ATHexapodCSC¶

class lsst.ts.athexapod.ATHexapodCSC(config_dir=None, initial_state=State.STANDBY, simulation_mode=0)¶

Bases: ConfigurableCsc

The class of the ATHexapod CSC.

Parameters

config_dirpathlib.Path: The directory where the configurations for the ATHexapod reside. Found in ts_config_attcs under ATHexapod directory.
initial_statesalobj.State: The inital state that the CSC starts in.
simulation_modeint: Whether the csc starts in simulation mode or not.

Attributes

controllerNone: The controller that the CSC interacts with.
configdict: A dictionary of parsed yaml that provides configuration information for the CSC.
run_telemetry_taskbool: Whether the telemetry should run or not.
telemetry_taskasyncio.Task: The task that handles telemetry.

Attributes Summary

`config_dir`	Get or set the configuration directory.
`default_initial_state`
`detailed_state`	Return the substate of the CSC.
`disabled_or_enabled`	Return True if the summary state is `State.DISABLED` or `State.ENABLED`.
`domain`
`enable_cmdline_state`
`ready`	Returns the state of the ATHexapod as ready or not.
`simulation_help`
`simulation_mode`	Get the current simulation mode.
`summary_state`	Get the summary state as a `State` enum.
`valid_simulation_modes`
`version`

Methods Summary

`add_arguments`(parser)	Add arguments to the parser created by `make_from_cmd_line`.
`add_kwargs_from_args`(args, kwargs)	Add constructor keyword arguments based on parsed arguments.
`amain`(index, **kwargs)	Make a CSC from command-line arguments and run it.
`assert_enabled`([action])	Assert that an action that requires ENABLED state can be run.
`assert_ready`(action)	Assert that the Hexapod is ready.
`assert_referenced`(action)	Assert that the Hexapod is referenced.
`assert_substate`(substates, action)	Assert that the command is in a valid substate.
`begin_disable`(data)	Begin do_disable; called before state changes.
`begin_enable`(data)	Begin do_enable; called before state changes.
`begin_exitControl`(data)	Begin do_exitControl; called before state changes.
`begin_standby`(data)	Begin do_standby; called before the state changes.
`begin_start`(data)	Begin do_start; configure the CSC before changing state.
`check_for_duplicate_heartbeat`([num_messages])	Monitor heartbeat events and return True if any have a different private_origin.
`close`([exception, cancel_start])	Shut down, clean up resources and set done_task done.
`close_tasks`()	Shut down pending tasks.
`close_telemetry_task`()	Tries to close telemetry task gracefully.
`configure`(config)	Configure the CSC.
`do_applyPositionLimits`(data)	Apply the position limits.
`do_applyPositionOffset`(data)	Apply position offset.
`do_disable`(data)	Transition from `State.ENABLED` to `State.DISABLED`.
`do_enable`(data)	Transition from `State.DISABLED` to `State.ENABLED`.
`do_exitControl`(data)	Transition from `State.STANDBY` to `State.OFFLINE` and quit.
`do_moveToPosition`(data)	Move the Hexapod to position.
`do_pivot`(data)	Set pivot point of the hexapod.
`do_setAuthList`(data)	Update the authorization list.
`do_setLogLevel`(data)	Set logging level.
`do_setMaxSystemSpeeds`(data)	Set max system speeds.
`do_standby`(data)	Transition from `State.DISABLED` or `State.FAULT` to `State.STANDBY`.
`do_start`(data)	Transition from `State.STANDBY` to `State.DISABLED`.
`do_stopAllAxes`(data)	Stop all axes.
`end_disable`(data)	End do_disable; called after state changes but before command acknowledged.
`end_enable`(data)	Executed after state is enabled.
`end_exitControl`(data)	End do_exitControl; called after state changes but before command acknowledged.
`end_standby`(data)	Executes after transition from DISABLE to STANDBY.
`end_start`(data)	Execute after state transition from STANDBY to DISABLE.
`fault`(code, report[, traceback])	Enter the fault state and output the `errorCode` event.
`get_config_pkg`()	Return the name of the config directory for the ATHexapod CSC.
`handle_summary_state`()	Called when the summary state has changed.
`implement_simulation_mode`(simulation_mode)	Implement going into or out of simulation mode.
`is_referenced`()	Checks if Hexapod is referenced.
`make_from_cmd_line`(index[, check_if_duplicate])	Construct a CSC from command line arguments.
`put_log_level`()	Output the logLevel event.
`read_config_dir`()	Read the config dir and put configurationsAvailable if changed.
`read_config_dir_loop`()
`read_config_files`(config_validator, ...[, ...])	Read a set of configuration files and return the validated config.
`report_detailed_state`(new_detailed_state)	Publish the new detailed state.
`report_new_ready`(ready)	Report the new ready state of the ATHexapod
`set_limits`(xy_max, limit_z_min, limit_z_max, ...)	Set limits and publish events.
`set_simulation_mode`(simulation_mode)	Set the simulation mode.
`start`()	Finish constructing the CSC.
`start_phase2`()	Handle the initial state.
`telemetry`()	Handle telemetry publishing.
`wait_movement_done`()	Wait for the Hexapod movement to be done.

