Merge pull request #27 from lsst-ts/tickets/DM-44552

DM-44552: vmscli, vmsrawdump utilities

Makefile

@@ -6,7 +6,7 @@ include Makefile.inc
 #
 
 # All Target
-all: ts-VMSd
+all: vmscli utils/vmsrawdump ts-VMSd
 
 src/libVMS.a: FORCE
 	$(MAKE) -C src libVMS.a
@@ -16,9 +16,16 @@ ts-VMSd: src/ts-VMSd.cpp.o src/libVMS.a
 	@echo '[LD ] $@'
 	${co}$(CPP) $(LIBS_FLAGS) -o $@ $^ ${CRIOCPP}/lib/libcRIOcpp.a $(LIBS)
 
+vmscli: src/vmscli.cpp.o src/libVMS.a
+	@echo '[LD ] $@'
+	${co}$(CPP) $(LIBS_FLAGS) -o $@ $^  ../ts_cRIOcpp/lib/libcRIOcpp.a $(LIBS) $(shell pkg-config --libs readline $(silence)) -lreadline
+
+utils/vmsrawdump: utils/vmsrawdump.cpp
+	@${MAKE} -C utils
+
 # Other Targets
 clean:
-	@$(foreach file,ts_MTVMS src/ts_MTVMS.cpp.o *.ipk ipk, echo '[RM ] ${file}'; $(RM) -r $(file);)
+	@$(foreach file,ts-VMSd vmscli src/ts-VMS.cpp.o src/vmscli.cpp.o *.ipk ipk, echo '[RM ] ${file}'; $(RM) -r $(file);)
 	@$(foreach dir,src tests,$(MAKE) -C ${dir} $@;)
 
 # file targets
@@ -44,14 +51,17 @@ ipk: ts-VMS_$(VERSION)_x64.ipk
 
 TS_DDSCONFIG=../ts_ddsconfig
 
-ts-VMS_$(VERSION)_x64.ipk: ts-VMSd
+ts-VMS_$(VERSION)_x64.ipk: vmscli utils/vmsrawdump ts-VMSd
 	@echo '[MK ] ipk $@'
+	${co}mkdir -p ipk/data/usr/bin
 	${co}mkdir -p ipk/data/usr/sbin
 	${co}mkdir -p ipk/data/etc/init.d
 	${co}mkdir -p ipk/data/etc/default
 	${co}mkdir -p ipk/data/var/lib/MTVMS
 	${co}mkdir -p ipk/control
-	${co}cp ts-VMSd ipk/data/usr/sbin/ts-VMSd
+	${co}cp vmscli ipk/data/usr/bin/
+	${co}cp utils/vmsrawdump ipk/data/usr/bin/
+	${co}cp ts-VMSd ipk/data/usr/sbin/
 	${co}cp init ipk/data/etc/init.d/ts-VMS
 	${co}cp default_ts-VMS ipk/data/etc/default/ts-VMS
 	${co}cp -r SettingFiles/* ipk/data/var/lib/MTVMS

Makefile.inc

@@ -54,7 +54,8 @@ endif
 LIBS += $(PKG_LIBS) -ldl -ldcpssacpp -ldcpsgapi -lddsuser -lddskernel \
 	-lpthread -lddsserialization -lddsconfparser -lddsconf \
 	-lddsdatabase -lddsutil -lddsos \
-	${SAL_WORK_DIR}/lib/libSAL_MTVMS.a
+	${SAL_WORK_DIR}/lib/libSAL_MTVMS.a \
+	-lstdc++fs
 
 LIBS_FLAGS += -L${OSPL_HOME}/lib -L${LSST_SDK_INSTALL}/lib
 

SettingFiles/CameraRotator.yaml

@@ -2,6 +2,7 @@ Subsystem : "CameraRotator"
 IsController : true
 Period: 5
 OutputType: 3
+Sensors: 3
 XCoefficients : [1.0,1.0,1.0]
 YCoefficients : [1.0,1.0,1.0]
 ZCoefficients : [1.0,1.0,1.0]

SettingFiles/M1M3.yaml

@@ -2,6 +2,7 @@ Subsystem : "M1M3"
 IsController : true
 Period: 5
 OutputType: 3
+Sensors: 3
 XCoefficients : [1.0,1.0,1.0]
 YCoefficients : [1.0,1.0,1.0]
 ZCoefficients : [1.0,1.0,1.0]

