stdCamera.hpp

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/** \file stdCamera.hpp
 * \brief Standard camera interface
 *
 * \author Jared R. Males (jaredmales@gmail.com)
 *
 * \ingroup app_files
 */
 
#ifndef stdCamera_hpp
#define stdCamera_hpp
 
#include <string>
#include <unordered_map>
 
#include <mx/app/application.hpp>
 
#include "../MagAOXApp.hpp"
 
namespace MagAOX
{
namespace app
{
namespace dev
{
 
#define CAMCTRL_E_NOCONFIGS ( -10 )
 
/// A camera configuration
/** a.k.a. a mode
 */
struct cameraConfig
{
    std::string m_configFile;    ///< The file to use for this mode, e.g. an EDT configuration file.
    std::string m_serialCommand; ///< The command to send to the camera to place it in this mode.
    unsigned    m_centerX{ 0 };
    unsigned    m_centerY{ 0 };
    unsigned    m_sizeX{ 0 };
    unsigned    m_sizeY{ 0 };
    unsigned    m_binningX{ 0 };
    unsigned    m_binningY{ 0 };
 
    unsigned m_digitalBinX{ 0 };
    unsigned m_digitalBinY{ 0 };
 
    float m_maxFPS{ 0 };
};
 
typedef std::unordered_map<std::string, cameraConfig> cameraConfigMap;
 
/// Load the camera configurations contained in the app configuration into a map
int loadCameraConfig( cameraConfigMap &ccmap, ///< [out] the map in which to place the configurations found in config
                      mx::app::appConfigurator &config ///< [in] the application configuration structure
);
 
/// MagAO-X standard camera interface
/** Implements the standard interface to a MagAO-X camera.  The derived class `derivedT` must
 * meet the following requirements:
 *
 * - The derived class `derivedT` must be a `MagAOXApp<true>`
 *
 * - Must declare this class a friend like so:
 *   \code
 *       friend class dev::stdCamera<DERIVEDNAME>;  //replace DERIVEDNAME with derivedT class name
 *   \endcode
 *
 * - Must declare the following typedef:
 *   \code
 *       typedef dev::stdCamera<DERIVEDNAME> stdCameraT; //replace DERIVEDNAME with derivedT class name
 *   \endcode
 *
 * - Must declare a series of `static constexpr` flags to manage static compile-time configuration.  Each of these
 *   flags must be defined in derivedT to be either true or false.
 *
 *     - Temperature Control and Status:
 *
 *         - A static configuration variable must be defined in derivedT as
 *           \code
 *               static constexpr bool c_stdCamera_tempControl = true; //or: false
 *           \endcode
 *           which determines whether or not temperature controls are exposed.
 *
 *         - If `(c_stdCamera_tempControl == true)` then the derived class must implement the following interfaces
 *           \code
 *               int setTempControl(); // set temp control status according to m_tempControlStatusSet
 *               int setTempSetPt(); // set the temperature set point accordin to m_ccdTempSetpt
 *           \endcode
 *
 *         - A static configuration variable must be defined in derivedT as
 *           \code
 *               static constexpr bool c_stdCamera_temp = true; //or: false
 *           \endcode
 *           which determines whether or not temperature reporting is exposed.  Note that if
 *           `(c_stdCamera_tempControl == true)`, then the behavior is as if `c_stdCamera_temp == true`,
 *           but thus constexpr must still be defined.
 *
 *         - If either `(c_stdCamera_tempControl == true)` or `c_stdCamera_temp == true` then the INDI property
 * "temp_ccd" will be updated from the value of \ref m_ccdTemp.
 *
 *     - Readout Speed:
 *
 *       - A static configuration variable must be defined in derivedT as
 *         \code
 *             static constexpr bool c_stdCamera_readoutSpeed = true; //or: false
 *         \endcode
 *         which determines whether or not readout speed controls are exposed.  If true, then the implementation should
 * populate
 *         \ref m_readoutSpeedNames and \ref m_readoutSpeedNameLabels (vectors of strings) on construction to the
 * allowed values.  This facility is normally used to control both amplifier and readout/adc speed with names like
 * "ccd_1MHz" and "emccd_17MHz".
 *
 *       - If used (and true) then the following interface must be implemented:
 *         \code
 *             int setReadoutSpeed(); // configures camera using m_readoutSpeedNameSet
 *         \endcode
 *         This configures the camera according to \ref m_readoutSpeedNameSet.
 *         The implementation must also manage \ref m_readoutSpeedName, keeping it up to date with the current setting.
 *
 *       - If true, the configuration setting "camera.defaultReadoutSpeed"
 *         is also exposed, and \ref m_defaultReadoutSpeed will be set according to it.  The implementation can
 *         set a sensible default on construction.
 *
 *     - Vertical Shift Speed:
 *
 *        - A static configuration variable must be defined in derivedT as
 *          \code
 *              static constexpr bool c_stdCamera_vShiftSpeed = true; //or: false
 *          \endcode
 *          which determines whether or not vertical shift speed controls are exposed.
 *
 *        - If true, then the implementation should populate \ref m_vShiftSpeedNames and \ref m_vShiftSpeedLabels
 *          (vectors of strings) on construction to the allowed values.  This
 *          facility is normally used with names like "0_3us" and "1_3us".
 *
 *        - If true then the following interface must be defined:
 *          \code
 *              int setVShiftSpeed(); // configures camera according to m_vShiftSpeedNameSet
 *          \endcode
 *          function must be defined which sets the camera according to \ref m_vShiftSpeedNameSet.
 *          The implementation must also manage m_vShiftSpeedName, keeping it up to date.
 *
 *        - The configuration setting "camera.defaultVShiftSpeed"
 *          is also exposed, and \ref m_defaultVShiftSpeed will be set accordingly.  derivedT can set a sensible default
 *          on constuction.
 *
 *     - Exposure Time:
 *        - A static configuration variable must be defined in derivedT as
 *          \code
 *              static constexpr bool c_stdCamera_exptimeCtrl = true; //or: false
 *          \endcode
 *        - If true, the following interface must be implemented:
 *          \code
 *              int setExpTime(); // set camera exposure time according to m_expTimeSet.
 *          \endcode
 *          to configure the camera according to \ref m_expTimeSet.  derivedT must also keep \ref m_expTime up to date.
 *
 *     - Frames per Second (FPS) Control and Status:
 *         - A static configuration variable must be defined in derivedT as
 *           \code
 *               static constexpr bool c_stdCamera_fpsCtrl = true; //or: false
 *           \endcode
 *
 *         - If that is set to true the derivedT must implement
 *           \code
 *               int setFPS(); // set camera FS according to m_fps
 *           \endcode
 *           to configure the camera according to \ref m_fpsSet.
 *
 *         - A static configuration variable must be defined in derivedT as
 *           \code
 *              static constexpr bool c_stdCamera_fps = true; //or: false
 *           \endcode
 *           Note that the value of c_stdCamera_fps does not matter if c_stdCamera_fpsCtrl == true.
 *
 *         - If either `c_stdCamera_fpsCtrl == true` or `c_stdCamera_fps == true` then derivedT must also
 *           keep \ref m_fps up to date.
 *
 *     - Synchro Control:
 *
 *       - A static configuration variable must be defined in derivedT as
 *         \code
 *             static constexpr bool c_stdCamera_synchro = true; //or: false
 *         \endcode
 *       - If that is set to true the derivedT must implement
 *         \code
 *             int setSynchro(); // configure the camera based m_synchroSet.
 *         \endcode
 *         to configure the camera based on \ref m_synchroSet.  The implementation should also keep
 *         \ref m_synchro up to date.
 *
 *     - EM Gain:
 *        - A static configuration variable must be defined in derivedT as
 *          \code
 *              static constexpr bool c_stdCamera_emGain = true; //or: false
 *          \endcode
 *          which determines whether or not EM gain controls are exposed.
 *
 *        - If the camera uses EM Gain, then a function
 *          \code
 *              int setEMGain(); // set EM gain based on m_emGainSet.
 *          \endcode
 *          must be defined which sets the camera EM Gain to \ref m_emGainSet.
 *
 *        - If true the implementation must keep \ref m_emGain up to date.
 *
 *        - If true the value of \ref m_maxEMGain should be set by the implementation and managed
 *          as needed. Additionally the configuration setting "camera.maxEMGain" is exposed.
 *
 *     - Camera Modes:
 *
 *       - A static configuration variable must be defined in derivedT as
 *         \code
 *             static constexpr bool c_stdCamera_usesModes= true; //or: false
 *         \endcode
 *
 *       - If true, then modes are read from the configuration file.  See \ref loadCameraConfig()
 *
 *       - If true, then the configuration setting "camera.startupMode" is exposed, which sets the mode at startup by
 * its name.
 *
 *     - Regions of Interest
 *
 *       - A static configuration variable must be defined in derivedT as
 *         \code
 *             static constexpr bool c_stdCamera_usesROI = true; //or: false
 *         \endcode
 *
 *       - The default values of m_currentROI should be set before calling stdCamera::appStartup().
 *
 *       - The derived class must implement:
 *         \code
 *             int checkNextROI(); // verifies m_nextROI values and modifies to closest valid values if needed
 *             int setNextROI(); // sets the ROI to the new target values.
 *         \endcode
 *
 *     - Crop Mode ROIs:
 *
 *        - A static configuration variable must be defined in derivedT as
 *          \code
 *              static constexpr bool c_stdCamera_cropMode = true; //or: false
 *          \endcode
 *
 *        - If true the derived class must implement
 *          \code
 *              int setCropMode(); // set crop mode according to m_cropModeSet
 *          \endcode
 *          which changes the crop mode according to \ref m_cropModeSet.
 *
 *        - `derivedT` must also maintain the value of \ref m_cropMode.
 *
 *     - Shutters:
 *
 *       - A static configuration variable must be defined in derivedT as
 *         \code
 *             static constexpr bool c_stdCamera_hasShutter = true; //or: false
 *         \endcode
 *
 *       - If true the following interface must be implemented:
 *         \code
 *             int setShutter(int); // shut the shutter if 0, open the shutter otherwise.
 *         \endcode
 *         which shuts the shutter if the argument is 0, opens it otherwise.
 *
 *     - State:
 *
 *       - A static configuration variable must be defined in derivedT as
 *         \code
 *             static constexpr bool c_stdCamera_usesStateString = true; //or: false
 *         \endcode
 *         which determines whether the class provides a state string for dark management.
 *
 *       - If true, the following functions must be defined in derivedT:
 *         \code
 *             std::string stateString(); //String capturing the current state.  Must not include "__T".
 *             bool stateStringValid(); //Whether or not the current state string is valid, i.e. not changing.
 *         \endcode
 *
 *
 * - The derived class must implement:
 *   \code
 *   int powerOnDefaults(); // called on power-on after powerOnWaitElapsed has occurred.
 *   \endcode
 *
 * - Calls to this class's setupConfig(), loadConfig(), appStartup(), appLogic(), appShutdown()
 *   onPowerOff(), and whilePowerOff(),  must be placed in the derived class's functions of the same name.
 *
 * \ingroup appdev
 */
template <class derivedT>
class stdCamera
{
  protected:
    /** \name Configurable Parameters
     * @{
     */
 
    cameraConfigMap m_cameraModes; ///< Map holding the possible camera mode configurations
 
    std::string m_startupMode; ///< The camera mode to load during first init after a power-on.
 
    float m_startupTemp{ -999 }; ///< The temperature to set after a power-on.  Set to <= -999 to not use [default].
 
    std::string m_defaultReadoutSpeed; ///< The default readout speed of the camera.
    std::string m_defaultVShiftSpeed;  ///< The default readout speed of the camera.
 
