Archived Work Notebook for November 2008

11/3

11/4

11/5

Thread Basics

11/7

11/10

Overview of the Initialization of the AntennaControl

[Aside] Simulate Data

11/11

11/12

11/13

Create new KyleWave2 board

11/14

GCP compiling error 11.14

11/17

readline error on bicep0

11/19

KyleWave2 is working!!!

11/20

Check out gcp code to find.uchicago

11/21

Fluxbox

11/24

Checkout brand new version of gcp onto Find:

Create svnRepos on Find for my gcp code.

Fix stat page:

Make KyleWave2 work on Find.

How Antenna connects to the Mediator

Look at how Antenna layer connects to the Mediator layer and how frames are packed, queued, and sent / received.

11/25

Check out new copy of gcp onto spudws2:

AntennaMonitor packing frames

11/25

11/3

Looking for main() in Antenna that is being run.
Run Antenna program:
It seems to be running when all sim flags are set to "t".
The only one it fails to run on is when simgps=f.

On Antenna xterm:
kstory@bicep0:~/gcp/$ /home/bicep/gcp/bin/bicepAntennaControl host=localhost antenna=0 dataport=1500 cmdport=1600 simpmac=t simdata=t simgps=t sim1pps=t logd=/home/bicep0/kstory/gcp/runlogs logf=bicepTestAntennaControl debuglevel=0
03-NOV-2008 18:08:38.812: In void gcp::util::LogFile::open(): Opened logfile: /home/bicep0/kstory/gcp/runlogs/bicepTestAntennaControl38 on Mon Nov  3 10:08:38 2008

(obviously something is running, but nothing is printing out)

On another terminal:
kstory@bicep0:~/gcp/$ /home/bicep0/kstory/gcp/misc/scripts/common/killAll bicepAntenna
killing  7380
killing

On Antenna xterm:
kstory@bicep0:~/gcp/$ /home/bicep/gcp/bin/bicepAntennaControl host=localhost antenna=0 dataport=1500 cmdport=1600 simpmac=t simdata=t simgps=f sim1pps=t logd=/home/bicep0/kstory/gcp/runlogs logf=bicepTestAntennaControl debuglevel=0
03-NOV-2008 18:10:09.898: In void gcp::util::LogFile::open(): Opened logfile: /home/bicep0/kstory/gcp/runlogs/bicepTestAntennaControl39 on Mon Nov  3 10:10:09 2008
Caught exception: In void gcp::antenna::control::Tfp::open(): In void gcp::antenna::control::Tfp::open(): In open(): No such file or directory.

I put print statements in all of the main() programs in the entire gcp. However, when I run the Antenna control code, none of them print out. I really don't understand what code is being run the!!

Search for simgps. Only found in two files that I already have print statements for.

New thought; what I am compiling is not actually showing up in the binary directory.
Rename lib/libGcpAntennaControlSpecific.so to mylibGcpAntennaControlSpecific.so.
Run:
Kills Mediator level, Antenna is still the same.

Mediator Requires:
libGcpAntennaControlSpecific.so
libGcpControlCommon.so
libGcpControlSpecific.so
libGcpGrabberCommon.so
libGcpMediatorSpecific.so
libGcpMonitor.so
libGcpMonitor.so
libGcpProgramCommon.so
libGcpUtilCommon.so
etc.
Antenna Does NOT require:
libGcpAntennaControlSpecific.so
libGcpControlCommon.so
libGcpControlSpecific.so
libGcpGrabberCommon.so
libGcpMediatorSpecific.so
libGcpMonitor.so
libGcpMonitor.so
libGcpProgramCommon.so
libGcpUtilCommon.so

Thus I am convinced that the binary /home/bicep/gcp/bim/bicepAntennaControl is not running any of the code that is in my directories. Where is the code I am compiling going?

11/4

Code Mystery Solved!!
I was running the antenna code from /home/bicep/gcp/, when to run my version I need /home/bicep0/kstory/gcp.

It works!!
Now figure out where the code is resting, and try to find out why the data simulation is not working.

Current Antenna code does the following:

In Program::initialize()
program name = bicepAntennaControl
Leave Program::initialize()
In Program::run(), after initialize(), returnValue = 0
In Program::run() after initialize(), return 0

  In try this->main()

In Antenna::main()
 in Antenna::main(), after sigfillset() and pthread_sigmask().
 in Antenna::main(), about to initialize AntennaMaster.
 in Antenna::main(), in try.
04-NOV-2008 22:53:05.413: In void gcp::util::LogFile::open(): Opened logfile: /home/bicep0/kstory/gcp/runlogs/bicepTestAntennaControl54 on Tue Nov  4 14:53:05 2008
In Antenna::main(), about to create AntennaMaster.
In AntennaMaster::constructor.
In AntennaMaster::constructor, about to initialize AntennaControl thread.
In AntennaMaster::constructor, about to initialize AntennaRx thread.
In AntennaMaster::constructor, about to initialize thread.
In AntennaMaster::constructor, about to initialize AntennaMonitor thread.
In AntennaMaster::constructor, about to initialize AntennaSignal thread.
In AntennaMaster::constructor, done with threads.
In Tfp constructor, simulate = 1
In AntennaMaster::constructor, about to installSignals().
In AntennaMaster::constructor, about to installTimers().
In AntennaMaster::constructor, about to startThreads().
In AntennaMaster::THREAD_START(startAntennaControl())
In AntennaMaster::THREAD_START(startAntennaRx())
In AntennaMaster::THREAD_START(startAntennaRx()), call parent->getThread(AntennaRx)
In AntennaMaster::THREAD_START(startAntennaRx()), define parent->rxTask_

For tomorrow, keep working...

11/5

Working through Antenna running process.

