INDI at LBTO

• https://en.wikipedia.org/wiki/Instrument_Neutral_Distributed_Interface
• Introduction to INDI
• June 2007 protocol document
• http://indilib.org
• http://www.indilib.org/api/index.html
• https://sourceforge.net/projects/indi/
• indi presentation

Troubleshooting

Minimal INDI

 ssh tcs@tcs-test

 svn export https://svn.lbto.org/repos/indi/trunk indi
 cd indi
 gmake               (the make will complain when it tries to install the python, but that's ok, we don't need it)
 make install        (copies required files to deploy subdirectory)
 cd /lbt/tcs_devel/indi
 rm -rf *
 cp -pr ~/indi/deploy/* .  

Simple Example

/web/modules/INDI/bin/getINDI *.*.*
LBTO.AOStatus......
LBTO.Pointing...
LBTO.Status...
LBTO.Weather...
....

/web/modules/INDI/bin/getINDI LBTO.Weather.*
LBTO.Weather.state=1
LBTO.Weather.DewPoint=-5.0999999
LBTO.Weather.Humidity=96.900002
LBTO.Weather.Pressure=681.59998
LBTO.Weather.Rain=0
LBTO.Weather.SkyBrightness=21.059999
LBTO.Weather.Temperature=-4.6999998
LBTO.Weather.WindDir=247.59995
LBTO.Weather.WindDirF=32.599953
LBTO.Weather.WindSpeed=4.5
LBTO.Weather.WindSpeedF=7


$ getINDI ALH.*.*
ALH.Version.Driver=1.0
ALH.Version.Properties=1.0
ALH.Version.Uptime=9180.2462
ALH.AC.Guidance=OK
ALH.AC.Status=0
ALH.AO_SX.Guidance=OK
ALH.AO_SX.Status=0
ALH.AO_DX.Guidance=OK
ALH.AO_DX.Status=0
....

ssh to tuc-shell64
export INDIHOME=/web/modules/INDI/
$INDIHOME/bin/indiserver -l ./ -vv $INDIHOME/bin/indimaths &

$INDIHOME/bin/setINDI Maths.x.value=3

$INDIHOME/bin/getINDI Maths.*.*
Maths.Version.Driver=0.1
Maths.Version.Properties=0.1
Maths.Version.Uptime=3165.3756
Maths.x.value=3
Maths.xmaths.abs=3
Maths.xmaths.sqr=9
Maths.xmaths.sqrt=1.7320508
Maths.xmaths.value=3

ps -ef | grep indiserver
kill XXX     (the PID associated with your indiserver)

LBTO Driver Example

ssh to tuc-shell64
export INDIHOME=/home/ksummers/instruments/INDI/LBTI_INDI
$INDIHOME/src/INDI/indiserver -l ./ $INDIHOME/src/lbtoDDS/indilbtoDDS $INDIHOME/src/indi-sample-driver/indimaths &

ssh web@web
cd /web/statserv
export INDIHOME=/web/homes/ksummers/instruments/INDI/LBTI_INDI
$INDIHOME/src/INDI/indiserver -l ./ Maths@10.130.142.176 LBTO@10.130.142.176 &

/web/modules/INDI/bin/getINDI *.*.*

/web/modules/INDI/bin/getINDI LBTO.weather.*
/web/modules/INDI/bin/getINDI LBTO.status.*

/web/modules/INDI/bin/setINDI Maths.x.value=100

[web@web]$ getINDI LBTO.*.*
LBTO.Version.Driver=1
LBTO.Version.Properties=1
LBTO.Version.Uptime=82394
LBTO.Now.JD=2457879.359815904405
LBTO.Now.UTC=20.635576124166668421
....
LBTO.Events.MoonRise=21.443386819213628769
LBTO.Events.MoonSet=10.390646349638700485
....
LBTO.Weather.state=1
LBTO.Weather.Temperature=14.199999809265136719
LBTO.Weather.DewPoint=-8.3999996185302734375
LBTO.Weather.Humidity=20.100000381469726562
....
LBTO.Status.state=Ok
LBTO.Status.AzTrackingMode=TRACKER_VEL_MODE
LBTO.Status.ElTrackingMode=TRACKER_VEL_MODE
....
LBTO.AOStatus.state=Ok
LBTO.AOStatus.L_AOStatus=Ready
LBTO.AOStatus.L_AOOffsetX=-0.943112
LBTO.AOStatus.L_AOOffsetY=-7.06325
....
LBTO.Pointing.state=1
LBTO.Pointing.L_RA2K=999
LBTO.Pointing.L_Dec2K=999
LBTO.Pointing.R_RA2K=999
LBTO.Pointing.R_Dec2K=999
LBTO.Pointing.Azimuth=120.60100072700824114
LBTO.Pointing.AzVel=0.00041378987953066831288
....

