Version History#

v1.3.7 (2026-01-09)#

New Features#

Other Changes and Additions#

v1.3.6 (2025-10-08)#

New Features#

  • Support the towncrier. (OSW-274)

  • Support the ts-conda-build 0.5 in conda recipe. (OSW-1202)

v1.3.5#

  • Improve the setup.py to support the version of Python 3.11 and 3.12.

v1.3.4#

  • Fix the failed test.

v1.3.3#

  • Add the extra_commands argument to BaseCsc.__init__().

  • Remove the ts-idl.

v1.3.2#

  • Add the BaseCsc.standby_controller().

v1.3.1#

  • Fix the race condition in BaseCsc.basic_telemetry_callback() with the BaseCsc.begin_disable().

The reason we can do so is because the controller has a simplified state machine now. It only has the Standby, Enabled, and Fault states.

v1.3.0#

  • Remove the code related to the deprecated state machine in controller.

  • Migrate the functions from ts_mtrotator.

v1.2.2#

  • Update the version of ts-conda-build to 0.4 in the conda recipe.

v1.2.1#

  • Minimize the dependency of rotator xml in SimpleCsc class.

v1.2.0#

  • Add configureEmergencyAcceleration & configureEmergencyJerk to SimpleCsc.

v1.1.3#

  • Support the mypy.

v1.1.2#

  • Import the enums from ts_xml instead of ts_idl.

  • Fix the failed tests because the rotator has no OFFLINE state anymore.

  • Update the .ts_pre_commit_config.yaml.

v1.1.1#

  • Unpin python version in coda recipe.

Requires:

  • ts_utils 1

  • ts_salobj 7

  • ts_idl 3.6

  • ts_tcpip 1.1

  • MTRotator IDL file built from ts_xml

v1.1.0#

  • Support ts_mtrotator using the new simplified low-level controller states:

    • Use ts_idl enums for MTHexapod instead of MTRotator.

    • Add some TODO notes for future changes, should MTHexapod also adopt the simpler states.

Requires:

  • ts_utils 1

  • ts_salobj 7

  • ts_idl 3.6

  • ts_tcpip 1.1

  • MTRotator IDL file built from ts_xml

v1.0.0#

  • BaseMockController: inherit from lsst.ts.tcpip.OneClientReadLoopServer. This requires ts_tcpip 1.1.

  • test_command_telemetry_server: use lsst.ts.tcpip.Client instead of asyncio.open_connection (or one test).

  • Use ts_pre_commit_config.

  • Jenkinsfile: use the new shared library.

  • Remove scons support.

Requires:

  • ts_utils 1

  • ts_salobj 7

  • ts_idl 3.6

  • ts_tcpip 1.1

  • MTRotator IDL file built from ts_xml

v0.31.1#

  • pre-commit: update black to 23.1.0, isort to 5.12.0, mypy to 1.0.0, and pre-commit-hooks to v4.4.0.

  • Jenkinsfile: modernize.

Requires:

  • ts_utils 1

  • ts_salobj 7

  • ts_idl 3.6

  • ts_tcpip 1

  • MTRotator IDL file built from ts_xml

v0.31.0#

Requires:

  • ts_utils 1

  • ts_salobj 7

  • ts_idl 3.6

  • ts_tcpip 1

  • MTRotator IDL file built from ts_xml

v0.30.2#

Requires:

  • ts_utils 1

  • ts_salobj 7

  • ts_idl 3.6

  • ts_tcpip 0.1

  • MTRotator IDL file built from ts_xml

v0.30.1#

  • Build with pyproject.toml

Requires:

  • ts_utils 1

  • ts_salobj 7

  • ts_idl 3.6

  • ts_tcpip 0.1

  • MTRotator IDL file built from ts_xml

v0.30.0#

  • Only send the CLEAR_ERROR command once, instead of twice with a pause between. This requires ts_hexapod_controller v1.3.2 and ts_rotator_controller v1.4.3.

