Hotfix/may20

Andor/CMakeLists.txt

@@ -10,7 +10,7 @@ set( ANDOR_DIR ${PROJECT_BASE_DIR}/Andor )
 
 set( CMAKE_CXX_STANDARD 17 )
 
-add_definitions( -Wall -ansi -O0 -Wno-variadic-macros -ggdb )
+add_definitions( -Wall -O0 -Wno-variadic-macros -ggdb )
 add_definitions(-D_LP64)
 
 include_directories( ${PROJECT_BASE_DIR}/utils )
@@ -30,12 +30,14 @@ find_library( CFITS_LIB cfitsio NAMES libcfitsio  PATHS /usr/local/lib )
 find_path( PYTHON_DEV "Python.h" PATHS /usr/include/python3.9 )
 find_library( PYTHON_LIB python3.9 NAMES libpython3.9 PATHS /usr/lib64 )
 include_directories( ${PYTHON_DEV} )
+
 add_link_options( -L/usr/lib64 -lpython3.9 -lcrypt -lpthread -ldl  -lutil -lm -lm )
 
+include_directories( ${PYTHON_DEV} )
+
 add_library( andor STATIC
         ${ANDOR_DIR}/andor.cpp
         ${ANDOR_DIR}/andor_emulator.cpp
-        ${PYTHON_DEV}
         )
 
 target_link_libraries( andor

Andor/andor_emulator.cpp

@@ -1218,7 +1218,7 @@ namespace Andor {
     }
 
 #ifdef LOGLEVEL_DEBUG
-//  log_python_arguments(pFunction, pArgs, pKwArgs);
+    log_python_arguments(pFunction, pArgs, pKwArgs);
 #endif
 
     // Call the Python function here

CMakeLists.txt

@@ -4,7 +4,7 @@
 # @author  David Hale <dhale@caltech.edu>
 # ----------------------------------------------------------------------------
 
-add_definitions(-DLOGLEVEL_DEBUG)
+#add_definitions(-DLOGLEVEL_DEBUG)
 
 cmake_minimum_required( VERSION 3.12 )
 

Config/acamd.cfg.in

@@ -169,14 +169,11 @@ ACQUIRE_TCS_MAX_OFFSET=60     # the maximum allowable offset sent to the TCS, in
 SKYSIM_IMAGE_SIZE=1024
 
 # -----------------------------------------------------------------------------
-# TELEM_PROVIDER=( <name> <port> )
+# SUBSCRIBE_TO=( <name> <endpoint> )
 #
-# This is a list of telemetry providers where <name> is the daemon name,
-# and <port> is the port on which to send the telemetry request.
+# This is a list of pub/sub sources to subscribe to, where <name> is the daemon
+# name and <endpoint> is its ZeroMQ publish endpoint.
 # Provide one per line.
 #
-TELEM_PROVIDER=(tcsd       @TCSD_NB_PORT@)
-TELEM_PROVIDER=(sequencerd @SEQUENCERD_NB_PORT@)
-#
 SUBSCRIBE_TO=(tcsd       "tcp://127.0.0.1:@TCSD_PUB_PORT@")
 SUBSCRIBE_TO=(sequencerd "tcp://127.0.0.1:@SEQUENCERD_PUB_PORT@")

Config/camerad.cfg.in

@@ -155,20 +155,11 @@ ACTIVATE_COMMANDS=(G PON, ERS 1000 1000, EPG 500, CLR)
 ACTIVATE_COMMANDS=(U PON, CLR)
 
