modalGainOpt.hpp

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/** \file modalGainOpt.hpp
 * \brief The MagAO-X PSD-based gain optimizer header file
 *
 * \ingroup modalGainOpt_files
 */
 
#ifndef modalGainOpt_hpp
#define modalGainOpt_hpp
 
#include <mx/mxException.hpp>
#include <mx/ao/analysis/clGainOpt.hpp>
#include <mx/ao/analysis/clAOLinearPredictor.hpp>
 
#include "../../libMagAOX/libMagAOX.hpp" //Note this is included on command line to trigger pch
#include "../../magaox_git_version.h"
 
/** \defgroup modalGainOpt
 * \brief The MagAO-X application to perform PSD-based gain optimization
 *
 * <a href="../handbook/operating/software/apps/modalGainOpt.html">Application Documentation</a>
 *
 * \ingroup apps
 *
 */
 
/** \defgroup modalGainOpt_files
 * \ingroup modalGainOpt
 */
 
namespace MagAOX
{
namespace app
{
 
#define MGO_BREADCRUMB
 
// #define MGO_BREADCRUMB  std::cerr << __FILE__ << ' ' << __LINE__ << '\n';
 
struct psdShmimT
{
    static std::string configSection()
    {
        return "psdShmim";
    };
 
    static std::string indiPrefix()
    {
        return "psd";
    };
};
 
struct freqShmimT
{
    static std::string configSection()
    {
        return "freqShmim";
    };
 
    static std::string indiPrefix()
    {
        return "freq";
    };
};
 
struct gainFactShmimT
{
    static std::string configSection()
    {
        return "gainFactShmim";
    };
 
    static std::string indiPrefix()
    {
        return "gainFact";
    };
};
 
struct multFactShmimT
{
    static std::string configSection()
    {
        return "multFactShmim";
    };
 
    static std::string indiPrefix()
    {
        return "multFact";
    };
};
 
struct pcGainFactShmimT
{
    static std::string configSection()
    {
        return "pcGainFactShmim";
    };
 
    static std::string indiPrefix()
    {
        return "pcGainFact";
    };
};
 
struct pcMultFactShmimT
{
    static std::string configSection()
    {
        return "pcMultFactShmim";
    };
 
    static std::string indiPrefix()
    {
        return "pcMultFact";
    };
};
 
struct numpccoeffShmimT
{
    static std::string configSection()
    {
        return "numpccoeffShmim";
    };
 
    static std::string indiPrefix()
    {
        return "numpccoeff";
    };
};
 
struct acoeffShmimT
{
    static std::string configSection()
    {
        return "acoeffShmim";
    };
 
    static std::string indiPrefix()
    {
        return "acoeff";
    };
};
 
struct bcoeffShmimT
{
    static std::string configSection()
    {
        return "bcoeffShmim";
    };
 
    static std::string indiPrefix()
    {
        return "bcoeff";
    };
};
 
struct gainCalShmimT
{
    static std::string configSection()
    {
        return "gainCalShmim";
    };
 
    static std::string indiPrefix()
    {
        return "gainCal";
    };
};
 
struct gainCalFactShmimT
{
    static std::string configSection()
    {
        return "gainCalFactShmim";
    };
 
    static std::string indiPrefix()
    {
        return "gainCalFact";
    };
};
 
struct tauShmimT
{
    static std::string configSection()
    {
        return "tauShmim";
    };
 
    static std::string indiPrefix()
    {
        return "tau";
    };
};
 
struct noiseShmimT
{
    static std::string configSection()
    {
        return "noiseShmim";
    };
 
    static std::string indiPrefix()
    {
        return "noise";
    };
};
 
struct wfsavgShmimT
{
    static std::string configSection()
    {
        return "wfsavgShmim";
    };
 
    static std::string indiPrefix()
    {
        return "wfsavg";
    };
};
 
struct wfsmaskShmimT
{
    static std::string configSection()
    {
        return "wfsmaskShmim";
    };
 
    static std::string indiPrefix()
    {
        return "wfsmask";
    };
};
 
/// The MagAO-X PSD-based gain optimizer
/**
 * \ingroup modalGainOpt
 */
class modalGainOpt : public MagAOXApp<true>,
                     dev::shmimMonitor<modalGainOpt, psdShmimT>,
                     dev::shmimMonitor<modalGainOpt, freqShmimT>,
                     dev::shmimMonitor<modalGainOpt, gainFactShmimT>,
                     dev::shmimMonitor<modalGainOpt, multFactShmimT>,
                     dev::shmimMonitor<modalGainOpt, pcGainFactShmimT>,
                     dev::shmimMonitor<modalGainOpt, pcMultFactShmimT>,
                     dev::shmimMonitor<modalGainOpt, numpccoeffShmimT>,
                     dev::shmimMonitor<modalGainOpt, acoeffShmimT>,
                     dev::shmimMonitor<modalGainOpt, bcoeffShmimT>,
                     dev::shmimMonitor<modalGainOpt, gainCalShmimT>,
                     dev::shmimMonitor<modalGainOpt, gainCalFactShmimT>,
                     dev::shmimMonitor<modalGainOpt, tauShmimT>,
                     dev::shmimMonitor<modalGainOpt, noiseShmimT>,
                     dev::shmimMonitor<modalGainOpt, wfsavgShmimT>,
                     dev::shmimMonitor<modalGainOpt, wfsmaskShmimT>
 
{
 
    // Give the test harness access.
    friend class modalGainOpt_test;
 
    friend class dev::shmimMonitor<modalGainOpt, psdShmimT>;
    friend class dev::shmimMonitor<modalGainOpt, freqShmimT>;
    friend class dev::shmimMonitor<modalGainOpt, gainFactShmimT>;
    friend class dev::shmimMonitor<modalGainOpt, multFactShmimT>;
    friend class dev::shmimMonitor<modalGainOpt, pcGainFactShmimT>;
    friend class dev::shmimMonitor<modalGainOpt, pcMultFactShmimT>;
    friend class dev::shmimMonitor<modalGainOpt, numpccoeffShmimT>;
    friend class dev::shmimMonitor<modalGainOpt, acoeffShmimT>;
    friend class dev::shmimMonitor<modalGainOpt, bcoeffShmimT>;
    friend class dev::shmimMonitor<modalGainOpt, gainCalShmimT>;
    friend class dev::shmimMonitor<modalGainOpt, gainCalFactShmimT>;
    friend class dev::shmimMonitor<modalGainOpt, tauShmimT>;
    friend class dev::shmimMonitor<modalGainOpt, noiseShmimT>;
    friend class dev::shmimMonitor<modalGainOpt, wfsavgShmimT>;
    friend class dev::shmimMonitor<modalGainOpt, wfsmaskShmimT>;
 
  public:
    typedef dev::shmimMonitor<modalGainOpt, psdShmimT>         psdShmimMonitorT;
    typedef dev::shmimMonitor<modalGainOpt, freqShmimT>        freqShmimMonitorT;
    typedef dev::shmimMonitor<modalGainOpt, gainFactShmimT>    gainFactShmimMonitorT;
    typedef dev::shmimMonitor<modalGainOpt, multFactShmimT>    multFactShmimMonitorT;
    typedef dev::shmimMonitor<modalGainOpt, pcGainFactShmimT>  pcGainFactShmimMonitorT;
    typedef dev::shmimMonitor<modalGainOpt, pcMultFactShmimT>  pcMultFactShmimMonitorT;
    typedef dev::shmimMonitor<modalGainOpt, numpccoeffShmimT>  numpccoeffShmimMonitorT;
    typedef dev::shmimMonitor<modalGainOpt, acoeffShmimT>      acoeffShmimMonitorT;
    typedef dev::shmimMonitor<modalGainOpt, bcoeffShmimT>      bcoeffShmimMonitorT;
    typedef dev::shmimMonitor<modalGainOpt, gainCalShmimT>     gainCalShmimMonitorT;
    typedef dev::shmimMonitor<modalGainOpt, gainCalFactShmimT> gainCalFactShmimMonitorT;
    typedef dev::shmimMonitor<modalGainOpt, tauShmimT>         tauShmimMonitorT;
    typedef dev::shmimMonitor<modalGainOpt, noiseShmimT>       noiseShmimMonitorT;
    typedef dev::shmimMonitor<modalGainOpt, wfsavgShmimT>      wfsavgShmimMonitorT;
    typedef dev::shmimMonitor<modalGainOpt, wfsmaskShmimT>     wfsmaskShmimMonitorT;
 
    typedef std::chrono::time_point<std::chrono::steady_clock> timePointT;
    typedef std::chrono::duration<double>                      durationT;
 
  protected:
    /** \name Configurable Parameters
     *@{
     */
 
    int m_loopNum{ 1 }; ///< The number of the loop. Used to set shmim names, as in aolN_mgainfact.
 
    std::string m_loopName; ///< The name of the loop control INDI device name.
 
    std::string m_wfsDevice{ "camwfs" };
 
    std::string m_psdDevice{ "hopsds" }; /**< The INDI device name of the PSD calculator.  Defaults to aolN_modevalPSDs
                                   where N is m_loopNum.*/
 
    std::string m_opticalGainDevice {"strehl"};
    std::string m_opticalGainProperty {"strehl_optimal"};
    std::string m_opticalGainElement {"pyramid"};
 
    bool m_autoUpdate{ false }; ///< Flag controlling whether gains are automatically updated
    bool m_opticalGainUpdate {false}; ///< Flag controlling whether optical gain is automatically updated;
 
    float m_gainGain{ 0.1 }; ///< The gain to use for closed-loop gain updates.  Default is 0.1.
 
    uint32_t m_maxNCoeff{ 1000 };
 
    uint32_t m_defaultNCoeff{ 25 };
 
    int m_extrapOL {0}; ///< Which extrapolation method to use for the OL PSD.  0 is none.  The only other option is 1.
 
    ///@}
 
    uint32_t m_nFreq{ 0 };
    uint32_t m_nModes{ 0 };
 
    bool m_updateOnce{ false }; ///< Flag to trigger a single update with gain.
 
    bool m_dump{ false }; ///< Flag to trigger a single update with no gain.
 
    float m_fps{ 0 };
 
    /// Each mode gets its own gain optimizer
    std::vector<mx::AO::analysis::clGainOpt<float>>           m_goptCurrent;
    std::vector<mx::AO::analysis::clGainOpt<float>>           m_goptSI;
    std::vector<mx::AO::analysis::clGainOpt<float>>           m_goptLP;
    std::vector<mx::AO::analysis::clAOLinearPredictor<float>> m_linPred;
 
    bool m_goptUpdated{ true };   ///< Tracks if a parameter has updated requiring updates to the m_gopt entries.
    bool m_pcgoptUpdated{ true }; ///< Tracks if a parameter has updated requiring updates to the m_gopt entries.
 
    bool m_freqUpdated{ true }; /**< Tracks if the frequency scale has updated, which necessitates additional calcs.
                                     If true, implies m_goptUpdate == true.*/
    float m_psdTime{ 1 };
    float m_psdAvgTime{ 10 };
    float m_psdOverlapFraction{ 0.5 };
 
    std::vector<float> m_freq;
 
    mx::improc::eigenImage<float> m_clPSDs;
    mx::improc::eigenImage<float> m_clXferCurrent;
    mx::improc::eigenImage<float> m_clXferSI;
    mx::improc::eigenImage<float> m_clXferLP;
 
    std::vector<std::vector<float>> m_olPSDs;
    std::vector<std::vector<float>> m_nPSDs;
 
    std::vector<float> m_modeVarCL;
    std::vector<float> m_modeVarOL;
 
    int m_modesOn;
 
    std::vector<float> m_optGainSI;
    std::vector<float> m_gmaxSI; ///< The previously calculated maximum gains for LP
    std::vector<float> m_modeVarSI;
    std::vector<int>   m_timesOnSI;
    int   m_modesOnSI;
 
    std::vector<float> m_optGainLP;
    std::vector<float> m_gmaxLP; ///< The previously calculated maximum gains for LP
    std::vector<float> m_modeVarLP;
    std::vector<int>   m_timesOnLP;
    int m_modesOnLP;
 
    bool m_loop{ false };
 
    float m_opticalGain{ 1 };
 
    float m_opticalGainSource {1};
 
    float m_gain{ 0 };
 
    float m_mult{ 1 };
 
    float m_siGain{ 0 };
 
    float m_siMult{ 1 };
 
    bool m_doPCCalcs{ true };
 
    float m_pcGain{ 0 };
 
    float m_pcMult{ 0 };
 
    bool m_pcOn{ false };
 
    std::vector<float> m_gainFacts;
 
    std::vector<float> m_multFacts;
 
    std::vector<float> m_pcGainFacts;
 
    std::vector<float> m_pcMultFacts;
 
    std::vector<uint32_t> m_Na; // The latest user specified number of a coefficients
 
    std::vector<uint32_t> m_NaCurrent; // The current number of a coefficients
 
    std::vector<uint32_t> m_Nb; // The latest user specified number of b coefficients
 
    std::vector<uint32_t> m_NbCurrent; // The current number of b coefficients
 
    eigenImage<float> m_as;
 
    eigenImage<float> m_bs;
 
    int m_nRegCycles{ 60 }; ///< How often to regularize each mode
 
    std::vector<int> m_regCounter; ///< Counters to track when this mode was last regularized
 
    std::vector<float> m_regScale; ///< The regularization scale factors for each mode
 
    std::vector<float> m_gainCals;
 
    std::vector<float> m_gainCalFacts;
 
    std::vector<float> m_taus;
 
    eigenImage<float> m_noiseParams;
 
    eigenImage<float> m_wfsavg;
    eigenImage<float> m_wfsmask;
    float             m_counts{ 0 };
    float             m_emg{ 1 };
    int               m_npix{ 0 };
 
    int m_sinceChange{ -1 };
 
    std::string m_olPSDShmimName;
    std::string m_noisePSDShmimName;
    std::string m_clXferCurrentShmimName;
    std::string m_clXferSIShmimName;
    std::string m_clXferLPShmimName;
 
    std::string m_optGainShmimName;
    std::string m_optGainSIShmimName;
    std::string m_maxGainSIShmimName;
 
    std::string m_optGainLPShmimName;
    std::string m_maxGainLPShmimName;
 
    std::string m_modevarShmimName;
 
    IMAGE *m_olPSDStream{ nullptr };         ///< The ImageStreamIO shared memory buffer to publish the open loop PSDs
    IMAGE *m_noisePSDStream{ nullptr };      /**< The ImageStreamIO shared memory buffer to publish the noise
                                                  PSDs (single value per mode)*/
    IMAGE *m_clXferCurrentStream{ nullptr }; ///< The ImageStreamIO shared memory buffer to publish the SI ETF
    IMAGE *m_clXferSIStream{ nullptr };      ///< The ImageStreamIO shared memory buffer to publish the SI ETF
    IMAGE *m_clXferLPStream{ nullptr };      ///< The ImageStreamIO shared memory buffer to publish the LP ETF
 
    IMAGE *m_optGainStream{ nullptr }; ///< The ImageStreamIO shared memory buffer to publish the optimal gains
 
    IMAGE *m_optGainSIStream{ nullptr }; ///< The ImageStreamIO shared memory buffer to publish the SI optimal gains
    IMAGE *m_maxGainSIStream{ nullptr }; ///< The ImageStreamIO shared memory buffer to publish the SI max gains
 
    IMAGE *m_optGainLPStream{ nullptr }; ///< The ImageStreamIO shared memory buffer to publish the LP optimal gains
    IMAGE *m_maxGainLPStream{ nullptr }; ///< The ImageStreamIO shared memory buffer to publish the LP max gains
 
    IMAGE *m_modevarStream{ nullptr }; ///< The ImageStreamIO shared memory buffer to publish the LP optimal gains
 
  public:
    /// Default c'tor.
    modalGainOpt();
 
    /// D'tor, declared and defined for noexcept.
    ~modalGainOpt() noexcept
    {
    }
 
    virtual void setupConfig();
 
    /// Implementation of loadConfig logic, separated for testing.
    /** This is called by loadConfig().
     */
    int loadConfigImpl( mx::app::appConfigurator &_config /**< [in] an application configuration
                                                                    from which to load values*/ );
 
    virtual void loadConfig();
 
