Version History

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

• CommandTelemetryClient: inherit from lsst.ts.tcpip.Client, which requires ts_tcpip 1.0.

• BaseMockController: update to use ts_tcpip 1.0 features in lsst.ts.tcpip.OneClientServer.

• Stop exporting symbols from ts_tcpip, except LOCAL_HOST, which is still used by ts_mtrotator.

• Make tests/test_command_telemetry_server.py more robust by avoiding asyncTearDown.

Requires:

• ts_utils 1

• ts_salobj 7

• ts_idl 3.6

• ts_tcpip 1

• MTRotator IDL file built from ts_xml

v0.30.2

• CommandTelemetryClient: fix one logging statement.

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

• CommandTelemetryClient and CommandTelemetryServer: support command acknowledgement:

  • Change CommandTelemetryClient.put_command to CommandTelemetryClient.run_command.

  • Add CommandStatusCode enum, CommandStatus struct, and CommandError exception.

• BaseCsc: update for command acknowledgement.

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:

  • BaseCscTestCase.make_csc: read all but the final controller state at startup,

  • BaseCscTestCase.check_bin_script: set default_initial_state.

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

• Make BaseCsc a configurable CSC.

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)