_dmWidth, m_dmHeight );
        }
        catch( const std::exception &e )
        {
            derivedT::template log<text_log>( std::format( "exception caught creating actuator mask: "
                                                           "{}: {}",
                                                           derived().m_shmimName + "_actmask",
                                                           e.what(),
                                                           logPrio::LOG_ERROR ) );
            return -1;
        }
 
        if( m_actMaskPath != "" )
        {
            mx::improc::eigenImage<realT> actMask;
 
            mx::fits::fitsFile<realT> ff;
 
            mx::error_t errc = ff.read( actMask, m_calibPath + '/' + m_actMaskPath );
 
            if( errc != mx::error_t::noerror )
            {
                derivedT::template log<text_log>( std::format( "error reading actuator mask file {}: "
                                                               "{} ({})",
                                                               m_calibPath + '/' + m_actMaskPath,
                                                               mx::errorMessage( errc ),
                                                               mx::errorName( errc ) ),
                                                  logPrio::LOG_ERROR );
                return -1;
            }
 
            if( actMask.rows() != m_dmWidth || actMask.cols() != m_dmHeight )
            {
                derivedT::template log<text_log>( std::format( "actuaor mask {}x{} is not same size as flag {}x{}",
                                                               actMask.rows(),
                                                               actMask.cols(),
                                                               m_dmWidth,
                                                               m_dmHeight ),
                                                  logPrio::LOG_ERROR );
 
                return -1;
            }
 
            m_actMask = actMask;
        }
        else
        {
            m_actMask().setConstant( 1.0 );
        }
    }
 
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::appStartup()
{
    if( m_dmDataType == 0 )
    {
        derivedT::template log<software_error>( { "unsupported DM data type" } );
        return -1;
    }
 
    //-----------------
    // Get the flats
    checkFlats();
 
    // Register the test shmim INDI property
    m_indiP_flatShmim = pcf::IndiProperty( pcf::IndiProperty::Text );
    m_indiP_flatShmim.setDevice( derived().configName() );
    m_indiP_flatShmim.setName( "flat_shmim" );
    m_indiP_flatShmim.setPerm( pcf::IndiProperty::ReadOnly );
    m_indiP_flatShmim.setState( pcf::IndiProperty::Idle );
    m_indiP_flatShmim.add( pcf::IndiElement( "channel" ) );
    m_indiP_flatShmim["channel"] = m_shmimFlat;
 
    if( derived().registerIndiPropertyReadOnly( m_indiP_flatShmim ) < 0 )
    {
#ifndef DM_TEST_NOLOG
        derivedT::template log<software_error>( { "" } );
#endif
        return -1;
    }
 
    // Register the setFlat INDI property
    derived().createStandardIndiToggleSw( m_indiP_setFlat, "flat_set" );
    if( derived().registerIndiPropertyNew( m_indiP_setFlat, st_newCallBack_setFlat ) < 0 )
    {
#ifndef DM_TEST_NOLOG
        derivedT::template log<software_error>( { "" } );
#endif
        return -1;
    }
 
    //-----------------
    // Get the tests
    checkTests();
 
    // Register the test shmim INDI property
    m_indiP_testShmim = pcf::IndiProperty( pcf::IndiProperty::Text );
    m_indiP_testShmim.setDevice( derived().configName() );
    m_indiP_testShmim.setName( "test_shmim" );
    m_indiP_testShmim.setPerm( pcf::IndiProperty::ReadOnly );
    m_indiP_testShmim.setState( pcf::IndiProperty::Idle );
    m_indiP_testShmim.add( pcf::IndiElement( "channel" ) );
    m_indiP_testShmim["channel"] = m_shmimTest;
    derived().createStandardIndiToggleSw( m_indiP_setTest, "test_shmim" );
    if( derived().registerIndiPropertyReadOnly( m_indiP_testShmim ) < 0 )
    {
#ifndef DM_TEST_NOLOG
        derivedT::template log<software_error>( { "" } );
#endif
        return -1;
    }
 
    // Register the setTest INDI property
    derived().createStandardIndiToggleSw( m_indiP_setTest, "test_set" );
    if( derived().registerIndiPropertyNew( m_indiP_setTest, st_newCallBack_setTest ) < 0 )
    {
#ifndef DM_TEST_NOLOG
        derivedT::template log<software_error>( { "" } );
#endif
        return -1;
    }
 
    // Register the init INDI property
    derived().createStandardIndiRequestSw( m_indiP_init, "initDM" );
    if( derived().registerIndiPropertyNew( m_indiP_init, st_newCallBack_init ) < 0 )
    {
        // clang-format off
        #ifndef DM_TEST_NOLOG
        derivedT::template log<software_error>( {""} );
        #endif
        // clang-format on
 
        return -1;
    }
 
    // Register the zero INDI property
    derived().createStandardIndiRequestSw( m_indiP_zero, "zeroDM" );
 
    if( derived().registerIndiPropertyNew( m_indiP_zero, st_newCallBack_zero ) < 0 )
    {
        // clang-format off
        #ifndef DM_TEST_NOLOG
        derivedT::template log<software_error>( {""} );
        #endif
        // clang-format on
 
        return -1;
    }
 
    // Register the release INDI property
    derived().createStandardIndiRequestSw( m_indiP_release, "releaseDM" );
    if( derived().registerIndiPropertyNew( m_indiP_release, st_newCallBack_release ) < 0 )
    {
        return derivedT::template log<software_error, -1>( { "" } );
    }
 
    derived().createStandardIndiRequestSw( m_indiP_zeroAll, "zeroAll" );
    if( derived().registerIndiPropertyNew( m_indiP_zeroAll, st_newCallBack_zeroAll ) < 0 )
    {
#ifndef DM_TEST_NOLOG
        derivedT::template log<software_error>( { "" } );
#endif
        return -1;
    }
 
    if( m_flatDefault != "" )
    {
        loadFlat( "default" );
    }
 
    if( m_testDefault != "" )
    {
        loadTest( "default" );
    }
 
    if( sem_init( &m_satSemaphore, 0, 0 ) < 0 )
    {
        return derivedT::template log<software_critical, -1>( { errno, 0, "Initializing sat semaphore" } );
    }
 
    if( derived().threadStart( m_satThread,
                               m_satThreadInit,
                               m_satThreadID,
                               m_satThreadProp,
                               m_satThreadPrio,
                               "",
                               "saturation",
                               this,
                               satThreadStart ) < 0 )
    {
        derivedT::template log<software_error, -1>( { "" } );
        return -1;
    }
 
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::appLogic()
{
    // do a join check to see if other threads have exited.
    if( pthread_tryjoin_np( m_satThread.native_handle(), 0 ) == 0 )
    {
        derivedT::template log<software_error>( { "saturation thread has exited" } );
 
        return -1;
    }
 
    checkFlats();
 
    checkTests();
 
    if( m_intervalSatTrip )
    {
        intervalSatTrip();
        m_intervalSatTrip = false;
    }
 
#ifdef XWC_DMTIMINGS
    static uint64_t lastMono = 0;
 
    if( m_piTimes.size() >= m_piTimes.maxEntries() && m_piTimes.maxEntries() > 0 && m_piTimes.mono() != lastMono )
    {
        cbIndexT refEntry = m_piTimes.earliest();
 
        m_piTimesD.resize( m_piTimes.maxEntries() );
        m_satSemD.resize( m_satSem.maxEntries() );
        m_actProcD.resize( m_actProc.maxEntries() );
        m_actComD.resize( m_actCom.maxEntries() );
        m_satUpD.resize( m_satUp.maxEntries() );
        m_deltaUpD.resize( m_deltaUp.maxEntries() );
 
        for( size_t n = 0; n < m_piTimesD.size(); ++n )
        {
            m_piTimesD[n] = m_piTimes.at( refEntry, n );
            m_satSemD[n]  = m_satSem.at( refEntry, n );
            m_actProcD[n] = m_actProc.at( refEntry, n );
            m_actComD[n]  = m_actCom.at( refEntry, n );
            m_satUpD[n]   = m_satUp.at( refEntry, n );
            m_deltaUpD[n] = m_deltaUp.at( refEntry, n );
        }
 