Function startThreads():
Defined in GenericTask. Calls the run() method of all Threads managed by this task, which calls pthread_create() for each thread.

AntennaRx threads:
To see which threads we are instantiating, need to understand Antennamaster private field prio.
Called with Program::getbParameter("prio").
Calls Program::getParameter("prio").
  int i = findKey("prio") // returns index for keyname "prio". Here, "prio" = t.
  return keys_[i].val

keys_ of type Keyword.
KeyWord:
Program object has struct keyword
field keys_
  string key, val, help
  int count // reference count
  int upd // 0=read, 1=unread original 2=unread updated
  int system // system key word, 0=no, 1=yes
This gets instantiated in bin_AntennaControl.cc, or anywhere where there is a main function.

Once I turn off priority, the antenna actually looks like it is running something!!!

For tomorrow, keep working through details of how Antenna runs, starting with AntennaMaster constructor.

Thread Basics

pthread tutorial

Thread operations: creation, termination, synchronization, scheduling, data management, process installation.
A thread does not know who created it or who it has created.
Thread has:
  - Thread ID
  - set of registers, stack pointer
  - stack for local variables, return addresses
  - signal mask
  - priority
  - return value: errno

Thread Creation
created with pthread_create(pthread_t * thread, const pthread_attr_t * attr, void * (start_routine)(void ), void arg);
  - thread: returns the thread id.
  - attr: set to NULL if default thread attributes are used.
  - void (*start_routine): pointer to the function to be threaded. Function has a single argument: pointer to void.
  - \*arg: pointer to argument of function.

Thread Synchronization
mutexes: Mutual exclusion lock: Block access to variables by other theads. This enforces exclusive access by a thread to a variable or set of variables.
join: Make a thread wait till others are complete (terminated).
condition variables: data type pthread_cond_t

Thread Scheduling
When this option is enabled, each thread may have its own scheduling properties.

11/7

DataBase.cc has a simulation constructor that is not being called currently.
Working through Antenna code; I will type up my findings next week.

11/10

Working through Antenna code.

I know that the GpsTimer simulate mode is working.

Overview of the Initialization of the AntennaControl

kstory@bicep0:~/gcp/$ /home/bicep0/kstory/gcp/bin/bicepAntennaControl host=localhost antenna=0 dataport=1500 cmdport=1600
 simpmac=t simdata=t simgps=t sim1pps=t logd=/home/bicep0/kstory/gcp/runlogs logf=bicepTestAntennaControl debuglevel=0 pr
io=f
In Program::main(antenna=0)
In Program::run(13)
In Program::initialize()
program name = bicepAntennaControl
Leave Program::initialize()
In Program::run(), after initialize(), returnValue = 0
In Program::run() after initialize(), return 0
  In try this->main()

In Antenna::main()
 in Antenna::main(), after sigfillset() and pthread_sigmask().
 in Antenna::main(), about to initialize AntennaMaster.
 in Antenna::main(), in try.
10-NOV-2008 20:17:39.034: In void gcp::util::LogFile::open(): Opened logfile: /home/bicep0/kstory/gcp/runlogs/bicepTestAn
tennaControl78 on Mon Nov 10 12:17:39 2008
In Antenna::main(), about to create AntennaMaster.
In AntennaMaster::constructor.
In AntennaMaster::constructor, about to initialize AntennaControl thread.
In AntennaMaster::constructor, about to initialize AntennaRx thread.
In AntennaMaster::constructor, about to initialize AntennaDrive thread.
In AntennaMaster::constructor, about to initialize AntennaMonitor thread.
In AntennaMaster::constructor, about to initialize AntennaSignal thread.
In AntennaMaster::constructor, done with threads.
In AntennaMaster::constructor, about to initialize share_.
In Tfp constructor, simulate = 1
In AntennaMaster::constructor, about to installSignals().
In AntennaMaster::constructor, about to installTimers().
In AntennaMaster::constructor, about to startThreads().
In AntennaMaster::THREAD_START(startAntennaControl())
In AntennaControl::constructor()
In AntennaControl::constructor(), About to call startThreads().
Leaving AntennaControl::constructor() ...
In AntennaControl::serviceMsgQ().
In AntennaMaster::THREAD_START(startAntennaRx)
In AntennaMaster::THREAD_START(startAntennaRx), call parent->getThread(AntennaRx)
In AntennaMaster::THREAD_START(startAntennaRx), define parent->rxTask_
In AntennaRx::constructor.
In AntennaRx::constructor, calling parent_->prio(), start Data thread.
In AntennaRx::constructor, parent_->prio() == false.
In AntennaRx::constructor, start Command thread.
In AntennaRx::constructor, call startThreads().
In THREAD_START(AntennaRx::startData)
In THREAD_START(AntennaRx::startData), call rx->getThread(Data).
In THREAD_START(AntennaRx::startData), instantiate DataNew object with DataBase constructor.
In DataBase::constructor().
In DataBase::constructor(), simData_ = 1.
In DataBase::constructor(), create new NetDataBoard at dataport 1500.
In DataBase::constructor(), creating new PmacBoard, simPmac= 1.
In DataBase::constructor(), initialize NetDataParse objects.
In DataBase::constructor(), add fast registers.
Leaving DataBase::constructor().
In DataNew::constructor(), simData_ = 1.
In DataNew::constructor(), dumpData = 0.
Leaving DataNew::constructor().
In THREAD_START(AntennaRx::startData), let others know data thread is ready.
In THREAD_START(AntennaRx::startData), call DataNew::run().
In DataNew::run(), call serviceMsgQ().
In DataNew::serviceMsgQ().
In DataNew::serviceMsgQ(), simData_ = true.
In DataNew::serviceMsgQ(), About to drop into while().
In THREAD_START(AntennaRx::startCommand).
In THREAD_START(AntennaRx::startCommand), instantiate new CommandTask().
In THREAD_START(AntennaRx::startCommand), broadcastReady().
In THREAD_START(AntennaRx::startCommand), call commandTask_->run().
In CommandTask::serviceMsgQ().
In AntennaMaster::THREAD_START(startAntennaRx), set internal thread pointer pointing to AntennaRx thread.
In AntennaMaster::THREAD_START(startAntennaRx), thread->broadcastReady()
In CommandTask::serviceMsgQ(), about to drop into while().
In AntennaMaster::THREAD_START(startAntennaRx), call rxTask_->run()
In AntennaMaster::THREAD_START(startAntennaDrive).
In AntennaMaster::THREAD_START(startAntennaDrive), call AntennaDrive constructor.
In AntennaDrive::constructor().
Unsing no prio for AntennaDrive
In AntennaDrive::constructor(), create Tracker thread.
In AntennaDrive::constructor(), startThreads().
In AntennaDrive::THREAD_START(AntennaDrive::startTracker).
About to start tracker
Using no prio
In Tfp constructor, simulate = 1
In GPSTimer::RUN_RN(Gpstimer::runFn).
In GPSTimer::run(), simulatetimer_ = 1.
In GpsTimer::runSim(), about to enter while().
In Tracker::privateConstructor().
In Tracker::privateConstructor(), instantiate PmacBoard.
In Tracker::privateConstructor(), instantiate TrackerBoard.
In Tracker::privateConstructor(), instantiate WeatherMonitor.
Leaving QuaMonitor constructor: spawn = 1
Inside connect
In Tracker::privateConstructor(), call initialize().
In Tracker::initialize().
In Tracker::initialize, call gps_.registerCallback().
In Tracker::initialize, halt Telescope.
Just executed setupForHalt
Leaving Tracker::initialize.
Leaving Tracker::privateConstructor().
Leaving AntennaDrive::constructor().
In AntennaDrive::THREAD_START(AntennaDrive::startTracker), call trackertask_->run().
In AntennaMaster::THREAD_START(startAntennaMonitor())
Unknown TCP/IP host: "omega0.southpole.usap.gov".
In AntennaMonitor::connect().

