MTMountCsc

class lsst.ts.mtmount.MTMountCsc(config_dir=None, initial_state=State.STANDBY, simulation_mode=0, run_mock_controller=True, mock_command_port=None, mock_telemetry_port=None)

Bases: ConfigurableCsc

MTMount CSC

Parameters:

initial_statesalobj.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 maxMove.

simulation_modeint, optional

Simulation mode.

run_mock_controllerbool, optional

Run the mock controller (using random ports)? Ignored unless simulation_mode == 1. False with simulation_mode == 1 is for unit tests which run their own mock controller; many tests do this in order to monitor what is going on in the controller.

mock_command_portint or None, optional

Port for mock controller TCP/IP interface. If None then use the standard value. Ignored unless running in simulation mode and run_mock_controller false. This supports unit tests which run their own mock controller with randomly chosen ports.

mock_telemetry_portint or None, optional

Port for mock controller telemetry server. If None then use the standard value. Ignored unless running in simulation mode and run_mock_controller false. This supports unit tests which run their own mock controller with randomly chosen ports.

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.
default_initial_state
disabled_or_enabled	Return True if the summary state is State.DISABLED or State.ENABLED.
domain
enable_cmdline_state
has_command	Does the CSC have command of the low-level controller?
limits_margin
simulation_help
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.
assert_enabled_and_not_disabling()
assert_not_opening_or_closing_mirror_cover()
begin_disable(data)	Begin do_disable; called before state changes.
begin_enable(data)	Take command of the low-level controller and initialize devices.
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.
check_for_duplicate_heartbeat([num_messages])	Monitor heartbeat events and return True if any have a different private_origin.
clear_target()	Clear the target event.
close([exception, cancel_start])	Shut down, clean up resources and set done_task done.
close_tasks()	Shut down pending tasks.
compute_camera_cable_wrap_demand(rot_data)	Compute camera cable wrap tracking command data from rotation data.
configure(config)	Configure the CSC.
connect()	Connect to the low-level controller and start the telemetry client.
connect_callback(client)
disable_devices()	Stop and turn off azimuth, elevation, and camera cable wrap, then give up command of the low-level controller.
disconnect()	Disconnect from the low-level controller.
do_applySettingsSet(data)	Handle the applySettingsSet command.
do_clearError(data)	Handle the clearError command.
do_closeMirrorCovers(data)	Handle the closeMirrorCovers command.
do_disable(data)	Transition from State.ENABLED to State.DISABLED.
do_disableCameraCableWrapFollowing(data)	Handle the disableCameraCableWrapFollowing command.
do_enable(data)	Transition from State.DISABLED to State.ENABLED.
do_enableCameraCableWrapFollowing(data)	Handle the enableCameraCableWrapFollowing command.
do_exitControl(data)	Transition from State.STANDBY to State.OFFLINE and quit.
do_homeBothAxes(data)
do_moveToTarget(data)	Handle the moveToTarget command.
do_openMirrorCovers(data)	Handle the openMirrorCovers command.
do_park(data)	Handle the park command.
do_restoreDefaultSettings(data)	Handle the RestoreDefaultSettings command.
do_setLogLevel(data)	Set logging level.
do_setThermal(data)	Handle the setThermal command.
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)	Handle the startTracking command.
do_stop(data)	Handle the stop command.
do_stopTracking(data)	Handle the stopTracking command.
do_trackTarget(data)	Handle the trackTarget command.
do_unpark(data)	Handle the unpark command.
enable_devices()	Enable all 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_config_pkg()	Get the name of the configuration package, e.g.
handle_apply_settings_set(restore_defaults, ...)	Method to handle applying settings.
handle_available_settings(reply)	Handle a ReplyId.AVAILABLE_SETTINGS reply.
handle_axis_motion_state(reply)	Handle a ReplyId.AXIS_MOTION_STATE reply.
handle_azimuth_topple_block(reply)	Handle a ReplyId.AZIMUTH_TOPPLE_BLOCK reply.
handle_chiller_state(reply)	Andle a ReplyId.CHILLER_STATE reply.
handle_command_reply(reply)	Handle a ReplyId.CMD_x reply.
handle_commander(reply)	Handle a ReplyId.COMMANDER reply.
handle_deployable_motion_state(reply, topic)	Handle a generic position event.
handle_detailed_settings_applied(reply)	Handle a ReplyId.DETAILED_SETTINGS_APPLIED reply.
handle_elevation_locking_pin_motion_state(reply)	Handle a ReplyId.ELEVATION_LOCKING_PIN_MOTION_STATE reply.
handle_error(reply)	Handle a ReplyId.ERROR reply.
handle_homed(reply)	Handle a ReplyId.HOMED reply.
handle_in_position(reply)	Handle a ReplyId.IN_POSITION reply.
handle_limits(reply)	Handle a ReplyId.LIMITS reply.
handle_motion_controller_state(reply)	Handle a ReplyId.MOTION_CONTROLLER_STATE reply.
handle_oil_supply_system_state(reply)
handle_power_state(reply)	Handle a ReplyId.POWER_STATE reply.
handle_safety_interlocks(reply)	Handle a ReplyId.SAFETY_INTERLOCKS reply.
handle_summary_state()	Called when the summary state has changed.
handle_warning(reply)	Handle a ReplyId.WARNING reply.
implement_simulation_mode(simulation_mode)	Implement going into or out of simulation mode.
in_progress_loop(ack_in_progress, data)	A context manager to handle continuously acknowledging in progress for the enabled command.
is_tracking()	Return True if tracking according to the elevation and azimuth motion state events.
llv_heartbeat_loop()	Send a regular heartbeat "command" to the low-level controller.
make_from_cmd_line(index[, check_if_duplicate])	Construct a CSC from command line arguments.
monitor_telemetry_client()	Go to FAULT state if the telemetry client exits prematurely.
put_log_level()	Output the logLevel event.
read_config_dir()	Read the config dir and put configurationsAvailable if changed.
read_config_dir_loop()
read_config_files(config_validator, ...[, ...])	Read a set of configuration files and return the validated config.
read_loop()	Read and process replies from the low-level controller.
retry_command(command, *[, max_tries, timeout])	Send a low-level command, retrying up to max_tries times.
send_command(command, *, do_lock[, timeout])	Send a command to the operation manager and wait for it to finish.
send_commands(*commands, do_lock)	Run a set of operation manager commands.
set_simulation_mode(simulation_mode)	Set the simulation mode.
set_thermal_off(system_id)	Turn off a thermal controller.
set_thermal_on(system_id, setpoint)	Turn on a thermal controller with a specified setpoint.
signal_handler()	Handle signals such as SIGTERM.
start()	Finish constructing the CSC.
start_camera_cable_wrap_following()	Make the camera cable wrap start following the camera rotator.
start_phase2()	Handle the initial state.
stop_camera_cable_wrap_following()	Stop the camera cable wrap from following the rotator.
terminate_background_processes()	Terminate the background processes with SIGTERM.

