shmimMonitor.hpp

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/** \file shmimMonitor.hpp
 * \brief The MagAO-X generic shared memory monitor.
 *
 * \author Jared R. Males (jaredmales@gmail.com)
 *
 * \ingroup app_files
 */
 
#ifndef shmimMonitor_hpp
#define shmimMonitor_hpp
 
#include <ImageStreamIO/ImageStruct.h>
#include <ImageStreamIO/ImageStreamIO.h>
 
#include "../../libMagAOX/common/paths.hpp"
 
namespace MagAOX
{
namespace app
{
namespace dev
{
 
struct shmimT
{
    static std::string configSection()
    {
        return "shmimMonitor";
    };
 
    static std::string indiPrefix()
    {
        return "sm";
    };
};
 
/** MagAO-X generic shared memory monitor
  *
  *
  * The derived class `derivedT` has the following requirements (see below for discussion of specificT):
  * 
  * - Must be derived from MagAOXApp<true>
  * 
  * - Must contain the following friend declaration:
  *   \code
  *       friend class dev::shmimMonitor<derivedT, specificT>; //specificT may not need to be included
  *   \endcode
  * 
  * - Must provide the following interfaces:
  *   \code
  *
  *       //The allocate function is called after connecting to the shared memory buffer
  *       //It should check that the buffer has the expected size, and perform any internal allocations
  *       //to prepare for processing.
  *       int derivedT::allocate( const specificT & ///< [in] tag to differentiate shmimMonitor parents.  Normally this is dev::shmimT for a single parent.
  *                             );
  *
  *       int derivedT::processImage( void * curr_src,   ///< [in] pointer to the start of the current frame
  *                                   const specificT &  ///< [in] tag to differentiate shmimMonitor parents.  Normally this is dev::shmimT for a single parent.
  *                                 )
  *   \endcode
  *   Each of the above functions should return 0 on success, and -1 on an error.
  *
  * - Calls to this class's `setupConfig`, `loadConfig`, `appStartup`, `appLogic`, `updateINDI` and `appShutdown`
  *   functions must be placed in the derived class's functions of the same name. For convenience the 
  *   following macros are defined to provide error checking:
  *   \code  
  *       SHMIMMONITOR_SETUP_CONFIG( cfig )
  *       SHMIMMONITOR_LOAD_CONFIG( cfig )
  *       SHMIMMONITOR_APP_STARTUP
  *       SHMIMMONITOR_APP_LOGIC
  *       SHMIMMONITOR_UPDATE_INDI
  *       SHMIMMONITOR_APP_SHUTDOWN
  *   \endcode
  *   See below for the macros to use if `specificT` is used to specialize.
  *
  * The template specifier `specificT` allows inheritance of multiple shmimMonitor classes.  This type must have at least
  * the static member function:
  * \code
  *     static std::string indiPrefix()
  * \endcode
  * which returns the string which is prefixed to INDI properties.  The default `shmimT` uses "sm".
  * 
  * Additionally, if `specificT` is used, the following convenience macros can be used:
  *   \code  
  *       SHMIMMONITORT_SETUP_CONFIG( SHMIMMONITORT, cfig )
  *       SHMIMMONITORT_LOAD_CONFIG( SHMIMMONITORT, cfig )
  *       SHMIMMONITORT_APP_STARTUP( SHMIMMONITORT )
  *       SHMIMMONITORT_APP_LOGIC( SHMIMMONITORT )
  *       SHMIMMONITORT_APP_SHUTDOWN( SHMIMMONITORT )
  *   \endcode
  *
  *
  * \ingroup appdev
  */
template <class derivedT, class specificT = shmimT>
class shmimMonitor
{
 
protected:
    /** \name Configurable Parameters
     * @{
     */
    std::string m_shmimName{""}; ///< The name of the shared memory image, is used in `/tmp/<shmimName>.im.shm`. Derived classes should set a default.
 
    int m_smThreadPrio{2}; ///< Priority of the shmimMonitor thread, should normally be > 00.
 
    std::string m_smCpuset; ///< The cpuset to assign the shmimMonitor thread to.  Ignored if empty (the default).
 