    ///@}
 
    /** \name Temperature Control Interface
     * @{
     */
 
    float m_minTemp{ -60 };
    float m_maxTemp{ 30 };
    float m_stepTemp{ 0 };
 
    float m_ccdTemp{ -999 }; ///< The current temperature, in C
 
    float m_ccdTempSetpt{ -999 }; ///< The desired temperature, in C
 
    bool m_tempControlStatus{ false };    ///< Whether or not temperature control is active
    bool m_tempControlStatusSet{ false }; ///< Desired state of temperature control
 
    bool m_tempControlOnTarget{ false }; ///< Whether or not the temperature control system is on its target temperature
 
    std::string m_tempControlStatusStr; ///< Camera specific description of temperature control status.
 
    pcf::IndiProperty m_indiP_temp;
    pcf::IndiProperty m_indiP_tempcont;
    pcf::IndiProperty m_indiP_tempstat;
 
    ///@}
 
    /** \name Readout Control
     * @{
     */
 
    std::vector<std::string> m_readoutSpeedNames;
    std::vector<std::string> m_readoutSpeedNameLabels;
 
    std::string m_readoutSpeedName;    ///< The current readout speed name
    std::string m_readoutSpeedNameSet; ///< The user requested readout speed name, to be set by derived()
 
    std::vector<std::string> m_vShiftSpeedNames;
    std::vector<std::string> m_vShiftSpeedNameLabels;
 
    std::string m_vShiftSpeedName;    ///< The current vshift speed name
    std::string m_vShiftSpeedNameSet; ///< The user requested vshift speed name, to be set by derived()
 
    float m_adcSpeed{ 0 };
    float m_vshiftSpeed{ 0 };
 
    float m_emGain{ 1 };    ///< The camera's current EM gain (if available).
    float m_emGainSet{ 1 }; ///< The camera's EM gain, as set by the user.
    float m_maxEMGain{ 1 }; ///< The configurable maximum EM gain.  To be enforced in derivedT.
 
    pcf::IndiProperty m_indiP_readoutSpeed;
    pcf::IndiProperty m_indiP_vShiftSpeed;
 
    pcf::IndiProperty m_indiP_emGain;
 
    ///@}
 
    /** \name Exposure Control
     * @{
     */
    float m_minExpTime{ 0 };                                 ///< The minimum exposure time, used for INDI attributes
    float m_maxExpTime{ std::numeric_limits<float>::max() }; ///< The maximum exposure time, used for INDI attributes
    float m_stepExpTime{ 0 }; ///< The maximum exposure time stepsize, used for INDI attributes
 
    float m_expTime{ 0 };    ///< The current exposure time, in seconds.
    float m_expTimeSet{ 0 }; ///< The exposure time, in seconds, as set by user.
 
    float m_minFPS{ 0 };                                 ///< The minimum FPS, used for INDI attributes
    float m_maxFPS{ std::numeric_limits<float>::max() }; ///< The maximum FPS, used for INDI attributes
    float m_stepFPS{ 0 };                                ///< The FPS step size, used for INDI attributes
 
    float m_fps{ 0 };    ///< The current FPS.
    float m_fpsSet{ 0 }; ///< The commanded fps, as set by user.
 
    pcf::IndiProperty m_indiP_exptime;
 
    pcf::IndiProperty m_indiP_fps;
 
    ///@}
 
    /** \name External Synchronization
     * @{
     */
    bool m_synchroSet{ false }; ///< Target status of m_synchro
 
    bool m_synchro{ false }; ///< Status of synchronization, true is on, false is off.
 
    pcf::IndiProperty m_indiP_synchro;
 
    ///@}
 
    /** \name Modes
     *
     * @{
     */
    std::string m_modeName; ///< The current mode name
 
    std::string m_nextMode; ///< The mode to be set by the next reconfiguration
 
    pcf::IndiProperty m_indiP_mode; ///< Property used to report the current mode
 
    pcf::IndiProperty
        m_indiP_reconfig; ///< Request switch which forces the framegrabber to go through the reconfigure process.
 
    ///@}
 
    /** \name ROIs
     * ROI controls are exposed if derivedT::c_stdCamera_usesROI==true
     * @{
     */
    struct roi
    {
        float x{ 0 };
        float y{ 0 };
        int   w{ 0 };
        int   h{ 0 };
        int   bin_x{ 0 };
        int   bin_y{ 0 };
    };
 
    roi m_currentROI;
    roi m_nextROI;
    roi m_lastROI;
 
    float m_minROIx{ 0 };
    float m_maxROIx{ 1023 };
    float m_stepROIx{ 0 };
 
    float m_minROIy{ 0 };
    float m_maxROIy{ 1023 };
    float m_stepROIy{ 0 };
 
    int m_minROIWidth{ 1 };
    int m_maxROIWidth{ 1024 };
    int m_stepROIWidth{ 1 };
 
    int m_minROIHeight{ 1 };
    int m_maxROIHeight{ 1024 };
    int m_stepROIHeight{ 1 };
 
    int m_minROIBinning_x{ 1 };
    int m_maxROIBinning_x{ 4 };
    int m_stepROIBinning_x{ 1 };
 
    int m_minROIBinning_y{ 1 };
    int m_maxROIBinning_y{ 4 };
    int m_stepROIBinning_y{ 1 };
 
    float m_default_x{ 0 };     ///< Power-on ROI center x coordinate.
    float m_default_y{ 0 };     ///< Power-on ROI center y coordinate.
    int   m_default_w{ 0 };     ///< Power-on ROI width.
    int   m_default_h{ 0 };     ///< Power-on ROI height.
    int   m_default_bin_x{ 1 }; ///< Power-on ROI x binning.
    int   m_default_bin_y{ 1 }; ///< Power-on ROI y binning.
 
    float m_full_x{ 0 };     ///< The full ROI center x coordinate.
    float m_full_y{ 0 };     ///< The full ROI center y coordinate.
    int   m_full_w{ 0 };     ///< The full ROI width.
    int   m_full_h{ 0 };     ///< The full ROI height.
    int   m_full_bin_x{ 1 }; ///< The x-binning in the full ROI.
    int   m_full_bin_y{ 1 }; ///< The y-binning in the full ROI.
 
    float m_full_currbin_x{ 0 }; ///< The current-binning full ROI center x coordinate.
    float m_full_currbin_y{ 0 }; ///< The current-binning full ROI center y coordinate.
    int   m_full_currbin_w{ 0 }; ///< The current-binning full ROI width.
    int   m_full_currbin_h{ 0 }; ///< The current-binning full ROI height.
 
    pcf::IndiProperty m_indiP_roi_x;     ///< Property used to set the ROI x center coordinate
    pcf::IndiProperty m_indiP_roi_y;     ///< Property used to set the ROI x center coordinate
    pcf::IndiProperty m_indiP_roi_w;     ///< Property used to set the ROI width
    pcf::IndiProperty m_indiP_roi_h;     ///< Property used to set the ROI height
    pcf::IndiProperty m_indiP_roi_bin_x; ///< Property used to set the ROI x binning
    pcf::IndiProperty m_indiP_roi_bin_y; ///< Property used to set the ROI y binning
 
    pcf::IndiProperty m_indiP_fullROI; ///< Property used to preset the full ROI dimensions.
 
    pcf::IndiProperty m_indiP_roi_check; ///< Property used to trigger checking the target ROI
 
    pcf::IndiProperty m_indiP_roi_set; ///< Property used to trigger setting the ROI
 
    pcf::IndiProperty m_indiP_roi_full;     ///< Property used to trigger setting the full ROI.
    pcf::IndiProperty m_indiP_roi_fullbin;  ///< Property used to trigger setting the full in current binning ROI.
    pcf::IndiProperty m_indiP_roi_loadlast; ///< Property used to trigger loading the last ROI as the target.
    pcf::IndiProperty m_indiP_roi_last;     ///< Property used to trigger setting the last ROI.
    pcf::IndiProperty m_indiP_roi_default;  ///< Property used to trigger setting the default and startup ROI.
 
    ///@}
 
    /** \name Crop Mode
     * Crop mode controls are exposed if derivedT::c_stdCamera_cropMode==true
     * @{
     */
    bool m_cropMode{ false };    ///< Status of crop mode ROIs, if enabled for this camera.
    bool m_cropModeSet{ false }; ///< Desired status of crop mode ROIs, if enabled for this camera.
 
    pcf::IndiProperty m_indiP_cropMode; ///< Property used to toggle crop mode on and off.
    ///@}
 
    /** \name Shutter Control
     * Shutter controls are exposed if derivedT::c_stdCamera_hasShutter == true.
     * @{
     */
    std::string m_shutterStatus{ "UNKNOWN" };
    int         m_shutterState{ -1 }; /// State of the shutter.  0 = shut, 1 = open, -1 = unknown.
 
    pcf::IndiProperty m_indiP_shutterStatus; ///< Property to report shutter status
    pcf::IndiProperty m_indiP_shutter;       ///< Property used to control the shutter, a switch.
 
    ///@}
 
    /** \name State String
     * The State string is exposed if derivedT::c_stdCamera_usesStateString is true.
     * @{
     */
    pcf::IndiProperty m_indiP_stateString;
    ///@}
 
  public:
    /// Destructor.
    ~stdCamera() noexcept;
 
    /// Setup the configuration system
    /**
      * This should be called in `derivedT::setupConfig` as
      * \code
        stdCamera<derivedT>::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
        stdCamera<derivedT>::loadConfig(config);
        \endcode
      * with appropriate error checking.
      */
    int loadConfig( mx::app::appConfigurator &config /**< [in] the derived classes configurator*/ );
 
  protected:
    // workers to create indi variables if needed
    int createReadoutSpeed( const mx::meta::trueFalseT<true> &t );
 
    int createReadoutSpeed( const mx::meta::trueFalseT<false> &f );
 
    int createVShiftSpeed( const mx::meta::trueFalseT<true> &t );
 
    int createVShiftSpeed( const mx::meta::trueFalseT<false> &f );
 
  public:
    /// Startup function
    /**
      * This should be called in `derivedT::appStartup` as
      * \code
        stdCamera<derivedT>::appStartup();
        \endcode
      * with appropriate error checking.
      *
      * You should set the default/startup values of m_currentROI as well as the min/max/step values for the ROI
      parameters
      * before calling this function.
      *
      * \returns 0 on success
      * \returns -1 on error, which is logged.
      */
    int appStartup();
 
    /// Application logic
    /** Checks the stdCamera thread
      *
      * This should be called from the derived's appLogic() as in
      * \code
        stdCamera<derivedT>::appLogic();
        \endcode
      * with appropriate error checking.
      *
      * \returns 0 on success
      * \returns -1 on error, which is logged.
      */
    int appLogic();
 
    /// Actions on power off
    /**
      * This should be called from the derived's onPowerOff() as in
      * \code
        stdCamera<derivedT>::onPowerOff();
        \endcode
      * with appropriate error checking.
      *
      * The INDI mutex should be locked before calling.
      *
      * \returns 0 on success
      * \returns -1 on error, which is logged.
      */
    int onPowerOff();
 
    /// Actions while powered off
    /**
      * This should be called from the derived's whilePowerOff() as in
      * \code
        stdCamera<derivedT>::whilePowerOff();
        \endcode
      * with appropriate error checking.
      *
      * \returns 0 on success
      * \returns -1 on error, which is logged.
      */
    int whilePowerOff();
 
    /// Application shutdown
    /** Shuts down the stdCamera thread
      *
      * \code
        stdCamera<derivedT>::appShutdown();
        \endcode
      * with appropriate error checking.
      *
      * \returns 0 on success
      * \returns -1 on error, which is logged.
      */
    int appShutdown();
 
  protected:
    /** \name INDI
     *
     *@{
     */
  public:
    /// The static callback function to be registered for stdCamera properties
    /** Calls newCallback_stdCamera
     *
     * \returns 0 on success.
     * \returns -1 on error.
     */
    static int st_newCallBack_stdCamera(
        void                    *app,   ///< [in] a pointer to this, will be static_cast-ed to derivedT.
        const pcf::IndiProperty &ipRecv ///< [in] the INDI property sent with the the new property request.
    );
 
    /// The callback function for stdCamera properties
    /** Dispatches to the relevant handler
     *
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_stdCamera(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Interface to setTempSetPt when the derivedT has temperature control
    /** Tag-dispatch resolution of c_stdCamera_tempControl==true will call this function.
     * Calls derivedT::setTempSetPt.
     */
    int setTempSetPt( const mx::meta::trueFalseT<true> &t );
 
    /// Interface to setTempSetPt when the derivedT does not have temperature control
    /** Tag-dispatch resolution of c_stdCamera_tempControl==false will call this function.
     * Prevents requiring derivedT::setTempSetPt.
     */
    int setTempSetPt( const mx::meta::trueFalseT<false> &f );
 
    /// Callback to process a NEW CCD temp request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_temp(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Interface to setTempControl when the derivedT has temperature control
    /** Tag-dispatch resolution of c_stdCamera_tempControl==true will call this function.
     * Calls derivedT::setTempControl.
     */
    int setTempControl( const mx::meta::trueFalseT<true> &t );
 
    /// Interface to setTempControl when the derivedT does not have temperature control
    /** Tag-dispatch resolution of c_stdCamera_tempControl==false will call this function.
     * Prevents requiring derivedT::setTempControl.
     */
    int setTempControl( const mx::meta::trueFalseT<false> &f );
 
    /// Callback to process a NEW CCD temp control request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_temp_controller(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Interface to setReadoutSpeed when the derivedT has readout speed control
    /** Tag-dispatch resolution of c_stdCamera_readoutSpeed==true will call this function.
     * Calls derivedT::setReadoutSpeed.
     */
    int setReadoutSpeed( const mx::meta::trueFalseT<true> &t );
 