 # -----------------------------------------------------------------------------
-# TELEM_PROVIDER=( <name> <port> )
-#
-# This is a list of telemetry providers where <name> is the daemon name,
-# and <port> is the port on which to send the telemetry request. These are the
-# sources for telemetry information for FITS headers. Provide one per line.
-#
-TELEM_PROVIDER=(calibd     @CALIBD_NB_PORT@)
-TELEM_PROVIDER=(flexured   @FLEXURED_NB_PORT@)
-TELEM_PROVIDER=(focusd     @FOCUSD_NB_PORT@)
-TELEM_PROVIDER=(powerd     @POWERD_NB_PORT@)
-TELEM_PROVIDER=(sequencerd @SEQUENCERD_NB_PORT@)
-TELEM_PROVIDER=(slitd      @SLITD_NB_PORT@)
-TELEM_PROVIDER=(tcsd       @TCSD_NB_PORT@)
-TELEM_PROVIDER=(thermald   @THERMALD_NB_PORT@)
+# SUBSCRIBE_TO=( <name> <endpoint> )
+#
+# This is a list of pub/sub sources to subscribe to, where <name> is the daemon
+# name and <endpoint> is its ZeroMQ publish endpoint. These are the sources for
+# telemetry information for FITS headers. Provide one per line.
 #
 SUBSCRIBE_TO=(calibd     "tcp://127.0.0.1:@CALIBD_PUB_PORT@")
 SUBSCRIBE_TO=(flexured   "tcp://127.0.0.1:@FLEXURED_PUB_PORT@")

Config/flexured.cfg.in

@@ -7,7 +7,13 @@ NBPORT=@FLEXURED_NB_PORT@         # slitd server non-blocking port
 DAEMON=no                         # run as daemon?
 ASYNCPORT=@MESSAGEPORT@           # asynchronous message port
 ASYNCGROUP=239.1.1.234            # asynchronous message broadcast group
-PUBLISHER_PORT="tcp://127.0.0.1:@FLEXURED_PUB_PORT@"  # my zeromq pub port
+
+# Message pub/sub
+# PUB_ENDPOINT=tcp://127.0.0.1:<PORT>
+# SUB_ENDPOINT=tcp://127.0.0.1:<PORT>
+#
+PUB_ENDPOINT="tcp://127.0.0.1:@MESSAGE_BROKER_SUB_PORT@"
+SUB_ENDPOINT="tcp://127.0.0.1:@MESSAGE_BROKER_PUB_PORT@"
 
 # this is the port number that the emulator listens to
 #
@@ -61,14 +67,11 @@ MOTOR_AXIS="I 3 -1000 1000 0 na  300.0"
 #
 
 # -----------------------------------------------------------------------------
-# TELEM_PROVIDER=( <name> <port> )
+# SUBSCRIBE_TO=( <name> <endpoint> )
 #
-# This is a list of telemetry providers where <name> is the daemon name,
-# and <port> is the port on which to send the telemetry request.
+# This is a list of pub/sub sources to subscribe to, where <name> is the daemon
+# name and <endpoint> is its ZeroMQ publish endpoint.
 # Provide one per line.
 #
-TELEM_PROVIDER=(tcsd       @TCSD_NB_PORT@)
-TELEM_PROVIDER=(thermald   @THERMALD_NB_PORT@)
-#
 SUBSCRIBE_TO=(tcsd       "tcp://127.0.0.1:@TCSD_PUB_PORT@")
 SUBSCRIBE_TO=(thermald   "tcp://127.0.0.1:@THERMALD_PUB_PORT@")

Config/sequencerd.cfg.in

@@ -87,7 +87,7 @@ CAMERA_EPILOGUE=(close)
 # slit init and shutdown states
 # formatted as (width offset)
 #
-SLIT__INIT=(0.5 3.0)
+SLIT__INIT=(0.4 3.0)
 SLIT__SHUTDOWN=
 
 # ACAM init and shutdown states
@@ -107,7 +107,7 @@ CALIB_DOOR__SHUTDOWN=close
 # Virtual Slit Mode slit offset positions
 # units are arcseconds
 #
-VIRTUAL_SLITW_ACQUIRE=0.5   # slit width during acquire
+VIRTUAL_SLITW_ACQUIRE=0.4   # slit width during acquire
 VIRTUAL_SLITO_ACQUIRE=-3.0  # slit offset for acquiring target
 VIRTUAL_SLITO_EXPOSE=3.0    # slit offset for science exposure
 