    /// Startup function
    /**
     *
     */
    virtual int appStartup();
 
    /// Implementation of the FSM for modalGainOpt.
    /**
     * \returns 0 on no critical error
     * \returns -1 on an error requiring shutdown
     */
    virtual int appLogic();
 
    /// Shutdown the app.
    /**
     *
     */
    virtual int appShutdown();
 
    int allocatePCShmims();
 
    int allocate( const psdShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int processImage( void *curr_src,   ///< [in] pointer to the start of the current frame
                      const psdShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int allocate( const freqShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int processImage( void *curr_src,    ///< [in] pointer to the start of the current frame
                      const freqShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int allocate( const gainFactShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int processImage( void *curr_src,        ///< [in] pointer to the start of the current frame
                      const gainFactShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int allocate( const multFactShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int processImage( void *curr_src,        ///< [in] pointer to the start of the current frame
                      const multFactShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int allocate( const pcGainFactShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int processImage( void *curr_src,          ///< [in] pointer to the start of the current frame
                      const pcGainFactShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int allocate( const pcMultFactShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int processImage( void *curr_src,          ///< [in] pointer to the start of the current frame
                      const pcMultFactShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int allocate( const numpccoeffShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int processImage( void *curr_src,          ///< [in] pointer to the start of the current frame
                      const numpccoeffShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int allocate( const acoeffShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int processImage( void *curr_src,      ///< [in] pointer to the start of the current frame
                      const acoeffShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int allocate( const bcoeffShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int processImage( void *curr_src,      ///< [in] pointer to the start of the current frame
                      const bcoeffShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int allocate( const gainCalShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int processImage( void *curr_src,       ///< [in] pointer to the start of the current frame
                      const gainCalShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int allocate( const gainCalFactShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int processImage( void *curr_src,           ///< [in] pointer to the start of the current frame
                      const gainCalFactShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int allocate( const tauShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int processImage( void *curr_src,   ///< [in] pointer to the start of the current frame
                      const tauShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int allocate( const noiseShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int processImage( void *curr_src,     ///< [in] pointer to the start of the current frame
                      const noiseShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int allocate( const wfsavgShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int processImage( void *curr_src,      ///< [in] pointer to the start of the current frame
                      const wfsavgShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int allocate( const wfsmaskShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    int processImage( void *curr_src,       ///< [in] pointer to the start of the current frame
                      const wfsmaskShmimT & ///< [in] tag to differentiate shmimMonitor parents.
    );
 
    /// Check that all sizes and allocations have occurred
    int checkSizes();
 
  protected:
    /// Mutex for synchronizing updates.
    std::mutex m_goptMutex;
 
    /// Flag used to indicate to the goptThread that it should stop calculations ASAP
    bool m_updating{ false };
 
    /** \name Gain Optimization Thread
     *
     * @{
     */
    int m_goptThreadPrio{ 0 }; ///< Priority of the gain optimization thread.
 
    std::string m_goptThreadCpuset; ///< The cpuset to use for the gain optimization thread.
 
    std::thread m_goptThread; ///< The gain optimization thread.
 
    bool m_goptThreadInit{ true }; ///< Initialization flag for the gain optimization thread.
 
    pid_t m_goptThreadID{ 0 }; ///< gain optimization thread PID.
 
    pcf::IndiProperty m_goptThreadProp; ///< The property to hold the gain optimization thread details.
 
    sem_t m_goptSemaphore; ///< Semaphore used to synchronize the psdShmim thread and the gopt thread.
 
    float noisePSD( int n );
 
    /// Gain Optimization thread starter function
    static void goptThreadStart( modalGainOpt *p /**< [in] pointer to this */ );
 
    /// Gain optimization thread function
    /** Runs until m_shutdown is true.
     */
    void goptThreadExec();
 
    ///@}
 
  public:
    /** \name INDI
     * @{
     */
 
    pcf::IndiProperty m_indiP_autoUpdate;
    pcf::IndiProperty m_indiP_updateOnce;
    pcf::IndiProperty m_indiP_dump;
 
    pcf::IndiProperty m_indiP_opticalGain;
 
    pcf::IndiProperty m_indiP_gainGain;
 
    pcf::IndiProperty m_indiP_emg;
    pcf::IndiProperty m_indiP_psdTime;
    pcf::IndiProperty m_indiP_psdAvgTime;
    pcf::IndiProperty m_indiP_loop;
    pcf::IndiProperty m_indiP_siGain;
    pcf::IndiProperty m_indiP_siMult;
    pcf::IndiProperty m_indiP_pcGain;
    pcf::IndiProperty m_indiP_pcMult;
    pcf::IndiProperty m_indiP_pcOn;
 
    pcf::IndiProperty m_indiP_extrapOL;
 
    pcf::IndiProperty m_indiP_modesOn;
 
    pcf::IndiProperty m_indiP_opticalGainSource;
    pcf::IndiProperty m_indiP_opticalGainUpdate;
 
 
    INDI_NEWCALLBACK_DECL( modalGainOpt, m_indiP_autoUpdate );
    INDI_NEWCALLBACK_DECL( modalGainOpt, m_indiP_updateOnce );
    INDI_NEWCALLBACK_DECL( modalGainOpt, m_indiP_dump );
    INDI_NEWCALLBACK_DECL( modalGainOpt, m_indiP_opticalGain );
    INDI_NEWCALLBACK_DECL( modalGainOpt, m_indiP_gainGain );
    INDI_SETCALLBACK_DECL( modalGainOpt, m_indiP_emg );
    INDI_SETCALLBACK_DECL( modalGainOpt, m_indiP_psdTime );
    INDI_SETCALLBACK_DECL( modalGainOpt, m_indiP_psdAvgTime );
    INDI_SETCALLBACK_DECL( modalGainOpt, m_indiP_loop );
    INDI_SETCALLBACK_DECL( modalGainOpt, m_indiP_siGain );
    INDI_SETCALLBACK_DECL( modalGainOpt, m_indiP_siMult );
    INDI_SETCALLBACK_DECL( modalGainOpt, m_indiP_pcGain );
    INDI_SETCALLBACK_DECL( modalGainOpt, m_indiP_pcMult );
    INDI_SETCALLBACK_DECL( modalGainOpt, m_indiP_pcOn );
    INDI_NEWCALLBACK_DECL( modalGainOpt, m_indiP_extrapOL );
 
    INDI_SETCALLBACK_DECL( modalGainOpt, m_indiP_opticalGainSource );
    INDI_NEWCALLBACK_DECL( modalGainOpt, m_indiP_opticalGainUpdate);
 
 
    ///@}
};
 
modalGainOpt::modalGainOpt() : MagAOXApp( MAGAOX_CURRENT_SHA1, MAGAOX_REPO_MODIFIED )
{
    psdShmimMonitorT::m_getExistingFirst         = true;
    freqShmimMonitorT::m_getExistingFirst        = true;
    gainFactShmimMonitorT::m_getExistingFirst    = true;
    multFactShmimMonitorT::m_getExistingFirst    = true;
    pcGainFactShmimMonitorT::m_getExistingFirst  = true;
    pcMultFactShmimMonitorT::m_getExistingFirst  = true;
    numpccoeffShmimMonitorT::m_getExistingFirst  = true;
    acoeffShmimMonitorT::m_getExistingFirst      = true;
    bcoeffShmimMonitorT::m_getExistingFirst      = true;
    gainCalShmimMonitorT::m_getExistingFirst     = true;
    gainCalFactShmimMonitorT::m_getExistingFirst = true;
    tauShmimMonitorT::m_getExistingFirst         = true;
    noiseShmimMonitorT::m_getExistingFirst       = true;
    wfsavgShmimMonitorT::m_getExistingFirst      = true;
    wfsmaskShmimMonitorT::m_getExistingFirst     = true;
 
    return;
}
 
void modalGainOpt::setupConfig()
{
    config.add( "loop.number",
                "",
                "loop.number",
                argType::Required,
                "loop",
                "number",
                false,
                "int",
                "The number of the loop. Used to set shmim names, as in aolN_mgainfact." );
 
    config.add( "loop.name",
                "",
                "loop.name",
                argType::Required,
                "loop",
                "name",
                false,
                "string",
                "The name of the loop control INDI device name." );
 
    config.add( "loop.psdDev",
                "",
                "loop.psdDev",
                argType::Required,
                "loop",
                "psdDev",
                false,
                "string",
                "The INDI device name of the PSD calculator.  Defaults to aolN_modevalPSDs where N is loop.number." );
 
    config.add( "loop.autoUpdate",
                "",
                "loop.autoUpdate",
                argType::Required,
                "loop",
                "autoUpdate",
                false,
                "bool",
                "Flag controlling whether the gains are auto updated.  Also settable via INDI." );
 
    config.add( "loop.gainGain",
                "",
                "loop.gainGain",
                argType::Required,
                "loop",
                "gainGain",
                false,
                "float",
                "The gain to use for closed-loop gain updates.  Default is 0.1" );
 
    SHMIMMONITORT_SETUP_CONFIG( psdShmimMonitorT, config );
    SHMIMMONITORT_SETUP_CONFIG( freqShmimMonitorT, config );
    SHMIMMONITORT_SETUP_CONFIG( gainFactShmimMonitorT, config );
    SHMIMMONITORT_SETUP_CONFIG( multFactShmimMonitorT, config );
    SHMIMMONITORT_SETUP_CONFIG( pcGainFactShmimMonitorT, config );
    SHMIMMONITORT_SETUP_CONFIG( pcMultFactShmimMonitorT, config );
    SHMIMMONITORT_SETUP_CONFIG( numpccoeffShmimMonitorT, config );
    SHMIMMONITORT_SETUP_CONFIG( acoeffShmimMonitorT, config );
    SHMIMMONITORT_SETUP_CONFIG( bcoeffShmimMonitorT, config );
    SHMIMMONITORT_SETUP_CONFIG( gainCalShmimMonitorT, config );
    SHMIMMONITORT_SETUP_CONFIG( gainCalFactShmimMonitorT, config );
    SHMIMMONITORT_SETUP_CONFIG( tauShmimMonitorT, config );
    SHMIMMONITORT_SETUP_CONFIG( noiseShmimMonitorT, config );
    SHMIMMONITORT_SETUP_CONFIG( wfsavgShmimMonitorT, config );
    SHMIMMONITORT_SETUP_CONFIG( wfsmaskShmimMonitorT, config );
}
 
int modalGainOpt::loadConfigImpl( mx::app::appConfigurator &_config )
{
    _config( m_loopNum, "loop.number" );
    _config( m_loopName, "loop.name" );
    _config( m_autoUpdate, "loop.autoUpdate" );
    _config( m_autoUpdate, "loop.gainGain" );
 
    char shmim[1024];
 
    _config( m_psdDevice, "loop.psdDev" );
 
    snprintf( shmim, sizeof( shmim ), "aol%d_clpsds", m_loopNum );
    psdShmimMonitorT::m_shmimName = shmim;
    SHMIMMONITORT_LOAD_CONFIG( psdShmimMonitorT, _config );
 
    snprintf( shmim, sizeof( shmim ), "aol%d_freq", m_loopNum );
    freqShmimMonitorT::m_shmimName = shmim;
    SHMIMMONITORT_LOAD_CONFIG( freqShmimMonitorT, _config );
 
    snprintf( shmim, sizeof( shmim ), "aol%d_mgainfact", m_loopNum );
    gainFactShmimMonitorT::m_shmimName = shmim;
    SHMIMMONITORT_LOAD_CONFIG( gainFactShmimMonitorT, _config );
 
    snprintf( shmim, sizeof( shmim ), "aol%d_mmultfact", m_loopNum );
    multFactShmimMonitorT::m_shmimName = shmim;
    SHMIMMONITORT_LOAD_CONFIG( multFactShmimMonitorT, _config );
 
    snprintf( shmim, sizeof( shmim ), "aol%d_mpcgainfact", m_loopNum );
    pcGainFactShmimMonitorT::m_shmimName = shmim;
    SHMIMMONITORT_LOAD_CONFIG( pcGainFactShmimMonitorT, _config );
 
    snprintf( shmim, sizeof( shmim ), "aol%d_mpcmultfact", m_loopNum );
    pcMultFactShmimMonitorT::m_shmimName = shmim;
    SHMIMMONITORT_LOAD_CONFIG( pcMultFactShmimMonitorT, _config );
 
    snprintf( shmim, sizeof( shmim ), "aol%d_numpccoeff", m_loopNum );
    numpccoeffShmimMonitorT::m_shmimName = shmim;
    SHMIMMONITORT_LOAD_CONFIG( numpccoeffShmimMonitorT, _config );
 
    snprintf( shmim, sizeof( shmim ), "aol%d_acoeff", m_loopNum );
    acoeffShmimMonitorT::m_shmimName = shmim;
    SHMIMMONITORT_LOAD_CONFIG( acoeffShmimMonitorT, _config );
 
    snprintf( shmim, sizeof( shmim ), "aol%d_bcoeff", m_loopNum );
    bcoeffShmimMonitorT::m_shmimName = shmim;
    SHMIMMONITORT_LOAD_CONFIG( bcoeffShmimMonitorT, _config );
 
    snprintf( shmim, sizeof( shmim ), "aol%d_mgaincal", m_loopNum );
    gainCalShmimMonitorT::m_shmimName = shmim;
    SHMIMMONITORT_LOAD_CONFIG( gainCalShmimMonitorT, _config );
 
    snprintf( shmim, sizeof( shmim ), "aol%d_mgaincalfact", m_loopNum );
    gainCalFactShmimMonitorT::m_shmimName = shmim;
    SHMIMMONITORT_LOAD_CONFIG( gainCalFactShmimMonitorT, _config );
 
    snprintf( shmim, sizeof( shmim ), "aol%d_looptau", m_loopNum );
    tauShmimMonitorT::m_shmimName = shmim;
    SHMIMMONITORT_LOAD_CONFIG( tauShmimMonitorT, _config );
 
    snprintf( shmim, sizeof( shmim ), "aol%d_mnoiseparam", m_loopNum );
    noiseShmimMonitorT::m_shmimName = shmim;
    SHMIMMONITORT_LOAD_CONFIG( noiseShmimMonitorT, _config );
 
    snprintf( shmim, sizeof( shmim ), "aol%d_wfsavg", m_loopNum );
    wfsavgShmimMonitorT::m_shmimName = shmim;
    SHMIMMONITORT_LOAD_CONFIG( wfsavgShmimMonitorT, _config );
 
    snprintf( shmim, sizeof( shmim ), "aol%d_wfsmask", m_loopNum );
    wfsmaskShmimMonitorT::m_shmimName = shmim;
    SHMIMMONITORT_LOAD_CONFIG( wfsmaskShmimMonitorT, _config );
 
    snprintf( shmim, sizeof( shmim ), "aol%d_olpsds", m_loopNum );
    m_olPSDShmimName = shmim;
 
    snprintf( shmim, sizeof( shmim ), "aol%d_noisepsds", m_loopNum );
    m_noisePSDShmimName = shmim;
 
    snprintf( shmim, sizeof( shmim ), "aol%d_clxferCurrent", m_loopNum );
    m_clXferCurrentShmimName = shmim;
 
    snprintf( shmim, sizeof( shmim ), "aol%d_clxferSI", m_loopNum );
    m_clXferSIShmimName = shmim;
 
    snprintf( shmim, sizeof( shmim ), "aol%d_clxferLP", m_loopNum );
    m_clXferLPShmimName = shmim;
 
    snprintf( shmim, sizeof( shmim ), "aol%d_mgainoptimal", m_loopNum );
    m_optGainShmimName = shmim;
 
    snprintf( shmim, sizeof( shmim ), "aol%d_mgainoptimalSI", m_loopNum );
    m_optGainSIShmimName = shmim;
 
    snprintf( shmim, sizeof( shmim ), "aol%d_mgainmaxSI", m_loopNum );
    m_maxGainSIShmimName = shmim;
 
    snprintf( shmim, sizeof( shmim ), "aol%d_mgainoptimalLP", m_loopNum );
    m_optGainLPShmimName = shmim;
 
    snprintf( shmim, sizeof( shmim ), "aol%d_mgainmaxLP", m_loopNum );
    m_maxGainLPShmimName = shmim;
 
    snprintf( shmim, sizeof( shmim ), "aol%d_mmodevar", m_loopNum );
    m_modevarShmimName = shmim;
 
    return 0;
}
 
void modalGainOpt::loadConfig()
{
    loadConfigImpl( config );
}
 
int modalGainOpt::appStartup()
{
    SHMIMMONITORT_APP_STARTUP( psdShmimMonitorT );
    SHMIMMONITORT_APP_STARTUP( freqShmimMonitorT );
    SHMIMMONITORT_APP_STARTUP( gainFactShmimMonitorT );
    SHMIMMONITORT_APP_STARTUP( multFactShmimMonitorT );
    SHMIMMONITORT_APP_STARTUP( pcGainFactShmimMonitorT );
    SHMIMMONITORT_APP_STARTUP( pcMultFactShmimMonitorT );
    SHMIMMONITORT_APP_STARTUP( numpccoeffShmimMonitorT );
    SHMIMMONITORT_APP_STARTUP( acoeffShmimMonitorT );
    SHMIMMONITORT_APP_STARTUP( bcoeffShmimMonitorT );
    SHMIMMONITORT_APP_STARTUP( gainCalShmimMonitorT );
    SHMIMMONITORT_APP_STARTUP( gainCalFactShmimMonitorT );
    SHMIMMONITORT_APP_STARTUP( tauShmimMonitorT );
    SHMIMMONITORT_APP_STARTUP( noiseShmimMonitorT );
    SHMIMMONITORT_APP_STARTUP( wfsavgShmimMonitorT );
    SHMIMMONITORT_APP_STARTUP( wfsmaskShmimMonitorT );
 