    /// Interface to setReadoutSpeed when the derivedT does not have readout speed control
    /** Tag-dispatch resolution of c_stdCamera_readoutSpeed==false will call this function.
     * Just returns 0.
     */
    int setReadoutSpeed( const mx::meta::trueFalseT<false> &f );
 
    /// Callback to process a NEW readout speed  request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_readoutSpeed(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Interface to setVShiftSpeed when the derivedT has vshift speed control
    /** Tag-dispatch resolution of c_stdCamera_vShiftSpeed==true will call this function.
     * Calls derivedT::setVShiftSpeed.
     */
    int setVShiftSpeed( const mx::meta::trueFalseT<true> &t );
 
    /// Interface to setVShiftSpeed when the derivedT does not have vshift speed control
    /** Tag-dispatch resolution of c_stdCamera_vShiftSpeed==false will call this function.
     * Just returns 0.
     */
    int setVShiftSpeed( const mx::meta::trueFalseT<false> &f );
 
    /// Callback to process a NEW vshift speed  request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_vShiftSpeed(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Interface to setEMGain when the derivedT has EM Gain
    /** Tag-dispatch resolution of c_stdCamera_emGain==true will call this function.
     * Calls derivedT::setEMGain.
     */
    int setEMGain( const mx::meta::trueFalseT<true> &t );
 
    /// Interface to setEMGain when the derivedT does not have EM Gain
    /** Tag-dispatch resolution of c_stdCamera_emGain==false will call this function.
     * This prevents requiring derivedT to have its own setEMGain().
     */
    int setEMGain( const mx::meta::trueFalseT<false> &f );
 
    /// Callback to process a NEW EM gain request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_emgain(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Interface to setExpTime when the derivedT uses exposure time controls
    /** Tag-dispatch resolution of c_stdCamera_exptimeCtrl==true will call this function.
     * Calls derivedT::setExpTime.
     */
    int setExpTime( const mx::meta::trueFalseT<true> &t );
 
    /// Interface to setExptime when the derivedT does not use exposure time controls.
    /** Tag-dispatch resolution of c_stdCamera_exptimeCtrl==false will call this function.
     * This prevents requiring derivedT to have its own setExpTime().
     */
    int setExpTime( const mx::meta::trueFalseT<false> &f );
 
    /// Callback to process a NEW exposure time request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_exptime(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Interface to setFPS when the derivedT uses FPS controls
    /** Tag-dispatch resolution of c_stdCamera_fpsCtrl==true will call this function.
     * Calls derivedT::setFPS.
     */
    int setFPS( const mx::meta::trueFalseT<true> &t );
 
    /// Interface to setFPS when the derivedT does not use FPS controls.
    /** Tag-dispatch resolution of c_stdCamera_hasFPS==false will call this function.
     * This prevents requiring derivedT to have its own setFPS().
     */
    int setFPS( const mx::meta::trueFalseT<false> &f );
 
    /// Callback to process a NEW fps request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_fps(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Interface to setSynchro when the derivedT has synchronization
    /** Tag-dispatch resolution of c_stdCamera_synchro==true will call this function.
     * Calls derivedT::setSynchro.
     */
    int setSynchro( const mx::meta::trueFalseT<true> &t );
 
    /// Interface to setSynchro when the derivedT does not have synchronization
    /** Tag-dispatch resolution of c_stdCamera_ynchro==false will call this function.
     * This prevents requiring derivedT to have its own setSynchro().
     */
    int setSynchro( const mx::meta::trueFalseT<false> &f );
 
    /// Callback to process a NEW synchro request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_synchro(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Callback to process a NEW mode request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_mode(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Callback to process a NEW reconfigure request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_reconfigure(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Interface to setCropMode when the derivedT has crop mode
    /** Tag-dispatch resolution of c_stdCamera_cropMode==true will call this function.
     * Calls derivedT::setCropMode.
     */
    int setCropMode( const mx::meta::trueFalseT<true> &t );
 
    /// Interface to setCropMode when the derivedT does not have crop mode
    /** Tag-dispatch resolution of c_stdCamera_cropMode==false will call this function.
     * This prevents requiring derivedT to have its own setCropMode().
     */
    int setCropMode( const mx::meta::trueFalseT<false> &f );
 
    /// Callback to process a NEW cropMode request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_cropMode(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Callback to process a NEW roi_x request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_roi_x(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Callback to process a NEW roi_y request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_roi_y(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Callback to process a NEW roi_w request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_roi_w(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Callback to process a NEW roi_h request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_roi_h(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Callback to process a NEW bin_x request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_roi_bin_x(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Callback to process a NEW bin_y request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_roi_bin_y(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Interface to checkNextROI when the derivedT uses ROIs
    /** Tag-dispatch resolution of c_stdCamera_usesROI==true will call this function.
     * Calls derivedT::checkNextROI.
     */
    int checkNextROI( const mx::meta::trueFalseT<true> &t );
 
    /// Interface to checkNextROI when the derivedT does not use ROIs.
    /** Tag-dispatch resolution of c_stdCamera_usesROI==false will call this function.
     * This prevents requiring derivedT to have its own checkNextROI().
     */
    int checkNextROI( const mx::meta::trueFalseT<false> &f );
 
    /// Callback to process a NEW roi_check request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_roi_check(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Interface to setNextROI when the derivedT uses ROIs
    /** Tag-dispatch resolution of c_stdCamera_usesROI==true will call this function.
     * Calls derivedT::setNextROI.
     */
    int setNextROI( const mx::meta::trueFalseT<true> &t );
 
    /// Interface to setNextROI when the derivedT does not use ROIs.
    /** Tag-dispatch resolution of c_stdCamera_usesROI==false will call this function.
     * This prevents requiring derivedT to have its own setNextROI().
     */
    int setNextROI( const mx::meta::trueFalseT<false> &f );
 
    /// Callback to process a NEW roi_set request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_roi_set(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Callback to process a NEW roi_full request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_roi_full(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Callback to process a NEW roi_fullbin request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_roi_fullbin(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Callback to process a NEW roi_loadlast request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_roi_loadlast(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Callback to process a NEW roi_last request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_roi_last(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Callback to process a NEW roi_default request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_roi_default(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Interface to setShutter when the derivedT has a shutter
    /** Tag-dispatch resolution of c_stdCamera_hasShutter==true will call this function.
     * Calls derivedT::setShutter.
     */
    int setShutter( int ss, const mx::meta::trueFalseT<true> &t );
 
    /// Interface to setShutter when the derivedT does not have a shutter.
    /** Tag-dispatch resolution of c_stdCamera_hasShutter==false will call this function.
     * This prevents requiring derivedT to have its own setShutter().
     */
    int setShutter( int ss, const mx::meta::trueFalseT<false> &f );
 
    /// Callback to process a NEW shutter request
    /**
     * \returns 0 on success.
     * \returns -1 on error.
     */
    int newCallBack_shutter(
        const pcf::IndiProperty &ipRecv /**< [in] the INDI property sent with the the new property request.*/ );
 
    /// Interface to stateString when the derivedT provides it
    /** Tag-dispatch resolution of c_stdCamera_usesStateString==true will call this function.
     * Calls derivedT::stateString.
     */
    std::string stateString( const mx::meta::trueFalseT<true> &t );
 
    /// Interface to stateString when the derivedT does not provide it
    /** Tag-dispatch resolution of c_stdCamera_usesStateString==false will call this function.
     * returns "".
     */
    std::string stateString( const mx::meta::trueFalseT<false> &f );
 
    /// Interface to stateStringValid when the derivedT provides it
    /** Tag-dispatch resolution of c_stdCamera_usesStateString==true will call this function.
     * Calls derivedT::stateStringValid.
     */
    bool stateStringValid( const mx::meta::trueFalseT<true> &t );
 
    /// Interface to stateStringValid when the derivedT does not provide it
    /** Tag-dispatch resolution of c_stdCamera_usesStateString==false will call this function.
     * returns false.
     */
    bool stateStringValid( const mx::meta::trueFalseT<false> &f );
 
    /// 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();
 
    ///@}
 
    /** \name Telemeter Interface
     * @{
     */
 
    int recordCamera( bool force = false );
 
    ///@}
 
  private:
    derivedT &derived()
    {
        return *static_cast<derivedT *>( this );
    }
};
 
template <class derivedT>
stdCamera<derivedT>::~stdCamera() noexcept
{
    return;
}
 
template <class derivedT>
int stdCamera<derivedT>::setupConfig( mx::app::appConfigurator &config )
{
    if( derivedT::c_stdCamera_tempControl )
    {
        config.add( "camera.startupTemp",
                    "",
                    "camera.startupTemp",
                    argType::Required,
                    "camera",
                    "startupTemp",
                    false,
                    "float",
                    "The temperature setpoint to set after a power-on [C].  Default is 20 C." );
    }
 
    if( derivedT::c_stdCamera_readoutSpeed )
    {
        config.add( "camera.defaultReadoutSpeed",
                    "",
                    "camera.defaultReadoutSpeed",
                    argType::Required,
                    "camera",
                    "defaultReadoutSpeed",
                    false,
                    "string",
                    "The default amplifier and readout speed." );
    }
 
    if( derivedT::c_stdCamera_vShiftSpeed )
    {
        config.add( "camera.defaultVShiftSpeed",
                    "",
                    "camera.defaultVShiftSpeed",
                    argType::Required,
                    "camera",
                    "defaultVShiftSpeed",
                    false,
                    "string",
                    "The default vertical shift speed." );
    }
 
    if( derivedT::c_stdCamera_emGain )
    {
        config.add( "camera.maxEMGain",
                    "",
                    "camera.maxEMGain",
                    argType::Required,
                    "camera",
                    "maxEMGain",
                    false,
                    "unsigned",
                    "The maximum EM gain which can be set by the user." );
    }
 
    if( derivedT::c_stdCamera_usesModes )
    {
        config.add( "camera.startupMode",
                    "",
                    "camera.startupMode",
                    argType::Required,
                    "camera",
                    "startupMode",
                    false,
                    "string",
                    "The mode to set upon power on or application startup." );
    }
 
    if( derivedT::c_stdCamera_usesROI )
    {
        config.add( "camera.default_x",
                    "",
                    "camera.default_x",
                    argType::Required,
                    "camera",
                    "default_x",
                    false,
                    "float",
                    "The default ROI x position." );
        config.add( "camera.default_y",
                    "",
                    "camera.default_y",
                    argType::Required,
                    "camera",
                    "default_y",
                    false,
                    "float",
                    "The default ROI y position." );
        config.add( "camera.default_w",
                    "",
                    "camera.default_w",
                    argType::Required,
                    "camera",
                    "default_w",
                    false,
                    "int",
                    "The default ROI width." );
        config.add( "camera.default_h",
                    "",
                    "camera.default_h",
                    argType::Required,
                    "camera",
                    "default_h",
                    false,
                    "int",
                    "The default ROI height." );
        config.add( "camera.default_bin_x",
                    "",
                    "camera.default_bin_x",
                    argType::Required,
                    "camera",
                    "default_bin_x",
                    false,
                    "int",
                    "The default ROI x binning." );
        config.add( "camera.default_bin_y",
                    "",
                    "camera.default_bin_y",
                    argType::Required,
                    "camera",
                    "default_bin_y",
                    false,
                    "int",
                    "The default ROI y binning." );
    }
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::loadConfig( mx::app::appConfigurator &config )
{
    if( derivedT::c_stdCamera_tempControl )
    {
        config( m_startupTemp, "camera.startupTemp" );
    }
 
    if( derivedT::c_stdCamera_readoutSpeed )
    {
        config( m_defaultReadoutSpeed, "camera.defaultReadoutSpeed" );
    }
 
    if( derivedT::c_stdCamera_vShiftSpeed )
    {
        config( m_defaultVShiftSpeed, "camera.defaultVShiftSpeed" );
    }
 
    if( derivedT::c_stdCamera_emGain )
    {
        config( m_maxEMGain, "camera.maxEMGain" );
    }
 
    if( derivedT::c_stdCamera_usesModes )
    {
        int rv = loadCameraConfig( m_cameraModes, config );
 
        if( rv < 0 )
        {
            if( rv == CAMCTRL_E_NOCONFIGS )
            {
                derivedT::template log<text_log>( "No camera configurations found.", logPrio::LOG_CRITICAL );
            }
        }
 
        config( m_startupMode, "camera.startupMode" );
    }
 
    if( derivedT::c_stdCamera_usesROI )
    {
        config( m_default_x, "camera.default_x" );
        config( m_default_y, "camera.default_y" );
        config( m_default_w, "camera.default_w" );
        config( m_default_h, "camera.default_h" );
        config( m_default_bin_x, "camera.default_bin_x" );
        config( m_default_bin_y, "camera.default_bin_y" );
    }
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::createReadoutSpeed( const mx::meta::trueFalseT<true> &t )
{
    static_cast<void>( t );
 
    derived().createStandardIndiSelectionSw(
        m_indiP_readoutSpeed, "readout_speed", m_readoutSpeedNames, "Readout Speed" );
 
