CBPCSC¶

class lsst.ts.cbp.CBPCSC(simulation_mode, initial_state: lsst.ts.salobj.sal_enums.State = <State.STANDBY: 5>, config_dir=None)¶

Bases: lsst.ts.salobj.configurable_csc.ConfigurableCsc

This defines the CBP CSC using ts_salobj.

Parameters:	port : `str` This is the ip address of the CBP. address : `int` This is the port of the CBP speed : `float` The amount of time it takes to move the CBP into place. factor : `float` The factor to multiply the speed of the CBP. initial_state : `salobj.State` The initial state of the csc, typically STANDBY or OFFLINE
Attributes:	log : `logging.Logger` This is the log for the class. `summary_state` : `salobj.State` Get the summary state as a `State` enum. model : `CBPModel` This is the model that links the component to the CSC. cbp_speed : `float` The amount of time that it takes to move CBP’s axes. factor : `float` The factor to add to the speed of the CBP.

Attributes Summary

`config_dir`	Get or set the configuration directory.
`disabled_or_enabled`	Return True if the summary state is `State.DISABLED` or `State.ENABLED`.
`domain`
`simulation_mode`	Get the current simulation mode.
`summary_state`	Get the summary state as a `State` enum.
`valid_simulation_modes`

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.
`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`()	Get the name of the configuration package, e.g.
`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, **kwargs)	Construct a CSC from command line arguments.
`motion_finished`()
`put_log_level`()	Output the logLevel event.
`read_config_dir`()	Set `self.config_label_dict` and output `evt_settingVersions`.
`report_summary_state`()	Report a new value for summary_state, including current state.
`set_simulation_mode`(simulation_mode)	Set the simulation mode.
`start`()	Finish constructing the CSC.
`telemetry`()	Actually updates all of the sal telemetry objects.

Attributes Documentation

config_dir¶

Get or set the configuration directory.

Parameters:	config_dir : `str`, `bytes`, or `pathlib.Path` New configuration directory.
Returns:	config_dir : `pathlib.Path` Absolute path to the configuration directory.
Raises:	ValueError If the new configuration dir is not a directory.

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¶

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 = (0, 1)¶

Methods Documentation

classmethod add_arguments(parser)¶

Add arguments to the parser created by make_from_cmd_line.

Parameters:	parser : `argparse.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, kwargs)¶

Add constructor keyword arguments based on parsed arguments.

Parameters:	args : `argparse.namespace` Parsed command. kwargs : `dict` 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.

classmethod amain(index, **kwargs)¶

Make a CSC from command-line arguments and run it.

Parameters:	index : `int`, `True`, `False` or `None` If the CSC is indexed: specify `True` make index a required command line argument, or specify a non-zero `int` to use that index. If the CSC is not indexed: specify `None` or 0. **kwargs : `dict`, optional Additional keyword arguments for your CSC’s constructor.

assert_enabled(action='')¶

Assert that an action that requires ENABLED state can be run.

Parameters:	action : `str`, 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.

begin_disable(data)¶

Begin do_disable; called before state changes.

Parameters:	data : `DataType` Command data

begin_enable(data)¶

Begin do_enable; called before state changes.

Parameters:	data : `DataType` Command data

begin_exitControl(data)¶

Begin do_exitControl; called before state changes.

Parameters:	data : `DataType` Command data

begin_standby(data)¶

Begin do_standby; called before the state changes.

Parameters:	data : `DataType` Command data

begin_start(data)¶

Begin do_start; configure the CSC before changing state.

Parameters:	data : `cmd_start.DataType` Command data

Notes

The settingsToApply 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.

close(exception=None, cancel_start=True)¶

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:	exception : `Exception`, 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_start : `bool`, 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.

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

configure(config)¶

Configure the CSC.

Parameters:	config : `object` The configuration as described by the schema at `schema_path`, as a struct-like object.

