Merge branch 'magao-x:dev' into upstream_sync

.gitignore

@@ -52,11 +52,13 @@ apps/bmcCtrl/bmcCtrl
 #c
 apps/cacaoInterface/cacaoInterface
 apps/cameraSim/cameraSim
+apps/closedLoopIndi/closedLoopIndi
 
 #d
 apps/dmMode/dmMode
 apps/dmModulator/dmModulator
-apps/dmSpeckle/
+apps/dmPokeCenter/dmPokeCenter
+apps/dmSpeckle/dmSpeckle
 
 #f
 apps/filterWheelCtrl/filterWheelCtrl
@@ -119,6 +121,7 @@ apps/siglentSDG/siglentSDG
 apps/siglentSDG/tests/siglentSDG_test
 apps/smc100ccCtrl/smc100ccCtrl
 apps/sshDigger/sshDigger
+apps/stateRuleEngine/stateRuleEngine
 apps/streamCircBuff/streamCircBuff
 apps/streamWriter/streamWriter
 
@@ -190,3 +193,7 @@ vm/calib/
 vm/config/
 vm/
 *.swp
+
+# Python caches, etc
+*.egg-info
+__pycache__

INDI/INDI/compiler.c

@@ -323,7 +323,7 @@ next_token ()
 	    /* looks like a constant.
 	     * leading +- already handled
 	     */
-	    if (nconsts > MAX_OPX) {
+	    if (nconsts >= MAX_OPX) {
 		(void) sprintf (err_msg, toomc, MAX_OPX);
 		return (ERR);
 	    }
@@ -339,7 +339,7 @@ next_token ()
 	    }
 	} else if (c == '"') {
 	    /* a variable */
-	    if (nvars > MAX_OPX) {
+	    if (nvars >= MAX_OPX) {
 		(void) sprintf (err_msg, toomv, MAX_OPX);
 		return (ERR);
 	    }

INDI/INDI/indiserver.c

@@ -51,6 +51,8 @@
  *
  */
 
+#define _GNU_SOURCE
+
 #include <stdio.h>
 #include <stdlib.h>
 #include <stdarg.h>
@@ -156,7 +158,7 @@ typedef struct {
     int err;				/* set on fatal error */
     int rfd;				/* driver's stdout read pipe fd if local, else socket */
     int wfd;				/* driver's stdin write pipe fd if local, else socket  */
-    FILE *efp;				/* driver's stderr read FILE pointer, iff local */
+    int efd;				/* driver's stderr read pipe fd, if local */
     pthread_t stderr_thr;		/* stderr reader thread */
     time_t start;			/* time this driver was started */
     int restarts;			/* n times this process has been restarted */
@@ -503,7 +505,7 @@ startLocalDvr (DvrInfo *dp)
 	dp->pid = pid;
 	dp->rfd = rp[0];
 	dp->wfd = wp[1];
-	dp->efp = fdopen (ep[0], "r");
+    dp->efd = ep[0];
 	dp->err = 0;
 	dp->lp = newLilXML();
 	dp->mp = newMsg();
@@ -1142,17 +1144,23 @@ driverStderrReaderThread (void *vp)
 	/* log everthing until error */
 	while (1) {
 	    /* read next whole line */
-	    if (!fgets (buf, sizeof(buf), dp->efp)) {
-		if (feof (dp->efp))
-		    logMessage ("from Driver %s: stderr EOF\n", dp->name);
-		if (ferror(dp->efp))
-		    logMessage ("from Driver %s: stderr %s\n", dp->name, strerror(errno));
-		return (NULL);	/* thread exit */
-	    }
+        ssize_t rv = read(dp->efd, buf, sizeof(buf)-1);
+        if(rv == 0)
+        {
+            logMessage ("from Driver %s: stderr EOF\n", dp->name);
+            return NULL;
+        }
+        else if(rv < 0)
+        {
+            logMessage ("from Driver %s: stderr %s\n", dp->name, strerror(errno));
+            return NULL;
+        }
+        buf[rv] = '\0';
 
 	    /* prefix each whole line to our stderr, save extra for next time */
 	    logMessage ("Driver %s: %s", dp->name, buf);	/* includes nl */
 	}
+
 
