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updates sequencerd published messages for fineacquire #409

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updates sequencerd published messages for fineacquire #409

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c1ce7f3
updates sequencerd published messages for fineacquire
astronomerdave Apr 25, 2026
2c57e98
adds updated message_keys.h missing from last commit
astronomerdave Apr 25, 2026
1e6c496
replaces more async UDP broadcasts with new broadcast call (zmq-pub)
astronomerdave Apr 25, 2026
c5d0c8f
* fixes state-change prob in sequencer
Apr 26, 2026
9be38d5
slitd publishes on change, tcsd publishes at 1 Hz
Apr 27, 2026
51b0a10
bug fix tcsd
Apr 27, 2026
a768cb0
fixes issue with acamd tcs subscriber
Apr 27, 2026
d968c27
fixes bug in acam_interface.cpp
Apr 27, 2026
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114 changes: 56 additions & 58 deletions acamd/acam_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1507,7 +1507,7 @@ namespace Acam {

/***** Acam::Interface::request_snapshot ************************************/
/**
* @brief publises request for snapshot
* @brief [obsolete] publises request for snapshot
* @details publishing Topic::SNAPSHOT induces subscribers to publish a
* snapshot of their telemetry
*
Expand All @@ -1534,7 +1534,7 @@ namespace Acam {

/***** Acam::Interface::wait_for_snapshots **********************************/
/**
* @brief wait for everyone to publish their snaphots
* @brief [obsolete] wait for everyone to publish their snaphots
* @details When forcing subscribers to publish their telemetry,
* this waits until they have done so.
*
Expand Down Expand Up @@ -1599,33 +1599,32 @@ namespace Acam {
*
*/
void Interface::handletopic_tcsd( const nlohmann::json &jmessage ) {
{
std::lock_guard<std::mutex> lock(snapshot_mtx);
snapshot_status[Topic::TCSD]=true;
}

std::lock_guard<std::mutex> lock(tcsdata_mtx);

// extract and store values in the class
//
Common::extract_telemetry_value( jmessage, "TCSNAME", telem.tcsname );
Common::extract_telemetry_value( jmessage, "ISOPEN", telem.is_tcs_open );
Common::extract_telemetry_value( jmessage, "CASANGLE", telem.angle_scope );
Common::extract_telemetry_value( jmessage, "TELRA", telem.ra_scope_hms );
Common::extract_telemetry_value( jmessage, "TELDEC", telem.dec_scope_dms );
Common::extract_telemetry_value( jmessage, "RA", telem.ra_scope_h );
Common::extract_telemetry_value( jmessage, "DEC", telem.dec_scope_d );
Common::extract_telemetry_value( jmessage, "RAOFFSET", telem.offsetra );
Common::extract_telemetry_value( jmessage, "DECLOFFS", telem.offsetdec );
Common::extract_telemetry_value( jmessage, "AZ", telem.az );
Common::extract_telemetry_value( jmessage, "TELFOCUS", telem.telfocus );
Common::extract_telemetry_value( jmessage, "AIRMASS", telem.airmass );
Common::extract_telemetry_value( jmessage, "TCSNAME", tcsdata.tcsname );
Common::extract_telemetry_value( jmessage, "ISOPEN", tcsdata.is_tcs_open );
Common::extract_telemetry_value( jmessage, "CASANGLE", tcsdata.angle_scope );
Common::extract_telemetry_value( jmessage, "TELRA", tcsdata.ra_scope_hms );
Common::extract_telemetry_value( jmessage, "TELDEC", tcsdata.dec_scope_dms );
Common::extract_telemetry_value( jmessage, "RA", tcsdata.ra_scope_h );
Common::extract_telemetry_value( jmessage, "DEC", tcsdata.dec_scope_d );
Common::extract_telemetry_value( jmessage, "RAOFFSET", tcsdata.offsetra );
Common::extract_telemetry_value( jmessage, "DECLOFFS", tcsdata.offsetdec );
Common::extract_telemetry_value( jmessage, "AZ", tcsdata.az );
Common::extract_telemetry_value( jmessage, "TELFOCUS", tcsdata.telfocus );
Common::extract_telemetry_value( jmessage, "AIRMASS", tcsdata.airmass );