    ///@}
 
    bool m_getExistingFirst{false}; ///< If set to true by derivedT, any existing image will be grabbed and sent to processImage before waiting on the semaphore.
 
    int m_semaphoreNumber{5}; ///< The image structure semaphore index.
 
    uint32_t m_width{0};  ///< The width of the images in the stream
    uint32_t m_height{0}; ///< The height of the images in the stream
    uint32_t m_depth{0};  ///< The depth of the circular buffer in the stream
 
    uint8_t m_dataType{0}; ///< The ImageStreamIO type code.
    size_t m_typeSize{0};  ///< The size of the type, in bytes.  Result of sizeof.
 
    IMAGE m_imageStream; ///< The ImageStreamIO shared memory buffer.
 
    ino_t m_inode{0}; ///< The inode of the image stream file
 
public:
 
    const std::string & shmimName() const;
 
    const uint32_t &width() const;
 
    const uint32_t &height() const;
 
    const uint32_t &depth() const;
 
    const uint8_t &dataType() const;
 
    const size_t &typeSize() const;
 
    /// Setup the configuration system
    /**
      * This should be called in `derivedT::setupConfig` as
      * \code
        shmimMonitor<derivedT, specificT>::setupConfig(config);
        \endcode
      * with appropriate error checking.
      */
    int setupConfig(mx::app::appConfigurator &config /**< [out] the derived classes configurator*/);
 
    /// load the configuration system results
    /**
      * This should be called in `derivedT::loadConfig` as
      * \code
        shmimMonitor<derivedT, specificT>::loadConfig(config);
        \endcode
      * with appropriate error checking.
      */
    int loadConfig(mx::app::appConfigurator &config /**< [in] the derived classes configurator*/);
 
    /// Startup function
    /** Starts the shmimMonitor thread
      * This should be called in `derivedT::appStartup` as
      * \code
        shmimMonitor<derivedT, specificT>::appStartup();
        \endcode
      * with appropriate error checking.
      *
      * \returns 0 on success
      * \returns -1 on error, which is logged.
      */
    int appStartup();
 
    /// Checks the shmimMonitor thread
    /** This should be called in `derivedT::appLogic` as
      * \code
        shmimMonitor<derivedT, specificT>::appLogic();
        \endcode
      * with appropriate error checking.
      *
      * \returns 0 on success
      * \returns -1 on error, which is logged.
      */
    int appLogic();
 
    /// Shuts down the shmimMonitor thread
    /** This should be called in `derivedT::appShutdown` as
      * \code
        shmimMonitor<derivedT, specificT>::appShutdown();
        \endcode
      * with appropriate error checking.
      *
      * \returns 0 on success
      * \returns -1 on error, which is logged.
      */
    int appShutdown();
 
protected:
    /** \name SIGSEGV & SIGBUS signal handling
     * These signals occur as a result of a ImageStreamIO source server resetting (e.g. changing frame sizes).
     * When they occur a restart of the shmim monitor thread main loops is triggered.
     *
     * @{
     */
    bool m_restart{false}; ///< Flag indicating tha the shared memory should be reinitialized.
 
    static shmimMonitor *m_selfMonitor; ///< Static pointer to this (set in constructor).  Used for getting out of the static SIGSEGV handler.
 
    /** \name shmimmonitor Thread
     * This thread actually monitors the shared memory buffer
     * @{
     */
 
    bool m_smThreadInit{true}; ///< Synchronizer for thread startup, to allow priority setting to finish.
 
    pid_t m_smThreadID{0}; ///< The s.m. thread PID.
 
    pcf::IndiProperty m_smThreadProp; ///< The property to hold the s.m. thread details.
 
    std::thread m_smThread; ///< A separate thread for the actual monitoring
 
    /// Thread starter, called by MagAOXApp::threadStart on thread construction.  Calls smThreadExec.
    static void smThreadStart(shmimMonitor *s /**< [in] a pointer to a shmimMonitor instance (normally this) */);
 
