RotatorCsc¶

class lsst.ts.mtrotator.RotatorCsc(config_dir: str | pathlib.Path | None = None, initial_state: State = State.STANDBY, override: str = '', simulation_mode: int = 0, bypass_ccw: bool = False)¶

Bases: BaseCsc

MTRotator CSC.

Parameters:

config_dirstr, optional

Directory of configuration files, or None for the standard configuration directory (obtained from _get_default_config_dir). This is provided for unit testing.

initial_statelsst.ts.salobj.State or int (optional)

The initial state of the CSC. Must be lsst.ts.salobj.State.STANDBY unless simulating (simulation_mode != 0).

overridestr, optional

Configuration override file to apply if initial_state is State.DISABLED or State.ENABLED.

simulation_modeint (optional)

Simulation mode. Allowed values:

0: regular operation.
1: simulation: use a mock low level controller.

bypass_ccwbool, optional

Bypass the check of camera cable wrapper (CCW) or not. (the default is False)

Raises:

ValueError: If initial_state != lsst.ts.salobj.State.STANDBY and not simulating (simulation_mode = 0).

Notes

Error Codes

See lsst.ts.xml.enums.MTRotator.ErrorCode

Attributes Summary

`config_dir`	Get or set the configuration directory.
`connected`
`default_initial_state`
`disabled_or_enabled`	Return True if the summary state is `State.DISABLED` or `State.ENABLED`.
`domain`
`enable_cmdline_state`
`host`	Get the TCP/IP address of the low-level controller.
`port`	Get the port of the low-level controller.
`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_commandable`()	Assert that CSC is connected to the low-level controller and can command it.
`assert_connected`()	Assert that the CSC is connected to the low-level controller.
`assert_enabled`()	Assert that the CSC is enabled.
`assert_enabled_substate`(substate)	Assert that the CSC is enabled and that the low-level controller is in the specified enabled substate.
`assert_summary_state`(state[, isbefore])	Assert that the current summary state is as specified.
`basic_run_command`(command)	Acquire the write_lock and run the command.
`basic_telemetry_callback`(client)	Called when the TCP/IP controller outputs telemetry.
`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.
`check_ccw_following_error`()	Check the camera cable wrap following error.
`check_for_duplicate_heartbeat`([num_messages])	Monitor heartbeat events and return True if any have a different private_origin.
`close`([exception, cancel_start])	Shut down, clean up resources and set done_task done.
`close_tasks`()	Shut down pending tasks.
`command_llv_fault`()	Command the low-level controller to go to fault state.
`config_callback`(client)	Called when the TCP/IP controller outputs configuration.
`configure`(config)	Configure the CSC.
`connect`()	Connect to the low-level controller.
`connect_callback`(client)	Called when the client socket connects or disconnects.
`detect_vibration`()	Detect the vibration.
`disconnect`()	Disconnect from the low-level controller.
`do_configureAcceleration`(data)	Specify the acceleration limit.
`do_configureEmergencyAcceleration`(data)	Configure the emergency acceleration limit.
`do_configureEmergencyJerk`(data)	Configure the emergency jerk limit.
`do_configureJerk`(data)	Configure the jerk limit.
`do_configureVelocity`(data)	Specify the velocity limit.
`do_disable`(data)	Transition from `State.ENABLED` to `State.DISABLED`.
`do_enable`(data)	Transition from `State.DISABLED` to `State.ENABLED`.
`do_exitControl`(data)	Transition from `State.STANDBY` to `State.OFFLINE` and quit.
`do_fault`(data)
`do_move`(data)	Go to the position specified by the most recent `positionSet` command.
`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_stop`(data)	Halt tracking or any other motion.
`do_track`(data)	Specify a position, velocity, TAI time tracking update.
`do_trackStart`(data)	Start tracking.
`enable_controller`()	Enable the low-level controller.
`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_summary_state`()	Called when the summary state has changed.
`implement_simulation_mode`(simulation_mode)	Implement going into or out of simulation mode.
`make_command`(code[, param1, param2, param3, ...])	Make a command from the command identifier and keyword arguments.
`make_from_cmd_line`(index[, check_if_duplicate])	Construct a CSC from command line arguments.
`make_mock_controller`()	Construct and return a mock controller.
`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.
`run_command`(code[, param1, param2, param3, ...])	Run one command.
`run_multiple_commands`(*commands[, delay])	Run multiple commands, without allowing other commands to run between them.
`set_simulation_mode`(simulation_mode)	Set the simulation mode.
`start`()	Finish constructing the CSC.
`start_phase2`()	Handle the initial state.
`telemetry_callback`(client)	Called when the TCP/IP controller outputs telemetry.
`wait_controller_state`(state[, max_telem])	Wait for the controller state to be as specified.

