seqIDataMgr.cpp

    {
        fits_write_key(fptr, TSTRING, "CTYPE1   ", (char *)"RA---TAN",    "Pixel coordinate system", &FitStatus);
        fits_write_key(fptr, TSTRING, "CTYPE2   ", (char *)"DEC--TAN",    "Pixel coordinate system", &FitStatus);
        fits_write_key(fptr, TSTRING, "RADESYS  ", (char *)"ICRS",        "reference system", &FitStatus);
        fits_write_key(fptr, TSTRING, "CUNIT1   ", (char *)"deg",         "Unit of coordinate transformation", &FitStatus);
        fits_write_key(fptr, TSTRING, "CUNIT2   ", (char *)"deg",         "Unit of coordinate transformation", &FitStatus);

        floatValue2 = 0.0000040277777777777;
        fits_write_key(fptr, TFLOAT,  "CDELT1   ", &floatValue2,"Increment along axis 1 as [CUNIT1]/pxl", &FitStatus);
        fits_write_key(fptr, TFLOAT,  "CDELT2   ", &floatValue2,"Increment along axis 2 as [CUNIT2]/pxl", &FitStatus);


        float ra_tel_deg = tenv.achieved_ra/suc::DEGREE, ra_point_offset = 0.f, ra_guide_offset = 0.f, ra_shark = 0.f;
        float dec_tel_deg = tenv.achieved_dec/suc::DEGREE, dec_point_offset = 0.f, dec_guide_offset = 0.f, dec_shark = 0.f;
        floatValue = ra_tel_deg + ra_point_offset + ra_guide_offset + ra_shark;
        fits_write_key(fptr, TFLOAT,  "CRVAL1   ", &floatValue, "RA at CRPIX1 in units CUNIT1", &FitStatus);
        floatValue = dec_tel_deg + dec_point_offset + dec_guide_offset + dec_shark;
        fits_write_key(fptr, TFLOAT,  "CRVAL2   ", &floatValue, "DEC at CRPIX2 in units CUNIT2", &FitStatus);

        floatValue = 58.1f + 885.f - xmin;
        fits_write_key(fptr, TFLOAT,  "CRPIX1   ", &floatValue, "Value of X Ref. pixel", &FitStatus);
        floatValue = 51.5f + 1020.f - ymin;
        fits_write_key(fptr, TFLOAT,  "CRPIX2   ", &floatValue, "Value of Y Ref. pixel", &FitStatus);

        double sign = (m_bTest01 ? 1. : -1.);
        floatValue = std::cos((ih.derotator.position1 - gDrotRef + sign*tenv.parallactic_angle)*suc::DEGREE);
        fits_write_key(fptr, TFLOAT,  "PC1_1    ", &floatValue, "Scale in [CUNIT1]/pixel", &FitStatus);
        int flip = -1;
        floatValue *= flip;
        fits_write_key(fptr, TFLOAT,  "PC2_2    ", &floatValue, "Scale in [CUNIT2]/pixel", &FitStatus);
        floatValue = std::sin((ih.derotator.position1 - gDrotRef + sign*tenv.parallactic_angle)*suc::DEGREE);
        fits_write_key(fptr, TFLOAT,  "PC1_2    ", &floatValue, "Rotation and skew", &FitStatus);
        fits_write_key(fptr, TFLOAT,  "PC2_1    ", &floatValue, "Rotation and skew", &FitStatus);
    }
    else if(WCSAXES == 3)
    {
        fits_write_key(fptr, TSTRING, "CTYPE1   ", (char *)"WAVE",    "Pixel coordinate system", &FitStatus);
        fits_write_key(fptr, TSTRING, "CTYPE2   ", strValue,    "Pixel coordinate system", &FitStatus);
        fits_write_key(fptr, TSTRING, "CTYPE3   ", strValue,    "Pixel coordinate system", &FitStatus);
        fits_write_key(fptr, TSTRING, "CUNIT1   ", strValue,    "Unit of coordinate transformation", &FitStatus);
        fits_write_key(fptr, TSTRING, "CUNIT2   ", strValue,    "Unit of coordinate transformation", &FitStatus);
        fits_write_key(fptr, TSTRING, "CUNIT3   ", strValue,    "Unit of coordinate transformation", &FitStatus);
        fits_write_key(fptr, TFLOAT,  "CRVAL1   ", &floatValue, "Wavelength at CRPIX1", &FitStatus);
        fits_write_key(fptr, TFLOAT,  "CRVAL2   ", &floatValue, "RA at CRPIX1 in units CUNIT1", &FitStatus);
        fits_write_key(fptr, TFLOAT,  "CRVAL3   ", &floatValue, "DEC at CRPIX2 in units CUNIT2", &FitStatus);
        fits_write_key(fptr, TFLOAT,  "CD1_1    ", &floatValue, "Increment for CTYPE1", &FitStatus);
        fits_write_key(fptr, TFLOAT,  "CD2_2    ", &floatValue, "Increment for CTYPE2", &FitStatus);
        fits_write_key(fptr, TFLOAT,  "CD3_3    ", &floatValue, "Increment for CTYPE3", &FitStatus);
        fits_write_key(fptr, TINT,    "DISPAXIS ", &intValue,   "Dispersion axis (1=rows; 2=columns)", &FitStatus);
        fits_write_key(fptr, TSTRING, "DISPUNIT ", strValue,    "Units for coordinate along DISPAXIS", &FitStatus);
        fits_write_key(fptr, TSTRING, "DISPWC   ", strValue,    "Approximate central dispersion coordinate on detector [DISPAXIS]", &FitStatus);
        fits_write_key(fptr, TSTRING, "DISPDW   ", strValue,    "Approximate central dispersion per pixel on the detector", &FitStatus);
    }

