CBPCSC¶

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

Bases: lsst.ts.salobj.configurable_csc.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`
`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.
`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`()	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¶

simulation_help: Optional[str] = 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 = '1.0.1.dev3+g96380f9'¶

Methods Documentation

classmethod add_arguments(parser: argparse.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: argparse.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: Optional[Union[int, enum.IntEnum, bool]], **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: lsst.ts.salobj.type_hints.BaseMsgType) → None¶

Begin do_disable; called before state changes.

Parameters

dataDataType: Command data

async begin_enable(data: lsst.ts.salobj.type_hints.BaseMsgType) → None¶

Begin do_enable; called before state changes.

Parameters

dataDataType: Command data

async begin_exitControl(data: lsst.ts.salobj.type_hints.BaseMsgType) → None¶

Begin do_exitControl; called before state changes.

Parameters

dataDataType: Command data

async begin_standby(data: lsst.ts.salobj.type_hints.BaseMsgType) → None¶

Begin do_standby; called before the state changes.

Parameters

dataDataType: Command data

async begin_start(data: lsst.ts.salobj.type_hints.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 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: lsst.ts.salobj.type_hints.BaseMsgType) → None¶

Transition from State.ENABLED to State.DISABLED.

Parameters

datacmd_disable.DataType: Command data

async do_enable(data: lsst.ts.salobj.type_hints.BaseMsgType) → None¶

Transition from State.DISABLED to State.ENABLED.

Parameters

datacmd_enable.DataType: Command data

async do_exitControl(data: lsst.ts.salobj.type_hints.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: lsst.ts.salobj.type_hints.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: lsst.ts.salobj.type_hints.BaseMsgType) → None¶

Set logging level.

Parameters

datacmd_setLogLevel.DataType: Logging level.

async do_standby(data: lsst.ts.salobj.type_hints.BaseMsgType) → None¶

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

Parameters

datacmd_standby.DataType: Command data

async do_start(data: lsst.ts.salobj.type_hints.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: lsst.ts.salobj.type_hints.BaseMsgType) → None¶

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

Parameters

dataDataType: Command data

async end_enable(data: lsst.ts.salobj.type_hints.BaseMsgType) → None¶

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

Parameters

dataDataType: Command data

async end_exitControl(data: lsst.ts.salobj.type_hints.BaseMsgType) → None¶

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

Parameters

dataDataType: Command data

async end_standby(data: lsst.ts.salobj.type_hints.BaseMsgType) → None¶

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

Parameters

dataDataType: Command data

async end_start(data: lsst.ts.salobj.type_hints.BaseMsgType) → None¶

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

Parameters

dataDataType: Command data

async fault(code: Optional[int], 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: Optional[Union[int, enum.IntEnum, bool]], **kwargs: Any) → lsst.ts.salobj.base_csc.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.

**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.

position()¶: Is all of the axes of the CBP in position.

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: jsonschema.validators.create.<locals>.Validator, config_dir: pathlib.Path, files_to_read: typing.List[str], git_hash: str = '') → types.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.

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.

async telemetry()¶: Publish the updated telemetry.

Navigation

CBPCSC¶