Attempting to connect to host: localhost on port 5467
AntennaMonitor Successfully connected
In AntennaMaster::THREAD_START(startAntennaSignal())
In AntennaMaster::constructor, about to run().
In AntennaMaster::THREAD_START(startAntennaSignal()), About to call signalTask::run().
In SignalTask::run().

In AntennaControl::processMsg() from MsgQ.
In AntennaControl::connectControl(), client is: not connected.
In AntennaControl::connect().
In AntennaControl::connect(), call client_.connectToServer(antMaster->host(),...).
In AntennaControl::connect(), successfully connected to server.
In AntennaControl::sendAntennaIdMsg().
Got a collimation command
Got a collimation command
  In DataNew::serviceMsgQ() while, nready = 1.
  In DataNew::serviceMsgQ() while, iterate over Boxes:    fdSet_.isSerInRead(iBox) = [0, 0, 0, 0, 0, 0, 0, 0, 0,  ]
  In GpsTimer::runSim(), in while(), TimeVal = 1226348260 sec.
In GpsTimer::callHandlers().

In Tracker::GPS_CALLBACK_FN(Tracker::sendTickMsg).
Tracker thinks clock has jumped: diff = 1.22635e+09
  In GpsTimer::runSim(), in while(), TimeVal = 1226348261 sec.
In GpsTimer::callHandlers().

In Tracker::GPS_CALLBACK_FN(Tracker::sendTickMsg).
  In GpsTimer::runSim(), in while(), TimeVal = 1226348262 sec.
In GpsTimer::callHandlers().

In Tracker::GPS_CALLBACK_FN(Tracker::sendTickMsg).
10-NOV-2008 20:17:42.050: The telescope is halted
In AntennaControl::processMsg() from MsgQ.
In AntennaControl::processMsg() from MsgQ.
  In GpsTimer::runSim(), in while(), TimeVal = 1226348263 sec.
In GpsTimer::callHandlers().

In Tracker::GPS_CALLBACK_FN(Tracker::sendTickMsg).
  In GpsTimer::runSim(), in while(), TimeVal = 1226348264 sec.
In GpsTimer::callHandlers().

In Tracker::GPS_CALLBACK_FN(Tracker::sendTickMsg).
  In GpsTimer::runSim(), in while(), TimeVal = 1226348265 sec.
In GpsTimer::callHandlers().

In Tracker::GPS_CALLBACK_FN(Tracker::sendTickMsg).
Killed
kstory@bicep0:~/gcp/$

Start with ./bin/bicepAntennaControl
Program::main() name bicepAntennaControl
  Program::getProgram() to initialize Program* object.
    calls devault constructor of Program object.
  call program->run(argc, argv)
  delete calling instance of program after run() is finished (which is indefinitely long.