    // Set the labes if provided
    if( m_readoutSpeedNameLabels.size() == m_readoutSpeedNames.size() )
    {
        for( size_t n = 0; n < m_readoutSpeedNames.size(); ++n )
            m_indiP_readoutSpeed[m_readoutSpeedNames[n]].setLabel( m_readoutSpeedNameLabels[n] );
    }
 
    derived().registerIndiPropertyNew( m_indiP_readoutSpeed, st_newCallBack_stdCamera );
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::createReadoutSpeed( const mx::meta::trueFalseT<0> &f )
{
    static_cast<void>( f );
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::createVShiftSpeed( const mx::meta::trueFalseT<true> &t )
{
    static_cast<void>( t );
 
    derived().createStandardIndiSelectionSw(
        m_indiP_vShiftSpeed, "vshift_speed", m_vShiftSpeedNames, "Vert. Shift Speed" );
 
    if( m_vShiftSpeedNameLabels.size() == m_vShiftSpeedNames.size() )
    {
        for( size_t n = 0; n < m_vShiftSpeedNames.size(); ++n )
            m_indiP_vShiftSpeed[m_vShiftSpeedNames[n]].setLabel( m_vShiftSpeedNameLabels[n] );
    }
 
    derived().registerIndiPropertyNew( m_indiP_vShiftSpeed, st_newCallBack_stdCamera );
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::createVShiftSpeed( const mx::meta::trueFalseT<0> &f )
{
    static_cast<void>( f );
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::appStartup()
{
 
    if( derivedT::c_stdCamera_tempControl )
    {
        // The min/max/step values should be set in derivedT before this is called.
        derived().createStandardIndiNumber(
            m_indiP_temp, "temp_ccd", m_minTemp, m_maxTemp, m_stepTemp, "%0.1f", "CCD Temperature", "CCD Temperature" );
        m_indiP_temp["current"].set( m_ccdTemp );
        m_indiP_temp["target"].set( m_ccdTempSetpt );
        if( derived().registerIndiPropertyNew( m_indiP_temp, st_newCallBack_stdCamera ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
 
        derived().createStandardIndiToggleSw(
            m_indiP_tempcont, "temp_controller", "CCD Temperature", "Control On/Off" );
        m_indiP_tempcont["toggle"].set( pcf::IndiElement::Off );
        if( derived().registerIndiPropertyNew( m_indiP_tempcont, st_newCallBack_stdCamera ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
 
        derived().createROIndiText(
            m_indiP_tempstat, "temp_control", "status", "CCD Temperature", "", "CCD Temperature" );
        if( derived().registerIndiPropertyReadOnly( m_indiP_tempstat ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
    }
    else if( derivedT::c_stdCamera_temp )
    {
        derived().createROIndiNumber( m_indiP_temp, "temp_ccd", "CCD Temperature", "CCD Temperature" );
        m_indiP_temp.add( pcf::IndiElement( "current" ) );
        m_indiP_temp["current"].set( m_ccdTemp );
        if( derived().registerIndiPropertyReadOnly( m_indiP_temp ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
    }
 
    if( derivedT::c_stdCamera_readoutSpeed )
    {
        mx::meta::trueFalseT<derivedT::c_stdCamera_readoutSpeed> tf;
        if( createReadoutSpeed( tf ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
    }
 
    if( derivedT::c_stdCamera_vShiftSpeed )
    {
        mx::meta::trueFalseT<derivedT::c_stdCamera_vShiftSpeed> tf;
        if( createVShiftSpeed( tf ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
    }
 
    if( derivedT::c_stdCamera_emGain )
    {
        derived().createStandardIndiNumber( m_indiP_emGain, "emgain", 0, 1000, 1, "%0.3f" );
        if( derived().registerIndiPropertyNew( m_indiP_emGain, st_newCallBack_stdCamera ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
    }
 
    if( derivedT::c_stdCamera_exptimeCtrl )
    {
        derived().createStandardIndiNumber(
            m_indiP_exptime, "exptime", m_minExpTime, m_maxExpTime, m_stepExpTime, "%0.3f" );
        if( derived().registerIndiPropertyNew( m_indiP_exptime, st_newCallBack_stdCamera ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
    }
 
    if( derivedT::c_stdCamera_fpsCtrl )
    {
        derived().createStandardIndiNumber( m_indiP_fps, "fps", m_minFPS, m_maxFPS, m_stepFPS, "%0.2f" );
        if( derived().registerIndiPropertyNew( m_indiP_fps, st_newCallBack_stdCamera ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
    }
    else if( derivedT::c_stdCamera_fps )
    {
        derived().createROIndiNumber( m_indiP_fps, "fps" );
        m_indiP_fps.add( pcf::IndiElement( "current" ) );
        m_indiP_fps["current"].setMin( m_minFPS );
        m_indiP_fps["current"].setMax( m_maxFPS );
        m_indiP_fps["current"].setStep( m_stepFPS );
        m_indiP_fps["current"].setFormat( "%0.2f" );
 
        if( derived().registerIndiPropertyReadOnly( m_indiP_fps ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
    }
 
    if( derivedT::c_stdCamera_synchro )
    {
        derived().createStandardIndiToggleSw( m_indiP_synchro, "synchro", "Synchronization", "Synchronization" );
        if( derived().registerIndiPropertyNew( m_indiP_synchro, st_newCallBack_stdCamera ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
    }
 
    if( derivedT::c_stdCamera_usesModes )
    {
        std::vector<std::string> modeNames;
        for( auto it = m_cameraModes.begin(); it != m_cameraModes.end(); ++it )
        {
            modeNames.push_back( it->first );
        }
 
        if( derived().createStandardIndiSelectionSw( m_indiP_mode, "mode", modeNames ) < 0 )
        {
            derivedT::template log<software_critical>( { __FILE__, __LINE__ } );
            return -1;
        }
        if( derived().registerIndiPropertyNew( m_indiP_mode, st_newCallBack_stdCamera ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
    }
 
    derived().createStandardIndiRequestSw( m_indiP_reconfig, "reconfigure" );
    if( derived().registerIndiPropertyNew( m_indiP_reconfig, st_newCallBack_stdCamera ) < 0 )
    {
#ifndef STDCAMERA_TEST_NOLOG
        derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
        return -1;
    }
 
    if( derivedT::c_stdCamera_usesROI )
    {
        // The min/max/step values should be set in derivedT before this is called.
        derived().createStandardIndiNumber( m_indiP_roi_x, "roi_region_x", m_minROIx, m_maxROIx, m_stepROIx, "%0.1f" );
        if( derived().registerIndiPropertyNew( m_indiP_roi_x, st_newCallBack_stdCamera ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
 
        derived().createStandardIndiNumber( m_indiP_roi_y, "roi_region_y", m_minROIy, m_maxROIy, m_stepROIy, "%0.1f" );
        if( derived().registerIndiPropertyNew( m_indiP_roi_y, st_newCallBack_stdCamera ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
 
        derived().createStandardIndiNumber(
            m_indiP_roi_w, "roi_region_w", m_minROIWidth, m_maxROIWidth, m_stepROIWidth, "%d" );
        if( derived().registerIndiPropertyNew( m_indiP_roi_w, st_newCallBack_stdCamera ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
 
        derived().createStandardIndiNumber(
            m_indiP_roi_h, "roi_region_h", m_minROIHeight, m_maxROIHeight, m_stepROIHeight, "%d" );
        if( derived().registerIndiPropertyNew( m_indiP_roi_h, st_newCallBack_stdCamera ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
 
        derived().createStandardIndiNumber(
            m_indiP_roi_bin_x, "roi_region_bin_x", m_minROIBinning_x, m_maxROIBinning_x, m_stepROIBinning_x, "%f" );
        if( derived().registerIndiPropertyNew( m_indiP_roi_bin_x, st_newCallBack_stdCamera ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
 
        derived().createStandardIndiNumber(
            m_indiP_roi_bin_y, "roi_region_bin_y", m_minROIBinning_y, m_maxROIBinning_y, m_stepROIBinning_y, "%f" );
        if( derived().registerIndiPropertyNew( m_indiP_roi_bin_y, st_newCallBack_stdCamera ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
 
        derived().createROIndiNumber( m_indiP_fullROI, "roi_full_region" );
        m_indiP_fullROI.add( pcf::IndiElement( "x" ) );
        m_indiP_fullROI["x"] = 0;
        m_indiP_fullROI.add( pcf::IndiElement( "y" ) );
        m_indiP_fullROI["y"] = 0;
        m_indiP_fullROI.add( pcf::IndiElement( "w" ) );
        m_indiP_fullROI["w"] = 0;
        m_indiP_fullROI.add( pcf::IndiElement( "h" ) );
        m_indiP_fullROI["h"] = 0;
        if( derived().registerIndiPropertyReadOnly( m_indiP_fullROI ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
 
        derived().createStandardIndiRequestSw( m_indiP_roi_check, "roi_region_check" );
        if( derived().registerIndiPropertyNew( m_indiP_roi_check, st_newCallBack_stdCamera ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
 
        derived().createStandardIndiRequestSw( m_indiP_roi_set, "roi_set" );
        if( derived().registerIndiPropertyNew( m_indiP_roi_set, st_newCallBack_stdCamera ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
 
        derived().createStandardIndiRequestSw( m_indiP_roi_full, "roi_set_full" );
        if( derived().registerIndiPropertyNew( m_indiP_roi_full, st_newCallBack_stdCamera ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
 
        derived().createStandardIndiRequestSw( m_indiP_roi_fullbin, "roi_set_full_bin" );
        if( derived().registerIndiPropertyNew( m_indiP_roi_fullbin, st_newCallBack_stdCamera ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
 
        derived().createStandardIndiRequestSw( m_indiP_roi_loadlast, "roi_load_last" );
        if( derived().registerIndiPropertyNew( m_indiP_roi_loadlast, st_newCallBack_stdCamera ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
 
        derived().createStandardIndiRequestSw( m_indiP_roi_last, "roi_set_last" );
        if( derived().registerIndiPropertyNew( m_indiP_roi_last, st_newCallBack_stdCamera ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
 
        derived().createStandardIndiRequestSw( m_indiP_roi_default, "roi_set_default" );
        if( derived().registerIndiPropertyNew( m_indiP_roi_default, st_newCallBack_stdCamera ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
    }
 
    if( derivedT::c_stdCamera_cropMode )
    {
        derived().createStandardIndiToggleSw( m_indiP_cropMode, "roi_crop_mode", "Crop Mode", "Crop Mode" );
        if( derived().registerIndiPropertyNew( m_indiP_cropMode, st_newCallBack_stdCamera ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
    }
 
    // Set up INDI for shutter
    if( derivedT::c_stdCamera_hasShutter )
    {
        derived().createROIndiText(
            m_indiP_shutterStatus, "shutter_status", "status", "Shutter Status", "Shutter", "Status" );
        m_indiP_shutterStatus["status"] = m_shutterStatus;
        if( derived().registerIndiPropertyReadOnly( m_indiP_shutterStatus ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
 
        derived().createStandardIndiToggleSw( m_indiP_shutter, "shutter", "Shutter", "Shutter" );
        if( derived().registerIndiPropertyNew( m_indiP_shutter, st_newCallBack_stdCamera ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
    }
 
    if( derivedT::c_stdCamera_usesStateString )
    {
        derived().createROIndiText( m_indiP_stateString, "state_string", "current", "State String", "State", "String" );
        m_indiP_stateString.add( pcf::IndiElement( "valid" ) );
        m_indiP_stateString["valid"] = "no";
        if( derived().registerIndiPropertyReadOnly( m_indiP_stateString ) < 0 )
        {
#ifndef STDCAMERA_TEST_NOLOG
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
#endif
            return -1;
        }
    }
 
    return 0;
} // int stdCamera<derivedT>::appStartup()
 
template <class derivedT>
int stdCamera<derivedT>::appLogic()
{
    try
    {
 
        if( derived().state() == stateCodes::POWERON )
        {
            if( derived().powerOnWaitElapsed() )
            {
                derived().state( stateCodes::NOTCONNECTED );
 