        std::cerr << "Act. Process:   " << mx::math::vectorMean( m_actProcD ) << " +/- "
                  << sqrt( mx::math::vectorVariance( m_actProcD ) ) << "\n";
        std::cerr << "Act. Command:   " << mx::math::vectorMean( m_actComD ) << " +/- "
                  << sqrt( mx::math::vectorVariance( m_actComD ) ) << "\n";
        std::cerr << "Sat. Update:    " << mx::math::vectorMean( m_satUpD ) << " +/- "
                  << sqrt( mx::math::vectorVariance( m_satUpD ) ) << "\n";
        std::cerr << "Delta Update:   " << mx::math::vectorMean( m_deltaUpD ) << " +/- "
                  << sqrt( mx::math::vectorVariance( m_deltaUpD ) ) << "\n";
        std::cerr << "Tot. CommandDM: " << mx::math::vectorMean( m_piTimesD ) << " +/- "
                  << sqrt( mx::math::vectorVariance( m_piTimesD ) ) << "\n";
        std::cerr << "Sat. Semaphore: " << mx::math::vectorMean( m_satSemD ) << " +/- "
                  << sqrt( mx::math::vectorVariance( m_satSemD ) ) << "\n";
        std::cerr << "\n";
 
        lastMono = m_piTimes.mono();
    }
#endif // XWC_DMTIMINGS
 
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::appShutdown()
{
    if( m_satThread.joinable() )
    {
        pthread_kill( m_satThread.native_handle(), SIGUSR1 );
        try
        {
            m_satThread.join(); // this will throw if it was already joined
        }
        catch( ... )
        {
        }
    }
 
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::onPowerOff()
{
    baseReleaseDM();
 
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::whilePowerOff()
{
    checkFlats();
    checkTests();
 
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::findDMChannels()
{
    std::string milkShmimDir = mx::sys::getEnv( "MILK_SHM_DIR" );
    if( milkShmimDir == "" )
    {
        milkShmimDir = "/milk/shm";
    }
 
    std::vector<std::string> dmlist;
    mx::error_t errc = mx::ioutils::getFileNames( dmlist, milkShmimDir, derived().m_shmimName, ".im", ".shm" );
 
    mx_error_check_rv( errc, -1 );
 
    if( dmlist.size() == 0 )
    {
        derivedT::template log<software_error>( { "no dm channels found for " + derived().m_shmimName } );
 
        return -1;
    }
 
    m_numChannels = -1;
    for( size_t n = 0; n < dmlist.size(); ++n )
    {
        char nstr[16];
        snprintf( nstr, sizeof( nstr ), "%02d.im.shm", (int)n );
        std::string tgt = derived().m_shmimName;
        tgt += nstr;
 
        for( size_t m = 0; m < dmlist.size(); ++m )
        {
            if( dmlist[m].find( tgt ) != std::string::npos )
            {
                if( (int)n > m_numChannels )
                {
                    m_numChannels = n;
                }
            }
        }
    }
 
    ++m_numChannels;
 
    derivedT::template log<text_log>( {std::format("Found {} chanels for {} ", m_numChannels, derived().m_shmimName )} );
 
    m_channels.resize( m_numChannels, nullptr );
 
    m_notDeltas.clear();
    m_deltas.clear();
 
    for( size_t n = 0; n < m_channels.size(); ++n )
    {
        std::string sname = std::format( "{}{:02}", derived().m_shmimName, n );
 
        try
        {
            m_channels[n] = new mx::improc::milkImage<realT>( sname ); // this opens the channel stream
        }
        catch( const std::exception &e )
        {
            derivedT::template log<software_error>( { "exception opening " + sname + ": " + e.what() } );
        }
 
        std::cerr << "looking for " << sname << '\n';
        auto res = std::find( m_deltaChannels.begin(), m_deltaChannels.end(), sname );
        if( res == m_deltaChannels.end() )
        {
            std::cerr << "  not a delta\n";
            m_notDeltas.push_back( n );
        }
        else
        {
            std::cerr << "  is a delta\n";
            m_deltas.push_back( n );
        }
    }
 
    std::cerr << "not deltas: ";
    for( size_t n = 0; n < m_notDeltas.size(); ++n )
    {
        std::cerr << m_notDeltas[n] << ' ';
    }
    std::cerr << '\n';
 
    std::cerr << "deltas: ";
    for( size_t n = 0; n < m_deltas.size(); ++n )
    {
        std::cerr << m_deltas[n] << ' ';
    }
    std::cerr << '\n';
 
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::allocate( const dev::shmimT &sp )
{
    static_cast<void>( sp ); // be unused
 
    int err = 0;
 
    if( derived().m_width != m_dmWidth )
    {
        derivedT::template log<software_critical>( { "shmim width does not match configured DM width" } );
        ++err;
    }
 
    if( derived().m_height != m_dmHeight )
    {
        derivedT::template log<software_critical>( { "shmim height does not match configured DM height" } );
        ++err;
    }
 
    if( derived().m_dataType != m_dmDataType )
    {
        derivedT::template log<software_critical>( { "shmim data type does not match configured DM data type" } );
        ++err;
    }
 
    if( err )
    {
        return -1;
    }
 
    m_instSatMap.resize( m_dmWidth, m_dmHeight );
    m_instSatMap.setZero();
 
    m_accumSatMap.resize( m_dmWidth, m_dmHeight );
    m_accumSatMap.setZero();
 
    m_satPercMap.resize( m_dmWidth, m_dmHeight );
    m_satPercMap.setZero();
 
    if( findDMChannels() < 0 )
    {
        derivedT::template log<software_critical>( { "error finding DM channels" } );
 
        return -1;
    }
 
    try
    {
        m_outputShape.create( m_shmimShape, m_dmWidth, m_dmHeight );
        m_outputShape().setZero();
    }
    catch( const std::exception &e )
    {
        return derivedT::template log<software_error, -1>(
            { std::string( "creating output shape shmim: " ) + e.what() } );
    }
 
    try
    {
        m_outputDelta.create( m_shmimDelta, m_dmWidth, m_dmHeight );
        m_outputDelta().setZero();
    }
    catch( const std::exception &e )
    {
        return derivedT::template log<software_error, -1>(
            { std::string( "creating output delta shmim: " ) + e.what() } );
    }
 
    try
    {
        m_outputDiff.create( m_shmimDiff, m_dmWidth, m_dmHeight );
        m_outputDiff().setZero();
    }
    catch( const std::exception &e )
    {
        return derivedT::template log<software_error, -1>(
            { std::string( "creating output diff shmim: " ) + e.what() } );
    }
 
    m_totalFlat.resize( m_dmWidth, m_dmHeight );
    m_totalFlat.setZero();
 
    m_totalDelta.resize( m_dmWidth, m_dmHeight );
    m_totalDelta.setZero();
 
    // clang-format off
    #ifdef XWC_DMTIMINGS
    m_piTimes.maxEntries( 2000 );
    m_satSem.maxEntries( 2000 );
    m_actProc.maxEntries( 2000 );
    m_actCom.maxEntries( 2000 );
    m_satUp.maxEntries( 2000 );
    m_deltaUp.maxEntries( 2000 );
    #endif // clang-format on
 
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::processImage( void *curr_src, const dev::shmimT &sp )
{
    static_cast<void>( sp ); // be unused
 
    // clang-format off
    #ifdef XWC_DMTIMINGS
    m_t0 = mx::sys::get_curr_time();
    #endif // clang-format on
 
    int rv = derived().commandDM( curr_src );
 
    if( rv < 0 )
    {
        derivedT::template log<software_critical>( { errno, rv, "Error from commandDM" } );
        return rv;
    }
 
    // clang-format off
    #ifdef XWC_DMTIMINGS
    m_tdelta0 = mx::sys::get_curr_time();
    #endif // clang-format on
 
    if( m_deltaChannels.size() > 0 )
    {
        rv = makeDelta();
 
        if( rv < 0 )
        {
            derivedT::template log<software_critical>( { errno, rv, "Error from makeDelta" } );
            return rv;
        }
    }
 
