MockMTDomeController¶

class lsst.ts.mtdome.MockMTDomeController(port: int, log: Logger, connect_callback: Union[None, Callable[[BaseClientOrServer], Awaitable[None]]] = None, include_command_id: bool = True)¶

Bases: OneClientReadLoopServer

Mock MTDome Controller that talks over TCP/IP.

Parameters

portint: TCP/IP port
loglogging.Logger: The logger to use.
connect_callbackcallable: The callback to use when a client connects.

Notes

There are six sub-systems that are under control:

AMCS: Azimuth Motion Control System
ApSCS: Aperture Shutter Control System
LCS: Louvers Control System
LWSCS: Light and Wind Screen Control System
MonCS: Monitoring Control System, which interfaces with the MTDome
Interlock System
ThCS: Thermal Control System, which interfaces with the MTDome
Environment Control System

To start the server:

ctrl = MockMTDomeController(…) await ctrl.start()

To stop the server:

await ctrl.stop()

Known Limitations:

Just a framework that needs to be implemented properly.

Attributes Summary

`LONG_DURATION`
`SLOW_NETWORK_SLEEP`
`connected`	Return True if self._reader and self._writer are connected.

Methods Summary

`basic_close_client`()	Close the connected client socket, if any.
`call_connect_callback`()	A client has connected or disconnected.
`close`()	Close socket server and client socket, and set done_task done.
`close_client`([cancel_read_loop_task])	Stop the read loop and close the client.
`close_louvers`()	Close all louvers.
`close_shutter`()	Close the shutter.
`config`(system, settings)	Configure the lower level components.
`crawl_az`(velocity)	Crawl the dome.
`crawl_el`(velocity)	Crawl the light and wind screen.
`determine_current_tai`()	Determine the current TAI time.
`exit_fault`()	Exit from fault state.
`fans`(speed)	Enable or disable the fans in the dome.
`go_stationary_az`()	Stop azimuth motion and engage the brakes.
`go_stationary_el`()	Stop elevation motion and engage the brakes.
`go_stationary_louvers`()	Stop louvers motion and engage the brakes.
`go_stationary_shutter`()	Stop shutter motion and engage the brakes.
`inflate`(action)	Inflate or deflate the inflatable seal.
`move_az`(position, velocity)	Move the dome.
`move_el`(position)	Move the light and wind screen.
`open_shutter`()	Open the shutter.
`park`()	Park the dome.
`read`(n)	Read up to n bytes.
`read_and_dispatch`()	Read, parse, and dispatch one item of data.
`read_into`(struct)	Read binary data from a stream reader into a `ctypes.Structure`.
`read_json`()	Read JSON data.
`read_loop`()	Read incoming data and handle them.
`read_str`()	Read and decode a terminated str; strip the terminator.
`readexactly`(n)	Read exactly n bytes.
`readline`()	Read a sequence of bytes ending with `\n`.
`readuntil`([separator])	Read one line, where “line” is a sequence of bytes ending with `separator`.
`request_and_send_status`(llc, llc_name)	Request the status of the given Lower Level Component and write it to the requester.
`reset_drives_az`(reset)	Reset one or more AZ drives.
`reset_drives_shutter`(reset)	Reset one or more Aperture Shutter drives.
`restore`()	Restore the default configuration of the lower level components.
`search_zero_shutter`()	Search the zero position of the Aperture Shutter, which is the closed position.
`set_degraded_az`()	Set az operational mode to degraded (as opposed to normal).
`set_degraded_el`()	Set el operational mode to degraded (as opposed to normal).
`set_degraded_louvers`()	Set louvers operational mode to degraded (as opposed to normal).
`set_degraded_monitoring`()	Set monitoring operational mode to degraded (as opposed to normal).
`set_degraded_shutter`()	Set shutter operational mode to degraded (as opposed to normal).
`set_degraded_thermal`()	Set thermal operational mode to degraded (as opposed to normal).
`set_louvers`(position)	Set the positions of the louvers.
`set_normal_az`()	Set az operational mode to normal (as opposed to degraded).
`set_normal_el`()	Set el operational mode to normal (as opposed to degraded).
`set_normal_louvers`()	Set louvers operational mode to normal (as opposed to degraded).
`set_normal_monitoring`()	Set monitoring operational mode to normal (as opposed to degraded).
`set_normal_shutter`()	Set shutter operational mode to normal (as opposed to degraded).
`set_normal_thermal`()	Set thermal operational mode to normal (as opposed to degraded).
`set_temperature`(temperature)	Set the preferred temperature in the dome.
`set_zero_az`()	Take the current position of the dome as zero.
`start`(**kwargs)	Start the TCP/IP server.
`start_or_stop_thcs_if_necessary`()
`status_amcs`()	Request the status from the AMCS lower level component and write it in reply.
`status_apscs`()	Request the status from the ApSCS lower level component and write it in reply.
`status_cscs`()	Request the status from the Calibration Screen and write it in reply.
`status_lcs`()	Request the status from the LCS lower level component and write it in reply.
`status_lwscs`()	Request the status from the LWSCS lower level component and write it in reply.
`status_moncs`()	Request the status from the MonCS lower level component and write it in reply.
`status_rad`()	Request the status from the RAD lower level component and write it in reply.
`status_thcs`()	Request the status from the ThCS lower level component and write it in reply.
`stop_az`()	Stop all dome motion.
`stop_el`()	Stop all light and wind screen motion.
`stop_louvers`()	Stop the motion of all louvers.
`stop_shutter`()	Stop the motion of the shutter.
`write`(data)	Write data and call `drain`.
`write_from`(*structs)	Write binary data from one or more `ctypes.Structure`s.
`write_json`(data)	Write data in JSON format.
`write_reply`(**data)	Write the data appended with the commandId.
`write_str`(line)	Encode, terminate, and write a str.
`writelines`(lines)	Write an iterable of bytes and call `drain`.