  • setup.cfg: specify asyncio_mode = auto to eliminate a warning.

Requires:

  • ts_utils 1

  • ts_salobj 7

  • ts_idl 3.6

  • ts_tcpip 0.1

  • MTRotator IDL file built from ts_xml

v0.29.0#

  • Update for ts_salobj v7, which is required. This also requires ts_xml 11.

Requires:

  • ts_utils 1

  • ts_salobj 7

  • ts_idl 3.6

  • ts_tcpip 0.1

  • MTRotator IDL file built from ts_xml

v0.28.1#

  • Fix enabling of the low-level controller (DM-32902): wait for one telemetry sample after first connecting.

  • BaseCsc: eliminate the unused wait_summary_state method and add some long messages to enable_controller.

Requires:

  • ts_utils 1

  • ts_salobj 6.8

  • ts_idl 3.6

  • ts_tcpip 0.1

  • ts_xml 10.2

  • MTRotator IDL file, e.g. built using make_idl_file.py MTRotator (for SimpleCsc and unit tests)

v0.28.0#

  • Update for ts_hexapod_controller 1.3.0 and ts_rotator_controller 1.4.0:

    • Use a single socket for communication with the low-level controller. Eliminate the CommandTelemetryServer class, moving its non-server functionality into BaseMockController.

    • Use new standardized frame IDs for data from the low-level controller. Provide these values in a new FrameId enum class. Eliminate the FRAME_ID class constant in config and telemetry structs.

    • Command: replace the sync_pattern field with commander. The new field has a standard value for commands from the CSC, which is provided as a Command class constant.

    • Header: update the type of the frame_id field to match a change in the low-level controllers.

  • CommandTelemetryClient: expand the connected property to check that the reader is not None. The main driver was to make type checkers happier, but it also adds a modicum of safety.

Requires:

  • ts_utils 1

  • ts_salobj 6.8

  • ts_idl 3.6

  • ts_tcpip 0.1

  • ts_xml 10.2

  • MTRotator IDL file, e.g. built using make_idl_file.py MTRotator (for SimpleCsc and unit tests)

v0.27.0#

  • BaseCsc: remove the clearError command (which was not supported, but still present in the XML). This change requires ts_xml 10.2.

Requires:

  • ts_utils 1

  • ts_salobj 6.8

  • ts_idl 3.6

  • ts_tcpip 0.1

  • ts_xml 10.2

  • MTRotator IDL file, e.g. built using make_idl_file.py MTRotator (for SimpleCsc and unit tests)

v0.26.0#

  • Updated unit tests for compatibility with ts_salobj 6.8, which is now required.

  • CONFIG_SCHEMA: update id link to use main instead of master.

  • setup.cfg: prevent pytest from checking version.py

Requires:

  • ts_utils 1

  • ts_salobj 6.8

  • ts_idl 3.6

  • ts_tcpip 0.1

  • ts_xml 7.2

  • MTRotator IDL file, e.g. built using make_idl_file.py MTRotator (for SimpleCsc and unit tests)

v0.25.0#

Requires:

  • ts_utils 1

  • ts_salobj 6.3

  • ts_idl 3.6

  • ts_tcpip 0.1

  • ts_xml 7.2

  • MTRotator IDL file, e.g. built using make_idl_file.py MTRotator (for SimpleCsc and unit tests)

v0.24.0#

  • BaseCsc:

    • Go to FAULT state and report error code NO_CONFIG if the low-level controller does not report config shortly after connecting. This requires ts_idl 3.6.

    • Remove the deprecated schema_path constructor argument. It and was not being used.

Requires:

  • ts_utils 1

  • ts_salobj 6.3

  • ts_idl 3.6

  • ts_tcpip 0.1

  • ts_xml 7.2

  • MTRotator IDL file, e.g. built using make_idl_file.py MTRotator (for SimpleCsc and unit tests)

v0.23.1#

  • BaseCsc: go to FAULT state if the CSC cannot connect to the low-level controller.

