MockMTHexapodController

class lsst.ts.mthexapod.MockMTHexapodController(index, log, host='127.0.0.1', command_port=None, telemetry_port=None, initial_state=<ControllerState.OFFLINE: 3>)

Bases: lsst.ts.hexrotcomm.base_mock_controller.BaseMockController

Mock MTHexapod controller that talks over TCP/IP.

Parameters

indexSalIndex or int

SAL index; see SalIndex for the allowed values.

loglogging.Logger

Logger.

hoststr (optional)

IP address of CSC server.

command_portint or None (optional)

Command socket port. If None then use the default port for this device.

telemetry_portint or None (optional)

Telemetry socket port. If None then use the default port for this device.

initial_statelsst.ts.idl.enums.MTHexapod.ControllerState (optional)

Initial state of mock controller.

Notes

To start the mock controller:

ctrl = MockHexapodController(…) await ctrl.connect_task

To stop the server:

await ctrl.stop()

Known Limitations

• The synchronized move parameter is ignored. Supporting this would be fairly easy.

• No lookup table support. Thus MOVE_LUT is the same as MOVE_POINT_TO_POINT.

• Acceleration is treated as instantanous.

Attributes Summary

actuator_base_positions
actuator_encoder_resolution
actuator_max_length
actuator_min_length
actuator_mirror_positions
actuator_speed
command_connected	Return True if the command socket is connected.
connect_retry_interval	Interval between connection retries (sec).
connected	Return True if command and telemetry sockets are connected.
enabled_substate
offline_substate
pivot
state
telemetry_connected	Return True if the telemetry socket is connected.
telemetry_interval	Interval between telemetry messages (sec).

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_accel(command)
do_config_limits(command)
do_config_vel(command)
do_disable(command)
do_enable(command)
do_enter_control(command)
do_exit(command)
do_move_point_to_point(command)
do_offset(command)
do_position_set(command)
do_set_pivotpoint(command)
do_standby(command)
do_start(command)
do_stop(command)
end_run_command(command, cmd_method)	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

actuator_base_positions = [(-227647, 653753, 0), (227647, 653753, 0), (679990, -129728, 0), (452343, -524025, 0), (-452343, -524025, 0), (-679990, -129728, 0)]

actuator_encoder_resolution = 10

actuator_max_length = 14100

actuator_min_length = -14100

actuator_mirror_positions = [(-472917, 512146, 403918), (472917, 512146, 403918), (679990, 153485, 403918), (207073, -665631, 403918), (-207073, -665631, 403918), (-679990, 153485, 403918)]

actuator_speed = 500

command_connected

Return True if the command socket is connected.

connect_retry_interval = 0.1

Interval between connection retries (sec).

connected

Return True if command and telemetry sockets are connected.

enabled_substate

offline_substate

pivot = (0, 0, 500000)

state

telemetry_connected

Return True if the telemetry socket is connected.

telemetry_interval = 0.1

Interval between telemetry messages (sec).

Methods Documentation

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

assert_stationary()

async close()

Kill command and telemetry tasks and close the connections.

Always safe to call.

async command_loop()

Read and execute commands.

async connect()

Connect the sockets.

Notes

This will wait forever for a connection.

async connect_command()

Connect or reconnect to the command socket.

Notes

This will wait forever for a connection.

async connect_telemetry()

Connect or reconnect to the telemetry/configuration socket.

Notes

This will wait forever for a connection.

async do_clear_error(command)

async do_config_accel(command)

async do_config_limits(command)

async do_config_vel(command)

async do_disable(command)

async do_enable(command)

async do_enter_control(command)

async do_exit(command)

async do_move_point_to_point(command)

async do_offset(command)

async do_position_set(command)

async do_set_pivotpoint(command)

async do_standby(command)

async do_start(command)

async do_stop(command)

async end_run_command(command, cmd_method)

Called when run_command is done.

Can be used to clear the set position.

get_command_key(command)

Return the key to command_table.

async run_command(command)

Run a command.

Parameters

commandCommand

Command to run.

set_state(state)

Set the current state and substates.

Parameters

statelsst.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!

async 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_idint

Frame ID of header to write.

Returns

headerstructs.Header

The header.

curr_taifloat

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

async update_telemetry(curr_tai)

Update self.client.telemetry.

Parameters

curr_taifloat

Time at which to compute telemetry (TAI, unix seconds). This is the time in the header, which is (approximately) the current time.

async write_config()

Write the current configuration.