MTDomeCom

class lsst.ts.mtdomecom.MTDomeCom(log: Logger, config: SimpleNamespace, simulation_mode: ValidSimulationMode = ValidSimulationMode.NORMAL_OPERATIONS, telemetry_callbacks: dict[lsst.ts.mtdomecom.enums.LlcName, Callable[[dict[str, Any]], NoneType]] | None = None, start_periodic_tasks: bool = True)

Bases: object

TCP/IP interface to the MTDome controller.

Parameters:

loglogging.Logger

Logger for which a child logger is created.

configSimpleNameSpace

The configuration to use. This should contain the host name and port to connect to.

simulation_modeValidSimulationMode

The simulation mode to use. Defaults to NORMAL_OPERATIONS.

telemetry_callbacksdict`[`LlcName, typing.Callable]

List of telemetry callback coroutines to use. Defaults to None.

start_periodic_tasksbool

Start the periodic tasks or not. Defaults to True. Unit tests may set this to False.

Attributes Summary

connected

Methods Summary

check_all_commands_have_replies()	Check if all commands have received a reply.
close_louvers()	Close all louvers.
close_shutter()	Close the shutter.
config_llcs(system, settings)	Config command not to be executed by SAL.
connect()	Connect to the dome controller's TCP/IP port.
crawl_az(velocity)	Crawl AZ.
crawl_el(velocity)	Crawl El.
disconnect()	Disconnect from the TCP/IP controller, if connected, and stop the mock controller, if running.
exit_fault(sub_system_ids)	Indicate that all hardware errors have been resolved.
exit_fault_az()	Indicate that all AMCS hardware errors have been resolved.
exit_fault_el()	Indicate that all LWSCS hardware errors have been resolved.
exit_fault_louvers()	Indicate that all LCS hardware errors have been resolved.
exit_fault_shutter()	Indicate that all ApSCS hardware errors have been resolved.
exit_fault_thermal()	Indicate that all ThCS hardware errors have been resolved.
fans(speed)	Set the speed of the fans.
has_non_status_command()	Check if a non-status command is running.
home(sub_system_ids)	Search the home position of the Aperture Shutter, which is the closed position.
inflate(action)	Inflate or deflate the inflatable seal.
move_az(position, velocity)	Move AZ.
move_el(position)	Move El.
one_periodic_task(method, interval[, ...])	Run one method forever at the specified interval.
open_shutter()	Open the shutter.
park()	Park the dome.
process_command_queue()	Process the commands in the queue, if there are any.
query_status()	Query the status of all lower level components.
remove_keys_from_dict(...)	Return a copy of a dict with specified items removed.
request_llc_status(llc_name)	Generic method for retrieving the status of a lower level component.
reset_drives_az(reset)	Reset one or more AZ drives.
reset_drives_shutter(reset)	Reset one or more Aperture Shutter drives.
restore_llcs()
set_louvers(position)	Set the positions of the louvers.
set_operational_mode(operational_mode, ...)	Indicate that one or more sub_systems need to operate in degraded or normal state.
set_power_management_mode(power_management_mode)	Set the power management mode.
set_temperature(temperature)	Set the preferred temperature in the dome.
set_zero_az()	Take the current position of the dome as zero.
status_amcs()	AMCS status command.
status_apscs()	ApSCS status command.
status_cbcs()	CBCS status command.
status_cscs()	CSCS status command.
status_lcs()	LCS status command.
status_lwscs()	LWSCS status command.
status_moncs()	MonCS status command.
status_rad()	RAD status command.
status_thcs()	ThCS status command.
stop_az(engage_brakes)	Stop AZ motion and engage the brakes if indicated.
stop_el(engage_brakes)	Stop EL motion and engage the brakes if indicated.
stop_louvers(engage_brakes)	Stop Louvers motion and engage the brakes if indicated.
stop_shutter(engage_brakes)	Stop Shutter motion and engage the brakes if indicated.
stop_sub_systems(sub_system_ids, engage_brakes)	Stop all motion and engage the brakes if indicated in the data.
update_status_of_non_status_command(status)	Update the status of the non-status command.
write_then_read_reply(command, **params)	Write the cmd string and then read the reply to the command.

Attributes Documentation

connected

Methods Documentation

async check_all_commands_have_replies() → None

Check if all commands have received a reply.