SettingFiles/M2.yaml

@@ -1,7 +1,8 @@
 Subsystem : "M2"
+IsController : true
 Period: 5
 OutputType: 3
-IsController : true
+Sensors: 6
 XCoefficients : [1.0,1.0,1.0]
 YCoefficients : [1.0,1.0,1.0]
 ZCoefficients : [1.0,1.0,1.0]

doc/version-history.rst

@@ -4,6 +4,11 @@
 Version History
 ===============
 
+v1.2.2
+------
+
+* vmscli, vmsrawdump utilities
+
 v1.2.1
 ------
 

init

@@ -48,12 +48,12 @@ startdaemon(){
 	done
 	logger -t VMS_start -p user.info "Starting with IP $LSST_DDS_IP"
 	echo -n "Starting TS VMS $1:"
-	start-stop-daemon --start --oknodo --pidfile ${PIDFILE}_$1.pid --startas $DAEMON -- -p ${PIDFILE}_$1.pid -u vms:vms $1
+	start-stop-daemon --start --oknodo --pidfile ${PIDFILE}_$1.pid --exec $DAEMON -- -p ${PIDFILE}_$1.pid -u vms:vms $1
 	echo "done"
 }
 stopdaemon(){
 	echo -n "Stopping TS VMS $1:"
-	start-stop-daemon --stop --oknodo --remove-pidfile --retry 5 -p ${PIDFILE}_$1.pid
+	start-stop-daemon --stop --oknodo --remove-pidfile --user vms --retry 5 -p ${PIDFILE}_$1.pid
 	sudo -E -u vms -g vms LD_LIBRARY_PATH=$OSPL_HOME/lib PATH=$PATH:$OSPL_HOME/bin $OSPL_HOME/bin/ospl stop
 	echo "done"
 }

src/LSST/VMS/Accelerometer.cpp

@@ -26,52 +26,18 @@
 #include <Accelerometer.h>
 #include <FPGA.h>
 #include <FPGAAddresses.h>
-#include <VMSPublisher.h>
 
-#define AXIS_PER_SENSOR 3
-#define MAX_SAMPLE_PER_PUBLISH 50
 #define G2M_S_2(g) (g * 9.80665)
 
-namespace LSST {
-namespace VMS {
+using namespace LSST::VMS;
 
 Accelerometer::Accelerometer(VMSApplicationSettings *vmsApplicationSettings) {
     SPDLOG_DEBUG("Accelerometer::Accelerometer()");
 
     _vmsApplicationSettings = vmsApplicationSettings;
-
-    if (vmsApplicationSettings->Subsystem == "M1M3") {
-        _subsystem = M1M3;
-        _numberOfSensors = 3;
-    } else if (vmsApplicationSettings->Subsystem == "M2") {
-        _subsystem = M2;
-        _numberOfSensors = 6;
-    } else if (vmsApplicationSettings->Subsystem == "CameraRotator") {
-        _subsystem = CameraRotator;
-        _numberOfSensors = 3;
-    } else if (vmsApplicationSettings->Subsystem == "TMA") {
-        _subsystem = TMA;
-        _numberOfSensors = 3;
-    } else {
-        SPDLOG_ERROR("Unknown subsystem: {}", vmsApplicationSettings->Subsystem);
-        exit(EXIT_FAILURE);
-    }
-    _sampleData = new MTVMS_dataC[_numberOfSensors];
-    _psds = new Telemetry::PSD[_numberOfSensors];
-    _dataIndex = 0;
-
-    float _periodInS = _vmsApplicationSettings->period / 1000.0f;
-
-    for (int s = 0; s < _numberOfSensors; s++) {
-        _sampleData[s].sensor = s + 1;
-        _psds[s].configure(s + 1, 1.0f / (2.0f * _periodInS), _periodInS);
-    }
 }
 
-Accelerometer::~Accelerometer(void) {
-    delete[] _psds;
-    delete[] _sampleData;
-}
+Accelerometer::~Accelerometer(void) {}
 
 void Accelerometer::enableAccelerometers() {
     SPDLOG_INFO("Accelerometer: enableAccelerometers(), period {}, output type {}",
@@ -87,40 +53,19 @@ void Accelerometer::disableAccelerometers() {
 }
 
 void Accelerometer::sampleData() {
-    SPDLOG_TRACE("Accelerometer: sampleData() count {}", _dataIndex);
-    uint32_t buffer[_numberOfSensors * AXIS_PER_SENSOR];
+    SPDLOG_TRACE("Accelerometer: sampleData()");
+    uint32_t buffer[_vmsApplicationSettings->sensors * AXIS_PER_SENSOR];
 
-    FPGA::instance().readResponseFIFO(buffer, _numberOfSensors * AXIS_PER_SENSOR,
+    FPGA::instance().readResponseFIFO(buffer, _vmsApplicationSettings->sensors * AXIS_PER_SENSOR,
                                       _vmsApplicationSettings->period * 2);
 
-    if (_dataIndex == 0) {
-        double data_timestamp = VMSPublisher::instance().getTimestamp();
-
-        for (int s = 0; s < _numberOfSensors; s++) {
-            _sampleData[s].timestamp = data_timestamp;
-        }
-    }
-
     uint32_t *dataBuffer = buffer;
-    for (int s = 0; s < _numberOfSensors; s++) {
+    for (int s = 0; s < _vmsApplicationSettings->sensors; s++) {
         float acc_x = _convert(&dataBuffer);
         float acc_y = _convert(&dataBuffer);
         float acc_z = _convert(&dataBuffer);
 