    CREATE_REG_INDI_NEW_TOGGLESWITCH( m_indiP_autoUpdate, "update_auto" );
    CREATE_REG_INDI_NEW_REQUESTSWITCH( m_indiP_updateOnce, "update_once" );
    CREATE_REG_INDI_NEW_REQUESTSWITCH( m_indiP_dump, "update_dump" );
 
    CREATE_REG_INDI_NEW_NUMBERF(
        m_indiP_opticalGain, "opticalGain", 0, 1, 0.01, "%0.01f", "Optical Gain", "Gain Opt." );
    CREATE_REG_INDI_NEW_NUMBERF( m_indiP_gainGain, "gainGain", 0, 1, 0.01, "%0.01f", "Gain Gain", "Gain Opt." );
 
    REG_INDI_SETPROP( m_indiP_emg, m_wfsDevice, "emgain" );
    REG_INDI_SETPROP( m_indiP_psdTime, m_psdDevice, "psdTime" );
    REG_INDI_SETPROP( m_indiP_psdAvgTime, m_psdDevice, "psdAvgTime" );
    REG_INDI_SETPROP( m_indiP_loop, m_loopName, "loop_state" );
    REG_INDI_SETPROP( m_indiP_siGain, m_loopName, "loop_gain" );
    REG_INDI_SETPROP( m_indiP_siMult, m_loopName, "loop_multcoeff" );
    REG_INDI_SETPROP( m_indiP_pcGain, m_loopName, "loop_pcgain" );
    REG_INDI_SETPROP( m_indiP_pcMult, m_loopName, "loop_pcmultcoeff" );
    REG_INDI_SETPROP( m_indiP_pcOn, m_loopName, "loop_pcOn" );
 
    CREATE_REG_INDI_NEW_TOGGLESWITCH( m_indiP_extrapOL, "extrapOL" );
 
    CREATE_REG_INDI_RO_NUMBER(m_indiP_modesOn, "num_modes", "number of modes", "Gain Opt.");
    indi::addNumberElement(m_indiP_modesOn, "current", 0, 2400, 1, "%d", "Applied Modes");
    indi::addNumberElement(m_indiP_modesOn, "integrator", 0, 2400, 1, "%d", "SI optimal");
    indi::addNumberElement(m_indiP_modesOn, "predictor", 0, 2400, 1, "%d", "LP optimal");
 
    REG_INDI_SETPROP( m_indiP_opticalGainSource, m_opticalGainDevice, m_opticalGainProperty );
 
    CREATE_REG_INDI_NEW_TOGGLESWITCH(m_indiP_opticalGainUpdate, "track_optical_gain");
 
    if( sem_init( &m_goptSemaphore, 0, 0 ) < 0 )
    {
        return log<software_critical, -1>( { __FILE__, __LINE__, errno, 0, "Initializing gopt semaphore" } );
    }
 
    XWCAPP_THREAD_START( m_goptThread,
                         m_goptThreadInit,
                         m_goptThreadID,
                         m_goptThreadProp,
                         m_goptThreadPrio,
                         m_goptThreadCpuset,
                         "gainopt",
                         goptThreadStart );
 
    state( stateCodes::OPERATING );
    return 0;
}
 
int modalGainOpt::appLogic()
{
    SHMIMMONITORT_APP_LOGIC( psdShmimMonitorT );
    SHMIMMONITORT_APP_LOGIC( freqShmimMonitorT );
    SHMIMMONITORT_APP_LOGIC( gainFactShmimMonitorT );
    SHMIMMONITORT_APP_LOGIC( multFactShmimMonitorT );
    SHMIMMONITORT_APP_LOGIC( pcGainFactShmimMonitorT );
    SHMIMMONITORT_APP_LOGIC( pcMultFactShmimMonitorT );
    SHMIMMONITORT_APP_LOGIC( numpccoeffShmimMonitorT );
    SHMIMMONITORT_APP_LOGIC( acoeffShmimMonitorT );
    SHMIMMONITORT_APP_LOGIC( bcoeffShmimMonitorT );
    SHMIMMONITORT_APP_LOGIC( gainCalShmimMonitorT );
    SHMIMMONITORT_APP_LOGIC( gainCalFactShmimMonitorT );
    SHMIMMONITORT_APP_LOGIC( tauShmimMonitorT );
    SHMIMMONITORT_APP_LOGIC( noiseShmimMonitorT );
    SHMIMMONITORT_APP_LOGIC( wfsavgShmimMonitorT );
    SHMIMMONITORT_APP_LOGIC( wfsmaskShmimMonitorT );
 
    XWCAPP_THREAD_CHECK( m_goptThread, "gainopt" );
 
    SHMIMMONITORT_UPDATE_INDI( psdShmimMonitorT );
    SHMIMMONITORT_UPDATE_INDI( freqShmimMonitorT );
    SHMIMMONITORT_UPDATE_INDI( gainFactShmimMonitorT );
    SHMIMMONITORT_UPDATE_INDI( multFactShmimMonitorT );
    SHMIMMONITORT_UPDATE_INDI( pcGainFactShmimMonitorT );
    SHMIMMONITORT_UPDATE_INDI( pcMultFactShmimMonitorT );
    SHMIMMONITORT_UPDATE_INDI( numpccoeffShmimMonitorT );
    SHMIMMONITORT_UPDATE_INDI( acoeffShmimMonitorT );
    SHMIMMONITORT_UPDATE_INDI( bcoeffShmimMonitorT );
    SHMIMMONITORT_UPDATE_INDI( gainCalShmimMonitorT );
    SHMIMMONITORT_UPDATE_INDI( gainCalFactShmimMonitorT );
    SHMIMMONITORT_UPDATE_INDI( tauShmimMonitorT );
    SHMIMMONITORT_UPDATE_INDI( noiseShmimMonitorT );
    SHMIMMONITORT_UPDATE_INDI( wfsavgShmimMonitorT );
    SHMIMMONITORT_UPDATE_INDI( wfsmaskShmimMonitorT );
 
    if( m_autoUpdate )
    {
        updateSwitchIfChanged( m_indiP_autoUpdate, "toggle", pcf::IndiElement::On, INDI_OK );
    }
    else
    {
        updateSwitchIfChanged( m_indiP_autoUpdate, "toggle", pcf::IndiElement::Off, INDI_IDLE );
    }
 
    if( m_updateOnce )
    {
        updateSwitchIfChanged( m_indiP_updateOnce, "request", pcf::IndiElement::On, INDI_OK );
    }
    else
    {
        updateSwitchIfChanged( m_indiP_updateOnce, "request", pcf::IndiElement::Off, INDI_IDLE );
    }
 
    if( m_dump )
    {
        updateSwitchIfChanged( m_indiP_dump, "request", pcf::IndiElement::On, INDI_OK );
    }
    else
    {
        updateSwitchIfChanged( m_indiP_dump, "request", pcf::IndiElement::Off, INDI_IDLE );
    }
 
    if( m_opticalGainUpdate )
    {
        updateSwitchIfChanged( m_indiP_opticalGainUpdate, "toggle", pcf::IndiElement::On, INDI_OK );
    }
    else
    {
        updateSwitchIfChanged( m_indiP_opticalGainUpdate, "toggle", pcf::IndiElement::Off, INDI_IDLE );
    }
 
    updatesIfChanged<float>( m_indiP_opticalGain, { "current", "target" }, { m_opticalGain, m_opticalGain } );
 
    updatesIfChanged<float>( m_indiP_gainGain, { "current", "target" }, { m_gainGain, m_gainGain } );
 
    if(m_extrapOL == 0)
    {
        updateSwitchIfChanged(m_indiP_extrapOL, "toggle", pcf::IndiElement::Off);
    }
    else
    {
        updateSwitchIfChanged(m_indiP_extrapOL, "toggle", pcf::IndiElement::On);
    }
 
    updatesIfChanged<int>(m_indiP_modesOn, {"current","integrator","predictor"}, {m_modesOn, m_modesOnSI, m_modesOnLP});
 
 
    return 0;
}
 
int modalGainOpt::appShutdown()
{
    XWCAPP_THREAD_STOP( m_goptThread );
 
    SHMIMMONITORT_APP_SHUTDOWN( psdShmimMonitorT );
    SHMIMMONITORT_APP_SHUTDOWN( freqShmimMonitorT );
    SHMIMMONITORT_APP_SHUTDOWN( gainFactShmimMonitorT );
    SHMIMMONITORT_APP_SHUTDOWN( multFactShmimMonitorT );
    SHMIMMONITORT_APP_SHUTDOWN( pcGainFactShmimMonitorT );
    SHMIMMONITORT_APP_SHUTDOWN( pcMultFactShmimMonitorT );
    SHMIMMONITORT_APP_SHUTDOWN( numpccoeffShmimMonitorT );
    SHMIMMONITORT_APP_SHUTDOWN( acoeffShmimMonitorT );
    SHMIMMONITORT_APP_SHUTDOWN( bcoeffShmimMonitorT );
    SHMIMMONITORT_APP_SHUTDOWN( gainCalShmimMonitorT );
    SHMIMMONITORT_APP_SHUTDOWN( gainCalFactShmimMonitorT );
    SHMIMMONITORT_APP_SHUTDOWN( tauShmimMonitorT );
    SHMIMMONITORT_APP_SHUTDOWN( noiseShmimMonitorT );
    SHMIMMONITORT_APP_SHUTDOWN( wfsavgShmimMonitorT );
    SHMIMMONITORT_APP_SHUTDOWN( wfsmaskShmimMonitorT );
 
    if( m_olPSDStream != nullptr )
    {
        ImageStreamIO_destroyIm( m_olPSDStream );
        free( m_olPSDStream );
        m_olPSDStream = nullptr;
 
        ImageStreamIO_destroyIm( m_noisePSDStream );
        free( m_noisePSDStream );
        m_noisePSDStream = nullptr;
 
        ImageStreamIO_destroyIm( m_clXferCurrentStream );
        free( m_clXferCurrentStream );
        m_clXferCurrentStream = nullptr;
 
        ImageStreamIO_destroyIm( m_clXferSIStream );
        free( m_clXferSIStream );
        m_clXferSIStream = nullptr;
 
        ImageStreamIO_destroyIm( m_clXferLPStream );
        free( m_clXferLPStream );
        m_clXferLPStream = nullptr;
    }
 
    if( m_optGainStream != nullptr )
    {
        ImageStreamIO_destroyIm( m_optGainStream );
        free( m_optGainStream );
        m_optGainStream = nullptr;
 
        ImageStreamIO_destroyIm( m_optGainSIStream );
        free( m_optGainSIStream );
        m_optGainSIStream = nullptr;
 
        ImageStreamIO_destroyIm( m_maxGainSIStream );
        free( m_maxGainSIStream );
        m_maxGainSIStream = nullptr;
 
        ImageStreamIO_destroyIm( m_optGainLPStream );
        free( m_optGainLPStream );
        m_optGainLPStream = nullptr;
 
        ImageStreamIO_destroyIm( m_maxGainLPStream );
        free( m_maxGainLPStream );
        m_maxGainLPStream = nullptr;
 
        ImageStreamIO_destroyIm( m_modevarStream );
        free( m_modevarStream );
        m_modevarStream = nullptr;
    }
 
    return 0;
}
 
int modalGainOpt::allocatePCShmims()
{
    // mutex should be locked before calling this
 
    if( numpccoeffShmimMonitorT::m_smState != dev::shmimMonitorState::connected ||
        numpccoeffShmimMonitorT::m_width != m_nModes || numpccoeffShmimMonitorT::m_height != 2 )
    {
        mx::improc::eigenImage<uint32_t> Npc( m_nModes, 2 );
        Npc.setConstant( m_defaultNCoeff );
 
        if( numpccoeffShmimMonitorT::create( m_nModes, 2, 1, _DATATYPE_UINT32, Npc.data() ) != 0 )
        {
            return log<software_error, -1>( { __FILE__, __LINE__, "error creating numpccoeffShmim" } );
        }
 
        MGO_BREADCRUMB;
 
        std::cerr << "created numppccoeff shmim\n";
    }
 
    if( acoeffShmimMonitorT::m_smState != dev::shmimMonitorState::connected ||
        acoeffShmimMonitorT::m_width != m_maxNCoeff + 1 || acoeffShmimMonitorT::m_height != m_nModes )
    {
        if( acoeffShmimMonitorT::create( m_maxNCoeff + 1, m_nModes, 1, _DATATYPE_FLOAT ) != 0 )
        {
            return log<software_error, -1>( { __FILE__, __LINE__, "error creating acoeffShmim" } );
        }
 
        std::cerr << "created acoeff shmim\n";
    }
 
    if( bcoeffShmimMonitorT::m_smState != dev::shmimMonitorState::connected ||
        bcoeffShmimMonitorT::m_width != m_maxNCoeff || bcoeffShmimMonitorT::m_height != m_nModes )
    {
        if( bcoeffShmimMonitorT::create( m_maxNCoeff + 1, m_nModes, 1, _DATATYPE_FLOAT ) != 0 )
        {
            return log<software_error, -1>( { __FILE__, __LINE__, "error creating bcoeffShmim" } );
        }
 
        std::cerr << "created bcoeff shmim\n";
    }
 
    if( pcGainFactShmimMonitorT::m_smState != dev::shmimMonitorState::connected ||
        pcGainFactShmimMonitorT::m_width != m_nModes || pcGainFactShmimMonitorT::m_height != 1 )
    {
        if( pcGainFactShmimMonitorT::create( m_nModes, 1, 1, _DATATYPE_FLOAT ) != 0 )
        {
            return log<software_error, -1>( { __FILE__, __LINE__, "error creating pcGainFactShmim" } );
        }
 
        std::cerr << "created pcGainFact shmim\n";
    }
 
    if( pcMultFactShmimMonitorT::m_smState != dev::shmimMonitorState::connected ||
        pcMultFactShmimMonitorT::m_width != m_nModes || pcMultFactShmimMonitorT::m_height != 1 )
    {
        if( pcMultFactShmimMonitorT::create( m_nModes, 1, 1, _DATATYPE_FLOAT ) != 0 )
        {
            return log<software_error, -1>( { __FILE__, __LINE__, "error creating pcMultFactShmim" } );
        }
 
        std::cerr << "created pcMultFact shmim\n";
    }
 
    return 0;
}
 
int modalGainOpt::allocate( const psdShmimT &dummy )
{
    static_cast<void>( dummy );
 
    m_updating = true;
    std::lock_guard<std::mutex> lock( m_goptMutex );
 
    m_updating = true;
 
    m_nFreq  = psdShmimMonitorT::m_width;
    m_nModes = psdShmimMonitorT::m_height;
 
    m_clPSDs.resize( m_nFreq, m_nModes );
 
    m_clXferCurrent.resize( m_nFreq, m_nModes );
    m_clXferSI.resize( m_nFreq, m_nModes );
    m_clXferLP.resize( m_nFreq, m_nModes );
 
    m_olPSDs.resize( m_nModes );
    m_nPSDs.resize( m_nModes );
 
    for( size_t n = 0; n < m_olPSDs.size(); ++n )
    {
        m_olPSDs[n].resize( m_nFreq );
        m_nPSDs[n].resize( m_nFreq );
    }
 
    m_modeVarOL.resize( m_nModes );
 
    m_optGainSI.resize( m_nModes );
    m_gmaxSI.resize( m_nModes );
    m_modeVarSI.resize( m_nModes );
    m_timesOnSI.resize( m_nModes, 5 );
    
 
    m_optGainLP.resize( m_nModes );
    m_modeVarLP.resize( m_nModes );
    m_timesOnLP.resize( m_nModes, 5 );
    
    if( m_olPSDStream != nullptr &&
        ( m_olPSDStream->md->size[0] != m_nFreq || m_olPSDStream->md->size[1] != m_nModes ) )
    {
        ImageStreamIO_destroyIm( m_olPSDStream );
        free( m_olPSDStream );
        m_olPSDStream = nullptr;
 
