ATDomeCsc¶

class lsst.ts.ATDome.ATDomeCsc(config_dir=None, initial_state=<State.STANDBY: 5>, simulation_mode=0, mock_port=None)¶

Bases: lsst.ts.salobj.configurable_csc.ConfigurableCsc

AuxTel dome 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_port : int or None (optional): Port for mock controller TCP/IP interface. If None then use the port specified by the configuration. If 0 then pick an available port. Only used in simulation mode.

Raises:

salobj.ExpectedError: If initial_state or simulation_mode is invalid.

Notes

Simulation Modes

Supported simulation modes (TODO DM-19530 update these values):

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

Error Codes

1: could not connect to TCP/IP ATDome controller
2: read from TCP/IP ATDome controller timed out
3: could not start the mock controller

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.

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.
`close`([exception])	Shut down, clean up resources and set done_task done.
`close_tasks`()	Disconnect from the TCP/IP controller, if connected, and stop the mock controller, if running.
`compute_az_state`(move_code)	Compute the state field for the azimuthState event.
`compute_door_state`(open_pct, is_main, move_code)	Compute data for the shutterState event.
`compute_in_position_mask`(move_code)	Compute in_position_mask.
`configure`(config)	Configure the CSC.
`connect`()	Connect to the dome controller’s TCP/IP port.
`disconnect`()	Disconnect from the TCP/IP controller, if connected, and stop the mock controller, if running.
`do_closeShutter`(data)	Implement the `closeShutter` command.
`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_homeAzimuth`(data)	Implement the `homeAzimuth` command.
`do_moveAzimuth`(data)	Implement the `moveAzimuth` command.
`do_moveShutterDropoutDoor`(data)	Implement the `moveShutterDropoutDoor` command.
`do_moveShutterMainDoor`(data)	Implement the `moveShutterMainDoor` command.
`do_openShutter`(data)	Implement the `openShutter` command.
`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_stopMotion`(data)	Implement the `stopMotion` command.
`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_status`(lines)	Handle output of “?” command.
`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`.
`report_summary_state`()	Report a new value for summary_state, including current state.
`run_command`(cmd)	Send a command to the TCP/IP controller and process its replies.
`set_simulation_mode`(simulation_mode)	Set the simulation mode.
`start`()	Finish constructing the CSC.
`start_mock_ctrl`()	Start the mock controller.
`status_loop`()	Read and report status from the TCP/IP controller.
`stop_mock_ctrl`()	Stop the mock controller, if running.
`wait_for_shutter`(*, dropout_state, main_state)	Wait for the shutter doors to move to a specified position.

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.

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. If any arguments match those from the command line the command line values will be used.

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.

close(exception=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:	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`.

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_tasks()¶: Disconnect from the TCP/IP controller, if connected, and stop the mock controller, if running.

compute_az_state(move_code)¶

Compute the state field for the azimuthState event.

Parameters:	move_code : `int` Motion code: the integer from line 5 of short status.
Returns:	state : `int` The appropriate `AzimuthState` enum value.

compute_door_state(open_pct, is_main, move_code)¶

Compute data for the shutterState event.

Parameters:	open_pct : `float` Percent opening. is_main : `bool` True if the main door, False if the dropout door. move_code : `int` Motion code: the integer from line 5 of short status.

compute_in_position_mask(move_code)¶

Compute in_position_mask.

self.tel_position.data must be current.

Parameters:	move_code : `int` Motion code: the integer from line 5 of short status.
Returns:	in_position_mask : `MoveCode` A bit mask with 1 for each axis that is in position.

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 dome controller’s TCP/IP port.

Start the mock controller, if simulating.

disconnect()¶: Disconnect from the TCP/IP controller, if connected, and stop the mock controller, if running.

do_closeShutter(data)¶: Implement the closeShutter command.

do_disable(data)¶

Transition from State.ENABLED to State.DISABLED.

Parameters:	data : `cmd_disable.DataType` Command data

do_enable(data)¶

Transition from State.DISABLED to State.ENABLED.

Parameters:	data : `cmd_enable.DataType` Command data

do_exitControl(data)¶

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

Parameters:	data : `cmd_exitControl.DataType` Command data

do_homeAzimuth(data)¶: Implement the homeAzimuth command.

do_moveAzimuth(data)¶: Implement the moveAzimuth command.

do_moveShutterDropoutDoor(data)¶: Implement the moveShutterDropoutDoor command.

do_moveShutterMainDoor(data)¶: Implement the moveShutterMainDoor command.

do_openShutter(data)¶: Implement the openShutter command.

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_stopMotion(data)¶: Implement the stopMotion command.

end_disable(data)¶

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

Stop azimuth motion and close the shutters, then disconnect.

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.

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

handle_status(lines)¶

Handle output of “?” command.

Parameters:	lines : `iterable` of `str` Lines of output from “?”, the short status command, or the first 5 lines of output from the full status command “+”.
Returns:	settingsAppliedDomeController : `bool` True if `self.evt_settingsAppliedDomeController` updated.

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.

Parameters:	simulation_mode : `int` Requested simulation mode; 0 for normal operation.
Raises:	ExpectedError If `simulation_mode` is not a supported value.

Notes

Subclasses should override this method to implement simulation mode. The implementation should:

Check the value of simulation_mode and raise ExpectedError if not supported.
If simulation_mode is 0 then go out of simulation mode.
If simulation_mode is nonzero then enter the requested simulation mode.

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. If any arguments match those from the command line the command line values will be used.

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 “”.

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).

run_command(cmd)¶

Send a command to the TCP/IP controller and process its replies.

Parameters:	cmd : `str` The command to send, e.g. “5.0 MV”, “SO” or “+”.
Raises:	salobj.ExpectedError If communication fails. Also an exception is logged, the CSC disconnects from the low level controller, and goes into FAULT state. If the wrong number of lines is read. Also a warning is logged.

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

start_mock_ctrl()¶

Start the mock controller.

The simulation mode must be 1.

status_loop()¶: Read and report status from the TCP/IP controller.

stop_mock_ctrl()¶: Stop the mock controller, if running.

wait_for_shutter(*, dropout_state, main_state)¶

Wait for the shutter doors to move to a specified position.

Cancel an existing wait, if any, trigger a status update, and let the status update set self.shutter_task done.

Parameters:	dropout_state : `lsst.ts.idl.enums.ATDome.ShutterDoorState` or `None` Desired state of dropout door. main_state : `lsst.ts.idl.enums.ATDome.ShutterDoorState` or `None` Desired state of main door.

Notes

Triggers an immediate status update.

Navigation

ATDomeCsc¶