Program::run(argc, argv)
  try{ initialize(); } -> catch error
  try{ this->main(); } -> catch error // main() defined in bin_AntennaControl.cc
  try {Program:: terminate(); } -> catch error

Program::initialize(void)
  call initializeUsage() -> defined in bin_AntennaControl.cc, empty function.
  store program name in progName_ field.
  deal with program keys:
    npkeys_ // # program keys
    nskeys_ // # system keys

bin_AntennaControl.cc
Program::main(void)
  sigfillset(&allSignals) // standard c++ function in signal.h library, initializes a signal set so that it includes all supported signals.
  pthread_sigmask(...)
  AntNum antNum
  set Id for antNum
  open log files
  //create new instance of AntennaMaster:
  AntennaMaster master(args from keywords)

AntennaMaster
Threads:
  - AntennaControl
  - AntennaRx
  - AntennaDrive
  - AntennaMonitor
  - AntennaSignal

AntennaMaster::constructor
  Create threads for:
    - AntennaControl
    - AntennaRx
    - AntennaDrive
    - AntennaMonitor
    - AntennaSignal
  antNum_ = new AntNum()
  initialize BicepShare share_
  installSignals() // call sendInstallSignalMsg(...)
  installTimers() // see below
  startThreads() // calls THREAD_START() function for each thread. See below:

AntennaMaster::installTimers()
  install "heartbeat" timer
  # if BICEP_DATA // if we ahve a data source, let it drive the dataframe sending
    sendInstallTimerMsg("monitor", ANTENNA_MONITOR_SIGNAL,
                      0, ANTENNA_MONITOR_NSEC,
                      &sendDataStrobeMsg);
  # else
    sendInstallTimerMsg("monitor", ANTENNA_MONITOR_SIGNAL,
                      0, ANTENNA_MONITOR_NSEC,
                      &sendPackDataFrameMsg);
    //sendPackDataFrameMsg is of type SIGNALTASK_HANDLER_FN(* handler), defined in AntennaMaster
    // tells AntennaMonitor to send a data frame back to the ACC.
  # endif
  install "pmac" timer
  install "connect" timer

AntennaControl
Threads: none

_THREAD_START(AntennaMaster::startAntennaControl)_
  AntennaMaster* ant = (AntennaMaster*) arg;
  ant->controlTask_ = new AntennaControl(ant); // see below
  controlTask_->thread_ = ant->getThread("AntennaControl");
  thread->broadcastReady()
  controlTask_->run() // calls ?? which calls AntennaControl::serviceMsgQ()
  // stays in MessageQ, waiting for messages from above or below.

AntennaControl::constructor
  class derived from BicepTask, GenericTask
  forwarder_ = new AntNetCmdForwarder(parent);
  startThreads(this); // No threads to start here.

AntennaControl::connect
  connect to AntennaMaster
  register handlers.

AntennaRx
Threads:
  - data
  - command

_THREAD_START(AntennaMaster::startAntennaRx)_
  parent is type AntennaMaster*.
  thread = parent->getThread("AntennaRx");
  parent->rxTask_ = new AntennaRx(parent); // instantiate new AntennaRx object. See below.
  rxTask_->thread_ - thread; // set internal pointer pointing to Rx thread.
  thread->broadcastReady();
  rxTask_->run(); // calls ??

AntennaRx::constructor
  instantiate threads:
  - data // call different constructors depending on whether or not we have priority.
  - command
  startThreads(this); // calls THREAD_START(AntennaRx::type).

_THREAD_START(AntennaRx::startData)_ in AntennaRx.cc
  Thread* thread = rx->getThread("Data") // get thread object which will manage this thread.
  have field DataBase* dataTask_
  rx->dataTask_ = new DataNew(rx) // calls DataBase constructor
  dataTask_->thread_ = thread; // set internal thread
  thread->broadcastReady()
  dataTask_->run() // calls DataNew::run(), which calls DataNew::serviceMsgQ().

_THREAD_START(AntennaRx::startCommand)_ in AntennaRx.cc
  rx->commandTask_ = new CommandTask(rx) // see below
  rx->commandTask_->thread_ = rx->getThread("Command");
  thread->broadcastReady();
  commandTask_->run(); // calls ?? which ends up at CommandTask::serviceMsgQ

DataNew
Fields:
  - TimeVal timeOut_
  - FdSet fdSet_
  - std::ofstream* fout_
Methods:
  - run() -> calls serviceMsgQ()
  - serviceMsgQ()

DataNew::constructor : DataBase(parent)
  This first calls the DataBase constructor.
  if !simData_
    fdSet_.registerReadFd( data_->fd(i) ); where (i) is the box number up to NBOX

DataNew::run()
  call serviceMsgQ()

DataNew::serviceMsgQ()
    Wait for data to arrive
  Once a message has arrived:
    - processTaskMsg
    - Loop over boxes:
      > read box with NetDataBoard::read(unsigned iBox)
        deal with time stuff
        - update seq number if necessary
        - update time and calculate dTime between current and time last packet arrived
        case: data is in current set i.e. seq==currSeq
          - note that the box data for that sequence number has arrived, and keep waiting for all boxes
          - if all boxes have arrived, call incrimentSampleCount() to buffer the data
        case new sequence number i.e. seq > currSeq
          if dCurrSeq != 1, log a message. If dCurrSeq > seqJumpThreshold, do not read new data
          Usually, dCurrSeq == 1.
          Calculate change in seq number and time between most recent packets.
          bufferTimeData(iSamp, )
          bufferPmacData(iSamp)
  Wait for more data to arrive.

DataBase
Fields:
  - NetDataBoard data_
  - PmacBoard pmac_
  - ThermalControl thermalControl_
  - NetDataParse bolo_, fridge_, rot_, dewar_, timep_, datasys_, aux_, level_, cal_
  - vector fastRegs_, where FastReg is a struct defined in DataBase.h
Methods:
  - addFastPmacRegs()
  - writeBoxData(), writePmacData(), writeTimeData(), writeData()
  - bufferBoxData(), bufferPmacData(), bufferTimeData(), bufferData()
  - run() -> virtual, does nothing.

DataBase::constructor
  data_ = new NetDataBoard(parent_->dataport_, NBOX);
  pmac_ = new PmacBoard(share_, "pmac", parent_->simPmac());
  initParsers(); // initialize NetDataParse() for:
    bolo, fridge, rotator, time, datasystem, dewar, auxiliary, level, cal
  addFastPmacRegs(); // add pmac registers we want to monitor at the fast rate:
    az_pos, el_pos, dk_pos, mtr_pos, mtr_com_pos, mtr_mean_err, mtr_vel, mtr_com_vel, mtr_com_i, aux_input, new_position.

