SAL User Guide


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 CentOS, 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-1.7.0-openjdk-devel

  • maven

  • git

  • tk-devel

  • avro-tools

The distribution includes dedicated versions of the following packages

  • OpenSplice

  • Kafka-client and dependencies

All the services are built upon a framework of OpenSplice DDS or 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 doc/LSE74-html, navigate to the directory with a web browser to view the hyper-linked documentation.


firefox file:///**path-to-installation**/doc/LSE74-html/index.html



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

The default OpenSplice/Kafka congfiguration requires that certain firewall rules are added, alternatively, shut down the firewall whilst testing.

for iptables :this can be done(as root) with the following command

sudo /etc/init.d/iptables stop

For Ubuntu: use sudo ufw disable

firewalld : this can be done (as root) with the following commands

First, run the following command to find the default zone:

firewall-cmd --get-default-zone

Next, issue the following commands:

firewall-cmd  --zone=public --add-port=250-251/udp --permanent
firewall-cmd --zone=public --add-port==7400-7413/udp --permanent
firewall-cmd --reload

Replace public with whatever the default zone says, if it is different.

The location of the OpenSplice configuration file is stored in the environment variable OSPL_URI, and an extensive configuration tool exists (osplconf), should customization be necessary.

Installation from a tar archive release

The tar archive format release includes a compatible version of OpenSplice as well as the SAL toolkit.

Unpack the SAL tar archive in a location of choice (/opt is recommended), e.g. in a terminal, replacing x.y.z with the appropriate version index

cd /opt
tar xzf [location-of-sdk-archive]/salSDK-x.y.z_x86_64.tgz

and then add the SDK setup command.

source /opt/setup.env

to your bash login profile.

Installation from Git repositories

Use a git client of your preference to check out the required branch of the following repositories

and then add the SDK setup command.

source  /opt/setup.env

to your bash login profile.

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.


The standard location for the OpenSplice package is in the same directory as the SDK, But you can install it elsewhere as long as you edit the OSPL_HOME environment variable to reference the actual path.

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.


If you will be running SAL applications in parallel with other users on your subnet , it is advisable to partition your network traffic so as not to interfere with each others activities. This can be done by setting the environment variable LSST_DDS_DOMAIN to a unique string value for each user.

Also retrieve ts_xml and copy the appropriate subsystem definitions to your working directory.

cp ts_xml-master/python/lsst/ts/xml/data/sal_interfaces/mysubsystem/*.xml test/.

Where test is the working directory specified by the SAL_WORK_DIR environment variable.

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

source /sal-install-directory/setup.env

The most common SDK usage consists of simple steps :

  1. Define Telemetry, Command or Log activity (either using the SAL VM, or manually with an ascii text editor). For details of the SAL VM interface, please refer to Document-xxxxx.

    The current prototypes for each subsystem can be used as a baseline, eg for the dome subsystem

    cd $SAL_WORK_DIR
    cp $SAL_HOME/scripts/xml-templates/dome/*.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-1.7.0-openjdk-devel maven tk-devel

  8. Configure (or disable) iptables and firewalld

    systemctl disable iptables
    systemctl disable firewalld
    system stop iptables
    system stop firewalld

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 : bstract any attribute boolean case char component const consumes context custom dec default double emits enum eventtype exception factory false finder fixed float getraises home import in inout interface limit local long module multiple native object octet oneway out primarykey private provides public publishes raises readonly sequence setraises short string struct supports switch true truncatable typedef typeid typeprefix union unsigned uses valuebase valuetype void wchar wstring


<Author>A Developer</Author>

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.

    <Description> </Description>
    <Units> </Units>
    <Description> </Description>
    <Units> <Units>


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.

      <Description>Severity of the event</Description>
      <Description> </Description>
      <Units> </Units>
      <Description> </Description>
      <Units> </Units>
      <Description> </Description>


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 ( 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.

For convenience the full set of current definition files in also included in each SAL SDK Release (in lsstsal/scripts/xml-templates).

The XML definition files should be copied to the SAL_WORK_DIR directory before using the SAL tools.

