Merge pull request #26 from lsst-ts/tickets/DM-44072

DM-44072: CameraRotator VMS

Makefile.inc

@@ -26,6 +26,14 @@ SAL_CPPFLAGS += $(PKG_CPPFLAGS) \
 	-I${SAL_WORK_DIR}/MTM1M3/cpp/src -I${SAL_WORK_DIR}/MTMount/cpp/src -I${SAL_WORK_DIR}/include \
 	-I${SAL_HOME}/include -I${LSST_SDK_INSTALL}/include
 
+LIBS := $(shell pkg-config yaml-cpp --libs $(silence)) \
+        $(shell pkg-config fmt --libs $(silence)) \
+        $(shell pkg-config fftw3 --libs $(silence)) \
+        -ldl -ldcpssacpp -ldcpsgapi -lddsuser -lddskernel \
+        -lpthread -lddsserialization -lddsconfparser -lddsconf \
+        -lddsdatabase -lddsutil -lddsos \
+        ${SAL_WORK_DIR}/lib/libSAL_MTVMS.a
+
 PKG_LIBS := \
 	$(shell pkg-config yaml-cpp --libs $(silence)) \
 	$(shell pkg-config fftw3 --libs $(silence)) \

SettingFiles/CameraRotator.yaml

@@ -2,7 +2,6 @@ Subsystem : "CameraRotator"
 IsController : true
 Period: 5
 OutputType: 3
-RIO : "rio://139.229.178.192/RIO"
 XCoefficients : [1.0,1.0,1.0]
 YCoefficients : [1.0,1.0,1.0]
 ZCoefficients : [1.0,1.0,1.0]

default_ts-VMS

@@ -1,6 +1,7 @@
 #Configurations to start on this VMS
 #VMS="M1M3"
-#VMS="M2 CameraRotator"
+#VMS="M2"
+#VMS="CameraRotator"
 
 OSPL_HOME=/opt/OpenSpliceDDS/V6.10.4/HDE/x86_64.linux
 OSPL_RELEASE=6.10.4

doc/version-history.rst

@@ -4,6 +4,11 @@
 Version History
 ===============
 
+v1.2.1
+------
+
+* New CameraRotator cRIO module
+
 v1.2.0
 ------
 

src/LSST/VMS/Commands/EnterControl.h

@@ -23,6 +23,7 @@
 #ifndef _VMS_Command_EnterControl_
 #define _VMS_Command_ENterControl_
 
+#include <cRIO/Task.h>
 #include <SAL_MTVMS.h>
 #include <VMSPublisher.h>
 #include <cRIO/Command.h>
@@ -33,13 +34,14 @@ namespace LSST {
 namespace VMS {
 namespace Commands {
 
-class EnterControl : public cRIO::Command {
+class EnterControl : public cRIO::Task {
 public:
-    void execute() override {
+    cRIO::task_return_t run() override {
         SPDLOG_DEBUG("EnterControl");
         VMSPublisher::instance().logSoftwareVersions();
         VMSPublisher::instance().logSimulationMode();
         Events::SummaryState::setState(MTVMS::MTVMS_shared_SummaryStates_StandbyState);
+        return Task::DONT_RESCHEDULE;
     }
 };
 

src/LSST/VMS/Commands/Update.cpp

@@ -27,7 +27,8 @@
 
 using namespace LSST::VMS::Commands;
 
-void Update::execute() {
+LSST::cRIO::task_return_t Update::run() {
     VMSPublisher::instance().putMiscellaneous(FPGA::instance().chassisTemperature(),
                                               FPGA::instance().chassisTicks());
+    return Task::DONT_RESCHEDULE;
 }

src/LSST/VMS/Commands/Update.h

@@ -26,7 +26,7 @@
 
 #include <mutex>
 
-#include <cRIO/Command.h>
+#include <cRIO/Task.h>
 
 namespace LSST {
 namespace VMS {
@@ -36,12 +36,12 @@ namespace Commands {
  * This command is responsible for running a periodic update.
  * This is an internal command only and cannot be issued via SAL.
  */
-class Update : public cRIO::Command {
+class Update : public cRIO::Task {
 public:
     Update() {}
     virtual ~Update() {}
 
-    void execute() override;
+    cRIO::task_return_t run() override;
 };
 
 } /* namespace Commands */

src/LSST/VMS/FPGA.cpp

@@ -38,7 +38,8 @@
 #include <NiFpga_VMS_3_Responder.h>
 #include <NiFpga_VMS_6_Controller.h>
 #include <NiFpga_VMS_6_Responder.h>
-#include <NiFpga_VMS_CameraRotator.h>
+#include <NiFpga_VMS_CameraRotator_Controller.h>
+#include <NiFpga_VMS_CameraRotator_Responder.h>
 #include <VMSApplicationSettings.h>
 #include <VMSPublisher.h>
 #include <cRIO/NiError.h>
@@ -50,6 +51,7 @@ FPGA::FPGA(token) : SimpleFPGA(LSST::cRIO::VMS) {}
 