Attributes Documentation

LONG_DURATION = 20¶

SLOW_NETWORK_SLEEP = 10.0¶

connected¶

Return True if self._reader and self._writer are connected.

Note: if the other end drops the connection and if you are not trying to read data (e.g. in a background loop), then it takes the operating system awhile to realize the connection is lost. So this can return true for some unknown time after the connection has been dropped.

Methods Documentation

async basic_close_client() → None¶

Close the connected client socket, if any.

Also:

Reset self.connected_task to a new Future.
Call connect_callback, if a client was connected.

Unlike close_client, this does not touch self.should_be_connected.

Always safe to call.

async call_connect_callback() → None¶: A client has connected or disconnected.

async close() → None¶

Close socket server and client socket, and set done_task done.

Call connect_callback if a client was connected.

Always safe to call.

async close_client(cancel_read_loop_task: bool = True) → None¶

Stop the read loop and close the client.

Parameters

cancel_read_loop_taskbool: Cancel the read loop task or not? Defaults to True and should be False when called from the read loop task itself.

async close_louvers() → None¶: Close all louvers.

async close_shutter() → float¶

Close the shutter.

Returns

float: The estimated duration of the execution of the command.

async config(system: str, settings: dict) → None¶

Configure the lower level components.

Parameters

system: `str`

The name of the system to configure.

settings: `dict`

An array containing a single dict with key,value pairs for all the parameters that need to be configured. The structure is:

[
    {
      "Parameter1_name": Value,
      "Parameter2_name": Value,
      ...
    }
  ]

It is assumed that the values of the configuration parameters are validated to lie within the limits before being passed on to this function. It is assumed that all configuration parameters are present and that their values represent the value to set even unchanged.

async crawl_az(velocity: float) → float¶

Crawl the dome.

Parameters

velocity: `float`: The velocity, in rad/sec, to crawl at.

Returns

float: The estimated duration of the execution of the command.

async crawl_el(velocity: float) → float¶

Crawl the light and wind screen.

Parameters

velocity: `float`: The velocity, in rad/sec, to crawl at.

Returns

float: The estimated duration of the execution of the command.

async determine_current_tai() → None¶

Determine the current TAI time.

This is done in a separate method so a mock method can replace it in unit tests.

async exit_fault() → None¶: Exit from fault state.

async fans(speed: float) → None¶

Enable or disable the fans in the dome.

Parameters

speed: `float`: The speed of the fans [%].

async go_stationary_az() → float¶

Stop azimuth motion and engage the brakes. Also disengage the locking pins if engaged.

Returns

float: The estimated duration of the execution of the command.

async go_stationary_el() → float¶

Stop elevation motion and engage the brakes. Also disengage the locking pins if engaged.

Returns

float: The estimated duration of the execution of the command.

async go_stationary_louvers() → None¶: Stop louvers motion and engage the brakes.

async go_stationary_shutter() → float¶

Stop shutter motion and engage the brakes.

Returns

float: The estimated duration of the execution of the command.

async inflate(action: str) → None¶

Inflate or deflate the inflatable seal.

Parameters

action: `str`: ON means inflate and OFF deflate the inflatable seal.

async move_az(position: float, velocity: float) → float¶

Move the dome.

Parameters

position: `float`: Desired azimuth, in radians, in range [0, 2 pi)
velocity: `float`: The velocity, in rad/sec, to start crawling at once the position has been reached.

Returns

float: The estimated duration of the execution of the command.

async move_el(position: float) → float¶

Move the light and wind screen.

