SimpleMockController

class lsst.ts.hexrotcomm.SimpleMockController(log, host='127.0.0.1', command_port=6211, telemetry_port=6210, initial_state=<ControllerState.OFFLINE: 3>)

Bases: lsst.ts.hexrotcomm.BaseMockController

Simple mock controller for unit testing BaseMockController.

The MOVE command sets cmd_position and curr_position, then the controller slowly increments curr_position.

Parameters:

log : logging.Logger

Logger.

host : str (optional)

IP address of server.

command_port : int (optional)

Command socket port. This argument is intended for unit tests; use the default value for normal operation.

telemetry_port : int (optional)

Telemetry socket port. This argument is intended for unit tests; use the default value for normal operation.

Notes

The MOVE command is rejected if the new position is not within the configured limits.

Attributes Summary

command_connected	Return True if the command socket is connected.
connect_retry_interval
connected	Return True if command and telemetry sockets are connected.
enabled_substate
offline_substate
state
telemetry_connected	Return True if the telemetry socket is connected.
telemetry_interval

Methods Summary

assert_state(state[, offline_substate, …])
assert_stationary()
close()	Kill command and telemetry tasks and close the connections.
command_loop()	Read and execute commands.
connect()	Connect the sockets.
connect_command()	Connect or reconnect to the command socket.
connect_telemetry()	Connect or reconnect to the telemetry/configuration socket.
do_clear_error(command)
do_config_velocity(command)
do_disable(command)
do_enable(command)
do_enter_control(command)
do_exit(command)
do_position_set(command)
do_standby(command)
do_start(command)
end_run_command(**kwargs)	Called when run_command is done.
get_command_key(command)	Return the key to command_table.
run_command(command)	Run a command.
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_config()	Write the current configuration.

Attributes Documentation

command_connected

Return True if the command socket is connected.

connect_retry_interval = 0.1

connected

Return True if command and telemetry sockets are connected.

enabled_substate

offline_substate

state

telemetry_connected

Return True if the telemetry socket is connected.

telemetry_interval = 0.1

Methods Documentation

assert_state(state, offline_substate=None, enabled_substate=None)

assert_stationary()

close()

Kill command and telemetry tasks and close the connections.

Always safe to call.

command_loop()

Read and execute commands.

connect()

Connect the sockets.

Notes

This will wait forever for a connection.

connect_command()

Connect or reconnect to the command socket.

Notes

This will wait forever for a connection.

connect_telemetry()

Connect or reconnect to the telemetry/configuration socket.

Notes

This will wait forever for a connection.

do_clear_error(command)

do_config_velocity(command)

do_disable(command)

do_enable(command)

do_enter_control(command)

do_exit(command)

do_position_set(command)

do_standby(command)

do_start(command)

end_run_command(**kwargs)

Called when run_command is done.

Can be used to clear the set position.

get_command_key(command)

Return the key to command_table.

run_command(command)

Run a command.

Parameters:

command : Command

Command to run.

set_state(state)

Set the current state and substates.

Parameters:

state : lsst.ts.idl.enums.ControllerState or int

New state.

Notes

Sets the substates as follows:

• lsst.ts.idl.enums.OfflineSubstate.AVAILABLE if state == lsst.ts.idl.enums.ControllerState.OFFLINE
• lsst.ts.idl.enums.EnabledSubstate.STATIONARY if state == lsst.ts.idl.enums.ControllerState.ENABLED

The real controller goes to substate lsst.ts.idl.enums.OfflineSubstate.PUBLISH_ONLY when going offline, but requires the engineering user interface (EUI) to get out of that state, and we don’t have an EUI for the mock controller!

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.

Call this prior to writing telemetry or configuration.

Parameters:

frame_id : int

Frame ID of header to write.

Returns:

header : structs.Header

The header.

curr_tai : float

Current time in header timestamp (TAI, unix seconds).

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.

write_config()

Write the current configuration.