// save them to the database
//
this->database.add_key_val<double>( "CASANGLE", telem.angle_scope );
this->database.add_key_val<double>( "RAtel", telem.ra_scope_h );
this->database.add_key_val<double>( "DECLtel", telem.dec_scope_d );
this->database.add_key_val<double>( "AZ", telem.az );
this->database.add_key_val<double>( "focus", telem.telfocus );
this->database.add_key_val<double>( "AIRMASS", telem.airmass );
this->database.add_key_val<double>( "CASANGLE", tcsdata.angle_scope );
this->database.add_key_val<double>( "RAtel", tcsdata.ra_scope_h );
this->database.add_key_val<double>( "DECLtel", tcsdata.dec_scope_d );
this->database.add_key_val<double>( "AZ", tcsdata.az );
this->database.add_key_val<double>( "focus", tcsdata.telfocus );
this->database.add_key_val<double>( "AIRMASS", tcsdata.airmass );
}
/***** Acam::Interface::handletopic_tcsd ************************************/

Expand All @@ -1638,10 +1637,6 @@ namespace Acam {
*
*/
void Interface::handletopic_targetinfo( const nlohmann::json &jmessage ) {
{
std::lock_guard<std::mutex> lock(snapshot_mtx);
snapshot_status[Topic::TARGETINFO]=true;
}
this->database.add_from_json<int>( jmessage, "OBS_ID" );
this->database.add_from_json<std::string>( jmessage, "NAME" );
this->database.add_from_json<std::string>( jmessage, "POINTMODE" );
Expand All @@ -1659,10 +1654,6 @@ namespace Acam {
*
*/
void Interface::handletopic_slitd( const nlohmann::json &jmessage ) {
{
std::lock_guard<std::mutex> lock(snapshot_mtx);
snapshot_status[Topic::SLITD]=true;
}
this->telemkeys.add_json_key(jmessage, "SLITO", "SLITO", "slit offset in arcsec", "FLOAT", false);
this->telemkeys.add_json_key(jmessage, "SLITW", "SLITW", "slit width in arcsec", "FLOAT", false);
}
Expand Down Expand Up @@ -2706,7 +2697,7 @@ namespace Acam {
do {
if ( iface.camera.andor.camera_info.exptime == 0 ) continue; // wait for non-zero exposure time

if ( iface.collect_header_info() == ERROR ) { // collect header information
if ( iface.assemble_header_info() == ERROR ) { // assemble header keyword information
logwrite(function,"ERROR collecting header info");
continue;
}
Expand Down Expand Up @@ -4083,6 +4074,10 @@ logwrite( function, message.str() );
//
if ( this->motion.is_open() ) error |= this->motion.cover( "close", dontcare );

// diable target acquisition
//
error |= this->acquire( "stop", dontcare);