                // Set power-on defaults
                derived().powerOnDefaults();
 
                if( derivedT::c_stdCamera_tempControl )
                {
                    // then set startupTemp if configured
                    if( m_startupTemp > -999 )
                        m_ccdTempSetpt = m_startupTemp;
                    derived().updateIfChanged( m_indiP_temp, "target", m_ccdTempSetpt, INDI_IDLE );
                }
 
                if( derivedT::c_stdCamera_usesROI )
                {
                    // m_currentROI should be set to default/startup values in derivedT::powerOnDefaults
                    m_nextROI.x     = m_currentROI.x;
                    m_nextROI.y     = m_currentROI.y;
                    m_nextROI.w     = m_currentROI.w;
                    m_nextROI.h     = m_currentROI.h;
                    m_nextROI.bin_x = m_currentROI.bin_x;
                    m_nextROI.bin_y = m_currentROI.bin_y;
 
                    derived().updateIfChanged( m_indiP_roi_x, "current", m_currentROI.x, INDI_IDLE );
                    derived().updateIfChanged( m_indiP_roi_x, "target", m_nextROI.x, INDI_IDLE );
 
                    derived().updateIfChanged( m_indiP_roi_y, "current", m_currentROI.y, INDI_IDLE );
                    derived().updateIfChanged( m_indiP_roi_y, "target", m_nextROI.y, INDI_IDLE );
 
                    derived().updateIfChanged( m_indiP_roi_w, "current", m_currentROI.w, INDI_IDLE );
                    derived().updateIfChanged( m_indiP_roi_w, "target", m_nextROI.w, INDI_IDLE );
 
                    derived().updateIfChanged( m_indiP_roi_h, "current", m_currentROI.h, INDI_IDLE );
                    derived().updateIfChanged( m_indiP_roi_h, "target", m_nextROI.h, INDI_IDLE );
 
                    derived().updateIfChanged( m_indiP_roi_bin_x, "current", m_currentROI.bin_x, INDI_IDLE );
                    derived().updateIfChanged( m_indiP_roi_bin_x, "target", m_nextROI.bin_x, INDI_IDLE );
 
                    derived().updateIfChanged( m_indiP_roi_bin_y, "current", m_currentROI.bin_y, INDI_IDLE );
                    derived().updateIfChanged( m_indiP_roi_bin_y, "target", m_nextROI.bin_y, INDI_IDLE );
                }
 
                if( derivedT::c_stdCamera_hasShutter )
                {
                    if( m_shutterStatus == "OPERATING" )
                    {
                        derived().updateIfChanged( m_indiP_shutterStatus, "status", m_shutterStatus, INDI_BUSY );
                    }
                    if( m_shutterStatus == "POWERON" || m_shutterStatus == "READY" )
                    {
                        derived().updateIfChanged( m_indiP_shutterStatus, "status", m_shutterStatus, INDI_OK );
                    }
                    else
                    {
                        derived().updateIfChanged( m_indiP_shutterStatus, "status", m_shutterStatus, INDI_IDLE );
                    }
 
                    if( m_shutterState == 1 )
                    {
                        derived().updateSwitchIfChanged( m_indiP_shutter, "toggle", pcf::IndiElement::On, INDI_OK );
                    }
                    else
                    {
                        derived().updateSwitchIfChanged( m_indiP_shutter, "toggle", pcf::IndiElement::Off, INDI_IDLE );
                    }
                }
 
                return 0;
            }
            else
            {
                return 0;
            }
        }
        else if( derived().state() == stateCodes::READY || derived().state() == stateCodes::OPERATING )
        {
            if( derivedT::c_stdCamera_usesROI )
            {
                derived().updateIfChanged( m_indiP_roi_x, "current", m_currentROI.x, INDI_IDLE );
                derived().updateIfChanged( m_indiP_roi_x, "target", m_nextROI.x, INDI_IDLE );
 
                derived().updateIfChanged( m_indiP_roi_y, "current", m_currentROI.y, INDI_IDLE );
                derived().updateIfChanged( m_indiP_roi_y, "target", m_nextROI.y, INDI_IDLE );
 
                derived().updateIfChanged( m_indiP_roi_w, "current", m_currentROI.w, INDI_IDLE );
                derived().updateIfChanged( m_indiP_roi_w, "target", m_nextROI.w, INDI_IDLE );
 
                derived().updateIfChanged( m_indiP_roi_h, "current", m_currentROI.h, INDI_IDLE );
                derived().updateIfChanged( m_indiP_roi_h, "target", m_nextROI.h, INDI_IDLE );
 
                derived().updateIfChanged( m_indiP_roi_bin_x, "current", m_currentROI.bin_x, INDI_IDLE );
                derived().updateIfChanged( m_indiP_roi_bin_x, "target", m_nextROI.bin_x, INDI_IDLE );
 
                derived().updateIfChanged( m_indiP_roi_bin_y, "current", m_currentROI.bin_y, INDI_IDLE );
                derived().updateIfChanged( m_indiP_roi_bin_y, "target", m_nextROI.bin_y, INDI_IDLE );
            }
        }
 
        return 0;
    }
    catch( const std::exception &e )
    {
        return derivedT::template log<software_error, -1>(
            { __FILE__, __LINE__, std::string( "Exception caught: " ) + e.what() } );
    }
}
 
template <class derivedT>
int stdCamera<derivedT>::onPowerOff()
{
    if( !derived().m_indiDriver )
        return 0;
 
    if( derivedT::c_stdCamera_usesModes )
    {
        for( auto it = m_cameraModes.begin(); it != m_cameraModes.end(); ++it )
        {
            derived().updateSwitchIfChanged( m_indiP_mode, it->first, pcf::IndiElement::Off, INDI_IDLE );
        }
    }
 
    if( derivedT::c_stdCamera_usesROI )
    {
        indi::updateIfChanged( m_indiP_roi_x, "current", std::string( "" ), derived().m_indiDriver, INDI_IDLE );
        indi::updateIfChanged( m_indiP_roi_x, "target", std::string( "" ), derived().m_indiDriver, INDI_IDLE );
 
        indi::updateIfChanged( m_indiP_roi_y, "current", std::string( "" ), derived().m_indiDriver, INDI_IDLE );
        indi::updateIfChanged( m_indiP_roi_y, "target", std::string( "" ), derived().m_indiDriver, INDI_IDLE );
 
        indi::updateIfChanged( m_indiP_roi_w, "current", std::string( "" ), derived().m_indiDriver, INDI_IDLE );
        indi::updateIfChanged( m_indiP_roi_w, "target", std::string( "" ), derived().m_indiDriver, INDI_IDLE );
 
        indi::updateIfChanged( m_indiP_roi_h, "current", std::string( "" ), derived().m_indiDriver, INDI_IDLE );
        indi::updateIfChanged( m_indiP_roi_h, "target", std::string( "" ), derived().m_indiDriver, INDI_IDLE );
 
        indi::updateIfChanged( m_indiP_roi_bin_x, "current", std::string( "" ), derived().m_indiDriver, INDI_IDLE );
        indi::updateIfChanged( m_indiP_roi_bin_x, "target", std::string( "" ), derived().m_indiDriver, INDI_IDLE );
 
        indi::updateIfChanged( m_indiP_roi_bin_y, "current", std::string( "" ), derived().m_indiDriver, INDI_IDLE );
        indi::updateIfChanged( m_indiP_roi_bin_y, "target", std::string( "" ), derived().m_indiDriver, INDI_IDLE );
    }
 
    // Shutters can be independent pieces of hardware . . .
    if( derivedT::c_stdCamera_hasShutter )
    {
        if( m_shutterStatus == "OPERATING" )
        {
            derived().updateIfChanged( m_indiP_shutterStatus, "status", m_shutterStatus, INDI_BUSY );
        }
        if( m_shutterStatus == "POWERON" || m_shutterStatus == "READY" )
        {
            derived().updateIfChanged( m_indiP_shutterStatus, "status", m_shutterStatus, INDI_OK );
        }
        else
        {
            derived().updateIfChanged( m_indiP_shutterStatus, "status", m_shutterStatus, INDI_IDLE );
        }
 
        if( m_shutterState == 0 )
        {
            derived().updateSwitchIfChanged( m_indiP_shutter, "toggle", pcf::IndiElement::On, INDI_OK );
        }
        else
        {
            derived().updateSwitchIfChanged( m_indiP_shutter, "toggle", pcf::IndiElement::Off, INDI_IDLE );
        }
    }
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::whilePowerOff()
{
    // Shutters can be independent pieces of hardware . . .
    if( derivedT::c_stdCamera_hasShutter )
    {
        if( m_shutterStatus == "OPERATING" )
        {
            derived().updateIfChanged( m_indiP_shutterStatus, "status", m_shutterStatus, INDI_BUSY );
        }
        if( m_shutterStatus == "POWERON" || m_shutterStatus == "READY" )
        {
            derived().updateIfChanged( m_indiP_shutterStatus, "status", m_shutterStatus, INDI_OK );
        }
        else
        {
            derived().updateIfChanged( m_indiP_shutterStatus, "status", m_shutterStatus, INDI_IDLE );
        }
 
        if( m_shutterState == 0 )
        {
            derived().updateSwitchIfChanged( m_indiP_shutter, "toggle", pcf::IndiElement::On, INDI_OK );
        }
        else
        {
            derived().updateSwitchIfChanged( m_indiP_shutter, "toggle", pcf::IndiElement::Off, INDI_IDLE );
        }
    }
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::appShutdown()
{
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::st_newCallBack_stdCamera( void *app, const pcf::IndiProperty &ipRecv )
{
    derivedT *_app = static_cast<derivedT *>( app );
    return _app->newCallBack_stdCamera( ipRecv );
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_stdCamera( const pcf::IndiProperty &ipRecv )
{
 
    if( ipRecv.getDevice() != derived().configName() )
    {
#ifndef XWCTEST_INDI_CALLBACK_VALIDATION
        derivedT::template log<software_error>( { __FILE__, __LINE__, "unknown INDI property" } );
#endif
 
        return -1;
    }
 
    std::string name = ipRecv.getName();
 
    if( name == "reconfigure" )
        return newCallBack_reconfigure( ipRecv );
    else if( derivedT::c_stdCamera_temp && name == "temp_ccd" )
        return newCallBack_temp( ipRecv );
    else if( derivedT::c_stdCamera_tempControl && name == "temp_ccd" )
        return newCallBack_temp( ipRecv );
    else if( derivedT::c_stdCamera_tempControl && name == "temp_controller" )
        return newCallBack_temp_controller( ipRecv );
    else if( derivedT::c_stdCamera_readoutSpeed && name == "readout_speed" )
        return newCallBack_readoutSpeed( ipRecv );
    else if( derivedT::c_stdCamera_vShiftSpeed && name == "vshift_speed" )
        return newCallBack_vShiftSpeed( ipRecv );
    else if( derivedT::c_stdCamera_emGain && name == "emgain" )
        return newCallBack_emgain( ipRecv );
    else if( derivedT::c_stdCamera_exptimeCtrl && name == "exptime" )
        return newCallBack_exptime( ipRecv );
    else if( derivedT::c_stdCamera_fpsCtrl && name == "fps" )
        return newCallBack_fps( ipRecv );
    else if( derivedT::c_stdCamera_synchro && name == "synchro" )
        return newCallBack_synchro( ipRecv );
    else if( derivedT::c_stdCamera_usesModes && name == "mode" )
        return newCallBack_mode( ipRecv );
    else if( derivedT::c_stdCamera_cropMode && name == "roi_crop_mode" )
        return newCallBack_cropMode( ipRecv );
    else if( derivedT::c_stdCamera_usesROI && name == "roi_region_x" )
        return newCallBack_roi_x( ipRecv );
    else if( derivedT::c_stdCamera_usesROI && name == "roi_region_y" )
        return newCallBack_roi_y( ipRecv );
    else if( derivedT::c_stdCamera_usesROI && name == "roi_region_w" )
        return newCallBack_roi_w( ipRecv );
    else if( derivedT::c_stdCamera_usesROI && name == "roi_region_h" )
        return newCallBack_roi_h( ipRecv );
    else if( derivedT::c_stdCamera_usesROI && name == "roi_region_bin_x" )
        return newCallBack_roi_bin_x( ipRecv );
    else if( derivedT::c_stdCamera_usesROI && name == "roi_region_bin_y" )
        return newCallBack_roi_bin_y( ipRecv );
    else if( derivedT::c_stdCamera_usesROI && name == "roi_region_check" )
        return newCallBack_roi_check( ipRecv );
    else if( derivedT::c_stdCamera_usesROI && name == "roi_set" )
        return newCallBack_roi_set( ipRecv );
    else if( derivedT::c_stdCamera_usesROI && name == "roi_set_full" )
        return newCallBack_roi_full( ipRecv );
    else if( derivedT::c_stdCamera_usesROI && name == "roi_set_full_bin" )
        return newCallBack_roi_fullbin( ipRecv );
    else if( derivedT::c_stdCamera_usesROI && name == "roi_load_last" )
        return newCallBack_roi_loadlast( ipRecv );
    else if( derivedT::c_stdCamera_usesROI && name == "roi_set_last" )
        return newCallBack_roi_last( ipRecv );
    else if( derivedT::c_stdCamera_usesROI && name == "roi_set_default" )
        return newCallBack_roi_default( ipRecv );
    else if( derivedT::c_stdCamera_hasShutter && name == "shutter" )
        return newCallBack_shutter( ipRecv );
 