NetDataBoard : class for reading/writing data and messages to and from BICEP's UDP-based data acquisition system.
NetDataBoard::constructor(int port, int n)
  init(port, n);
  for(i < nBox)
    socket[i].configure(port+i); // sockets are UDPSocket[] objects.

NetDataParse :
Fields:
  - float* cosine, sine, quadsum, cAvg, sAvg, phase, voltage, current, frequency, etc.
  - RegMapBlock* received_, cosine_, sine_, quandsum_, phase_, sequence_, etc.
Methods:
  - fake_bolo_sample()
  - init_bolo_registers()
  - read_bolo_sample()
  - pack_bolo_frame()

  - [init, read, pack] bolo, fridge, rotator, time, datasys, auxiliary, dewar, level, cal

_NetDataParse::read_bolo_sample(unsigned nsample, NetDataBoard* data, unsigned rcvd, double* thermalcontrolVals)_
  char* word1=data->box[BOLO_BIAS_OFFSET].sdata[BOLO_BIAS_CHAN_SEND]
  int freq = word1¹;
  for(bindex) //box index
    for(cindex) // channel index
      data->words2components2( data->box[bindex+BOLO_DATA_SET].sdata[cindex], &s, &c, VMAX );
      index=bindex*NCHAN + cindex;
    cosine[...] =
    sine[...]=
    sAvg[], cAvg[], quadsum[], thermalControlVals[], phase[]

[Aside] Simulate Data

_fake_bolo_sample(nsample, NetDataBoard* data, rcvd, double* thermalControlVals)_
  for(bindex) // box index
    for(cindex) // channel index
      index=bindex*NCHAN + cindex;
      c = 10.*cos(2*M_PI*(double)(count)/(100 + index)) + index;
      s = 10.*sin(2*M_PI*(double)(count)/(100 + index)) + index;
      fill in everything else based on index number.

CommandTask Still in AntennaRx, looking at command thread.
Fields: AntennaRx* parent_, NetDataBoard cmdBrd_
Method: serviceMsgQ().

CommandTask::constructor
  create instances of:
  - PeriodicHeLevelCommand
  - ContinuousHeLevelCommand
  - AutoResetCommand
  - FridgeCommand
  simData_ = parent->simData().

AntennaDrive
Threads:
  - Tracker

AntennaDrive::constructor
  instantiate Tracker thread, depending on whether or not we have thread prioritization.
  startThreads() -> start Tracker.

_THREAD_START(AntennaDrive::startTracker)_
  Thread* thread = drive->getThread("Tracker") // get thread object which will manage this thread.
  drive->trackertask_ = new Tracker() // which constructor depends on prio
  trackertask_->thread_ = thread; // set internal thread
  thread->broadcastReady()
  trackertaskask_->run() // calls ??

Tracker
Fields:
  - CameraBoard* camera_
  - PmacBoard* pmac_
  - TrackerBoard* tracker_
  - Scan scan_
  - GpsTimer gps_
  - WeatherMonitor* wx_
Methods:
  - serviceMsgQ() // defined only if we have areal GPSTracker
  - Many Pmac control commands.

Tracker::constructor
  instantiate GpsTimer gps_
  create instances of:
    - PmacBoard
    - TrackerBoard
    - Weathermonitor
  initialize()

Tracker::initialize
  pmac_->connect();
  gps_.registerCallback()
  haltTelescope(NULL)

_GPS_CALLBACK_FN(Tracker::sendTickMsg)_
  TrackerMsg msg
  msg.packTickMsg()
  tracker->sendTaskmsg(&msg)

CameraBoard derrived class of Board
Fields: RegMapBlock* angle_
Methods: recordAngle()

CameraBoard::constructr
  instantiate Board(share, name)
  angle_ = findReg("angle"); // calls writeReg(angle_,0,1,value)

Board
Fields:
  - BicepShare* share_
  - RegMapBoard* board_
Methods:
  - RegMapBlock* findReg(char* name)
  - readReg()
  - writeReg()

Board::constructor
  board_ = share_->findRegMapBoard(name)

Board::findReg(name)
  RebMapBlock8 block = find_RegMapBoard_Block()
  return block

Board::readReg()
  share_->readReg()

Board::writeReg()
  share_->writeReg()

PmacBoard
Fields:
  - PmacComms* comms_
  - RegMapBlock* hostRead_, pmacWrite_, newPosition_, positionFault_, newMode_, scanMode_, newAz_, newAl_, newDk_, newAcRate_, newElRate_, azPos_, elPos_, dkPos_, driveStatus_, statusMask_
Methods:
  - readReg()
  - writeReg()
  - connect() // connect to the pmac
  - computeDparmStats() // determine size of used portion of the DPRAM


PmacBoard::constructor
  set all variables to 0
  use findReg() to look up relevant registers
  computeDpramStats()
  if(!simPmac-) comms_ = new PmaccommsPci
  share_->writeReg(newPosition)
  share_->writeReg(hostRead)

PmacBoard::readReg()
  if(!simPmac_) comms_->readReg(...)

PmacBoard::writeReg()
  if(!simPmac_) comms_->writeReg(...)