        ImageStreamIO_destroyIm( m_noisePSDStream );
        free( m_noisePSDStream );
        m_noisePSDStream = nullptr;
 
        ImageStreamIO_destroyIm( m_clXferCurrentStream );
        free( m_clXferCurrentStream );
        m_clXferCurrentStream = nullptr;
 
        ImageStreamIO_destroyIm( m_clXferSIStream );
        free( m_clXferSIStream );
        m_clXferSIStream = nullptr;
 
        ImageStreamIO_destroyIm( m_clXferLPStream );
        free( m_clXferLPStream );
        m_clXferLPStream = nullptr;
    }
 
    if( m_olPSDStream == nullptr )
    {
        m_olPSDStream = static_cast<IMAGE *>( malloc( sizeof( IMAGE ) ) );
        uint32_t imsize[3];
 
        imsize[0] = m_nFreq;
        imsize[1] = m_nModes;
        imsize[2] = 1;
        ImageStreamIO_createIm_gpu( m_olPSDStream,
                                    m_olPSDShmimName.c_str(),
                                    3,
                                    imsize,
                                    psdShmimMonitorT::m_dataType,
                                    -1,
                                    1,
                                    IMAGE_NB_SEMAPHORE,
                                    0,
                                    CIRCULAR_BUFFER | ZAXIS_TEMPORAL,
                                    0 );
 
        m_olPSDStream->md->cnt0 = 0;
        m_olPSDStream->md->cnt1 = 0;
 
        m_noisePSDStream = static_cast<IMAGE *>( malloc( sizeof( IMAGE ) ) );
 
        ImageStreamIO_createIm_gpu( m_noisePSDStream,
                                    m_noisePSDShmimName.c_str(),
                                    3,
                                    imsize,
                                    psdShmimMonitorT::m_dataType,
                                    -1,
                                    1,
                                    IMAGE_NB_SEMAPHORE,
                                    0,
                                    CIRCULAR_BUFFER | ZAXIS_TEMPORAL,
                                    0 );
 
        m_noisePSDStream->md->cnt0 = 0;
        m_noisePSDStream->md->cnt1 = 0;
 
        m_clXferCurrentStream = static_cast<IMAGE *>( malloc( sizeof( IMAGE ) ) );
 
        ImageStreamIO_createIm_gpu( m_clXferCurrentStream,
                                    m_clXferCurrentShmimName.c_str(),
                                    3,
                                    imsize,
                                    psdShmimMonitorT::m_dataType,
                                    -1,
                                    1,
                                    IMAGE_NB_SEMAPHORE,
                                    0,
                                    CIRCULAR_BUFFER | ZAXIS_TEMPORAL,
                                    0 );
 
        m_clXferCurrentStream->md->cnt0 = 0;
        m_clXferCurrentStream->md->cnt1 = 0;
 
        m_clXferSIStream = static_cast<IMAGE *>( malloc( sizeof( IMAGE ) ) );
 
        ImageStreamIO_createIm_gpu( m_clXferSIStream,
                                    m_clXferSIShmimName.c_str(),
                                    3,
                                    imsize,
                                    psdShmimMonitorT::m_dataType,
                                    -1,
                                    1,
                                    IMAGE_NB_SEMAPHORE,
                                    0,
                                    CIRCULAR_BUFFER | ZAXIS_TEMPORAL,
                                    0 );
 
        m_clXferSIStream->md->cnt0 = 0;
        m_clXferSIStream->md->cnt1 = 0;
 
        m_clXferLPStream = static_cast<IMAGE *>( malloc( sizeof( IMAGE ) ) );
 
        ImageStreamIO_createIm_gpu( m_clXferLPStream,
                                    m_clXferLPShmimName.c_str(),
                                    3,
                                    imsize,
                                    psdShmimMonitorT::m_dataType,
                                    -1,
                                    1,
                                    IMAGE_NB_SEMAPHORE,
                                    0,
                                    CIRCULAR_BUFFER | ZAXIS_TEMPORAL,
                                    0 );
 
        m_clXferLPStream->md->cnt0 = 0;
        m_clXferLPStream->md->cnt1 = 0;
    }
 
    if( m_optGainStream != nullptr &&
        ( m_optGainStream->md->size[0] != psdShmimMonitorT::m_height || m_optGainStream->md->size[1] != 1 ) )
    {
        ImageStreamIO_destroyIm( m_optGainStream );
        free( m_optGainStream );
        m_optGainStream = nullptr;
 
        ImageStreamIO_destroyIm( m_optGainSIStream );
        free( m_optGainSIStream );
        m_optGainSIStream = nullptr;
 
        ImageStreamIO_destroyIm( m_maxGainSIStream );
        free( m_maxGainSIStream );
        m_maxGainSIStream = nullptr;
 
        ImageStreamIO_destroyIm( m_optGainLPStream );
        free( m_optGainLPStream );
        m_optGainLPStream = nullptr;
 
        ImageStreamIO_destroyIm( m_maxGainLPStream );
        free( m_maxGainLPStream );
        m_maxGainLPStream = nullptr;
    }
 
    if( m_optGainStream == nullptr )
    {
        m_optGainStream = static_cast<IMAGE *>( malloc( sizeof( IMAGE ) ) );
        uint32_t imsize[3];
 
        imsize[0] = m_nModes;
        imsize[1] = 1;
        imsize[2] = 1;
        ImageStreamIO_createIm_gpu( m_optGainStream,
                                    m_optGainShmimName.c_str(),
                                    3,
                                    imsize,
                                    psdShmimMonitorT::m_dataType,
                                    -1,
                                    1,
                                    IMAGE_NB_SEMAPHORE,
                                    0,
                                    CIRCULAR_BUFFER | ZAXIS_TEMPORAL,
                                    0 );
 
        m_optGainStream->md->cnt0 = 0;
        m_optGainStream->md->cnt1 = 0;
 
        m_optGainSIStream = static_cast<IMAGE *>( malloc( sizeof( IMAGE ) ) );
 
        ImageStreamIO_createIm_gpu( m_optGainSIStream,
                                    m_optGainSIShmimName.c_str(),
                                    3,
                                    imsize,
                                    psdShmimMonitorT::m_dataType,
                                    -1,
                                    1,
                                    IMAGE_NB_SEMAPHORE,
                                    0,
                                    CIRCULAR_BUFFER | ZAXIS_TEMPORAL,
                                    0 );
 
        m_optGainSIStream->md->cnt0 = 0;
        m_optGainSIStream->md->cnt1 = 0;
 
        m_maxGainSIStream = static_cast<IMAGE *>( malloc( sizeof( IMAGE ) ) );
 
        ImageStreamIO_createIm_gpu( m_maxGainSIStream,
                                    m_maxGainSIShmimName.c_str(),
                                    3,
                                    imsize,
                                    psdShmimMonitorT::m_dataType,
                                    -1,
                                    1,
                                    IMAGE_NB_SEMAPHORE,
                                    0,
                                    CIRCULAR_BUFFER | ZAXIS_TEMPORAL,
                                    0 );
 
        m_maxGainSIStream->md->cnt0 = 0;
        m_maxGainSIStream->md->cnt1 = 0;
 
        m_optGainLPStream = static_cast<IMAGE *>( malloc( sizeof( IMAGE ) ) );
 
        ImageStreamIO_createIm_gpu( m_optGainLPStream,
                                    m_optGainLPShmimName.c_str(),
                                    3,
                                    imsize,
                                    psdShmimMonitorT::m_dataType,
                                    -1,
                                    1,
                                    IMAGE_NB_SEMAPHORE,
                                    0,
                                    CIRCULAR_BUFFER | ZAXIS_TEMPORAL,
                                    0 );
 
        m_optGainLPStream->md->cnt0 = 0;
        m_optGainLPStream->md->cnt1 = 0;
 
        m_maxGainLPStream = static_cast<IMAGE *>( malloc( sizeof( IMAGE ) ) );
 
        ImageStreamIO_createIm_gpu( m_maxGainLPStream,
                                    m_maxGainLPShmimName.c_str(),
                                    3,
                                    imsize,
                                    psdShmimMonitorT::m_dataType,
                                    -1,
                                    1,
                                    IMAGE_NB_SEMAPHORE,
                                    0,
                                    CIRCULAR_BUFFER | ZAXIS_TEMPORAL,
                                    0 );
 
        m_maxGainLPStream->md->cnt0 = 0;
        m_maxGainLPStream->md->cnt1 = 0;
 
        m_modevarStream = static_cast<IMAGE *>( malloc( sizeof( IMAGE ) ) );
 
        imsize[0] = 3;
        imsize[1] = psdShmimMonitorT::m_height;
        imsize[2] = 1;
 
        ImageStreamIO_createIm_gpu( m_modevarStream,
                                    m_modevarShmimName.c_str(),
                                    3,
                                    imsize,
                                    psdShmimMonitorT::m_dataType,
                                    -1,
                                    1,
                                    IMAGE_NB_SEMAPHORE,
                                    0,
                                    CIRCULAR_BUFFER | ZAXIS_TEMPORAL,
                                    0 );
 
        m_modevarStream->md->cnt0 = 0;
        m_modevarStream->md->cnt1 = 0;
    }
 
    m_sinceChange = -1;
 
    m_updating = false;
    return 0;
}
 
int modalGainOpt::processImage( void *curr_src, const psdShmimT &dummy )
{
    static_cast<void>( dummy );
 
    ++m_sinceChange;
 
    if( m_psdAvgTime <= 0 || m_psdTime <= 0 ) // Safety check, shouldn't happen but means we need to wait.
    {
        return 0;
    }
 
    int deadTime = ( m_psdAvgTime / m_psdTime ) / m_psdOverlapFraction;
 
    if( m_sinceChange < deadTime )
    {
        return 0;
    }
 
    // Here we would update psds, but don't do that if we're in the middle of calculating
    std::unique_lock<std::mutex> lock( m_goptMutex, std::try_to_lock );
    if( !lock.owns_lock() )
    {
        ///\todo update a frame-missed counter
        return 0;
    }
 
    m_updating = true;
 
    m_clPSDs = Eigen::Map<Eigen::Array<float, -1, -1>>(
        static_cast<float *>( curr_src ), psdShmimMonitorT::m_width, psdShmimMonitorT::m_height );
 
    m_updating = false;
 
    lock.unlock();
 
    if( sem_post( &m_goptSemaphore ) < 0 )
    {
        return log<software_critical, -1>( { __FILE__, __LINE__, errno, 0, "Error posting to semaphore" } );
    }
 
    return 0;
}
 
int modalGainOpt::allocate( const freqShmimT &dummy )
{
    static_cast<void>( dummy );
 
    return 0;
}
 
int modalGainOpt::processImage( void *curr_src, const freqShmimT &dummy )
{
    static_cast<void>( dummy );
 
    if( freqShmimMonitorT::m_width != 1 )
    {
        return log<software_error, -1>( { __FILE__, __LINE__, "got freq with width not 1" } );
    }
 
    bool change = false;
 
    float *f = static_cast<float *>( curr_src );
 
    size_t sz = freqShmimMonitorT::m_height;
 
    if( sz != m_freq.size() )
    {
        change = true;
    }
 
    if( !change ) // f is same size
    {
        for( size_t n = 0; n < sz; ++n )
        {
            if( f[n] != m_freq[n] )
            {
                change = true;
                break;
            }
        }
    }
 
    if( change )
    {
        m_updating = true;
        std::lock_guard<std::mutex> lock( m_goptMutex );
 
        m_updating = true; // Make sure it didn't get set to false by thread that had the lock
 
        m_freq.resize( sz );
 
        for( size_t n = 0; n < sz; ++n )
        {
            m_freq[n] = f[n];
        }
 
        m_fps = 2 * m_freq.back();
 
        m_sinceChange = -1;
        m_goptUpdated = true;
        m_freqUpdated = true;
 
        m_updating = false;
        std::cerr << "got freq: " << sz << '\n';
        std::cerr << "     fps: " << m_fps << '\n';
    }
 
    return 0;
}
 
int modalGainOpt::allocate( const gainFactShmimT &dummy )
{
    static_cast<void>( dummy );
 
    if( gainFactShmimMonitorT::m_height != 1 )
    {
        return log<software_error, -1>( { __FILE__, __LINE__, "got gains with height not 1" } );
    }
 
    return 0;
}
 
int modalGainOpt::processImage( void *curr_src, const gainFactShmimT &dummy )
{
    static_cast<void>( dummy );
 
    bool change = false;
 
    uint32_t w = gainFactShmimMonitorT::m_width;
 
    std::unique_lock<std::mutex> lock( m_goptMutex, std::defer_lock );
 
    if( w != m_gainFacts.size() )
    {
        m_updating = true;
        lock.lock();
        m_updating = true; // Make sure it didn't get set to false by thread that had the lock
 
        change = true;
        m_gainFacts.resize( w );
    }
 
    float *g = static_cast<float *>( curr_src );
 
    for( uint32_t n = 0; n < w; ++n )
    {
        if( change || m_gainFacts[n] != g[n] )
        {
            if( !change )
            {
                m_updating = true;
                lock.lock();
                m_updating = true; // Make sure it didn't get set to false by thread that had the lock
                change     = true;
            }
 
            m_gainFacts[n] = g[n];
        }
    }
 
    if( change )
    {
        if( m_loop )
        {
            m_sinceChange = -1;
        }
 
        if(!m_pcOn)
        {
            int modesOn = 0;
 
            for(size_t n = 0; n < m_gainFacts.size(); ++n)
            {
                if(m_gainFacts[n] > 0)
                {
                    ++modesOn;
                }
            }
 
            m_modesOn = modesOn;
        }
            
 
        m_updating = false;
        std::cerr << "got gains: " << m_gainFacts.size() << "\n";
 
        lock.unlock();
    }
 
    return 0;
}
 
int modalGainOpt::allocate( const multFactShmimT &dummy )
{
    static_cast<void>( dummy );
 
    if( multFactShmimMonitorT::m_height != 1 )
    {
        return log<software_error, -1>( { __FILE__, __LINE__, "got multcoeffs with height not 1" } );
    }
 
    return 0;
}
 
int modalGainOpt::processImage( void *curr_src, const multFactShmimT &dummy )
{
    static_cast<void>( dummy );
 
    bool change = false;
 
    uint32_t w = multFactShmimMonitorT::m_width;
 
    std::unique_lock<std::mutex> lock( m_goptMutex, std::defer_lock );
 
    if( w != m_multFacts.size() )
    {
        m_updating = true;
        lock.lock();
        m_updating = true; // Make sure it didn't get set to false by thread that had the lock
 