    /// Execute the monitoring thread
    void smThreadExec();
 
    ///@}
 
    /** \name INDI
     *
     *@{
     */
protected:
    // declare our properties
 
    pcf::IndiProperty m_indiP_shmimName; ///< Property used to report the shmim buffer name
 
    pcf::IndiProperty m_indiP_frameSize; ///< Property used to report the current frame size
 
public:
    /// Update the INDI properties for this device controller
    /** You should call this once per main loop.
     * It is not called automatically.
     *
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int updateINDI();
 
    ///@}
 
private:
    derivedT &derived()
    {
        return *static_cast<derivedT *>(this);
    }
};
 
// Set self pointer to null so app starts up uninitialized.
template <class derivedT, class specificT>
shmimMonitor<derivedT, specificT> *shmimMonitor<derivedT, specificT>::m_selfMonitor = nullptr;
 
template <class derivedT, class specificT>
const std::string & shmimMonitor<derivedT, specificT>::shmimName() const
{
    return m_shmimName;
}
 
template <class derivedT, class specificT>
const uint32_t & shmimMonitor<derivedT, specificT>::width() const
{
    return m_width;
}
 
template <class derivedT, class specificT>
const uint32_t & shmimMonitor<derivedT, specificT>::height() const
{
    return m_height;
}
 
template <class derivedT, class specificT>
const uint32_t & shmimMonitor<derivedT, specificT>::depth() const
{
    return m_depth;
}
 
template <class derivedT, class specificT>
const uint8_t & shmimMonitor<derivedT, specificT>::dataType() const
{
    return m_dataType;
}
 
template <class derivedT, class specificT>
const size_t & shmimMonitor<derivedT, specificT>::typeSize() const
{
    return m_typeSize;
}
 
template <class derivedT, class specificT>
int shmimMonitor<derivedT, specificT>::setupConfig(mx::app::appConfigurator &config)
{
    config.add(specificT::configSection() + ".threadPrio", "", specificT::configSection() + ".threadPrio", argType::Required, specificT::configSection(), "threadPrio", false, "int", "The real-time priority of the shmimMonitor thread.");
 
    config.add(specificT::configSection() + ".cpuset", "", specificT::configSection() + ".cpuset", argType::Required, specificT::configSection(), "cpuset", false, "string", "The cpuset for the shmimMonitor thread.");
 
    config.add(specificT::configSection() + ".shmimName", "", specificT::configSection() + ".shmimName", argType::Required, specificT::configSection(), "shmimName", false, "string", "The name of the ImageStreamIO shared memory image. Will be used as /tmp/<shmimName>.im.shm.");
 
    config.add(specificT::configSection() + ".getExistingFirst", "", specificT::configSection() + ".getExistingFirst", argType::Required, specificT::configSection(), "getExistingFirst", false, "bool", "If true an existing image is loaded.  If false we wait for a new image.");
 
    // Set this here to allow derived classes to set their own default before calling loadConfig
    m_shmimName = derived().configName();
 
    return 0;
}
 
template <class derivedT, class specificT>
int shmimMonitor<derivedT, specificT>::loadConfig(mx::app::appConfigurator &config)
{
    config(m_smThreadPrio, specificT::configSection() + ".threadPrio");
    config(m_smCpuset, specificT::configSection() + ".cpuset");
    config(m_shmimName, specificT::configSection() + ".shmimName");
    config(m_getExistingFirst, specificT::configSection() + ".getExistingFirst");
 
    return 0;
}
 
template <class derivedT, class specificT>
int shmimMonitor<derivedT, specificT>::appStartup()
{
    // Register the shmimName INDI property
    m_indiP_shmimName = pcf::IndiProperty(pcf::IndiProperty::Text);
    m_indiP_shmimName.setDevice(derived().configName());
    m_indiP_shmimName.setName(specificT::indiPrefix() + "_shmimName");
    m_indiP_shmimName.setPerm(pcf::IndiProperty::ReadOnly);
    m_indiP_shmimName.setState(pcf::IndiProperty::Idle);
    m_indiP_shmimName.add(pcf::IndiElement("name"));
    m_indiP_shmimName["name"] = m_shmimName;
 
    if (derived().registerIndiPropertyNew(m_indiP_shmimName, nullptr) < 0)
    {
        #ifndef SHMIMMONITOR_TEST_NOLOG
        derivedT::template log<software_error>({__FILE__, __LINE__});
        #endif
        return -1;
    }
 