   // TODO : Table 15 Enclosure, environment, and weather specific keywords
    fits_write_record(fptr, "        ------------------------------------------------------------------------", &FitStatus);
    fits_write_key(fptr, TFLOAT,  "DOMEPAN  ", &floatValue, "Dome position angle [degrees E of N]", &FitStatus);
    fits_write_key(fptr, TFLOAT,  "DOMTEM   ", &floatValue, "Dome temperature [degrees C]", &FitStatus);
    fits_write_key(fptr, TFLOAT,  "DOMHUM   ", &floatValue, "Dome relative humidity [%]", &FitStatus);
    fits_write_key(fptr, TFLOAT,  "DOMDEWPT ", &floatValue, "Dome dew point [degrees C]", &FitStatus);

    fits_write_record(fptr, "        ------------------------------------------------------------------------", &FitStatus);
    fits_write_key(fptr, TFLOAT,  "ENVTEM   ", &floatValue, "Outside temperature, C, at MJD-OBS", &FitStatus);
    fits_write_key(fptr, TFLOAT,  "ENVPRE   ", &floatValue, "Atmospheric pressure [mbar]", &FitStatus);
    fits_write_key(fptr, TFLOAT,  "ENVWIN   ", &floatValue, "Outside wind speed (m/s) at MJD-OBS", &FitStatus);
    fits_write_key(fptr, TFLOAT,  "ENVDIR   ", &floatValue, "(degrees) Direction of wind: E from N", &FitStatus);
    fits_write_key(fptr, TFLOAT,  "ENVHUM   ", &floatValue, "Outside relative humidity % at MJD-OBS", &FitStatus);
    fits_write_key(fptr, TFLOAT,  "ENVDEWPT ", &floatValue, "Outside dew point (degrees C) at MJD-OBS", &FitStatus);
    fits_write_key(fptr, TFLOAT,  "ENVTAU   ", &floatValue, "Opacity at 225 GHz, from SMT", &FitStatus);
    fits_write_key(fptr, TSTRING, "WEATHER  ", strValue,    "Comment by telescope operator or observer", &FitStatus);
    fits_write_key(fptr, TFLOAT,  "SEEING   ", &floatValue, "Seeing estimate from S-H WFS", &FitStatus);
    fits_write_key(fptr, TFLOAT,  "SEEWAV   ", &floatValue, "Wavelength for seeing estimate", &FitStatus);
    fits_write_key(fptr, TFLOAT,  "SEECAL   ", &floatValue, "Seeing: S-H to seeing calibration curve", &FitStatus);

    U8_LLOG("");
    return FitStatus;
}


void SeqDataMgr::getTelescopeEnv(STelescopeEnv & env)
{

    // DIMMFWHM                 DIMM seeing, [arcsecs]                      DIMMSeeing (DIMMSeeingZenith, DIMMSeeingElevation)
    // DIMMFLUX                 DIMM mean centroid flux                     DIMMMeanFlux
    // LBTWLINK                 Weather Station Link State                  LBTWeatherAlive (LBTWeatherAliveFront)
    // LBTPRES                  Ambient Pressure [hPa]                      LBTPressure
    // LBTTEMP                  Ambient Temperature [deg C]                 LBTTemp
    // LBTHUM                   LBT Relative Humidity [percent]             LBTHumidity
    // LBTDWPT                  LBT Dew Point [deg C]                       LBTDewPoint
    lbto::result res;
    lbto::DDstruct ddt;
    lbto::SeqDD dd;
    ddt.DDname = "DIMMSeeing";
    dd.push_back(ddt);
    ddt.DDname = "DIMMMeanFlux";
    dd.push_back(ddt);
    ddt.DDname = "LBTWeatherAlive";
    dd.push_back(ddt);
    ddt.DDname = "LBTPressure";
    dd.push_back(ddt);
    ddt.DDname = "LBTTemp";
    dd.push_back(ddt);
    ddt.DDname = "LBTHumidity";
    dd.push_back(ddt);
    ddt.DDname = "LBTDewPoint";
    dd.push_back(ddt);
    ddt.DDname = "ELPosition";
    dd.push_back(ddt);
    ddt.DDname = "AZPosition";
    dd.push_back(ddt);
    ddt.DDname = "SMTTemp";
    dd.push_back(ddt);
    ddt.DDname = "L_AOOffsetX";
    dd.push_back(ddt);
    ddt.DDname = "L_AOOffsetY";
    dd.push_back(ddt);
    ddt.DDname = "L_AOOffsetZ";
    dd.push_back(ddt);
    ddt.DDname = "L_DECOffset";
    dd.push_back(ddt);
    ddt.DDname = "L_RAOffset";
    dd.push_back(ddt);
    ddt.DDname = "L_TargetRA";
    dd.push_back(ddt);
    ddt.DDname = "L_TargetDEC";
    dd.push_back(ddt);
    ddt.DDname = "L_AchievedRA";
    dd.push_back(ddt);
    ddt.DDname = "L_AchievedDEC";
    dd.push_back(ddt);
    ddt.DDname = "ParAngle";
    dd.push_back(ddt);
    ddt.DDname = "L_AchievedALT";
    dd.push_back(ddt);
    ddt.DDname = "L_AchievedAZ";
    dd.push_back(ddt);