Attributes Documentation

config_dir¶

Get or set the configuration directory.

Parameters

config_dirstr, pathlib.Path: New configuration directory.

Returns

config_dirpathlib.Path: Absolute path to the configuration directory.

Raises

ValueError: If the new configuration dir is not a directory.

default_initial_state: State = 5¶

detailed_state¶

Return the substate of the CSC.

Returns

detailed_stateATHexapod.DetailedState: The validated substate of the CSC.

disabled_or_enabled¶

Return True if the summary state is State.DISABLED or State.ENABLED.

This is useful in handle_summary_state to determine if you should start or stop a telemetry loop, and connect to or disconnect from an external controller

domain¶

enable_cmdline_state = False¶

ready¶

Returns the state of the ATHexapod as ready or not.

Publishes any change in readiness as an event over SAL

Returns

readybool: If true, the Hexapod is ready or if false, the Hexapod is not ready.

simulation_help: str | None = None¶

simulation_mode¶

Get the current simulation mode.

0 means normal operation (no simulation).

Raises

ExpectedError: If the new simulation mode is not a supported value.

summary_state¶: Get the summary state as a State enum.

valid_simulation_modes: Sequence[int] = [0]¶

version = '?'¶

Methods Documentation

classmethod add_arguments(parser: ArgumentParser) → None¶

Add arguments to the parser created by make_from_cmd_line.

Parameters

parserargparse.ArgumentParser: The argument parser.

Notes

If you override this method then you should almost certainly override add_kwargs_from_args as well.

classmethod add_kwargs_from_args(args: Namespace, kwargs: dict[str, Any]) → None¶

Add constructor keyword arguments based on parsed arguments.

Parameters

argsargparse.Namespace: Parsed command.
kwargsdict: Keyword argument dict for the constructor. Update this based on args. The index argument will already be present if relevant.

Notes

If you override this method then you should almost certainly override add_arguments as well.

async classmethod amain(index: int | enum.IntEnum | bool | None, **kwargs: Any) → None¶

Make a CSC from command-line arguments and run it.

Parameters

indexint, enum.IntEnum, True, or None

If the CSC is indexed, do one of the following:

Specify True to make index a required command-line argument that accepts any nonzero index.
Specify an enum.IntEnum class to make index a required command-line argument that only accepts the enum values.
Specify a non-zero integer to use that index. This is rare; if the CSC is indexed then the user should usually be allowed to specify the index.

If the CSC is not indexed, specify None or 0.

**kwargsdict, optional

Additional keyword arguments for your CSC’s constructor.

assert_enabled(action: str = '') → None¶

Assert that an action that requires ENABLED state can be run.

Parameters

actionstr, optional: Action attempted. Not needed if this is called at the beginning of a do_... method, since the user will know what command was called.

async assert_ready(action)¶

Assert that the Hexapod is ready.

Parameters

actionstr: The name of the action that requires the Hexapod to be ready.

async assert_referenced(action)¶

Assert that the Hexapod is referenced.

Parameters

actionstr: The action that requires the Hexapod to be referenced.

assert_substate(substates, action)¶

Assert that the command is in a valid substate.

Parameters

substatesList of Str: A list of valid substates.
actionstr: The name of the command being checked.

async begin_disable(data: BaseMsgType) → None¶

Begin do_disable; called before state changes.

Parameters

dataDataType: Command data

async begin_enable(data: BaseMsgType) → None¶

Begin do_enable; called before state changes.

Parameters

dataDataType: Command data

async begin_exitControl(data: BaseMsgType) → None¶

Begin do_exitControl; called before state changes.

Parameters

dataDataType: Command data

async begin_standby(data: BaseMsgType) → None¶

Begin do_standby; called before the state changes.

Parameters

dataDataType: Command data

async begin_start(data: BaseMsgType) → None¶

Begin do_start; configure the CSC before changing state.

