##############
SAL User Guide
##############

Introduction
============

This document briefly describes how to use the SAL SDK to generate application level code to utilize the supported services (Commanding, Telemetry and Events).

The SAL SDK should be installed on a modern (x86_64) Linux computer.
The current baseline recommend configuration is 64-bit AlmaLinux 8.x.

The following packages should also be installed prior to working with the SDK (use either the rpm or yum package managers for AlmaLinux, and apt-get, dpkg, or synaptic for Debian based systems.
Installation of system packages must be done using sudo (eg sudo yum install, or sudo apt-get install).

- gcc-c++
- make
- ncurses-libs or ncurses-dev
- xterm
- xorg-x11-fonts-misc
- java-17-zulu-openjdk-jdk
- maven
- git
- tk-devel
- avro-tools

The distribution includes dedicated versions of the following packages

- Kafka-client and dependencies

All the services are built upon a framework of Apache Kafka
Code may be autogenerated for a variety of compiled and scripting languages, as well as template documentation, and components appropriate for ingest by other software engineering tools.

A comprehensive description of the SAL can be found in LSE-74, navigate to the directory with a web browser to view the hyper-linked documentation.



Installation
============
Overview
--------

A minimum of 800Mb of disk space is required, and at least 1Gb is recommended to leave some space for building the test programs.



Installation from Git repositories
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Use a git client of your preference to check out the required branch of the following repositories

* https://github.com/lsst-ts/ts_sal
* https://github.com/lsst-ts/ts_xml


and then install the XML topic definitions

.. prompt:: bash

    cd ts_xml
    pip install .



Install location customization
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
If you chose to install the SDK in a location other than /opt, then you will need to edit the first line of the setup.env script to reflect the actual location. e.g.

.. code::

    LSST_SDK_INSTALL=/home/saltester



Another important environment variable is SAL_WORK_DIR.
This is the directory in which you will run the SAL tools, and in which all the output files and libraries will be generated.
By default this will be the "test" subdirectory in LSST_SDK_INSTALL, but you can change SAL_WORK_DIR to redefine it if required.

ALL THE salgenerator STEPS MUST BE RUN FROM THE SAL_WORK_DIR DIRECTORY

If you will be running SAL applications in parallel with other users on your subnet , it is advisable to run your own Kafka broker locally.

AAdd the invocation of setup.env to your bash login profile

.. code::

    source /sal-install-directory/setupKafka.env


The most common SDK usage consists of simple steps :

1. Define Telemetry, Command or Log activity in ts_xml
2. Generate the interface code using ``salgenerator``
3. Modify the autogenerated sample code to fit the application required.
4. Build if necessary, and test the sample programs

Example makefiles are provided for all the test programs.
The list of libraries required to link with the middleware can be found in section 8.0

Installation in a virtual machine
---------------------------------
The SDK has been tested in a Virtual Machine environment (VirtualBox).
To set up a VM appropriately for this usage :

1. In VM configuration, choose Bridged Adaptor for the network
2. Add a sal user account during OS installation, the user should be an administrator
3. Choose Gnome Desktop + Development tools during OS installation
4. From VM menu, install Guest Additions
5. Once the OS has booted, enable the network
6. Verify the network is ok.
7. sudo yum install xterm xorg-x11-fonts-misc java-17-zulu-openjdk-jdk maven tk-devel



Standard usage
--------------
Normal usage of the SDK comprise of four main steps

1. Define Telemetry, Command, and Event datatypes (either using the SAL VM website interface, or an asci or XML editor).
   In some cases the XML from another subsystem might provide a useful bootstrap.
   See the ts_xml repository.
2. Generate the interface code using the ``salgenerator``
3. Modify the autogenerated sample code to fit the application required
4. Build and test the sample programs

Example makefiles are provided for all the test programs.
The list of libraries required to link an application with the middleware can be found in section 8.0

Data Definition
===============
In all XML data definition files the IDL_Type keyword is used to specify the datatype of each field.
The following datatypes are supported:

* short
* long (this is 4 byte integer, and is represented as int on Linux 64-bit)
* long long (8 byte integer)
* unsigned short
* unsigned long (this is a 4 byte integer, and is represented as int on Linux 64-bit)
* unsigned long long (8 byte integer)
* float
* double
* char, specify length using the Count tag
* boolean
* octet (sequence of unsigned bytes)
* string, specify length using the Count tag
* numeric arrays, use the Count tag with any numeric type

If there is a time-of-data associated with an item, then it should be named "*timestamp*", and be of type *double*.
The time should be TAI time as returned by the *getCurrentTime* method.
If more than one timestamp is needed in a topic, then they should be named "*timestamp-name1, timestamp-name2* etc".
If an array of times is required, then the type should be "*double timestamp[size]*".