PmacBoard::connect()
  if(simPmac_)
    return true
  bool connected = comms_->connect()

TrackerBoard
Fields:
  - RegMapBlock* lacking_, utc_, 1st_, ut1utc_, eqneqx_, mode_, deck_mode_, refraction_, encoder_off_, encoder_mul_, az_limits_, el_limits_, dk_limits_, tilts_, flexure_, axis_, fixedCollimation_,
                polarCollimation_, siteActual_, siteFiducial_, location_, source_, scanState_, scanName_, scanOff_, scanInd_, scanRep_, equat_geoc_, equat_off_, horiz_geoc_, horiz_topo_, horiz_mount_,
                horiz_off_, sky_xy_off_, counts_, rates_, actual_, expected_, errors_, state_, stateMask_, off_source_
Methods:
  - packLst()
  - packUt1Utc()
  - packEqnEqx()
  - archivePointing()
  - archiveStatus()


TrackerBoard::constructor
  set all variables to 0
  use findReg() to look up relevant registers


GpsTimer
Fields:
  - Tfp gps_ // the Gps card itself
Methods:
  - RUN_FN() // calls run()
  - run()
  - runReal()
  - runSim()
  - runTest()
  - getDate()

GpsTimer::constructor
  instantiate gcp::util::Runnable() object
  instantiate Tfp gps_(simulateGpsCard)
  set simulateTimer_
  set simulateGpsCard_

GpsTimer::run()
  if(simulateTimer_)
    runSim();
  else runReal();

GpsTimer::runSim()
  Sit in while(true).
  Every 1 sec, call
  gps_.getDate(lastTick_)
  callHandlers()

Gpstimer::getDate()



GpsTimer::runReal()
  open() // open device
  sit in select(), watching for the file descriptor to become readable
  When it does, get the date.
  When told to stop, close connection with Gps.


Tfp
Fields:
Methods:
  - getDate()

Tfp::getDate()
  if(simulate_)
    tVal.settoCurrentTime()
    return;
  else
    readUnixTime(TimeVal)

WeatherMonitor derrived class of QuadMonitor
Fields:
  - Tracker* parent_
  - BicepShare* share_
  - TipperClient* tipper_
  - airTemp_, pressure_, humidity_, windSpeed_, windDir_, utc_,
  - RegMapBlock* airTempBlock_, pressureBlock_, humidityBlock_, windSpeedblock_, windDirBlock_, utcBlock_
Methods:
  - readdoneAction()
  - sendWeatherUpdate()

WeatherMonitor::constructor
  call QuadMonitor(spawnThread, "omega0.southpole.usap.gov", "/dev/null") constructor
  set all registers to 0
  selections_.push_back(gcp::quad::MonitorSelection("weather", "regName", selections_.size()))
    do this for all registers
  use findReg() to look up relevant registers.
  instantiate TipperClient

WeatherMonitor::sendWeatherUpdate()
  if we have passed the updateInterval_,
    TrackerMsg msg;
    msg.packWeatherMsg(...)
    parent_->forwardTrackerMsg(&msg)

QuadMonitor location: gcp/util/common/QuadMonitor.h
Fields:
  - vector selections_
  - vector selectedRegs_
  - gcp::quad::MonitorStream* ms_
Methods:
  - RUN_FN()
  - run()
  - readRegs()
  - connect()
  - gcp::quad::MsReadState readNextFrame()

QuadMonitor::constructor
  call gcp::util::Runnable(spawnThread, runFn)
  call privateConstructor()
    setMonitoringInterval(1)
    tioeOut_.setSeconds(0)

MonitorSelection in control/code/unix/libquad_src/monitor_stream.h
This is a struct in this file
Fields:
  - int id // index of this MonitorSelection in its parent array
  - string board_name
  - string block_name
  - unsigned regIndex // first element of the register to select
  - unsigned nreg // number of elements to select
  and others

TipperClient
Fields:
  - TipperData tipperData_
  - vector bytes_
  - BicepShare share_
  - RegMapBlock* utcBlock_, tauBlock_, tAtmBlock_
Methods:
  - readServerData(NetHandler&)

TipperClient::constructor
  call gcp::util::TipperClient::constructor
    call Client(spawnThread, host, TIPPER_SERVER_PORT) constructor
    setReadBufSize()
    setSendbufSize()
  use findReg() to look up relevant regs.

TipperClient::readServerData(NetHandler& handler)
  handler.getReadStr()->getChar()
  handler.getReadStr()->endGet()
  tipperData_.deserialize(bytes_)
  share->write()

AntennaMonitor
Threads: none
Fields:
  - Scanner* scanner_
  - AntennaMaster* parent_
  - FrameSender* sender_
  - string host_ // IP address of the control host
  - TcpClient client_ // object to manage connection to the control program
  - NetHandler netDataFrameHandler_ // TCP network handler for sending data frames
  - NetMsgHandler netMsgHandler_ // network stream handler for sending a greeting to the archiver program
Methods:
  - connect(), disconnect() // connect to control host
  - connectScanner()
  - serviceMsgQ()
  - packNextFrame()
  - packFrame()
  - NET_READ_HANDLER(), NET_SEND_HANDLER()

_THREAD_START(AntennaMaster::startAntennaMonitor)_
  Thread* thread = ant->getThread("AntennaMonitor")
  ant->monitorTask_ = new AntennaMonitor(ant)
  monitorTask_->thread_ = thread;
  thread->broadcastReady()
  ant->monitorTask_->run(); // calls ??

AntennaMonitor::constructor
  call BicepTask() generic constructor
  call GenericTask() generic constructor
  share_ = parent_->getShare()
  scanner_ = new Scanner(share_, parent_->getAnt())
  connectScanner(true)

AntennaMonitor::connectScanner()
  call connect()
  sendScannerconnectedMsg() to report result.

AntennaMonitor::connect()
  client_.connectToServer(parent_->host(), TRANS_ANT_SCANNER_PORT, true) // connect to control program
  netMsgHandler_.attach(client_.getFd()) // Attach send stream of the msg handler to the new client socket.
  netMsgHandler_.installSendHandler() // install handler to be called when msg is sent
  netMsgHandler_.installReadHandler() // install handler to be called when msg is read
  netMsgHandler_.installErrorHandler()// install handler to be called when error occurs
  fdSet_.registerReadFd(client_.getFd()) // Register the socket to be watched for input
  sendAntennaIdMsg() // send greeting message to controller.