    // Register the frameSize INDI property
    m_indiP_frameSize = pcf::IndiProperty(pcf::IndiProperty::Number);
    m_indiP_frameSize.setDevice(derived().configName());
    m_indiP_frameSize.setName(specificT::indiPrefix() + "_frameSize");
    m_indiP_frameSize.setPerm(pcf::IndiProperty::ReadOnly);
    m_indiP_frameSize.setState(pcf::IndiProperty::Idle);
    m_indiP_frameSize.add(pcf::IndiElement("width"));
    m_indiP_frameSize["width"] = 0;
    m_indiP_frameSize.add(pcf::IndiElement("height"));
    m_indiP_frameSize["height"] = 0;
 
    if (derived().registerIndiPropertyNew(m_indiP_frameSize, nullptr) < 0)
    {
        #ifndef SHMIMMONITOR_TEST_NOLOG
        derivedT::template log<software_error>({__FILE__, __LINE__});
        #endif
        return -1;
    }
 
    // Install empty signal handler for USR1, which is used to interrupt sleeps in the monitor threads.
    struct sigaction act;
    sigset_t set;
 
    act.sa_sigaction = &sigUsr1Handler;
    act.sa_flags = SA_SIGINFO;
    sigemptyset(&set);
    act.sa_mask = set;
 
    errno = 0;
    if (sigaction(SIGUSR1, &act, 0) < 0)
    {
        std::string logss = "Setting handler for SIGUSR1 failed. Errno says: ";
        logss += strerror(errno);
 
        derivedT::template log<software_error>({__FILE__, __LINE__, errno, 0, logss});
 
        return -1;
    }
 
    if (derived().threadStart(m_smThread, m_smThreadInit, m_smThreadID, m_smThreadProp, m_smThreadPrio, m_smCpuset, specificT::configSection(), this, smThreadStart) < 0)
    {
        derivedT::template log<software_error>({__FILE__, __LINE__});
        return -1;
    }
 
    return 0;
}
 
template <class derivedT, class specificT>
int shmimMonitor<derivedT, specificT>::appLogic()
{
    // do a join check to see if other threads have exited.
    if (pthread_tryjoin_np(m_smThread.native_handle(), 0) == 0)
    {
        derivedT::template log<software_error>({__FILE__, __LINE__, "shmimMonitor thread " + std::to_string(m_smThreadID) + " has exited"});
 
        return -1;
    }
 
    return 0;
}
 
template <class derivedT, class specificT>
int shmimMonitor<derivedT, specificT>::appShutdown()
{
    if (m_smThread.joinable())
    {
        pthread_kill(m_smThread.native_handle(), SIGUSR1);
        try
        {
            m_smThread.join(); // this will throw if it was already joined
        }
        catch (...)
        {
        }
    }
 
    return 0;
}
 
template <class derivedT, class specificT>
void shmimMonitor<derivedT, specificT>::smThreadStart(shmimMonitor *s)
{
    s->smThreadExec();
}
 
template <class derivedT, class specificT>
void shmimMonitor<derivedT, specificT>::smThreadExec()
{
    m_smThreadID = syscall(SYS_gettid);
 
    // Wait for the thread starter to finish initializing this thread.
    while (m_smThreadInit == true && derived().shutdown() == 0)
    {
        sleep(1);
    }
 
    bool opened = false;
 
    // bool semgot = false;
 
    while (derived().shutdown() == 0)
    {
        while ((derived().state() != stateCodes::OPERATING || m_shmimName == "") && !derived().shutdown() && !m_restart)
        {
            sleep(1);
        }
 
        if (derived().shutdown())
            return;
 
