Version History

v0.14.0

Changes:

• Removed the moveToReference command. The associated values should be part of the compensation model coefficients.

Requires:

• ts_hexrotcomm 0.13
• ts_salobj 6.1
• ts_idl 2.2
• ts_xml 7.1
• MTHexapod, MTMount, and MTRotator IDL files, e.g. made using make_idl_files.py MTHexapod MTMount MTRotator

v0.13.0

Changes:

• Updated to use device-specific TCP/IP ports. This requires ts_hexrotcomm v0.14.

Requires:

• ts_hexrotcomm 0.14
• ts_salobj 6.1
• ts_idl 2.2
• ts_xml 7.1
• MTHexapod, MTMount, and MTRotator IDL files, e.g. made using make_idl_files.py MTHexapod MTMount MTRotator

v0.12.1

Changes:

• A fix for tx_xml 7.1 (required): use MTMount XML instead of NewMTMount.
• Fix the Jenkins build: build MTMount and MTRotator IDL files in addition to MTHexapod.

Requires:

• ts_hexrotcomm 0.13
• ts_salobj 6.1
• ts_idl 2.2
• ts_xml 7.1
• MTHexapod, MTMount, and MTRotator IDL files, e.g. made using make_idl_files.py MTHexapod MTMount MTRotator

v0.12.0

Changes:

• Update for ts_xml 7.1 and ts_hexrotcomm 0.13 (both are required).
• Overhaul the way compensation is handled.
• Add the setCompensationMode command and remove the moveWithCompensation command.
• Rename the pivot command to setPivot, for consistency.
• Replace the target event with uncompensatedPosition and compensatedPosition events, because target was ambiguous.
• Add the moveToReference command to move to the configured reference position.
• Add compensation_interval and reference_position entries to the configuration. The former is common to both hexapods, the latter is specific each hexapod.

Requires:

• ts_hexrotcomm 0.13
• ts_salobj 6.1
• ts_idl 2.2
• ts_xml 7.1
• MTHexapod IDL files, e.g. made using make_idl_files.py MTHexapod

v0.11.1

Changes:

• Update Jenkinsfile.conda to use the shared library.
• Pin the versions of ts_idl and ts_salobj in conda/meta.yaml.

Requires:

• ts_hexrotcomm 0.12
• ts_salobj 6.1
• ts_idl 2.2
• ts_xml 7
• MTHexapod IDL files, e.g. made using make_idl_files.py MTHexapod

v0.11.0

Changes:

• Update to use and require ts_hexrotcomm 0.12:

  • Add argument curr_tai to MockMTHexapodController.update_telemetry and use it.

Requires:

• ts_hexrotcomm 0.12
• ts_salobj 6.1
• ts_idl 2.2
• ts_xml 7
• MTHexapod IDL files, e.g. made using make_idl_files.py MTHexapod

v0.10.0

Changes:

• Updated to use and require ts_xml 7, ts_idl 2.2, and ts_hexrotcomm 0.11:

  • Rename SAL component and ts_idl enum module Hexapod to MTHexapod.

• Renamed the package to ts_mthexapod.

Requires:

• ts_hexrotcomm 0.11
• ts_salobj 6.1
• ts_idl 2.2
• ts_xml 7
• MTHexapod IDL files, e.g. made using make_idl_files.py MTHexapod

v0.9.0

Changes:

• Updated to use and require ts_salobj 6.1 and ts_hexrotcomm 0.10.

• Update the handling of initial_state in HexapodCsc:

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

Requires:

• ts_hexrotcomm 0.10
• ts_salobj 6.1
• ts_idl 2
• ts_xml 6.2
• Hexapod IDL files, e.g. made using make_idl_files.py Hexapod
• ts_simactuators 2

v0.8.0

Major Changes:

• Add support for compensated moves, where compensation is done in the CSC instead of in the low-level controller.
• Add a data fitter for compensation data. See the README in new directory fitter.
• Overhaul the SAL API.
• Modernize the documentation.