    // clang-format off
    #ifdef XWC_DMTIMINGS
    m_tdeltaf = mx::sys::get_curr_time();
 
    m_tf = m_tdeltaf;
    #endif // clang-format on
 
    // clang-format off
    #ifdef XWC_DMTIMINGS
    m_tsat0 = mx::sys::get_curr_time();
    #endif // clang-format on
 
    // Tell the sat thread to get going
    if( sem_post( &m_satSemaphore ) < 0 )
    {
        derivedT::template log<software_critical>( { errno, 0, "Error posting to semaphore" } );
        return -1;
    }
 
    // clang-format off
    #ifdef XWC_DMTIMINGS // clang-format on
 
    m_tsatf = mx::sys::get_curr_time();
 
    // Update the latency circ. buffs
    if( m_piTimes.maxEntries() > 0 )
    {
        m_piTimes.nextEntry( m_tf - m_t0 );
        m_satSem.nextEntry( m_tsatf - m_tsat0 );
        m_actProc.nextEntry( m_tact1 - m_tact0 );
        m_actCom.nextEntry( m_tact2 - m_tact1 );
        m_satUp.nextEntry( m_tact4 - m_tact3 );
        m_deltaUp.nextEntry( m_tdeltaf - m_tdelta0 );
    }
 
        // clang-format off
    #endif // clang-format on
 
    return rv;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::baseInitDM()
{
    if( derived().state() != stateCodes::NOTHOMED )
    {
        derivedT::template log<software_error>( { errno, "DM is not ready to be initialized" } );
        derived().state( stateCodes::ERROR );
        return -1;
    }
 
    derived().state( stateCodes::HOMING );
 
    int rv;
    if( ( rv = derived().initDM() ) < 0 )
    {
        derivedT::template log<software_critical>( { errno, rv, "Error from initDM" } );
        derived().state( stateCodes::ERROR );
        return rv;
    }
 
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::baseReleaseDM()
{
    if( derived().state() != stateCodes::POWEROFF )
    {
        derived().state( stateCodes::NOTHOMED );
    }
 
    int rv;
    if( ( rv = derived().releaseDM() ) < 0 )
    {
        derivedT::template log<software_critical>( { errno, rv, "Error from releaseDM" } );
        derived().state( stateCodes::ERROR );
        return rv;
    }
 
    if( ( rv = zeroAll( true ) ) < 0 )
    {
        derivedT::template log<software_error>( { errno, rv, "Error from zeroAll" } );
        derived().state( stateCodes::ERROR );
        return rv;
    }
 
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::checkFlats()
{
    std::vector<std::string> tfs;
    mx::error_t              errc = mx::ioutils::getFileNames( tfs, m_flatPath, "", "", ".fits" );
 
    mx_error_check_rv( errc, -1 );
 
    // First remove default, b/c we always add it and don't want to include it in timestamp selected ones
    for( size_t n = 0; n < tfs.size(); ++n )
    {
        if( mx::ioutils::pathStem( tfs[n] ) == "default" )
        {
            tfs.erase( tfs.begin() + n );
            --n;
        }
    }
 
    unsigned m_nFlatFiles = 5;
 
    // Here we keep only the m_nFlatFiles most recent files
    if( tfs.size() >= m_nFlatFiles )
    {
        std::vector<std::filesystem::file_time_type> wtimes( tfs.size() );
 
        for( size_t n = 0; n < wtimes.size(); ++n )
        {
            wtimes[n] = std::filesystem::last_write_time( tfs[n] );
        }
 
        std::sort( wtimes.begin(), wtimes.end() );
 
        std::filesystem::file_time_type tn = wtimes[wtimes.size() - m_nFlatFiles];
 
        for( size_t n = 0; n < tfs.size(); ++n )
        {
            std::filesystem::file_time_type lmt = std::filesystem::last_write_time( tfs[n] );
            if( lmt < tn )
            {
                tfs.erase( tfs.begin() + n );
                --n;
            }
        }
    }
 
    for( auto it = m_flatCommands.begin(); it != m_flatCommands.end(); ++it )
    {
        it->second = "";
    }
 
    bool changed = false;
    for( size_t n = 0; n < tfs.size(); ++n )
    {
        auto ir =
            m_flatCommands.insert( std::pair<std::string, std::string>( mx::ioutils::pathStem( tfs[n] ), tfs[n] ) );
        if( ir.second == true )
            changed = true;
        else
            ir.first->second = tfs[n];
    }
 
    for( auto it = m_flatCommands.begin(); it != m_flatCommands.end(); ++it )
    {
        if( it->second == "" )
        {
            changed = true;
            // Erase the current iterator safely, even if the first one.
            auto itdel = it;
            ++it;
            m_flatCommands.erase( itdel );
            --it;
        };
    }
 
    if( changed )
    {
        if( derived().m_indiDriver )
        {
            derived().m_indiDriver->sendDelProperty( m_indiP_flats );
            derived().m_indiNewCallBacks.erase( m_indiP_flats.createUniqueKey() );
        }
 
        m_indiP_flats = pcf::IndiProperty( pcf::IndiProperty::Switch );
        m_indiP_flats.setDevice( derived().configName() );
        m_indiP_flats.setName( "flat" );
        m_indiP_flats.setPerm( pcf::IndiProperty::ReadWrite );
        m_indiP_flats.setState( pcf::IndiProperty::Idle );
        m_indiP_flats.setRule( pcf::IndiProperty::OneOfMany );
 
        // Add the toggle element initialized to Off
        for( auto it = m_flatCommands.begin(); it != m_flatCommands.end(); ++it )
        {
            if( it->first == m_flatCurrent || m_flatCurrent == "" )
            {
                m_indiP_flats.add( pcf::IndiElement( it->first, pcf::IndiElement::On ) );
                m_flatCurrent = it->first; // handles the case m_flatCurrent == "" b/c it was not set in config
            }
            else
            {
                m_indiP_flats.add( pcf::IndiElement( it->first, pcf::IndiElement::Off ) );
            }
        }
 
        if( m_flatDefault != "" )
        {
            if( m_flatCurrent == "default" )
            {
                m_indiP_flats.add( pcf::IndiElement( "default", pcf::IndiElement::On ) );
            }
            else
            {
                m_indiP_flats.add( pcf::IndiElement( "default", pcf::IndiElement::Off ) );
            }
        }
 
        if( derived().registerIndiPropertyNew( m_indiP_flats, st_newCallBack_flats ) < 0 )
        {
            // clang-format off
            #ifndef DM_TEST_NOLOG
            derivedT::template log<software_error>( {""} );
            #endif
            // clang-format on
 
            return -1;
        }
 
        if( derived().m_indiDriver )
        {
            derived().m_indiDriver->sendDefProperty( m_indiP_flats );
        }
    }
 
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::loadFlat( const std::string &intarget )
{
    std::string target = intarget;
 
    std::string targetPath;
 
    if( target == "default" )
    {
        target     = m_flatDefault;
        targetPath = m_flatPath + "/" + m_flatDefault + ".fits";
    }
    else
    {
        try
        {
            targetPath = m_flatCommands.at( target );
        }
        catch( ... )
        {
            derivedT::template log<text_log>( "flat file " + target + " not found", logPrio::LOG_ERROR );
            return -1;
        }
    }
 
    m_flatLoaded = false;
 