        /* Initialize ImageStreamIO
         */
        opened = false;
        m_restart = false; // Set this up front, since we're about to restart.
 
        int logged = 0;
        while (!opened && !derived().m_shutdown && !m_restart && derived().state() == stateCodes::OPERATING)
        {
            // b/c ImageStreamIO prints every single time, and latest version don't support stopping it yet, and that isn't thread-safe-able anyway
            // we do our own checks.  This is the same code in ImageStreamIO_openIm...
            int SM_fd;
            char SM_fname[200];
            ImageStreamIO_filename(SM_fname, sizeof(SM_fname), m_shmimName.c_str());
            SM_fd = open(SM_fname, O_RDWR);
            if (SM_fd == -1)
            {
                if (!logged)
                    derivedT::template log<text_log>("ImageStream " + m_shmimName + " not found (yet).  Retrying . . .", logPrio::LOG_NOTICE);
                logged = 1;
                sleep(1); // be patient
                continue;
            }
 
            // Found and opened,  close it and then use ImageStreamIO
            logged = 0;
            close(SM_fd);
 
            if (ImageStreamIO_openIm(&m_imageStream, m_shmimName.c_str()) == 0)
            {
                if (m_imageStream.md[0].sem <= m_semaphoreNumber) ///<\todo this isn't right--> isn't there a define in cacao to use?
                {
                    ImageStreamIO_closeIm(&m_imageStream);
                    mx::sys::sleep(1); // We just need to wait for the server process to finish startup.
                }
                else
                {
                    opened = true;
                    char SM_fname[200];
                    ImageStreamIO_filename(SM_fname, sizeof(SM_fname), m_shmimName.c_str());
 
                    struct stat buffer;
                    int rv = stat(SM_fname, &buffer);
 
                    if (rv != 0)
                    {
                        derivedT::template log<software_critical>({__FILE__, __LINE__, errno, "Could not get inode for " + m_shmimName + ". Source process will need to be restarted."});
                        ImageStreamIO_closeIm(&m_imageStream);
                        return;
                    }
                    m_inode = buffer.st_ino;
                }
            }
            else
            {
                mx::sys::sleep(1); // be patient
            }
        }
 
        if (m_restart)
            continue; // this is kinda dumb.  we just go around on restart, so why test in the while loop at all?
 
        if (derived().state() != stateCodes::OPERATING)
            continue;
 
        if (derived().m_shutdown)
        {
            if (!opened)
                return;
 
            ImageStreamIO_closeIm(&m_imageStream);
            return;
        }
 
        m_semaphoreNumber = ImageStreamIO_getsemwaitindex(&m_imageStream, m_semaphoreNumber); // ask for semaphore we had before
 
        if (m_semaphoreNumber < 0)
        {
            derivedT::template log<software_critical>({__FILE__, __LINE__, "No valid semaphore found for " + m_shmimName + ". Source process will need to be restarted."});
            return;
        }
 
        derivedT::template log<software_info>({__FILE__, __LINE__, "got semaphore index " + std::to_string(m_semaphoreNumber) + " for " + m_shmimName});
 
        ImageStreamIO_semflush(&m_imageStream, m_semaphoreNumber);
 
        sem_t *sem = m_imageStream.semptr[m_semaphoreNumber]; ///< The semaphore to monitor for new image data
 
        m_dataType = m_imageStream.md[0].datatype;
        m_typeSize = ImageStreamIO_typesize(m_dataType);
        m_width = m_imageStream.md[0].size[0];
        int dim = 1;
        if (m_imageStream.md[0].naxis > 1)
        {
            m_height = m_imageStream.md[0].size[1];
 
            if (m_imageStream.md[0].naxis > 2)
            {
                dim = 3;
                m_depth = m_imageStream.md[0].size[2];
            }
            else
            {
                dim = 2;
                m_depth = 1;
            }
        }
        else
        {
            m_height = 1;
            m_depth = 1;
        }
 