    bool get_parameters = true;
    int retry_counter = 0;
    while(get_parameters)
    {
        get_parameters = false;
        try
        {
            res = m_iif->iifGetParameter(dd);
        }
        catch(Basda::ServiceIsBusyException)
        {
            if(retry_counter && retry_counter % 10 == 0)
            {
                W_LLOG("Busy : retrying " << retry_counter);
            }
            retry_counter++;
            get_parameters = true;
            usleep(50000);
            continue;
        }
        catch(const std::exception& e)
        {
            W_LLOG(e.what());
            return;
        }
        catch(...)
        {
            std::string what = boost::current_exception_diagnostic_information();
            std::string toErase = "std::exception::what :";
            size_t pos = what.find(toErase);
            if(pos != std::string::npos)what.erase(pos, toErase.length());
            what.erase(std::remove(what.begin(), what.end(), '\n'), what.end());
            std::stringstream log_msg;
            log_msg << "Error trying getting DD parmateres : " << what;
            W_LLOG(log_msg.str());
            return;
        }
    }
    if(res.rescode == EXIT_SUCCESS)
    {
        double temp;
        env.dimm_seeing = atof(res.resmsg[1].c_str());
        env.dimm_mean_flux = atof(res.resmsg[2].c_str());
        env.lbt_weather_alive = (bool)atoi(res.resmsg[3].c_str());
        env.lbt_pressure = atof(res.resmsg[4].c_str());
        env.lbt_temp = atof(res.resmsg[5].c_str());
        env.lbt_humidity = atof(res.resmsg[6].c_str());
        env.lbt_dewpoint = atof(res.resmsg[7].c_str());
        env.mcs_elevation = atof(res.resmsg[8].c_str())/3600;
        env.mcs_azimuth = atof(res.resmsg[9].c_str())/3600;
        env.smt_temp = atof(res.resmsg[10].c_str());
        env.ao_offsetx = atof(res.resmsg[11].c_str());
        env.ao_offsety = atof(res.resmsg[12].c_str());
        env.ao_offsetz = atof(res.resmsg[13].c_str());
        env.target_decoffset = atof(res.resmsg[14].c_str());
        env.target_raoffset = atof(res.resmsg[15].c_str());
        env.target_ra = atof(res.resmsg[16].c_str());
        env.target_dec = atof(res.resmsg[17].c_str());
        env.achieved_ra = atof(res.resmsg[18].c_str());
        env.achieved_dec = atof(res.resmsg[19].c_str());
        env.parallactic_angle = atof(res.resmsg[20].c_str());
        env.achieved_alt = atof(res.resmsg[21].c_str());
        env.achieved_az = atof(res.resmsg[22].c_str());
    }
    else
    {
        for(unsigned int i = 0; i < res.resmsg.size(); i++)
        {
            U9_LLOG(res.resmsg[i]);
        }
    }
}

void SeqDataMgr::GetReadoutRegion(int & xmin, int & xmax, int & ymin, int & ymax)
{
    xmin = xmax = ymin = ymax = 0;
    std::map<std::string, indi::IElement>::const_iterator itRegion;
    const std::map<std::string, indi::IElement> & elements = sashaReadoutRegion.getElements();
    itRegion = elements.find("x1");
    if(itRegion != elements.end())
    {
        if(!su::getValue<int>(itRegion->second.get(), xmin)){ W_LLOG("Could not get readout region XMIN value");}
    }
    else { W_LLOG("Could not find readout region XMIN value");}
    itRegion = elements.find("x2");
    if(itRegion != elements.end())
    {
        if(!su::getValue<int>(itRegion->second.get(), xmax)){ W_LLOG("Could not get readout region XMAX value");}
    }
    else { W_LLOG("Could not find readout region XMAX value");}
    itRegion = elements.find("y1");
    if(itRegion != elements.end())
    {
        if(!su::getValue<int>(itRegion->second.get(), ymin)){ W_LLOG("Could not get readout region YMIN value");}
    }
    else { W_LLOG("Could not find readout region YMIN value");}
    itRegion = elements.find("y2");
    if(itRegion != elements.end())
    {
        if(!su::getValue<int>(itRegion->second.get(), ymax)){ W_LLOG("Could not get readout region YMAX value");}
    }
    else { W_LLOG("Could not find readout region YMAX value");}
}


int SeqDataMgr::sashaEnableSave(const std::map<std::string, std::string> & _dSashaSetup)
{
    // To be Implemented
    U6_LLOG(__FUNCTION__ << " ~ DEPRECATED");
    Ice::Int status = EXIT_SUCCESS;
#ifdef UNDEFINED
    IProperty sashaSave(IProperty::Switch), recvProp;
    std::map<std::string, std::string>::const_iterator itFind;
    itFind = _dSashaSetup.find("SAVE");

    // m_ptrIc->connect();
    // NOTE while alive, indiserver does not close the connection to the client.
    // U1_LLOG("Command sasha to save to file");
    U1_LLOG("Command sasha to save to file");

    sashaSave.setDevice("sasha_save");
    sashaSave.setName("enable_save");
    sashaSave.setPerm(IProperty::ReadWrite);
    sashaSave.setState(IProperty::Busy);
    sashaSave.add(IElement("value"));
    // Switch properties can have value On or Off
    sashaSave["value"].setSwitchState(IElement::Off);
    U1_LLOG(sashaSave.getType());
    if(!(itFind == _dSashaSetup.end()))
    {
        if((su::str_tolower(itFind->second) == "true") || (itFind->second == "1"))
        {
            sashaSave["value"].setSwitchState(IElement::On);
        }
    }

    //
    m_ptrIc2->send_new_property_wait2(sashaSave, recvProp);
#endif
    // status = m_ptrIc->close();
    U8_LLOG(__FUNCTION__);
    return status;
}


int SeqDataMgr::sashaGetFitsFile(const std::map<std::string, std::string> & _dSashaSetup, const std::string & _instMode, std::string & _outFilename)
{
    U6_LLOG(__FUNCTION__ << " ~ DEPRECATED");
    int status = EXIT_FAILURE;
#ifdef UNDEFINED
        std::string strObjname = "test";
        Ice::CommunicatorPtr dataMgrIC;
        // std::ostringstream streamRsync;
        // std::ostringstream streamFileNum;
        // std::ostringstream streamFileName;
        std::ofstream fout;
        // --Ice.Config=$INSROOT/etc/data_mgr/data_mgr-ice.cfg
    //    char* argvDataMgr[] = { "SequencerI::sashaGetFITSFile",
    //                           "--Ice.Config=/opt/tan/etc/data_mgr/data_mgr-ice.cfg" };
    //    int argcDataMgr = 2;