    // load into memory.
    mx::fits::fitsFile<realT> ff;
 
    mx::error_t errc = ff.read( m_flatCommand, targetPath );
 
    if( errc != mx::error_t::noerror )
    {
        derivedT::template log<text_log>( std::format( "error reading flat file {}: "
                                                       "{} ({})",
                                                       targetPath,
                                                       mx::errorMessage( errc ),
                                                       mx::errorName( errc ) ),
                                          logPrio::LOG_ERROR );
        return -1;
    }
 
    if( m_actMask.rows() != m_flatCommand.rows() || m_actMask.cols() != m_flatCommand.cols() )
    {
        derivedT::template log<text_log>( std::format( "actuaor mask {}x{} is not same size as flag {}x{}",
                                                       m_actMask.rows(),
                                                       m_actMask.cols(),
                                                       m_flatCommand.rows(),
                                                       m_flatCommand.cols() ),
                                          logPrio::LOG_ERROR );
 
        return -1;
    }
 
    m_flatCommand *= m_actMask();
 
    derivedT::template log<text_log>( "loaded flat file " + targetPath );
    m_flatLoaded = true;
 
    m_flatCurrent = intarget;
 
    if( m_indiP_flats.find( "default" ) )
    {
        if( m_flatCurrent == "default" )
        {
            m_indiP_flats["default"] = pcf::IndiElement::On;
        }
        else
        {
            m_indiP_flats["default"] = pcf::IndiElement::Off;
        }
    }
 
    for( auto i = m_flatCommands.begin(); i != m_flatCommands.end(); ++i )
    {
        if( !m_indiP_flats.find( i->first ) )
        {
            continue;
        }
 
        if( i->first == m_flatCurrent )
        {
            m_indiP_flats[i->first] = pcf::IndiElement::On;
        }
        else
        {
            m_indiP_flats[i->first] = pcf::IndiElement::Off;
        }
    }
 
    if( derived().m_indiDriver )
    {
        derived().m_indiDriver->sendSetProperty( m_indiP_flats );
    }
 
    if( m_flatSet )
    {
        setFlat();
    }
 
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::setFlat( bool update )
{
    if( m_shmimFlat == "" )
    {
        return 0;
    }
 
    if( !( derived().state() == stateCodes::READY || derived().state() == stateCodes::OPERATING ) )
    {
        derivedT::template log<text_log>( "can not set flat unless DM is READY or OPERATING", logPrio::LOG_WARNING );
        return -1;
    }
 
    if( ImageStreamIO_openIm( &m_flatImageStream, m_shmimFlat.c_str() ) != 0 )
    {
        derivedT::template log<text_log>( "could not connect to flat channel " + m_shmimFlat, logPrio::LOG_WARNING );
        return -1;
    }
 
    if( m_flatImageStream.md[0].size[0] != m_dmWidth )
    {
        ImageStreamIO_closeIm( &m_flatImageStream );
        derivedT::template log<text_log>( "width mismatch between " + m_shmimFlat + " and configured DM",
                                          logPrio::LOG_ERROR );
        return -1;
    }
 
    if( m_flatImageStream.md[0].size[1] != m_dmHeight )
    {
        ImageStreamIO_closeIm( &m_flatImageStream );
        derivedT::template log<text_log>( "height mismatch between " + m_shmimFlat + " and configured DM",
                                          logPrio::LOG_ERROR );
        return -1;
    }
 
    if( !m_flatLoaded )
    {
        bool flatSet = m_flatSet;
        m_flatSet    = false; // make sure we don't loop
 
        if( loadFlat( m_flatCurrent ) < 0 )
        {
            derivedT::template log<text_log>( "error loading flat " + m_flatCurrent, logPrio::LOG_ERROR );
        }
        m_flatSet = flatSet;
    }
 
    if( !m_flatLoaded )
    {
        ImageStreamIO_closeIm( &m_flatImageStream );
        derivedT::template log<text_log>( "no flat loaded", logPrio::LOG_ERROR );
        return -1;
    }
 
    if( m_flatCommand.rows() != m_dmWidth )
    {
        ImageStreamIO_closeIm( &m_flatImageStream );
        derivedT::template log<text_log>( "width mismatch between flat file and configured DM", logPrio::LOG_ERROR );
        return -1;
    }
 
    if( m_flatCommand.cols() != m_dmHeight )
    {
        ImageStreamIO_closeIm( &m_flatImageStream );
        derivedT::template log<text_log>( "height mismatch between flat file and configured DM", logPrio::LOG_ERROR );
        return -1;
    }
 
    m_flatImageStream.md->write = 1;
 
    ///\todo we are assuming that dmXXcomYY is not a cube.  This might be true, but we should add cnt1 handling here
    /// anyway.  With bounds checks b/c not everyone handles cnt1 properly.
    // Copy
    memcpy( m_flatImageStream.array.raw, m_flatCommand.data(), m_dmWidth * m_dmHeight * sizeof( realT ) );
 
    // Set the time of last write
    clock_gettime( CLOCK_REALTIME, &m_flatImageStream.md->writetime );
 
    // Set the image acquisition timestamp
    m_flatImageStream.md->atime = m_flatImageStream.md->writetime;
 
    m_flatImageStream.md->cnt0++;
    m_flatImageStream.md->write = 0;
 
    // Post the semaphores
    ImageStreamIO_sempost( &m_flatImageStream, -1 );
 
    m_flatSet = true;
 
    ImageStreamIO_closeIm( &m_flatImageStream );
 
    derived().state( stateCodes::OPERATING );
 
    if( !update )
    {
        derived().updateSwitchIfChanged( m_indiP_setFlat, "toggle", pcf::IndiElement::On, pcf::IndiProperty::Busy );
 
        derivedT::template log<text_log>( "flat set" );
    }
 
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::zeroFlat()
{
    if( m_shmimFlat == "" )
    {
        return 0;
    }
 
    if( !( derived().state() == stateCodes::READY || derived().state() == stateCodes::OPERATING ) )
    {
        derivedT::template log<text_log>( "can not zero flat unless DM is READY or OPERATING", logPrio::LOG_WARNING );
        return -1;
    }
 
    if( ImageStreamIO_openIm( &m_flatImageStream, m_shmimFlat.c_str() ) != 0 )
    {
        derivedT::template log<text_log>( "could not connect to flat channel " + m_shmimFlat, logPrio::LOG_WARNING );
        return -1;
    }
 
    if( m_flatImageStream.md[0].size[0] != m_dmWidth )
    {
        ImageStreamIO_closeIm( &m_flatImageStream );
        derivedT::template log<text_log>( "width mismatch between " + m_shmimFlat + " and configured DM",
                                          logPrio::LOG_ERROR );
        return -1;
    }
 
    if( m_flatImageStream.md[0].size[1] != m_dmHeight )
    {
        ImageStreamIO_closeIm( &m_flatImageStream );
        derivedT::template log<text_log>( "height mismatch between " + m_shmimFlat + " and configured DM",
                                          logPrio::LOG_ERROR );
        return -1;
    }
 
    m_flatImageStream.md->write = 1;
 
    ///\todo we are assuming that dmXXcomYY is not a cube.  This might be true, but we should add cnt1 handling here
    /// anyway.  With bounds checks b/c not everyone handles cnt1 properly.
    // Zero
    memset( m_flatImageStream.array.raw, 0, m_dmWidth * m_dmHeight * sizeof( realT ) );
 
    // Set the time of last write
    clock_gettime( CLOCK_REALTIME, &m_flatImageStream.md->writetime );
 
    // Set the image acquisition timestamp
    m_flatImageStream.md->atime = m_flatImageStream.md->writetime;
 
    m_flatImageStream.md->cnt0++;
    m_flatImageStream.md->write = 0;
    ImageStreamIO_sempost( &m_flatImageStream, -1 );
 
    m_flatSet = false;
 
    // Post the semaphore
    ImageStreamIO_closeIm( &m_flatImageStream );
 
    derived().updateSwitchIfChanged( m_indiP_setFlat, "toggle", pcf::IndiElement::Off, pcf::IndiProperty::Idle );
 
    derivedT::template log<text_log>( "flat zeroed" );
 
    if( derived().zeroDM() < 0 )
    {
        derivedT::template log<software_error>( { "error from zeroDM" } );
    }
 
    if( clearSat() < 0 )
    {
        derivedT::template log<software_error>( { "error from clearSat" } );
    }
    derived().state( stateCodes::READY );
 
