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Service Abstraction Layer package

Provides tools to turn ts_xml interface description into C++, Java and LabView interfaces. Turns XMLs with the interface description into Data Distribution Service (DDS) schemas and language bindings. Without going into details, it can be said binding for the following primitives are generated:

  • Telemetry messages that a SAL component writes at regular intervals, e.g. to report data that varies continuously or slowly over time. Examples include measured temperatures and encoder readings.

  • Events messages that a SAL component writes when an event occurs, such as a change in discrete state. Examples include reporting a new commanded telescope target position, and reporting that the dome shutter is open, closed or moving. Log messages are also written as events.

  • Commands messages that a SAL component reads and acts on. Examples include command to start shutter opening.

LSE-70 provides more details, particularly starting at chapter 3.2.4.

Installing on docker image

On lsstts/develop-env container, run the following:

cd ts_sal
setup -r .
scons
scons install declare

Installing outside of the container

Dependencies

  • ts_openslice for ADLink OpenSliceDDS to generate C++, Java and LabView interfaces
  • ts_idl for IDL generation, needed for ts_salobj

The following works with ts_opensplice compiled for Centos:7.

On a centos:7 docker image, run the following as root:

yum -y update
yum -y install git python3 which make java-1.8.0-openjdk-devel

Usage

To get needed github projects and setup environment variables, do:

git clone https://github.com/lsst-ts/ts_opensplice
git clone https://github.com/lsst-ts/ts_sal
source ts_sal/setup.env

You will need then populate ts_sal/test directory with XML schema:

git clone https://github.com/lsst-ts/ts_xml
cp ts_xml/python/lsst/ts/xml/data/sal_interfaces/*.xml ts_sal/test
cp ts_xml/python/lsst/ts/xml/data/sal_interfaces/MTMount/*.xml ts_sal/test

C++

For C++ development, install gcc-c++:

yum install -y gcc-c++

To generate C++ interfaces for a SAL component (where <component_name> is the name of a SAL component, e.g. MTMount):

cd ts_sal/test
salgenerator <component_name> validate
salgenerator <component_name> sal cpp

Java

To generate Java libraries for a SAL component (where <component_name> is the name of a SAL component, e.g. MTMount):

cd  ts_sal/test
salgenerator <component_name> validate
salgenerator <component_name> sal java
salgenerator <component_name> maven

To run Java unit tests:

salgenerator Test validate
salgenerator Test sal java
salgenerator Test maven
salgenerator Script validate
salgenerator Script sal java
salgenerator Script maven
cd ts_sal/java_tests
mvn test

LabView

To generate LabView libraries for a component (where <component_name> is the name of a SAL component, e.g. MTMount):

cd  ts_sal/test
salgenerator <component_name> validate
salgenerator <component_name> sal cpp
salgenerator <component_name> labview

Then run the LabVIEW GUI and import the $SAL_WORK_DIR/MTMount/labview/SALLV_<component_name>.so shared library

Then run the ts_SALLabVIEW VI to generate the .lvlib and VI's