#ifndef XWCTEST_INDI_CALLBACK_VALIDATION
    derivedT::template log<software_error>( { __FILE__, __LINE__, "unknown INDI property" } );
#endif
 
    return -1;
}
 
template <class derivedT>
int stdCamera<derivedT>::setTempSetPt( const mx::meta::trueFalseT<true> &t )
{
    static_cast<void>( t );
    return derived().setTempSetPt();
}
 
template <class derivedT>
int stdCamera<derivedT>::setTempSetPt( const mx::meta::trueFalseT<false> &f )
{
    static_cast<void>( f );
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_temp( const pcf::IndiProperty &ipRecv )
{
    if( derivedT::c_stdCamera_tempControl )
    {
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
        return 0;
#endif
 
        float target;
 
        std::unique_lock<std::mutex> lock( derived().m_indiMutex );
 
        if( derived().indiTargetUpdate( m_indiP_temp, target, ipRecv, true ) < 0 )
        {
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
            return -1;
        }
 
        m_ccdTempSetpt = target;
 
        mx::meta::trueFalseT<derivedT::c_stdCamera_tempControl> tf;
        return setTempSetPt( tf );
    }
    else
    {
        return 0;
    }
}
 
template <class derivedT>
int stdCamera<derivedT>::setTempControl( const mx::meta::trueFalseT<true> &t )
{
    static_cast<void>( t );
    return derived().setTempControl();
}
 
template <class derivedT>
int stdCamera<derivedT>::setTempControl( const mx::meta::trueFalseT<false> &f )
{
    static_cast<void>( f );
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_temp_controller( const pcf::IndiProperty &ipRecv )
{
    if( derivedT::c_stdCamera_tempControl )
    {
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
        return 0;
#endif
 
        if( !ipRecv.find( "toggle" ) )
            return 0;
 
        m_tempControlStatusSet = false;
 
        std::unique_lock<std::mutex> lock( derived().m_indiMutex );
 
        if( ipRecv["toggle"].getSwitchState() == pcf::IndiElement::On )
        {
            m_tempControlStatusSet = true;
            derived().updateSwitchIfChanged( m_indiP_tempcont, "toggle", pcf::IndiElement::On, INDI_BUSY );
        }
        else if( ipRecv["toggle"].getSwitchState() == pcf::IndiElement::Off )
        {
            m_tempControlStatusSet = false;
            derived().updateSwitchIfChanged( m_indiP_tempcont, "toggle", pcf::IndiElement::Off, INDI_BUSY );
        }
 
        mx::meta::trueFalseT<derivedT::c_stdCamera_emGain> tf;
        return setTempControl( tf );
    }
    else
    {
        return 0;
    }
}
 
template <class derivedT>
int stdCamera<derivedT>::setReadoutSpeed( const mx::meta::trueFalseT<true> &t )
{
    static_cast<void>( t );
    return derived().setReadoutSpeed();
}
 
template <class derivedT>
int stdCamera<derivedT>::setReadoutSpeed( const mx::meta::trueFalseT<false> &f )
{
    static_cast<void>( f );
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_readoutSpeed( const pcf::IndiProperty &ipRecv )
{
    if( derivedT::c_stdCamera_readoutSpeed )
    {
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
        return 0;
#endif
 
        std::unique_lock<std::mutex> lock( derived().m_indiMutex );
 
        std::string newspeed;
 
        for( size_t i = 0; i < m_readoutSpeedNames.size(); ++i )
        {
            if( !ipRecv.find( m_readoutSpeedNames[i] ) )
                continue;
 
            if( ipRecv[m_readoutSpeedNames[i]].getSwitchState() == pcf::IndiElement::On )
            {
                if( newspeed != "" )
                {
                    derivedT::template log<text_log>( "More than one readout speed selected", logPrio::LOG_ERROR );
                    return -1;
                }
 
                newspeed = m_readoutSpeedNames[i];
            }
        }
 
        if( newspeed == "" )
        {
            // We do a reset
            m_readoutSpeedNameSet = m_readoutSpeedName;
        }
        else
        {
            m_readoutSpeedNameSet = newspeed;
        }
 
        mx::meta::trueFalseT<derivedT::c_stdCamera_readoutSpeed> tf;
        return setReadoutSpeed( tf );
    }
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::setVShiftSpeed( const mx::meta::trueFalseT<true> &t )
{
    static_cast<void>( t );
    return derived().setVShiftSpeed();
}
 
template <class derivedT>
int stdCamera<derivedT>::setVShiftSpeed( const mx::meta::trueFalseT<false> &f )
{
    static_cast<void>( f );
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_vShiftSpeed( const pcf::IndiProperty &ipRecv )
{
    if( derivedT::c_stdCamera_vShiftSpeed )
    {
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
        return 0;
#endif
 
        std::unique_lock<std::mutex> lock( derived().m_indiMutex );
 
        std::string newspeed;
 
        for( size_t i = 0; i < m_vShiftSpeedNames.size(); ++i )
        {
            if( !ipRecv.find( m_vShiftSpeedNames[i] ) )
                continue;
 
            if( ipRecv[m_vShiftSpeedNames[i]].getSwitchState() == pcf::IndiElement::On )
            {
                if( newspeed != "" )
                {
                    derivedT::template log<text_log>( "More than one vShift speed selected", logPrio::LOG_ERROR );
                    return -1;
                }
 
                newspeed = m_vShiftSpeedNames[i];
            }
        }
 
        if( newspeed == "" )
        {
            // We do a reset
            m_vShiftSpeedNameSet = m_vShiftSpeedName;
        }
        else
        {
            m_vShiftSpeedNameSet = newspeed;
        }
 
        mx::meta::trueFalseT<derivedT::c_stdCamera_vShiftSpeed> tf;
        return setVShiftSpeed( tf );
    }
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::setEMGain( const mx::meta::trueFalseT<true> &t )
{
    static_cast<void>( t );
    return derived().setEMGain();
}
 
template <class derivedT>
int stdCamera<derivedT>::setEMGain( const mx::meta::trueFalseT<false> &f )
{
    static_cast<void>( f );
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_emgain( const pcf::IndiProperty &ipRecv )
{
    if( derivedT::c_stdCamera_emGain )
    {
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
        return 0;
#endif
 
        float target;
 
        std::unique_lock<std::mutex> lock( derived().m_indiMutex );
 
        if( derived().indiTargetUpdate( m_indiP_emGain, target, ipRecv, true ) < 0 )
        {
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
            return -1;
        }
 
        m_emGainSet = target;
 
        mx::meta::trueFalseT<derivedT::c_stdCamera_emGain> tf;
        return setEMGain( tf );
    }
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::setExpTime( const mx::meta::trueFalseT<true> &t )
{
    static_cast<void>( t );
    return derived().setExpTime();
}
 
template <class derivedT>
int stdCamera<derivedT>::setExpTime( const mx::meta::trueFalseT<false> &f )
{
    static_cast<void>( f );
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_exptime( const pcf::IndiProperty &ipRecv )
{
    if( derivedT::c_stdCamera_exptimeCtrl )
    {
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
        return 0;
#endif
 
        float target;
 
        std::unique_lock<std::mutex> lock( derived().m_indiMutex );
 
        if( derived().indiTargetUpdate( m_indiP_exptime, target, ipRecv, true ) < 0 )
        {
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
            return -1;
        }
 
        m_expTimeSet = target;
 
        mx::meta::trueFalseT<derivedT::c_stdCamera_exptimeCtrl> tf;
        return setExpTime( tf );
    }
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::setFPS( const mx::meta::trueFalseT<true> &t )
{
    static_cast<void>( t );
    return derived().setFPS();
}
 
template <class derivedT>
int stdCamera<derivedT>::setFPS( const mx::meta::trueFalseT<false> &f )
{
    static_cast<void>( f );
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_fps( const pcf::IndiProperty &ipRecv )
{
    if( derivedT::c_stdCamera_fpsCtrl )
    {
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
        return 0;
#endif
 
        float target;
 
        std::unique_lock<std::mutex> lock( derived().m_indiMutex );
 
        if( derived().indiTargetUpdate( m_indiP_fps, target, ipRecv, true ) < 0 )
        {
            derivedT::template log<software_error>( { __FILE__, __LINE__ } );
            return -1;
        }
 
        m_fpsSet = target;
 
        mx::meta::trueFalseT<derivedT::c_stdCamera_fpsCtrl> tf;
        return setFPS( tf );
    }
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::setSynchro( const mx::meta::trueFalseT<true> &t )
{
    static_cast<void>( t );
    return derived().setSynchro();
}
 
template <class derivedT>
int stdCamera<derivedT>::setSynchro( const mx::meta::trueFalseT<false> &f )
{
    static_cast<void>( f );
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_synchro( const pcf::IndiProperty &ipRecv )
{
    if( derivedT::c_stdCamera_synchro )
    {
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
        return 0;
#endif
 
        if( !ipRecv.find( "toggle" ) )
            return 0;
 
        if( ipRecv["toggle"].getSwitchState() == pcf::IndiElement::Off )
        {
            m_synchroSet = false;
        }
 
        if( ipRecv["toggle"].getSwitchState() == pcf::IndiElement::On )
        {
            m_synchroSet = true;
        }
 
        std::unique_lock<std::mutex> lock( derived().m_indiMutex );
 
        mx::meta::trueFalseT<derivedT::c_stdCamera_synchro> tf;
        return setSynchro( tf );
    }
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_mode( const pcf::IndiProperty &ipRecv )
{
    if( derivedT::c_stdCamera_usesModes )
    {
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
        return 0;
#endif
 
        std::unique_lock<std::mutex> lock( derived().m_indiMutex );
 
        if( ipRecv.getName() != m_indiP_mode.getName() )
        {
            derivedT::template log<software_error>( { __FILE__, __LINE__, "invalid indi property received" } );
            return -1;
        }
 
        // look for selected mode switch which matches a known mode.  Make sure only one is selected.
        std::string newName = "";
        for( auto it = m_cameraModes.begin(); it != m_cameraModes.end(); ++it )
        {
            if( !ipRecv.find( it->first ) )
                continue;
 
            if( ipRecv[it->first].getSwitchState() == pcf::IndiElement::On )
            {
                if( newName != "" )
                {
                    derivedT::template log<text_log>( "More than one camera mode selected", logPrio::LOG_ERROR );
                    return -1;
                }
 
                newName = it->first;
            }
        }
 
        if( newName == "" )
        {
            return 0;
        }
 
        // Now signal the f.g. thread to reconfigure
        m_nextMode           = newName;
        derived().m_reconfig = true;
 
        return 0;
    }
    else
    {
        return 0;
    }
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_reconfigure( const pcf::IndiProperty &ipRecv )
{
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
    return 0;
#endif
 
    if( !ipRecv.find( "request" ) )
        return 0;
 
    if( ipRecv["request"].getSwitchState() == pcf::IndiElement::On )
    {
        std::unique_lock<std::mutex> lock( derived().m_indiMutex );
 
        indi::updateSwitchIfChanged(
            m_indiP_reconfig, "request", pcf::IndiElement::Off, derived().m_indiDriver, INDI_IDLE );
 
        m_nextMode           = m_modeName;
        derived().m_reconfig = true;
        return 0;
    }
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::setCropMode( const mx::meta::trueFalseT<true> &t )
{
    static_cast<void>( t );
    return derived().setCropMode();
}
 
template <class derivedT>
int stdCamera<derivedT>::setCropMode( const mx::meta::trueFalseT<false> &f )
{
    static_cast<void>( f );
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_cropMode( const pcf::IndiProperty &ipRecv )
{
    if( derivedT::c_stdCamera_cropMode )
    {
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
        return 0;
#endif
 
        if( !ipRecv.find( "toggle" ) )
            return 0;
 
        if( ipRecv["toggle"].getSwitchState() == pcf::IndiElement::Off )
        {
            m_cropModeSet = false;
        }
 
        if( ipRecv["toggle"].getSwitchState() == pcf::IndiElement::On )
        {
            m_cropModeSet = true;
        }
 
        std::unique_lock<std::mutex> lock( derived().m_indiMutex );
 
        mx::meta::trueFalseT<derivedT::c_stdCamera_cropMode> tf;
        return setCropMode( tf );
    }
 
    return 0;
}
 
///\todo why don't these check if usesROI is true?
template <class derivedT>
int stdCamera<derivedT>::newCallBack_roi_x( const pcf::IndiProperty &ipRecv )
{
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
    return 0;
#endif
 