Parameters

position: `float`: Desired elevation, in radians, in range [0, pi/2)

Returns

duration: float: The estimated duration of the execution of the command.

async open_shutter() → float¶

Open the shutter.

Returns

float: The estimated duration of the execution of the command.

async park() → float¶

Park the dome.

Returns

float: The estimated duration of the execution of the command.

async read(n: int) → bytes¶

Read up to n bytes.

Parameters

nint: The number of bytes to read. If -1 then block until the other end closes its writer, then return all data seen.

Raises

ConnectionError: If the connection is lost before, or while, reading.

async read_and_dispatch() → None¶

Read, parse, and dispatch one item of data.

Subclasses need to implement this method such that it reads and parses data and then dispatches handling the data to a method suitable for the subclass. Methods that might be helpful include:

read_json to read json-encoded data
read_str to read terminated strings
read_into to read binary structs

async read_into(struct: Structure) → None¶

Read binary data from a stream reader into a ctypes.Structure.

Parameters

structctypes.Structure: Structure to set.

Raises

ConnectionError: If the connection is lost before, or while, reading.
asyncio.IncompleteReadError: If EOF is reached before n bytes can be read. Use the IncompleteReadError.partial attribute to get the partially read data.

async read_json() → Any¶

Read JSON data.

Read the data with read_str and return the json-decoded result.

Returns

datatyping.Any: Data decoded from JSON.

Raises

ConnectionError: If the connection is lost before, or while, reading.
asyncio.IncompleteReadError: If EOF is reached before the complete separator is found and the internal buffer is reset.
LimitOverrunError: If the amount of data read exceeds the configured stream lmit. The data is left in the internal buffer and can be read again.
TypeError: If the data are of a type that cannot be decoded from JSON.
json.JSONDecodeError: If the data cannot be decoded from JSON.

async read_loop() → None¶

Read incoming data and handle them.

The actual reading is deferred to the read_and_dispatch method and needs to be implemented by subclasses.

async read_str() → str¶

Read and decode a terminated str; strip the terminator.

Read until self.terminator, strip the terminator, and decode the data as self.encoding with strict error handling.

Returns

linestr: Line of data, as a str with the terminator stripped.

Raises

ConnectionError: If the connection is lost before, or while, reading.
asyncio.IncompleteReadError: If EOF is reached before the complete separator is found and the internal buffer is reset.
LimitOverrunError: If the amount of data read exceeds the configured stream lmit. The data is left in the internal buffer and can be read again.
UnicodeError: If decoding fails.

async readexactly(n: int) → bytes¶

Read exactly n bytes.

Parameters

nint: The number of bytes to read.

Raises

ConnectionError: If the connection is lost before, or while, reading.
asyncio.IncompleteReadError: If EOF is reached before n bytes can be read. Use the IncompleteReadError.partial attribute to get the partially read data.

async readline() → bytes¶

Read a sequence of bytes ending with \n.

If EOF is received and \n was not found, the method returns partially read data.

Raises

ConnectionError: If the connection is lost before, or while, reading.

async readuntil(separator: bytes = b'\n') → bytes¶

Read one line, where “line” is a sequence of bytes ending with separator.

Read data from the stream until separator is found.

On success, the data and separator will be removed from the internal buffer (consumed). Returned data will include the separator at the end.

See also read_str, which is more convenient for most use cases.

Parameters

separatorbytes: The desired separator. The default matches the standard library, rather than using terminator.

Raises

ConnectionError: If the connection is lost before, or while, reading.
asyncio.IncompleteReadError: If EOF is reached before the complete separator is found and the internal buffer is reset.
LimitOverrunError: If the amount of data read exceeds the configured stream lmit. The data is left in the internal buffer and can be read again.

async request_and_send_status(llc: BaseMockStatus, llc_name: str) → None¶

Request the status of the given Lower Level Component and write it to the requester.

Parameters

llc: `BaseMockStatus`: The Lower Level Component status to request the status from.
llc_name: `str`: The name of the Lower Level Component.

async reset_drives_az(reset: list[int]) → float¶

Reset one or more AZ drives.

Parameters

reset: array of int: Desired reset action to execute on each AZ drive: 0 means don’t reset, 1 means reset.

Returns

float: The estimated duration of the execution of the command.

Notes

This is necessary when exiting from FAULT state without going to Degraded Mode since the drives don’t reset themselves. The number of values in the reset parameter is not validated.

async reset_drives_shutter(reset: list[int]) → None¶

Reset one or more Aperture Shutter drives.

Parameters

reset: array of int: Desired reset action to execute on each Aperture Shutter drive: 0 means don’t reset, 1 means reset.

