SimpleCsc

class lsst.ts.hexrotcomm.SimpleCsc(config_dir=None, initial_state=State.STANDBY, simulation_mode=1, override='')

Bases: BaseCsc

Simple CSC to talk to SimpleMockController.

This is based on the MTRotator CSC but only supports a small subset off commands, events and telemetry. See Notes for details. The move command sets the cmd_position and curr_position telemetry fields, then the controller slowly increments curr_position.

Parameters:

• config_dir (str, optional) – Directory of configuration files, or None for the standard configuration directory (obtained from _get_default_config_dir). This is provided for unit testing.

• initial_state (lsst.ts.salobj.State or int (optional)) – The initial state of the CSC. Ignored (other than checking that it is a valid value) except in simulation mode, because in normal operation the initial state is the current state of the controller. This is provided for unit testing.

• override (str, optional) – Configuration override file to apply if initial_state is State.DISABLED or State.ENABLED.

• simulation_mode (int (optional)) –

  Simulation mode. Allowed values:

  • 0: regular operation.

  • 1: simulation: use a mock low level controller.

Notes

Error Codes

• lsst.ts.xml.enums.MTHexapod.ErrorCode.CONTROLLER_FAULT: The low-level controller went to fault state.

• lsst.ts.xml.enums.MTHexapod.ErrorCode.CONNECTION_LOST: Lost connection to the low-level controller.

SAL API

This CSC implements a subset of the MTRotator SAL API.

Commands beyond the generic commands:

• move

Events beyond the generic events:

• commandableByDDS

• configuration

• connected

• controllerState

Telemetry:

• rotation

Attributes Summary

valid_simulation_modes
version

Methods Summary

config_callback(client)	Called when the TCP/IP controller outputs configuration.
do_move(data)	Specify a position.
make_mock_controller()	Construct and return a mock controller.
telemetry_callback(client)	Called when the TCP/IP controller outputs telemetry.

Attributes Documentation

valid_simulation_modes: Sequence[int] = [1]

version = 'test'

Methods Documentation

async config_callback(client)

Called when the TCP/IP controller outputs configuration.

Parameters:

client (CommandTelemetryClient) – TCP/IP client.

Return type:

None

async do_move(data)

Specify a position.

Parameters:

data (BaseMsgType)

Return type:

None

make_mock_controller()

Construct and return a mock controller.

Return type:

SimpleMockController

async telemetry_callback(client)

Called when the TCP/IP controller outputs telemetry.

Parameters:

client (CommandTelemetryClient) – TCP/IP client.

Return type:

None