// stop the framegrab thread
//
error |= this->framegrab( "stop", dontcare );
Expand Down Expand Up @@ -4375,7 +4370,7 @@ logwrite( function, message.str() );
do {
logwrite( function, std::to_string(nacquires) );
error |= this->camera.andor.acquire_one(); // acquire a single image
error |= this->collect_header_info(); // collect header information
error |= this->assemble_header_info(); // assemble header keyword information
error |= this->camera.write_frame( "",
this->imagename,
this->tcs_online.load() ); // write to FITS file
Expand Down Expand Up @@ -4420,7 +4415,7 @@ logwrite( function, message.str() );
do {
logwrite( function, std::to_string(nacquires) );
error |= this->camera.andor.get_recent(3000); //
error |= this->collect_header_info(); // collect header information
error |= this->assemble_header_info(); // assemble header keyword information
error |= this->camera.write_frame( "",
this->imagename,
this->tcs_online.load() ); // write to FITS file
Expand Down Expand Up @@ -4454,7 +4449,7 @@ logwrite( function, message.str() );
//
if ( tokens[1]=="getrecent" ) {
error = this->camera.andor.get_recent(3000);
error |= this->collect_header_info(); // collect header information
error |= this->assemble_header_info(); // assemble header keyword information
error |= this->camera.write_frame( "",
this->imagename,
this->tcs_online.load() ); // write to FITS file
Expand Down Expand Up @@ -4583,7 +4578,7 @@ logwrite( function, message.str() );
retstring.append( " Gather information and add it to the internal keyword database.\n" );
return HELP;
}
else error = this->collect_header_info(); // collect header information
else error = this->assemble_header_info(); // assemble header keyword information
}
else
// --------------------------------
Expand Down Expand Up @@ -5005,7 +5000,7 @@ logwrite( function, message.str() );
/***** Acam::Interface::solve ***********************************************/


/***** Acam::Interface::collect_header_info *********************************/
/***** Acam::Interface::assemble_header_info ********************************/
/**
* @brief gather information and add it to the internal keyword database
* @details Some of the keys are fixed, some come from the Andor::Information
Expand All @@ -5016,24 +5011,24 @@ logwrite( function, message.str() );
* @return ERROR or NO_ERROR
*
*/
long Interface::collect_header_info() {
// force subscribers to publish now, then wait
// esults in struct telem.
this->request_snapshot();
this->wait_for_snapshots();

bool _tcs = telem.is_tcs_open;
std::string tcsname = ( _tcs ? telem.tcsname : "offline" );
long Interface::assemble_header_info() {

double angle_acam=NAN, ra_acam=NAN, dec_acam=NAN; // outputs from fpoffsets

if ( _tcs ) this->target.save_casangle( telem.angle_scope ); // store in the Target class, required for acquisition
// ---------- scope lock tcsdata --------------
{
std::lock_guard<std::mutex> lock(tcsdata_mtx);

bool _tcs = tcsdata.is_tcs_open;
std::string tcsname = ( _tcs ? tcsdata.tcsname : "offline" );

if ( _tcs ) this->target.save_casangle( tcsdata.angle_scope ); // store in the Target class, required for acquisition

// Compute FP offsets from TCS coordinates (SCOPE) to ACAM coodinates.
// compute_offset() always wants degrees and get_coords() returns RA hours.
// Results in degrees.
//
if ( _tcs ) this->fpoffsets.compute_offset( "SCOPE", "ACAM", (telem.ra_scope_h*TO_DEGREES), telem.dec_scope_d, telem.angle_scope,
if ( _tcs ) this->fpoffsets.compute_offset( "SCOPE", "ACAM", (tcsdata.ra_scope_h*TO_DEGREES), tcsdata.dec_scope_d, tcsdata.angle_scope,
ra_acam, dec_acam, angle_acam );

// Get some info from the Andor::Information class,
Expand All @@ -5054,11 +5049,21 @@ logwrite( function, message.str() );

this->camera.fitsinfo.fitskeys.addkey( "TCS", tcsname, "" );