@@ -162,29 +162,30 @@ ACQUIRE_MIN_REPEAT=2                 # minimum number of sequential successful a
 ACQUIRE_TCS_MAX_OFFSET=60            # the maximum allowable offset sent to the TCS, in arcsec
 
 # Calibration Settings
-# CAL_TARGET=(name caldoor calcover U G R I lampthar lampfear lampbluc lampredc lolamp hilamp mod1 mod2 ... mod6)
+# CAL_TARGET=(name caldoor calcover U G R I lampthar lampfear lampbluc lampredc lolamp hilamp mod1 mod2 ... mod6 imgtype)
 #
 # where name must be "DEFAULT" or start with "CAL_"
 #       caldoor  = open | close
 #       calcover = open | close
 #       U,G,R,I = on | off        # indicates which channels to enable/disable
 #       lamp* = on | off          # lamp power
 #       mod*  = on | off          # lamp modulator
-# for a total of 19 required parameters
+#       imgtype = <imgtype>       # FITS IMGTYPE keyword
+# for a total of 20 required parameters
 # name=SCIENCE defines science target operation
 #
-#           name        door  cover U   G   R   I   thar fear bluc redc llmp hlmp mod1 mod2 mod3 mod4 mod5 mod6
-CAL_TARGET=(CAL_THAR    open  close on  on  on  on  on   on   on   on   off  off  off  off  off  off  off  on )
-CAL_TARGET=(CAL_FEAR    open  close on  on  on  on  on   on   on   on   off  off  on   off  off  off  off  off)
-CAL_TARGET=(CAL_THAR_UG open  close on  on  off off on   on   on   on   off  off  off  off  off  off  off  on )
-CAL_TARGET=(CAL_FEAR_UG open  close on  on  off off on   on   on   on   off  off  on   off  off  off  off  off)
-CAL_TARGET=(CAL_CONTR   open  close on  on  on  on  on   on   on   on   off  off  off  off  off  on   off  off)
-CAL_TARGET=(CAL_CONTB   open  close on  on  on  on  on   on   on   on   off  off  off  off  off  off  on   off)
-CAL_TARGET=(CAL_DOME    close open  on  on  on  on  off  off  off  off  off  on   off  off  off  off  off  off)
-CAL_TARGET=(CAL_DOME_UG close open  on  on  off off off  off  off  off  off  on   off  off  off  off  off  off)
-CAL_TARGET=(CAL_BIAS    close close on  on  on  on  off  off  off  off  off  off  off  off  off  off  off  off)
-CAL_TARGET=(CAL_DARK    close close on  on  on  on  off  off  off  off  off  off  off  off  off  off  off  off)
-CAL_TARGET=(SCIENCE     close open  on  on  on  on  off  off  off  off  off  off  off  off  off  off  off  off)
+#           name        door  cover U   G   R   I   thar fear bluc redc llmp hlmp mod1 mod2 mod3 mod4 mod5 mod6 imgtype
+CAL_TARGET=(CAL_THAR    open  close on  on  on  on  on   on   on   on   off  off  off  off  off  off  off  on   THAR    )
+CAL_TARGET=(CAL_FEAR    open  close on  on  on  on  on   on   on   on   off  off  on   off  off  off  off  off  FEAR    )
+CAL_TARGET=(CAL_THAR_UG open  close on  on  off off on   on   on   on   off  off  off  off  off  off  off  on   THAR    )
+CAL_TARGET=(CAL_FEAR_UG open  close on  on  off off on   on   on   on   off  off  on   off  off  off  off  off  FEAR    )
+CAL_TARGET=(CAL_CONTR   open  close on  on  on  on  on   on   on   on   off  off  off  off  off  on   off  off  CONT    )
+CAL_TARGET=(CAL_CONTB   open  close on  on  on  on  on   on   on   on   off  off  off  off  off  off  on   off  CONT    )
+CAL_TARGET=(CAL_DOME    close open  on  on  on  on  off  off  off  off  off  on   off  off  off  off  off  off  DOMEFLAT)
+CAL_TARGET=(CAL_DOME_UG close open  on  on  off off off  off  off  off  off  on   off  off  off  off  off  off  DOMEFLAT)
+CAL_TARGET=(CAL_BIAS    close close on  on  on  on  off  off  off  off  off  off  off  off  off  off  off  off  BIAS    )
+CAL_TARGET=(CAL_DARK    close close on  on  on  on  off  off  off  off  off  off  off  off  off  off  off  off  DARK    )
+CAL_TARGET=(SCIENCE     close open  on  on  on  on  off  off  off  off  off  off  off  off  off  off  off  off  SCI     )
 
