Tried to follow the following page to use the yum to get the build SAL repo:

https://confluence.lsstcorp.org/display/LTS/SAL+RPM%27s+building+and+using

The list of available repos is here:

https://project.lsst.org/ts/lsstrepo/

Michael mentioned I need to replace 10.0.100.1 with project.lsst.org/ts in the lsst-ts.repo file.

I need to set the following path variables by myself: LSST_DDS_DOMAIN, LSST_DDS_DOMAIN, and LSST_SDK_INSTALL.

Michel suggested the following:

export LSST_DDS_DOMAIN=mytesting
source /opt/OpenSpliceDDS/V6.9.0/HDE/x86_64.linux/release.com
export TOPIC_LIB=/opt/lsst/ts_sal/lib
export LD_LIBRARY_PATH=${TOPIC_LIB}:${LD_LIBRARY_PATH}

Prepare the SAL environment by Dockerfile as the following:

https://github.com/lsst-ts/ts_Dockerfiles/tree/develop/hex_rot_middleware

The header file "os.h" in DDS was renamed to "vortex_os.h"based on the following page:

https://istkb.adlinktech.com/article/fixed-bugs-changes-vortex-opensplice-6-6-x/

Noticed the new commands (hexapod) in SAL 3.10 not implemented: abort, setLogLevel, setSimulationMode, and setValue.

Do not find the command (hexapod): "stop" in the SAL 3.10.

Not sure I need to use the abort to replace stop or not. After the discussion with Rob and Andy, we decided to add this command (stop) back to the ts_xml for hexapod and rotator. Before the real work, I send an email to Harini for the history.

Updated the following page for the use of rpm to get SAL:

https://confluence.lsstcorp.org/display/LTS/SAL+RPM%27s+building+and+using

Added the Jenkinsfile to test the googletest and make sure the result is published:

https://tssw-ci.lsst.org/job/ts_mt_hexRot_middleware/job/tickets%252FDM-21269/

Added the stop command to Hexapod and Rotator xml.

Updated part of hexapod command.

Updated hexapodSubscriber.cpp to use the latest SAL.

Updated the rotatorEventSend.cpp to use the latest SAL.

Update the rotatorSubscriber.cpp to use the latest SAL.

Update the hexapodEventSend.cpp to use the latest SAL.

Update the rotatorPublisher.cpp to use the latest SAL.

Update the hexapodPublisher.cpp to use the latest SAL.

Created the PR(# 142) to add the stop command into ts_xml for Hexapod and Rotator.

Fix the minor sal interface changes. The mainTcsClient can be built now. Need to find a way to test it.

Send the question of salProcessor() to Dave.

Checked with Dave and he replied as the following:
The salProcessor call is now required in later versions of sal. It was previously automatically invoked if necessary but this caused issues with the SALPY and was removed.

Fixed this already.

Refactored the code to have the same indentation level.

Updated the middleware code to use the latest SAL version.

Witnessed a demonstration of the functionality, it appears to work!