Telemetry Definition
--------------------
A very simple XML schema is used to define a telemetry topic.
The topic is the smallest unit of information which can be exchanged using the SAL mechanisms.

The following Reserved words may NOT be used names and will flag an error at the validation phase (once the SAL System Dictionary is finalized, the item names will also be validated for compliance with the dictionary).

Reserved words : https://openapi-generator.tech/docs/generators/avro-schema/#reserved-words

 
e.g.

.. code:: xml

    <SALTelemetry>
    <Subsystem>hexapod</Subsystem>
    <Version>2.5</Version>
    <Author>A Developer</Author>
    <EFDB_Topic>hexapod_LimitSensors</EFDB_Topic>
      <item>
        <EFDB_Name>liftoff</EFDB_Name>
        <Description></Description>
        <Frequency>0.054</Frequency>
        <IDL_Type>short</IDL_Type>
        <Units></Units>
        <Conversion></Conversion>
        <Count>18</Count>
      </item>
      <item>
        <EFDB_Name>limit</EFDB_Name>
        <Description></Description>
        <Frequency>0.054</Frequency>
        <IDL_Type>short</IDL_Type>
        <Units></Units>
        <Count>18</Count>
      </item>
    </SALTelemetry>


Command Definition
------------------
The process of defining supported commands is similar to Telemetry using XML.
The command aliases correspond to the ones listed in the relevant subsystem ICD.
e.g.

.. code:: xml

    <SALCommand>
    <Subsystem>hexapod</Subsystem>
    <Version>2.5</Version>
    <Author>salgenerator</Author>
    <EFDB_Topic>hexapod_command_configureAcceleration</EFDB_Topic>
    <Alias>configureAcceleration</Alias>
    <Device>drive</Device>
    <Property>Acceleration</Property>
    <Action></Action>
    <Value></Value>
    <Explanation>http://sal.lsst.org/SAL/Commands/hexapod_command_configureAcceleration.html</Explanation>
      <item>
        <EFDB_Name>xmin<EFDB_Name>
        <Description> </Description>
        <IDL_Type>double</IDL_Type>
        <Units> </Units>
        <Count>1</Count>
      </item>
      <item>
        <EFDB_Name>xmax</EFDB_Name>
        <Description> </Description>
        <IDL_Type>double</IDL_Type>
        <Units> <Units>
        <Count>1<Count>
      </item>
    </SALCommand>


.. note::
    The generic lifecycle commands should NOT be included, they are automatically generated during the salgenerator validation and/or UML to XML processing.
    The current generic command set is {**start, stop, enable,disable,abort,enterControl,exitControl,standby,SetValue**}

Log Event Definition
--------------------
Events are defined in a similar fashion to commands.
e.g.
The Log Event aliases are as defined in the relevant ICD.
e.g.

.. code:: xml

    <SALEvent>
      <Subsystem>hexapod</Subsystem>
      <Version>2.4</Version>
      <Author>salgenerator</Author>
      <EFDB_Topic>hexapod_logevent_limit</EFDB_Topic>
      <Alias>limit<Alias>
      <Explanation>http://sal.lsst.org/SAL/Events/hexapod_logevent_limit.html</Explanation>
        <item>
          <EFDB_Name>priority</EFDB_Name>
          <Description>Severity of the event</Description>
          <IDL_Type>long</IDL_Type>
          <Units>NA</Units>
          <Count>1</Count>
        </item>
        <item>
          <EFDB_Name>axis</EFDB_Name>
          <Description> </Description>
          <IDL_Type>string</IDL_Type>
          <Units> </Units>
          <Count>1</Count>
        </item>
        <item>
          <EFDB_Name>limit</EFDB_Name>
          <Description> </Description>
          <IDL_Type>string</IDL_Type>
          <Units> </Units>
          <Count>1</Count>
        </item>
        <item>
          <EFDB_Name>type</EFDB_Name>
          <Description> </Description>
          <IDL_Type>string</IDL_Type>
          <Units></Units>
          <Count>1</Count>
        </item>
    </SALEvent>


.. note::
    The generic lifecycle events should NOT be included, they are automatically generated during the salgenerator validation and/or UML to XML processing.
    The current generic event set is *SettingVersions, SummaryState, DetailedState, ErrorCode, AppliedSettingsMatchStart*.