    float target;
 
    std::unique_lock<std::mutex> lock( derived().m_indiMutex );
 
    if( derived().indiTargetUpdate( m_indiP_roi_x, target, ipRecv, false ) < 0 )
    {
        m_nextROI.x = m_currentROI.x;
        derivedT::template log<software_error>( { __FILE__, __LINE__ } );
        return -1;
    }
 
    m_nextROI.x = target;
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_roi_y( const pcf::IndiProperty &ipRecv )
{
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
    return 0;
#endif
 
    float target;
 
    std::unique_lock<std::mutex> lock( derived().m_indiMutex );
 
    if( derived().indiTargetUpdate( m_indiP_roi_y, target, ipRecv, false ) < 0 )
    {
        m_nextROI.y = m_currentROI.y;
        derivedT::template log<software_error>( { __FILE__, __LINE__ } );
        return -1;
    }
 
    m_nextROI.y = target;
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_roi_w( const pcf::IndiProperty &ipRecv )
{
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
    return 0;
#endif
 
    int target;
 
    std::unique_lock<std::mutex> lock( derived().m_indiMutex );
 
    if( derived().indiTargetUpdate( m_indiP_roi_w, target, ipRecv, false ) < 0 )
    {
        m_nextROI.w = m_currentROI.w;
        derivedT::template log<software_error>( { __FILE__, __LINE__ } );
        return -1;
    }
 
    m_nextROI.w = target;
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_roi_h( const pcf::IndiProperty &ipRecv )
{
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
    return 0;
#endif
 
    int target;
 
    std::unique_lock<std::mutex> lock( derived().m_indiMutex );
 
    if( derived().indiTargetUpdate( m_indiP_roi_h, target, ipRecv, false ) < 0 )
    {
        derivedT::template log<software_error>( { __FILE__, __LINE__ } );
        m_nextROI.h = m_currentROI.h;
        return -1;
    }
 
    m_nextROI.h = target;
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_roi_bin_x( const pcf::IndiProperty &ipRecv )
{
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
    return 0;
#endif
 
    int target;
 
    std::unique_lock<std::mutex> lock( derived().m_indiMutex );
 
    if( derived().indiTargetUpdate( m_indiP_roi_bin_x, target, ipRecv, false ) < 0 )
    {
        derivedT::template log<software_error>( { __FILE__, __LINE__ } );
        m_nextROI.bin_x = m_currentROI.bin_x;
        return -1;
    }
 
    m_nextROI.bin_x = target;
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_roi_bin_y( const pcf::IndiProperty &ipRecv )
{
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
    return 0;
#endif
 
    int target;
 
    std::unique_lock<std::mutex> lock( derived().m_indiMutex );
 
    if( derived().indiTargetUpdate( m_indiP_roi_bin_y, target, ipRecv, false ) < 0 )
    {
        derivedT::template log<software_error>( { __FILE__, __LINE__ } );
        m_nextROI.bin_y = m_currentROI.bin_y;
        return -1;
    }
 
    m_nextROI.bin_y = target;
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::checkNextROI( const mx::meta::trueFalseT<true> &t )
{
    static_cast<void>( t );
    return derived().checkNextROI();
}
 
template <class derivedT>
int stdCamera<derivedT>::checkNextROI( const mx::meta::trueFalseT<false> &f )
{
    static_cast<void>( f );
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_roi_check( const pcf::IndiProperty &ipRecv )
{
    if( derivedT::c_stdCamera_usesROI )
    {
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
        return 0;
#endif
 
        if( !ipRecv.find( "request" ) )
            return 0;
 
        if( ipRecv["request"].getSwitchState() == pcf::IndiElement::On )
        {
            std::unique_lock<std::mutex> lock( derived().m_indiMutex );
 
            indi::updateSwitchIfChanged(
                m_indiP_roi_check, "request", pcf::IndiElement::Off, derived().m_indiDriver, INDI_IDLE );
 
            mx::meta::trueFalseT<derivedT::c_stdCamera_usesROI> tf;
            return checkNextROI( tf );
        }
 
        return 0;
    }
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::setNextROI( const mx::meta::trueFalseT<true> &t )
{
    static_cast<void>( t );
    return derived().setNextROI();
}
 
template <class derivedT>
int stdCamera<derivedT>::setNextROI( const mx::meta::trueFalseT<false> &f )
{
    static_cast<void>( f );
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_roi_set( const pcf::IndiProperty &ipRecv )
{
    if( derivedT::c_stdCamera_usesROI )
    {
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
        return 0;
#endif
 
        if( !ipRecv.find( "request" ) )
            return 0;
 
        if( ipRecv["request"].getSwitchState() == pcf::IndiElement::On )
        {
            std::unique_lock<std::mutex> lock( derived().m_indiMutex );
 
            indi::updateSwitchIfChanged(
                m_indiP_roi_set, "request", pcf::IndiElement::Off, derived().m_indiDriver, INDI_IDLE );
 
            m_lastROI = m_currentROI;
 
            mx::meta::trueFalseT<derivedT::c_stdCamera_usesROI> tf;
            return setNextROI( tf );
        }
 
        return 0;
    }
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_roi_full( const pcf::IndiProperty &ipRecv )
{
    if( derivedT::c_stdCamera_usesROI )
    {
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
        return 0;
#endif
 
        if( !ipRecv.find( "request" ) )
            return 0;
 
        if( ipRecv["request"].getSwitchState() == pcf::IndiElement::On )
        {
            std::unique_lock<std::mutex> lock( derived().m_indiMutex );
 
            indi::updateSwitchIfChanged(
                m_indiP_roi_full, "request", pcf::IndiElement::Off, derived().m_indiDriver, INDI_IDLE );
 
            m_nextROI.x     = m_full_x;
            m_nextROI.y     = m_full_y;
            m_nextROI.w     = m_full_w;
            m_nextROI.h     = m_full_h;
            m_nextROI.bin_x = m_full_bin_x;
            m_nextROI.bin_y = m_full_bin_y;
            m_lastROI       = m_currentROI;
            mx::meta::trueFalseT<derivedT::c_stdCamera_usesROI> tf;
            return setNextROI( tf );
        }
 
        return 0;
    }
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_roi_fullbin( const pcf::IndiProperty &ipRecv )
{
    if( derivedT::c_stdCamera_usesROI )
    {
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
        return 0;
#endif
 
        if( !ipRecv.find( "request" ) )
            return 0;
 
        if( ipRecv["request"].getSwitchState() == pcf::IndiElement::On )
        {
            std::unique_lock<std::mutex> lock( derived().m_indiMutex );
 
            indi::updateSwitchIfChanged(
                m_indiP_roi_fullbin, "request", pcf::IndiElement::Off, derived().m_indiDriver, INDI_IDLE );
 
            bool reset = false;
 
            if( m_full_currbin_x == 0 ) // still defaulted
            {
                derivedT::template log<text_log>( "current-binning full ROI not implemented for this camera",
                                                  logPrio::LOG_WARNING );
                m_full_currbin_x = m_full_x;
                m_full_currbin_y = m_full_y;
                m_full_currbin_w = m_full_w;
                m_full_currbin_h = m_full_h;
                reset            = true;
            }
 
            m_nextROI.x = m_full_currbin_x;
            m_nextROI.y = m_full_currbin_y;
            m_nextROI.w = m_full_currbin_w;
            m_nextROI.h = m_full_currbin_h;
            if( reset )
            {
                // Use full binning
                m_nextROI.bin_x = m_full_bin_x;
                m_nextROI.bin_y = m_full_bin_y;
 
                // restore defaults for next time
                m_full_currbin_x = 0;
                m_full_currbin_y = 0;
                m_full_currbin_w = 0;
                m_full_currbin_h = 0;
            }
            else
            {
                m_nextROI.bin_x = m_currentROI.bin_x;
                m_nextROI.bin_y = m_currentROI.bin_y;
            }
 
            m_lastROI = m_currentROI;
            mx::meta::trueFalseT<derivedT::c_stdCamera_usesROI> tf;
            return setNextROI( tf );
        }
 
        return 0;
    }
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_roi_loadlast( const pcf::IndiProperty &ipRecv )
{
    if( derivedT::c_stdCamera_usesROI )
    {
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
        return 0;
#endif
 
        if( !ipRecv.find( "request" ) )
            return 0;
 
        if( ipRecv["request"].getSwitchState() == pcf::IndiElement::On )
        {
            std::unique_lock<std::mutex> lock( derived().m_indiMutex );
 
            indi::updateSwitchIfChanged(
                m_indiP_roi_loadlast, "request", pcf::IndiElement::Off, derived().m_indiDriver, INDI_IDLE );
 
            m_nextROI = m_lastROI;
            return 0;
        }
 
        return 0;
    }
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_roi_last( const pcf::IndiProperty &ipRecv )
{
    if( derivedT::c_stdCamera_usesROI )
    {
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
        return 0;
#endif
        if( !ipRecv.find( "request" ) )
            return 0;
 
        if( ipRecv["request"].getSwitchState() == pcf::IndiElement::On )
        {
            std::unique_lock<std::mutex> lock( derived().m_indiMutex );
 
            indi::updateSwitchIfChanged(
                m_indiP_roi_last, "request", pcf::IndiElement::Off, derived().m_indiDriver, INDI_IDLE );
 
            m_nextROI = m_lastROI;
            m_lastROI = m_currentROI;
            mx::meta::trueFalseT<derivedT::c_stdCamera_usesROI> tf;
            return setNextROI( tf );
        }
 
        return 0;
    }
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_roi_default( const pcf::IndiProperty &ipRecv )
{
    if( derivedT::c_stdCamera_usesROI )
    {
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
        return 0;
#endif
 
        if( !ipRecv.find( "request" ) )
            return 0;
 
        if( ipRecv["request"].getSwitchState() == pcf::IndiElement::On )
        {
            std::unique_lock<std::mutex> lock( derived().m_indiMutex );
 
            indi::updateSwitchIfChanged(
                m_indiP_roi_default, "request", pcf::IndiElement::Off, derived().m_indiDriver, INDI_IDLE );
 
            m_nextROI.x     = m_default_x;
            m_nextROI.y     = m_default_y;
            m_nextROI.w     = m_default_w;
            m_nextROI.h     = m_default_h;
            m_nextROI.bin_x = m_default_bin_x;
            m_nextROI.bin_y = m_default_bin_y;
            m_lastROI       = m_currentROI;
            mx::meta::trueFalseT<derivedT::c_stdCamera_usesROI> tf;
            return setNextROI( tf );
        }
 
        return 0;
    }
 
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::setShutter( int ss, const mx::meta::trueFalseT<true> &t )
{
    static_cast<void>( t );
    return derived().setShutter( ss );
}
 
template <class derivedT>
int stdCamera<derivedT>::setShutter( int ss, const mx::meta::trueFalseT<false> &f )
{
    static_cast<void>( ss );
    static_cast<void>( f );
    return 0;
}
 
template <class derivedT>
int stdCamera<derivedT>::newCallBack_shutter( const pcf::IndiProperty &ipRecv )
{
    if( derivedT::c_stdCamera_hasShutter )
    {
#ifdef XWCTEST_INDI_CALLBACK_VALIDATION
        return 0;
#endif
 
        if( !ipRecv.find( "toggle" ) )
            return 0;
 
        mx::meta::trueFalseT<derivedT::c_stdCamera_hasShutter> tf;
 
        if( ipRecv["toggle"].getSwitchState() == pcf::IndiElement::Off )
        {
            setShutter( 1, tf );
        }
 
        if( ipRecv["toggle"].getSwitchState() == pcf::IndiElement::On )
        {
            setShutter( 0, tf );
        }
 
        return 0;
    }
    return 0;
}
 
template <class derivedT>
std::string stdCamera<derivedT>::stateString( const mx::meta::trueFalseT<true> &t )
{
    static_cast<void>( t );
    return derived().stateString();
}
 
template <class derivedT>
std::string stdCamera<derivedT>::stateString( const mx::meta::trueFalseT<false> &f )
{
    static_cast<void>( f );
    return "";
}
 
template <class derivedT>
bool stdCamera<derivedT>::stateStringValid( const mx::meta::trueFalseT<true> &t )
{
    static_cast<void>( t );
    return derived().stateStringValid();
}
 
template <class derivedT>
bool stdCamera<derivedT>::stateStringValid( const mx::meta::trueFalseT<false> &f )
{
    static_cast<void>( f );
    return false;
}
 
template <class derivedT>
int stdCamera<derivedT>::updateINDI()
{
    try
    {
        if( !derived().m_indiDriver )
            return 0;
 