        // CFITSIO related
                           //
                            // Saving file to disk
                            // filename format is SHARKNIR.YYYY-MM-DDThh:mm:ss.ssssssZ.<_instMode>.fits
                            // this is passed to data manager for future use in mearging headers
                            // and saved in output parameter
                            //

                            // get date of file creation by INDI in ISO8601 format
                            dateISO8601 = recvProp.getTimeStamp().getFormattedIso8601Str();

                            filenameSASHA = "SHARKNIR." + dateISO8601 + "." + _instMode + ".SASHA.fits";

                            filenameSHINS = "SHARKNIR." + dateISO8601 + "." + _instMode + ".fits";


                            /* what follows is most likely old code to be erased
                             at this moment dataMgr will take care of ingesting file to
                             LBT archive mount point

                             // setting filenameSASHA as filename of acquired FITS file to data_mgr for its reference
                             // NOTE: may not be necessary
                             dataMgrIC = Ice::initialize(argcDataMgr, argvDataMgr);
                             Ice::ObjectPrx base = dataMgrIC->stringToProxy("dataManagerAdapter:default -p 10501");
                             sd::fitsFilePrx archiver = sd::fitsFilePrx::checkedCast(base);
                             if(!archiver)
                             throw("Invalid Proxy");
                             // setting name of SASHA produced FITS in data manager component
                             status = archiver->setCurrentFilenameSASHA(filenameSASHA);
                             U4_LLOG(archiver->getCurrentFilenameSASHA());


                             // creating fits file with no data and with complete+populated header.
                             status = archiver->createEmptyAndPopulateHeader(filnameSHINS, bitpix, naxis, vecNaxes);
                             status = archiver->mergeHeadersAndCopyData(filenameSHINS, filenameSASHA);
                             */
                        }
                    }
                }

            }
        }
        if(dataMgrIC)dataMgrIC->destroy();

        // creating standard vectors with keywords values and comments for SHINS part of header.
        // These vectors will be passed to data manager which will merge them to SASHA header
        // by creating in place a FITS header and merging it to SASHA header, without creating
        // a second file on disk

        // create header only fits file to fill with SHINS values for keywords

        // try 
        // {
        //     dataMgrIC = Ice::initialize(argcDataMgr, argvDataMgr);
        //     Ice::ObjectPrx base = dataMgrIC->stringToProxy("dataManagerAdapter:default -p 10501");
        //     sd::fitsFilePrx archiver = sd::fitsFilePrx::checkedCast(base);
        //     if(!archiver)
        //         throw("Invalid Proxy");
        //     status = archiver->saveSASHABLOB(toBitsBlob, counter);
        //     status = archiver->setCurrentFilenameSASHA(_outFilenameSASHA);
        // } 
        // catch(const Ice::Exception& ex)
        // catch(const char* msg)
        // if(dataMgrIC)dataMgrIC->destroy();

        // timeOut = su::convertStringToType<long>(itDit->second)*
        //           su::convertStringToType<float>(itNDit->second)*std::pow(10,6); // time out have to be in micro seconds
        // U1_LLOG("time out = " << timeOut*2 << " micro seconds");
        // IndiProperty sashaSaveFileNum(IndiProperty::Text);
        // IndiProperty sharknirUTCDate(IndiProperty::Number);
        // the method shouhld check on remote INDI property for info on exposure status
        // alredy done by sashaExpose, but to control twice is better
        // _outFilenameSASHA = "No Filename Retrieved";
        // boost::thread fits_notify_thread(inotifierInstance.start, _remotePathToWatch,
        //                                  boost::ref(_outFilenameSASHA),
        //                                  timeOut*6); // create and start thread
        // fits_notify_thread.join();               // Wait for thread to finish
        // check on _outFilenameSASHA
        // fits_notify_thread should have timeout parameter for INotifier::start
        itFind = _dSashaSetup.find("OBJECTNAME");
        if(!(itFind == _dSashaSetup.end()))strObjname = itFind->second;

        // sashaSaveFileNum = init_indi_property("sasha_save", "largest_filenum", IndiProperty::Text, std::vector<std::string>(1, "value"));

        // vecElemNames.push_back("JD");
        // vecElemNames.push_back("UTC");
        // vecElemNames.push_back("UTCDate");
        // vecElemNames.push_back("LT");
        // vecElemNames.push_back("LST");
        // vecElemNames.push_back("MoonAz");
        // vecElemNames.push_back("MoonAlt");
        // vecElemNames.push_back("MoonElong");
        // vecElemNames.push_back("MoonLit");
        // vecElemNames.push_back("SunAz");
        // vecElemNames.push_back("SunAlt");
        // sharknirUTCDate = init_indi_property("sharknir_time", "Now",
        //                                      IndiProperty::Number,
        //                                      vecElemNames);
        // // NOTE while alive, indiserver does not close the connection to the client.

