MTDomeCsc¶

class lsst.ts.mtdome.MTDomeCsc(config_dir: str | None = None, initial_state: State = State.STANDBY, simulation_mode: int = ValidSimulationMode.NORMAL_OPERATIONS, override: str = '')¶

Bases: ConfigurableCsc

Upper level Commandable SAL Component to interface with the Simonyi Survey Telescope Dome lower level components.

Parameters:

config_dirstring: The configuration directory
initial_statesalobj.State: The initial state of the CSC
simulation_modeint: Simulation mode.
overridestr, optional: Override of settings if initial_state is State.DISABLED or State.ENABLED.

Notes

Simulation Modes

Supported simulation modes:

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

In simulation mode 0, the site specific configuration will be sent to the MTDome controller. In both simulation modes 1 and 2, a configuration with mock devices will be sent to the MTDome controller. This allows for testing and/or debugging the MTDome CSC.

Attributes Summary

`all_methods_and_intervals`
`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`
`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.
`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.
`call_method`(method, **kwargs)	Generic method for error handling when calling a method.
`cancel_periodic_tasks`()	Cancel all periodic tasks.
`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`()	Disconnect from the TCP/IP controller, if connected, and stop the mock controller, if running.
`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_closeLouvers`(data)	Close Louvers.
`do_closeShutter`(data)	Close Shutter.
`do_crawlAz`(data)	Crawl AZ.
`do_crawlEl`(data)	Crawl El.
`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_exitFault`(data)	Indicate that all hardware errors, leading to fault state, have been resolved.
`do_fans`(data)	Set the speed of the fans.
`do_home`(data)	Search the home position of the Aperture Shutter, which is the closed position.
`do_inflate`(data)	Inflate or deflate the inflatable seal.
`do_moveAz`(data)	Move AZ.
`do_moveEl`(data)	Move El.
`do_openShutter`(data)	Open Shutter.
`do_park`(data)	Park, meaning stop all motion and engage the brakes and locking pins.
`do_resetDrivesAz`(data)	Reset one or more AZ drives.
`do_resetDrivesShutter`(data)	Reset one or more Aperture Shutter drives.
`do_setLogLevel`(data)	Set logging level.
`do_setLouvers`(data)	Set Louver.
`do_setOperationalMode`(data)	Indicate that one or more sub_systems need to operate in degraded (true) or normal (false) state.
`do_setPowerManagementMode`(data)	Set the power management mode.
`do_setTemperature`(data)	Set Temperature.
`do_setZeroAz`(data)	Take the current position of the dome as zero.
`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)	Stop all motion and engage the brakes if indicated in the 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.
`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.
`go_fault`(method)	Convenience method to go to FAULT state.
`handle_summary_state`()	Override of the handle_summary_state function to connect or disconnect to the lower level components (or the mock_controller) when needed.
`implement_simulation_mode`(simulation_mode)	Implement going into or out of simulation mode.
`make_from_cmd_line`(index[, check_if_duplicate])	Construct a CSC from command line arguments.
`one_periodic_task`(method, interval[, go_fault])	Run one method forever at the specified interval.
`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.
`request_and_send_llc_status`(llc_name, topic)	Generic method for retrieving the status of a lower level component and publish that on the corresponding telemetry topic.
`restore_llcs`()
`set_simulation_mode`(simulation_mode)	Set the simulation mode.
`start`()	Finish constructing the CSC.
`start_periodic_tasks`()	Start all periodic tasks.
`start_phase2`()	Handle the initial state.
`statusAMCS`()	AMCS status command not to be executed by SAL.
`statusApSCS`()	ApSCS status command not to be executed by SAL.
`statusCBCS`()	CBCS status command not to be executed by SAL.
`statusCSCS`()	CSCS status command not to be executed by SAL.
`statusLCS`()	LCS status command not to be executed by SAL.
`statusLWSCS`()	LWSCS status command not to be executed by SAL.
`statusMonCS`()	MonCS status command not to be executed by SAL.
`statusRAD`()	RAD status command not to be executed by SAL.
`statusThCS`()	ThCS status command not to be executed by SAL.