If a command hasn’t received a reply after at least COMMANDS_REPLIED_PERIOD seconds, a warning is logged.

If a command hasn’t received a reply after at least 2 * COMMANDS_REPLIED_PERIOD seconds, an error is logged and the command is removed from the waiting list.

async close_louvers() → None

Close all louvers.

async close_shutter() → None

Close the shutter.

async config_llcs(system: LlcName, settings: list[dict[str, str | list[float]]]) → None

Config command not to be executed by SAL.

This command will be used to send the values of one or more parameters to configure the lower level components.

Parameters:

system: `LlcName`

The name of the lower level component to configure.

settingsdict

A dict containing key,value for all the parameters that need to be configured. The structure is:

"jmax"
"amax"
"vmax"

async connect() → None

Connect to the dome controller’s TCP/IP port.

Start the mock controller, if simulating.

async crawl_az(velocity: float) → None

Crawl AZ.

Parameters:

velocityfloat

The velocity of the target [deg/s].

Notes

The AMCS expects the velocity in radians/sec. This method takes care the conversion to radians.

async crawl_el(velocity: float) → None

Crawl El.

Parameters:

velocityfloat

The velocity of the target [deg/s].

Notes

The LWSCS expects the velocity in radians/sec. This method takes care the conversion to radians.

async disconnect() → None

Disconnect from the TCP/IP controller, if connected, and stop the mock controller, if running.

async exit_fault(sub_system_ids: int) → None

Indicate that all hardware errors have been resolved.

Parameters:

sub_system_idsint

Bitmask of the sub-systems to exit fault for.

async exit_fault_az() → None

Indicate that all AMCS hardware errors have been resolved.

async exit_fault_el() → None

Indicate that all LWSCS hardware errors have been resolved.

async exit_fault_louvers() → None

Indicate that all LCS hardware errors have been resolved.

async exit_fault_shutter() → None

Indicate that all ApSCS hardware errors have been resolved.

async exit_fault_thermal() → None

Indicate that all ThCS hardware errors have been resolved.

async fans(speed: float) → None

Set the speed of the fans.

Parameters:

speedfloat

The speed to set.

async has_non_status_command() → bool

Check if a non-status command is running.

Returns:

statusbool

True if a non-status command is running, False otherwise.

async home(sub_system_ids: int) → None

Search the home position of the Aperture Shutter, which is the closed position.

This is necessary in case the ApSCS (Aperture Shutter Control system) was shutdown with the Aperture Shutter not fully open or fully closed.

Parameters:

sub_system_idsint

Bitmask of the sub-systems to home.

async inflate(action: OnOff) → None

Inflate or deflate the inflatable seal.

Parameters:

actionOnOff

The action to perform.

async move_az(position: float, velocity: float) → None

Move AZ.

Parameters:

positionfloat

The current azimuth position of the target [deg].

velocityfloat

The velocity of the target [deg/s].

Notes

The AMCS expects the position in radians and the velocity in radians/s. On top of that, the AMCS internal angle is offset by about 32 degrees east with respect to 0 degrees azimuth. This method takes care of the offset and the conversion to radians.

async move_el(position: float) → None

Move El.

Parameters:

positionfloat

The elevation position of the target [deg].

Notes

The LWSCS expects the position in radians. This method takes care of the conversion to radians.

async one_periodic_task(method: Callable, interval: float, wrap_with_async_task: bool = True) → None

Run one method forever at the specified interval.

Parameters:

methodtyping.Callable

The periodic method to run.

intervalfloat

The interval (sec) at which to run the status method.

wrap_with_async_taskbool, optional

Wrap the method in an asyncio task or not. Defaults to True.

async open_shutter() → None

Open the shutter.

async park() → None

Park the dome.

async process_command_queue() → None

Process the commands in the queue, if there are any.

Depending on the power management state, certain commands take precedence over others. Whether a command actually can be issued depends on the expected power draw for the command and the available power for the rotating part of the dome. If a command can be issued then it is removed from the queue, otherwise not.

async query_status() → None

Query the status of all lower level components.

remove_keys_from_dict(dict_with_too_many_keys: dict[str, Any], keys_to_remove: set[str]) → dict[str, Any]

Return a copy of a dict with specified items removed.

Parameters:

dict_with_too_many_keysdict

The dict where to remove the keys from.

keys_to_removeset`[`str]

The keys to remove from the dict.