AntennaMonitor::serviceMsgQ()
  fdSet_.registerReadFd()
  while(!stop)
    nready=select() // deal with messages depending on their type
    if(fdSet_.isSetInRead(msgqFd))
      processTaskMsg()
    if(isSetInWrite(netDataFrameHandler )
      netDataFrameHandler_.send()
    if(isSetInWrite(netMsgHandler )
      netMsgHandler_.send()
    if(isSetInRead(netMsgHandler )
      netMsgHandler_.read()

Scanner
Fields:
  - BicepShare* share_
  - AntennaFrameBuffer fb_
  - FrameBoard* frame_
  - struct Features // manage details of feature bits received from control program
  - struct Walsh // store current bit mask of receiver walsh states
Methods:
  - packNextFrame()
  - dispatchNextFrame()
  - listBoards()

Scanner::constructor
  set fb_(ant), share_(share)
  frame_ = new FrameBoard(share, "frame")
  call initialize()
    features_.reset()
    recordWalshState()

Scanner::packNextFrame()
  setTime()
  recordRecordNumber()
  recordTime()
  recordFeatures()
  recordWalshState()
  share_->packFrame(fb_.getNextFrame())

FrameBoard
A class that encapsulates details of the frame software board.
Fields:
  - RegMapBlock* nsnap_, record_, utc_, lst_, features_, markSeq_, walshstate_
Methods:
  - setTime(),
  - archiveTime(), archiveFeatures(), archiveWalshState(), archiveNsnap()

AntennaFrameBuffer derrived class of FrameBuffer
Fields:
  - struct FrameBufferSlot{
    unsigned int id_
    DataFrameManager* frame_
    struct FrameBufferSlot* next_ }
  - vector slots_
  - Mutex guard_
  - std::map frameMap_
Methods:
  - getFrame()
  - getNextFrame()
  - dispatchNextFrame()
  - findSlot()
  - getNextSlot()
  - clearSlot()

AntennaSignal
Threads:
Fields:
Methods:

_THREAD_START(AntennaMaster::startAntennaSignal)_
  Thread* thread = ant->getThread("AntennaSignal")
  ant->signal_ = new gcp::util::SignalTask()
  thread->broadcastReady()
  ant->signal_->run(); // calls ??

gcp::util::SignalTask
Classes:
  - TimerInfo
  - Signalhandler

Fields:
  - struct HandlerPair
  - vector timers_
  -
Methods:
  - sendInstallTimerMsg()
  - sendAddHandlerMsg()
  - sendenabletimerMsg()
  - stopTimers()
  - getIosig()
  - run()
  - serviceMsgQ()

SignalTask::constructor
  id_ = pthread_self()
  sigIo_ = SIGNALTASK_IO_SIGNAL
  installSignal(sigIo_, &checkMsgQ)

For after lunch
1) Figure out why I can't type into bicepViewer
2) Plug KyleWave into Tracker.
3) Where is Data coming from??

• Start with THREAD_START(AntennaRx::startCommand) and work forward.
• look for where simulate mode could be put into the NewData stuff. Idea is somewhere in the NetDataBoard.
• look for Pmac simulate stuff, starting with PmacBoard constructor.

11/11

Continue above.

How Things Simulate:
GpsTimer: gets current time from localhost.
Pmac: does not connect, does not read or write anything.
Data: ????(#$*(&^#?

SOMETHING SIMULATE IS WORKING!!!!!
I got bolometer cosine data (simulated, obviously) to show up on a viewer page!!!

11/12

Continue within 11/10.

11/13

Bicep viewer is not working; I cannot type into the browser.
Try using 8.08_gcp -> does not work either.

Try checking out a completely new version of the gcp:
It compiles.
Everything runs, but I still can't type into the Viewer.
Hypothesis; it is too slow coming from caltech. But then why could I type into it before?

Create new KyleWave2 board

Model after TrackerBoard.
  Ease; Only added two files.

Plug into Tracker.
  Time to break stuff...

11/14

Now no numbers from bolo.
Try re-running 11.12_gcp -> ok.
Go back to current version and remove anything that calls KyleWave. -> segfault in addTick().
Remove calls to KyleWave -> no more segfault, bolo numbers show up again.

Try again.
Follow example of TrackerBoard.
Looking at 3 RegMapBlocks, lst_, eqneqx_, and scanState_
It seems that lst_ and eqneqx_ are not being updated.
Try to match scanState_.

Seg faulting. Compiled, and it didn't work. make clean all -> fail;
Can't find libGcpUtilCommon
Try checking out new file and compiling.
This is also failing.
Try adding back in Makefile.rules that they were telling me to delete before.
Remove the MakeFile.rules, and the freshly copied version compiles. Good.

Now my 11.14_gcp compiles. ??
Try running.
Same Segmentation fault.