        // U1_LLOG("Asking INDI for file number ...");
        // m_ptrIc2->send_get_property_wait(sashaSaveFileNum, recvProp);
        // streamFileNum << std::setfill('0') << std::setw(6)
        //               << recvProp["value"].getValue() << std::setfill(' ');

        // recvProp.clear();
        // U1_LLOG("Asking INDI for UTC date ... ");
        // m_ptrIc2->send_get_property_wait(sharknirUTCDate, recvProp);
        // strUTCDate = recvProp["UTCDate"].getValue().substr(2,recvProp["UTCDate"].getValue().size()-2);
        // U1_LLOG("Got " << recvProp["UTCDate"].getValue());
        // U1_LLOG("Extracted " << strUTCDate);
        // streamRsync << "rsync -avzh " << su::get_LLOGin() << "@sashaws::fits/" << strUTCDate
        //             << "/sa_" << strUTCDate << "_" << streamFileNum.str()
        //             << ".fits " << dataDir
        //             << "SHARKNIR_" << strObjname << "_" << recvProp["UTCDate"].getValue()
        //             << "_" << streamFileNum.str() << ".fits";
        // streamFileName << "SHARKNIR_" << strObjname << "_" << recvProp["UTCDate"].getValue()
        //                << "_" << streamFileNum.str() << ".fits";

        // status = std::system(streamRsync.str().c_str());

    }
#endif
    U8_LLOG("");
    return status;
}

//  Patch to get rid of the timeout problem of sasha driver. NREAD is sent whenever NDIT changes and no other parameters are sent
int SeqDataMgr::sashaEndSetup(std::map<std::string, std::string> & _dTimeoutSetup, bool ndit_changed)
{
    U6_LLOG(__FUNCTION__);
    int status = EXIT_SUCCESS;
    if(ndit_changed && _dTimeoutSetup.empty())
    {
        IProperty & prop = m_sashaProps.find("NREADS")->second;
        const std::map<std::string, indi::IElement> elements = prop.getElements();
        if(elements.find("value") != elements.end())
        {
            _dTimeoutSetup["NREADS"] = prop["value"].getValue();
        }
        else
        {
            std::stringstream log_msg;
            log_msg << "Error : IProperty \"" << prop.getDevice() << "." << prop.getName() << "\" from INDI Server has changed";
            E_LLOG(log_msg.str());
            throw(std::runtime_error(log_msg.str()));
        }
    }
    std::map<std::string, std::string>::iterator itSetup;
    int num_properties = _dTimeoutSetup.size();
    int counter = 0, sent_properties = 0;
    try
    {
        for(itSetup = _dTimeoutSetup.begin(); itSetup != _dTimeoutSetup.end(); itSetup++)
        {
            if(m_getFitsAbortFlag)break;
            counter++;
            IProperty & prop = m_sashaProps.find(itSetup->first)->second;
            const std::map<std::string, indi::IElement> elements = prop.getElements();
            bool bPropError = false, bSetProperty = false;
            if(elements.find("value") != elements.end())
            {
                if(m_bForcePropertySet || itSetup->second != prop["value"].getValue())
                {
                    prop["value"].setValue<int>(su::convertStringToType<int>(itSetup->second));
                    bSetProperty = true;
                }
            }
            else
                bPropError = true;
            if(bPropError)
            {
                std::stringstream log_msg;
                log_msg << "Error : IProperty \"" << prop.getDevice() << "." << prop.getName() << "\" from INDI Server has changed";
                E_LLOG(log_msg.str());
                throw(std::runtime_error(log_msg.str()));
            }
            else if(bSetProperty || (sent_properties == 0 && counter == num_properties))
            {
                m_sashaPropsSet[itSetup->first] = false;
                SendNewProperty(prop);
                sent_properties++;
            }
        }
        bool wait_result = false;
        wait_result = WaitSetMessages(60000000);
        if(!wait_result)status = EXIT_FAILURE;
    }
    catch(...)
    {
        E_LLOG(__FUNCTION__);
        U8_LLOG("");
        throw;
    }
    
    U8_LLOG("");
    return status;
}

int SeqDataMgr::sashaSetup(const std::map<std::string, std::string> & _dSashaExpose)
{
    U6_LLOG(__FUNCTION__);
    int status = EXIT_SUCCESS;
    m_exposeMutex.lock();
    m_getFitsAbortFlag = 0;
    try
    {
        std::map<std::string, std::string>::iterator itSashaSetup;
        for(itSashaSetup = m_sashaSetup.begin(); itSashaSetup != m_sashaSetup.end(); itSashaSetup++)
        {
            if(itSashaSetup->first == suc::instrument_mode)
                itSashaSetup->second = "UNDEF";
            else
                itSashaSetup->second.clear();
        }
        std::map<std::string, std::string>::const_iterator itSetup;
        for(itSetup = _dSashaExpose.begin(); itSetup != _dSashaExpose.end(); itSetup++)
        {
            U9_LLOG("Keyword : " << itSetup->first << "; Value : " << itSetup->second);
            if(m_sashaSetup.find(itSetup->first) == m_sashaSetup.end())
            {
                std::stringstream log_msg;
                log_msg << "Keyword not allowed in sashaExpose : " << itSetup->first;
                E_LLOG(log_msg.str());
                throw(std::invalid_argument(log_msg.str()));
            }
            m_sashaSetup[itSetup->first] = itSetup->second;
        }
        bool bForceTimeoutRefresh = false;
        bool ndit_changed = false;

        checkContinuousFlag();