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.

connected¶

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¶

host¶

Get the TCP/IP address of the low-level controller.

The default implementation returns self.config.host. This is not sufficient for the hexapods, which have a different host for each of the two hexapods.

port¶

Get the port of the low-level controller.

The default implementation returns self.config.port. This is not sufficient for the hexapods, which have a different port for each of the two hexapods.

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_commandable() → None¶: Assert that CSC is connected to the low-level controller and can command it.

assert_connected() → None¶

Assert that the CSC is connected to the low-level controller.

Raises:

lsst.ts.salobj.ExpectedError: If one or both streams is disconnected.

assert_enabled() → None¶

Assert that the CSC is enabled.

First check that CSC can command the low-level controller.

assert_enabled_substate(substate: IntEnum) → None¶

Assert that the CSC is enabled and that the low-level controller is in the specified enabled substate.

First check that CSC can command the low-level controller.

Parameters:

substateEnabledSubstate: Substate of low-level controller.

assert_summary_state(state: State, isbefore: bool | None = None) → None¶

Assert that the current summary state is as specified.

First check that CSC can command the low-level controller.

Used in do_xxx methods to check that a command is allowed.

Parameters:

statelsst.ts.salobj.State: Expected summary state.
isbeforebool, optional: Deprecated. The only allowed values are False (which raises a deprecation warning) and None.

async basic_run_command(command: Command) → None¶

Acquire the write_lock and run the command.

Parameters:

commandCommand: Command to run, as constructed by make_command.

async basic_telemetry_callback(client: CommandTelemetryClient) → None¶

Called when the TCP/IP controller outputs telemetry.

Call telemetry_callback, then check the following:

If the low-level controller is in fault state, transition the CSC to FAULT state.
IF the low-level controller is not in enabled state or if the CSC has lost the ability to command the low-level controller, move the CSC to DISABLED state.

Parameters:

clientCommandTelemetryClient: TCP/IP client.

async begin_disable(data: BaseMsgType) → None¶

Begin do_disable; called before state changes.

Parameters:

dataDataType: Command data

async begin_enable(data: BaseMsgType) → None¶

Begin do_enable; called before state changes.

Parameters:

dataDataType: Command data

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: BaseMsgType) → None¶

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_ccw_following_error() → None¶

Check the camera cable wrap following error.

Publish the value, if the camera cable wrap angle can be read. If ENABLED and the value is too large, then go to FAULT state.

Note: this is designed to be called by telemetry_callback. Thus it is called every time telemetry is read from the low-level controller.

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 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() → None¶: Shut down pending tasks. Called by close.

async command_llv_fault() → None¶: Command the low-level controller to go to fault state.

async config_callback(client: CommandTelemetryClient) → None¶

Called when the TCP/IP controller outputs configuration.

Parameters:

clientlsst.ts.hexrotcomm.CommandTelemetryClient: TCP/IP client.

async configure(config: SimpleNamespace) → None¶

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() → None¶

Connect to the low-level controller.

After starting the mock controller, if using one.

async connect_callback(client: CommandTelemetryClient) → None¶

Called when the client socket connects or disconnects.

Parameters:

clientCommandTelemetryClient: TCP/IP client.

async detect_vibration() → None¶: Detect the vibration.

async disconnect() → None¶

Disconnect from the low-level controller.

And shut down the mock controller, if using one.

async do_configureAcceleration(data: BaseMsgType) → None¶: Specify the acceleration limit.

async do_configureEmergencyAcceleration(data: BaseMsgType) → None¶

Configure the emergency acceleration limit.

Parameters:

datasalobj.BaseMsgType: Data of the SAL message.