Updating the XML definitions
----------------------------
The XML definitions of the SAL objects for each subsystem are maintained in a github repository (https://github.com/lsst-ts/ts_xml).
When subsystem developers update the XML definitions for their interfaces, they should create a new feature branch in the github repository and put the modified version into it.
Once the feature(s) have been fully tested, the corresponding changes are made made to the appropriate ICD. Once the ICD has been approved by the Change Control Board, the modified XML will merged into the master branch and assigned an official release number.
The master (release) branch is used to generate the SAL runtime libraries which can be used by other subsystems for integration testing.
The master branch is also used by the Continuous Integration Unit Testing framework.

The XML definition files for the subsystem you are developing should be checked out of the github repository to ensure you are working with the latest version.


The SAL tools must be run from the SAL_WORK_DIR directory.

Using the SDK
=============
Before using the SDK, make sure that all the directories in the SAL_WORK_DIR and The SAL installation directory are owned by you
e.g.
.. prompt:: bash

    cd $SAL_WORK_DIR
    chown -R <username>:<username> *


Once Telemetry/Command/Events have been defined,

e.g. for **skycam**, interface code and usage samples can be generated using the **salgenerator** tool.
e.g.

.. prompt:: bash

    **salgenerator skycam validate**
    **salgenerator skycam sal cpp**


would generate the c++ communications libraries to be linked with any user code which needs to interface with the **skycam** subsystem.

The "sal" keyword indicates SAL code generation is the required operation, the selected wrapper is cpp (GNU G++ compatible code is generated, other options are java, cpp).

C++ code generation produces a shared library for type support and another for the SAL API.
It also produces test executables to publish and subscribe to all defined Telemetry streams, and to send all defined Commands and log Events.

Java code generation produces a .jar class library for type support and another for the SAL API.
It also produces .jar libraries to test publishing and subscribing to all defined Telemetry streams, and to send all defined Commands and log Events.

Simple example scripts to perform the major functions can be found later in this document.

The "labview" keyword indicates that a LabVIEW compatible shared library and Monitor task should be built (the "sal cpp" step must previously have been run).

The "maven" keyword indicates that a Maven project should be built for the subsystem.
This will be placed in $SAL_WORK_DIR/maven/[subsystem]_[version], The "sal java" step must previously have been run).

Recommend sequence of operations
--------------------------------

1. Create the XML Telemetry, Command, and Event definitions
2. Use the salgenerator validate operation
3. Use the salgenerator html operation
4. Use the salgenerator sal operation
5. Verify test programs run correctly
6. Build the SAL shared library / JAR for the subsystem
7. Begin simulation/implementation and testing

Step 1 - Definition
^^^^^^^^^^^^^^^^^^^
Use an XML editor to create/modify  the set of subsystem xml files.
Each file should be appropriately named and consists of a either Telemetry, Command, or Event definitions.
The current prototypes for each subsystem can be found at https://github.com/lsst-ts/ts_xml.

Step 2 - Validation
^^^^^^^^^^^^^^^^^^^
Run the salgenerator tool validate option for the appropriate subsystem.

.. prompt:: bash

    salgenerator MTMount validate


The successful completion of the validation phase results in the creation of the following files and directories

avro-templates--Corresponding kafka Topic avro schema
sql--database table definitions for telemetry



Step 3-Code Generation
^^^^^^^^^^^^^^^^^^^^^^
Run the salgenerator tool using the sal option for the appropriate subsystem.
The sal option requires at least one target language to also be specified.
The current target language are cpp, java.

Depending upon the target language, successful completion of the code generation results in the following output directories (e.g. for mount)
.. code::

    e.g. salgenerator MTMount sal cpp

    c++ -
        MTMount: - *common mount support files*

            cpp
            java

        MTMount/cpp:
            sal_MTMount.cpp - item access support
            sal_MTMount.h - type support class
            src

        MTMount/cpp/src:
            Makefile.sacpp_MTMount_cmd - command support makefile
            Makefile.sacpp_MTMount_event - event support makefile
            sacpp_MTMount_cmd - *test program*
            sacpp_MTMount_ctl - *test program*
            sacpp_MTMount_event - *test program*
            sacpp_MTMount_eventlog - *test program*
            sal_MTMount.h - SAL class headers
            sal_MTMountC.h - SAL C support
            sal_MTMount.cpp - SAL class


Once the java has been generated it is also possible to create a Maven project for ease of distribution.
Use the command e.g.