        if( derivedT::c_stdCamera_readoutSpeed )
        {
            indi::updateSelectionSwitchIfChanged(
                m_indiP_readoutSpeed, m_readoutSpeedName, derived().m_indiDriver, INDI_OK );
        }
 
        if( derivedT::c_stdCamera_vShiftSpeed )
        {
            indi::updateSelectionSwitchIfChanged(
                m_indiP_vShiftSpeed, m_vShiftSpeedName, derived().m_indiDriver, INDI_OK );
        }
 
        if( derivedT::c_stdCamera_emGain )
        {
            derived().updateIfChanged( m_indiP_emGain, "current", m_emGain, INDI_IDLE );
            derived().updateIfChanged( m_indiP_emGain, "target", m_emGainSet, INDI_IDLE );
        }
 
        if( derivedT::c_stdCamera_exptimeCtrl )
        {
            derived().updateIfChanged( m_indiP_exptime, "current", m_expTime, INDI_IDLE );
            derived().updateIfChanged( m_indiP_exptime, "target", m_expTimeSet, INDI_IDLE );
        }
 
        if( derivedT::c_stdCamera_fpsCtrl )
        {
            derived().updateIfChanged( m_indiP_fps, "current", m_fps, INDI_IDLE );
            derived().updateIfChanged( m_indiP_fps, "target", m_fpsSet, INDI_IDLE );
        }
        else if( derivedT::c_stdCamera_fps )
        {
            derived().updateIfChanged( m_indiP_fps, "current", m_fps, INDI_IDLE );
        }
 
        if( derivedT::c_stdCamera_synchro )
        {
            if( m_synchro == false )
            {
                derived().updateSwitchIfChanged( m_indiP_synchro, "toggle", pcf::IndiElement::Off, INDI_IDLE );
            }
            else
            {
                derived().updateSwitchIfChanged( m_indiP_synchro, "toggle", pcf::IndiElement::On, INDI_OK );
            }
        }
 
        if( derivedT::c_stdCamera_usesModes )
        {
            auto st = pcf::IndiProperty::Ok;
            if( m_nextMode != "" )
                st = pcf::IndiProperty::Busy;
 
            for( auto it = m_cameraModes.begin(); it != m_cameraModes.end(); ++it )
            {
                if( it->first == m_modeName )
                    derived().updateSwitchIfChanged( m_indiP_mode, it->first, pcf::IndiElement::On, st );
                else
                    derived().updateSwitchIfChanged( m_indiP_mode, it->first, pcf::IndiElement::Off, st );
            }
        }
 
        if( derivedT::c_stdCamera_cropMode )
        {
            if( m_cropMode == false )
            {
                derived().updateSwitchIfChanged( m_indiP_cropMode, "toggle", pcf::IndiElement::Off, INDI_IDLE );
            }
            else
            {
                derived().updateSwitchIfChanged( m_indiP_cropMode, "toggle", pcf::IndiElement::On, INDI_OK );
            }
        }
 
        if( derivedT::c_stdCamera_usesROI )
        {
            // These can't change after initialization, but might not be discoverable until powered on and connected.
            // so we'll check every time I guess.
            derived().updateIfChanged( m_indiP_fullROI, "x", m_full_x, INDI_IDLE );
            derived().updateIfChanged( m_indiP_fullROI, "y", m_full_y, INDI_IDLE );
            derived().updateIfChanged( m_indiP_fullROI, "w", m_full_w, INDI_IDLE );
            derived().updateIfChanged( m_indiP_fullROI, "h", m_full_h, INDI_IDLE );
        }
 
        if( derivedT::c_stdCamera_tempControl )
        {
            if( m_tempControlStatus == false )
            {
                derived().updateSwitchIfChanged( m_indiP_tempcont, "toggle", pcf::IndiElement::Off, INDI_IDLE );
                derived().updateIfChanged( m_indiP_temp, "current", m_ccdTemp, INDI_IDLE );
                derived().updateIfChanged( m_indiP_temp, "target", m_ccdTempSetpt, INDI_IDLE );
                derived().updateIfChanged( m_indiP_tempstat, "status", m_tempControlStatusStr, INDI_IDLE );
            }
            else
            {
                if( m_tempControlOnTarget )
                {
                    derived().updateSwitchIfChanged( m_indiP_tempcont, "toggle", pcf::IndiElement::On, INDI_OK );
                    derived().updateIfChanged( m_indiP_temp, "current", m_ccdTemp, INDI_OK );
                    derived().updateIfChanged( m_indiP_temp, "target", m_ccdTempSetpt, INDI_OK );
                    derived().updateIfChanged( m_indiP_tempstat, "status", m_tempControlStatusStr, INDI_OK );
                }
                else
                {
                    derived().updateSwitchIfChanged( m_indiP_tempcont, "toggle", pcf::IndiElement::On, INDI_BUSY );
                    derived().updateIfChanged( m_indiP_temp, "current", m_ccdTemp, INDI_BUSY );
                    derived().updateIfChanged( m_indiP_temp, "target", m_ccdTempSetpt, INDI_BUSY );
                    derived().updateIfChanged( m_indiP_tempstat, "status", m_tempControlStatusStr, INDI_BUSY );
                }
            }
        }
        else if( derivedT::c_stdCamera_temp )
        {
            derived().updateIfChanged( m_indiP_temp, "current", m_ccdTemp, INDI_IDLE );
        }
 
        if( derivedT::c_stdCamera_hasShutter )
        {
            if( m_shutterStatus == "OPERATING" )
            {
                derived().updateIfChanged( m_indiP_shutterStatus, "status", m_shutterStatus, INDI_BUSY );
            }
            if( m_shutterStatus == "POWERON" || m_shutterStatus == "READY" )
            {
                derived().updateIfChanged( m_indiP_shutterStatus, "status", m_shutterStatus, INDI_IDLE );
            }
            else
            {
                derived().updateIfChanged( m_indiP_shutterStatus, "status", m_shutterStatus, INDI_IDLE );
            }
 
            if( m_shutterState == 0 ) // 0 shut, 1 open
            {
                derived().updateSwitchIfChanged( m_indiP_shutter, "toggle", pcf::IndiElement::On, INDI_OK );
            }
            else
            {
                derived().updateSwitchIfChanged( m_indiP_shutter, "toggle", pcf::IndiElement::Off, INDI_IDLE );
            }
        }
 
        if( derivedT::c_stdCamera_usesStateString )
        {
            mx::meta::trueFalseT<derivedT::c_stdCamera_usesStateString> tf;
            derived().updateIfChanged( m_indiP_stateString, "current", stateString( tf ), INDI_IDLE );
            if( stateStringValid( tf ) )
            {
                derived().updateIfChanged( m_indiP_stateString, "valid", "yes", INDI_IDLE );
            }
            else
            {
                derived().updateIfChanged( m_indiP_stateString, "valid", "no", INDI_IDLE );
            }
        }
        return 0;
    }
    catch( const std::exception &e )
    {
        return derivedT::template log<software_error, -1>(
            { __FILE__, __LINE__, std::string( "Exception caught: " ) + e.what() } );
    }
}
 
template <class derivedT>
int stdCamera<derivedT>::recordCamera( bool force )
{
    static std::string last_mode;
    static roi         last_roi;
    static float       last_expTime             = -1e30; // ensure first one goes
    static float       last_fps                 = 0;
    static float       last_adcSpeed            = -1;
    static float       last_emGain              = -1;
    static float       last_ccdTemp             = 0;
    static float       last_ccdTempSetpt        = 0;
    static bool        last_tempControlStatus   = 0;
    static bool        last_tempControlOnTarget = 0;
    static std::string last_tempControlStatusStr;
    static std::string last_shutterStatus;
    static int         last_shutterState = false;
    static bool        last_synchro      = false;
    static float       last_vshiftSpeed  = -1;
    static bool        last_cropMode     = false;
 
    if( force || m_modeName != last_mode || m_currentROI.x != last_roi.x || m_currentROI.y != last_roi.y ||
        m_currentROI.w != last_roi.w || m_currentROI.h != last_roi.h || m_currentROI.bin_x != last_roi.bin_x ||
        m_currentROI.bin_y != last_roi.bin_y || m_expTime != last_expTime || m_fps != last_fps ||
        m_emGain != last_emGain || m_adcSpeed != last_adcSpeed || m_ccdTemp != last_ccdTemp ||
        m_ccdTempSetpt != last_ccdTempSetpt || m_tempControlStatus != last_tempControlStatus ||
        m_tempControlOnTarget != last_tempControlOnTarget || m_tempControlStatusStr != last_tempControlStatusStr ||
        m_shutterStatus != last_shutterStatus || m_shutterState != last_shutterState || m_synchro != last_synchro ||
        m_vshiftSpeed != last_vshiftSpeed || m_cropMode != last_cropMode )
    {
        derived().template telem<telem_stdcam>( { m_modeName,
                                                  m_currentROI.x,
                                                  m_currentROI.y,
                                                  m_currentROI.w,
                                                  m_currentROI.h,
                                                  m_currentROI.bin_x,
                                                  m_currentROI.bin_y,
                                                  m_expTime,
                                                  m_fps,
                                                  m_emGain,
                                                  m_adcSpeed,
                                                  m_ccdTemp,
                                                  m_ccdTempSetpt,
                                                  (uint8_t)m_tempControlStatus,
                                                  (uint8_t)m_tempControlOnTarget,
                                                  m_tempControlStatusStr,
                                                  m_shutterStatus,
                                                  (int8_t)m_shutterState,
                                                  (uint8_t)m_synchro,
                                                  m_vshiftSpeed,
                                                  (uint8_t)m_cropMode } );
 
        last_mode                 = m_modeName;
        last_roi                  = m_currentROI;
        last_expTime              = m_expTime;
        last_fps                  = m_fps;
        last_emGain               = m_emGain;
        last_adcSpeed             = m_adcSpeed;
        last_ccdTemp              = m_ccdTemp;
        last_ccdTempSetpt         = m_ccdTempSetpt;
        last_tempControlStatus    = m_tempControlStatus;
        last_tempControlOnTarget  = m_tempControlOnTarget;
        last_tempControlStatusStr = m_tempControlStatusStr;
        last_shutterStatus        = m_shutterStatus;
        last_shutterState         = m_shutterState;
        last_synchro              = m_synchro;
        last_vshiftSpeed          = m_vshiftSpeed;
        last_cropMode             = m_cropMode;
    }
 
    return 0;
}
 
 
/// Call stdCameraT::setupConfig with error checking for stdCamera
/**
  * \param cfig the application configurator
  */
#define STDCAMERA_SETUP_CONFIG( cfig )                                                   \
    if(stdCameraT::setupConfig(cfig) < 0)                                                \
    {                                                                                    \
        log<software_error>({__FILE__, __LINE__, "Error from stdCameraT::setupConfig"}); \
        m_shutdown = true;                                                               \
        return;                                                                          \
    }
 
 /// Call stdCameraT::loadConfig with error checking for stdCamera
/** This must be inside a function that returns int, e.g. the standard loadConfigImpl.
  * \param cfig the application configurator
  */
#define STDCAMERA_LOAD_CONFIG( cfig )                                                             \
    if(stdCameraT::loadConfig(cfig) < 0)                                                          \
    {                                                                                             \
        return log<software_error,-1>({__FILE__, __LINE__, "Error from stdCameraT::loadConfig"}); \
    }
 
/// Call stdCameraT::appStartup with error checking for stdCamera
#define STDCAMERA_APP_STARTUP                                                                     \
    if(stdCameraT::appStartup() < 0)                                                              \
    {                                                                                             \
        return log<software_error,-1>({__FILE__, __LINE__, "Error from stdCameraT::appStartup"}); \
    }
 
/// Call stdCameraT::appLogic with error checking for stdCamera
#define STDCAMERA_APP_LOGIC                                                                     \
    if(stdCameraT::appLogic() < 0)                                                              \
    {                                                                                           \
        return log<software_error,-1>({__FILE__, __LINE__, "Error from stdCameraT::appLogic"}); \
    }
 
/// Call stdCameraT::updateINDI with error checking for stdCamera
#define STDCAMERA_UPDATE_INDI                                                                     \
    if(stdCameraT::updateINDI() < 0)                                                              \
    {                                                                                             \
        return log<software_error,-1>({__FILE__, __LINE__, "Error from stdCameraT::updateINDI"}); \
    }
 
/// Call stdCameraT::appShutdown with error checking for stdCamera
#define STDCAMERA_APP_SHUTDOWN                                                                     \
    if(stdCameraT::appShutdown() < 0)                                                              \
    {                                                                                              \
        return log<software_error,-1>({__FILE__, __LINE__, "Error from stdCameraT::appShutdown"}); \
    }
 
} // namespace dev
} // namespace app
} // namespace MagAOX
 
#endif // stdCamera_hpp