this->camera.fitsinfo.fitskeys.addkey( "TELFOCUS", tcsdata.telfocus, "telescope focus (mm)" );
this->camera.fitsinfo.fitskeys.addkey( "AIRMASS", tcsdata.airmass, "" );
this->camera.fitsinfo.fitskeys.addkey( "RA", tcsdata.ra_scope_hms, "Telecscope Right Ascension" );
this->camera.fitsinfo.fitskeys.addkey( "DEC", tcsdata.dec_scope_dms, "Telescope Declination" );
this->camera.fitsinfo.fitskeys.addkey( "TELRA", tcsdata.ra_scope_h, "Telecscope Right Ascension hours" );
this->camera.fitsinfo.fitskeys.addkey( "TELDEC", tcsdata.dec_scope_d, "Telescope Declination degrees" );
this->camera.fitsinfo.fitskeys.addkey( "RAOFFS", tcsdata.offsetra, "Telescope RA offset" );
this->camera.fitsinfo.fitskeys.addkey( "DECLOFFS", tcsdata.offsetdec, "Telescope DEC offset" );
this->camera.fitsinfo.fitskeys.addkey( "CASANGLE", tcsdata.angle_scope, "Cassegrain ring angle" );
}
// ---------- end scope lock tcsdata ----------

this->camera.fitsinfo.fitskeys.addkey( "CREATOR", "acamd", "file creator" );
this->camera.fitsinfo.fitskeys.addkey( "INSTRUME", "NGPS", "name of instrument" );
this->camera.fitsinfo.fitskeys.addkey( "TELESCOP", "P200", "name of telescope" );
this->camera.fitsinfo.fitskeys.addkey( "TELFOCUS", telem.telfocus, "telescope focus (mm)" );
this->camera.fitsinfo.fitskeys.addkey( "AIRMASS", telem.airmass, "" );

// get parameters from FPOffsets, results are stored in the class
//
Expand Down Expand Up @@ -5109,13 +5114,6 @@ logwrite( function, message.str() );

this->camera.fitsinfo.fitskeys.addkey( "POSANG", angle_acam, "" );
this->camera.fitsinfo.fitskeys.addkey( "TARGET", this->target.get_name(), "target name" );
this->camera.fitsinfo.fitskeys.addkey( "RA", telem.ra_scope_hms, "Telecscope Right Ascension" );
this->camera.fitsinfo.fitskeys.addkey( "DEC", telem.dec_scope_dms, "Telescope Declination" );
this->camera.fitsinfo.fitskeys.addkey( "TELRA", telem.ra_scope_h, "Telecscope Right Ascension hours" );
this->camera.fitsinfo.fitskeys.addkey( "TELDEC", telem.dec_scope_d, "Telescope Declination degrees" );
this->camera.fitsinfo.fitskeys.addkey( "RAOFFS", telem.offsetra, "Telescope RA offset" );
this->camera.fitsinfo.fitskeys.addkey( "DECLOFFS", telem.offsetdec, "Telescope DEC offset" );
this->camera.fitsinfo.fitskeys.addkey( "CASANGLE", telem.angle_scope, "Cassegrain ring angle" );
this->camera.fitsinfo.fitskeys.addkey( "WCSAXES", 2, "" );
this->camera.fitsinfo.fitskeys.addkey( "RADESYSA", "ICRS", "" );
this->camera.fitsinfo.fitskeys.addkey( "CTYPE1", "RA---TAN", "" );
Expand All @@ -5137,7 +5135,7 @@ logwrite( function, message.str() );

return NO_ERROR;
}
/***** Acam::Interface::collect_header_info *********************************/
/***** Acam::Interface::assemble_header_info ********************************/


/***** Acam::Interface::target_coords ***************************************/
Expand Down
16 changes: 12 additions & 4 deletions acamd/acam_interface.h
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Original file line number Diff line number Diff line change
Expand Up @@ -555,7 +555,9 @@ namespace Acam {
double az;
double telfocus;
double airmass;
} telem;
} tcsdata;

std::mutex tcsdata_mtx;

std::mutex snapshot_mtx;
std::unordered_map<std::string, bool> snapshot_status;
Expand Down Expand Up @@ -613,8 +615,14 @@ namespace Acam {
inline std::string get_imagename() { return this->imagename; }
inline std::string get_wcsname() { return this->wcsname; }

inline void set_imagename( std::string name_in ) { this->imagename = ( name_in.empty() ? DEFAULT_IMAGENAME : name_in ); return; }
inline void set_wcsname( std::string name_in ) { this->wcsname = name_in; return; }
inline void set_imagename( std::string name_in ) {
this->imagename = ( name_in.empty() ? DEFAULT_IMAGENAME : std::move(name_in) );
return;
}
inline void set_wcsname( std::string name_in ) {
this->wcsname = std::move(name_in);
return;
}