Attributes Documentation

all_methods_and_intervals = {CommandName.STATUS_AMCS: 0.2, CommandName.STATUS_CBCS: 0.5}¶

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 = True¶

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, 2}¶

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.

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 call_method(method: Callable, **kwargs: Any) → Any¶

Generic method for error handling when calling a method.

Parameters:

methodtyping.Callable: The method that needs generic error handling.
kwargstyping.Any: The arguments for the method.

Raises:

ValuesError: This is an expected error when calling the method fails. All other errors will lead to the CSC going to FAULT state.

async cancel_periodic_tasks() → None¶: Cancel all periodic tasks.

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

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 dome controller’s TCP/IP port.

Start the mock controller, if simulating.

async disconnect() → None¶: Disconnect from the TCP/IP controller, if connected, and stop the mock controller, if running.

async do_closeLouvers(data: BaseMsgType) → None¶

Close Louvers.

Parameters:

datasalobj.BaseMsgType: Contains the data as defined in the SAL XML file.

async do_closeShutter(data: BaseMsgType) → None¶

Close Shutter.

Parameters:

datasalobj.BaseMsgType: Contains the data as defined in the SAL XML file.

async do_crawlAz(data: BaseMsgType) → None¶

Crawl AZ.

Parameters:

datasalobj.BaseMsgType: Contains the data as defined in the SAL XML file.

async do_crawlEl(data: BaseMsgType) → None¶

Crawl El.

Parameters:

datasalobj.BaseMsgType: Contains the data as defined in the SAL XML file.

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_exitFault(data: BaseMsgType) → None¶

Indicate that all hardware errors, leading to fault state, have been resolved.

Parameters:

datasalobj.BaseMsgType: Contains the data as defined in the SAL XML file.

async do_fans(data: BaseMsgType) → None¶

Set the speed of the fans.

Parameters:

datasalobj.BaseMsgType: Contains the data as defined in the SAL XML file.

async do_home(data: BaseMsgType) → None¶

Search the home position of the Aperture Shutter, which is the closed position.

This is necessary in case the ApSCS (Aperture Shutter Control system) was shutdown with the Aperture Shutter not fully open or fully closed.

Parameters:

datasalobj.BaseMsgType: Contains the data as defined in the SAL XML file.

async do_inflate(data: BaseMsgType) → None¶

Inflate or deflate the inflatable seal.

Parameters:

datasalobj.BaseMsgType: Contains the data as defined in the SAL XML file.

async do_moveAz(data: BaseMsgType) → None¶

Move AZ.

Parameters:

datasalobj.BaseMsgType: Contains the data as defined in the SAL XML file.

async do_moveEl(data: BaseMsgType) → None¶

Move El.

Parameters:

datasalobj.BaseMsgType: Contains the data as defined in the SAL XML file.

async do_openShutter(data: BaseMsgType) → None¶

Open Shutter.

Parameters:

datasalobj.BaseMsgType: Contains the data as defined in the SAL XML file.

async do_park(data: BaseMsgType) → None¶

Park, meaning stop all motion and engage the brakes and locking pins.

Parameters:

datasalobj.BaseMsgType: Contains the data as defined in the SAL XML file.

async do_resetDrivesAz(data: BaseMsgType) → None¶

Reset one or more AZ drives. This is necessary when exiting from FAULT state without going to Degraded Mode since the drives don’t reset themselves.

Parameters:

datasalobj.BaseMsgType: Contains the data as defined in the SAL XML file.

async do_resetDrivesShutter(data: BaseMsgType) → None¶

Reset one or more Aperture Shutter drives. This is necessary when exiting from FAULT state without going to Degraded Mode since the drives don’t reset themselves.

Parameters:

datasalobj.BaseMsgType: Contains the data as defined in the SAL XML file.

async do_setLogLevel(data: BaseMsgType) → None¶

Set logging level.