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, either using the SAL VM or hand edited,

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

**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

Step 2 - Validation

Run the salgenerator tool validate option for the appropriate subsystem.

salgenerator mount validate

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

idl-templates–Corresponding IDL DDS Topic definitions idl-templates/validated–validated and standardized idl idl-templates/validated/sal–idl modules for use with OpenSplice sql–database table definitions for telemetry xml–XML versions of the all telemetry definitions

Step 3 - Update Structure and documentation

Run the salgenerator html option for the appropriate subsystem.

salgenerator mount html

The successful completion of the html phase results in the creation of the following files and directories which may be used to update the SAL online configuration website. (See SAL VM documentation for upload details).

html -- a set of directories, one per .idl file, with web forms for editing online
        a set of index-dbsimulate web page forms
        a set of index-simulate web page forms
        a set of sal-generator web page forms

Step 4-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 mount sal cpp

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


        ccpp_sal_mount.h -main include file - dds type support library
        Makefile.sacpp_mount_types - type support makefile
        sal_mount.cpp - item access support
        sal_mountDcps_impl.cpp - type class implementation
        sal_mount.idl - type definition idl
        sal_mountDcps.cpp - type support interface
        sal_mountSplDcps.cpp - type support I/O
        sal_mountDcps.h - type interface headers
        sal_mount.h - type support class
        sal_mountSplDcps.h - type I/O headers
        sal_mountSplDcps.h - type I/O headers

        CheckStatus.cpp - test dds status returns
        CheckStatus.h - test dds status headers
        mountCommander.cpp - command generator
        mountController.cpp - command processor
        mountEvent.cpp - event generator
        mountEventLogger.cpp - event logger
        Makefile.sacpp_mount_cmd - command support makefile
        Makefile.sacpp_mount_event - event support makefile
        sacpp_mount_cmd - *test program*
        sacpp_mount_ctl - *test program*
        sacpp_mount_event - *test program*
        sacpp_mount_eventlog - *test program*
        sal_mount.h - SAL class headers
        sal_mountC.h - SAL C support
        sal_mount.cpp - SAL class

    mount_TC: - specific to particular telemetry stream




        CheckStatus.cpp - check dds status class
        CheckState.h - check dds status header
        mount_TCDataPublisher.cpp - Actuators data publisher
        mount_TCDataSubscriber.cpp - Actuators data subscriber

        Makefile.sacpp_mount_TC_sub - subscriber makefile
        Makefile.sacpp_mount_TC_pub - publisher makefile
        sacpp_mount_sub - *test program*
        sacpp_mount_pub - *test program*

e.g. salgenerator mount sal java
    java -
            classes - compiled type classes
            mount - generated java types
            Makefile.saj_mount_types - makefile for types
            saj_mount_types.jar - type support classes
            sal_mount.idl - validated sal idl
            full set of java .class type support files
        mount saj_mount_types.manifest
            full set of .java type support files
   - run command tester
   - run event tester
   - commander source
   - command processor source
   - event generator source
   - event logger source
            Makefile.saj_mount_cmdctl - command class makefile
            Makefile.saj_mount_event - event class makefile
        mount_TC/java: - specific to particular telemetry stream
       - error handler class source
       - publisher class source
       - subscriber class source
       - sal class for mount
       - *run test programs*
                Makefile.saj_mount_TC_pub - publication class makefile
                Makefile.saj_mount_TC_sub - subscription class makefile
                saj_mount_TC_pub.jar - telemetry publication class
                saj_mount_TC_sub.jar - telemetry subscription 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.

salgenerator mount maven

will create and build a maven project and it in


salgenerator Options

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

validate - check the XML files, generate validated IDL
html - generate web form interfaces and documentation
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

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

In addition, GUI interfaces are provided to simplify the launching of Command and Event tests.

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.



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


should produce .. code:

Usage: idlpp  [-c preprocesso-path] [-b ORB-template-path]
       [-n <include-suffix>] [-I path] [-D macro[=definition]] [-S] [-C]
       [-l (c|c++\cpp\isocpp\cs\java] [-j [old]:<new>] [-d directory] [-i]
       [-P dll_macro_name[,<chfile>]] [-o (dds-types| custom-psm| no-equality] <filename>

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


shoud produce

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
        db - generate telemetry database table

            Arguments required are
            db start-time end-time interval

            where the times are formatted like "2008-11-12 16:20:01"
            and the interval is in seconds
        sim - generate simulation configuration
        icd - generate ICD document
        link - link a SAL program
        verbose - be more verbose ;-;

Verify tha the network interface is configured and operating correctly.