Minor Changes:

• Add missing config_dir constructor argument to HexapodCsc.
• Use lsst.ts.salobj.BaseCscTestCase and lsst.ts.salobj.CscCommander instead of the versions in ts_hexrotcomm.
• Add several <x>_jitter attributes to MockMTHexapodController to clarify the mount of jitter added to measured values.
• Use corrected spelling of Hexapod.ApplicationStatus.SAFETY_INTERLOCK. This requires ts_idl 1.4 or later.

Requires:

• ts_hexrotcomm 0.7
• ts_salobj 5.15 or 6
• ts_idl 1.4 (for salobj 5) or 2 (for salobj 6)
• ts_xml 6.2
• Hexapod IDL files, e.g. made using make_idl_files.py Hexapod
• ts_simactuators 2

v0.7.0

Changes:

• Make HexapodCsc configurable.

Requires:

• ts_hexrotcomm 0.7
• ts_salobj 5.15
• ts_idl 1
• ts_xml 4.6
• Hexapod IDL files, e.g. made using make_idl_files.py Hexapod
• ts_simactuators 2

v0.6.0

Changes:

• Update for ts_simactuators 2.

Requires:

• ts_hexrotcomm 0.5
• ts_salobj 5.15
• ts_idl 1
• ts_xml 4.6
• Hexapod IDL files, e.g. made using make_idl_files.py Hexapod
• ts_simactuators 2

v0.5.4

Changes:

• Add black to conda test dependencies.

Requires:

• ts_hexrotcomm 0.2
• ts_salobj 5.11
• ts_idl 1
• ts_xml 4.6
• Hexapod IDL files, e.g. made using make_idl_files.py Hexapod
• ts_simactuators

v0.5.3

Changes:

• Add tests/test_black.py to verify that files are formatted with black. This requires ts_salobj 5.11 or later.
• Update .travis.yml to remove sudo: false to github travis checks pass once again.

Requires:

• ts_hexrotcomm 0.2
• ts_salobj 5.11
• ts_idl 1
• ts_xml 4.6
• Hexapod IDL files, e.g. made using make_idl_files.py Hexapod
• ts_simactuators

v0.5.2

• Fix flake8 violations.
• Add Jenkinsfile for CI job.

Requires:

• ts_hexrotcomm 0.2
• ts_salobj 5
• ts_idl 1
• ts_xml 4.6
• Hexapod IDL files, e.g. made using make_idl_files.py Hexapod
• ts_simactuators

v0.5.1

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

Requires:

• ts_hexrotcomm 0.2
• ts_salobj 5
• ts_idl 1
• ts_xml 4.6
• Hexapod IDL files, e.g. made using make_idl_files.py Hexapod
• ts_simactuators

v0.5.0

Use lsst.ts.simactuators.PointToPointActuator instead of an internal copy.

Requires:

• ts_hexrotcomm 0.2
• ts_salobj 5
• ts_idl 1
• ts_xml 4.6
• Hexapod IDL files, e.g. made using make_idl_files.py Hexapod
• ts_simactuators

v0.4.0

Major changes:

• Use correct hexapod geometry in the simulation mode. The motion limits and reported actuator lengths and limits should now be much more realistic.
• Code formatted by black, with a pre-commit hook to enforce this. See the README file for configuration instructions.

Requires:

• ts_hexrotcomm 0.2
• ts_salobj 5
• ts_idl 1
• ts_xml 4.6
• Hexapod IDL files, e.g. made using make_idl_files.py Hexapod

v0.3.1

Version 0.3.1

Add a link to the docs in the README file. Add a unit test.

Requires:

• ts_hexrotcomm 0.2
• ts_salobj 5
• ts_idl 1
• ts_xml 4.6
• Hexapod IDL files, e.g. made using make_idl_files.py Hexapod

v0.3.0

Update for changes to the XML.

Requires:

• ts_hexrotcomm 0.2
• ts_salobj 5
• ts_idl 1
• ts_xml 4.6
• Hexapod IDL files, e.g. made using make_idl_files.py Hexapod

v0.2.2

The first version we tested against the real hexapod controller!

Requires: * ts_hexrotcomm v0.1.0 * ts_salobj 5 * ts_idl 1 * Hexapod IDL files, e.g. made using make_idl_files.py Hexapod