ATMCSCsc

class lsst.ts.ATMCSSimulator.ATMCSCsc(initial_state=<State.STANDBY: 5>)

Bases: lsst.ts.salobj.base_csc.BaseCsc

Simulator for auxiliary telescope motor control system 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 State.STANDBY, the default.

Notes

The axes are, in order: - elevation - azimuth - Nasmyth1 rotator - Nasmyth2 rotator - m3 rotator

Limitations

  • Jerk is infinite.
  • When an axis has multiple motors or encoders, all are treated as identical (e.g. report identical positions).
  • The only way to hit a limit switch is to configure the position of that switch within the command limits for that axis.
  • The CSC always wakes up at position 0 for all axes except elevation, and at the minimum allowed position for elevation.
  • The model for the azimuth topple block is primitive:
    • The CCW switch is active if az < az1
    • The CW switch is active if az > az2
    • Otherwise neither switch is active

Attributes Summary

default_initial_state
disabled_or_enabled Return True if the summary state is State.DISABLED or State.ENABLED.
domain
enable_cmdline_state
require_settings
simulation_mode Get the current simulation mode.
summary_state Get the summary state as a State enum.
valid_simulation_modes

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; called before state changes.
close([exception, cancel_start]) Shut down, clean up resources and set done_task done.
close_tasks() Shut down pending tasks.
configure([max_tracking_interval, …]) Set configuration.
disable_all_drives() Stop all drives, disable them and put on brakes.
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_setAuthList(data) Update the authorization list.
do_setInstrumentPort(data)
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_stopTracking(data)
do_trackTarget(data)
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.
events_and_telemetry_loop() Output telemetry and events that have changed
fault(code, report[, traceback]) Enter the fault state and output the errorCode event.
handle_summary_state() Called when the summary state has changed.
implement_simulation_mode(simulation_mode) Implement going into or out of simulation mode.
kill_tracking() Wait self.max_tracking_interval seconds and disable tracking.
m3_in_position(tai) Is the M3 actuator in position?
m3_port_rot(tai) Return exit port and rotator axis.
make_from_cmd_line(index, **kwargs) Construct a CSC from command line arguments.
put_log_level() Output the logLevel event.
report_summary_state() Report a new value for summary_state, including current state.
set_event(evt_name, **kwargs) Call ControllerEvent.set_put for an event specified by name.
set_simulation_mode(simulation_mode) Set the simulation mode.
start() Finish constructing the CSC.
update_events() Update most events and output those that have changed.
update_telemetry() Output all telemetry topics.

Attributes Documentation

default_initial_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
require_settings = False
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 = [1]

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, enum.IntEnum, True, False or None

If the CSC is indexed: specify True make index a required command-line argument that accepts any index, or an enum.IntEnum class to make index a required command-line argument that only accepts the enum values. 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; called before state changes.

Parameters:
data : DataType

Command data

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_tasks()

Shut down pending tasks. Called by close.

configure(max_tracking_interval=2.5, min_commanded_position=(5, -270, -165, -165, 0), max_commanded_position=(90, 270, 165, 165, 180), min_limit_switch_position=(3, -272, -167, -167, -2), max_limit_switch_position=(92, 272, 167, 167, 182), max_velocity=(5, 5, 5, 5, 5), max_acceleration=(3, 3, 3, 3, 3), topple_azimuth=(2, 5), m3_port_positions=(0, 180, 90), needed_in_pos=3, axis_encoder_counts_per_deg=(3600000.0, 3600000.0, 3600000.0, 3600000.0, 3600000.0), motor_encoder_counts_per_deg=(360000.0, 360000.0, 360000.0, 360000.0, 360000.0), motor_axis_ratio=(100, 100, 100, 100, 100), torque_per_accel=(1, 1, 1, 1, 1), nsettle=2, limit_overtravel=1)

Set configuration.