Web Files

• LBTO folks are working in /web/statsev/html/indi_ao with the LBTI web pages, modifying to work with our DDS, AO, OVMS indi drivers.
• The files are SVN'ed in https://svn.lbto.org/repos/tools/trunk/statserv/.
• The original version of the LBTI pages is in /lbt/tools/LBTI_INDI/web.

• The indi.fcgi process is the web interface. The default Apache configuration is set up to dynamically launch the process when a web page accesses it. This causes the arguments to the process to default to localhost for its indiserver. We don't want an indiserver on the web host, so we want the indi.fcgi that our web server uses to point to our indiserver on another host. LBTI is using lighttpd which is easy to set up that way. On Apache, it's easy too, but it doesn't default.
  
  Add to our Apache config file (/web/server/tuc-shell64.tucson-httpd.cfg/statserv.conf) :

  ProxyPass /indi.fcgi fcgi://127.0.0.1:17624/ 

  
  Launch the indi.fcgi using the port specified above, on the web server:

  /usr/bin/spawn-fcgi -p 17624 /web/statserv/cgi-bin/indi.fcgi +age=2 +reconnects=100 +log=/web/server/logs/indi.fcgi.log  +host=ourindiserverhost:7624 

  This is done via the spawn-fcgi service that is already installed on web. Modified the /etc/sysconfig/spawn-fcgi file to add:

  # spawn the INDI web interface application
  OPTIONS="-p 17624 /web/statserv/cgi-bin/indi.fcgi +age=2 +reconnects=100 +log=/web/server/logs/indi.fcgi.log +host=tuc-shell64:7624" 

  
  Note that we have to use the mod_fcgid.c Apache module, NOT fastcgi which does not support this mode.

Command Interface to TCS

PROXY                   Factory:tcp -p 10000 -h iif.mountain.lbto.org
FOCAL_STATION           bentGregorianCenter both
INSTRUMENT_ID           LBTI 

indiserver -v indilbto &
setINDI "LBTO.SetStars.RA2K=20.5;Dec2K=45;Magnitude=14"
setINDI "LBTO.SetReference.RA2K=20.5;Dec2K=45;Magnitude=14"
setINDI "LBTO.Preset.Mode=TRACK;Side=both" 

OVMS Driver

ssh ovms@ovms.mountain.lbto.org
export LBTIINDIHOME=/local/INDI
$LBTIINDIHOME/bin/runindionovms &

ssh web@web
cd /web/statserv
export LBTIINDIHOME=/web/homes/ksummers/instruments/INDI/LBTI_INDI
$LBTIINDIHOME/src/INDI/indiserver -l ./ Maths@10.130.142.176 LBTO@10.130.142.176 OVMS@192.168.53.60 &

or 

$LBTIINDIHOME/bin/runindionweb

INDI and LBC

  indidevapi.h
  indidriverbase.c   (edited to not include astro.h since it's not req'd)
  configfile.h / .c
  eventloop.h / .c 

LBTI's Web Graphs

Alarms Driver

export EPICS_HOME="/web/modules/epics"
export EPICS_BASE="${EPICS_HOME}/base-3.14.12.4"
export EPICS_HOST_ARCH=`${EPICS_BASE}/startup/EpicsHostArch`
export PATH="${PATH}:${EPICS_BASE}/bin/${EPICS_HOST_ARCH}:${EPICS_EXTENSIONS}/bin/${EPICS_HOST_ARCH}"
export LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:${EPICS_BASE}/lib/${EPICS_HOST_ARCH}:${EPICS_HOME}/lib/${EPICS_HOST_ARCH}"

cd $EPICS_HOME/iocBoot/testioc/
./st.cmd &
 

ALH.Version.Driver=0.1
ALH.Version.Properties=0.1
ALH.Version.Uptime=45.004045
ALH.LBC.L_DewarPres=0.045
ALH.LBC.L_DewarTemp=20.5
ALH.LBC.R_DewarPres=0.145
ALH.LBC.R_DewarTemp=
ALH.MODS.L_BlueCCDTemp=0.4
ALH.MODS.L_BlueDewarTemp=30.6
ALH.MODS.L_RedCCDTemp=0.3
ALH.MODS.L_RedDewarTemp=155.5
ALH.MODS.L_RedHEBTemp=99.5 

AO Drivers

flao_sx_ccd39  
flao_sx_ccd47  
flao_sx_wfs_msgd  
flao_sx_adsec_msgd
flao_dx_ccd39  
flao_dx_ccd47  
flao_dx_wfs_msgd  
flao_dx_adsec_msgd 

Full LBTI package from Elwood

  numpy
  pyfits
  acromagd
  indiprop
  lbtiINDIprop
  plc

• makefiles for our Ice, snmp, Qt paths, path to python to use anaconda
• installation of fftw-3.3.5
• a few updates for new compilers
• deletion of old o files (why didn't they go on the clobber?)