Raises:

salobj.ExpectedError: When the value is 0 or negative.

async do_configureEmergencyJerk(data: BaseMsgType) → None¶

Configure the emergency jerk limit.

Parameters:

datasalobj.BaseMsgType: Data of the SAL message.

Raises:

salobj.ExpectedError: When the value is 0 or negative.

async do_configureJerk(data: BaseMsgType) → None¶

Configure the jerk limit.

Parameters:

datasalobj.BaseMsgType: Data of the SAL message.

Raises:

salobj.ExpectedError: When the value is 0 or negative.

async do_configureVelocity(data: BaseMsgType) → None¶: Specify the velocity limit.

async do_disable(data: BaseMsgType) → None¶

Transition from State.ENABLED to State.DISABLED.

Parameters:

datacmd_disable.DataType: Command data

async do_enable(data: BaseMsgType) → None¶

Transition from State.DISABLED to State.ENABLED.

Parameters:

datacmd_enable.DataType: Command data

async do_exitControl(data: BaseMsgType) → None¶

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

Parameters:

datacmd_exitControl.DataType: Command data

async do_fault(data: BaseMsgType) → None¶

async do_move(data: BaseMsgType) → None¶: Go to the position specified by the most recent positionSet command.

async do_setLogLevel(data: BaseMsgType) → None¶

Set logging level.

Parameters:

datacmd_setLogLevel.DataType: Logging level.

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_stop(data: BaseMsgType) → None¶: Halt tracking or any other motion.

async do_track(data: BaseMsgType) → None¶: Specify a position, velocity, TAI time tracking update.

async do_trackStart(data: BaseMsgType) → None¶

Start tracking.

Once this is run you must issue track commands at 10-20Hz until you are done tracking, then issue the stop command.

async enable_controller() → None¶

Enable the low-level controller.

Raises:

lsst.ts.salobj.ExpectedError: If the low-level controller is in fault state and the fault cannot be cleared. Or if a state transition command fails (which is unlikely).

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: BaseMsgType) → None¶

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: int | None, report: str, traceback: str = '') → None¶

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() → str¶: Get the name of the configuration package, e.g. “ts_config_ocs”.

async handle_summary_state() → None¶

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 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.

make_command(code: IntEnum, param1: float = 0.0, param2: float = 0.0, param3: float = 0.0, param4: float = 0.0, param5: float = 0.0, param6: float = 0.0) → Command¶

Make a command from the command identifier and keyword arguments.

Used to make commands for run_multiple_commands.

Parameters:

codeCommandCode: Command to run.
param1, param2, param3, param4, param5, param6double: Command parameters. The meaning of these parameters depends on the command code.

Returns:

commandCommand: The command. Note that the counter field is 0; it is set by CommandTelemetryClient.run_command.

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.

make_mock_controller() → MockMTRotatorController¶: Construct and return a mock controller.

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 run_command(code: IntEnum, param1: float = 0.0, param2: float = 0.0, param3: float = 0.0, param4: float = 0.0, param5: float = 0.0, param6: float = 0.0) → None¶

Run one command.

Parameters:

codeCommandCode: Command to run.
param1, param2, param3, param4, param5, param6double: Command parameters. The meaning of these parameters depends on the command code.

async run_multiple_commands(*commands: list[lsst.ts.hexrotcomm.structs.Command], delay: float | None = None) → None¶

Run multiple commands, without allowing other commands to run between them.

Parameters:

commandsList [Command]: Commands to run, as constructed by make_command.
delayfloat (optional): Delay between commands (sec); or no delay if None. Only intended for unit testing.

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 start() → None¶

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_phase2() → None¶

Handle the initial state.

Called after start.

async telemetry_callback(client: CommandTelemetryClient) → None¶

Called when the TCP/IP controller outputs telemetry.

Parameters:

clientlsst.ts.hexrotcomm.CommandTelemetryClient: TCP/IP client.

async wait_controller_state(state: IntEnum, max_telem: int = 5) → None¶

Wait for the controller state to be as specified.

Fails if the CSC cannot command the low-level controller.

Parameters:

stateControllerState: Desired controller state.
max_telemint: Maximum number of low-level telemetry messages to wait for.

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RotatorCsc¶