        if (derived().allocate(specificT()) < 0)
        {
            derivedT::template log<software_error>({__FILE__, __LINE__, "allocation failed"});
            break;
        }
 
        uint8_t atype;
        size_t snx, sny, snz;
        uint64_t curr_image; // The current cnt1 index
 
        if (m_getExistingFirst && !m_restart && derived().shutdown() == 0) // If true, we always get the existing image without waiting on the semaphore.
        {
            if (m_imageStream.md[0].size[2] > 0) ///\todo change to naxis?
            {
                curr_image = m_imageStream.md[0].cnt1;
            }
            else
            {
                curr_image = 0;
            }
            
            atype = m_imageStream.md[0].datatype;
            snx = m_imageStream.md[0].size[0];
 
            if (dim == 2)
            {
                sny = m_imageStream.md[0].size[1];
                snz = 1;
            }
            else if (dim == 3)
            {
                sny = m_imageStream.md[0].size[1];
                snz = m_imageStream.md[0].size[2];
            }
            else
            {
                sny = 1;
                snz = 1;
            }
 
            if (atype != m_dataType || snx != m_width || sny != m_height || snz != m_depth)
            {
                continue; // exit the nearest while loop and get the new image setup.
            }
 
            char *curr_src = (char *)m_imageStream.array.raw + curr_image * m_width * m_height * m_typeSize;
 
            if (derived().processImage(curr_src, specificT()) < 0)
            {
                derivedT::template log<software_error>({__FILE__, __LINE__});
            }
        }
 
        // This is the main image grabbing loop.
        while (derived().shutdown() == 0 && !m_restart && derived().state() == stateCodes::OPERATING)
        {
 
            timespec ts;
 
            if (clock_gettime(CLOCK_REALTIME, &ts) < 0)
            {
                derivedT::template log<software_critical>({__FILE__, __LINE__, errno, 0, "clock_gettime"});
                return;
            }
 
            ts.tv_sec += 1;
 
            if (sem_timedwait(sem, &ts) == 0)
            {
                if (m_imageStream.md[0].size[2] > 0) ///\todo change to naxis?
                {
                    curr_image = m_imageStream.md[0].cnt1;
                }
                else
                    curr_image = 0;
 
                atype = m_imageStream.md[0].datatype;
                snx = m_imageStream.md[0].size[0];
 
                if (dim == 2)
                {
                    sny = m_imageStream.md[0].size[1];
                    snz = 1;
                }
                else if (dim == 3)
                {
                    sny = m_imageStream.md[0].size[1];
                    snz = m_imageStream.md[0].size[2];
                }
                else
                {
                    sny = 1;
                    snz = 1;
                }
 
                if (atype != m_dataType || snx != m_width || sny != m_height || snz != m_depth)
                {
                    break; // exit the nearest while loop and get the new image setup.
                }
 
                if (derived().shutdown() != 0 || m_restart || derived().state() != stateCodes::OPERATING)
                    break; // Check for exit signals
 
                char *curr_src = (char *)m_imageStream.array.raw + curr_image * m_width * m_height * m_typeSize;
 
                if (derived().processImage(curr_src, specificT()) < 0)
                {
                    derivedT::template log<software_error>({__FILE__, __LINE__});
                }
            }
            else
            {
                if (m_imageStream.md[0].sem <= 0)
                    break; // Indicates that the server has cleaned up.
 
                // Check for why we timed out
                if (errno == EINTR)
                    break; // This indicates signal interrupted us, time to restart or shutdown, loop will exit normally if flags set.
 