Make sure that Firewalld is properly configured (or disabled by issuing the systemctl stop firewalld command as root).


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

In all cases, log and diagnostic output from OpenSplice will be written to the files

ospl-info.log and ospl-error.log

in the directory where the test is run.

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

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.
For Java
        - start publisher and subscriber


The following locations assume code has been built for mount subsystemsupport

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

In addition a gui can be used to send all supported subsystem commands (with an associated processor to demonstrate reception of same). To start the gui e.g. for hexapod subsystem .. code:

For C++
    command_test_gui hexapod

This script is on the PATH, so you should be able to run it from the command line.

The gui provides a window to select the command to run. If a command has optional values/modifiers, then a subwindow will open to allow their values to be entered. A terminal window show the messages from a demo command processor which simply prints the contents of commands as they are received.



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

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

In addition a gui can be used to send all supported subsystem commands (with an associated processor to demonstrate reception of same). To start the gui e.g. for hexapod subsystem

For C++

This script is on the PATH so you should be able to run it from the command line.


The gui provides a window to select the event to generate. If an event has optional values/modifiers, then a subwindow will open to allow their values to be entered. A terminal window show the messages from a demo event processor which simply prints the content of events as they are received.

Application programming Interfaces


    #include <string>
    #include <sstream>
    #include <iostream>
    #include "SAL_Mount.h"
    #include "ccpp_sal_mount.h"
    #include "os.h"
    #include "example_main.h"
    #include "example_main.h"
    using namespace DDS;
    using namespace <subsystem>; // substitute the actual subsystem name here

    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


    import <subsystem>.*; // substitute actual subsystem name here
    import org.lsst.sal.<SAL_subsystem>; substitute actual subsystem name here
    public void salTypeSupport(String topicName) - initialize type support
    public int putSample(<telemetryType> data) - publish a telemetry sample
    public int getSample(<telemetryType> data) - read next telemetry sample
    public void salTelemetryPub(String topicName) - create telemetry publisher
    public void salTelemetrySub(String topicName) - create telemetry subscriber
    public void logError(int status) - log middleware error
    public SAL_<subsystem>() - create SAL object
    public int issueCommand(command data) - send a command
    public int ackCommand(<subsystem>.command data) - acknowledge a command
    public int acceptCommand(<subsystem>.command data) - read next command
    public int checkCommand(int cmdSeqNum) - check command status
    public int getResponse(ackcmdSeqHolder data) - read command ack
    public int cancelCommand(int cmdSeqNum) - cancel a command
    public int abortCommand(int cmdSeqNum) - abort all commands
    public int waitForCompletion(int cmdSeqNum, int timeout) - wait for command to complete
    public int getEvent(logeventSeqHolder data) - read next event data
    public int logEvent(String message, int priority) - generate an event
    public int setDebugLevel(int level) -set debug info level
    public int getDebugLevel(int level) - get debug info level
    public int getOrigin() - get origin descriptor
    public int getProperty(String property, String value) - get configuration item
    public int setProperty(String property, String value) - set configuration item
    public void salCommand() - create a command object
    public void salProcessor() - create command processor object
    public void salShutdown() - tidyup
    public void salEvent(String topicName) - create event object

SAL XML Schema






















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.

export LABVIEW_HOME=/opt/natinst

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

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.


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.

rm -rf /home/me/sal/test/tcs/labview/lib
  1. Start Labview and select Tools ‣ Import ‣ Shared Library (.so) option.

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

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


    Option in the Preprocessor options section.

    _images/labview_test_vi_generation_2.png _images/labview_test_vi_generation_3.png _images/labview_test_vi_generation_4.png _images/labview_test_vi_generation_5.png _images/labview_test_vi_generation_6.png _images/labview_test_vi_generation_7.png _images/labview_test_vi_generation_8.png _images/labview_test_vi_generation_9.png _images/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 File ‣ Open dialog to locate ts_SALLabVIEW/


    Click OK to run the VI. It will open a mostly empty interface.


    Click the Run icon.


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


    Click OK to select it.


    Click 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.


    Click 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.


    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.