Notes

Called when running the start command, just before changing summary state from State.STANDBY to State.DISABLED.

do_changeMask(data)¶

Changes the mask.

Parameters:	data
Returns:	None

do_disable(data)¶

Transition from State.ENABLED to State.DISABLED.

Parameters:	data : `cmd_disable.DataType` Command data

do_enable(data)¶

Transition from State.DISABLED to State.ENABLED.

Parameters:	data : `cmd_enable.DataType` Command data

do_exitControl(data)¶

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

Parameters:	data : `cmd_exitControl.DataType` Command data

do_move(data)¶

Move the CBP mount to a specified position.

Parameters:	data
Returns:	None

do_park(data)¶

Park the CBP.

Returns:	None

do_setAuthList(data)¶

Update the authorization list.

Parameters:	data : `cmd_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.

do_setFocus(data)¶

Sets the focus.

Parameters:	data
Returns:	None

do_setLogLevel(data)¶

Set logging level.

Parameters:	data : `cmd_setLogLevel.DataType` Logging level.

do_standby(data)¶

Transition from State.DISABLED or State.FAULT to State.STANDBY.

Parameters:	data : `cmd_standby.DataType` Command data

do_start(data)¶

Transition from State.STANDBY to State.DISABLED.

Parameters:	data : `cmd_start.DataType` Command data

do_unpark(data)¶: Unpark the CBP.

end_disable(data)¶

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

Parameters:	data : `DataType` Command data

end_enable(data)¶

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

Parameters:	data : `DataType` Command data

end_exitControl(data)¶

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

Parameters:	data : `DataType` Command data

end_standby(data)¶

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

Parameters:	data : `DataType` Command data

end_start(data)¶

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

Parameters:	data : `DataType` Command data

fault(code, report, traceback='')¶

Enter the fault state and output the errorCode event.

Parameters:	code : `int` 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. report : `str` Description of the error. traceback : `str`, optional Description of the traceback, if any.

static get_config_pkg()¶: Get the name of the configuration package, e.g. “ts_config_ocs”.

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().

implement_simulation_mode(simulation_mode)¶

Implement going into or out of simulation mode.

Deprecated. See simulation mode for details.

Parameters:	simulation_mode : `int` Requested simulation mode; 0 for normal operation.
Raises:	ExpectedError If `simulation_mode` is not a supported value.

classmethod make_from_cmd_line(index, **kwargs)¶

Construct a CSC from command line arguments.

Parameters:	index : `int`, `True`, `False` or `None` If the CSC is indexed: specify `True` make index a required command line argument, or specify a non-zero `int` to use that index. If the CSC is not indexed: specify `None` or 0. **kwargs : `dict`, optional Additional keyword arguments for your CSC’s constructor.
Returns:	csc : `cls` The CSC.

Notes

To add additional command-line arguments, override add_arguments and add_kwargs_from_args.

motion_finished()¶

put_log_level()¶: Output the logLevel event.

read_config_dir()¶

Set self.config_label_dict and output evt_settingVersions.

Set self.config_label_dict from self.config_dir/_labels.yaml. Output the settingVersions event (if changed) as follows:

recommendedSettingsLabels is a comma-separated list of labels in self.config_label_dict, truncated by omitting labels if necessary.
recommendedSettingsVersion is derived from git information for self.config_dir, if it is a git repository, else “”.

report_summary_state()¶

Report a new value for summary_state, including current state.

Subclasses may wish to override for code that depends on the current state (rather than the state transition command that got it into that state).

set_simulation_mode(simulation_mode)¶

Set the simulation mode.

Await implement_simulation_mode, update the simulation mode property and report the new value.

Parameters:	simulation_mode : `int` Requested simulation mode; 0 for normal operation.

start()¶

Finish constructing the CSC.

If initial_summary_state is State.DISABLED or State.ENABLED then call configure.
Run BaseCsc.start

telemetry()¶

Actually updates all of the sal telemetry objects.

Returns:	None

Navigation

CBPCSC¶