MTDomeTrajectory¶

class lsst.ts.mtdometrajectory.MTDomeTrajectory(config_dir=None, initial_state=State.STANDBY, override='')¶

Bases: ConfigurableCsc

MTDomeTrajectory CSC

MTDomeTrajectory commands the dome to follow the telescope, using an algorithm you specify in the configuration file. It supports no commands beyond the standard commands.

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_statesalobj.State (optional): The initial state of the CSC. Typically one of: - State.ENABLED if you want the CSC immediately usable. - State.STANDBY if you want full emulation of a CSC.
overridestr, optional: Configuration override file to apply if initial_state is State.DISABLED or State.ENABLED.

Attributes Summary

`config_dir`	Get or set the configuration directory.
`default_initial_state`
`disabled_or_enabled`	Return True if the summary state is `State.DISABLED` or `State.ENABLED`.
`domain`
`enable_cmdline_state`
`following_enabled`	Is following enabled?
`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.
`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.
`compute_vignetted_by_any`(*, azimuth, ...)	Compute the `vignetted` field of the telescopeVignetted event.
`compute_vignetted_by_azimuth`(dome_azimuth, ...)	Compute the `azimuth` field of the telescopeVignetted event.
`compute_vignetted_by_elevation`(...)	Compute the `elevation` field of the telescopeVignetted event.
`compute_vignetted_by_shutter`(...)	Compute the `shutter` field of the telescopeVignetted event.
`configure`(config)	Configure this CSC and output the `algorithm` event.
`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_setFollowingMode`(data)	Handle the setFollowingMode 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`.
`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.
`follow_target`()	Send the dome to a new position, if appropriate.
`get_config_pkg`()	Get the name of the configuration package, e.g.
`get_dome_azimuth`()	Get current actual dome azimuth (deg), or None if unavailable.
`get_dome_elevation`()	Get current actual dome elevation (deg), or None if unavailable.
`get_dome_summary_state`()	Get MTDome summary state, or None if unavailable.
`get_dome_target_azimuth`()	Get the current dome azimuth target.
`get_dome_target_elevation`()	Get the current dome elevation target.
`get_moved_azimuth`()
`get_moved_elevation`()
`get_shutters_percent_open`()	Get the current open percentage of both shutters, or None if unavailable.
`get_telescope_azimuth`()	Get current telescope azimuth (deg), or None if unavailable.
`get_telescope_elevation`()	Get current telescope elevation (deg), or None if unavailable.
`get_telescope_summary_state`()	Get MTMount summary state, or None if unavailable.
`handle_summary_state`()	Called when the summary state has changed.
`implement_simulation_mode`(simulation_mode)	Implement going into or out of simulation mode.
`make_follow_task`()	Make and return a task that is set when the follow method runs.
`make_from_cmd_line`(index[, check_if_duplicate])	Construct a CSC from command line arguments.
`move_dome_azimuth`(desired_dome_azimuth)	Start moving the dome azimuth axis.
`move_dome_elevation`(desired_dome_elevation)	Start moving the dome elevation axis.
`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.
`report_vignetted_loop`()	Poll MTDome & MTMount topics to report telescopeVignetted event.
`set_simulation_mode`(simulation_mode)	Set the simulation mode.
`signal_handler`()	Handle termination signals.
`start`()	Finish constructing the CSC.
`start_phase2`()	Handle the initial state.
`update_mtmount_target`(target)	Callback for MTMount target event.

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.

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¶

following_enabled¶

Is following enabled?

False if the CSC is not in the ENABLED state or if following is not enabled.

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]¶

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 | 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 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 domain.

async close_tasks()¶: Shut down pending tasks. Called by close.

compute_vignetted_by_any(*, azimuth, elevation, shutter)¶: Compute the vignetted field of the telescopeVignetted event.

compute_vignetted_by_azimuth(dome_azimuth, telescope_azimuth, telescope_elevation)¶

Compute the azimuth field of the telescopeVignetted event.

Parameters:

dome_azimuthfloat | None: Dome current azimuth (deg); None if unknown.
telescope_azimuthfloat | None: Telescope current azimuth (deg); None if unknown.
telescope_elevationfloat | None: Telescope current elevation (deg); None if unknown.

Returns:

azimuthTelescopeVignetted: Telescope vignetted by azimuth mismatch between telescope and dome.

compute_vignetted_by_elevation(dome_elevation, telescope_elevation)¶

Compute the elevation field of the telescopeVignetted event.

Parameters:

dome_elevationfloat | None: Dome current elevation (deg); None if unknown.
telescope_elevationfloat | None: Telescope current elevation (deg); None if unknown.

Returns:

elevationTelescopeVignetted: Telescope vignetted by elevation mismatch between telescope and dome.

compute_vignetted_by_shutter(shutters_percent_open)¶

Compute the shutter field of the telescopeVignetted event.

Parameters:

shutters_percent_open[float, float] | None: Current open percentage (%) of both dome shutters; None if unknown.

Returns:

shutterTelescopeVignetted: Telescope vignetted by dome shutter.

async configure(config)¶

Configure this CSC and output the algorithm event.

Parameters:

configtypes.SimpleNamespace: Configuration, as described by CONFIG_SCHEMA

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_setFollowingMode(data)¶: Handle the setFollowingMode 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 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.

async follow_target()¶

Send the dome to a new position, if appropriate.

This has no effect unless the summary state is ENABLED, the CSC and remotes have fully started, and the target azimuth is known.

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

get_dome_azimuth()¶: Get current actual dome azimuth (deg), or None if unavailable.

get_dome_elevation()¶: Get current actual dome elevation (deg), or None if unavailable.

get_dome_summary_state()¶: Get MTDome summary state, or None if unavailable.

get_dome_target_azimuth()¶: Get the current dome azimuth target.

get_dome_target_elevation()¶: Get the current dome elevation target.

get_moved_azimuth()¶

get_moved_elevation()¶

get_shutters_percent_open()¶: Get the current open percentage of both shutters, or None if unavailable.

get_telescope_azimuth()¶: Get current telescope azimuth (deg), or None if unavailable.

get_telescope_elevation()¶: Get current telescope elevation (deg), or None if unavailable.

get_telescope_summary_state()¶: Get MTMount summary state, or None if unavailable.

async 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().

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_follow_task()¶

Make and return a task that is set when the follow method runs.

The result of the task is (moved_elevation, moved_azimuth). This method is intended for unit tests.

classmethod make_from_cmd_line(index: int | 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 move_dome_azimuth(desired_dome_azimuth)¶

Start moving the dome azimuth axis.

Wait until the dome has reported that it is moving, via the azMotion and azTarget events.

This will log a warning and return if evt_azMotion has no data.

Parameters:

desired_dome_azimuthlsst.ts.simactuators.path.PathSegment: Desired dome azimuth.

async move_dome_elevation(desired_dome_elevation)¶

Start moving the dome elevation axis.

Wait until the dome has reported that it is moving, via the elMotion and elTarget events.

This will log a warning and return if evt_elMotion has no data.

Parameters:

desired_dome_elevationlsst.ts.simactuators.path.PathSegment: Desired dome elevation. The velocity is ignored.

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 report_vignetted_loop()¶: Poll MTDome & MTMount topics to report telescopeVignetted event.

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.

signal_handler() → None¶: Handle termination signals.

async start()¶

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 update_mtmount_target(target)¶

Callback for MTMount target event.

This is triggered in any summary state, but only commands a new dome position if enabled.

Navigation

MTDomeTrajectory¶