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::checkTests()
{
    std::vector<std::string> tfs;
    mx::error_t              errc = mx::ioutils::getFileNames( tfs, m_testPath, "", "", ".fits" );
 
    mx_error_check_rv( errc, -1 );
 
    for( auto it = m_testCommands.begin(); it != m_testCommands.end(); ++it )
    {
        it->second = "";
    }
 
    bool changed = false;
    for( size_t n = 0; n < tfs.size(); ++n )
    {
        auto ir =
            m_testCommands.insert( std::pair<std::string, std::string>( mx::ioutils::pathStem( tfs[n] ), tfs[n] ) );
        if( ir.second == true )
            changed = true;
        else
            ir.first->second = tfs[n];
    }
 
    for( auto it = m_testCommands.begin(); it != m_testCommands.end(); ++it )
    {
        if( it->second == "" )
        {
            changed = true;
            // Erase the current iterator safely, even if the first one.
            auto itdel = it;
            ++it;
            m_testCommands.erase( itdel );
            --it;
        };
    }
 
    if( changed )
    {
        if( derived().m_indiDriver )
        {
            derived().m_indiDriver->sendDelProperty( m_indiP_tests );
            derived().m_indiNewCallBacks.erase( m_indiP_tests.createUniqueKey() );
        }
 
        m_indiP_tests = pcf::IndiProperty( pcf::IndiProperty::Switch );
        m_indiP_tests.setDevice( derived().configName() );
        m_indiP_tests.setName( "test" );
        m_indiP_tests.setPerm( pcf::IndiProperty::ReadWrite );
        m_indiP_tests.setState( pcf::IndiProperty::Idle );
        m_indiP_tests.setRule( pcf::IndiProperty::OneOfMany );
 
        // Add the toggle element initialized to Off
        for( auto it = m_testCommands.begin(); it != m_testCommands.end(); ++it )
        {
            if( it->first == m_testCurrent || m_testCurrent == "" )
            {
                m_indiP_tests.add( pcf::IndiElement( it->first, pcf::IndiElement::On ) );
                m_testCurrent = it->first; // Handles the case when m_testCurrent=="" b/c it was not set in config
            }
            else
            {
                m_indiP_tests.add( pcf::IndiElement( it->first, pcf::IndiElement::Off ) );
            }
        }
 
        if( m_testDefault != "" )
        {
            if( m_testCurrent == "default" )
            {
                m_indiP_tests.add( pcf::IndiElement( "default", pcf::IndiElement::On ) );
            }
            else
            {
                m_indiP_tests.add( pcf::IndiElement( "default", pcf::IndiElement::Off ) );
            }
        }
 
        if( derived().registerIndiPropertyNew( m_indiP_tests, st_newCallBack_tests ) < 0 )
        {
#ifndef DM_TEST_NOLOG
            derivedT::template log<software_error>( { "" } );
#endif
            return -1;
        }
 
        if( derived().m_indiDriver )
        {
            derived().m_indiDriver->sendDefProperty( m_indiP_tests );
        }
    }
 
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::loadTest( const std::string &intarget )
{
    std::string target = intarget; // store this for later to resolve default next:
 
    if( target == "default" )
    {
        target = m_testDefault;
    }
 
    std::string targetPath;
 
    try
    {
        targetPath = m_testCommands.at( target );
    }
    catch( ... )
    {
        derivedT::template log<text_log>( "test file " + target + " not found", logPrio::LOG_ERROR );
        return -1;
    }
 
    m_testLoaded = false;
    // load into memory.
    mx::fits::fitsFile<realT> ff;
    mx::error_t               errc = ff.read( m_testCommand, targetPath );
    if( errc != mx::error_t::noerror )
    {
        derivedT::template log<text_log>( std::format( "error reading test file {}: "
                                                       "{} ({})",
                                                       targetPath,
                                                       mx::errorMessage( errc ),
                                                       mx::errorName( errc ) ),
                                          logPrio::LOG_ERROR );
        return -1;
    }
 
    derivedT::template log<text_log>( "loaded test file " + targetPath );
    m_testLoaded = true;
 
    m_testCurrent = intarget;
 
    if( m_indiP_tests.find( "default" ) )
    {
        if( m_testCurrent == "default" )
        {
            m_indiP_tests["default"] = pcf::IndiElement::On;
        }
        else
        {
            m_indiP_tests["default"] = pcf::IndiElement::Off;
        }
    }
 
    for( auto i = m_testCommands.begin(); i != m_testCommands.end(); ++i )
    {
        if( !m_indiP_tests.find( i->first ) )
        {
            continue;
        }
 
        if( i->first == m_testCurrent )
        {
            m_indiP_tests[i->first] = pcf::IndiElement::On;
        }
        else
        {
            m_indiP_tests[i->first] = pcf::IndiElement::Off;
        }
    }
 
    if( derived().m_indiDriver )
        derived().m_indiDriver->sendSetProperty( m_indiP_tests );
 
    if( m_testSet )
        setTest();
 
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::setTest()
{
 
    if( m_shmimTest == "" )
        return 0;
 
    if( ImageStreamIO_openIm( &m_testImageStream, m_shmimTest.c_str() ) != 0 )
    {
        derivedT::template log<text_log>( "could not connect to test channel " + m_shmimTest, logPrio::LOG_WARNING );
        return -1;
    }
 
    if( m_testImageStream.md->size[0] != m_dmWidth )
    {
        ImageStreamIO_closeIm( &m_testImageStream );
        derivedT::template log<text_log>( "width mismatch between " + m_shmimTest + " and configured DM",
                                          logPrio::LOG_ERROR );
        return -1;
    }
 
    if( m_testImageStream.md->size[1] != m_dmHeight )
    {
        ImageStreamIO_closeIm( &m_testImageStream );
        derivedT::template log<text_log>( "height mismatch between " + m_shmimTest + " and configured DM",
                                          logPrio::LOG_ERROR );
        return -1;
    }
 
    if( !m_testLoaded )
    {
        bool testSet = m_testSet;
        m_testSet    = false; // make sure we don't loop
 
        if( loadTest( m_testCurrent ) < 0 )
        {
            derivedT::template log<text_log>( "error loading test " + m_testCurrent, logPrio::LOG_ERROR );
        }
        m_testSet = testSet;
    }
 
    if( !m_testLoaded )
    {
        ImageStreamIO_closeIm( &m_testImageStream );
        derivedT::template log<text_log>( "no test loaded", logPrio::LOG_ERROR );
        return -1;
    }
 
    if( m_testCommand.rows() != m_dmWidth )
    {
        ImageStreamIO_closeIm( &m_testImageStream );
        derivedT::template log<text_log>( "width mismatch between test file and configured DM", logPrio::LOG_ERROR );
        return -1;
    }
 
    if( m_testCommand.cols() != m_dmHeight )
    {
        ImageStreamIO_closeIm( &m_testImageStream );
        derivedT::template log<text_log>( "height mismatch between test file and configured DM", logPrio::LOG_ERROR );
        return -1;
    }
 
    m_testImageStream.md->write = 1;
 
    ///\todo we are assuming that dmXXcomYY is not a cube.  This might be true, but we should add cnt1 handling here
    /// anyway.  With bounds checks b/c not everyone handles cnt1 properly.
    // Copy
    memcpy( m_testImageStream.array.raw, m_testCommand.data(), m_dmWidth * m_dmHeight * sizeof( realT ) );
 
    // Set the time of last write
    clock_gettime( CLOCK_REALTIME, &m_testImageStream.md->writetime );
 
    // Set the image acquisition timestamp
    m_testImageStream.md->atime = m_testImageStream.md->writetime;
 
    m_testImageStream.md->cnt0++;
    m_testImageStream.md->write = 0;
    ImageStreamIO_sempost( &m_testImageStream, -1 );
 
    m_testSet = true;
 
    // Post the semaphore
    ImageStreamIO_closeIm( &m_testImageStream );
 
    derived().updateSwitchIfChanged( m_indiP_setTest, "toggle", pcf::IndiElement::On, pcf::IndiProperty::Busy );
 
    derivedT::template log<text_log>( "test set" );
 
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::zeroTest()
{
    if( m_shmimTest == "" )
        return 0;
 
    if( ImageStreamIO_openIm( &m_testImageStream, m_shmimTest.c_str() ) != 0 )
    {
        derivedT::template log<text_log>( "could not connect to test channel " + m_shmimTest, logPrio::LOG_WARNING );
        return -1;
    }
 
    if( m_testImageStream.md[0].size[0] != m_dmWidth )
    {
        ImageStreamIO_closeIm( &m_testImageStream );
        derivedT::template log<text_log>( "width mismatch between " + m_shmimTest + " and configured DM",
                                          logPrio::LOG_ERROR );
        return -1;
    }
 
    if( m_testImageStream.md[0].size[1] != m_dmHeight )
    {
        ImageStreamIO_closeIm( &m_testImageStream );
        derivedT::template log<text_log>( "height mismatch between " + m_shmimTest + " and configured DM",
                                          logPrio::LOG_ERROR );
        return -1;
    }
 
    m_testImageStream.md->write = 1;
 