Parameters

datacmd_start.DataType: Command data

Notes

The override field must be one of:

The name of a config label or config file
The name and version of a config file, formatted as <file_name>:<version>, where the version is a git reference, such as a git tag or commit hash. This form does not support labels.

async check_for_duplicate_heartbeat(num_messages: int = 5) → int¶

Monitor heartbeat events and return True if any have a different private_origin.

Intended for use by check_if_duplicate.

The heartbeat loop should be running before this is called. This avoids the issue that if 2 CSCs are started at the same time then neither will see the other one’s heartbeat. This code also assumes that will be true; it will likely raise asyncio.TimeoutError if not.

Parameters

num_messagesfloat: The number of heartbeat messages to read.

Returns

originint: private_origin field of duplicate heartbeat, or 0 if none detected.

Raises

asyncio.TimeoutError: If no heartbeat seen within the specified time.

async close(exception: Exception | None = None, cancel_start: bool = True) → None¶

Shut down, clean up resources and set done_task done.

May be called multiple times. The first call closes the Controller; subsequent calls wait until the Controller is closed.

Subclasses should override close_tasks instead of close, unless you have a good reason to do otherwise.

Parameters

exceptionException, optional: The exception that caused stopping, if any, in which case the self.done_task exception is set to this value. Specify None for a normal exit, in which case the self.done_task result is set to None.
cancel_startbool, optional: Cancel the start task? Leave this true unless calling this from the start task.

Notes

Removes the SAL log handler, calls close_tasks to stop all background tasks, pauses briefly to allow final SAL messages to be sent, then closes the dds domain.

async close_tasks()¶: Shut down pending tasks. Called by close.

async close_telemetry_task()¶

Tries to close telemetry task gracefully.

If it fails to close it gracefully, cancels it.

async configure(config)¶

Configure the CSC.

Parameters

config

async do_applyPositionLimits(data)¶

Apply the position limits.

Parameters

data

async do_applyPositionOffset(data)¶

Apply position offset.

Parameters

data

async do_disable(data: BaseMsgType) → None¶

Transition from State.ENABLED to State.DISABLED.

Parameters

datacmd_disable.DataType: Command data

async do_enable(data: BaseMsgType) → None¶

Transition from State.DISABLED to State.ENABLED.

Parameters

datacmd_enable.DataType: Command data

async do_exitControl(data: BaseMsgType) → None¶

Transition from State.STANDBY to State.OFFLINE and quit.

Parameters

datacmd_exitControl.DataType: Command data

async do_moveToPosition(data)¶

Move the Hexapod to position.

Parameters

data

async do_pivot(data)¶

Set pivot point of the hexapod.

Parameters

data

async do_setAuthList(data: BaseMsgType) → None¶

Update the authorization list.

Parameters

datacmd_setAuthList.DataType: Authorization lists.

Notes

Add items if the data string starts with “+”, ignoring duplicates (both with respect to the existing items and within the data string). Remove items if the data string starts with “-”, ignoring missing items (items specified for removal that do not exist). Ignore whitespace after each comma and after the +/- prefix.

async do_setLogLevel(data: BaseMsgType) → None¶

Set logging level.

Parameters

datacmd_setLogLevel.DataType: Logging level.

async do_setMaxSystemSpeeds(data)¶

Set max system speeds.

Parameters

data

async do_standby(data: BaseMsgType) → None¶

Transition from State.DISABLED or State.FAULT to State.STANDBY.

Parameters

datacmd_standby.DataType: Command data

async do_start(data: BaseMsgType) → None¶

Transition from State.STANDBY to State.DISABLED.

Parameters

datacmd_start.DataType: Command data

async do_stopAllAxes(data)¶

Stop all axes.

Parameters

data

async end_disable(data: BaseMsgType) → None¶

End do_disable; called after state changes but before command acknowledged.

Parameters

dataDataType: Command data

async end_enable(data)¶

Executed after state is enabled.

This may cause the hexapod to move.

Actions performed by this task are:

- Set soft limits on the hexapod controller.
- Check that the hexapod axis are referenced.
- If axis are not referenced and auto_reference=True, will reference axis.

The CSC will reject attempts to move axis that are not referenced.

Parameters

data

async end_exitControl(data: BaseMsgType) → None¶

End do_exitControl; called after state changes but before command acknowledged.

Parameters

dataDataType: Command data

async end_standby(data)¶

Executes after transition from DISABLE to STANDBY.

It will stop the telemetry loop and disconnect from the hexapod controller.

async end_start(data)¶

Execute after state transition from STANDBY to DISABLE.

