CSC¶

class lsst.ts.atspectrograph.CSC(config_dir: Optional[Union[str, Path]] = None, initial_state: State = State.STANDBY, simulation_mode: int = 0)¶

Bases: ConfigurableCsc

Configurable Commandable SAL Component (CSC) for the Auxiliary Telescope Spectrograph.

Parameters:

initial_statesalobj.State or int (optional): The initial state of the CSC. This is provided for unit testing, as real CSCs should start up in lsst.ts.salobj.StateSTANDBY, the default.
simulation_modeint (optional): Simulation mode.

Notes

Simulation Modes

Supported simulation modes:

0: regular operation
1: simulation mode: start a mock TCP/IP controller and talk to it

Error Codes

1: Health monitoring loop died.
2: Error in the linear stage.
3: Error in the filter wheel.
4: Error in the grating wheel.
5: Error connecting to the hardware controller.

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`
`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.
`assert_move_allowed`(action)	Assert that moving the spectrograph elements is allowed.
`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_fg_config`(config)	Check Filter/Grating configuration integrity.
`close`()	Shut down, clean up resources and set done_task done.
`close_tasks`()	Shut down pending tasks.
`configure`(config)	Configure the CSC.
`do_changeDisperser`(data)	Change the disperser element.
`do_changeFilter`(data)	Change filter.
`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_homeLinearStage`(data)	Home linear stage.
`do_moveLinearStage`(data)	Move linear stage.
`do_setAuthList`(data)	Update the authorization list.
`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_stopAllAxes`(data)	Stop all axes.
`end_disable`(data)	End do_disable; called after state changes but before command acknowledged.
`end_enable`(data)	End do_enable; called after state changes.
`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.
`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 after every state transition.
`health_monitor_loop`()	A coroutine to monitor the state of the hardware.
`home_element`(query, home, report, ...)	Utility method to home subcomponents.
`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.
`monitor_start_integration_callback`(data)	Set `is_exposing` flag to True.
`monitor_start_readout_callback`(data)	Set `is_exposing` flag to False.
`move_element`(query, move, position, report, ...)	A utility function to wrap the steps for moving the filter wheel, grating wheel and linear stage.
`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.
`report_disperser_position`(position, ...)	Report the disperser wheel position.
`report_filter_position`(position, position_name)	Report the filter wheel position.
`report_linear_stage_position`(position, ...)	Report the linear stage position.
`set_simulation_mode`(simulation_mode)	Set the simulation mode.
`start`()	Finish constructing the CSC.
`start_phase2`()	Handle the initial state.

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: None | 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)¶

version = '0.8.7'¶

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.

assert_move_allowed(action: str) → None¶: Assert that moving the spectrograph elements is allowed.

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.

Send CMD_INPROGRESS acknowledgement with estimated timeout.

Parameters:

id_dataCommandIdData: Command ID and 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.

static check_fg_config(config: Dict[str, Any]) → int¶

Check Filter/Grating configuration integrity.

Parameters:

config: `dict`: Dictionary with arrays for each key.

Returns:

size: int: Size of the arrays in the dictionary.

Raises:

RuntimeError: If arrays have different sizes.

async close() → 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() → None¶: Shut down pending tasks. Called by close.

async configure(config: Any) → None¶

Configure the CSC.

Parameters:

configobject: 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.

async do_changeDisperser(data: BaseMsgType) → None¶

Change the disperser element.

Parameters:

dataATSpectrograph_command_changeDisperser: Command ID and data

async do_changeFilter(data: BaseMsgType) → None¶

Change filter.

Parameters:

dataATSpectrograph_command_changeFilter: Command data

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_homeLinearStage(data: BaseMsgType) → None¶

Home linear stage.

Parameters:

dataATSpectrograph_command_homeLinearStage: Command data

async do_moveLinearStage(data: BaseMsgType) → None¶

Move linear stage.

Parameters:

dataATSpectrograph_command_moveLinearStage: Command data

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_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_stopAllAxes(data: BaseMsgType) → None¶

Stop all axes.

Parameters:

dataATSpectrograph_command_stopAllAxes: Command data

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.

This method will connect to the controller.

Parameters:

dataATSpectrograph_command_enable: 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.

This method call setup on the model, passing the selected setting.

Parameters:

dataATSpectrograph_command_start: Command data

async fault(code: None | 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() → str¶: Get the name of the configuration package, e.g. “ts_config_ocs”.

async handle_summary_state() → None¶

Called after every state transition.

If running in simulation mode, check if mock_ctrl has been initialized and, if not, wait for mock controller to start.

Parameters:

dataATSpectrograph_command_start: Command data

async health_monitor_loop() → None¶: A coroutine to monitor the state of the hardware.

async home_element(query: str, home: str, report: str, inposition: str, report_state: str) → None¶

Utility method to home subcomponents.

Parameters:

querystr

Name of the method that queries the status of the element. Must be one of the three options:

query_gw_status

query_fw_status

query_ls_status

homestr

Name of the method that initializes element. Must be one of the three options:

init_gw

init_fw

init_ls

reportstr

Name of the method responsible for reporting the position. Must be one of the three options:

reportedDisperserPosition

reportedFilterPosition

reportedLinearStagePosition

inpositionstr

Name of the method responsible for reporting that element is in position. Must be one of the three options:

disperserInPosition

filterInPosition

linearStageInPosition

report_statestr

Name of the method responsible for reporting the state of the element. Must be one of the three options:

gwState

fwState

lsState

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.

classmethod make_from_cmd_line(index: int | enum.IntEnum | bool | None, **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.

**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.

monitor_start_integration_callback(data: BaseMsgType) → None¶: Set is_exposing flag to True.

monitor_start_readout_callback(data: BaseMsgType) → None¶: Set is_exposing flag to False.

async move_element(query: str, move: str, position: Union[int, float], report: str, inposition: str, report_state: str, position_name: Optional[str] = None) → None¶

A utility function to wrap the steps for moving the filter wheel, grating wheel and linear stage.

Parameters:

querystr

Name of the method that queries the status of the element. Must be one of the three options:

query_gw_status

query_fw_status

query_ls_status

movestr

Name of the method that moves the element. Must be one of the three options:

move_gw

move_fw

move_ls

positionint or float

Position to move the wheel or the linear stage. Limits are checked by the controller and an exception is raised if out of range.

reportstr

Name of the method responsible for reporting the position. Must be one of the three options:

reportedDisperserPosition

reportedFilterPosition

reportedLinearStagePosition

inpositionstr

Name of the method responsible for reporting that element is in position. Must be one of the three options:

disperserInPosition

filterInPosition

linearStageInPosition

report_statestr

Name of the method responsible for reporting the state of the element. Must be one of the three options:

gwState

fwState

lsState

position_namestr

Name of the specified 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: 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 report_disperser_position(position: int, position_name: str) → None¶

Report the disperser wheel position.

Parameters:

positionint: Position of the element.
position_namestr: Name of the position.

async report_filter_position(position: int, position_name: str) → None¶

Report the filter wheel position.

Parameters:

positionint: Position of the element.
position_namestr: Name of the position.

async report_linear_stage_position(position: int, position_name: str) → None¶

Report the linear stage position.

Parameters:

positionint: Position of the element.
position_namestr: Name of the position.

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.

Navigation

CSC¶