Attributes Documentation

config_dir

Get or set the configuration directory.

Parameters:

config_dirstr, pathlib.Path

New configuration directory.

Returns:

config_dirpathlib.Path

Absolute path to the configuration directory.

Raises:

ValueError

If the new configuration dir is not a directory.

default_initial_state: State = 5

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

enable_cmdline_state = False

has_command

Does the CSC have command of the low-level controller?

limits_margin = 0.01

simulation_help: str | None = None

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: Sequence[int] = (0, 1)

version = '?'

Methods Documentation

classmethod add_arguments(parser: ArgumentParser) → None

Add arguments to the parser created by make_from_cmd_line.

Parameters:

parserargparse.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: Namespace, kwargs: dict[str, Any]) → None

Add constructor keyword arguments based on parsed arguments.

Parameters:

argsargparse.Namespace

Parsed command.

kwargsdict

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.

async classmethod amain(index: int | enum.IntEnum | bool | None, **kwargs: Any) → None

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

Parameters:

indexint, enum.IntEnum, True, or None

If the CSC is indexed, do one of the following:

• Specify True to make index a required command-line argument that accepts any nonzero index.

• Specify an enum.IntEnum class to make index a required command-line argument that only accepts the enum values.

• Specify a non-zero integer to use that index. This is rare; if the CSC is indexed then the user should usually be allowed to specify the index.

If the CSC is not indexed, specify None or 0.

**kwargsdict, optional

Additional keyword arguments for your CSC’s constructor.

assert_enabled(action: str = '') → None

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

Parameters:

actionstr, 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.

assert_enabled_and_not_disabling()

assert_not_opening_or_closing_mirror_cover()

async begin_disable(data)

Begin do_disable; called before state changes.

Parameters:

dataDataType

Command data

async begin_enable(data)

Take command of the low-level controller and initialize devices.

If taking command fails, raise an exception in order to leave the state as DISABLED.

If initializing fails, first try to disable the axis controllers, then raise an exception in order to leave the state as DISABLED.

async begin_exitControl(data: BaseMsgType) → None

Begin do_exitControl; called before state changes.

