CBPCSC

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

Bases: ConfigurableCsc

This defines the CBP CSC using ts_salobj.

Parameters:
simulation_modeint, optional

Supported simulation mode values

  • 0: normal operation

  • 1: mock controller

initial_statelsst.ts.salobj.State, optional

Initial state is meant for unit tests, defaults to lsst.ts.salobj.State.STANDBY

config_dirNone 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.

Attributes:
componentCBPComponent
simulatorNone or MockServer
telemetry_taskasyncio.Future
telemetry_intervalfloat

The interval that telemetry is published.

in_position_timeoutint

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

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

position

Is all of the axes of the CBP in position.

simulation_help

simulation_mode

Get the current simulation mode.

summary_state

Get the summary state as a State enum.

valid_simulation_modes

The valid simulation modes for the CBP.

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 the CSC.

do_changeMask(data)

Changes the mask.

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_move(data)

Move the CBP mount to a specified position.

do_park(data)

Park the CBP.

do_setAuthList(data)

Update the authorization list.

do_setFocus(data)

Sets the focus.

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.

do_unpark(data)

Unpark the CBP.

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()

Return the name of the configuration repository.

handle_summary_state()

Handle the summary state.

implement_simulation_mode(simulation_mode)

Implement going into or out of simulation mode.

in_position()

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

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_simulation_mode(simulation_mode)

Set the simulation mode.

start()

Finish constructing the CSC.

start_phase2()

Handle the initial state.

telemetry()

Publish the updated telemetry.

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
position

Is all of the axes of the CBP in position.

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)

The valid simulation modes for the CBP.

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 | 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; 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: Optional[Exception] = 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 configure(config)

Configure the CSC.

Parameters:
configtypes.SimpleNamespace
async do_changeMask(data)

Changes the mask.

Parameters:
datacmd_changeMask.DataType
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_move(data)

Move the CBP mount to a specified position.

Parameters:
datacmd_move.DataType
async do_park(data)

Park the CBP.

Parameters:
datacmd_park.DataType
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_setFocus(data)

Sets the focus.

Parameters:
datacmd_setFocus.DataType
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 do_unpark(data)

Unpark the CBP.

Parameters:
datacmd_unpark.DataType
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()

Return the name of the configuration repository.

async handle_summary_state()

Handle the 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.

async in_position()

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

In this case, in position is defined as the encoder values being within tolerance to the target values.

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 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_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.

async start_phase2() None

Handle the initial state.

Called after start.

async telemetry()

Publish the updated telemetry.