Function Processing System (FPS)¶

The Function Processing System (FPS) is milk's core framework for managing configuration parameters, states, and commands for compute units. FPS instances provide a high-performance standardized interface directly in shared memory.

See also: Streams · Process Info · Programmer's Guide · FPS Standalone Modes · FPS Sequencer

1. Architecture and Location¶

An FPS instance creates a shared memory directory structure typically residing under /dev/shm/fps.<fps_name>.datadir/ and /dev/shm/fps.<fps_name>.confdir/. This allows multiple independent processes, CLIs, and GUIs to read and modify a running module's behavior simultaneously without overhead.

2. Key Features¶

1. Parameter Management: FPS maps standard C variables (like strings, integers, and floats) directly into shared memory. When a user updates a parameter via the CLI (e.g., milk-fpsCTRL or the module's script), the compute loop instantly sees the change without needing a restart.

2. Process State Control: FPS inherently tracks compute unit states such as run, stop, step, and conf. This allows standard utilities to instruct a running process to pause, take a single execution step, or gracefully shut down.

3. CLI & TUI Integration: Standard utilities like milk-fpsCTRL provide a Text User Interface (TUI) to interact with FPS instances in real-time. This provides an instant "dashboard" for any correctly built compute module.

4. Tmux Dispatch and Isolation: When an FPS process is launched standalone (usually using milk-fpsexec-<name>, cacao-fps-deploy, or with the -tmux flag), the command is wrapped and dispatched into its own tmux session. This provides complete fault isolation. If one component segmentation faults, it does not bring down the entire pipeline, and its terminal output can be easily examined for debugging.

sequenceDiagram
    participant User as CLI User (or Deploy Script)
    participant Tmux as Tmux Session
    participant FPSData as /dev/shm/fps.* (Shared Config)
    participant FPS as Standalone fpsexec process

    User->>Tmux: _run_<module> -tmux
    Tmux->>FPS: Execute Module Runloop
    FPS->>FPSData: Sync State (run/stop/conf)

    loop Real-time configuration
        User->>FPSData: Change Parameter via fpsCTRL
        FPSData-->>FPS: Synchronous Read
        FPS->>FPS: Adapt Compute Behavior
    end

3. Usage Utilities¶

To use FPS-enabled functions from the command line efficiently, the typical workflow is:

1. Define functions and their requested FPS names in fpslist.txt.
2. Generate command scripts using milk-fpsmkcmd.
3. Launch and manage them via milk-fpsCTRL.

The fpslist.txt and fpsmkcmd workflow¶

Create a space-delimited text file named fpslist.txt in your working directory. Lines starting with # are comments. Each non-comment line has the format:

fpsrootname  CLIcommand  [optarg0 ...]

Example:

# FPS root name   CLI command   Optional arguments
fpsrootname0       CLIcommand0
fpsrootname1       CLIcommand1   optarg00 optarg01

Then run milk-fpsmkcmd, which reads fpslist.txt from the current directory and generates per-function scripts in the fpscmd/ subdirectory: <fpsrootname>-fpsinit, <fpsrootname>-confstart, <fpsrootname>-confstop, <fpsrootname>-runstart, <fpsrootname>-runstop. It also writes the resolved FPS names to fpscmd/fpslist.txt, which is the file milk-fpsCTRL reads when scanning with -m _ALL.

milk-fpsCTRL¶

The primary TUI control tool is milk-fpsCTRL. For example, milk-fpsCTRL -m _ALL scans and manages all FPS instances listed in fpscmd/fpslist.txt.

For complete keyboard shortcuts and display modes, see fpsCTRL Reference.

4. Parameter Data Types and Flags¶

// Local variables (section 2)
static char in_name[FUNCTION_PARAMETER_STRMAXLEN];
static double gain = 0.5;
static int64_t nbiter = 100;

// X-macro (section 3)
#define FPS_PARAMS(X)                           \
    X(".in_name", in_name,                      \
      FPTYPE_STREAMNAME, 1,                     \
      FPFLAG_DEFAULT_TRIGGER_STREAM,            \
      "Input stream")                           \
    X(".gain", &gain,                           \
      FPTYPE_FLOAT64, 1,                        \
      FPFLAG_DEFAULT_INPUT                      \
      | FPFLAG_MINLIMIT | FPFLAG_MAXLIMIT       \
      | FPFLAG_WRITERUN,                        \
      "Loop gain")                              \
    X(".NBiter", &nbiter,                       \
      FPTYPE_INT64, 0,                          \
      FPFLAG_DEFAULT_INPUT,                     \
      "Number of iterations")

5. Sequencer Integration¶

FPS instances can be highly coordinated via the milk-seq standalone sequencer, which provides cross-process synchronization (wait_fps), robust error handling, loops, and condition-based execution.

See the dedicated FPS Sequencer Documentation for details on the milk-seq daemon, script syntax, and integrating seq.* commands from within milk-cli.

← Documentation Index

[FPS]: Function Processing System — shared-memory parameter management [SHM]: Shared Memory (/dev/shm) [AO]: Adaptive Optics [TUI]: Text User Interface (ANSI escape sequences) [CLI]: Command Line Interface [IMGID]: Image ID — milk's stream reference structure [LTO]: Link-Time Optimization [PGO]: Profile-Guided Optimization [RT]: Real-Time (scheduling) [DM]: Deformable Mirror [WFS]: Wavefront Sensor [FITS]: Flexible Image Transport System *[IPC]: Inter-Process Communication