    ///\todo we are assuming that dmXXcomYY is not a cube.  This might be true, but we should add cnt1 handling here
    /// anyway.  With bounds checks b/c not everyone handles cnt1 properly.
    // Zero
    memset( m_testImageStream.array.raw, 0, m_dmWidth * m_dmHeight * sizeof( realT ) );
 
    // Set the time of last write
    clock_gettime( CLOCK_REALTIME, &m_testImageStream.md->writetime );
 
    // Set the image acquisition timestamp
    m_testImageStream.md->atime = m_testImageStream.md->writetime;
 
    m_testImageStream.md->cnt0++;
    m_testImageStream.md->write = 0;
 
    // Post the semaphore
    ImageStreamIO_sempost( &m_testImageStream, -1 );
 
    m_testSet = false;
 
    ImageStreamIO_closeIm( &m_testImageStream );
 
    derived().updateSwitchIfChanged( m_indiP_setTest, "toggle", pcf::IndiElement::Off, pcf::IndiProperty::Idle );
 
    derivedT::template log<text_log>( "test zeroed" );
 
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::zeroAll( bool nosem )
{
    if( derived().m_shmimName == "" )
    {
        return 0;
    }
 
    IMAGE imageStream;
 
    for( int n = 0; n < m_numChannels; ++n )
    {
        char nstr[16];
        snprintf( nstr, sizeof( nstr ), "%02d", n );
        std::string shmimN = derived().m_shmimName + nstr;
 
        if( ImageStreamIO_openIm( &imageStream, shmimN.c_str() ) != 0 )
        {
            derivedT::template log<text_log>( "could not connect to channel " + shmimN, logPrio::LOG_WARNING );
            continue;
        }
 
        if( imageStream.md->size[0] != m_dmWidth )
        {
            ImageStreamIO_closeIm( &imageStream );
            derivedT::template log<text_log>( "width mismatch between " + shmimN + " and configured DM",
                                              logPrio::LOG_ERROR );
            derived().updateSwitchIfChanged( m_indiP_zeroAll, "request", pcf::IndiElement::Off, INDI_IDLE );
            return -1;
        }
 
        if( imageStream.md->size[1] != m_dmHeight )
        {
            ImageStreamIO_closeIm( &imageStream );
            derivedT::template log<text_log>( "height mismatch between " + shmimN + " and configured DM",
                                              logPrio::LOG_ERROR );
            derived().updateSwitchIfChanged( m_indiP_zeroAll, "request", pcf::IndiElement::Off, INDI_IDLE );
            return -1;
        }
 
        imageStream.md->write = 1;
        memset( imageStream.array.raw, 0, m_dmWidth * m_dmHeight * sizeof( realT ) );
 
        clock_gettime( CLOCK_REALTIME, &imageStream.md->writetime );
 
        // Set the image acquisition timestamp
        imageStream.md->atime = imageStream.md->writetime;
 
        imageStream.md->cnt0++;
        imageStream.md->write = 0;
 
        // Raise the semaphore on last one.
        if( n == m_numChannels - 1 && !nosem )
        {
            ImageStreamIO_sempost( &imageStream, -1 );
        }
 
        ImageStreamIO_closeIm( &imageStream );
    }
 
    derivedT::template log<text_log>( "all channels zeroed", logPrio::LOG_NOTICE );
 
    derived().updateSwitchIfChanged( m_indiP_zeroAll, "request", pcf::IndiElement::Off, INDI_IDLE );
 
    // Also cleanup flat and test
    m_flatSet = false;
    derived().updateSwitchIfChanged( m_indiP_setFlat, "toggle", pcf::IndiElement::Off, pcf::IndiProperty::Idle );
    if( derived().state() == stateCodes::OPERATING )
    {
        derived().state( stateCodes::READY );
    }
 
    // Also cleanup flat and test
    m_testSet = false;
    derived().updateSwitchIfChanged( m_indiP_setTest, "toggle", pcf::IndiElement::Off, pcf::IndiProperty::Idle );
 
    int rv;
    if( ( rv = clearSat() ) < 0 )
    {
        derivedT::template log<software_error>( { errno, rv, "Error from clearSat" } );
        return rv;
    }
 
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::makeDelta()
{
    if( m_notDeltas.size() == 0 )
    {
        return 0;
    }
 
    m_totalFlat = ( *m_channels[m_notDeltas[0]] )();
 
    for( size_t n = 1; n < m_notDeltas.size(); ++n )
    {
        m_totalFlat += ( *m_channels[m_notDeltas[n]] )();
    }
 
    m_outputDelta = m_outputShape() - m_totalFlat; // this posts and everything
 
    m_totalDelta = ( *m_channels[m_deltas[0]] )();
 
    for( size_t n = 1; n < m_deltas.size(); ++n )
    {
        m_totalDelta += ( *m_channels[m_deltas[n]] )();
    }
 
    m_outputDiff = m_totalDelta - m_outputDelta();
 
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::clearSat()
{
    if( m_shmimSat == "" || m_dmWidth == 0 || m_dmHeight == 0 )
    {
        return 0;
    }
 
    IMAGE imageStream;
 
    std::vector<std::string> sats = { m_shmimSat, m_shmimSatPerc };
 
    for( size_t n = 0; n < sats.size(); ++n )
    {
        std::string shmimN = sats[n];
 
        if( ImageStreamIO_openIm( &imageStream, shmimN.c_str() ) != 0 )
        {
            derivedT::template log<text_log>( "could not connect to sat map " + shmimN, logPrio::LOG_WARNING );
            return 0;
        }
 
        if( imageStream.md->size[0] != m_dmWidth )
        {
            ImageStreamIO_closeIm( &imageStream );
            derivedT::template log<text_log>( "width mismatch between " + shmimN + " and configured DM",
                                              logPrio::LOG_ERROR );
            derived().updateSwitchIfChanged( m_indiP_zeroAll, "request", pcf::IndiElement::Off, INDI_IDLE );
            return -1;
        }
 
        if( imageStream.md->size[1] != m_dmHeight )
        {
            ImageStreamIO_closeIm( &imageStream );
            derivedT::template log<text_log>( "height mismatch between " + shmimN + " and configured DM",
                                              logPrio::LOG_ERROR );
            derived().updateSwitchIfChanged( m_indiP_zeroAll, "request", pcf::IndiElement::Off, INDI_IDLE );
            return -1;
        }
 
        imageStream.md->write = 1;
        memset( imageStream.array.raw, 0, m_dmWidth * m_dmHeight * ImageStreamIO_typesize( imageStream.md->datatype ) );
 
        clock_gettime( CLOCK_REALTIME, &imageStream.md->writetime );
 
        // Set the image acquisition timestamp
        imageStream.md->atime = imageStream.md->writetime;
 
        imageStream.md->cnt0++;
        imageStream.md->write = 0;
        ImageStreamIO_sempost( &imageStream, -1 );
 
        ImageStreamIO_closeIm( &imageStream );
    }
 
    m_accumSatMap.setZero();
    m_instSatMap.setZero();
 
    return 0;
}
 
template <class derivedT, typename realT>
void dm<derivedT, realT>::satThreadStart( dm *d )
{
    d->satThreadExec();
}
 
template <class derivedT, typename realT>
void dm<derivedT, realT>::satThreadExec()
{
    // Get the thread PID immediately so the caller can return.
    m_satThreadID = syscall( SYS_gettid );
 
    // Wait for the thread starter to finish initializing this thread.
    while( m_satThreadInit == true && derived().shutdown() == 0 )
    {
        sleep( 1 );
    }
 
    if( derived().shutdown() )
    {
        return;
    }
 
    uint32_t imsize[3] = { 0, 0, 0 };
 
    // Check for allocation to have happened.
    while( ( m_shmimSat == "" || m_accumSatMap.rows() == 0 || m_accumSatMap.cols() == 0 ) && !derived().shutdown() )
    {
        sleep( 1 );
    }
 
    if( derived().shutdown() )
    {
        return;
    }
 
    imsize[0] = m_dmWidth;
    imsize[1] = m_dmHeight;
    imsize[2] = 1;
 