Server

[ksummers@tuc-shell64 INDI]$ ./indiserver 
Must give at least one driver
Usage: ./indiserver [options] driver [driver ...]
Purpose: server for local and remote INDI drivers
Code $Revision: 1.18 $. Protocol 1.7.
Options:
 -l d  : log messages to <d>/YYYY-MM-DD.islog, else stderr
 -m m  : kill client if gets more than this many MB behind, default 50
 -n    : ignore /tmp/noindi
 -p p  : alternate IP port, default 7624
 -v    : show key events, no traffic
 -vv   : -v + key message content
 -vvv  : -vv + complete xml
 -x    : exit after last client disconnects -- FOR PROFILING ONLY
driver : executable or device@host[:port]

[ksummers@tuc-shell64 INDI]$ ./getINDI 
Purpose: retrieve readable properties from an INDI server
$Revision: 1.7 $
Usage: ./getINDI [options] [device.property.element ...]
  Any component may be "*" to match all (beware shell metacharacters).
  Reports all properties if none specified.
  If -B then BLOBs are saved in file named device.property.element.format
  In perl try: %props = split (/[=\n]/, `getINDI`);
  Set element to one of following to return property attribute:
        _LABEL to report label
        _GROUP to report group
        _STATE to report state
         _PERM to report perm
           _TO to report timeout
           _TS to report timestamp
Output format: output is fully qualified name=value one per line
  or just value if -1 and exactly one query without wildcards.
Options:
  -1    : print just value if expecting exactly one response
  -a    : add timestamp in BLOB file name
  -B    : include fetching BLOBs
  -b    : exclude fetching BLOBs (deprecated, now the default)
  -d f  : use file descriptor f already open to server
  -f    : don't print the def* values
  -h h  : alternate host, default is localhost
  -l    : append label to each reported property (unless -1)
  -m    : keep monitoring for more updates
  -o    : send BLOBs to stdout
  -p p  : alternate port, default is 7624
  -q    : suppress some error messages
  -t t  : max time to wait, default is 2 secs; 0 is forever
  -v    : verbose (cumulative)
  -w    : show write-only properties too
Exit status:
  0: found at least one match for each query
  1: at least one query returned nothing
  2: real trouble, try repeating with -v

[ksummers@tuc-shell64 INDI]$ ./setINDI 
Purpose: set one or more writable INDI properties
$Revision: 1.12 $
   * Prototype web page: <br />
     <img src="%PUBURLPATH%/%WEB%/%TOPIC%/INDIPrototypeWebPage.png" alt="INDIPrototypeWebPage.png" width="642" height="365" />

Usage: ./setINDI [options] {[type] spec} ...

Options:
  -d f  : use file descriptor f already open to server
  -h h  : alternate host, default is localhost
  -m    : show property messages (implies -w)
  -p p  : alternate port, default is 7624
  -q    : suppress some error messages
  -t t  : max time to wait, default is 2 secs
  -v    : verbose (more are cumulative)
  -w    : wait for state to be Ok or Alert - can not be used with type flags

Spec may be either:
    device.property.e1[;e2...]=v1[;v2...]
  or
    device.property.e1=v1[;e2=v2...]
    (This form allows embedded ; in v as \;)
  If Property is a BLOB, each v is a file name

If spec is preceded by one of the following flags to indicate its type,
the transaction is much more efficient but there is no error checking:
  -x    : Text
  -n    : Number
  -s    : Switch
  -b    : BLOB

Exit status:
  0: all settings successful
  1: at least one setting was invalid
  2: real trouble, try repeating with -v

Task List

• All the references to indi.js should be the same. We have it in many places, with different references.
• Automate the creation of the channelsfiles configuration files. Can we? had to do a lot of hand-editing to make it right; also put ECS OPS channel into IT.
• Add monitoring of the INDI servers (OVMS too), the collectGraphData script, the indi.fcgi.
• Does the ALH driver need to be every second?
• What should we use for the guidance string when GUIDANCE is an http link?
• If we don't like the order that the guidance messages are in, we could re-arrange the channels in the file. For instance, if everything in AO is in alarm and we don't like the first guidance...
• Build an installation or procedure with everything we need to run our indiserver/drivers on another machine.
• Can the IT driver call a script to set the guidance?
• Should we upgrade to the indiserver 2.0? or keep using Elwood's? he says his is "far superior", but the other one supports a Python product

• Can EPICS ALH thresholds be set dynamically? could we use INDI properties for thresholds?

• INDI.pdf: Elwood Downey's 2007 document