.. prompt:: bash

    salgenerator MTMount maven

will create and build a maven project and it in

.. code::

    $SAL_WORK_DIR/maven/MTMount_[sal-version-number]

salgenerator Options
--------------------
The salgenerator executes a variety of processes, depending upon the options selected.

.. code::

    validate - check the XML files, generate validated IDL
    labview - generate labVIEW interface
    sal [lang] - generate SAL C++, Java or wrappers
    lib - generate the SAL shared library for a subsystem
    icd - generate ICD document
    maven - generate a maven project (per subsystem)
    verbose - be more verbose ;-)

SAL API examples
----------------
The SAL code generation processes also generates a comprehensive set of test programs so that correct operation of the interfaces can be verified.

Sample code is generated for the C++, Java target languages currently.

The sample code provides a simple command line test for

.. code::

    publishing and subscription for each defined Telemetry type
    issuing and receiving each defined Command type
    generating and logging for each defined Event type


The procedure for generating test VI's for the LabVIEW interface is detailed in Appendix X.
At present this is an interactive process, involving lots of LabVIEW dialogs.

Testing
=======
Environment
-----------

To check that the SAL environment has been correctly initialized; in a terminal type

.. prompt:: bash

    salgenerator

shoud produce

.. code::

    SAL generator tool - Usage:
        salgenerator subsystem flag(s)
        where flag(s) may be
            validate - check the XML Telemetry/Command/LogEvent definitions
            sal - generate SAL wrappers for cpp, java, isocpp
            lib - generate shared library
            labview - generate LabVIEW low-level interface
            maven - generate a maven repository
            icd - generate ICD document
            link - link a SAL program
            verbose - be more verbose ;-;

Verify tha the network interface is configured and operating correctly.


Telemetry
---------
Once the salgenerator has been used to validate the definition files and generate the support libraries, there will be automatically built test programs available.


The following locations assume code has been built for the skycam subsystemsupport, there will be separate subdirectories for each Telemetry stream type.

.. code::

    For C++
        skycam_<telemetryType>/cpp/standalone/sacpp_skycam_pub - publisher
        skycam_<telemetryType>/cpp/standalone/sacpp_skycam_sub - subscriber
    start the subscriber first, then the publisher.

Commands
--------
The following locations assume code has been built for mount subsystemsupport

.. code::

    For C++
        mount/cpp/src/sacpp_MTMount_[command]_commander - to send commands
        mount/cpp/src/sacpp_MTMount_[command]_controller - to process commands
        start the controller first, wait for it to print Ready, then run the commander


Events
------
The following locations assume code has been built for mount subsystem support

.. code::

    For C++
        mount/cpp/src/sacpp_MTMount_[event]_send - to generate events
        mount/cpp/src/sacpp_MTMount_[event]_log - to log the events
        start the event logger first and then the send

Application programming Interfaces
==================================
C++
---

.. code::

    Includes:
        #include <string>
        #include <sstream>
        #include <iostream>
        #include "SAL_[subsystem].h"
        using namespace <subsystem>; // substitute the actual subsystem name here

    Public:
        int putSample(<subsystem::telemetryType> data); - publish telemetry sample
        int getSample(<subsystem::telemetryTypeSeq> data); - read next telemetry sample
        int putSample_<telemetryType>(<subsystem::telemetryTypeC>*data); - publish telemetry sample (C)
        int getSample_<telemetryType>(<subsystem::telemetryTypeC>*data); - read next telemetry sample (C)
        void salTypeSupport(char*topicName); - initialize type support
        void salTelemetryPub(char *topicName); - create telemetry publisher object
        void salTelemetrySub(char *topicName); - create telemetry subscriber object
        void salEvent(char *topicName); - create event object
        int getResponse(<subsystem>::ackcmdSeq data); - read command ack
        int getEvent(<subsystem>::logeventSeq data); - read event data
        void salShutdown(); - tidyup
        void salCommand(); - create command object
        void salProcessor(); - create command processor object
        int issueCommand(<subsystem>::command data); - send a command
        int issueCommandC(<subsystem_commandC *data>; - send a command (C)
        int ackCommand(int cmdSeqNum, long ack, long error, char *result); - acknowledge a command
        int acceptCommand(<subsystem>::commandSeq data); - read next command
        int acceptCommandC(<subsystem>::commandC *data); - read next command (C)
        int checkCommand(int cmdSeqNum); - check command status
        int cancelCommand(int cmdSeqNum); - abort all commands
        int waitForCompletion(int cmdSeqNum, unsigned int timeout); - wait for command to complete
        int setDebugLevel(int level); - change debug info level
        int getDebugLevel(int level) - get cureent debug info level
        int getOrigin(); - get origin descriptor
        int getProperty(stringproperty, stringvalue); - get configuration item
        int setProperty(stringproperty, stringvalue); - set configuration item
        int getPolicy(stringpolicy, stringvalue); - get middleware policy item
        int setPolicy(stringpolicy, stringvalue); - set middleware policy item
        void logError(int status); - log middleware error
        salTIME currentTime(); - get current timestamp
        int logEvent(char *message, int priority); - generate a log event



