Sequencer scripting#404
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Implements slicecam fine acquisition * Introduced slicecam_math.cpp/h implementing centroid detection, WCS pix2world conversion, and angular offset calculations. * Added a do_fineacquire loop to the Slicecam interface to automate target centering based on configurable aimpoints and background regions. * Added FINE_ACQUIRE_AIMPOINT and FINE_ACQUIRE_BACKGROUND parameters to the daemon configuration. * Replaces receiving a JSON message with the existing PUB-SUB mechanism * Updated target_offset logic to better distinguish between TCS-direct offsets and ACAM-guided goal offsets. * Renamed dothread_acquisition to do_acam_acquire and added atomic tracking for fine-acquisition locks and guiding states.
changes std::string to string_view where string not needed
moves wait_for_XXXX wrappers to a separate file moves sequence building tools to a separate file
* adds subscriber topic handlers to sequencerd * introduces a command handler header-only lib (WIP, not implemented)
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updates Sequencer::Sequence::run() to use this for retry on error, and uses this to tidy the startup() sequence
* implements a generic ThreadPool class so that the sequencer isn't continuously creating new threads (something I should have done a long time ago) -- not tested yet
(just a start, needs to be completed)
* adds subsystem command coverage in sequencerd_command and operation_builders * write Ops factories and sequence build/parse flow for daemon-backed operations * preserve positional args for passthrough operations * adds functionality to validate_sequence with safety checks for parallel/serial * adds engineering mode to relax checks
* splits ACQUIRE wait state into MOVETO, ACAM_ACQUIRE, SLICECAM_FINEACQUIRE * fixes minor logging typos in focus_server and tcs_server
UDP broadcast with a ZMQ publisher and uses PUB-SUB to send/get status automatically instead of having to ask for it. These changes are not pertinent to this feature branch but are being included so that this branch keeps up with other progress.
branch in support of fine acquisition and general pub-sub improvement, and other fixes along the way. These changes are not pertinent to the work being done for the sequencer-scripting branch but must be included so that this branch keeps up with other progress while awaiting PR approval.
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wraps md5.c in extern "C" { }
rewrites sendcmd.c -> sendcmd.cpp
* fills out sequencer command specs and transitions but doesn't use them yet -- this is the last stage before changing how it works * comment-out some debug logging
* replaces daemon_passthrough() placeholder with translate_command + CommandClient<State>::send(), adds per-command arg count and state machine validation at execution time * rewrites parse_command with strict key=val grammar * fixes ltrim bug * fixes move_to_target bug for CAL targets * fixes abort_process for clean state transitions * adds missing request_snapshot to get status on startup
in a separate serial group following that. Should speed-up startup while maintaining serialization of camera inits
* fix: camerad was missing topic handler for SNAPSHOT * fix: Sequence::camera_set could not always set wait_state * fix: sequencer PAUSE command checked seq_state_manager for wait state
* fixes binning bug * fixes make_directory bug
(had already done this in fineacquire-update-sequencer-pub branch, now repeated here)
* "threads" to "operations" * "xxxx_set" functions to "xxxx_setup"
fix: was missing an error broadcast
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Implements a sequencer command language (SCL) to provide a safer controlled interface for users to issue commands to the instrument, either through individual commands or through custom scripting.