GuideManager guide_manager;

Expand Down Expand Up @@ -688,7 +696,7 @@ namespace Acam {
long exptime( const std::string args, std::string &retstring );
long fan_mode( std::string args, std::string &retstring );

long collect_header_info();
long assemble_header_info();

inline void init_names() { imagename=""; wcsname=""; return; } // TODO still needed?

Expand Down
30 changes: 15 additions & 15 deletions camerad/simulator-arc.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@ namespace AstroCam {
// If no string is given then use vector of configured devices
//
if ( devices_in.empty() ) {
this->devnums = this->configured_devnums;
this->connected_devnums = this->configured_devnums;
}
else {
// Otherwise, tokenize the device list string and build devnums from the tokens
Expand All @@ -53,8 +53,8 @@ namespace AstroCam {
for ( const auto &n : tokens ) { // For each token in the devices_in string,
try {
int dev = std::stoi( n ); // convert to int
if ( std::find( this->devnums.begin(), this->devnums.end(), dev ) == this->devnums.end() ) { // If it's not already in the vector,
this->devnums.push_back( dev ); // then push into devnums vector.
if ( std::find( this->connected_devnums.begin(), this->connected_devnums.end(), dev ) == this->connected_devnums.end() ) { // If it's not already in the vector,
this->connected_devnums.push_back( dev ); // then push into devnums vector.
}
}
catch (std::invalid_argument &) {
Expand All @@ -76,15 +76,15 @@ namespace AstroCam {
// For each requested dev in devnums, if there is a matching controller in the config file,
// then get the devname and store it in the controller map.
//
for ( const auto &dev : this->devnums ) {
for ( const auto &dev : this->connected_devnums ) {
if ( this->controller.find( dev ) != this->controller.end() ) {
this->controller[ dev ].devname = "sim"+std::to_string(dev);
}
}

// set the controller connected state true
//
for ( const auto &dev : this->devnums ) {
for ( const auto &dev : this->connected_devnums ) {
this->controller[dev].connected = true;
}

Expand All @@ -110,7 +110,7 @@ namespace AstroCam {

// clear the controller connected state
//
for ( const auto &dev : this->devnums ) {
for ( const auto &dev : this->connected_devnums ) {
this->controller[dev].connected = false;
}

Expand Down Expand Up @@ -150,7 +150,7 @@ namespace AstroCam {
std::stringstream lodfilestream;
// But only use it if the device is open
//
if ( std::find( this->devnums.begin(), this->devnums.end(), fw->first ) != this->devnums.end() ) {
if ( std::find( this->connected_devnums.begin(), this->connected_devnums.end(), fw->first ) != this->connected_devnums.end() ) {
lodfilestream << fw->first << " " << fw->second;

// Call do_load_firmware with the built up string.
Expand Down Expand Up @@ -452,14 +452,14 @@ namespace AstroCam {
}
/***** AstroCam::Interface::native ******************************************/


long Interface::_image_size( std::string args, std::string &retstring, const bool save_as_default ) {
std::string function = "AstroCam::Interface::_image_size";
std::stringstream message;
logwrite( function, "NOP" );
return( NO_ERROR );
}

/*
*long Interface::_image_size( std::string args, std::string &retstring, const bool save_as_default ) {
* std::string function = "AstroCam::Interface::_image_size";
* std::stringstream message;
* logwrite( function, "NOP" );
* return( NO_ERROR );
*}
*/

/***** AstroCam::Simulator::dothread_expose *********************************/
/**
Expand Down
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