                // ETIMEDOUT means we should check for deletion, and then wait more.
                // Otherwise, report an error.
                if (errno != ETIMEDOUT)
                {
                    derivedT::template log<software_error>({__FILE__, __LINE__, errno, "sem_timedwait"});
                    break;
                }
 
                // Check if the file has disappeared.
                int SM_fd;
                char SM_fname[200];
                ImageStreamIO_filename(SM_fname, sizeof(SM_fname), m_shmimName.c_str());
                SM_fd = open(SM_fname, O_RDWR);
                if (SM_fd == -1)
                {
                    m_restart = true;
                }
                close(SM_fd);
 
                // Check if the inode changed
                struct stat buffer;
                int rv = stat(SM_fname, &buffer);
                if (rv != 0)
                {
                    m_restart = true;
                }
 
                if (buffer.st_ino != m_inode)
                {
                    m_restart = true;
                }
            }
        }
 
        //*******
        // call derived().cleanup()
        //*******
 
        // opened == true if we can get to this
        if (m_semaphoreNumber >= 0)
            m_imageStream.semReadPID[m_semaphoreNumber] = 0; // release semaphore
        ImageStreamIO_closeIm(&m_imageStream);
        opened = false;
 
    } // outer loop, will exit if m_shutdown==true
 
    // derivedT::template log<software_error>({__FILE__,__LINE__, std::to_string(m_smThreadID) + " " + std::to_string(derived().shutdown() == 0)});
 
    //*******
    // call derived().cleanup()
    //*******
 
    if (opened)
    {
        ImageStreamIO_closeIm(&m_imageStream);
        opened = false;
    }
}
 
template <class derivedT, class specificT>
int shmimMonitor<derivedT, specificT>::updateINDI()
{
    if (!derived().m_indiDriver)
        return 0;
 
    indi::updateIfChanged(m_indiP_shmimName, "name", m_shmimName, derived().m_indiDriver);
    indi::updateIfChanged(m_indiP_frameSize, "width", m_width, derived().m_indiDriver);
    indi::updateIfChanged(m_indiP_frameSize, "height", m_height, derived().m_indiDriver);
 
    return 0;
}
 
/// Call shmimMonitorT::setupConfig with error checking for shmimMonitor
/**
  * \param cfig the application configurator 
  */
#define SHMIMMONITOR_SETUP_CONFIG( cfig )                                                   \
    if(shmimMonitorT::setupConfig(cfig) < 0)                                                \
    {                                                                                       \
        log<software_error>({__FILE__, __LINE__, "Error from shmimMonitorT::setupConfig"}); \
        m_shutdown = true;                                                                  \
        return;                                                                             \
    }
 
/// Call shmimMonitorT::setupConfig with error checking for a typedef-ed shmimMonitor
/**
  * \param SHMIMMONITORT is the typedef-ed name of the shmimMonitor class, e.g. darkShmimMonitorT.
  * \param cfig the application configurator 
  */
#define SHMIMMONITORT_SETUP_CONFIG( SHMIMMONITORT, cfig )                                        \
    if(SHMIMMONITORT::setupConfig(cfig) < 0)                                                     \
    {                                                                                            \
        log<software_error>({__FILE__, __LINE__, "Error from " #SHMIMMONITORT "::setupConfig"}); \
        m_shutdown = true;                                                                       \
        return;                                                                                  \
    }
 
/// Call shmimMonitorT::loadConfig with error checking for shmimMonitor
/** This must be inside a function that returns int, e.g. the standard loadConfigImpl.
  * \param cfig the application configurator 
  */
#define SHMIMMONITOR_LOAD_CONFIG( cfig )                                                             \
    if(shmimMonitorT::loadConfig(cfig) < 0)                                                          \
    {                                                                                                \
        return log<software_error,-1>({__FILE__, __LINE__, "Error from shmimMonitorT::loadConfig"}); \
    }
 
/// Call shmimMonitorT::loadConfig with error checking for a typedef-ed shmimMonitor
/** This must be inside a function that returns int, e.g. the standard loadConfigImpl.
  * \param SHMIMMONITORT is the typedef-ed name of the shmimMonitor class, e.g. darkShmimMonitorT.
  * \param cfig the application configurator 
  */
#define SHMIMMONITORT_LOAD_CONFIG( SHMIMMONITORT, cfig )                                                  \
    if(SHMIMMONITORT::loadConfig(cfig) < 0)                                                               \
    {                                                                                                     \
        return log<software_error,-1>({__FILE__, __LINE__, "Error from " #SHMIMMONITORT "::loadConfig"}); \
    }
 