  • Modernize unit tests to use bare assert.

Requires:

  • ts_utils 1

  • ts_salobj 6.3

  • ts_idl 2.2

  • ts_tcpip 0.1

  • ts_xml 7.2

  • MTRotator IDL file, e.g. built using make_idl_file.py MTRotator (for SimpleCsc and unit tests)

v0.23.0#

  • Swap client and server, so the client runs in the CSC and the server runs in the mock controller. This change requires new versions of the low-level controller code: ts_hexapod_controller and ts_rotator_controller (see ts_mthexapod and ts_mtrotator for details).

  • BaseCsc changes:

    • Connect to the low-level controller as part of the start command.

    • Make the CSC summary state mostly independent of the low-level controller state (an excellent suggestion from Tiago). As part of the enable command, the CSC commands the low-level controller to its own enabled state, including clearing errors, if necessary. See communication protocol for more information.

    • Configuration should now include fields for TCP/IP host, port and connection_timeout. An alternative for the first two is to override the default host and port properties.

    • The clearError command is no longer supported (and will be removed in a future ticket). Use the standard sequence standby, start, and enable to recover from errors.

    • The CSC is no longer alive in the OFFLINE state.

    • Update to use lsst.ts.idl.enums.MTRotator.ErrorCode, which requires ts_idl 3.4.

  • CommandTelemetryServer: make the host constructor argument optional, with a default of tcpip.LOCALHOST_IPV4. Also prohibit constructing with host=None and port=0, to make sure we can determine the randomly chosen ports.

  • Add optional host constructor argument to BaseMockController and SimpleMockController.

  • Add a Jenkinsfile.

  • setup.cfg: add [options] section.

Requires:

  • ts_utils 1

  • ts_salobj 6.3

  • ts_idl 2.2

  • ts_tcpip 0.1

  • ts_xml 7.2

  • MTRotator IDL file, e.g. built using make_idl_file.py MTRotator (for SimpleCsc and unit tests)

v0.22.0#

  • Make state transition commands more reliable and more efficient: allow more time for the low-level controller to implement the change, and stop waiting as soon as the change is reported.

  • Updated to use ts_utils, which is required.

  • BaseCsc:

    • Add wait_summary_state method.

    • assert_summary_state method: deprecate the isbefore argument.

  • CommandTelemetryServer:

    • Remove the skip argument of the next_telemetry method. It is much better to check each telemetry packet for the data you are awaiting.

    • Remove diagnostic print statements.

  • test_command_telemetry_server.py: fix test cleanup, which was not running due to a typo.

Requires:

  • ts_utils 1

  • ts_salobj 6.3

  • ts_idl 2.2

  • ts_tcpip 0.1

  • ts_xml 7.2

  • MTRotator IDL file, e.g. built using make_idl_file.py MTRotator (for SimpleCsc and unit tests)

v0.21.0#

Deprecations:

  • You should obtain the following from ts_tcpip: OneClientServer, close_stream_writer, read_into, write_from, LOCAL_HOST. At some point these symbols will no longer be available from ts_hexrotcomm.

  • Use the new ts_tcpip package. Temporarily make the symbols that moved available in lsst.ts.hexrotcomm, for backwards compatibility.

  • Test black formatting with pytest instead of a custom unit test.

Requires:

  • ts_salobj 6.3

  • ts_idl 2.2

  • ts_tcpip 0.1

  • ts_xml 7.2

  • MTRotator IDL file, e.g. built using make_idl_file.py MTRotator (for SimpleCsc and unit tests)

v0.20.0#

  • Change message headers to use TAI unix time. Rename the fields from tv_sec, tv_nsec to tai_sec, tai_nsec and set them accordingly. Note that this requires a corresponding update to the low-level rotator and hexapod controllers (see DM-26451 and DM-30120)

Requires:

  • ts_salobj 6.3

  • ts_idl 2.2

  • ts_xml 7.2

  • MTRotator IDL file, e.g. built using make_idl_file.py MTRotator (for SimpleCsc and unit tests)

v0.19.0#

  • Update for changes to the low-level hexapod and rotator TCP/IP interfaces: remove the mjd and mjd_frac fields from config and telemetry headers.