 #define NiFpga_VMS_6_Responder_ControlBool_Operate -1
 #define NiFpga_VMS_3_Responder_ControlBool_Operate -1
+#define NiFpga_VMS_CameraRotator_Responder_ControlBool_Operate -1
 
 #define POPULATE_FPGA(type)                                                                    \
     _bitFile = "/var/lib/MTVMS/" NiFpga_VMS_##type##_Bitfile;                                  \
@@ -71,22 +73,26 @@ void FPGA::populate(VMSApplicationSettings *vmsApplicationSettings) {
     _vmsApplicationSettings = vmsApplicationSettings;
     session = 0;
     remaining = 0;
-    if (_vmsApplicationSettings->Subsystem == "CameraRotator") {
+    if ((_vmsApplicationSettings->Subsystem == "M1M3")) {
         _channels = 3;
-        POPULATE_FPGA(CameraRotator);
+        if (_vmsApplicationSettings->IsController) {
+            POPULATE_FPGA(3_Controller);
+        } else {
+            POPULATE_FPGA(3_Responder);
+        }
     } else if (_vmsApplicationSettings->Subsystem == "M2") {
         _channels = 6;
         if (_vmsApplicationSettings->IsController) {
             POPULATE_FPGA(6_Controller);
         } else {
             POPULATE_FPGA(6_Responder);
         }
-    } else if (_vmsApplicationSettings->Subsystem == "M1M3") {
+    } else if ((_vmsApplicationSettings->Subsystem == "CameraRotator")) {
         _channels = 3;
         if (_vmsApplicationSettings->IsController) {
-            POPULATE_FPGA(3_Controller);
+            POPULATE_FPGA(CameraRotator_Controller);
         } else {
-            POPULATE_FPGA(3_Responder);
+            POPULATE_FPGA(CameraRotator_Responder);
         }
     }
 }

src/LSST/VMS/VMSSubscriber.cpp

@@ -37,12 +37,13 @@ constexpr int32_t ACK_COMPLETE = 303;    /// Command is completed.
 constexpr int32_t ACK_FAILED = -302;     /// Command execution failed.
 
 VMSSubscriber::VMSSubscriber(std::shared_ptr<SAL_MTVMS> vmsSAL, std::shared_ptr<SAL_MTVMS> allvmsSAL) {
-#define ADD_SAL_COMMAND(name)                                                                   \
-    _commands[#name] = [vmsSAL]() {                                                             \
-        MTVMS_command_##name##C data;                                                           \
-        int32_t commandID = vmsSAL->acceptCommand_##name(&data);                                \
-        if (commandID <= 0) return;                                                             \
-        cRIO::ControllerThread::instance().enqueue(new Commands::SAL_##name(commandID, &data)); \
+#define ADD_SAL_COMMAND(name)                                              \
+    _commands[#name] = [vmsSAL]() {                                        \
+        MTVMS_command_##name##C data;                                      \
+        int32_t commandID = vmsSAL->acceptCommand_##name(&data);           \
+        if (commandID <= 0) return;                                        \
+        cRIO::ControllerThread::instance().enqueue(                        \
+                std::make_shared<Commands::SAL_##name>(commandID, &data)); \
     }
 
     ADD_SAL_COMMAND(start);
@@ -52,12 +53,12 @@ VMSSubscriber::VMSSubscriber(std::shared_ptr<SAL_MTVMS> vmsSAL, std::shared_ptr<
     ADD_SAL_COMMAND(exitControl);
     ADD_SAL_COMMAND(changeSamplePeriod);
 
-#define ADD_SAL_EVENT(name)                                                               \
-    _events[#name] = [allvmsSAL]() {                                                      \
-        MTVMS_logevent_##name##C data;                                                    \
-        int32_t result = allvmsSAL->getEvent_##name(&data);                               \
-        if (result == SAL__NO_UPDATES) return;                                            \
-        cRIO::ControllerThread::instance().enqueueEvent(new Commands::SAL_##name(&data)); \
+#define ADD_SAL_EVENT(name)                                                                        \
+    _events[#name] = [allvmsSAL]() {                                                               \
+        MTVMS_logevent_##name##C data;                                                             \
+        int32_t result = allvmsSAL->getEvent_##name(&data);                                        \
+        if (result == SAL__NO_UPDATES) return;                                                     \
+        cRIO::ControllerThread::instance().enqueue(std::make_shared<Commands::SAL_##name>(&data)); \
     }
 
     ADD_SAL_EVENT(timeSynchronization);