SAL XML Schema
==============
Telemetry
---------
telemetrySetType
^^^^^^^^^^^^^^^^
.. image:: /images/sal_user_guide/sal_xml_schema_telemetry_telemetrysettype.png

telemetryType
^^^^^^^^^^^^^
.. image:: /images/sal_user_guide/sal_xml_schema_telemetry_telemetrytype.png

telemetryItemType
^^^^^^^^^^^^^^^^^
.. image:: /images/sal_user_guide/sal_xml_schema_telemetry_telemetryitemtype.png

Commands
--------
commandSetType
^^^^^^^^^^^^^^
.. image:: /images/sal_user_guide/sal_xml_schema_command_commandsettype.png

commandType
^^^^^^^^^^^
.. image:: /images/sal_user_guide/sal_xml_schema_command_commandtype.png

commandItemType
^^^^^^^^^^^^^^^
.. image:: /images/sal_user_guide/sal_xml_schema_command_commanditemtype.png

Events
------
eventSetType
^^^^^^^^^^^^
.. image:: /images/sal_user_guide/sal_xml_schema_events_eventsettype.png

eventType
^^^^^^^^^
.. image:: /images/sal_user_guide/sal_xml_schema_events_eventtype.png

eventItemType
^^^^^^^^^^^^^
.. image:: /images/sal_user_guide/sal_xml_schema_events_eventitemtype.png

Compiler Options and Link Libraries
===================================
The following compiler options are required when compiling application code.
For subsequent linking with the SAL and Kafka middleware.

.. code::

    CFLAGS/CXXFLAGS : -m64 -D_REENTRANT -fPIC -Wno-write-strings

Subsystems with duplicate instantiations (e.g. Hexapods) also require

.. code::

    -DSAL_SUBSYSTEM_IS_KEYED

and the following include paths will be required
.. code::

    -I$(LSST_SAL_PREFIX)/include
    -I$(LSST_SAL_PREFIX)/include/avro
    -I$(SAL_HOME)/include
    -I$(SAL_WORK_DIR)/include
    -I../../-subsys-/cpp/src

    where -subsys- is the subsystem name e.g. hexapod

The following libraries are required when linking an application to use the SAL and DDS middleware.
For an application that communicates with multiple subsystems, the SAL libraries for each must be included.

.. code::

    SAL : libSAL_[subsystem-name].so
    KAFKA : -L/usr/lib64/boost1.78 -lboost_filesystem -lboost_iostreams -lboost_program_options -lboost_system /opt/lsst/ts_sal/lib/libserdes++.a /opt/lsst/ts_sal/lib/libserdes.a -L/opt/lsst/ts_sal/lib -lcurl -ljansson -lrdkafka++ -lrdkafka -lavrocpp -lavro -lsasl2
    Other: -ldl -lrt -lpthread

Appropriate linker path directives are

.. code::

    -L$(LSST_SAL_PREFIX)/lib -L$(SAL_HOME)/lib

LabVIEW test VI generation
==========================
If you have multiple LabVIEW versions installed, or if LabVIEW is installed in a non default location, you can use the environment variable LABVIEW_HOME to control where the SDK looks for the LabVIEW header files.

.. code::

    export LABVIEW_HOME=/opt/natinst

would expect to find headers in ``/opt/natinst/LabVIEW_20[xx]_64``
Run the salgenerator steps in order

.. prompt:: bash

    salgenerator [subsystem] validate
    salgenerator [subsystem]  sal cpp
    salgenerator [subsystem] labview

The generation of the LabVIEW test VI's is an interactive process.
The LabVIEW Shared library import is used to automatically generate VI's to interact with the Salgenerator produced SALLV_[subsystem].so library.