        change = true;
        m_multFacts.resize( w );
    }
 
    float *m = static_cast<float *>( curr_src );
 
    for( uint32_t n = 0; n < w; ++n )
    {
        if( change || m_multFacts[n] != m[n] )
        {
            if( !change )
            {
                m_updating = true;
                lock.lock();
                m_updating = true; // Make sure it didn't get set to false by thread that had the lock
 
                change = true;
            }
 
            m_multFacts[n] = m[n];
        }
    }
 
    if( change )
    {
        if( m_loop )
        {
            m_sinceChange = -1;
        }
 
        m_updating    = false;
        m_goptUpdated = true;
 
        std::cerr << "got mcs: " << m_multFacts.size() << " " << w << "\n";
        lock.unlock();
    }
 
    return 0;
}
 
int modalGainOpt::allocate( const pcGainFactShmimT &dummy )
{
    static_cast<void>( dummy );
 
    if( pcGainFactShmimMonitorT::m_height != 1 )
    {
        return log<software_error, -1>( { __FILE__, __LINE__, "got pc gains with height not 1" } );
    }
 
    return 0;
}
 
int modalGainOpt::processImage( void *curr_src, const pcGainFactShmimT &dummy )
{
    static_cast<void>( dummy );
 
    bool change = false;
 
    uint32_t w = pcGainFactShmimMonitorT::m_width;
 
    std::unique_lock<std::mutex> lock( m_goptMutex, std::defer_lock );
 
    if( w != m_pcGainFacts.size() )
    {
        m_updating = true;
        lock.lock();
        m_updating = true; // Make sure it didn't get set to false by thread that had the lock
 
        change = true;
        m_pcGainFacts.resize( w );
    }
 
    float *g = static_cast<float *>( curr_src );
 
    for( uint32_t n = 0; n < w; ++n )
    {
        if( change || m_pcGainFacts[n] != g[n] )
        {
            if( !change )
            {
                m_updating = true;
                lock.lock();
                m_updating = true; // Make sure it didn't get set to false by thread that had the lock
                change     = true;
            }
 
            m_pcGainFacts[n] = g[n];
        }
    }
 
    if( change )
    {
        if( m_loop )
        {
            m_sinceChange = -1;
        }
 
        if(m_pcOn)
        {
            int modesOn = 0;
 
            for(size_t n = 0; n < m_pcGainFacts.size(); ++n)
            {
                if(m_gainFacts[n] > 0)
                {
                    ++modesOn;
                }
            }
 
            m_modesOn = modesOn;
        }
 
        m_updating = false;
        std::cerr << "got pc gains: " << m_pcGainFacts.size() << "\n";
 
        lock.unlock();
    }
 
    return 0;
}
 
int modalGainOpt::allocate( const pcMultFactShmimT &dummy )
{
    static_cast<void>( dummy );
 
    if( pcMultFactShmimMonitorT::m_height != 1 )
    {
        return log<software_error, -1>( { __FILE__, __LINE__, "got pcMultcoeffs with height not 1" } );
    }
 
    return 0;
}
 
int modalGainOpt::processImage( void *curr_src, const pcMultFactShmimT &dummy )
{
    static_cast<void>( dummy );
 
    bool change = false;
 
    uint32_t w = pcMultFactShmimMonitorT::m_width;
 
    std::unique_lock<std::mutex> lock( m_goptMutex, std::defer_lock );
 
    if( w != m_pcMultFacts.size() )
    {
        m_updating = true;
        lock.lock();
        m_updating = true; // Make sure it didn't get set to false by thread that had the lock
 
        change = true;
        m_pcMultFacts.resize( w );
    }
 
    float *m = static_cast<float *>( curr_src );
 
    for( uint32_t n = 0; n < w; ++n )
    {
        if( change || m_pcMultFacts[n] != m[n] )
        {
            if( !change )
            {
                m_updating = true;
                lock.lock();
                m_updating = true; // Make sure it didn't get set to false by thread that had the lock
 
                change = true;
            }
 
            m_pcMultFacts[n] = m[n];
        }
    }
 
    if( change )
    {
        if( m_loop )
        {
            m_sinceChange = -1;
        }
 
        m_updating      = false;
        m_pcgoptUpdated = true;
 
        lock.unlock();
        std::cerr << "got mcs: " << m_multFacts.size() << "\n";
    }
 
    return 0;
}
 
int modalGainOpt::allocate( const numpccoeffShmimT &dummy )
{
    static_cast<void>( dummy );
 
    if( numpccoeffShmimMonitorT::m_height != 2 )
    {
        return log<software_error, -1>( { __FILE__, __LINE__, "got numpccoeff's with height not 2" } );
    }
 
    std::cerr << "numpccoeffShmimMonitorT::allocate\n";
    return 0;
}
 
int modalGainOpt::processImage( void *curr_src, const numpccoeffShmimT &dummy )
{
    static_cast<void>( dummy );
 
    bool change = false;
 
    uint32_t w = numpccoeffShmimMonitorT::m_width;
 
    std::unique_lock<std::mutex> lock( m_goptMutex, std::defer_lock );
 
    if( w != m_Na.size() || w != m_Nb.size() || w != m_regCounter.size() || w != m_regScale.size() )
    {
        m_updating = true;
        lock.lock();
        m_updating = true; // Make sure it didn't get set to false by thread that had the lock
 
        change = true;
        m_Na.resize( w );
        m_Nb.resize( w );
 
        m_regCounter.resize( w );
 
        // Initialize the regCounter
        int nc = 0;
 
        for( size_t n = 0; n < m_regCounter.size(); ++n )
        {
            m_regCounter[n] = nc;
            ++nc;
 
            if( nc >= m_nRegCycles )
            {
                nc = 0;
            }
        }
 
        m_regScale.resize( w, -999 );
        m_gmaxLP.resize( w, 0 );
    }
 
    mx::improc::eigenMap<uint32_t> Npc( reinterpret_cast<uint32_t *>( curr_src ), w, 2 );
 
    for( uint32_t n = 0; n < w; ++n )
    {
        if( change || m_Na[n] != Npc( n, 0 ) || m_Nb[n] != Npc( n, 1 ) )
        {
            if( !change )
            {
                m_updating = true;
                lock.lock();
                m_updating = true; // Make sure it didn't get set to false by thread that had the lock
 
                change = true;
            }
 
            m_Na[n] = Npc( n, 0 );
            m_Nb[n] = Npc( n, 1 );
        }
    }
 
    if( change )
    {
        if( m_loop )
        {
            m_sinceChange = -1;
        }
 
        m_updating    = false;
        m_goptUpdated = true;
 
        lock.unlock();
        std::cerr << "got num pc coeffs: " << m_Na.size() << "\n";
    }
 
    return 0;
}
 
int modalGainOpt::allocate( const acoeffShmimT &dummy )
{
    static_cast<void>( dummy );
 
    return 0;
}
 
int modalGainOpt::processImage( void *curr_src, const acoeffShmimT &dummy )
{
    static_cast<void>( dummy );
 
    bool change = false;
 
    std::unique_lock<std::mutex> lock( m_goptMutex, std::defer_lock );
 
    uint32_t w = acoeffShmimMonitorT::m_width;
    uint32_t h = acoeffShmimMonitorT::m_height;
 
    // If there's a size change we lock
    if( w - 1 != m_as.rows() || h != m_as.cols() || h != m_NaCurrent.size() )
    {
        m_updating = true;
        lock.lock();
        m_updating = true; // Make sure it didn't get set to false by thread that had the lock
 
        change = true;
        m_NaCurrent.resize( h );
        m_as.resize( w - 1, h );
    }
 
    eigenMap<float> ac( reinterpret_cast<float *>( curr_src ), w, h );
 
    for( uint32_t cc = 0; cc < h; ++cc )
    {
        if( change || m_NaCurrent[cc] != ac( 0, cc ) )
        {
            if( !change )
            {
                m_updating = true;
                lock.lock();
                m_updating = true; // Make sure it didn't get set to false by thread that had the lock
 
                change = true;
            }
 
            m_NaCurrent[cc] = ac( 0, cc );
        }
 
        for( uint32_t rr = 1; rr < w; ++rr )
        {
            if( change || m_as( rr - 1, cc ) != ac( rr, cc ) )
            {
                if( !change )
                {
                    m_updating = true;
                    lock.lock();
                    m_updating = true; // Make sure it didn't get set to false by thread that had the lock
 
                    change = true;
                }
 
                m_as( rr - 1, cc ) = ac( rr, cc );
            }
        }
    }
 
    if( change )
    {
        if( m_loop && m_pcOn )
        {
            m_sinceChange = -1;
        }
 
        m_updating      = false;
        m_pcgoptUpdated = true;
 
        lock.unlock();
        std::cerr << "got a coeffs: " << w << ' ' << h << ' ' << m_NaCurrent.size() << "\n";
    }
 
    return 0;
}
 
int modalGainOpt::allocate( const bcoeffShmimT &dummy )
{
    static_cast<void>( dummy );
 
    return 0;
}
 
int modalGainOpt::processImage( void *curr_src, const bcoeffShmimT &dummy )
{
    static_cast<void>( dummy );
 
    bool change = false;
 
    std::unique_lock<std::mutex> lock( m_goptMutex, std::defer_lock );
 
    uint32_t w = bcoeffShmimMonitorT::m_width;
    uint32_t h = bcoeffShmimMonitorT::m_height;
 
    // If there's a size change we lock
    if( w - 1 != m_bs.rows() || h != m_bs.cols() || h != m_NbCurrent.size() )
    {
        m_updating = true;
        lock.lock();
        m_updating = true; // Make sure it didn't get set to false by thread that had the lock
 
        change = true;
 
        m_NbCurrent.resize( h );
        m_bs.resize( w - 1, h );
    }
 
    eigenMap<float> bc( reinterpret_cast<float *>( curr_src ), w, h );
 
    for( uint32_t cc = 0; cc < h; ++cc )
    {
        if( change || m_NbCurrent[cc] != bc( 0, cc ) )
        {
            if( !change )
            {
                m_updating = true;
                lock.lock();
                m_updating = true; // Make sure it didn't get set to false by thread that had the lock
 
                change = true;
            }
 
            m_NbCurrent[cc] = bc( 0, cc );
        }
 
        for( uint32_t rr = 1; rr < w; ++rr )
        {
            if( change || m_bs( rr - 1, cc ) != bc( rr, cc ) )
            {
                if( !change )
                {
                    m_updating = true;
                    lock.lock();
                    m_updating = true; // Make sure it didn't get set to false by thread that had the lock
 
                    change = true;
                }
 
                m_bs( rr - 1, cc ) = bc( rr, cc );
            }
        }
    }
 
    if( change )
    {
        if( m_loop && m_pcOn )
        {
            m_sinceChange = -1;
        }
 
        m_updating      = false;
        m_pcgoptUpdated = true;
 
        std::cerr << "got b coeffs: " << w << ' ' << h << ' ' << m_NbCurrent.size() << "\n";
 
        lock.unlock();
    }
 
    return 0;
}
 
int modalGainOpt::allocate( const gainCalShmimT &dummy )
{
    static_cast<void>( dummy );
 
    return 0;
}
 
int modalGainOpt::processImage( void *curr_src, const gainCalShmimT &dummy )
{
    static_cast<void>( dummy );
 
    if( gainCalShmimMonitorT::m_height != 1 )
    {
        return log<software_error, -1>( { __FILE__, __LINE__, "got gainCals with height not 1" } );
    }
 
    bool change = false;
 
    uint32_t w = gainCalShmimMonitorT::m_width;
 
    std::unique_lock<std::mutex> lock( m_goptMutex, std::defer_lock );
 
    if( w != m_gainCals.size() )
    {
        m_updating = true;
        lock.lock();
 
        m_updating = true; // Make sure it didn't get set to false by thread that had the lock
 
        change = true;
        m_gainCals.resize( w );
    }
 
    float *g = static_cast<float *>( curr_src );
 
    for( uint32_t n = 0; n < w; ++n )
    {
        if( change || m_gainCals[n] != g[n] )
        {
            if( !change )
            {
                m_updating = true;
                lock.lock();
                m_updating = true; // Make sure it didn't get set to false by thread that had the lock
 
                change = true;
            }
 
            m_gainCals[n] = g[n];
        }
    }
 
    if( change )
    {
        m_sinceChange = -1;
        m_updating    = false;
        std::cerr << "got gainCals: " << m_gainCals.size() << "\n";
        lock.unlock();
    }
 
    return 0;
}
 
int modalGainOpt::allocate( const gainCalFactShmimT &dummy )
{
    static_cast<void>( dummy );
 
    return 0;
}
 
int modalGainOpt::processImage( void *curr_src, const gainCalFactShmimT &dummy )
{
    static_cast<void>( dummy );
 
    if( gainCalFactShmimMonitorT::m_height != 1 )
    {
        return log<software_error, -1>( { __FILE__, __LINE__, "got gainCalFacts with height not 1" } );
    }
 
    bool change = false;
 
    uint32_t w = gainCalFactShmimMonitorT::m_width;
 
    std::unique_lock<std::mutex> lock( m_goptMutex, std::defer_lock );
 
    if( w != m_gainCalFacts.size() )
    {
        m_updating = true;
        lock.lock();
        m_updating = true; // Make sure it didn't get set to false by thread that had the lock
 
        change = true;
        m_gainCalFacts.resize( w );
    }
 
    float *g = static_cast<float *>( curr_src );
 
    for( uint32_t n = 0; n < w; ++n )
    {
        if( change || m_gainCalFacts[n] != g[n] )
        {
            if( !change )
            {
                m_updating = true;
                lock.lock();
                m_updating = true; // Make sure it didn't get set to false by thread that had the lock
 
                change = true;
            }
 
            m_gainCalFacts[n] = g[n];
        }
    }
 
    if( change )
    {
        m_sinceChange = -1;
        m_updating    = false;
        std::cerr << "got gainCalsFacts: " << m_gainCalFacts.size() << "\n";
        lock.unlock();
    }
 
    return 0;
}
 
int modalGainOpt::allocate( const tauShmimT &dummy )
{
    static_cast<void>( dummy );
 
    return 0;
}
 
int modalGainOpt::processImage( void *curr_src, const tauShmimT &dummy )
{
    static_cast<void>( dummy );
 
    if( tauShmimMonitorT::m_height != 1 )
    {
        return log<software_error, -1>( { __FILE__, __LINE__, "got tau with height not 1" } );
    }
 
    bool change = false;
 
    uint32_t w = tauShmimMonitorT::m_width;
 
    std::unique_lock<std::mutex> lock( m_goptMutex, std::defer_lock );
 
    if( w != m_taus.size() )
    {
        m_updating = true;
        lock.lock();
        m_updating = true; // Make sure it didn't get set to false by thread that had the lock
 
        change = true;
        m_taus.resize( w );
    }
 
    float *t = static_cast<float *>( curr_src );
 
    for( uint32_t n = 0; n < w; ++n )
    {
        if( change || m_taus[n] != t[n] )
        {
            if( !change )
            {
                m_updating = true;
                lock.lock();
                m_updating = true; // Make sure it didn't get set to false by thread that had the lock
 
                change = true;
            }
 
            m_taus[n] = t[n];
        }
    }
 
    if( change )
    {
        m_sinceChange = -1;
        m_updating    = false;
        m_goptUpdated = true;
        std::cerr << "got taus: " << m_taus.size() << "\n";
        lock.unlock();
    }
    return 0;
}
 
int modalGainOpt::allocate( const noiseShmimT &dummy )
{
    static_cast<void>( dummy );
 
    return 0;
}
 
int modalGainOpt::processImage( void *curr_src, const noiseShmimT &dummy )
{
    static_cast<void>( dummy );
 
    if( noiseShmimMonitorT::m_width != 3 )
    {
        return log<software_error, -1>( { __FILE__, __LINE__, "got tau with width not 3" } );
    }
 
    bool change = false;
 
    uint32_t h = noiseShmimMonitorT::m_height;
 
    std::unique_lock<std::mutex> lock( m_goptMutex, std::defer_lock );
 
    if( h != m_noiseParams.cols() )
    {
        m_updating = true;
        lock.lock();
        m_updating = true; // Make sure it didn't get set to false by thread that had the lock
 
        change = true;
        m_noiseParams.resize( 3, h );
    }
 
    mx::improc::eigenMap<float> np( static_cast<float *>( curr_src ), 3, h );
 
    for( uint32_t n = 0; n < h; ++n )
    {
        if( change || m_noiseParams( 0, n ) != np( 0, n ) || m_noiseParams( 1, n ) != np( 1, n ) ||
            m_noiseParams( 2, n ) != np( 2, n ) )
        {
            if( !change )
            {
                m_updating = true;
                lock.lock();
                m_updating = true; // Make sure it didn't get set to false by thread that had the lock
 
                change = true;
            }
 
            m_noiseParams.col( n ) = np.col( n );
        }
    }
 
    if( change )
    {
        m_sinceChange = -1;
        m_updating    = false;
        m_goptUpdated = true;
        std::cerr << "got noise params: " << m_noiseParams.rows() << " x " << m_noiseParams.cols() << "\n";
        lock.unlock();
    }
    return 0;
}
 
int modalGainOpt::allocate( const wfsavgShmimT &dummy )
{
    static_cast<void>( dummy );
 
    std::cerr << "Got WFS avg: " << wfsavgShmimMonitorT::m_width << " x " << wfsavgShmimMonitorT::m_height << '\n';
    return 0;
}
 
int modalGainOpt::processImage( void *curr_src, const wfsavgShmimT &dummy )
{
    static_cast<void>( dummy );
 
    m_wfsavg = mx::improc::eigenMap<float>(
        reinterpret_cast<float *>( curr_src ), wfsavgShmimMonitorT::m_width, wfsavgShmimMonitorT::m_height );
 
    if( m_wfsavg.rows() == m_wfsmask.rows() && m_wfsavg.cols() == m_wfsmask.cols() )
    {
        m_counts = ( m_wfsavg * m_wfsmask ).sum();
 