Requires:

  • ts_salobj 6.3

  • ts_idl 2.2

  • ts_xml 7.2

  • MTRotator IDL file, e.g. built using make_idl_file.py MTRotator (for SimpleCsc and unit tests)

v0.18.1#

  • BaseCsc: bug fix: run_commands did not acquire the new write_lock.

  • BaseCsc: change assert_enabled to check that the CSC can command the low-level controller (like the other, similar, assert methods).

  • BaseCsc: added method basic_run_command.

Requires:

  • ts_salobj 6.3

  • ts_idl 2.2

  • ts_xml 7.2

  • MTRotator IDL file, e.g. built using make_idl_file.py MTRotator (for SimpleCsc and unit tests)

v0.18.0#

  • BaseCsc: add write_lock attribute and aquire this lock while writing a command to the low-level controller. You should acquire this lock before cancelling any task that sends commands to the low-level controller, to prevent writing partial commands and leaving data in the TCP/IP stream buffer.

Requires:

  • ts_salobj 6.3

  • ts_idl 2.2

  • ts_xml 7.2

  • MTRotator IDL file, e.g. built using make_idl_file.py MTRotator (for SimpleCsc and unit tests)

v0.17.1#

  • Format the code with black 20.8b1.

Requires:

  • ts_salobj 6.3

  • ts_idl 2.2

  • ts_xml 7.2

  • MTRotator IDL file, e.g. built using make_idl_file.py MTRotator (for SimpleCsc and unit tests)

v0.17.0#

  • close_stream_writer: swallow ConnectionResetError, since this means the writer is closing or closed.

  • OneClientServer: bug fix: connect_callback was not reliably called by close_client.

  • SimpleCsc: update to write the rotation MTRotator telemetry topic, instead of the deprecated application telemetry topic.

  • CommandTelemetryClient: always set a writer attribute to None when closing it, to eliminate any danger of trying to close a writer twice.

  • Use unittest.IsolatedAsyncioTestCase instead of the abandoned asynctest package.

Requires:

  • ts_salobj 6.3

  • ts_idl 2.2

  • ts_xml 7.2

  • MTRotator IDL file, e.g. built using make_idl_file.py MTRotator (for SimpleCsc and unit tests)

v0.16.0#

  • BaseCsc: add config_schema constructor argument. This requires ts_salobj 6.3.

  • SimpleCsc: specify config schema using the config_schema argument.

  • Delete obsolete file schema/MTRotator.yaml.

Requires:

  • ts_salobj 6.3

  • ts_idl 2.2

  • ts_xml 7.2

  • MTRotator IDL file, e.g. built using make_idl_file.py MTRotator (for SimpleCsc and unit tests)

v0.15.0#

  • Update for ts_xml 7.2 (which is required for the unit tests to pass): add do_fault method to SimpleCsc.

  • CommandTelemetryServer: improve handling of invalid headers:

    • Flush the remaining data and try to continue, instead of disconnecting.

    • Print the header bytes when an unrecognized frame ID is read.

  • OneClientServer: bug fix: only set connected_task result if not already done.

  • Modernize doc/conf.py for documenteer 0.6.

Requires:

  • ts_salobj 6.1

  • ts_idl 2.2

  • ts_xml 7.2

  • MTRotator IDL file, e.g. built using make_idl_file.py MTRotator (for SimpleCsc and unit tests)

v0.14.0#

  • Support different ports for different CSCs:

    • Eliminate COMMAND_PORT and TELEMETRY_PORT constants.