-        _sampleData[s].accelerationX[_dataIndex] = acc_x;
-        _sampleData[s].accelerationY[_dataIndex] = acc_y;
-        _sampleData[s].accelerationZ[_dataIndex] = acc_z;
-
-        _psds[s].append(acc_x, acc_y, acc_z);
-    }
-
-    _dataIndex++;
-
-    if (_dataIndex >= MAX_SAMPLE_PER_PUBLISH) {
-        for (int s = 0; s < _numberOfSensors; s++) {
-            VMSPublisher::instance().putData(&(_sampleData[s]));
-        }
-        _dataIndex = 0;
+        processData(s, acc_x, acc_y, acc_z);
     }
 }
 
@@ -148,6 +93,3 @@ float Accelerometer::_convert(uint32_t **data) {
             return NAN;
     }
 }
-
-} /* namespace VMS */
-} /* namespace LSST */

src/LSST/VMS/Accelerometer.h

@@ -21,16 +21,16 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-#ifndef ACCELEROMETER_H_
-#define ACCELEROMETER_H_
+#ifndef __ACCELEROMETER_H_
+#define __ACCELEROMETER_H_
 
-#include <SAL_MTVMS.h>
-#include <Telemetry/PSD.h>
 #include <VMSApplicationSettings.h>
 
 namespace LSST {
 namespace VMS {
 
+constexpr static int AXIS_PER_SENSOR = 3;
+
 /**
  * VMS Accelerometer sampling.
  */
@@ -44,19 +44,18 @@ class Accelerometer {
 
     void sampleData();
 
+protected:
+    VMSApplicationSettings *_vmsApplicationSettings;
+
+    virtual void processData(int sensor, float acc_x, float acc_y, float acc_z) = 0;
+
 private:
     enum { M1M3, M2, CameraRotator, TMA } _subsystem;
 
-    int _numberOfSensors;
-    int _dataIndex;
-    MTVMS_dataC *_sampleData;
-    Telemetry::PSD *_psds;
-    VMSApplicationSettings *_vmsApplicationSettings;
-
     float _convert(uint32_t **data);
 };
 
 } /* namespace VMS */
 } /* namespace LSST */
 
-#endif /* ACCELEROMETER_H_ */
+#endif /* __ACCELEROMETER_H_ */

src/LSST/VMS/Commands/EnterControl.h

@@ -25,9 +25,10 @@
 
 #include <cRIO/Task.h>
 #include <SAL_MTVMS.h>
-#include <VMSPublisher.h>
-#include <cRIO/Command.h>
 
+#include <cRIO/Task.h>
+
+#include <VMSPublisher.h>
 #include <Events/SummaryState.h>
 
 namespace LSST {

src/LSST/VMS/Events/FPGAState.cpp

@@ -38,6 +38,9 @@ FPGAState::FPGAState(token) {
 }
 
 void FPGAState::send() {
+    if (instance()._publish == false) {
+        return;
+    }
     salReturn ret = VMSPublisher::SAL()->putSample_logevent_fpgaState(&instance());
     if (ret != SAL__OK) {
         SPDLOG_WARN("Can not send fpgaState: {}", ret);

src/LSST/VMS/Events/FPGAState.h

@@ -45,6 +45,12 @@ class FPGAState final : MTVMS_logevent_fpgaStateC, public cRIO::Singleton<FPGASt
     void setPeriodOutputType(int32_t newPeriod, int newOutputType);
     void setMisc(bool newReady, bool newTimeouted, bool newStopped, bool newFIFOFull);
 
+    /***
+     * Sets flag if state changes should be outpublished. Used to NOT publish
+     * from vmsclient, as vmsclient doesn't have any SAL connecton.
+     */
+    void setPublish(bool publish) { _publish = publish; }
+
     /***
      * Readout state from FPGA, sends updates if data were changed
      */
@@ -59,6 +65,7 @@ class FPGAState final : MTVMS_logevent_fpgaStateC, public cRIO::Singleton<FPGASt
 
 private:
     std::mutex _stateMutex;
+    bool _publish = true;
 };
 
 }  // namespace Events

src/LSST/VMS/FPGA.cpp

@@ -27,7 +27,6 @@
 #include <unistd.h>
 
 #ifdef SIMULATOR
-#include <Events/FPGAState.h>
 #include <math.h>
 #endif
 
@@ -44,8 +43,7 @@
 #include <VMSPublisher.h>
 #include <cRIO/NiError.h>
 
-namespace LSST {
-namespace VMS {
+using namespace LSST::VMS;
 
 FPGA::FPGA(token) : SimpleFPGA(LSST::cRIO::VMS) {}
 
@@ -259,6 +257,3 @@ void FPGA::readResponseFIFO(uint32_t *data, size_t length, int32_t timeoutInMs)
     }
 #endif
 }
-
-} /* namespace VMS */
-} /* namespace LSST */