        // std::cerr << "counts: " << m_counts << '\n';
    }
 
    return 0;
}
 
int modalGainOpt::allocate( const wfsmaskShmimT &dummy )
{
    static_cast<void>( dummy );
 
    std::cerr << "Got WFS mask: " << wfsmaskShmimMonitorT::m_width << " x " << wfsmaskShmimMonitorT::m_height << '\n';
    return 0;
}
 
int modalGainOpt::processImage( void *curr_src, const wfsmaskShmimT &dummy )
{
    static_cast<void>( dummy );
 
    m_wfsmask = mx::improc::eigenMap<float>(
        reinterpret_cast<float *>( curr_src ), wfsmaskShmimMonitorT::m_width, wfsmaskShmimMonitorT::m_height );
 
    m_npix = m_wfsmask.sum();
 
    if( m_wfsavg.rows() == m_wfsmask.rows() && m_wfsavg.cols() == m_wfsmask.cols() )
    {
        m_counts = ( m_wfsavg * m_wfsmask ).sum();
    }
 
    return 0;
}
 
int modalGainOpt::checkSizes()
{
    static std::vector<bool> logged( 50, false );
 
    int L = 0;
    if( m_clPSDs.rows() == 0 || m_clPSDs.cols() == 0 ) // somehow here without any data
    {
        if( !logged[L] )
        {
            log<software_error>( { __FILE__, __LINE__, "PSDs have not been updated" } );
        }
        logged[L] = true;
        return -1;
    }
    logged[L++] = false;
 
    if( static_cast<size_t>( m_clPSDs.rows() ) != m_freq.size() )
    {
        if( !logged[L] )
        {
            log<software_error>( { __FILE__, __LINE__, "PSDs and freq size mismatch" } );
        }
        logged[L] = true;
        return -1;
    }
    logged[L++] = false;
 
    if( m_nModes != m_gainFacts.size() )
    {
        if( !logged[L] )
        {
            log<software_error>( { __FILE__, __LINE__, "PSDs and gains number of modes mismatch" } );
        }
        logged[L] = true;
        return -1;
    }
    logged[L++] = false;
 
    if( m_nModes != m_multFacts.size() )
    {
        if( !logged[L] )
        {
            log<software_error>( { __FILE__, __LINE__, "PSDs and mult coeffs number of modes mismatch" } );
        }
        logged[L] = true;
        return -1;
    }
    logged[L++] = false;
 
    if( m_nModes != m_gainCals.size() )
    {
        if( !logged[L] )
        {
            log<software_error>( { __FILE__, __LINE__, "PSDs and gain cals number of modes mismatch" } );
        }
        logged[L] = true;
        return -1;
    }
    logged[L++] = false;
 
    if( m_nModes != m_gainCalFacts.size() )
    {
        if( !logged[L] )
        {
            log<software_error>( { __FILE__, __LINE__, "PSDs and gain cal facts number of modes mismatch" } );
        }
        logged[L] = true;
        return -1;
    }
    logged[L++] = false;
 
    if( m_nModes != m_taus.size() )
    {
        if( !logged[L] )
        {
            log<software_error>( { __FILE__, __LINE__, "Loop taus have not been set" } );
        }
        logged[L] = true;
        return -1;
    }
    logged[L++] = false;
 
    /*if( m_clPSDs.cols() != m_noiseParams.cols() || m_noiseParams.rows() != 3 )
    {
        if( !logged[L] )
        {
            log<software_error>( { __FILE__, __LINE__, "noise params have not been set" } );
        }
        logged[L] = true;
        return -1;
    }
    logged[L++] = false;*/
 
    if( m_fps <= 0 )
    {
        if( !logged[L] )
        {
            log<software_error>( { __FILE__, __LINE__, "Loop fps has not been set" } );
        }
        logged[L] = true;
        return -1;
    }
    logged[L++] = false;
 
    if( m_olPSDStream == nullptr )
    {
        if( !logged[L] )
        {
            log<software_error>( { __FILE__, __LINE__, "m_olPSDStream is not allocated" } );
        }
        logged[L] = true;
        return -1;
    }
    logged[L++] = false;
 
    if( m_noisePSDStream == nullptr )
    {
        if( !logged[L] )
        {
            log<software_error>( { __FILE__, __LINE__, "m_noisePSDStream is not allocated" } );
        }
        logged[L] = true;
        return -1;
    }
    logged[L++] = false;
 
    if( m_clXferCurrentStream == nullptr )
    {
        if( !logged[L] )
        {
            log<software_error>( { __FILE__, __LINE__, "m_clXferCurrentStream is not allocated" } );
        }
        logged[L] = true;
        return -1;
    }
    logged[L++] = false;
 
    if( m_clXferSIStream == nullptr )
    {
        if( !logged[L] )
        {
            log<software_error>( { __FILE__, __LINE__, "m_clXferSIStream is not allocated" } );
        }
        logged[L] = true;
        return -1;
    }
    logged[L++] = false;
 
    if( m_optGainStream == nullptr )
    {
        if( !logged[L] )
        {
            log<software_error>( { __FILE__, __LINE__, "optGainsStream is not allocated" } );
        }
        logged[L] = true;
        return -1;
    }
    logged[L++] = false;
 
    if( m_optGainSIStream == nullptr )
    {
        if( !logged[L] )
        {
            log<software_error>( { __FILE__, __LINE__, "optGainsStream SI is not allocated" } );
        }
        logged[L] = true;
        return -1;
    }
    logged[L++] = false;
 
    // Check the PC shmims that we don't automatically create
    if( m_Na.size() != m_nModes || m_NaCurrent.size() != m_nModes || (size_t)m_as.cols() != m_nModes ||
        m_Nb.size() != m_nModes || m_NbCurrent.size() != m_nModes || (size_t)m_bs.cols() != m_nModes ||
        m_pcGainFacts.size() != m_nModes || m_pcMultFacts.size() != m_nModes )
    {
 
        if( allocatePCShmims() < 0 )
        {
            log<software_error>( { __FILE__, __LINE__, "error allocating PC shmims" } );
        }
 
        if( m_Na.size() != m_nModes || m_NaCurrent.size() != m_nModes || (size_t)m_as.cols() != m_nModes ||
            m_Nb.size() != m_nModes || m_NbCurrent.size() != m_nModes || (size_t)m_bs.cols() != m_nModes ||
            m_pcGainFacts.size() != m_nModes || m_pcMultFacts.size() != m_nModes )
        {
 
            if( !logged[L] )
            {
                log<software_error>( { __FILE__, __LINE__, "PC shmims not allcoated" } );
            }
            logged[L] = true;
            return -1;
        }
        else
        {
            logged[L] = false;
        }
    }
    else
    {
        logged[L] = false;
    }
    ++L;
 
    if( m_clXferLPStream == nullptr )
    {
        if( !logged[L] )
        {
            log<software_error>( { __FILE__, __LINE__, "m_clXferLPStream is not allocated" } );
        }
        logged[L] = true;
        return -1;
    }
    logged[L++] = false;
 
    if( m_optGainLPStream == nullptr )
    {
        if( !logged[L] )
        {
            log<software_error>( { __FILE__, __LINE__, "m_optGainLPStream is not allocated" } );
        }
        logged[L] = true;
        return -1;
    }
    logged[L++] = false;
 
    if( m_nModes != m_optGainLP.size() )
    {
        if( !logged[L] )
        {
            log<software_error>( { __FILE__, __LINE__, "m_optGainLP is not allocated" } );
        }
        logged[L] = true;
        return -1;
    }
    logged[L++] = false;
 
    return 0;
}
 
float modalGainOpt::noisePSD( int n )
{
    float mc = m_noiseParams( 1, n ) * m_counts / m_emg;
 
    float snr2 = ( mc * mc ) / ( mc + m_npix * pow( m_noiseParams( 2, n ) / m_emg, 2 ) );
 
    return 0.05 * m_noiseParams( 0, n ) / snr2;
}
 
void modalGainOpt::goptThreadStart( modalGainOpt *p )
{
    p->goptThreadExec();
}
 
void modalGainOpt::goptThreadExec()
{
    m_goptThreadID = syscall( SYS_gettid );
 
    while( m_goptThreadInit == true && shutdown() == 0 )
    {
        sleep( 1 );
    }
 
    while( shutdown() == 0 )
    {
        timespec ts;
        XWC_SEM_WAIT_TS_RETVOID( ts, 1, 0 );
 
        if( sem_timedwait( &m_goptSemaphore, &ts ) == 0 )
        {
            std::lock_guard<std::mutex> lock( m_goptMutex );
 
            if( checkSizes() < 0 )
            {
                std::cerr << "check sizes failed\n";
                continue; // we just wait
            }
 
            // m_doPCCalcs = false;
 
            if( m_goptUpdated || m_pcgoptUpdated || m_freqUpdated || m_goptCurrent.size() != m_gainFacts.size() )
            {
                if( m_goptCurrent.size() != m_gainFacts.size() )
                {
                    m_freqUpdated = true; // force freq update in this case
                }
 
                std::cerr << "updating gopt structures\n";
 
                m_goptCurrent.resize( m_gainFacts.size() );
                m_goptSI.resize( m_gainFacts.size() );
                m_goptLP.resize( m_gainFacts.size() );
                m_linPred.resize( m_gainFacts.size() );
 
                for( size_t n = 0; n < m_goptCurrent.size(); ++n )
                {
                    m_goptCurrent[n].Ti( 1.0 / m_fps );
                    m_goptCurrent[n].tau( m_taus[n] );
 
                    m_goptSI[n].Ti( 1.0 / m_fps );
                    m_goptSI[n].tau( m_taus[n] );
 
                    m_goptLP[n].Ti( 1.0 / m_fps );
                    m_goptLP[n].tau( m_taus[n] );
 
                    if( !m_pcOn )
                    {
                        m_goptCurrent[n].setLeakyIntegrator( m_mult * m_multFacts[n] );
                    }
                    else
                    {
                        std::vector<float> ta( m_NaCurrent[n] );
                        for( size_t m = 0; m < ta.size(); ++m )
                        {
                            ta[m] = m_as( m, n );
                        }
                        m_goptCurrent[n].a( ta );
 
                        std::vector<float> tb( m_NbCurrent[n] );
                        for( size_t m = 0; m < tb.size(); ++m )
                        {
                            tb[m] = m_bs( m, n );
                        }
                        m_goptCurrent[n].b( tb );
 
                        m_goptCurrent[n].remember( m_pcMult * m_pcMultFacts[n] );
                    }
 
                    m_goptSI[n].setLeakyIntegrator( m_mult * m_multFacts[n] );
 
                    if( m_freqUpdated )
                    {
                        m_goptCurrent[n].f( m_freq );
                        m_goptSI[n].f( m_freq );
                        m_goptLP[n].f( m_freq );
                    }
 
                    m_gmaxSI[n] = m_goptSI[n].maxStableGain();
                }
 
                m_goptUpdated   = false;
                m_pcgoptUpdated = false;
                m_freqUpdated   = false;
 
                std::cerr << "done.\n";
            }
 
            MGO_BREADCRUMB;
            if( m_updating )
            {
                continue;
            }
 
            timePointT t0 = std::chrono::steady_clock::now();
 
            MGO_BREADCRUMB;
 
            int off = 0;
            int offLP = 0;
 
#pragma omp parallel for num_threads( 15 )
            for( size_t n = 0; n < m_goptCurrent.size(); ++n )
            {
                if( m_updating || m_shutdown )
                {
                    continue; // don't break b/c of omp
                }
 
                if( !m_pcOn )
                {
                    MGO_BREADCRUMB;
 
                    for( size_t f = 0; f < m_goptCurrent[n].f_size(); ++f )
                    {
                        m_clXferCurrent( f, n ) =
                            m_goptCurrent[n].clETF2( f, m_gain * m_gainFacts[n] * m_gainCals[n] * m_opticalGain );
                    }
                }
                else
                {
                    for( size_t f = 0; f < m_goptCurrent[n].f_size(); ++f )
                    {
                        m_clXferCurrent( f, n ) =
                            m_goptCurrent[n].clETF2( f, m_pcGain * m_pcGainFacts[n] * m_gainCals[n] * m_opticalGain );
                    }
                }
 
                MGO_BREADCRUMB;
                // Calculate the OL PSD with the current gopt (PC or SI)
                float og2 = m_opticalGain * m_opticalGain;
                if( !m_loop )
                {
                    MGO_BREADCRUMB;
                    for( size_t f = 1; f < m_goptCurrent[n].f_size(); ++f )
                    {
                        m_olPSDs[n][f] = m_clPSDs( f, n ) / og2;
                    }
                }
                else
                {
                    MGO_BREADCRUMB;
                    for( size_t f = 1; f < m_goptCurrent[n].f_size(); ++f )
                    {
                        m_olPSDs[n][f] = ( m_clPSDs( f, n ) / og2 ) / m_clXferCurrent( f, n );
                    }
                }
 
                MGO_BREADCRUMB;
 
                m_olPSDs[n][0] = m_olPSDs[n][1];
 
                bool  flagOff = false;
                float extrap  = 0;
 
                // Calculate the noise as the 25th percentile in log10
                // this is to avoid spikes that make the noise too high
                size_t f0 = 0.5 * m_goptCurrent[n].f_size();
                size_t f1 = m_goptCurrent[n].f_size();
 
                std::vector<float> npsd( f1 - f0 );
                for( size_t f = f0; f < f1; ++f )
                {
                    npsd[f - f0] = log10( m_olPSDs[n][f] );
                }
                float pct = 0.25;
 
                MGO_BREADCRUMB;
                if( n < 2 )
                {
                    pct = 0.05;
                }
 
                auto nth = npsd.begin() + pct * ( f1 - f0 );
                std::nth_element( npsd.begin(), nth, npsd.end() );
 
                MGO_BREADCRUMB;
 
                float noise = pow( 10, *nth );
                for( size_t f = 0; f < m_goptCurrent[n].f_size(); ++f )
                {
                    m_nPSDs[n][f] = noise;
                }
 
                if( m_extrapOL )
                {
                    for( size_t f = 0; f < m_goptCurrent[n].f_size(); ++f )
                    {
                        m_olPSDs[n][f] = m_olPSDs[n][f] - m_nPSDs[n][f];
                    }
 