    • CommandTelemetryServer: replace use_random_port argument with port.

    • CommandTelemetryClient and BaseMockController: make the command_port and telemetry_port arguments required.

Requires:

  • ts_salobj 6.1

  • ts_idl 2.2

  • ts_xml 7

  • MTRotator IDL file, e.g. built using make_idl_file.py MTRotator (for SimpleCsc and unit tests)

v0.13.0#

  • Add optional set_simulation_mode constructor argument to BaseCsc and SimpleCsc. This is a backwards compatible change.

Requires:

  • ts_salobj 6.1

  • ts_idl 2.2

  • ts_xml 7

  • MTRotator IDL file, e.g. built using make_idl_file.py MTRotator (for SimpleCsc and unit tests)

v0.12.1#

  • Update Jenkinsfile.conda to use Jenkins Shared Library

  • Pinned the ts-idl and ts-salobj version in conda recipe

Requires:

  • ts_salobj 6.1

  • ts_idl 2.2

  • ts_xml 7

  • MTRotator IDL file, e.g. built using make_idl_file.py MTRotator (for SimpleCsc and unit tests)

v0.12.0#

  • Update the mock controller to make the time used in update_telemetry match the time in the header:

    • Update CommandTelemetryClient.update_and_get_header to return the current time in addition to the header, and update the call to update_telemetry to provide that time.

    • Update BaseMockController,update_telemetry and SimpleMockController.update_telemetry to receive time as an argument.

Requires:

  • ts_salobj 6.1

  • ts_idl 2.2

  • ts_xml 7

  • MTRotator IDL file, e.g. built using make_idl_file.py MTRotator (for SimpleCsc and unit tests)

v0.11.0#

  • Update for ts_xml 7 and ts_idl 2.2:

    • Rename SAL component and ts_idl enum module Rotator to MTRotator.

Requires:

  • ts_salobj 6.1

  • ts_idl 2.2

  • ts_xml 7

  • MTRotator IDL file, e.g. built using make_idl_file.py MTRotator (for SimpleCsc and unit tests)

v0.10.0#

  • Update for ts_salobj 6.1.

  • Update the handling of initial_state in BaseCsc:

    • If initial_state != OFFLINE then report all transitional summary states and controller states at startup.

    • Require initial_state = OFFLINE unless simulating.

  • Add BaseCscTestCase with overridden versions of:

Requires:

  • ts_salobj 6.1

  • ts_idl 2

  • ts_xml 4.6 - 6

  • Rotator IDL file, e.g. built using make_idl_file.py Rotator (for SimpleCsc and unit tests)

v0.9.0#

  • Add close_stream_writer function that closes an asyncio.StreamWriter and waits for it to close.

  • Update code to wait for stream writers to close.

Requires:

  • ts_salobj 5.11 - 6.0

  • ts_idl 1 (with salobj 5) or 2 (with salobj 6)

  • ts_xml 4.6 - 6

  • Rotator IDL file, e.g. built using make_idl_file.py Rotator (for SimpleCsc and unit tests)

v0.8.0#

Backward-incompatible changes:

  • Remove BaseCscTestCase and CscCommander classes; use the versions in ts_salobj instead.

  • Bug fix: BaseCsc.get_config_pkg returned “ts_config_ocs” instead of “ts_config_mttcs”.

  • Add missing call to begin_start to BaseCsc.do_start.

  • Make BaseCsc.fault raise NotImplementedError, since the low-level controller maintains the summary state and offers no command to transition to the FAULT state.

