BaseMockController#

class lsst.ts.hexrotcomm.BaseMockController(log, CommandCode, extra_commands, config, telemetry, port, host='127.0.0.1', initial_state=ControllerState.STANDBY)#

Bases: OneClientReadLoopServer, ABC

Base class for a mock Moog TCP/IP controller with states.

The controller uses two TCP/IP server sockets, one to read commands and the other to write telemetry.

Parameters:

log (logging.Logger) – Logger.
extra_commands (dict of command key: method) – Device-specific commands, as a dict of command key (as returned by get_command_key): method to call for that command. Note: BaseMockController already supports the standard state transition commands, including CLEAR_ERROR. If the command is not done when the method returns, the method should return the predicted duration, in seconds.
CommandCode (enum) – Command codes.
config (ctypes.Structure) – Configuration data that must contain the “drives_enabled” field as boolean. May be modified.
telemetry (ctypes.Structure) – Telemetry data. Modified by update_telemetry.
port (int) – TCP/IP port. Specify 0 to choose a random free port; this is recommended for unit tests, to avoid collision with other tests. Do not specify 0 with host=None (see lsst.ts.tcpip.OneClientServer).
host (str or None, optional) – IP address for this server. Typically “127.0.0.1” (the default) for an IPV4 server and “::” for an IPV6 server. If None then bind to all network interfaces and run both IPV4 and IPV6 servers. Do not specify None with port=0 (see lsst.ts.tcpip.OneClientServer for details).
initial_state (lsst.ts.xml.enums.MTHexapod.ControllerState (optional)) – Initial state of mock controller.

Notes

To start a mock controller:

ctrl = MockController(…) await ctrl.connect_task

To stop the server:

await ctrl.stop()

Attributes Summary

`enabled_substate`
`state`
`telemetry_interval`

Methods Summary

`assert_state`(state[, enabled_substate])	Check the state and, optionally, the substate.
`assert_stationary`()
`close_client`(**kwargs)	Close the connected client (if any) and stop background tasks.
`connect_callback`(server)	Called when the server connection state changes.
`do_clear_error`(command)
`do_enable`(command)
`do_enable_drives`(command)
`do_standby`(command)
`end_run_command`(command, cmd_method)	Called when run_command is done.
`get_command_key`(command)	Return the key to command_table.
`read_and_dispatch`()	Read and execute one command.
`run_command`(command)	Run a command and wait for the reply.
`set_state`(state)	Set the current state and substates.
`telemetry_loop`()	Write configuration once, then telemetry at regular intervals.
`update_and_get_header`(frame_id)	Update the config or telemetry header and return it and the time.
`update_telemetry`(curr_tai)	Update self.client.telemetry.
`write_command_status`(counter, status[, ...])	Write a command status.
`write_config`()	Write the current configuration.

Attributes Documentation

enabled_substate#

state#

telemetry_interval = 0.1#

Methods Documentation

assert_state(state, enabled_substate=None)#

Check the state and, optionally, the substate.

Parameters:

state (int) – Required state.
enabled_substate (int or None, optional) – Required enabled substate, or None to not check.

Raises:

CommandError – If the state is not as expected.

Return type:

None

assert_stationary()#

Return type:: None

async close_client(**kwargs)#

Close the connected client (if any) and stop background tasks.

Parameters:: kwargs (dict[str, Any])
Return type:: None

async connect_callback(server)#

Called when the server connection state changes.

If connected: start the command and telemetry loops. If not connected: stop the command and telemetry loops.

Parameters:: server (OneClientReadLoopServer)
Return type:: None

async do_clear_error(command)#

Parameters:: command (Command)
Return type:: None

async do_enable(command)#

Parameters:: command (Command)
Return type:: None

async do_enable_drives(command)#

Parameters:: command (Command)
Return type:: None

async do_standby(command)#

Parameters:: command (Command)
Return type:: None

abstract async end_run_command(command, cmd_method)#

Called when run_command is done.

Can be used to clear the set position.

Parameters:

command (Command)
cmd_method (Coroutine)

Return type:

None

get_command_key(command)#

Return the key to command_table.

Parameters:: command (Command)
Return type:: Any

async read_and_dispatch()#

Read and execute one command.

Return type:: None

async run_command(command)#

Run a command and wait for the reply.

Parameters:: command (Command) – The command to run. This method sets the commander and counter fields.
Returns:: duration – Estimated duration (seconds) until the command is finished. 0 if the command is already done or almost already done.
Return type:: float or None
Raises:: CommandError – If the command fails.

set_state(state)#

Set the current state and substates.

Parameters:: state (lsst.ts.xml.enums.MTHexapod.ControllerState or int) – New state.
Return type:: None

Notes

Sets the substates as follows:

lsst.ts.xml.enums.MTHexapod.EnabledSubstate.STATIONARY if state == lsst.ts.xml.enums.MTHexapod.ControllerState.ENABLED

async telemetry_loop()#

Write configuration once, then telemetry at regular intervals.

Return type:: None

update_and_get_header(frame_id)#

Update the config or telemetry header and return it and the time.

Call this prior to writing configuration or telemetry.

Parameters:

frame_id (FrameId) – Frame ID of header to write.

Return type:

tuple[Header, float]

Returns:

header (structs.Header) – The header.
curr_tai (float) – Current time in header timestamp (TAI, unix seconds).

abstract async update_telemetry(curr_tai)#

Update self.client.telemetry.

Parameters:: curr_tai (float) – Time at which to compute telemetry (TAI, unix seconds). This is the time in the header, which is (approximately) the current time.
Return type:: None

async write_command_status(counter, status, duration=0.0, reason='')#

Write a command status.

Parameters:

counter (int) – counter field of command being acknowledged.
status (CommandStatusCode) – Command status code.
duration (float or None, optional) – Estimated duration. None is treated as 0.
reason (str, optional) – Reason for failure. Should be non-blank if and only if the command failed.

Raises:

ConnectionError – If not connected.

Return type:

None

async write_config()#

Write the current configuration.

Raises:: RuntimeError – If not connected.
Return type:: None