                    MGO_BREADCRUMB;
 
                    // Calculate an average extrapolation point referenced to 1 Hz
 
                    extrap   = 0;
                    int nexp = 0;
                    int noff = 0;
                    for( size_t f = 1; f < 0.05 * m_freq.size(); ++f )
                    {
                        // This is a threshold for "too noisy"
                        ///\todo make configurable
                        if( m_olPSDs[n][f] <= 0.1 * m_nPSDs[n][f] )
                        {
                            ++noff;
                            continue;
                        }
                        extrap += log10( m_olPSDs[n][f] * pow( m_freq[f] / m_freq[1], 8. / 3. ) );
                        ++nexp;
                    }
 
                    extrap = pow( 10, extrap / nexp );
 
                    MGO_BREADCRUMB;
                    if( noff > 0.5 * ( 0.05 * m_freq.size() - 1 ) && n > 1 )
                    {
                        flagOff = true;
                    }
                }
 
                // flagOff = false;
 
                MGO_BREADCRUMB;
                
                if( flagOff )
                {
                    MGO_BREADCRUMB;
                    #pragma omp critical
                    {
                        ++off;
                    }
 
                    for( size_t f = 0; f < m_goptCurrent[n].f_size(); ++f )
                    {
                        m_olPSDs[n][f] = m_nPSDs[n][f];
                    }
 
                    m_modeVarOL[n] = mx::sigproc::psdVar( m_freq, m_olPSDs[n] );
 
                    m_optGainSI[n] = 0;
                    m_modeVarSI[n] = m_modeVarOL[n];
 
                    for( size_t f = 0; f < m_goptCurrent[n].f_size(); ++f )
                    {
                        m_clXferSI( f, n ) = 1;
                    }
 
                    m_timesOnSI[n] = 0;
                }
                else
                {
                    MGO_BREADCRUMB;
 
                    if( m_extrapOL )
                    {
                        std::vector<float> tosmooth( m_nFreq );
 
                        for( size_t f = 0; f < m_nFreq; ++f )
                        {
                            if( m_olPSDs[n][f] < 0 )
                            {
                                tosmooth[f] = extrap * pow( m_freq[1] / m_freq[f], 8. / 3. );
                            }
                            else
                            {
                                tosmooth[f] = m_olPSDs[n][f];
                            }
                        }
 
                        std::vector<float> l10( m_nFreq ), smol( m_nFreq );
                        std::vector<int>   smw( m_nFreq );
                        smw[0] = 2;
                        smw[1] = 2;
                        l10[0] = log10( tosmooth[0] );
                        l10[1] = log10( tosmooth[1] );
 
                        for( size_t f = 2; f < smw.size(); ++f )
                        {
                            smw[f] = 2 + static_cast<float>( f ) / 10;
                            l10[f] = log10( tosmooth[f] );
                        }
 
                        mx::math::vectorSmoothMean( smol, l10, smw );
 
                        for( size_t f = 0; f < m_nFreq; ++f )
                        {
                            smol[f] = pow( 10, smol[f] );
                        }
 
                        for( size_t f = 0; f < m_nFreq; ++f )
                        {
                            if( m_olPSDs[n][f] < m_nPSDs[n][f] )
                            {
                                m_olPSDs[n][f] = smol[f];
                            }
                        }
                    }
 
                    MGO_BREADCRUMB;
                    m_modeVarOL[n] = mx::sigproc::psdVar( m_freq, m_olPSDs[n] );
 
                    m_optGainSI[n] =
                        m_goptSI[n].optGainOpenLoop( m_modeVarSI[n], m_olPSDs[n], m_nPSDs[n], m_gmaxSI[n], false );
 
                    if( ( m_modeVarSI[n] - m_modeVarOL[n] ) / m_modeVarOL[n] > -0.001 )
                    {
                        #pragma omp critical
                    {
                        ++off;
                    }
 
                        MGO_BREADCRUMB;
                        m_optGainSI[n] = 0;
                        m_modeVarSI[n] = m_modeVarOL[n];
 
                        for( size_t f = 0; f < m_goptCurrent[n].f_size(); ++f )
                        {
                            m_clXferSI( f, n ) = 1;
                        }
 
                        m_timesOnSI[n] = 0;
                    }
                    else if( m_timesOnSI[n] < 5 )
                    {
                        #pragma omp critical
                    {
                        ++off;
                    }
 
                        MGO_BREADCRUMB;
                        // Would be on, but we debounce
                        m_optGainSI[n] = 0;
                        m_modeVarSI[n] = m_modeVarOL[n];
 
                        for( size_t f = 0; f < m_goptCurrent[n].f_size(); ++f )
                        {
                            m_clXferSI( f, n ) = 1;
                        }
 
                        ++m_timesOnSI[n];
                    }
                    else
                    {
                        MGO_BREADCRUMB;
                        for( size_t f = 0; f < m_goptCurrent[n].f_size(); ++f )
                        {
                            m_clXferSI( f, n ) = m_goptSI[n].clETF2( f, m_optGainSI[n] );
                        }
 
                        ++m_timesOnSI[n];
                    }
                }
 
                if( m_doPCCalcs && !flagOff )
                {
                    MGO_BREADCRUMB;
                    if( m_regScale[n] == -999 || m_regCounter[n] >= m_nRegCycles )
                    {
                        MGO_BREADCRUMB;
                        float min_sc;
                        float gmax_lp = 0;
 
                        if( m_linPred[n].regularizeCoefficients( gmax_lp,
                                                                 m_optGainLP[n],
                                                                 m_modeVarLP[n],
                                                                 min_sc,
                                                                 m_goptLP[n],
                                                                 m_olPSDs[n],
                                                                 m_nPSDs[n],
                                                                 m_Na[n] ) < 0 )
                        {
                            MGO_BREADCRUMB;
 
                            m_optGainLP[n] = 0;
                            m_modeVarLP[n] = m_modeVarOL[n];
 
                            ///\todo what to do about coeffs?
                        }
 
                        MGO_BREADCRUMB;
 
                        if( m_regScale[n] == -999 )
                        {
                            MGO_BREADCRUMB;
                            m_regCounter[n] = n % m_nRegCycles;
                        }
                        else
                        {
                            MGO_BREADCRUMB;
                            m_regCounter[n] = 0;
                        }
 
                        m_regScale[n] = min_sc;
                        m_gmaxLP[n]   = gmax_lp;
                    }
                    else
                    {
                        MGO_BREADCRUMB;
                        // use pre-regularized version
                        float psdReg = m_olPSDs[n][0];
                        if( m_linPred[n].calcCoefficients(
                                m_olPSDs[n], m_nPSDs[n], psdReg * pow( 10, -m_regScale[n] / 10 ), m_Na[n] ) < 0 )
                        {
                            m_optGainLP[n] = 0;
                            m_modeVarLP[n] = m_modeVarOL[n];
 
                            ///\todo what to do about coeffs?
                        }
                        else
                        {
                            m_goptLP[n].a( m_linPred[n].m_lp.m_c );
                            m_goptLP[n].b( m_linPred[n].m_lp.m_c );
 
                            m_optGainLP[n] = m_goptLP[n].optGainOpenLoop(
                                m_modeVarLP[n], m_olPSDs[n], m_nPSDs[n], m_gmaxLP[n], false );
                        }
                        ++m_regCounter[n];
                    }
 
                    MGO_BREADCRUMB;
 
                    /*if( ( m_modeVarLP[n] - m_modeVarOL[n] ) / m_modeVarOL[n] > -0.001 )
                    {
                        m_optGainLP[n] = 0;
                        m_modeVarLP[n] = m_modeVarOL[n];
 
                        for( size_t f = 0; f < m_goptCurrent[n].f_size(); ++f )
                        {
                            m_clXferLP( f, n ) = 1;
                        }
 
                        m_timesOnLP[n] = 0;
                    }
                    else*/
                    if( ( m_modeVarLP[n] - m_modeVarSI[n] ) / m_modeVarSI[n] > -0.001 )
                    {
                        #pragma omp critical
                    {
                        ++offLP;
                    }
 
 
                        MGO_BREADCRUMB;
                        m_optGainLP[n] = m_optGainSI[n];
                        m_modeVarLP[n] = m_modeVarSI[n];
 
                        for( size_t f = 0; f < m_goptCurrent[n].f_size(); ++f )
                        {
                            m_clXferLP( f, n ) = m_clXferSI( f, n );
                        }
 
                        m_timesOnLP[n] = 0;
                    }
                    else if( m_timesOnLP[n] < 5 )
                    {
                        #pragma omp critical
                    {
                        ++offLP;
                    }
 
 
                        MGO_BREADCRUMB;
                        m_optGainLP[n] = m_optGainSI[n];
                        m_modeVarLP[n] = m_modeVarSI[n];
 
                        for( size_t f = 0; f < m_goptCurrent[n].f_size(); ++f )
                        {
                            m_clXferLP( f, n ) = m_clXferSI( f, n );
                        }
 
                        ++m_timesOnLP[n];
                    }
                    else
                    {
                        MGO_BREADCRUMB;
                        for( size_t f = 0; f < m_goptCurrent[n].f_size(); ++f )
                        {
                            m_clXferLP( f, n ) = m_goptLP[n].clETF2( f, m_optGainLP[n] );
                        }
 
                        ++m_timesOnLP[n];
                    }
                }
                else
                {
                    #pragma omp critical
                    {
                        ++offLP;
                    }
 
                    MGO_BREADCRUMB;
                    m_optGainLP[n] = 0;
 
                    ++m_regCounter[n];
 
                    for( size_t f = 0; f < m_goptCurrent[n].f_size(); ++f )
                    {
                        m_clXferLP( f, n ) = 1;
                    }
 
                    m_timesOnLP[n] = 0;
                }
 
                MGO_BREADCRUMB;
            }
 
            MGO_BREADCRUMB;
 
            m_modesOnSI = m_nModes - off;
            m_modesOnLP = m_nModes - offLP;
 
            
 
            
            if( m_updating )
            {
                continue; // don't break b/c of omp
            }
 
            timePointT t1 = std::chrono::steady_clock::now();
            durationT  dt = t1 - t0;
 
            std::cerr << "Optimization took " << dt.count() << " seconds\n";
 
            /*float totVar = 0;
            for( size_t n = 0; n < m_modeVarSI.size(); ++n )
            {
                totVar += m_modeVarSI[n];
            }*/
 
            // std::cerr << "total variance: " << totVar << '\n';
 
            float *f      = m_optGainStream->array.F;
            float *fSI    = m_optGainSIStream->array.F;
            float *fmaxSI = m_maxGainSIStream->array.F;
            float *fLP    = m_optGainLPStream->array.F;
            float *fmaxLP = m_optGainLPStream->array.F;
 
            mx::improc::eigenMap<float> mvs( m_modevarStream->array.F, 3, m_modeVarSI.size() );
 
            m_optGainStream->md->write   = 1;
            m_optGainSIStream->md->write = 1;
            m_maxGainSIStream->md->write = 1;
            m_optGainLPStream->md->write = 1;
            m_maxGainLPStream->md->write = 1;
            m_modevarStream->md->write   = 1;
 
            for( size_t n = 0; n < m_optGainSI.size(); ++n )
            {
                // if( m_timesOnSI[n] > 5 )
                {
                    f[n]      = ( m_gainCalFacts[n] * m_optGainSI[n] / m_gainCals[n] ) / m_opticalGain;
                    fSI[n]    = f[n];
                    fmaxSI[n] = ( m_gainCalFacts[n] * m_gmaxSI[n] / m_gainCals[n] ) / m_opticalGain;
                }
 
                // if( m_timesOnLP[n] > 5 )
                {
                    fLP[n]    = ( m_gainCalFacts[n] * m_optGainLP[n] / m_gainCals[n] ) / m_opticalGain;
                    fmaxLP[n] = ( m_gainCalFacts[n] * m_gmaxLP[n] / m_gainCals[n] ) / m_opticalGain;
                }
 
                mvs( 0, n ) = m_modeVarOL[n];
                mvs( 1, n ) = m_modeVarSI[n];
                mvs( 2, n ) = m_modeVarLP[n];
            }
 
            ImageStreamIO_UpdateIm( m_optGainStream );
            ImageStreamIO_UpdateIm( m_optGainSIStream );
            ImageStreamIO_UpdateIm( m_maxGainSIStream );
            ImageStreamIO_UpdateIm( m_optGainLPStream );
            ImageStreamIO_UpdateIm( m_maxGainLPStream );
            ImageStreamIO_UpdateIm( m_modevarStream );
 
            if( m_autoUpdate || m_updateOnce || m_dump )
            {
                float *f = gainFactShmimMonitorT::m_imageStream.array.F;
 
                gainFactShmimMonitorT::m_imageStream.md->write = 1;
                if( m_dump )
                {
                    for( size_t n = 0; n < m_nModes; ++n )
                    {
                        // if( m_timesOnSI[n] > 5 )
                        {
                            f[n] = ( m_gainCalFacts[n] * m_optGainSI[n] / m_gainCals[n] ) / m_opticalGain;
                        }
                    }
                }
                else
                {
                    for( size_t n = 0; n < m_nModes; ++n )
                    {
                        // if( m_timesOnSI[n] > 5 )
                        {
                            f[n] = f[n] + m_gainGain *
                                              ( ( m_gainCalFacts[n] * m_optGainSI[n] / m_gainCals[n] ) / m_opticalGain -
                                                f[n] );
                        }
                    }
                }
 
                ImageStreamIO_UpdateIm( &( gainFactShmimMonitorT::m_imageStream ) );
 
                if( m_doPCCalcs )
                {
                    float *fpc = pcGainFactShmimMonitorT::m_imageStream.array.F;
                    float *fa  = acoeffShmimMonitorT::m_imageStream.array.F;
                    float *fb  = bcoeffShmimMonitorT::m_imageStream.array.F;
 
                    pcGainFactShmimMonitorT::m_imageStream.md->write = 1;
                    acoeffShmimMonitorT::m_imageStream.md->write     = 1;
                    bcoeffShmimMonitorT::m_imageStream.md->write     = 1;
 
                    if( m_dump )
                    {
                        for( size_t n = 0; n < m_optGainLP.size(); ++n )
                        {
                            // if( m_timesOnLP[n] > 5 )
                            {
                                fpc[n] = ( m_gainCalFacts[n] * m_optGainLP[n] / m_gainCals[n] ) / m_opticalGain;
 
                                // To be safe we treat this as if Na and Nb can be different, but they can't be.
                                fa[n] = m_Na[n];
                                fb[n] = m_Nb[n];
                                for( uint32_t k = 0; k < m_Na[n]; ++k )
                                {
                                    fa[1 + k] = m_goptLP[n].a()[k];
                                }
                                for( uint32_t k = m_Na[n]; k < acoeffShmimMonitorT::m_width - 1; ++k )
                                {
                                    fa[1 + k] = 0;
                                }
 
                                for( uint32_t k = 0; k < m_Nb[n]; ++k )
                                {
                                    fb[1 + k] = m_goptLP[n].b()[k];
                                }
                                for( uint32_t k = m_Nb[n]; k < bcoeffShmimMonitorT::m_width - 1; ++k )
                                {
                                    fb[1 + k] = 0;
                                }
                            }
                        }
                    }
                    else
                    {
                        for( size_t n = 0; n < m_optGainSI.size(); ++n )
                        {
                            // if( m_timesOnLP[n] > 5 )
                            {
                                fpc[n] = fpc[n] +
                                         m_gainGain *
                                             ( ( m_gainCalFacts[n] * m_optGainLP[n] / m_gainCals[n] ) / m_opticalGain -
                                               fpc[n] );
 
                                // To be safe we treat this as if Na and Nb can be different, but they can't be.
                                fa[n] = m_Na[n];
                                fb[n] = m_Nb[n];
                                for( uint32_t k = 0; k < m_Na[n]; ++k )
                                {
                                    fa[1 + k] = fa[1 + k] + m_gainGain * ( m_goptLP[n].a()[k] - fa[1 + k] );
                                }
                                for( uint32_t k = m_Na[n]; k < acoeffShmimMonitorT::m_width - 1; ++k )
                                {
                                    fa[1 + k] = 0;
                                }
 