 	/* for lint */
 	return (NULL);
@@ -1236,10 +1244,13 @@ driverWriterThread (void *vp)
 static void
 onDriverError (DvrInfo *dp)
 {
+	logMessage ("Driver %s: reader thread indicates it's time to restart\n", dp->name);
 	pthread_mutex_lock (&dp->q_lock);
+	logMessage ("Driver %s: locked mutex to set error condition\n", dp->name);
 	dp->err = 1;
 	pthread_cond_signal (&dp->go_cond);
 	pthread_mutex_unlock (&dp->q_lock);
+	logMessage ("Driver %s: reader thread signaled go_cond and unlocked q_lock\n", dp->name);
 }
 
 /* called by clientReaderThread to inform clientWriterThread it has
@@ -1340,16 +1351,21 @@ restartDvr (DvrInfo *dp)
 		else
 		    logMessage ("Driver %s: Unknown exit condition\n", dp->name);
 	    } else {
-		logMessage ("Driver %s: Killed: %d\n", dp->name,
+			logMessage ("Driver %s: Killed: %d\n", dp->name,
 			kill (dp->pid, SIGKILL));
-		(void) waitpid (dp->pid, &status, WNOHANG);
+			(void) waitpid (dp->pid, &status, WNOHANG);
 	    }
+		//int thispid = (int)gettid();
+		logMessage ("Driver %s: closing dp->efd", dp->name);
+	    close (dp->efd);
+		logMessage ("Driver %s: closing dp->wfd", dp->name);
 	    close (dp->wfd);
+		logMessage ("Driver %s: closing dp->rfd", dp->name);
 	    close (dp->rfd);
-	    fclose (dp->efp);
 	}
 
 	/* free memory and locks */
+	logMessage ("Driver %s: freeing memory and locks\n", dp->name);
 	for (i = 0; i < dp->nsprops; i++)
 	    free (dp->sprops[i]);
 	free (dp->sprops);
@@ -1358,7 +1374,7 @@ restartDvr (DvrInfo *dp)
 	pthread_mutex_destroy (&dp->q_lock);
 	pthread_cond_destroy (&dp->go_cond);
 	pthread_rwlock_destroy (&dp->sprops_rwlock);
-	if (verbose > 1)
+	// if (verbose > 1)
 	    logMessage ("Driver %s: draining with %d on queue\n", dp->name, nFQ(dp->msgq));
 	drainMsgs (dp->msgq);
 	delFQ (dp->msgq);

INDI/libcommon/IndiConnection.cpp

@@ -92,7 +92,7 @@ IndiConnection::~IndiConnection()
         //do nothing
     }
 
-    if(m_fstreamOutput)
+    if(m_fstreamOutput && m_fstreamOutput != m_fstreamSTDOUT)
     {
         fclose(m_fstreamOutput);
     }
@@ -118,6 +118,9 @@ void IndiConnection::construct( const string &szName,
 
   // These are the two descriptors we will use to talk to the outside world.
   m_fdInput = STDIN_FILENO;
+
+  //We start with STDOUT.  
+  m_fstreamSTDOUT = fdopen(STDOUT_FILENO, "w+");  
   setOutputFd(STDOUT_FILENO);
 
   // setup the signal handler.
@@ -424,12 +427,22 @@ void IndiConnection::setInputFd( const int &iFd )
 
 void IndiConnection::setOutputFd( const int &iFd )
 {
-  m_fdOutput = iFd;
-  if(m_fstreamOutput)
-  {
-    fclose(m_fstreamOutput);
-  }
-  m_fstreamOutput = fdopen(m_fdOutput, "w+");
+    m_fdOutput = iFd;
+
+    //Close if it's open as long as it isn't STDOUT
+    if(m_fstreamOutput && m_fstreamOutput != m_fstreamSTDOUT)
+    {
+        fclose(m_fstreamOutput);
+    }
+
+    if(iFd == STDOUT_FILENO)
+    {
+        m_fstreamOutput = m_fstreamSTDOUT;
+    }
+    else
+    {
+        m_fstreamOutput = fdopen(m_fdOutput, "w+");
+    }
 }
 
 ////////////////////////////////////////////////////////////////////////////////

INDI/libcommon/IndiConnection.hpp

@@ -162,6 +162,8 @@ class IndiConnection : public pcf::Thread
     /// Stream for safer output
     FILE * m_fstreamOutput {NULL};
 
+    FILE * m_fstreamSTDOUT {NULL};
+
     /// If the processing of INDI messages is put in a separate thread,
     /// this is the thread id of it.
     pthread_t m_idProcessThread;