M2¶

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`
`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`
`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.
`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_disable`(data)	Transition from `State.ENABLED` to `State.DISABLED`.
`do_enable`(data)	Transition from `State.DISABLED` to `State.ENABLED`.
`do_enableOpenLoopMaxLimit`(data)	Enable the maximum force limit in open-loop control.
`do_exitControl`(data)	Transition from `State.STANDBY` to `State.OFFLINE` and quit.
`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_setAuthList`(data)	Update the authorization list.
`do_setConfigurationFile`(data)	Set the system configuration file.
`do_setHardpointList`(data)	Set the hardpoint list.
`do_setLogLevel`(data)	Set logging level.
`do_setTemperatureOffset`(data)	Command to set temperature offset for the LUT temperature correction.
`do_standby`(data)	Transition from `State.DISABLED` or `State.FAULT` to `State.STANDBY`.
`do_start`(data)	Transition from `State.STANDBY` to `State.DISABLED`.
`do_switchForceBalanceSystem`(data)	Command to switch force balance system on and off.
`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. "ts_config_ocs".
`handle_summary_state`()	Handle summary state changes.
`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.
`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.
`set_mount_elevation_callback`(data)	Callback function to set the mount elevation.
`set_simulation_mode`(simulation_mode)	Set the simulation mode.
`start`()	Finish constructing the CSC.
`start_phase2`()	Handle the initial state.

Attributes Documentation

COMMAND_TIMEOUT = 10¶

COMMAND_TIMEOUT_LONG = 60¶

COMMAND_TIMEOUT_LONG_ENABLE = 400¶

SLEEP_TIME_MEDIUM = 5.0¶

SLEEP_TIME_SHORT = 3.0¶

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¶

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)¶

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 dds domain.

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_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_enableOpenLoopMaxLimit(data: BaseMsgType) → None¶

Enable the maximum force limit in open-loop control.

Parameters¶

dataobject: Data of the SAL message.

async do_exitControl(data: BaseMsgType) → None¶

Transition from State.STANDBY to State.OFFLINE and quit.

Parameters¶

datacmd_exitControl.DataType: Command data

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_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_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.

Raises¶

RuntimeError: When the communication power is on.

async do_setLogLevel(data: BaseMsgType) → None¶

Set logging level.

Parameters¶

datacmd_setLogLevel.DataType: Logging level.

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_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_switchForceBalanceSystem(data: BaseMsgType) → None¶

Command to switch force balance system on and off.

Parameters¶

dataobject: Data of the SAL message.

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.

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.

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 | 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 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 set_mount_elevation_callback(data: BaseMsgType) → None¶

Callback function to set the mount elevation.

Parameters¶

dataobject: Data of the SAL message.

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_phase2() → None¶

Handle the initial state.

Called after start.

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