        std::map<std::string, std::string> incomingSetup = _dSashaExpose;
        std::map<std::string, std::string> timeoutSetup;
        timeoutSetup = su::extract_setup(m_timeoutSetup, incomingSetup);
        for(itSetup = incomingSetup.begin(); itSetup != incomingSetup.end(); itSetup++)
        {
            if(m_getFitsAbortFlag)break;
            if(itSetup->first == "DIT" || itSetup->first == "InstrumentMode")
            {
            }
            else
            {
    //            U9_LLOG("setup : " << itSetup->first << ":" << itSetup->second);
                IProperty & prop = m_sashaProps.find(itSetup->first)->second;
                const std::map<std::string, indi::IElement> elements = prop.getElements();
                bool bPropError = false, bSetProperty = false;
                if(itSetup->first == "SAVE")
                {
                    bool bSave = true;
                    su::get_bool_from_setup(_dSashaExpose,  "SAVE",  bSave);
                    std::map<std::string, indi::IElement>::const_iterator itEl;
                    if(elements.find("value") != elements.end())
                    {
                        indi::IElement::SwitchStateType switch_state = (bSave ? IElement::On : IElement::Off);
                        if(m_bForcePropertySet || prop["value"].getSwitchState() != switch_state)
                        {
                            prop["value"].setSwitchState(switch_state);
//                            U9_LLOG("Setting : " << "value" << " to " << bSave);
                            bSetProperty = true;
                        }
                    }
                    else
                        bPropError = true;
                }
                else if(itSetup->first == "OBJECTNAME")
                {
                    if(elements.find("value") != elements.end())
                    {
                        std::string current_name = prop["value"].getValue();
                        if(m_bForcePropertySet || current_name != itSetup->second)
                        {
                            prop["value"].setValue(itSetup->second);
                            bSetProperty = true;
                        }
                    }
                    else
                        bPropError = true;
                }
    //            else if(itSetup->first == "NCOADDS")
    //            {
    //                if(elements.find("num_coadds") != elements.end())
    //                    prop["num_coadds"].setValue<int>(su::convertStringToType<int>(itSetup->second));
    //                else
    //                    bPropError = true;
    //            }
                else if(itSetup->first == "READOUT")
                {
                    if(elements.find("value") != elements.end())
                    {
                        if(m_bForcePropertySet || prop["value"].getValue() != itSetup->second)
                        {
                            prop["value"].setValue(itSetup->second);
                            bSetProperty = true;
                        }
                    }
                    else
                        bPropError = true;
                }
                else
                {
                    if(elements.find("value") != elements.end())
                    {
//                        int value = su::convertStringToType<int>(prop["value"].getValue());
                        if(m_bForcePropertySet || itSetup->second != prop["value"].getValue())
                        {
                            if(itSetup->first == "NDIT")ndit_changed = true;
                            prop["value"].setValue<int>(su::convertStringToType<int>(itSetup->second));
                            bSetProperty = true;
                        }
                    }
                    else
                        bPropError = true;
                }
                if(bPropError)
                {
                    std::stringstream log_msg;
                    log_msg << "Error : IProperty \"" << prop.getDevice() << "." << prop.getName() << "\" from INDI Server has changed";
                    E_LLOG(log_msg.str());
                    throw(std::runtime_error(log_msg.str()));
                }
                else if(bSetProperty)
                {
                    m_sashaPropsSet[itSetup->first] = false;
                    SendNewProperty(prop);
                }
            }
        }
        bool wait_result = false;
        wait_result = WaitSetMessages(60000000);
        if(!wait_result)status = EXIT_FAILURE;
        int status2 = sashaEndSetup(timeoutSetup, ndit_changed);
        if(status == EXIT_FAILURE || status2 == EXIT_FAILURE)status = EXIT_FAILURE;
    }
    catch(...)
    {
        m_exposeMutex.unlock();
        U8_LLOG("");
        throw;
    }
    m_exposeMutex.unlock();
    U8_LLOG(__FUNCTION__ << " exiting");
    return status;
}


int SeqDataMgr::sashaSetFrequency(const std::map<std::string, std::string> & _dSashaExpose)
{
    U6_LLOG(__FUNCTION__);
    int status = EXIT_SUCCESS;
    m_exposeMutex.lock();
    try
    {
        std::map<std::string, std::string>::const_iterator itSetup;
        itSetup = _dSashaExpose.find("FREQUENCY");
        if(itSetup != _dSashaExpose.end())
        {
            IProperty & prop = m_sashaProps.find(itSetup->first)->second;
            const std::map<std::string, indi::IElement> elements = prop.getElements();
            if(elements.find("value") != elements.end())
            {
                if(m_bForcePropertySet || prop["value"].getValue() != itSetup->second)
                {
                    prop["value"].setValue(itSetup->second);
                    m_sashaPropsSet[itSetup->first] = false;
                    SendNewProperty(prop);
                    //camera reinitializes and readout region is reset
                    m_sashaPropsSet["READOUT"] = false;
                    WaitSetMessages(60000000);
                }
            }
            else
            {
                U9_LLOG("Error: frequency property from INDI server has changed");
            }
        }
    }
    catch(...)
    {
        m_exposeMutex.unlock();
        U8_LLOG("");
        throw;
    }
    m_exposeMutex.unlock();
    U8_LLOG(__FUNCTION__ << " exiting");
    return status;
}

int SeqDataMgr::checkContinuousFlag()
{
    U6_LLOG(__FUNCTION__);
    int status = EXIT_SUCCESS;
    bool WaitSet = false;
    if(!(sashaExposeProp["value"].getSwitchState() == IElement::Off))
    {
        m_sashaPropsSet["STOP"] = false;
        sashaStop["value"].setSwitchState(IElement::On);
        SendNewProperty(sashaStop);
        m_sashaPropsSet["EXPOSE"] = false;
        WaitSetMessages(10000000);
        m_sashaPropsSet["EXPOSE"] = false;
        WaitSetMessages(10000000);
//        usleep(1000000);
        U7_LLOG(__FUNCTION__ << " - " << ExtimateTiming());
    }
//    if(!(sashaEnableCont["value"].getSwitchState() == IElement::Off))
    {
        m_sashaPropsSet["CONTINUOUS"] = false;
        sashaEnableCont["value"].setSwitchState(IElement::Off);
        SendNewProperty(sashaEnableCont);
        WaitSet = true;
        U7_LLOG(__FUNCTION__);
    }
    if(WaitSet)
    {
        WaitSetMessages(10000000);
    }
    U8_LLOG(__FUNCTION__);
    return status;
}