Parameters:
max_tracking_interval : float

Maximum time between tracking updates (sec)

min_commanded_position : iterable of 5 float

Minimum commanded position for each axis, in deg

max_commanded_position : iterable of 5 float

Minimum commanded position for each axis, in deg

min_limit_switch_position : iterable of 5 float

Position of minimum L1 limit switch for each axis, in deg

max_limit_switch_position : iterable of 5 float

Position of maximum L1 limit switch for each axis, in deg

max_velocity : iterable of 5 float

Maximum velocity of each axis, in deg/sec

max_acceleration : iterable of 5 float

Maximum acceleration of each axis, in deg/sec

topple_azimuth : iterable of 2 float

Min, max azimuth at which the topple block moves, in deg

m3_port_positions : iterable of 3 float

M3 position of instrument ports NA1, NA2 and Port3, in that order.

axis_encoder_counts_per_deg : list [float]

Axis encoder resolution, for each axis, in counts/deg

motor_encoder_counts_per_deg : list [float]

Motor encoder resolution, for each axis, in counts/deg

motor_axis_ratio : list [float]

Number of turns of the motor for one turn of the axis.

torque_per_accel : list [float]

Motor torque per unit of acceleration, in units of measuredTorque/(deg/sec^2)

nsettle : int

Number of consecutive trackPosition commands that result in a tracking path before we report an axis is tracking.

limit_overtravel : float

Distance from limit switches to hard stops (deg).

disable_all_drives()

Stop all drives, disable them and put on brakes.

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_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_setInstrumentPort(data)
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_stopTracking(data)
do_trackTarget(data)
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

events_and_telemetry_loop()

Output telemetry and events that have changed

Notes

Here are the telemetry topics that are output:

  • mountEncoders
  • torqueDemand
  • measuredTorque
  • measuredMotorVelocity
  • mountMotorEncoders

See update_events for the events that are output.

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.

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.

kill_tracking()

Wait self.max_tracking_interval seconds and disable tracking.

Intended for use by do_trackTarget to abort tracking if the next trackTarget command is not seen quickly enough.

m3_in_position(tai)

Is the M3 actuator in position?

Parameters:
tai : float

Current time, TAI unix seconds.

m3_port_rot(tai)

Return exit port and rotator axis.

Parameters:
tai : float

Current time, TAI unix seconds.

Returns:
port_rot : tuple

Exit port and rotator axis, as a tuple:

  • exit port: an M3ExitPort enum value
  • rotator axis: the instrument rotator at this port, as an Axis enum value, or None if the port has no rotator.
classmethod make_from_cmd_line(index, **kwargs)

Construct a CSC from command line arguments.

Parameters:
index : int, enum.IntEnum, True, False or None

If the CSC is indexed: specify True make index a required command-line argument that accepts any index, or an enum.IntEnum class to make index a required command-line argument that only accepts the enum values. 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.

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).

set_event(evt_name, **kwargs)

Call ControllerEvent.set_put for an event specified by name.

Parameters:
evt_name : str

Event name (without the evt_ prefix)

**kwargs : dict

Data for ControllerEvent.set

Returns:
did_put : bool

True if the data was output, False otherwise

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.

update_events()

Update most events and output those that have changed.

Notes

Updates state of all non-generic events, except as noted:

  • atMountState
  • m3State
  • (m3PortSelected is output by do_setInstrumentPort)
  • elevationInPosition
  • azimuthInPosition
  • nasmyth1RotatorInPosition
  • nasmyth2RotatorInPosition
  • m3InPosition
  • allAxesInPosition
  • azimuthToppleBlockCCW
  • azimuthToppleBlockCW
  • azimuthLimitSwitchCW
  • m3RotatorDetentLimitSwitch
  • elevationLimitSwitchLower
  • elevationLimitSwitchUpper
  • azimuthLimitSwitchCCW
  • nasmyth1LimitSwitchCCW
  • nasmyth1LimitSwitchCW
  • nasmyth2LimitSwitchCCW
  • nasmyth2LimitSwitchCW
  • m3RotatorLimitSwitchCCW
  • m3RotatorLimitSwitchCW
  • azimuthDrive1Status
  • azimuthDrive2Status
  • elevationDriveStatus
  • nasmyth1DriveStatus
  • nasmyth2DriveStatus
  • m3DriveStatus
  • elevationBrake
  • azimuthBrake1
  • azimuthBrake2
  • nasmyth1Brake
  • nasmyth2Brake

Report events that have changed, and for axes that have run into a limit switch, abort the axis, disable its drives and set its brakes.

update_telemetry()

Output all telemetry topics.