Try 'make clean all'

Compiling library:  /export/home/bicep0/kstory/gcp/lib/libGcpControlCommon.so

g++ -shared -o /export/home/bicep0/kstory/gcp/lib/libGcpControlCommon.so archiver.o ArchiverWriterDirfile.o ArchiverWriterFrame.o controlscript.o fitsio.o genericcontrol.o genericscheduler.o genericscript.o generictypes.o grabber.o InitScript.o logger.o navigator.o NewNetCmd.o NewNetMsg.o NewRtcNetMsg.o pipe.o terminal.o TransactionStatus.o
make[5]: Leaving directory `/export/home/bicep0/kstory/gcp/control/code/unix/control_src/common'
g++ -o /export/home/bicep0/kstory/gcp/bin/bicepControl genericcontrol.o -L /export/home/bicep0/kstory/gcp/lib -L /export/home/bicep0/kstory/gcp/control/code/unix/lib -Xlinker -R -Xlinker /export/home/bicep0/kstory/gcp/lib -Xlinker -R -Xlinker /export/home/bicep0/kstory/gcp/control/code/unix/lib \
-lGcpControlCommon -lGcpControlSpecific -lGcpProgramCommon \
-lGcpShareCommon -lGcpShareSpecific \
-lGcpUtilCommon -lGcpUtilSpecific \
-lGcpScript -lGcpSla -lGcpSrc -lGcpScan -lGcpMonitor \
-lGcpTransaction -lGcpQuadSrc \
-lrt -lreadline -ltermcap -lpthread -lnsl -lm
/usr/lib64/gcc/x86_64-suse-linux/4.0.2/../../../../x86_64-suse-linux/bin/ld: cannot find -lGcpUtilCommon
collect2: ld returned 1 exit status
make[4]: *** [/export/home/bicep0/kstory/gcp/bin/bicepControl] Error 1
make[4]: Leaving directory `/export/home/bicep0/kstory/gcp/control/code/unix/control_src/common'
make[3]: *** [make_control] Error 2
make[3]: Leaving directory `/export/home/bicep0/kstory/gcp/control/code/unix'
make[2]: *** [bins] Error 2
make[2]: Leaving directory `/export/home/bicep0/kstory/gcp/control/code'
make[1]: *** [bins] Error 2
make[1]: Leaving directory `/export/home/bicep0/kstory/gcp/control'
make: *** [make_control] Error 2

Check out new version and compile with make clean all:

cvs -d bicep0.caltech.edu:/home/bicep0/cvsroot checkout -r working14Feb gcp
kstory@bicep0:~$ cd gcp/control/code/unix/libscan_src/
kstory@bicep0:libscan_src$ mv Makefile.rules BKMakefile_rules
kstory@bicep0:libscan_src$ cd
kstory@bicep0:~$ cd gcp/
kstory@bicep0:gcp$ make clean all
...
make[2]: *** [clean_depend] Error 2
make[1]: *** [clean_code] Error 2

make: *** [make_control] Error 2
kstory@bicep0:gcp$ make
/usr/lib64/gcc/x86_64-suse-linux/4.0.2/../../../../x86_64-suse-linux/bin/ld: cannot find -lGcpUtilCommon
collect2: ld returned 1 exit status
make[4]: *** [/export/home/bicep0/kstory/gcp/bin/bicepControl] Error 1
make[4]: Leaving directory `/export/home/bicep0/kstory/gcp/control/code/unix/control_src/common'
make[3]: *** [make_control] Error 2
make[3]: Leaving directory `/export/home/bicep0/kstory/gcp/control/code/unix'
make[2]: *** [bins] Error 2
make[2]: Leaving directory `/export/home/bicep0/kstory/gcp/control/code'
make[1]: *** [bins] Error 2
make[1]: Leaving directory `/export/home/bicep0/kstory/gcp/control'
make: *** [make_control] Error 2

GCP compiling error 11.14

11/17

Looking for compiler errors.
Erik Leitch emailed back:

Kyle --

The makefiles are set up to keep going even if errors occur, so you
might not see the initial error that's preventing GcpUtilCommon to
compile if you just let all the output blitz past you.

Capture and look at the output, or do 'make |& less' (tcsh) and watch
for the first error.

readline error on bicep0

Found error:
In gcp/util/common/pmacterm.cc,
-> can't find file.
change to:

kstory@find:~/$ cvs -d bicep0.caltech.edu:/home/bicep0/cvsroot checkout -r working14Feb gcp

kstory@find:~/gcp/$ mv control/code/unix/libscan_src/Makefile.rules control/code/unix/libscan_src/BadMakefile_rules

in .fluxbox/init, add the line
session.screen1.rootCommand:    fbsetbg -f /home/kstory/pictures/wallpaper.JPG

kstory@find:~/$ cvs -d bicep0.caltech.edu:/home/bicep0/cvsroot checkout -r working14Feb gcp
kstory@find:~/$ mv gcp/control/code/unix/libscan_src/Makefile.rules gcp/control/code/unix/libscan_src/BADMakefile.rules
kstory@find:~/$ cd gcp
kstory@find:~/gcp/$ make > & compileLog-11.24
kstory@find:~/gcp/$ mkdir runlogs

kstory@find:~/$ svnadmin create /home/kstory/svnRepos
svnadmin: Command not found.
kstory@find:~/$ which svn
svn: Command not found.
kstory@find:~/$

kstory@find:~/gcp/$ en control/code/unix/viewer_src/viewer.tcl
  comment out line 2396:
#  set ::viewer(conf_file) {stat.page}         ;# The configuration file.

Edit L:2395
   set ::viewer(conf_dir) $::env(GCP_DIR)/conf/bicep          ;# The directory containing configuration files.
   set ::viewer(conf_file) {viewer_conf.page}         ;# The configuration file.

and write a file called viewer_conf.page.
Works.

Create .xsession:
#!/bin/sh
xsetroot -solid steelblue

kstory@spudws2:~> chmod 700 .xsession
kstory@spudws2:~> ln -s .xsession .xinitrc

cd /home
chmod g+rx kstory/
chmod a+x kstory

1) checkout
2) move Makefile.rules
3) mkdir runlogs
4) compile -> failure

Copy over pgplot directory from find
compile -> ok.

Edit /gcp/control/code/unix/viewer_src/viewer.tcl
set ::viewer(conf_dir) $::env(GCP_DIR)/conf/bicep
set ::viewer(conf_file) {viewer_conf.page}