int SeqDataMgr::sashaExpose2(std::vector<std::string> & out_files)
{
    U6_LLOG(__FUNCTION__);
    int status = EXIT_SUCCESS;
    m_exposeMutex.lock();
    m_getFitsAbortFlag = 0;
    try
    {
        checkContinuousFlag();
        m_last_generated_files.clear();
        if(m_bSaveOnlyExposedFiles && !m_getFitsAbortFlag)
        {
            sashaBlob.setBLOBEnable(IProperty::Also);
            SendNewProperty(sashaBlob);
        }
        bool wait_result = false;
        wait_result = WaitSetMessages(60000000);
        if(!m_getFitsAbortFlag)
        {
            m_sashaPropsSet["EXPOSE"] = false;
            sashaExposeProp["value"].setSwitchState(IElement::On);
            SendNewProperty(sashaExposeProp);
            m_ExpectedBlobs = su::convertStringToType<int>(sashaNumSeqs["value"].getValue());
            m_bInstrumentSetupUpdated = false;
            updateInstrumentHeader();
            wait_result = WaitSetMessages(30000000);
        }
        if(!m_getFitsAbortFlag)
        {
            wait_result = WaitStartAcquireOff(ExtimateTiming() + 20000);
            m_bBlobArrived = false;
        }
        if(m_bSaveOnlyExposedFiles)
        {
            if(m_ExpectedBlobs > 0)WaitBLOB(20000);
            sashaBlob.setBLOBEnable(IProperty::Never);
            SendNewProperty(sashaBlob);
        }
        if(!wait_result)status = EXIT_FAILURE;
        if(m_getFitsAbortFlag)
        {
            throw(std::runtime_error("Error acquisition aborted by user"));
        }
    }
    catch(...)
    {
        m_exposeMutex.unlock();
        if(m_getFitsAbortFlag)m_getFitsAbortFlag--;
        U8_LLOG("");
        throw;
    }
    if(m_getFitsAbortFlag)m_getFitsAbortFlag--;
    m_exposeMutex.unlock();
    out_files = m_last_generated_files;
    m_last_generated_file = "";
    m_last_generated_files.clear();
    U8_LLOG(__FUNCTION__ << " exiting");
    return status;
}


void SeqDataMgr::abortExposure()
{
    m_getFitsAbortFlag = 1;
    SendNewProperty(sashaStop);
}

bool SeqDataMgr::WaitSetMessages(int timeout)
{
    bool wait_sets = true;
    int waited_time = 0;
    int sleep_time = 1000;
    std::stringstream log_msg;
    while(wait_sets)
    {
        usleep(sleep_time);
        waited_time += sleep_time;
        sleep_time = 49000*(waited_time == 1000) + 50000*(waited_time > 1000);
        std::map<std::string, bool>::iterator itSet;
        for(itSet = m_sashaPropsSet.begin(); itSet != m_sashaPropsSet.end(); itSet++)
        {
            if(!itSet->second)break;
        }
        wait_sets = itSet != m_sashaPropsSet.end();
        if(waited_time >= timeout)
        {
            log_msg << __FUNCTION__ << " ~ Timed Out waiting for : ";
            for(itSet = m_sashaPropsSet.begin(); itSet != m_sashaPropsSet.end(); itSet++)
            {
                if(!itSet->second)
                    log_msg << itSet->first << " ~ ";
            }
            break;
        }
        if(m_bReceivedEof)
        {
            U6_LLOG(__FUNCTION__);
            E_LLOG("Received EOF");
            U8_LLOG("");
            throw(std::runtime_error("Indi Server signaled EoF"));
        }
        if(m_getFitsAbortFlag)break;
    }
    if(waited_time > 1000)
    {
        U6_LLOG(__FUNCTION__);
        if(!log_msg.str().empty()){E_LLOG(log_msg.str());};
        U8_LLOG(__FUNCTION__ << " ~ Exiting; waited " << waited_time/1000.f << "ms");
    }
    return !wait_sets;
}

bool SeqDataMgr::WaitStartAcquireOff(unsigned int timeout)
{
    U6_LLOG(__FUNCTION__);
    bool wait_result = true;
    unsigned int waited_time = 0;
    while(wait_result)
    {
        usleep(200000);
        waited_time += 200;
        wait_result = !(sashaExposeProp["value"].getSwitchState() == IElement::Off);
        if(waited_time >= timeout)
        {
            E_LLOG(__FUNCTION__ << " ~ Timed Out");
            break;
        }
        if((waited_time % 300000) == 0)
        {
            U9_LLOG(__FUNCTION__ << " ~ Waiting " << waited_time/1000.f << "/" << timeout/1000.f << "s");
        }
        if(m_getFitsAbortFlag)break;
        if(m_bReceivedEof)
        {
            E_LLOG("Received EOF");
            U8_LLOG("");
            throw(std::runtime_error("Indi Server signaled EoF"));
        }
    }
    U8_LLOG(__FUNCTION__ << " ~ Exiting; waited " << waited_time << "ms");
    return !wait_result;
}