    ImageStreamIO_createIm_gpu( &m_satImageStream,
                                m_shmimSat.c_str(),
                                3,
                                imsize,
                                IMAGESTRUCT_UINT8,
                                -1,
                                1,
                                IMAGE_NB_SEMAPHORE,
                                0,
                                CIRCULAR_BUFFER | ZAXIS_TEMPORAL,
                                0 );
    ImageStreamIO_createIm_gpu( &m_satPercImageStream,
                                m_shmimSatPerc.c_str(),
                                3,
                                imsize,
                                IMAGESTRUCT_FLOAT,
                                -1,
                                1,
                                IMAGE_NB_SEMAPHORE,
                                0,
                                CIRCULAR_BUFFER | ZAXIS_TEMPORAL,
                                0 );
 
    bool opened = true;
 
    m_satImageStream.md->cnt1     = 0;
    m_satPercImageStream.md->cnt1 = 0;
 
    // This is the working memory for making the 1/0 mask out of m_accumSatMap
    mx::improc::eigenImage<uint8_t> satmap( m_dmWidth, m_dmHeight );
 
    int    naccum    = 0;
    double t_accumst = mx::sys::get_curr_time();
 
    // This is the main image grabbing loop.
    while( !derived().shutdown() )
    {
        // Get timespec for sem_timedwait
        timespec ts;
        if( clock_gettime( CLOCK_REALTIME, &ts ) < 0 )
        {
            derivedT::template log<software_critical>( { errno, 0, "clock_gettime" } );
            return;
        }
        ts.tv_sec += 1;
 
        // Wait on semaphore
        if( sem_timedwait( &m_satSemaphore, &ts ) == 0 )
        {
            // not a timeout -->accumulate
            for( int rr = 0; rr < m_instSatMap.rows(); ++rr )
            {
                for( int cc = 0; cc < m_instSatMap.cols(); ++cc )
                {
                    m_accumSatMap( rr, cc ) += m_instSatMap( rr, cc );
                }
            }
            ++naccum;
 
            // If less than avg int --> go back and wait again
            if( mx::sys::get_curr_time( ts ) - t_accumst < m_satAvgInt / 1000.0 )
            {
                continue;
            }
 
            // If greater than avg int --> calc stats, write to streams.
            m_overSatAct = 0;
            for( int rr = 0; rr < m_instSatMap.rows(); ++rr )
            {
                for( int cc = 0; cc < m_instSatMap.cols(); ++cc )
                {
                    m_satPercMap( rr, cc ) = m_accumSatMap( rr, cc ) / naccum;
                    if( m_satPercMap( rr, cc ) >= m_percThreshold )
                    {
                        ++m_overSatAct;
                    }
                    satmap( rr, cc ) = ( m_accumSatMap( rr, cc ) > 0 ); // it's  1/0 map
                }
            }
 
            // Check of the number of actuators saturated above the percent threshold is greater than the number
            // threshold if it is, increment the counter
            if( m_overSatAct / ( m_satPercMap.rows() * m_satPercMap.cols() * 0.75 ) > m_intervalSatThreshold )
            {
                ++m_intervalSatExceeds;
            }
            else
            {
                m_intervalSatExceeds = 0;
            }
 
            // If enough consecutive intervals exceed the count threshold, we trigger
            if( m_intervalSatExceeds >= m_intervalSatCountThreshold )
            {
                m_intervalSatTrip = true;
            }
 
            m_satImageStream.md->write     = 1;
            m_satPercImageStream.md->write = 1;
 
            memcpy( m_satImageStream.array.raw, satmap.data(), m_dmWidth * m_dmHeight * sizeof( uint8_t ) );
            memcpy( m_satPercImageStream.array.raw, m_satPercMap.data(), m_dmWidth * m_dmHeight * sizeof( float ) );
 
            // Set the time of last write
            clock_gettime( CLOCK_REALTIME, &m_satImageStream.md->writetime );
            m_satPercImageStream.md->writetime = m_satImageStream.md->writetime;
 
            // Set the image acquisition timestamp
            m_satImageStream.md->atime     = m_satImageStream.md->writetime;
            m_satPercImageStream.md->atime = m_satPercImageStream.md->writetime;
 
            // Update cnt1
            m_satImageStream.md->cnt1     = 0;
            m_satPercImageStream.md->cnt1 = 0;
 
            // Update cnt0
            m_satImageStream.md->cnt0++;
            m_satPercImageStream.md->cnt0++;
 
            m_satImageStream.writetimearray[0] = m_satImageStream.md->writetime;
            m_satImageStream.atimearray[0]     = m_satImageStream.md->atime;
            m_satImageStream.cntarray[0]       = m_satImageStream.md->cnt0;
 
            m_satPercImageStream.writetimearray[0] = m_satPercImageStream.md->writetime;
            m_satPercImageStream.atimearray[0]     = m_satPercImageStream.md->atime;
            m_satPercImageStream.cntarray[0]       = m_satPercImageStream.md->cnt0;
 
            // And post
            m_satImageStream.md->write = 0;
            ImageStreamIO_sempost( &m_satImageStream, -1 );
 
            m_satPercImageStream.md->write = 0;
            ImageStreamIO_sempost( &m_satPercImageStream, -1 );
 
            m_accumSatMap.setZero();
            naccum    = 0;
            t_accumst = mx::sys::get_curr_time( ts );
        }
        else
        {
            // Check for why we timed out
            if( errno == EINTR )
            {
                break; // This indicates signal interrupted us, time to restart or shutdown, loop will exit normally if
                       // flags set.
            }
 
            // ETIMEDOUT just means we should wait more.
            // Otherwise, report an error.
            if( errno != ETIMEDOUT )
            {
                derivedT::template log<software_error>( { errno, "sem_timedwait" } );
                break;
            }
        }
    }
 
    if( opened )
    {
        ImageStreamIO_destroyIm( &m_satImageStream );
 
        ImageStreamIO_destroyIm( &m_satPercImageStream );
    }
}
 
template <class derivedT, typename realT>
void dm<derivedT, realT>::intervalSatTrip()
{
    if( m_satTriggerDevice.size() > 0 && m_satTriggerProperty.size() == m_satTriggerDevice.size() )
    {
        for( size_t n = 0; n < m_satTriggerDevice.size(); ++n )
        {
            // We just silently fail
            try
            {
                pcf::IndiProperty ipFreq( pcf::IndiProperty::Switch );
 
                ipFreq.setDevice( m_satTriggerDevice[n] );
                ipFreq.setName( m_satTriggerProperty[n] );
                ipFreq.add( pcf::IndiElement( "toggle" ) );
                ipFreq["toggle"] = pcf::IndiElement::Off;
                derived().sendNewProperty( ipFreq );
 
                derivedT::template log<text_log>( "DM saturation threshold exceeded.  Loop opened.",
                                                  logPrio::LOG_WARNING );
            }
            catch( ... )
            {
            }
        }
    }
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::updateINDI()
{
    if( !derived().m_indiDriver )
    {
        return 0;
    }
 
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::st_newCallBack_init( void *app, const pcf::IndiProperty &ipRecv )
{
    return static_cast<derivedT *>( app )->newCallBack_init( ipRecv );
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::newCallBack_init( const pcf::IndiProperty &ipRecv )
{
    if( ipRecv.createUniqueKey() != m_indiP_init.createUniqueKey() )
    {
        return derivedT::template log<software_error, -1>( { "wrong INDI-P in callback" } );
    }
 
    if( !ipRecv.find( "request" ) )
    {
        return 0;
    }
 
    if( ipRecv["request"].getSwitchState() == pcf::IndiElement::On )
    {
        int rv = baseInitDM();
        if( rv < 0 )
        {
            return derivedT::template log<software_error, -1>( { "error from initDM in INDI callback" } );
        }
    }
 