Notes

This is necessary when exiting from FAULT state without going to Degraded Mode since the drives don’t reset themselves. The number of values in the reset parameter is not validated.

async restore() → None¶: Restore the default configuration of the lower level components.

async search_zero_shutter() → float¶

Search the zero 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.

Returns

float: The estimated duration of the execution of the command.

async set_degraded_az() → None¶: Set az operational mode to degraded (as opposed to normal).

async set_degraded_el() → None¶: Set el operational mode to degraded (as opposed to normal).

async set_degraded_louvers() → None¶: Set louvers operational mode to degraded (as opposed to normal).

async set_degraded_monitoring() → None¶: Set monitoring operational mode to degraded (as opposed to normal).

async set_degraded_shutter() → None¶: Set shutter operational mode to degraded (as opposed to normal).

async set_degraded_thermal() → None¶: Set thermal operational mode to degraded (as opposed to normal).

async set_louvers(position: list[float]) → None¶

Set the positions of the louvers.

Parameters

position: array of float: An array of positions, in percentage with 0 meaning closed and 100 fully open, for each louver. A position of -1 means “do not move”.

async set_normal_az() → None¶: Set az operational mode to normal (as opposed to degraded).

async set_normal_el() → None¶: Set el operational mode to normal (as opposed to degraded).

async set_normal_louvers() → None¶: Set louvers operational mode to normal (as opposed to degraded).

async set_normal_monitoring() → None¶: Set monitoring operational mode to normal (as opposed to degraded).

async set_normal_shutter() → None¶: Set shutter operational mode to normal (as opposed to degraded).

async set_normal_thermal() → None¶: Set thermal operational mode to normal (as opposed to degraded).

async set_temperature(temperature: float) → None¶

Set the preferred temperature in the dome.

Parameters

temperature: `float`: The temperature, in degrees Celsius, to set.

async set_zero_az() → float¶

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

Returns

float: The estimated duration of the execution of the command.

async start(**kwargs: Any) → None¶

Start the TCP/IP server.

Parameters

**kwargsdict [str, typing.Any]: Additional keyword arguments for asyncio.start_server, beyond host and port.

async start_or_stop_thcs_if_necessary() → None¶

async status_amcs() → None¶: Request the status from the AMCS lower level component and write it in reply.

async status_apscs() → None¶: Request the status from the ApSCS lower level component and write it in reply.

async status_cscs() → None¶: Request the status from the Calibration Screen and write it in reply.

async status_lcs() → None¶: Request the status from the LCS lower level component and write it in reply.

async status_lwscs() → None¶: Request the status from the LWSCS lower level component and write it in reply.

async status_moncs() → None¶: Request the status from the MonCS lower level component and write it in reply.

async status_rad() → None¶: Request the status from the RAD lower level component and write it in reply.

async status_thcs() → None¶: Request the status from the ThCS lower level component and write it in reply.

async stop_az() → float¶

Stop all dome motion.

Returns

float: The estimated duration of the execution of the command.

async stop_el() → float¶

Stop all light and wind screen motion.

Returns

float: The estimated duration of the execution of the command.

async stop_louvers() → None¶: Stop the motion of all louvers.

async stop_shutter() → float¶

Stop the motion of the shutter.

Returns

float: The estimated duration of the execution of the command.

async write(data: bytes) → None¶

Write data and call drain.

Parameters

databytes: The data to write.

Raises

ConnectionError: If self.connected false before writing begins.

async write_from(*structs: Structure) → None¶

Write binary data from one or more ctypes.Structures.

Parameters

structslist [ctypes.Structure]: Structures to write.

Raises

ConnectionError: If self.connected false before writing begins.

async write_json(data: Any) → None¶

Write data in JSON format.

Encode the data as json and write the result with write_str.

Parameters

dataany: The data to be written. Typically a dict, but any json-encodable data is acceptable.

Raises

ConnectionError: If the connection is lost before, or while, reading.
UnicodeError: If encoding fails.
json.JSONEncodeError: If the data cannot be json-encoded.

async write_reply(**data: Any) → None¶

Write the data appended with the commandId.

The non-negative, non-zero commandId is contained in the incoming data, for which this method writes a reply, and is copied as is.

Parameters

data:: The data to write.

async write_str(line: str) → None¶

Encode, terminate, and write a str.

Encode the str as self.encoding with strict error handling, and append self.terminator.

Parameters

linestr: The line of data to be written.

Raises

ConnectionError: If the connection is lost before, or while, reading.
UnicodeError: If encoding fails.

async writelines(lines: Iterable) → None¶

Write an iterable of bytes and call drain.

Parameters

linescollections.abc.Iterable [bytes]: The data to write, as an iterable collection of bytes.

Raises

ConnectionError: If self.connected false before writing begins.

Navigation

MockMTDomeController¶