Parameters:

dataDataType

Command data

async begin_standby(data: BaseMsgType) → None

Begin do_standby; called before the state changes.

Parameters:

dataDataType

Command data

async begin_start(data)

Begin do_start; configure the CSC before changing state.

Parameters:

datacmd_start.DataType

Command data

Notes

The override 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.

async check_for_duplicate_heartbeat(num_messages: int = 5) → int

Monitor heartbeat events and return True if any have a different private_origin.

Intended for use by check_if_duplicate.

The heartbeat loop should be running before this is called. This avoids the issue that if 2 CSCs are started at the same time then neither will see the other one’s heartbeat. This code also assumes that will be true; it will likely raise asyncio.TimeoutError if not.

Parameters:

num_messagesfloat

The number of heartbeat messages to read.

Returns:

originint

private_origin field of duplicate heartbeat, or 0 if none detected.

Raises:

asyncio.TimeoutError

If no heartbeat seen within the specified time.

async clear_target()

Clear the target event.

async close(exception: Exception | None = None, cancel_start: bool = True) → None

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:

exceptionException, 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_startbool, 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.

async close_tasks()

Shut down pending tasks. Called by close.

compute_camera_cable_wrap_demand(rot_data)

Compute camera cable wrap tracking command data from rotation data.

Parameters:

rot_datasalobj.BaseMsgType

Current MTRotator rotation telemetry data.

Returns:

positionfloat

Desired camera cable wrap position (in degrees).

velocityfloat

Desired camera cable wrap velocity (in degrees).

taifloat

Desired camera cable wrap time (TAI unix seconds). This will be config.camera_cable_wrap_advance_time seconds in the future.

async configure(config)

Configure the CSC.

Parameters:

configobject

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

Notes

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

async connect()

Connect to the low-level controller and start the telemetry client.

async connect_callback(client)

async disable_devices()

Stop and turn off azimuth, elevation, and camera cable wrap, then give up command of the low-level controller.

Leave the top end chiller and oil supply system running and the main axis power supply on.

Notes

This is a “best effort” attempt that should not raise an exception.

Try to disable all subsystems, even if one or more commands fails.

The TMA manages the azimuth cable wrap automatically, so this code does not explicitly stop it or turn it off.

async disconnect()

Disconnect from the low-level controller.

Close the connection to the low-level controller, if connected. Clear the target event. Stop the telemetry process, if running. Do not stop the mock controller (even if the CSC started it), because that should remain running until the CSC quits.

async do_applySettingsSet(data)

Handle the applySettingsSet command.

async do_clearError(data)

Handle the clearError command.

async do_closeMirrorCovers(data)

Handle the closeMirrorCovers command.

async do_disable(data: BaseMsgType) → None

Transition from State.ENABLED to State.DISABLED.

Parameters:

datacmd_disable.DataType

Command data

async do_disableCameraCableWrapFollowing(data)

Handle the disableCameraCableWrapFollowing command.

async do_enable(data: BaseMsgType) → None

Transition from State.DISABLED to State.ENABLED.

Parameters:

datacmd_enable.DataType

Command data

async do_enableCameraCableWrapFollowing(data)

Handle the enableCameraCableWrapFollowing command.

async do_exitControl(data: BaseMsgType) → None

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

Parameters:

datacmd_exitControl.DataType

Command data

async do_homeBothAxes(data)

async do_moveToTarget(data)

Handle the moveToTarget command.

async do_openMirrorCovers(data)

Handle the openMirrorCovers command.

async do_park(data)

Handle the park command.

async do_restoreDefaultSettings(data)

Handle the RestoreDefaultSettings command.

async do_setLogLevel(data: BaseMsgType) → None

Set logging level.

Parameters:

datacmd_setLogLevel.DataType

Logging level.

async do_setThermal(data)

Handle the setThermal command.

async do_standby(data: BaseMsgType) → None

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

Parameters:

datacmd_standby.DataType

Command data

async do_start(data: BaseMsgType) → None

Transition from State.STANDBY to State.DISABLED.

Parameters:

datacmd_start.DataType

Command data

async do_startTracking(data)

Handle the startTracking command.

async do_stop(data)

Handle the stop command.

async do_stopTracking(data)

Handle the stopTracking command.

async do_trackTarget(data)

Handle the trackTarget command.

async do_unpark(data)

Handle the unpark command.

async enable_devices()

Enable all devices.