                                for( uint32_t k = 0; k < m_Nb[n]; ++k )
                                {
                                    fb[1 + k] = fb[1 + k] + m_gainGain * ( m_goptLP[n].b()[k] - fb[1 + k] );
                                }
                                for( uint32_t k = m_Nb[n]; k < bcoeffShmimMonitorT::m_width - 1; ++k )
                                {
                                    fb[1 + k] = 0;
                                }
                            }
                        }
                    }
 
                    ImageStreamIO_UpdateIm( &( pcGainFactShmimMonitorT::m_imageStream ) );
                    ImageStreamIO_UpdateIm( &( acoeffShmimMonitorT::m_imageStream ) );
                    ImageStreamIO_UpdateIm( &( bcoeffShmimMonitorT::m_imageStream ) );
                }
 
                if( m_dump )
                {
                    log<text_log>( "gains updated by dump", logPrio::LOG_NOTICE );
                    m_dump = false;
                }
                else if( m_updateOnce && !m_autoUpdate )
                {
                    log<text_log>( "gains updated once", logPrio::LOG_NOTICE );
                }
 
                m_updateOnce = false;
            }
 
            if( m_loop & m_autoUpdate )
            {
                m_sinceChange = -1;
            }
 
            // Update OL PSDs and Transfer Functions
            m_olPSDStream->md->write         = 1;
            m_noisePSDStream->md->write      = 1;
            m_clXferCurrentStream->md->write = 1;
            m_clXferSIStream->md->write      = 1;
            m_clXferLPStream->md->write      = 1;
 
            for( size_t q = 0; q < m_olPSDs.size(); ++q )
            {
                memcpy( m_olPSDStream->array.F + q * m_olPSDs[0].size(),
                        m_olPSDs[q].data(),
                        m_olPSDs[0].size() * sizeof( float ) );
 
                // m_noisePSDStream->array.F[q] = m_nPSDs[q][0];
                memcpy( m_noisePSDStream->array.F + q * m_nPSDs[0].size(),
                        m_nPSDs[q].data(),
                        m_nPSDs[0].size() * sizeof( float ) );
            }
 
            memcpy( m_clXferCurrentStream->array.F,
                    m_clXferCurrent.data(),
                    m_clXferCurrent.rows() * m_clXferCurrent.cols() * sizeof( float ) );
            memcpy(
                m_clXferSIStream->array.F, m_clXferSI.data(), m_clXferSI.rows() * m_clXferSI.cols() * sizeof( float ) );
            memcpy(
                m_clXferLPStream->array.F, m_clXferLP.data(), m_clXferLP.rows() * m_clXferLP.cols() * sizeof( float ) );
 
            ImageStreamIO_UpdateIm( m_olPSDStream );
            ImageStreamIO_UpdateIm( m_noisePSDStream );
            ImageStreamIO_UpdateIm( m_clXferCurrentStream );
            ImageStreamIO_UpdateIm( m_clXferSIStream );
            ImageStreamIO_UpdateIm( m_clXferLPStream );
        }
        else
        {
            /* Check for why we timed out */
            /* ETIMEDOUT just means keep waiting */
            if( errno == ETIMEDOUT )
            {
                // Could Update gopts if needed (requires size checks and requires mutex lock)
                // Probably not worth it for pred. control anyway.
                continue;
            }
 
            /* EINTER probably indicates time to shutdown, loop wil exit if m_shutdown is set */
            if( errno == EINTR )
            {
                continue;
            }
 
            /*Otherwise, report an error.*/
            log<software_error>( { __FILE__, __LINE__, errno, "sem_timedwait" } );
            break;
        }
    }
}
 
INDI_NEWCALLBACK_DEFN( modalGainOpt, m_indiP_autoUpdate )( const pcf::IndiProperty &ipRecv )
{
    INDI_VALIDATE_CALLBACK_PROPS( m_indiP_autoUpdate, ipRecv );
 
    if( ipRecv.find( "toggle" ) )
    {
        if( ipRecv["toggle"].getSwitchState() == pcf::IndiElement::On )
        {
            if( !m_autoUpdate )
            {
                log<text_log>( "updating gains", logPrio::LOG_NOTICE );
            }
            m_autoUpdate = true;
        }
        else
        {
            if( m_autoUpdate )
            {
                log<text_log>( "stopped updating gains", logPrio::LOG_NOTICE );
            }
            m_autoUpdate = false;
        }
    }
 
    return 0;
}
 
INDI_NEWCALLBACK_DEFN( modalGainOpt, m_indiP_updateOnce )( const pcf::IndiProperty &ipRecv )
{
    INDI_VALIDATE_CALLBACK_PROPS( m_indiP_updateOnce, ipRecv );
 
    if( ipRecv.find( "request" ) )
    {
        if( ipRecv["request"].getSwitchState() == pcf::IndiElement::On )
        {
            m_updateOnce = true;
        }
        else
        {
            m_updateOnce = false;
        }
    }
 
    return 0;
}
 
INDI_NEWCALLBACK_DEFN( modalGainOpt, m_indiP_dump )( const pcf::IndiProperty &ipRecv )
{
    INDI_VALIDATE_CALLBACK_PROPS( m_indiP_dump, ipRecv );
 
    if( ipRecv.find( "request" ) )
    {
        if( ipRecv["request"].getSwitchState() == pcf::IndiElement::On )
        {
            m_dump = true;
        }
        else
        {
            m_dump = false;
        }
    }
 
    return 0;
}
 
INDI_NEWCALLBACK_DEFN( modalGainOpt, m_indiP_opticalGain )( const pcf::IndiProperty &ipRecv )
{
    INDI_VALIDATE_CALLBACK_PROPS( m_indiP_opticalGain, ipRecv );
 
    float target;
    if( indiTargetUpdate( m_indiP_opticalGain, target, ipRecv, true ) < 0 )
    {
        log<software_error>( { __FILE__, __LINE__ } );
        return -1;
    }
 
    m_opticalGain = target;
 
    return 0;
}
 
INDI_NEWCALLBACK_DEFN( modalGainOpt, m_indiP_opticalGainUpdate )( const pcf::IndiProperty &ipRecv )
{
    INDI_VALIDATE_CALLBACK_PROPS( m_indiP_opticalGainUpdate, ipRecv );
 
    if(ipRecv.find("toggle"))
    {
        if(ipRecv["toggle"].getSwitchState() == pcf::IndiElement::Off)
        {
            m_opticalGainUpdate = false;
        }
        else 
        {
            m_opticalGainUpdate = true;
 
            if(m_opticalGainSource > 0 && m_opticalGainSource < 1)
            {
                m_opticalGain = m_opticalGainSource;
            }
        }
    }
 
    return 0;
}
 
INDI_SETCALLBACK_DEFN( modalGainOpt, m_indiP_opticalGainSource )( const pcf::IndiProperty &ipRecv )
{
    INDI_VALIDATE_CALLBACK_PROPS( m_indiP_opticalGainSource, ipRecv );
 
    if( ipRecv.find( m_opticalGainElement ) )
    {
        float opticalg = ipRecv[m_opticalGainElement].get<float>();
 
        opticalg = (floor(opticalg * 100 + 0.5))/100.;
        
        if(opticalg > 0 && opticalg < 1)
        {
            m_opticalGainSource = opticalg;
        }
 
        if(m_opticalGainUpdate)
        {
            m_opticalGain = m_opticalGainSource;
        }
    }
    return 0;
}
 
INDI_NEWCALLBACK_DEFN( modalGainOpt, m_indiP_gainGain )( const pcf::IndiProperty &ipRecv )
{
    INDI_VALIDATE_CALLBACK_PROPS( m_indiP_gainGain, ipRecv );
 
    float target;
    if( indiTargetUpdate( m_indiP_gainGain, target, ipRecv, true ) < 0 )
    {
        log<software_error>( { __FILE__, __LINE__ } );
        return -1;
    }
 
    m_gainGain = target;
 
    return 0;
}
 
INDI_SETCALLBACK_DEFN( modalGainOpt, m_indiP_emg )( const pcf::IndiProperty &ipRecv )
{
    INDI_VALIDATE_CALLBACK_PROPS( m_indiP_emg, ipRecv );
 
    if( ipRecv.find( "current" ) )
    {
        float emg = ipRecv["current"].get<float>();
 
        if( emg != m_emg )
        {
            m_emg = emg;
            std::cerr << "Got EMG: " << m_emg << '\n';
        }
    }
    return 0;
}
 
INDI_SETCALLBACK_DEFN( modalGainOpt, m_indiP_psdTime )( const pcf::IndiProperty &ipRecv )
{
    INDI_VALIDATE_CALLBACK_PROPS( m_indiP_psdTime, ipRecv );
 
    if( ipRecv.find( "current" ) )
    {
        float psdTime = ipRecv["current"].get<float>();
 
        if( psdTime != m_psdTime )
        {
            m_updating = true;
            std::lock_guard<std::mutex> lock( m_goptMutex );
            m_updating = true;
 
            m_psdTime = psdTime;
 
            m_sinceChange = -1;
            m_updating    = false;
 
            std::cerr << "Got psdTime: " << m_psdTime << '\n';
        }
    }
    return 0;
}
 
INDI_SETCALLBACK_DEFN( modalGainOpt, m_indiP_psdAvgTime )( const pcf::IndiProperty &ipRecv )
{
    INDI_VALIDATE_CALLBACK_PROPS( m_indiP_psdAvgTime, ipRecv );
 
    if( ipRecv.find( "current" ) )
    {
        float psdAvgTime = ipRecv["current"].get<float>();
 
        if( psdAvgTime != m_psdAvgTime )
        {
            m_updating = true;
            std::lock_guard<std::mutex> lock( m_goptMutex );
            m_updating = true;
 
            m_psdAvgTime = psdAvgTime;
 
            m_sinceChange = -1;
            m_updating    = false;
 
            std::cerr << "Got psdAvgTime: " << m_psdAvgTime << '\n';
        }
    }
 
    return 0;
}
 
INDI_SETCALLBACK_DEFN( modalGainOpt, m_indiP_loop )( const pcf::IndiProperty &ipRecv )
{
    INDI_VALIDATE_CALLBACK_PROPS( m_indiP_loop, ipRecv );
 
    if( ipRecv.find( "toggle" ) )
    {
        bool state;
 
        if( ipRecv["toggle"].getSwitchState() == pcf::IndiElement::On )
        {
            state = true;
        }
        else
        {
            state = false;
        }
 
        if( state != m_loop )
        {
            m_updating = true;
            std::lock_guard<std::mutex> lock( m_goptMutex );
            m_updating = true;
 
            m_loop = state;
 
            if( !m_loop )
            {
                m_autoUpdate = false;
                m_dump       = false;
            }
 
            m_sinceChange = -1;
            m_updating    = false;
            std::cerr << "Got loop: " << m_loop << '\n';
        }
    }
 
    return 0;
}
 
INDI_SETCALLBACK_DEFN( modalGainOpt, m_indiP_siGain )( const pcf::IndiProperty &ipRecv )
{
    INDI_VALIDATE_CALLBACK_PROPS( m_indiP_siGain, ipRecv );
 
    if( ipRecv.find( "current" ) )
    {
        float gain = ipRecv["current"].get<float>();
 
        if( gain != m_gain && !m_pcOn )
        {
            m_updating = true;
            std::lock_guard<std::mutex> lock( m_goptMutex );
            m_updating = true;
 
            m_gain = gain;
 
            if( m_loop )
            {
                m_sinceChange = -1;
            }
 
            m_updating = false;
 
            std::cerr << "Got gain: " << m_gain << '\n';
        }
        else
        {
            m_gain = gain; // for the m_pcOn case
        }
    }
 
    return 0;
}
 
INDI_SETCALLBACK_DEFN( modalGainOpt, m_indiP_siMult )( const pcf::IndiProperty &ipRecv )
{
    INDI_VALIDATE_CALLBACK_PROPS( m_indiP_siMult, ipRecv );
 
    if( ipRecv.find( "current" ) )
    {
        float mc = ipRecv["current"].get<float>();
 
        if( mc != m_mult && !m_pcOn )
        {
            m_updating = true;
            std::lock_guard<std::mutex> lock( m_goptMutex );
            m_updating = true;
 
            m_mult = mc;
 
            if( m_loop )
            {
                m_sinceChange = -1;
            }
 
            m_goptUpdated = true;
            m_updating    = false;
            std::cerr << "Got mc: " << m_mult << '\n';
        }
        else
        {
            m_mult = mc; // for the m_pcOn case
        }
    }
 
    return 0;
}
 
INDI_SETCALLBACK_DEFN( modalGainOpt, m_indiP_pcGain )( const pcf::IndiProperty &ipRecv )
{
    INDI_VALIDATE_CALLBACK_PROPS( m_indiP_pcGain, ipRecv );
 
    if( ipRecv.find( "current" ) )
    {
        float gain = ipRecv["current"].get<float>();
 
        if( gain != m_pcGain && m_pcOn )
        {
            m_updating = true;
            std::lock_guard<std::mutex> lock( m_goptMutex );
            m_updating = true;
 
            m_pcGain = gain;
 
            if( m_loop )
            {
                m_sinceChange = -1;
            }
 
            m_updating = false;
 
            std::cerr << "Got pc gain: " << m_pcGain << '\n';
        }
        else
        {
            m_pcGain = gain; // for the !m_pcOn case
        }
    }
 
    return 0;
}
 
INDI_SETCALLBACK_DEFN( modalGainOpt, m_indiP_pcMult )( const pcf::IndiProperty &ipRecv )
{
    INDI_VALIDATE_CALLBACK_PROPS( m_indiP_pcMult, ipRecv );
 
    if( ipRecv.find( "current" ) )
    {
        float mc = ipRecv["current"].get<float>();
 
        if( mc != m_pcMult && m_pcOn )
        {
            m_updating = true;
            std::lock_guard<std::mutex> lock( m_goptMutex );
            m_updating = true;
 
            m_pcMult = mc;
 
            if( m_loop )
            {
                m_sinceChange = -1;
            }
 
            m_pcgoptUpdated = true;
            m_updating      = false;
            std::cerr << "Got pc mc: " << m_pcMult << '\n';
        }
        else
        {
            m_pcMult = mc; // for the !m_pcOn case
        }
    }
 
    return 0;
}
 
INDI_SETCALLBACK_DEFN( modalGainOpt, m_indiP_pcOn )( const pcf::IndiProperty &ipRecv )
{
    INDI_VALIDATE_CALLBACK_PROPS( m_indiP_pcOn, ipRecv );
 
    if( ipRecv.find( "toggle" ) )
    {
        bool state;
 
        if( ipRecv["toggle"].getSwitchState() == pcf::IndiElement::On )
        {
            state = true;
        }
        else
        {
            state = false;
        }
 
        if( state != m_pcOn )
        {
            m_updating = true;
            std::lock_guard<std::mutex> lock( m_goptMutex );
            m_updating = true;
 
            m_pcOn = state;
 
            m_sinceChange = -1;
            m_updating    = false;
            std::cerr << "Got pcOn: " << std::boolalpha << m_pcOn << '\n';
        }
    }
 
    return 0;
}
 
INDI_NEWCALLBACK_DEFN( modalGainOpt, m_indiP_extrapOL )( const pcf::IndiProperty &ipRecv )
{
    INDI_VALIDATE_CALLBACK_PROPS( m_indiP_extrapOL, ipRecv );
 
    if( ipRecv.find( "toggle" ) )
    {
        int ext;
 
        if( ipRecv["toggle"].getSwitchState() == pcf::IndiElement::On )
        {
            ext = true;
        }
        else
        {
            ext = false;
        }
 
        if( ext != m_extrapOL )
        {
            m_updating = true;
            std::lock_guard<std::mutex> lock( m_goptMutex );
            m_updating = true;
 
            m_extrapOL = ext;
 
            m_sinceChange = -1;
            m_updating    = false;
            std::cerr << "Got extrap: " << m_extrapOL << '\n';
        }
    }
 
    return 0;
}
} // namespace app
} // namespace MagAOX
 
#endif // modalGainOpt_hpp