MTMountCsc

class lsst.ts.MTMount.MTMountCsc(config_dir=None, initial_state=<State.STANDBY: 5>, simulation_mode=0, mock_command_port=None, run_mock_controller=True)

Bases: lsst.ts.salobj.configurable_csc.ConfigurableCsc

MTMount CSC

Parameters:
initial_state : salobj.State or int, optional

The initial state of the CSC. This is provided for unit testing, as real CSCs should start up in lsst.ts.salobj.StateSTANDBY, the default.

simulation_mode : int, optional

Simulation mode.

mock_command_port : int, optional

Port for mock controller TCP/IP interface. If None then use the port specified by the configuration. Only used in simulation mode.

run_mock_controller : bool, optional

Run the mock controller? Ignored unless simulation_mode == 1. This is used by unit tests which run the mock controller themselves in order to monitor the effect of commands. This is necessary because the mock controller provides very little feedback as to what it is doing.

Raises:
salobj.ExpectedError

If initial_state or simulation_mode is invalid.

Notes

Simulation Modes

Supported simulation modes:

  • 0: regular operation
  • 1: simulation mode: start a mock TCP/IP controller and talk to it

Error Codes

See CscErrorCode

Attributes Summary

config_dir Get or set the configuration directory.
connected
disabled_or_enabled Return True if the summary state is State.DISABLED or State.ENABLED.
domain
simulation_mode Get the current simulation mode.
summary_state Get the summary state as a State enum.
valid_simulation_modes
version

Methods Summary

add_arguments(parser) Add arguments to the parser created by make_from_cmd_line.
add_kwargs_from_args(args, kwargs) Add constructor keyword arguments based on parsed arguments.
amain(index, **kwargs) Make a CSC from command-line arguments and run it.
assert_enabled([action]) Assert that an action that requires ENABLED state can be run.
begin_disable(data) Begin do_disable; called before state changes.
begin_enable(data) Begin do_enable; called before state changes.
begin_exitControl(data) Begin do_exitControl; called before state changes.
begin_standby(data) Begin do_standby; called before the state changes.
begin_start(data) Begin do_start; configure the CSC before changing state.
camera_cable_wrap_loop()
close([exception, cancel_start]) Shut down, clean up resources and set done_task done.
close_communication() Close and delete the communicator, if present.
close_tasks() Shut down pending tasks.
configure(config) Configure the CSC.
connect() Connect to the low-level controller.
connect_callback(communicator)
disable_devices()
do_clearError(data)
do_closeMirrorCovers(data)
do_disable(data) Transition from State.ENABLED to State.DISABLED.
do_disableCameraCableWrapTracking(data)
do_enable(data) Transition from State.DISABLED to State.ENABLED.
do_enableCameraCableWrapTracking(data)
do_exitControl(data) Transition from State.STANDBY to State.OFFLINE and quit.
do_moveToTarget(data)
do_openMirrorCovers(data)
do_setAuthList(data) Update the authorization list.
do_setLogLevel(data) Set logging level.
do_standby(data) Transition from State.DISABLED or State.FAULT to State.STANDBY.
do_start(data) Transition from State.STANDBY to State.DISABLED.
do_startTracking(data)
do_stop(data)
do_stopTracking(data)
do_trackTarget(data)
enable_devices()
end_disable(data) End do_disable; called after state changes but before command acknowledged.
end_enable(data) End do_enable; called after state changes but before command acknowledged.
end_exitControl(data) End do_exitControl; called after state changes but before command acknowledged.
end_standby(data) End do_standby; called after state changes but before command acknowledged.
end_start(data) End do_start; called after state changes but before command acknowledged.
fault(code, report[, traceback]) Enter the fault state and output the errorCode event.
get_ccw_demand() Get CCW tracking command data.
get_config_pkg() Get the name of the configuration package, e.g.
handle_summary_state() Called when the summary state has changed.
implement_simulation_mode(simulation_mode) Implement going into or out of simulation mode.
make_from_cmd_line(index, **kwargs) Construct a CSC from command line arguments.
put_log_level() Output the logLevel event.
read_config_dir() Set self.config_label_dict and output evt_settingVersions.
read_loop() Read and process replies from the low-level controller.
report_summary_state() Report a new value for summary_state, including current state.
send_command(command[, do_lock]) Send a command to the operation manager and add it to command_dict.
send_commands(*commands[, do_lock]) Run a set of operation manager commands.
set_simulation_mode(simulation_mode) Set the simulation mode.
start() Finish constructing the CSC.

Attributes Documentation

config_dir

Get or set the configuration directory.

Parameters:
config_dir : str, bytes, or pathlib.Path

New configuration directory.