Call this when going to ENABLED state.

async end_disable(data: BaseMsgType) → None

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

Parameters:

dataDataType

Command data

async end_enable(data: BaseMsgType) → None

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

Parameters:

dataDataType

Command data

async end_exitControl(data: BaseMsgType) → None

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

Parameters:

dataDataType

Command data

async end_standby(data)

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

Parameters:

dataDataType

Command data

async end_start(data: BaseMsgType) → None

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

Parameters:

dataDataType

Command data

async fault(code, report, traceback='')

Enter the fault state and output the errorCode event.

Parameters:

codeint

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.

reportstr

Description of the error.

tracebackstr, optional

Description of the traceback, if any.

static get_config_pkg()

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

async handle_apply_settings_set(restore_defaults: bool, settings_to_apply: list[str]) → None

Method to handle applying settings.

Parameters:

restore_defaultsbool

Restore defaults before loading settings?

settings_to_applylist`[`str]

Names of the settings to apply.

async handle_available_settings(reply)

Handle a ReplyId.AVAILABLE_SETTINGS reply.

async handle_axis_motion_state(reply)

Handle a ReplyId.AXIS_MOTION_STATE reply.

async handle_azimuth_topple_block(reply)

Handle a ReplyId.AZIMUTH_TOPPLE_BLOCK reply.

async handle_chiller_state(reply)

Andle a ReplyId.CHILLER_STATE reply.

async handle_command_reply(reply)

Handle a ReplyId.CMD_x reply.

async handle_commander(reply)

Handle a ReplyId.COMMANDER reply.

async handle_deployable_motion_state(reply, topic)

Handle a generic position event.

Including:

• ReplyId.DEPLOYABLE_PLATFORMS_MOTION_STATE

• ReplyId.MIRROR_COVER_LOCKS_MOTION_STATE

• ReplyId.MIRROR_COVERS_MOTION_STATE

async handle_detailed_settings_applied(reply)

Handle a ReplyId.DETAILED_SETTINGS_APPLIED reply.

async handle_elevation_locking_pin_motion_state(reply)

Handle a ReplyId.ELEVATION_LOCKING_PIN_MOTION_STATE reply.

async handle_error(reply)

Handle a ReplyId.ERROR reply.

async handle_homed(reply)

Handle a ReplyId.HOMED reply.

async handle_in_position(reply)

Handle a ReplyId.IN_POSITION reply.

async handle_limits(reply)

Handle a ReplyId.LIMITS reply.

async handle_motion_controller_state(reply)

Handle a ReplyId.MOTION_CONTROLLER_STATE reply.

async handle_oil_supply_system_state(reply)

async handle_power_state(reply)

Handle a ReplyId.POWER_STATE reply.

async handle_safety_interlocks(reply)

Handle a ReplyId.SAFETY_INTERLOCKS reply.

async 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().

async handle_warning(reply)

Handle a ReplyId.WARNING reply.

async implement_simulation_mode(simulation_mode: int) → None

Implement going into or out of simulation mode.

Deprecated. See simulation mode for details.

Parameters:

simulation_modeint

Requested simulation mode; 0 for normal operation.

Raises:

ExpectedError

If simulation_mode is not a supported value.

in_progress_loop(ack_in_progress, data)

A context manager to handle continuously acknowledging in progress for the enabled command.

is_tracking()

Return True if tracking according to the elevation and azimuth motion state events.

async llv_heartbeat_loop()

Send a regular heartbeat “command” to the low-level controller.

The command is not acknowledged in any way.

classmethod make_from_cmd_line(index: int | enum.IntEnum | bool | None, check_if_duplicate: bool = False, **kwargs: Any) → BaseCsc

Construct a CSC from command line arguments.

Parameters:

indexint, enum.IntEnum, True, or None

If the CSC is indexed, do one of the following:

• Specify True to make index a required command-line argument that accepts any nonzero index.

• Specify an enum.IntEnum class to make index a required command-line argument that only accepts the enum values.

• Specify a non-zero integer to use that index. This is rare; if the CSC is indexed then the user should usually be allowed to specify the index.

If the CSC is not indexed, specify None or 0.

check_if_duplicatebool, optional

Check for heartbeat events from the same SAL name and index at startup (before starting the heartbeat loop)? The default is False, to match the BaseCsc default. Note: handled by setting the attribute directly instead of as a constructor argument, because CSCs may not all support the constructor argument.

**kwargsdict, optional

Additional keyword arguments for your CSC’s constructor.

Returns:

csccls

The CSC.

