Version History

v0.21.0

• Set the timestamp field in encoders telemetry topic, if the field is present. This field will be added in ts_xml 9.2.

• Require the motorCurrent and motorVoltage fields to be present in the electrical telemetry topic. Thus require ts_xml 9.1.

Requires:

• ts_hexrotcomm 0.19

• ts_salobj 6.3

• ts_idl 2.2

• ts_xml 9.1

• MTHexapod, MTMount, and MTRotator IDL files, e.g. made using make_idl_files.py MTHexapod MTMount MTRotator

v0.20.0

Changes:

• Read motor current and voltage from the low-level controller; this requires low-level controller version 1.1.1.

• Report motorCurrent and motorVoltage in the electrical telemetry topic, if those fields are present. Those fields will be added in ts_xml 9.1.

Requires:

• ts_hexrotcomm 0.19

• ts_salobj 6.3

• 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

v0.19.0

Changes:

• Add min_compensation_adjustment CSC configuration parameter. See the config schema and User Guide for details.

Requires:

• ts_hexrotcomm 0.19

• ts_salobj 6.3

• 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

v0.18.0

Changes:

• This version requires ts_hexrotcomm 0.19, because it handles another change to the low-level controller TCP/IP interface that was made at the same time (removing the two MJD fields from message headers).

• Update for changes to the low-level controller TCP/IP interface:

  • Config: remove LUT entries

  • Telemetry: remove 5 unused fields.

Requires:

• ts_hexrotcomm 0.19

• ts_salobj 6.3

• 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

v0.17.1

Changes:

• This version requires ts_hexrotcomm 0.18.

• CscHexapod bug fix: the move and offset commands were rejected if actuators were moving.

• CscHexapod bug fix: stop, move, and offset still did not reliably interrupt a move.

Requires:

• ts_hexrotcomm 0.18

• ts_salobj 6.3

• 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

v0.17.0

Deprecations:

• The actuatorInPosition event is deprecated (because the CSC does not receive the necessary information) and is no longer published.

Changes:

• Fix the inPosition event. The code now expects a single value for application_status from the low-level controller and ignores the unused 5 extra values. These unused values will go away in a later update (which requires a corresponding update to the low-level controller).

Requires:

• ts_hexrotcomm 0.18

• ts_salobj 6.3

• 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

v0.16.0

Changes:

• Make moves and offsets more reliable: if the hexapod is moving, stop it before issuing the new move command. This change requires ts_hexrotcomm v0.18.

Requires:

• ts_hexrotcomm 0.18

• ts_salobj 6.3

• 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

v0.15.1

Changes:

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

• Format the code with black 20.8b1.

Requires:

• ts_hexrotcomm 0.16

• ts_salobj 6.3

• 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

v0.15.0

Changes:

• RotatorCsc: save the configuration schema in code instead of a separate .yaml file. This requires ts_salobj 6.3 and ts_hexrotcomm 0.16.

• Delete obsolete file schema/MTRotator.yaml.

• Users’s Guide: improve the information for switching from GUI to DDS mode.

Requires:

• ts_hexrotcomm 0.16

• ts_salobj 6.3

• 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

v0.14.0

Changes:

• MTHexapodCsc: removed the moveToReference command. The associated values should be part of the compensation model coefficients.

• MTHexapodCsc: set class variable version, which sets the cscVersion field of the softwareVersions event.

• Configuration schema: update to require azimuth and rotation coefficients.

• SimpleHexapod: use a safer way to copy the mirror_positions argument. This avoids issues in case the user changes the argument after creating the object (an unlikely scenario).

• Modernize doc/conf.py for documenteer 0.6.

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