Returns:
config_dir : pathlib.Path

Absolute path to the configuration directory.

Raises:
ValueError

If the new configuration dir is not a directory.

connected
disabled_or_enabled

Return True if the summary state is State.DISABLED or State.ENABLED.

This is useful in handle_summary_state to determine if you should start or stop a telemetry loop, and connect to or disconnect from an external controller

domain
simulation_mode

Get the current simulation mode.

0 means normal operation (no simulation).

Raises:
ExpectedError

If the new simulation mode is not a supported value.

summary_state

Get the summary state as a State enum.

valid_simulation_modes = (0, 1)
version = '?'

Methods Documentation

classmethod add_arguments(parser)

Add arguments to the parser created by make_from_cmd_line.

Parameters:
parser : argparse.ArgumentParser

The argument parser.

Notes

If you override this method then you should almost certainly override add_kwargs_from_args as well.

classmethod add_kwargs_from_args(args, kwargs)

Add constructor keyword arguments based on parsed arguments.

Parameters:
args : argparse.namespace

Parsed command.

kwargs : dict

Keyword argument dict for the constructor. Update this based on args. The index argument will already be present if relevant.

Notes

If you override this method then you should almost certainly override add_arguments as well.

classmethod amain(index, **kwargs)

Make a CSC from command-line arguments and run it.

Parameters:
index : int, True, False or None

If the CSC is indexed: specify True make index a required command line argument, or specify a non-zero int to use that index. If the CSC is not indexed: specify None or 0.

**kwargs : dict, optional

Additional keyword arguments for your CSC’s constructor.

assert_enabled(action='')

Assert that an action that requires ENABLED state can be run.

Parameters:
action : str, optional

Action attempted. Not needed if this is called at the beginning of a do_... method, since the user will know what command was called.

begin_disable(data)

Begin do_disable; called before state changes.

Parameters:
data : DataType

Command data

begin_enable(data)

Begin do_enable; called before state changes.

Parameters:
data : DataType

Command data

begin_exitControl(data)

Begin do_exitControl; called before state changes.

Parameters:
data : DataType

Command data

begin_standby(data)

Begin do_standby; called before the state changes.

Parameters:
data : DataType

Command data

begin_start(data)

Begin do_start; configure the CSC before changing state.

Parameters:
data : cmd_start.DataType

Command data

Notes

The settingsToApply field must be one of:

  • The name of a config label or config file
  • The name and version of a config file, formatted as <file_name>:<version>, where the version is a git reference, such as a git tag or commit hash. This form does not support labels.
camera_cable_wrap_loop()
close(exception=None, cancel_start=True)

Shut down, clean up resources and set done_task done.

May be called multiple times. The first call closes the Controller; subsequent calls wait until the Controller is closed.

Subclasses should override close_tasks instead of close, unless you have a good reason to do otherwise.

Parameters:
exception : Exception, optional

The exception that caused stopping, if any, in which case the self.done_task exception is set to this value. Specify None for a normal exit, in which case the self.done_task result is set to None.

cancel_start : bool, optional

Cancel the start task? Leave this true unless calling this from the start task.

Notes

Removes the SAL log handler, calls close_tasks to stop all background tasks, pauses briefly to allow final SAL messages to be sent, then closes the dds domain.

close_communication()

Close and delete the communicator, if present.

close_tasks()

Shut down pending tasks. Called by close.

configure(config)

Configure the CSC.

Parameters:
config : object

The configuration as described by the schema at schema_path, as a struct-like object.

Notes

Called when running the start command, just before changing summary state from State.STANDBY to State.DISABLED.

connect()

Connect to the low-level controller.

Start the mock controller, if simulating.

connect_callback(communicator)
disable_devices()
do_clearError(data)
do_closeMirrorCovers(data)
do_disable(data)

Transition from State.ENABLED to State.DISABLED.

Parameters:
data : cmd_disable.DataType

Command data

do_disableCameraCableWrapTracking(data)
do_enable(data)

Transition from State.DISABLED to State.ENABLED.

Parameters:
data : cmd_enable.DataType

Command data

do_enableCameraCableWrapTracking(data)
do_exitControl(data)

Transition from State.STANDBY to State.OFFLINE and quit.

Parameters:
data : cmd_exitControl.DataType

Command data

do_moveToTarget(data)
do_openMirrorCovers(data)
do_setAuthList(data)

Update the authorization list.

Parameters:
data : cmd_setAuthList.DataType

Authorization lists.

Notes

Add items if the data string starts with “+”, ignoring duplicates (both with respect to the existing items and within the data string). Remove items if the data string starts with “-“, ignoring missing items (items specified for removal that do not exist). Ignore whitespace after each comma and after the +/- prefix.

do_setLogLevel(data)

Set logging level.