bool SeqDataMgr::WaitBLOB(unsigned int timeout)
{
    U6_LLOG(__FUNCTION__);
    bool wait_result = true;
    unsigned int waited_time = 0;
    while(wait_result)
    {
        usleep(200000);
        waited_time += 200;
        wait_result = !(m_bBlobArrived == true);
        if(wait_result && waited_time >= timeout)
        {
            E_LLOG(__FUNCTION__ << " ~ Timed Out");
            break;
        }
        if((waited_time % 300000) == 0)
        {
            U9_LLOG(__FUNCTION__ << " ~ Waiting " << waited_time/1000.f << "/" << timeout/1000.f << "s");
        }
        if(m_getFitsAbortFlag)break;
        if(m_bReceivedEof)
        {
            E_LLOG("Received EOF");
            U8_LLOG("");
            throw(std::runtime_error("Indi Server signaled EoF"));
        }
    }
    U8_LLOG(__FUNCTION__ << " ~ Exiting; waited " << waited_time << "ms");
    return !wait_result;
}
  // I_LOG("Asking for temperature to sensor");
  // IProperty sharknirTemp(IProperty::Text), recvProp;
  // sharknirTemp.setDevice("sharknir_temp");
  // sharknirTemp.setName("sensor");
  // sharknirTemp.add(IElement("enable_alarm"));
  // sharknirTemp.add(IElement("enable_collection"));
  // sharknirTemp.add(IElement("identifie"));
  // sharknirTemp.add(IElement("is_connected"));
  // sharknirTemp.add(IElement("max_value"));
  // sharknirTemp.add(IElement("min_value"));
  // sharknirTemp.add(IElement("notify_email_file"));
  // sharknirTemp.add(IElement("notify_email_list"));
  // sharknirTemp.add(IElement("tag"));
  // sharknirTemp.add(IElement("units"));
  // sharknirTemp.add(IElement("value"));
  // heater
  /*
  IProperty sharknirTempHeater(IndiProperty::Text);
  sharknirTempHeater.setDevice("sharknir_sensors");
  sharknirTempHeater.setName("Heater");
  sharknirTempHeater.setPerm(IndiProperty::ReadOnly);
  sharknirTempHeater.setState(IndiProperty::Busy);
  sharknirTempHeater.add(IndiElement("command"));
  sharknirTempHeater.add(IndiElement("enable_collection"));
  sharknirTempHeater.add(IndiElement("hardware_num"));
  sharknirTempHeater.add(IndiElement("identifier"));
  sharknirTempHeater.add(IndiElement("max_power"));
  sharknirTempHeater.add(IndiElement("power"));
  sharknirTempHeater.add(IndiElement("last_alarm"));
  sharknirTempHeater.add(IndiElement("max_value"));
  sharknirTempHeater.add(IndiElement("min_value"));
  sharknirTempHeater.add(IndiElement("resp_prefix_size"));
  sharknirTempHeater.add(IndiElement("setpoint"));
  sharknirTempHeater.add(IndiElement("simulation_value"));
  sharknirTempHeater.add(IndiElement("time"));
  sharknirTempHeater.add(IndiElement("units"));
  sharknirTempHeater.add(IndiElement("value"));
  */


void * SeqDataMgr::indi_client_thread(void * pMe)
{
    //usleep(15000000);
    while(System::isTimeToQuit() == false)
    {
        SeqDataMgr & Me = *((SeqDataMgr *)pMe);
        Me.m_bReceivedEof = false;

        try
        {
            IBase::setupSocketFd(gIndiPort, gIndiAddress);
            U9_LLOG("Connected to INDI Server");
            std::map<std::string, IProperty &>::iterator itProp;
            for(itProp = Me.m_sashaProps.begin(); itProp != Me.m_sashaProps.end(); itProp++)
            {
                itProp->second.clear();
            }
            std::string id = "identifier";
            Me.sharknirTemperatureDetector.add(IElement(id));
            Me.sharknirTemperatureDetector[id].setValue<std::string>("A");
            Me.sharknirTemperatureColdFinger.add(IElement(id));
            Me.sharknirTemperatureColdFinger[id].setValue<std::string>("B");
            Me.sharknirTemperatureInnerVessel.add(IElement(id));
            Me.sharknirTemperatureInnerVessel[id].setValue<std::string>("C");
            Me.sharknirTemperatureOuterVessel.add(IElement(id));
            Me.sharknirTemperatureOuterVessel[id].setValue<std::string>("D");
            Me.sashaBlob.setBLOBEnable(IProperty::Never);
            Me.sashaNumCoadds.add(IElement("value"));
            Me.sashaNumCoadds["value"].setValue<int>(1);
            Me.m_bFlagChanged = true;
        }
        catch(...)
        {
            std::string what = boost::current_exception_diagnostic_information();
            std::string toErase = "std::exception::what :";
            size_t pos = what.find(toErase);
            if(pos != std::string::npos)what.erase(pos, toErase.length());
            what.erase(std::remove(what.begin(), what.end(), '\n'), what.end());
            std::stringstream log_msg;
            log_msg << "Error trying connection to INDI server : " << what;
            W_LLOG(log_msg.str());
            usleep(300000000);
            continue;
        }
        std::map<std::string, IProperty &>::iterator itProp;
        for(itProp = Me.m_sashaProps.begin(); itProp != Me.m_sashaProps.end(); itProp++)
        {
    //        U9_LLOG("Getting : " << it->second.getDevice() << "." << it->second.getName());
            IOut(IMessage::Get) << itProp->second << std::endl;
        }

        IIn indiIn;
        IMessage indiMsgReceive;
        IProperty ipRecv;
        std::vector<IProperty>::iterator itVec;
        while(Me.m_bReceivedEof == false)
        {
            if(Me.m_bFlagChanged)
            {
                Me.m_bFlagChanged = false;
                if(Me.m_bSaveOnlyExposedFiles)
                    Me.sashaBlob.setBLOBEnable(IProperty::Never);
                else
                    Me.sashaBlob.setBLOBEnable(IProperty::Also);
                IOut(IMessage::EnB) << Me.sashaBlob << std::endl;

            }