/// Call shmimMonitorT::appStartup with error checking for shmimMonitor
#define SHMIMMONITOR_APP_STARTUP                                                                     \
    if(shmimMonitorT::appStartup() < 0)                                                              \
    {                                                                                                \
        return log<software_error,-1>({__FILE__, __LINE__, "Error from shmimMonitorT::appStartup"}); \
    }
 
/// Call shmimMonitorT::appStartup with error checking for a typedef-ed shmimMonitor
/** 
  * \param SHMIMMONITORT is the typedef-ed name of the shmimMonitor class, e.g. darkShmimMonitorT.
  */
#define SHMIMMONITORT_APP_STARTUP( SHMIMMONITORT )                                                        \
    if(SHMIMMONITORT::appStartup() < 0)                                                                   \
    {                                                                                                     \
        return log<software_error,-1>({__FILE__, __LINE__, "Error from " #SHMIMMONITORT "::appStartup"}); \
    }
 
/// Call shmimMonitorT::appLogic with error checking for shmimMonitor
#define SHMIMMONITOR_APP_LOGIC                                                                     \
    if(shmimMonitorT::appLogic() < 0)                                                              \
    {                                                                                              \
        return log<software_error,-1>({__FILE__, __LINE__, "Error from shmimMonitorT::appLogic"}); \
    }
 
/// Call shmimMonitorT::appLogic with error checking for a typedef-ed shmimMonitor
/** 
  * \param SHMIMMONITORT is the typedef-ed name of the shmimMonitor class, e.g. darkShmimMonitorT.
  */
#define SHMIMMONITORT_APP_LOGIC( SHMIMMONITORT )                                                        \
    if(SHMIMMONITORT::appLogic() < 0)                                                                   \
    {                                                                                                   \
        return log<software_error,-1>({__FILE__, __LINE__, "Error from " #SHMIMMONITORT "::appLogic"}); \
    }
 
/// Call shmimMonitorT::updateINDI with error checking for shmimMonitor
#define SHMIMMONITOR_UPDATE_INDI                                                                     \
    if(shmimMonitorT::updateINDI() < 0)                                                              \
    {                                                                                                \
        return log<software_error,-1>({__FILE__, __LINE__, "Error from shmimMonitorT::updateINDI"}); \
    }
 
/// Call shmimMonitorT::updateINDI with error checking for a typedef-ed shmimMonitor
/** 
  * \param SHMIMMONITORT is the typedef-ed name of the shmimMonitor class, e.g. darkShmimMonitorT.
  */
#define SHMIMMONITORT_UPDATE_INDI( SHMIMMONITORT )                                                        \
    if(SHMIMMONITORT::updateINDI() < 0)                                                                   \
    {                                                                                                     \
        return log<software_error,-1>({__FILE__, __LINE__, "Error from " #SHMIMMONITORT "::updateINDI"}); \
    }
 
/// Call shmimMonitorT::appShutdown with error checking for shmimMonitor
#define SHMIMMONITOR_APP_SHUTDOWN                                                                     \
    if(shmimMonitorT::appShutdown() < 0)                                                              \
    {                                                                                                 \
        return log<software_error,-1>({__FILE__, __LINE__, "Error from shmimMonitorT::appShutdown"}); \
    }
 
/// Call shmimMonitorT::appShutodwn with error checking for a typedef-ed shmimMonitor
/** 
  * \param SHMIMMONITORT is the typedef-ed name of the shmimMonitor class, e.g. darkShmimMonitorT.
  */
#define SHMIMMONITORT_APP_SHUTDOWN( SHMIMMONITORT )                                                        \
    if(SHMIMMONITORT::appShutdown() < 0)                                                                   \
    {                                                                                                      \
        return log<software_error,-1>({__FILE__, __LINE__, "Error from " #SHMIMMONITORT "::appShutdown"}); \
    }
 
} // namespace dev
} // namespace app
} // namespace MagAOX
#endif