.. note::
    **It is vital to COMPLETELY DELETE the entire destination directory and it's contents so that wizard can create its output directory afresh.
    For example if you choose to place the results in** ``/home/me/sal/test/tcs/labview/lib`` **, then you should run the following command BEFORE starting the LabVIEW tools.**

    .. prompt:: bash

        rm -rf /home/me/sal/test/tcs/labview/lib

1. Start Labview and select :menuselection:`Tools --> Import --> Shared Library (.so)` option.

    .. image:: /images/sal_user_guide/labview_test_vi_generation_1.png

2. Choose either :guilabel:`New` or :guilabel:`Update` option and specify the path to the library and the click :guilabel:`Next`.
   Proceed through the rest of the dialogs as illustrated below.
   Generally selecting the default and clicking :guilabel:`Next`  is appropriate.

   The only non-standard option is in the :guilabel:`Configure Include Paths` dialog where you must enter the

   .. code::

        BUILD_FOR_LV=1

   Option in the Preprocessor options section.

   .. image:: /images/sal_user_guide/labview_test_vi_generation_2.png

   .. image:: /images/sal_user_guide/labview_test_vi_generation_3.png

   .. image:: /images/sal_user_guide/labview_test_vi_generation_4.png

   .. image:: /images/sal_user_guide/labview_test_vi_generation_5.png

   .. image:: /images/sal_user_guide/labview_test_vi_generation_6.png

   .. image:: /images/sal_user_guide/labview_test_vi_generation_7.png

   .. image:: /images/sal_user_guide/labview_test_vi_generation_8.png

   .. image:: /images/sal_user_guide/labview_test_vi_generation_9.png

   .. image:: /images/sal_user_guide/labview_test_vi_generation_10.png

   When the LabVIEW import library wizard has completed it is necessary to run another LSST provided VI to finish the generation process.

   Use the LabVIEW :menuselection:`File --> Open` dialog to locate ts_SALLabVIEW/main.vi

   .. image:: /images/sal_user_guide/labview_test_vi_generation_11.png

   Click :guilabel:`OK` to run the main.vi VI.
   It will open a mostly empty interface.

   .. image:: /images/sal_user_guide/labview_test_vi_generation_12.png

   Click the :guilabel:`Run` icon.

   .. image:: /images/sal_user_guide/labview_test_vi_generation_13.png

   Click :guilabel:`OK` and select the subsystem IDL file.
   The correct file should be found in the [subsystem]/labview directory of the SAL_WORK_DIR tree.

   .. image:: /images/sal_user_guide/labview_test_vi_generation_14.png

   Click :guilabel:`OK` to select it.

   .. image:: /images/sal_user_guide/labview_test_vi_generation_15.png

   Click :guilabel:`OK`

   Another file dialog then appears for you to select the .lvlib containing the VI's.
   This should be located in the [subsystem]/labview/lib directory of the SAL_WORK_DIR tree.

   .. image:: /images/sal_user_guide/labview_test_vi_generation_16.png

   Click :guilabel:`OK`

   There will then be an extensive period where multiple windows flash on the screen as each VI is individually processed.
   Finally a library contents window will appear.

   .. image:: /images/sal_user_guide/labview_test_vi_generation_17.png

   Another extensive period will follow where each VI is processed again (you will see them being removed and re-added to the list one-by-one).
   Finally the process completes and the main LabVIEW window will reappear.

   Once the VI's has been built, you can manually test them by running them against either each other, or against the C++/Java test programs.

   Regardless of which option you choose, the LabVIEW environment must be set up first by

   1. Running the SALLV_[subsytem]_Monitor daemon in a terminal (this executable manages the shared memory used to mediate the transfer of data to and from LabVIEW.
      The daemon will have been built in the [SAL_WORK_DIR]/[subsystem]/labview directory.
   2. Run the [subsystem]_shm_connect VI and leave it open
   3. Depending upon the required function, an initialization VI should be run i.e. for command receivers, run [subsystem]_shm_salProcessor_[name], for event receivers, run [subsystem]_shm_salEvent_[name], and for Telemetry receivers, run [subsystem]_shm_salTelemetrySub.
   4. After an application has completed all it's SAL mediated communications, it is essential to call the [subsystem]_shm_release VI to clean it up.