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::st_newCallBack_zero( void *app, const pcf::IndiProperty &ipRecv )
{
    return static_cast<derivedT *>( app )->newCallBack_zero( ipRecv );
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::newCallBack_zero( const pcf::IndiProperty &ipRecv )
{
    if( ipRecv.createUniqueKey() != m_indiP_zero.createUniqueKey() )
    {
        return derivedT::template log<software_error, -1>( { "wrong INDI-P in callback" } );
    }
 
    if( !ipRecv.find( "request" ) )
        return 0;
 
    if( ipRecv["request"].getSwitchState() == pcf::IndiElement::On )
    {
        return derived().zeroDM();
    }
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::st_newCallBack_release( void *app, const pcf::IndiProperty &ipRecv )
{
    return static_cast<derivedT *>( app )->newCallBack_release( ipRecv );
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::newCallBack_release( const pcf::IndiProperty &ipRecv )
{
    if( ipRecv.createUniqueKey() != m_indiP_release.createUniqueKey() )
    {
        return derivedT::template log<software_error, -1>( { "wrong INDI-P in callback" } );
    }
 
    if( !ipRecv.find( "request" ) )
        return 0;
 
    if( ipRecv["request"].getSwitchState() == pcf::IndiElement::On )
    {
        return baseReleaseDM();
    }
    return 0;
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::st_newCallBack_flats( void *app, const pcf::IndiProperty &ipRecv )
{
    return static_cast<derivedT *>( app )->newCallBack_flats( ipRecv );
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::newCallBack_flats( const pcf::IndiProperty &ipRecv )
{
    if( ipRecv.createUniqueKey() != m_indiP_flats.createUniqueKey() )
    {
        derivedT::template log<software_error>( { "invalid indi property received" } );
        return -1;
    }
 
    std::string newFlat;
 
    if( ipRecv.find( "default" ) )
    {
        if( ipRecv["default"].getSwitchState() == pcf::IndiElement::On )
        {
            newFlat = "default";
        }
    }
 
    // always do this to check for error:
    for( auto i = m_flatCommands.begin(); i != m_flatCommands.end(); ++i )
    {
        if( !ipRecv.find( i->first ) )
            continue;
 
        if( ipRecv[i->first].getSwitchState() == pcf::IndiElement::On )
        {
            if( newFlat != "" )
            {
                derivedT::template log<text_log>( "More than one flat selected", logPrio::LOG_ERROR );
                return -1;
            }
 
            newFlat = i->first;
        }
    }
 
    if( newFlat == "" )
    {
        return 0;
    }
 
    return loadFlat( newFlat );
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::st_newCallBack_setFlat( void *app, const pcf::IndiProperty &ipRecv )
{
    return static_cast<derivedT *>( app )->newCallBack_setFlat( ipRecv );
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::newCallBack_setFlat( const pcf::IndiProperty &ipRecv )
{
    if( ipRecv.createUniqueKey() != m_indiP_setFlat.createUniqueKey() )
    {
        return derivedT::template log<software_error, -1>( { "wrong INDI-P in callback" } );
    }
 
    if( !ipRecv.find( "toggle" ) )
        return 0;
 
    if( ipRecv["toggle"] == pcf::IndiElement::On )
    {
        return setFlat();
    }
    else
    {
        return zeroFlat();
    }
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::st_newCallBack_tests( void *app, const pcf::IndiProperty &ipRecv )
{
    return static_cast<derivedT *>( app )->newCallBack_tests( ipRecv );
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::newCallBack_tests( const pcf::IndiProperty &ipRecv )
{
    if( ipRecv.createUniqueKey() != m_indiP_tests.createUniqueKey() )
    {
        derivedT::template log<software_error>( { "invalid indi property received" } );
        return -1;
    }
 
    std::string newTest;
 
    if( ipRecv.find( "default" ) )
    {
        if( ipRecv["default"].getSwitchState() == pcf::IndiElement::On )
        {
            newTest = "default";
        }
    }
 
    // always do this to check for error:
    for( auto i = m_testCommands.begin(); i != m_testCommands.end(); ++i )
    {
        if( !ipRecv.find( i->first ) )
            continue;
 
        if( ipRecv[i->first].getSwitchState() == pcf::IndiElement::On )
        {
            if( newTest != "" )
            {
                derivedT::template log<text_log>( "More than one test selected", logPrio::LOG_ERROR );
                return -1;
            }
 
            newTest = i->first;
        }
    }
 
    if( newTest == "" )
    {
        return 0;
    }
 
    return loadTest( newTest );
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::st_newCallBack_setTest( void *app, const pcf::IndiProperty &ipRecv )
{
    return static_cast<derivedT *>( app )->newCallBack_setTest( ipRecv );
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::newCallBack_setTest( const pcf::IndiProperty &ipRecv )
{
    if( ipRecv.createUniqueKey() != m_indiP_setTest.createUniqueKey() )
    {
        return derivedT::template log<software_error, -1>( { "wrong INDI-P in callback" } );
    }
 
    if( !ipRecv.find( "toggle" ) )
        return 0;
 
    if( ipRecv["toggle"] == pcf::IndiElement::On )
    {
        return setTest();
    }
    else
    {
        return zeroTest();
    }
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::st_newCallBack_zeroAll( void *app, const pcf::IndiProperty &ipRecv )
{
    return static_cast<derivedT *>( app )->newCallBack_zeroAll( ipRecv );
}
 
template <class derivedT, typename realT>
int dm<derivedT, realT>::newCallBack_zeroAll( const pcf::IndiProperty &ipRecv )
{
    if( ipRecv.createUniqueKey() != m_indiP_zeroAll.createUniqueKey() )
    {
        return derivedT::template log<software_error, -1>( { "wrong INDI-P in callback" } );
    }
 
    if( !ipRecv.find( "request" ) )
        return 0;
 
    if( ipRecv["request"].getSwitchState() == pcf::IndiElement::On )
    {
        indi::updateSwitchIfChanged(
            m_indiP_zeroAll, "request", pcf::IndiElement::On, derived().m_indiDriver, INDI_BUSY );
 
        std::lock_guard<std::mutex> guard( derived().m_indiMutex );
        return zeroAll();
    }
    return 0;
}
 
/// Call dmT::setupConfig with error checking for dm
/**
 * \param cfig the application configurator
 */
#define DM_SETUP_CONFIG( cfig )                                                                                        \
    if( dmT::setupConfig( cfig ) < 0 )                                                                                 \
    {                                                                                                                  \
        log<software_error>( { "Error from dmT::setupConfig" } );                                                      \
        m_shutdown = true;                                                                                             \
        return;                                                                                                        \
    }
 
/// Call dmT::loadConfig with error checking for dm
/** This must be inside a function that returns int, e.g. the standard loadConfigImpl.
 * \param cfig the application configurator
 */
#define DM_LOAD_CONFIG( cfig )                                                                                         \
    if( dmT::loadConfig( cfig ) < 0 )                                                                                  \
    {                                                                                                                  \
        return log<software_error, -1>( { "Error from dmT::loadConfig" } );                                            \
    }
 
/// Call shmimMonitorT::appStartup with error checking for dm
#define DM_APP_STARTUP                                                                                                 \
    if( dmT::appStartup() < 0 )                                                                                        \
    {                                                                                                                  \
        return log<software_error, -1>( { "Error from dmT::appStartup" } );                                            \
    }
 
/// Call dmT::appLogic with error checking for dm
#define DM_APP_LOGIC                                                                                                   \
    if( dmT::appLogic() < 0 )                                                                                          \
    {                                                                                                                  \
        return log<software_error, -1>( { "Error from dmT::appLogic" } );                                              \
    }
 
/// Call dmT::updateINDI with error checking for dm
#define DM_UPDATE_INDI                                                                                                 \
    if( dmT::updateINDI() < 0 )                                                                                        \
    {                                                                                                                  \
        return log<software_error, -1>( { "Error from dmT::updateINDI" } );                                            \
    }
 
/// Call dmT::appShutdown with error checking for dm
#define DM_APP_SHUTDOWN                                                                                                \
    if( dmT::appShutdown() < 0 )                                                                                       \
    {                                                                                                                  \
        return log<software_error, -1>( { "Error from dmT::appShutdown" } );                                           \
    }
 
} // namespace dev
} // namespace app
} // namespace MagAOX
#endif