It will attempt to connect to the hexapod controller and start the telemetry loop. Transition to FAULT if it fails.

Parameters

data

async fault(code: int | None, report: str, traceback: str = '') → None¶

Enter the fault state and output the errorCode event.

Parameters

codeint: Error code for the errorCode event. If None then errorCode is not output and you should output it yourself. Specifying None is deprecated; please always specify an integer error code.
reportstr: Description of the error.
tracebackstr, optional: Description of the traceback, if any.

get_config_pkg()¶: Return the name of the config directory for the ATHexapod CSC.

async handle_summary_state() → None¶

Called when the summary state has changed.

Override to perform tasks such as starting and stopping telemetry (example).

Notes

The versions in BaseCsc and ConfigurableCsc do nothing, so if you subclass one of those you do not need to call await super().handle_summary_state().

async implement_simulation_mode(simulation_mode: int) → None¶

Implement going into or out of simulation mode.

Deprecated. See simulation mode for details.

Parameters

simulation_modeint: Requested simulation mode; 0 for normal operation.

Raises

ExpectedError: If simulation_mode is not a supported value.

async is_referenced()¶: Checks if Hexapod is referenced.

classmethod make_from_cmd_line(index: int | enum.IntEnum | bool | None, check_if_duplicate: bool = False, **kwargs: Any) → BaseCsc¶

Construct a CSC from command line arguments.

Parameters

indexint, enum.IntEnum, True, or None

If the CSC is indexed, do one of the following:

Specify True to make index a required command-line argument that accepts any nonzero index.
Specify an enum.IntEnum class to make index a required command-line argument that only accepts the enum values.
Specify a non-zero integer to use that index. This is rare; if the CSC is indexed then the user should usually be allowed to specify the index.

If the CSC is not indexed, specify None or 0.

check_if_duplicatebool, optional

Check for heartbeat events from the same SAL name and index at startup (before starting the heartbeat loop)? The default is False, to match the BaseCsc default. Note: handled by setting the attribute directly instead of as a constructor argument, because CSCs may not all support the constructor argument.

**kwargsdict, optional

Additional keyword arguments for your CSC’s constructor.

Returns

csccls: The CSC.

Notes

To add additional command-line arguments, override add_arguments and add_kwargs_from_args.

async put_log_level() → None¶: Output the logLevel event.

async read_config_dir() → None¶

Read the config dir and put configurationsAvailable if changed.

Output the configurationsAvailable event (if changed), after updating the overrides and version fields. Also update the version field of evt_configurationApplied, in preparation for the next time the event is output.

async read_config_dir_loop() → None¶

classmethod read_config_files(config_validator: Draft7Validator, config_dir: Path, files_to_read: list[str], git_hash: str = '') → SimpleNamespace¶

Read a set of configuration files and return the validated config.

Parameters

config_validatorjsonschema validator: Schema validator for configuration.
config_dirpathlib.Path: Path to config files.
files_to_readList [str]: Names of files to read, with .yaml suffix. Empty names are ignored (a useful feature for BaseConfigTestCase). The files are read in order, with each later file overriding values that have been accumulated so far.
git_hashstr, optional: Git hash to use for the files. “” if current.

Returns

types.SimpleNamespace: The validated config as a simple namespace.

Raises

ExpectedError: If the specified configuration files cannot be found, cannot be parsed as yaml dicts, or produce an invalid configuration (one that does not match the schema).

async report_detailed_state(new_detailed_state)¶: Publish the new detailed state.

async report_new_ready(ready)¶: Report the new ready state of the ATHexapod

async set_limits(xy_max, limit_z_min, limit_z_max, limit_uv_max, limit_w_min, limit_w_max)¶

Set limits and publish events.

Parameters

xy_maxfloat
limit_z_minfloat
limit_z_maxfloat
limit_uv_maxfloat
limit_w_minfloat
limit_w_maxfloat

Returns

None

async set_simulation_mode(simulation_mode: int) → None¶

Set the simulation mode.

Await implement_simulation_mode, update the simulation mode property and report the new value.

Parameters

simulation_modeint: Requested simulation mode; 0 for normal operation.

async start() → None¶

Finish constructing the CSC.

Call set_simulation_mode. If this fails, set self.start_task to the exception, call stop, making the CSC unusable, and return.
Call handle_summary_state
Set self.start_task done.

async start_phase2() → None¶

Handle the initial state.

Called after start.

async telemetry()¶

Handle telemetry publishing.

Publish tel_positionStatus

async wait_movement_done()¶: Wait for the Hexapod movement to be done.

Navigation

ATHexapodCSC¶