M2

class lsst.ts.m2.M2(host: str | None = None, port_command: int | None = None, port_telemetry: int | None = None, config_dir: str | Path | None = None, initial_state: State = State.STANDBY, simulation_mode: int = 0, verbose: bool = False)

Bases: ConfigurableCsc

M2 commandable SAL component (CSC) class.

Parameters

hoststr or None, optional

IP address of the TCP/IP interface. (the default is None and the value in ts_config_mttcs configuration files will be applied.)

port_commandint or None, optional

Command port number of the TCP/IP interface. (the default is None and the value in ts_config_mttcs configuration files will be applied.)

port_telemetryint or None, optional

Telemetry port number of the TCP/IP interface. (the default is None and the value in ts_config_mttcs configuration files will be applied.)

config_dirstr, pathlib.Path, or None, 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_statelsst.ts.salobj.State or int, optional

The initial state of the CSC. (the default is salobj.State.STANDBY)

simulation_modeint, optional

Simulation mode. The default is 0: do not simulate.

verbosebool, optional

Print the debug message to standard output or not. (the default is False)

Attributes

loglogging.Logger

A logger.

controller_celllsst.ts.m2com.ControllerCell

Controller to do the TCP/IP communication with the servers of M2 cell.

configtypes.SimpleNamespace or None

Namespace with configuration values.

mtmountlsst.ts.salobj.Remote

Remote object of MTMount CSC.

ilc_retry_timesint

Retry times to transition the inner-loop controller (ILC) state.

ilc_timeoutfloat

Timeout in second for the transition of ILC state.

system_is_readybool

System is ready or not.

Attributes Summary

COMMAND_TIMEOUT
COMMAND_TIMEOUT_LONG
COMMAND_TIMEOUT_LONG_ENABLE
SLEEP_TIME_MEDIUM
SLEEP_TIME_SHORT
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.
begin_disable(data)	Begin do_disable; called before state changes.
begin_enable(data)	Begin do_enable; 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.
close_tasks()	Shut down pending tasks.
configure(config)	Configure CSC.
do_actuatorBumpTest(data)	Exercise the actuator bump test in the closed-loop control, which is performed at +/push and -/pull directions.
do_applyForces(data)	Apply force.
do_bypassErrorCode(data)	Bypass the error code in control loop.
do_clearErrors(data)	Emulate clearError command.
do_enableLutTemperature(data)	Command to enable or disable the temperature look-up table (LUT) correction.
do_enableOpenLoopMaxLimit(data)	Enable the maximum force limit in open-loop control.
do_killActuatorBumpTest(data)	Kill the running actuator bump test in the closed-loop control.
do_moveActuator(data)	Move the actuator in open-loop control.
do_positionMirror(data)	Position Mirror.
do_resetActuatorSteps(data)	Resets user defined actuator steps to zeros.
do_resetEnabledFaultsMask(data)	Reset the enabled faults mask to default.
do_resetForceOffsets(data)	Resets user defined forces to zeros.
do_selectInclinationSource(data)	Command to select source of inclination data.
do_setConfigurationFile(data)	Set the system configuration file.
do_setHardpointList(data)	Set the hardpoint list.
do_setTemperatureOffset(data)	Command to set temperature offset for the LUT temperature correction.
do_switchForceBalanceSystem(data)	Command to switch force balance system on and off.
end_start(data)	End do_start; called after state changes but before command acknowledged.
get_config_pkg()	Get the name of the configuration package, e.g. "ts_config_ocs".
handle_summary_state()	Handle summary state changes.
is_csc_commander()	The commandable SAL component (CSC) is the commander or not.
set_mount_elevation_callback(data)	Callback function to set the mount elevation.