 # miscellaneous
 #

Config/thermald.cfg.in

@@ -7,7 +7,13 @@ NBPORT=@THERMALD_NB_PORT@         # thermald server non-blocking port
 DAEMON=yes                        # run as daemon?
 ASYNCPORT=@MESSAGEPORT@           # asynchronous message port
 ASYNCGROUP=239.1.1.234            # asynchronous message broadcast group
-PUBLISHER_PORT="tcp://127.0.0.1:@THERMALD_PUB_PORT@"  # my zeromq pub port
+
+# Message pub/sub
+# PUB_ENDPOINT=tcp://127.0.0.1:<PORT>
+# SUB_ENDPOINT=tcp://127.0.0.1:<PORT>
+#
+PUB_ENDPOINT="tcp://127.0.0.1:@MESSAGE_BROKER_SUB_PORT@"
+SUB_ENDPOINT="tcp://127.0.0.1:@MESSAGE_BROKER_PUB_PORT@"
 
 # database configuration
 #
@@ -102,15 +108,12 @@ CAMP_CHAN="22 TFLEXCON_UR"
 CAMP_CHAN="23 TACAM"
 
 # -----------------------------------------------------------------------------
-# TELEM_PROVIDER=( <name> <port> )
+# SUBSCRIBE_TO=( <name> <endpoint> )
 #
-# This is a list of telemetry providers where <name> is the daemon name,
-# and <port> is the port on which to send the telemetry request.
+# This is a list of pub/sub sources to subscribe to, where <name> is the daemon
+# name and <endpoint> is its ZeroMQ publish endpoint.
 # Provide one per line.
 #
-TELEM_PROVIDER=(acamd     @ACAMD_NB_PORT@)
-TELEM_PROVIDER=(slicecamd @SLICECAMD_NB_PORT@)
-#
 SUBSCRIBE_TO=(acamd     "tcp://127.0.0.1:@ACAMD_PUB_PORT@")
 SUBSCRIBE_TO=(slicecamd "tcp://127.0.0.1:@SLICECAMD_PUB_PORT@")
 

LKS/lks.cpp

@@ -172,9 +172,9 @@ namespace LKS {
     long retval=0;
 
 #ifdef LOGLEVEL_DEBUG
-//  message << "[DEBUG] send to LKS " << this->model << " (" << this->name << ") on socket " 
-//          << this->sock.gethost() << "/" << this->sock.getport() << ": " << cmd;
-//  logwrite( function, message.str() );
+    message << "[DEBUG] send to LKS " << this->model << " (" << this->name << ") on socket " 
+            << this->sock.gethost() << "/" << this->sock.getport() << ": " << cmd;
+    logwrite( function, message.str() );
 #endif
 
     std::lock_guard<std::mutex> lock( this->mtx );
@@ -228,10 +228,6 @@ namespace LKS {
 
     retstring = reply;
 
-#ifdef LOGLEVEL_DEBUG
-//  message << " reply=" << reply; logwrite( function, message.str() );
-#endif
-
     return( error );
   }
   /***** LKS::Interface::send_command *****************************************/

PI/CMakeLists.txt

@@ -10,7 +10,7 @@ set( PI_DIR ${PROJECT_BASE_DIR}/PI )
 
 set( CMAKE_CXX_STANDARD 17 )
 
-add_definitions( -Wall -ansi -O1 -Wno-variadic-macros -ggdb )
+add_definitions( -Wall -O1 -Wno-variadic-macros -ggdb )
 
 include_directories( ${PROJECT_BASE_DIR}/utils )
 include_directories( ${PROJECT_BASE_DIR}/common )

PI/pi.cpp

@@ -424,6 +424,11 @@ namespace Physik_Instrumente {
 
     this->thread_error.store( NO_ERROR );  // initialize the thread_error state.
 
