CBPCSC#

class lsst.ts.cbp.CBPCSC(simulation_mode=0, initial_state=State.STANDBY, config_dir=None)#

Bases: ConfigurableCsc

This defines the CBP CSC using ts_salobj.

Parameters:

simulation_mode (int, optional) –
Supported simulation mode values
- 0: normal operation
- 1: mock controller
initial_state (lsst.ts.salobj.State, optional) – Initial state is meant for unit tests, defaults to lsst.ts.salobj.State.STANDBY
config_dir (None or str or pathlib.Path, optional) – Meant for unit tests. Tells the CSC where to look for the configuration files. Normal operation will always be in a configuration repository returned get_config_dir.

component#

Component wrapper around the controller connection.

Type:: CBPComponent

simulator#

Mock controller used in simulation mode.

Type:: None or MockServer

telemetry_task#

Background task that publishes telemetry.

Type:: asyncio.Future

monitor_task#

Background task that reads hardware telemetry.

Type:: asyncio.Future

telemetry_interval#

The interval that telemetry is published.

Type:: float

in_position_timeout#

The time to wait for all encoders of the CBP to be in position.

Type:: int

mask_timeout#

The time to wait for a mask motion to complete.

Type:: int

in_position#

Component-owned in-position snapshot used for command responses.

Type:: component.InPosition

polling_interval#

The interval between monitor reads.

Type:: float

Attributes Summary

`in_position`	Return the component-owned command-facing in-position state.
`valid_simulation_modes`	The valid simulation modes for the CBP.
`version`

Methods Summary

`assert_unparked`()	Assert that the CBP is not parked.
`cancel_task`(task)	Cancel and await task result.
`close_tasks`()	Cancel CSC background tasks and close component resources.
`configure`(config)	Configure the CSC.
`do_changeMask`(data)	Changes the mask.
`do_changeMaskRotation`(data)	Changes the mask rotation variable and moves the current mask to that rotation value.
`do_move`(data)	Move the CBP mount to a specified position.
`do_park`(data)	Park the CBP.
`do_setFocus`(data)	Sets the focus.
`do_unpark`(data)	Unpark the CBP.
`get_config_pkg`()	Return the name of the configuration repository.
`handle_summary_state`()	React to the current summary state and manage background tasks.
`monitor`()	Read hardware state and update component telemetry snapshots.
`publish_in_position`([in_position])	Publish an in-position state.
`publish_target`([target])	Publish a commanded target state.
`publish_target_update`(target_update)	Publish an accepted component target update.
`publish_telemetry`([telemetry])	Publish component telemetry from one immutable snapshot.
`telemetry`()	Publish the updated telemetry.
`wait_for_move_completion`()	Wait for all axes of the CBP to be in position.
`wait_for_park_completion`(parked)	Wait for the monitor loop to observe the requested park state.

Attributes Documentation

in_position#: Return the component-owned command-facing in-position state.

valid_simulation_modes: Sequence[int] = (0, 1)#: The valid simulation modes for the CBP.

version = '1.6.0'#

Methods Documentation

assert_unparked()#

Assert that the CBP is not parked.

Raises:: lsst.ts.salobj.ExpectedError – Raised if the component telemetry reports that the CBP is parked.
Return type:: None

async cancel_task(task)#

Cancel and await task result. noop if already done.

Suppresses asyncio.CancelledError.

Parameters:: task (asyncio.Future) – The cancellable future or task to cancel and await.
Return type:: None

async close_tasks()#

Cancel CSC background tasks and close component resources.

Return type:: None

async configure(config)#

Configure the CSC.

Parameters:: config (types.SimpleNamespace) – Parsed configuration namespace.
Return type:: None

async do_changeMask(data)#

Changes the mask.

Parameters:: data (cmd_changeMask.DataType) – Command payload containing the target mask identifier.
Return type:: None

async do_changeMaskRotation(data)#

Changes the mask rotation variable and moves the current mask to that rotation value.

Parameters:: data (cmd_changeMaskRotation.DataType) – Command payload containing the target mask rotation.
Return type:: None

async do_move(data)#

Move the CBP mount to a specified position.

Parameters:: data (cmd_move.DataType) – Command payload containing the target azimuth and elevation.
Return type:: None

async do_park(data)#

Park the CBP.

Parameters:: data (cmd_park.DataType) – Command payload for the park command.
Return type:: None

async do_setFocus(data)#

Sets the focus.

Parameters:: data (cmd_setFocus.DataType) – Command payload containing the target focus value.
Return type:: None

async do_unpark(data)#

Unpark the CBP.

Parameters:: data (cmd_unpark.DataType) – Command payload for the unpark command.
Return type:: None

static get_config_pkg()#

Return the name of the configuration repository.

Returns:: config_pkg – Name of the configuration package.
Return type:: str

async handle_summary_state()#

React to the current summary state and manage background tasks.

Return type:: None

async monitor()#

Read hardware state and update component telemetry snapshots.

Return type:: None

async publish_in_position(in_position=None)#

Publish an in-position state.

If in_position is provided, it is usually a telemetry-derived snapshot from component.TelemetrySnapshot.in_position or a command-facing snapshot from component.TargetUpdate. If omitted, this publishes the component-owned transient state.

Parameters:: in_position (component.InPosition, optional) – In-position snapshot to publish. If omitted, publish the component-owned transient in-position state.
Return type:: None

async publish_target(target=None)#

Publish a commanded target state.

Parameters:: target (Target | None, default: None)
Return type:: None

async publish_target_update(target_update)#

Publish an accepted component target update.

Parameters:: target_update (component.TargetUpdate) – Component-owned target update to publish through SAL.
Return type:: None

async publish_telemetry(telemetry=None)#

Publish component telemetry from one immutable snapshot.

Parameters:: telemetry (component.TelemetrySnapshot, optional) – Snapshot to publish. If omitted, the latest component snapshot is captured once at the start of the method.
Return type:: None

async telemetry()#

Publish the updated telemetry.

Return type:: None

async wait_for_move_completion()#

Wait for all axes of the CBP to be in position.

Return type:: None

async wait_for_park_completion(parked)#

Wait for the monitor loop to observe the requested park state.

Parameters:: parked (bool)
Return type:: None