Parameters:
data : cmd_setLogLevel.DataType

Logging level.

do_standby(data)

Transition from State.DISABLED or State.FAULT to State.STANDBY.

Parameters:
data : cmd_standby.DataType

Command data

do_start(data)

Transition from State.STANDBY to State.DISABLED.

Parameters:
data : cmd_start.DataType

Command data

do_startTracking(data)
do_stop(data)
do_stopTracking(data)
do_trackTarget(data)
enable_devices()
end_disable(data)

End do_disable; called after state changes but before command acknowledged.

Parameters:
data : DataType

Command data

end_enable(data)

End do_enable; called after state changes but before command acknowledged.

Parameters:
data : DataType

Command data

end_exitControl(data)

End do_exitControl; called after state changes but before command acknowledged.

Parameters:
data : DataType

Command data

end_standby(data)

End do_standby; called after state changes but before command acknowledged.

Parameters:
data : DataType

Command data

end_start(data)

End do_start; called after state changes but before command acknowledged.

Parameters:
data : DataType

Command data

fault(code, report, traceback='')

Enter the fault state and output the errorCode event.

Parameters:
code : int

Error code for the errorCode event. If None then errorCode is not output and you should output it yourself. Specifying None is deprecated; please always specify an integer error code.

report : str

Description of the error.

traceback : str, optional

Description of the traceback, if any.

get_ccw_demand()

Get CCW tracking command data.

The method will get the position of the CCW and of the Rotator and compute an optimum demand for the CCW. It takes into account how far CCW and Rotator are from each other and also how far they both are from the demand position.

Returns:
desired_position : float

CCW tracking command position (in degrees).

desired_velocity : float

CCW tracking command velocity (in degrees).

desired_tai : float

CCW tracking command time (TAI unix seconds). This will be config.camera_cable_wrap_advance_time seconds in the future.

static get_config_pkg()

Get the name of the configuration package, e.g. “ts_config_ocs”.

handle_summary_state()

Called when the summary state has changed.

Override to perform tasks such as starting and stopping telemetry (example).

Notes

The versions in BaseCsc and ConfigurableCsc do nothing, so if you subclass one of those you do not need to call await super().handle_summary_state().

implement_simulation_mode(simulation_mode)

Implement going into or out of simulation mode.

Deprecated. See simulation mode for details.

Parameters:
simulation_mode : int

Requested simulation mode; 0 for normal operation.

Raises:
ExpectedError

If simulation_mode is not a supported value.

classmethod make_from_cmd_line(index, **kwargs)

Construct a CSC from command line arguments.

Parameters:
index : int, True, False or None

If the CSC is indexed: specify True make index a required command line argument, or specify a non-zero int to use that index. If the CSC is not indexed: specify None or 0.

**kwargs : dict, optional

Additional keyword arguments for your CSC’s constructor.

Returns:
csc : cls

The CSC.

Notes

To add additional command-line arguments, override add_arguments and add_kwargs_from_args.

put_log_level()

Output the logLevel event.

read_config_dir()

Set self.config_label_dict and output evt_settingVersions.

Set self.config_label_dict from self.config_dir/_labels.yaml. Output the settingVersions event (if changed) as follows:

  • recommendedSettingsLabels is a comma-separated list of labels in self.config_label_dict, truncated by omitting labels if necessary.
  • recommendedSettingsVersion is derived from git information for self.config_dir, if it is a git repository, else “”.
read_loop()

Read and process replies from the low-level controller.

report_summary_state()

Report a new value for summary_state, including current state.

Subclasses may wish to override for code that depends on the current state (rather than the state transition command that got it into that state).

send_command(command, do_lock=True)

Send a command to the operation manager and add it to command_dict.

Parameters:
command : Command

Command to send.

do_lock : bool, optional

Lock the port while using it? Specify False for emergency commands or if being called by send_commands.

Returns:
command_futures : command_futures.CommandFutures

Futures that monitor the command.

send_commands(*commands, do_lock=True)

Run a set of operation manager commands.

Parameters:
commands : List [Command]

Commands to send. The sequence_id attribute is set.

do_lock : bool, optional

Lock the port while using it? Specify False for emergency commands.

Returns:
futures_list : List [CommandFutures]

Command future for each command.

set_simulation_mode(simulation_mode)

Set the simulation mode.

Await implement_simulation_mode, update the simulation mode property and report the new value.

Parameters:
simulation_mode : int

Requested simulation mode; 0 for normal operation.

start()

Finish constructing the CSC.

  • If initial_summary_state is State.DISABLED or State.ENABLED then call configure.
  • Run BaseCsc.start