+    // vector of threads to perform the operation for each motor
+    //
+    std::vector<std::thread> workers;
+    workers.reserve(motornames.size());
+
     for ( size_t n=0; n < motornames.size(); n++ ) {
 
       auto name = motornames[n];
@@ -434,16 +439,15 @@ namespace Physik_Instrumente {
       // Spawn a thread to performm the move.
       // If there is more than one then they can be done in parallel.
       //
-      std::thread( _dothread_moveto, std::ref( *this ), name, addr, axis, position ).detach();
-      this->motors_running++;
+      try {
+        workers.emplace_back( _dothread_moveto, std::ref( *this ), name, addr, axis, position );
+      }
+      catch(...) { for ( auto &t : workers ) t.join(); throw; }
     }
 
     // wait for the threads to finish
-    // TODO add a way to abort this
     //
-    while ( this->motors_running != 0 ) {
-      std::this_thread::sleep_for( std::chrono::milliseconds( 1 ) );
-    }
+    for ( auto &t : workers ) t.join();
 
     logwrite( function, "move(s) complete" );
 
@@ -685,8 +689,6 @@ namespace Physik_Instrumente {
 
     iface.thread_error.fetch_or( error );        // preserve any error returned
 
-    --iface.motors_running;                      // atomically decrement the number of motors waiting
-
     message.str(""); message << "completed move " << name << ( error!=NO_ERROR ? " with error" : "" );
     logwrite( function, message.str() );
 
@@ -811,6 +813,11 @@ namespace Physik_Instrumente {
     //
     this->thread_error.store( NO_ERROR );
 
+    // vector of threads to perform the operation for each motor
+    //
+    std::vector<std::thread> workers;
+    workers.reserve(name_list.size());
+
     // Now loop through the built up list of motor names
     //
     for ( const auto &name : name_list ) {
@@ -823,22 +830,22 @@ namespace Physik_Instrumente {
         message << " }";
         logwrite( function, message.str() );
         retstring="unknown_motor";
+        for ( auto &t : workers ) t.join();  // join any workers spawned before returning
         return ERROR;
       }
 
       // Spawn a thread to performm the home move.
       // If there is more than one then they can be done in parallel.
       //
-      std::thread( _dothread_home, std::ref( *this ), name ).detach();
-      this->motors_running++;
+      try {
+        workers.emplace_back( _dothread_home, std::ref( *this ), name );
+      }
+      catch(...) { for ( auto &t : workers ) t.join(); throw; }
     }
 
     // wait for the threads to finish
-    // TODO add a way to abort this
     //
-    while ( this->motors_running != 0 ) {
-      std::this_thread::sleep_for( std::chrono::milliseconds( 1 ) );
-    }
+    for ( auto &t : workers ) t.join();
 
     logwrite( function, "home complete" );
 
@@ -878,14 +885,12 @@ namespace Physik_Instrumente {
       message.str(""); message << "ERROR: name \"" << name << "\" not in motormap: " << e.what();
       logwrite( function, message.str() );
       iface.thread_error.fetch_or( ERROR );      // preserve this error
-      --iface.motors_running;                    // atomically decrement the number of motors waiting
       return;
     }
 
     if ( reftype.empty() ) {
       message.str(""); message << "NOTICE referencing not available for " << name;
       logwrite( function, message.str() );
-      --iface.motors_running;                    // atomically decrement the number of motors waiting
       return;
     }
 
@@ -937,8 +942,6 @@ namespace Physik_Instrumente {
 
     iface.thread_error.fetch_or( error );        // preserve any error returned
 
-    --iface.motors_running;                      // atomically decrement the number of motors waiting
-
     message.str(""); message << "completed home " << name << ( error!=NO_ERROR ? " with error" : "" );
     logwrite( function, message.str() );