Returns:

dict_with_keys_removeddict

A dict with the same keys as the given dict but with the given keys removed.

async request_llc_status(llc_name: LlcName) → None

Generic method for retrieving the status of a lower level component.

The status also is pre_processed, meaning prepared for further processing downstream.

Parameters:

llc_name: `LlcName`

The name of the lower level component.

async reset_drives_az(reset: list[int]) → None

Reset one or more AZ drives.

This is necessary when exiting from FAULT state without going to Degraded Mode since the drives don’t reset themselves.

Parameters:

resetlist`[`int]

List of indices of the motors to reset.

async reset_drives_shutter(reset: list[int]) → None

Reset one or more Aperture Shutter drives.

This is necessary when exiting from FAULT state without going to Degraded Mode since the drives don’t reset themselves.

Parameters:

resetlist`[`int]

List of indices of the motors to reset.

async restore_llcs() → None

async set_louvers(position: list[float]) → None

Set the positions of the louvers.

Parameters:

position: array of float

An array of positions, in percentage with 0 meaning closed and 100 fully open, for each louver. A position of -1 means “do not move”.

async set_operational_mode(operational_mode: OperationalMode, sub_system_ids: int) → None

Indicate that one or more sub_systems need to operate in degraded or normal state.

Parameters:

operational_modeOperationalMode

The operaitonal mode to set.

sub_system_idsint

Bitmask of the sub-systems to set the operational mode for.

async set_power_management_mode(power_management_mode: PowerManagementMode) → None

Set the power management mode.

Parameters:

power_management_modePowerManagementMode

The power management mode to set.

async set_temperature(temperature: float) → None

Set the preferred temperature in the dome.

Parameters:

temperature: `float`

The temperature, in degrees Celsius, to set.

async set_zero_az() → None

Take the current position of the dome as zero.

This is necessary as long as the racks and pinions on the drives have not been installed yet to compensate for slippage of the drives.

async status_amcs() → None

AMCS status command.

async status_apscs() → None

ApSCS status command.

async status_cbcs() → None

CBCS status command.

async status_cscs() → None

CSCS status command.

async status_lcs() → None

LCS status command.

async status_lwscs() → None

LWSCS status command.

async status_moncs() → None

MonCS status command.

async status_rad() → None

RAD status command.

async status_thcs() → None

ThCS status command.

async stop_az(engage_brakes: bool) → None

Stop AZ motion and engage the brakes if indicated. Also disengage the locking pins if engaged.

Parameters:

engage_brakesbool

Engage the brakes (true) or not (false).

async stop_el(engage_brakes: bool) → None

Stop EL motion and engage the brakes if indicated. Also disengage the locking pins if engaged.

Parameters:

engage_brakesbool

Engage the brakes (true) or not (false).

async stop_louvers(engage_brakes: bool) → None

Stop Louvers motion and engage the brakes if indicated. Also disengage the locking pins if engaged.

Parameters:

engage_brakesbool

Engage the brakes (true) or not (false).

async stop_shutter(engage_brakes: bool) → None

Stop Shutter motion and engage the brakes if indicated. Also disengage the locking pins if engaged.

Parameters:

engage_brakesbool

Engage the brakes (true) or not (false).

async stop_sub_systems(sub_system_ids: int, engage_brakes: bool) → None

Stop all motion and engage the brakes if indicated in the data. Also disengage the locking pins if engaged.

Parameters:

sub_system_idsint

Bitmask of the sub-systems to stop.

engage_brakesbool

Engage the brakes (True) or not (False).

async update_status_of_non_status_command(status: bool) → None

Update the status of the non-status command.

Parameters:

statusbool

Set True if running a non-status command. After it is done, set False.

async write_then_read_reply(command: CommandName, **params: Any) → dict[str, Any]

Write the cmd string and then read the reply to the command.

Parameters:

commandCommandName

The command to write.

**paramstyping.Any

The parameters for the command. This may be empty.

Returns:

datadict

A dict of the form {“response”: ResponseCode, “timeout”: TimeoutValue} where “response” can be zero for “OK” or non-zero for any other situation.

Notes

For the function that calls this method, it might need to call the self.update_status_of_non_status_command() first and set the argument to be True if it is a non-status command. Otherwise, the continuous status commands in self.query_status() will block this in the TCP/IP pipe.