Notes

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

async monitor_telemetry_client()

Go to FAULT state if the telemetry client exits prematurely.

async put_log_level() → None

Output the logLevel event.

async read_config_dir() → None

Read the config dir and put configurationsAvailable if changed.

Output the configurationsAvailable event (if changed), after updating the overrides and version fields. Also update the version field of evt_configurationApplied, in preparation for the next time the event is output.

async read_config_dir_loop() → None

classmethod read_config_files(config_validator: Draft7Validator, config_dir: Path, files_to_read: list[str], git_hash: str = '') → SimpleNamespace

Read a set of configuration files and return the validated config.

Parameters:

config_validatorjsonschema validator

Schema validator for configuration.

config_dirpathlib.Path

Path to config files.

files_to_readList [str]

Names of files to read, with .yaml suffix. Empty names are ignored (a useful feature for BaseConfigTestCase). The files are read in order, with each later file overriding values that have been accumulated so far.

git_hashstr, optional

Git hash to use for the files. “” if current.

Returns:

types.SimpleNamespace

The validated config as a simple namespace.

Raises:

ExpectedError

If the specified configuration files cannot be found, cannot be parsed as yaml dicts, or produce an invalid configuration (one that does not match the schema).

async read_loop()

Read and process replies from the low-level controller.

async retry_command(command, *, max_tries=3, timeout=0.75)

Send a low-level command, retrying up to max_tries times.

Parameters:

commandcommands.Command

Class of command to send

max_triesint, optional

Maximum number of times to issue the command.

timeoutfloat, optional

Timeout (sec) for the command (applied to each retry). Keep it short to avoid blocking the command lock for a long time.

async send_command(command, *, do_lock, timeout=None)

Send a command to the operation manager and wait for it to finish.

Parameters:

commandCommand

Command to send.

do_lockbool

Lock the port while this method runs? The low-level controller has ill-defined limits on which commands commands can run simultaneously, so specify True when practical. Specify False for stop commands and the camera cable wrap tracking command (so rotator following is not blocked).

timeoutfloat | None

Timeout for initial ack. If None then use self.config.ack_timeout.

Returns:

command_futuresCommandFutures

Futures that monitor the command.

Raises:

asyncio.TimeoutError

If the timeout is exceeded.

salobj.ExpectedError

If not connected to the low-level controller.

RuntimeError

If the sequence_id is already in use. This indicates an internal error.

async send_commands(*commands, do_lock)

Run a set of operation manager commands.

Wait for each command to finish before issuing the next. Wait for all commands to finish before returning.

Parameters:

commandsList [Command]

Commands to send. The sequence_id attribute is set.

do_lockbool

Lock the port while this method runs? The low-level controller has ill-defined limits on which commands commands can run simultaneously, so specify True when practical. Specify False for stop commands and the camera cable wrap tracking command (so rotator following is not blocked).

Raises:

asyncio.TimeoutError

If the timeout is exceeded.

salobj.ExpectedError

If not connected to the low-level controller.

RuntimeError

If the sequence_id is already in use. This indicates an internal error.

async set_simulation_mode(simulation_mode: int) → None

Set the simulation mode.

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

Parameters:

simulation_modeint

Requested simulation mode; 0 for normal operation.

async set_thermal_off(system_id)

Turn off a thermal controller.

Parameters:

system_idSystem

ID of the thermal control system.

Raises:

ValueError

If system_id is not supported.

async set_thermal_on(system_id, setpoint)

Turn on a thermal controller with a specified setpoint.

Parameters:

system_idSystem

ID of the thermal control system.

setpointfloat

Desired temperature (C).

Raises:

ValueError

If system_id is not supported.

signal_handler()

Handle signals such as SIGTERM.

async start()

Finish constructing the CSC.

• Call set_simulation_mode. If this fails, set self.start_task to the exception, call stop, making the CSC unusable, and return.

• Call handle_summary_state

• Set self.start_task done.

async start_camera_cable_wrap_following()

Make the camera cable wrap start following the camera rotator.

Camera cable wrap following is divided into two tasks so that the enableCameraCableWrapFollowing command can succeed or fail if following is likely or unlikely to work.

This method enables camera cable wrap tracking, waits for that command to succeed or fail, and if it succeeds, starts the camera cable wrap following loop.

async start_phase2() → None

Handle the initial state.

Called after start.

async stop_camera_cable_wrap_following()

Stop the camera cable wrap from following the rotator.

This will only issue the CameraCableWrapStop command if connected to and commanding the low-level controller.

terminate_background_processes()

Terminate the background processes with SIGTERM.

Return the processes that were terminated so you can await them.