Requires:

  • ts_salobj 5.11 - 6

  • ts_idl 1 (with salobj 5) or 2 (with salobj 6)

  • ts_xml 4.6 - 6

  • Rotator IDL file, e.g. built using make_idl_file.py Rotator (for SimpleCsc and unit tests)

v0.7.0#

Requires:

  • ts_salobj 5.11 - 6

  • ts_idl 1 (with salobj 5) or 2 (with salobj 6)

  • ts_xml 4.6 - 6

  • Rotator IDL file, e.g. built using make_idl_file.py Rotator (for SimpleCsc and unit tests)

v0.6.0#

  • Update for compatibility with ts_salobj 6.

Requires:

  • ts_salobj 5.11 - 6

  • ts_idl 1 (with salobj 5) or 2 (with salobj 6)

  • ts_xml 4.6 - 6

  • Rotator IDL file, e.g. built using make_idl_file.py Rotator (for SimpleCsc and unit tests)

v0.5.2#

  • Add black to conda test dependencies

Requires:

  • ts_salobj 5.11

  • ts_idl 1

  • ts_xml 4.6

  • Rotator IDL file, e.g. built using make_idl_file.py Rotator (for SimpleCsc and unit tests)

v0.5.1#

  • Add tests/test_black.py to verify that files are formatted with black. This requires ts_salobj 5.11 or later.

  • Update BaseCscTestCase.check_bin_script to be compatible with ts_salobj 5.12.

  • Fix f strings with no {}.

  • Update .travis.yml to remove sudo: false to github travis checks pass once again.

Requires:

  • ts_salobj 5.11

  • ts_idl 1

  • ts_xml 4.6

  • Rotator IDL file, e.g. built using make_idl_file.py Rotator (for SimpleCsc and unit tests)

v0.5.0#

  • Make BaseCsc forward compatible with ts_xml 5.2 and with explicitly listing which generic topics are used.

Requires:

  • ts_salobj 5

  • ts_idl 1

  • ts_xml 4.6

  • Rotator IDL file, e.g. built using make_idl_file.py Rotator (for SimpleCsc and unit tests)

v0.4.0#

  • The clearError command in the mock controller now transitions to STANDBY instead of OFFLINE/AVAILABLE. This matches a recent change to the rotator controller and a planned change to the hexapod controller.

  • Include conda package build configuration.

  • Added a Jenkinsfile to support continuous integration and to build conda packages.

  • Fixed a bug in OneClientServer.close: it would fail if called twice.

Requires:

  • ts_salobj 5

  • ts_idl 1

  • ts_xml 4.6

  • Rotator IDL file, e.g. built using make_idl_file.py Rotator (for SimpleCsc and unit tests)

v0.3.0#

Major changes:

  • Allow the connect_callback argument of OneClientServer to be None. That actually worked before, but it was not documented and resulted in an exception being logged for each callback.

  • Code formatted by black, with a pre-commit hook to enforce this. See the README file for configuration instructions.

Requires:

  • ts_salobj 5

  • ts_idl 1

  • ts_xml 4.6

  • Rotator IDL file, e.g. built using make_idl_file.py Rotator (for SimpleCsc and unit tests)

v0.2.0#

Add BaseCsc.make_command and BaseCsc.run_multiple_commands. Update for Rotator XML refinements. Disambiguate the use of cmd (warning: not backwards compatible):

  • Rename Command.cmd to Command.code

  • Rename cmd argument to command for BaseCsc.run_command and CommandTelemetryServer.put_command

Requires:

  • ts_salobj 5

  • ts_idl 1

  • ts_xml 4.6

  • Rotator IDL file, e.g. built using make_idl_file.py Rotator (for SimpleCsc and unit tests)

v0.1.1#

Fix an error in the MockController’s CLEAR_ERROR command.

Requires:

  • ts_salobj 5

  • ts_idl 1

  • Rotator IDL file, e.g. built using make_idl_file.py Rotator (for SimpleCsc and unit tests)

v0.1.0#

Initial release.

Requires:

  • ts_salobj 5

  • ts_idl 1

  • Rotator IDL file, e.g. built using make_idl_file.py Rotator (for SimpleCsc and unit tests)