Attributes Documentation

COMMAND_TIMEOUT = 10

COMMAND_TIMEOUT_LONG = 60

COMMAND_TIMEOUT_LONG_ENABLE = 400

SLEEP_TIME_MEDIUM = 5.0

SLEEP_TIME_SHORT = 3.0

valid_simulation_modes: Sequence[int] = (0, 1)

version = '0.13.20'

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 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_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 close_tasks() → None

Shut down pending tasks. Called by close.

async configure(config: SimpleNamespace) → None

Configure CSC.

Parameters

configtypes.SimpleNamespace

Namespace with configuration values.

async do_actuatorBumpTest(data: BaseMsgType) → None

Exercise the actuator bump test in the closed-loop control, which is performed at +/push and -/pull directions.

Parameters

dataobject

Data of the SAL message.

async do_applyForces(data: BaseMsgType) → None

Apply force.

Parameters

dataobject

Data of the SAL message.

async do_bypassErrorCode(data: BaseMsgType) → None

Bypass the error code in control loop.

Notes

This command might break the system.

Parameters

dataobject

Data of the SAL message.

Raises

ValueError

When the error code is unrecognized.

async do_clearErrors(data: BaseMsgType) → None

Emulate clearError command.

Parameters

dataobject

Data of the SAL message.

async do_enableLutTemperature(data: BaseMsgType) → None

Command to enable or disable the temperature look-up table (LUT) correction.

Parameters

dataobject

Data of the SAL message.

async do_enableOpenLoopMaxLimit(data: BaseMsgType) → None

Enable the maximum force limit in open-loop control.

Parameters

dataobject

Data of the SAL message.

async do_killActuatorBumpTest(data: BaseMsgType) → None

Kill the running actuator bump test in the closed-loop control.

Parameters

dataobject

Data of the SAL message.

async do_moveActuator(data: BaseMsgType) → None

Move the actuator in open-loop control.

Parameters

dataobject

Data of the SAL message.

Raises

ValueError

When both of the displacement and step are not zero.

async do_positionMirror(data: BaseMsgType) → None

Position Mirror.

Parameters

dataobject

Data of the SAL message.

async do_resetActuatorSteps(data: BaseMsgType) → None

Resets user defined actuator steps to zeros.

Parameters

dataobject

Data of the SAL message.

async do_resetEnabledFaultsMask(data: BaseMsgType) → None

Reset the enabled faults mask to default. This will remove all the bypassed error codes in control loop.

Parameters

dataobject

Data of the SAL message.

async do_resetForceOffsets(data: BaseMsgType) → None

Resets user defined forces to zeros.

Parameters

dataobject

Data of the SAL message.

async do_selectInclinationSource(data: BaseMsgType) → None

Command to select source of inclination data.

Parameters

dataobject

Data of the SAL message.

async do_setConfigurationFile(data: BaseMsgType) → None

Set the system configuration file.

Parameters

dataobject

Data of the SAL message.

Raises

RuntimeError

When the communication power is on.

RuntimeError

When no available configuration files.

ValueError

When the configuration file is not allowed.

async do_setHardpointList(data: BaseMsgType) → None

Set the hardpoint list.

Parameters

dataobject

Data of the SAL message.

async do_setTemperatureOffset(data: BaseMsgType) → None

Command to set temperature offset for the LUT temperature correction.

Parameters

dataobject

Data of the SAL message.

async do_switchForceBalanceSystem(data: BaseMsgType) → None

Command to switch force balance system on and off.

Parameters

dataobject

Data of the SAL message.

async end_start(data: BaseMsgType) → None

End do_start; called after state changes but before command acknowledged.

Parameters

dataDataType

Command data

static get_config_pkg() → str

Get the name of the configuration package, e.g. “ts_config_ocs”.

async handle_summary_state() → None

Handle summary state changes.

is_csc_commander() → bool

The commandable SAL component (CSC) is the commander or not.

Returns

bool

True if the CSC is the commander. Otherwise, False.

async set_mount_elevation_callback(data: BaseMsgType) → None

Callback function to set the mount elevation.

Parameters

dataobject

Data of the SAL message.