Parameters:

datacmd_setLogLevel.DataType: Logging level.

async do_setLouvers(data: BaseMsgType) → None¶

Set Louver.

Parameters:

datasalobj.BaseMsgType: Contains the data as defined in the SAL XML file.

async do_setOperationalMode(data: BaseMsgType) → None¶

Indicate that one or more sub_systems need to operate in degraded (true) or normal (false) state.

Parameters:

datasalobj.BaseMsgType: Contains the data as defined in the SAL XML file.

async do_setPowerManagementMode(data: BaseMsgType) → None¶

Set the power management mode.

Parameters:

datasalobj.BaseMsgType: Contains the data as defined in the SAL XML file.

Raises:

salobj.ExpectedError: In case data.mode is equal to NO_POWER_MANAGEMENT.

Notes

In case data.mode is equal to the current mode, a warning is logged and the new mode is ignored.

async do_setTemperature(data: BaseMsgType) → None¶

Set Temperature.

Parameters:

datasalobj.BaseMsgType: Contains the data as defined in the SAL XML file.

async do_setZeroAz(data: BaseMsgType) → None¶

Take the current position of the dome as zero. This is necessary as long as the racks and pinions on the drives have not been installed yet to compensate for slippage of the drives.

Parameters:

datasalobj.BaseMsgType: Contains the data as defined in the SAL XML file.

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¶

Stop all motion and engage the brakes if indicated in the data. Also disengage the locking pins if engaged.

Parameters:

datasalobj.BaseMsgType: Contains the data as defined in the SAL XML file.

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:

datasalobj.BaseMsgType: 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 go_fault(method: Callable) → None¶

Convenience method to go to FAULT state.

Parameters:

methodtyping.Callable: The method that causes the FAULT state.

async handle_summary_state() → None¶: Override of the handle_summary_state function to connect or disconnect to the lower level components (or the mock_controller) when needed.

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.

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 one_periodic_task(method: Callable, interval: float, go_fault: bool = False) → None¶

Run one method forever at the specified interval.

Parameters:

methodtyping.Callable: The periodic method to run.
intervalfloat: The interval (sec) at which to run the status method.
go_faultbool: Make the CSC go to FAULT state (True) or not (Fault). Defaults to Fault.

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 request_and_send_llc_status(llc_name: LlcName, topic: SimpleNamespace) → None¶

Generic method for retrieving the status of a lower level component and publish that on the corresponding telemetry topic.

Parameters:

llc_name: `LlcName`: The name of the lower level component.
topic: SAL topic: The SAL topic to publish the telemetry to.

async restore_llcs() → None¶

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_periodic_tasks() → None¶: Start all periodic tasks.

async start_phase2() → None¶

Handle the initial state.

Called after start.

async statusAMCS() → None¶

AMCS status command not to be executed by SAL.

This command will be used to request the full status of the AMCS lower level component.

async statusApSCS() → None¶

ApSCS status command not to be executed by SAL.

This command will be used to request the full status of the ApSCS lower level component.

async statusCBCS() → None¶

CBCS status command not to be executed by SAL.

This command will be used to request the full status of the CBCS lower level component.

async statusCSCS() → None¶

CSCS status command not to be executed by SAL.

This command will be used to request the full status of the CSCS lower level component.

async statusLCS() → None¶

LCS status command not to be executed by SAL.

This command will be used to request the full status of the LCS lower level component.

async statusLWSCS() → None¶

LWSCS status command not to be executed by SAL.

This command will be used to request the full status of the LWSCS lower level component.

async statusMonCS() → None¶

MonCS status command not to be executed by SAL.

This command will be used to request the full status of the MonCS lower level component.

async statusRAD() → None¶

RAD status command not to be executed by SAL.

This command will be used to request the full status of the RAD lower level component.

async statusThCS() → None¶

ThCS status command not to be executed by SAL.

This command will be used to request the full status of the ThCS lower level component.

Navigation

MTDomeCsc¶