CBPCSC

class lsst.ts.cbp.CBPCSC(simulation_mode=0, 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:

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.

Attributes:

component : CBPComponent

simulator : None or MockServer

telemetry_task : asyncio.Future

telemetry_interval : float

The interval that telemetry is published.

in_position_timeout : int

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
require_settings
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.

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()	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, **kwargs)	Construct a CSC from command line arguments.
position()	Is all of the axes of the CBP in position.
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()	Publish the updated telemetry.

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.

default_initial_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

require_settings = False

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)

The valid simulation modes for the CBP.

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, enum.IntEnum, True, False or None

If the CSC is indexed: specify True make index a required command-line argument that accepts any index, or an enum.IntEnum class to make index a required command-line argument that only accepts the enum values. 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 : types.SimpleNamespace

do_changeMask(data)

Changes the mask.

Parameters:

data : cmd_changeMask.DataType

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 : cmd_move.DataType

do_park(data)

Park the CBP.

Parameters:

data : cmd_park.DataType

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 : cmd_setFocus.DataType

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.

Parameters:

data : cmd_unpark.DataType

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()

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.

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.

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, **kwargs)

Construct a CSC from command line arguments.

Parameters:

index : int, enum.IntEnum, True, False or None

If the CSC is indexed: specify True make index a required command-line argument that accepts any index, or an enum.IntEnum class to make index a required command-line argument that only accepts the enum values. 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.

position()

Is all of the axes of the CBP in position.

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()

Publish the updated telemetry.