MockDome¶

class lsst.ts.mtdometrajectory.MockDome(initial_state, initial_elevation=0)¶

Bases: BaseCsc

A very limited fake Dome CSC

It mocks moving and stopping the azimuth and elevation axes, and does nothing with any of the other subsystems. It does not enforce motion limits.

Parameters

initial_statesalobj.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.
initial_elevationfloat, optional: Initial elevation.

Attributes Summary

`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; called before state changes.
`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.
`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_moveAz`(data)
`do_moveEl`(data)
`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`.
`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_target_azimuth`()	Get the target azimuth as an lsst.ts.simactuators.path.PathSegment.
`get_target_elevation`()	Get the target elevation as an lsst.ts.simactuators.path.PathSegment.
`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[, check_if_duplicate])	Construct a CSC from command line arguments.
`put_log_level`()	Output the logLevel event.
`report_azimuth_done`(in_position, motion_state)	Wait for azimuth to stop moving and report evt_azMotion.
`report_elevation_done`(in_position, motion_state)	Wait for elevation to stop moving and report it in position.
`set_simulation_mode`(simulation_mode)	Set the simulation mode.
`start`()	Finish constructing the CSC.
`start_phase2`()	Handle the initial state.
`telemetry_loop`()

Attributes Documentation

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¶

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 = 'mock'¶

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; called before state changes.

Parameters

dataDataType: Command data

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

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_moveAz(data)¶

async do_moveEl(data)¶

async do_setAuthList(data: BaseMsgType) → None¶

Update the authorization list.

Parameters

datacmd_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.

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.

get_target_azimuth()¶: Get the target azimuth as an lsst.ts.simactuators.path.PathSegment.

get_target_elevation()¶: Get the target elevation as an lsst.ts.simactuators.path.PathSegment.

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.

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 put_log_level() → None¶: Output the logLevel event.

async report_azimuth_done(in_position, motion_state)¶

Wait for azimuth to stop moving and report evt_azMotion.

Parameters

in_positionbool: Is the axis in position at the end of the move?
motion_statelsst.ts.idl.MotionState: Motion state at end of move.

async report_elevation_done(in_position, motion_state)¶

Wait for elevation to stop moving and report it in position.

Parameters

in_positionbool: Is the axis in position at the end of the move?
motion_statelsst.ts.idl.MotionState: Motion state at end of move.

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()¶

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 telemetry_loop()¶

Navigation

MockDome¶