Model#

class lsst.ts.m2gui.Model(log: Logger, host: str = 'localhost', port_command: int = 50010, port_telemetry: int = 50011, timeout_connection: float = 10.0, is_simulation_mode: bool = False)#

Bases: object

Model class of the application.

Parameters#

loglogging.Logger: A logger.
hoststr, optional: Host address. (the default is “localhost”)
port_commandint, optional: Command port to connect. (the default is 50010)
port_telemetryint, optional: Telemetry port to connect. (the default is 50011)
timeout_connectionfloat, optional: Connection timeout in second. (the default is 10.0)
is_simulation_mode: bool, optional: True if running in simulation mode. (the default is False)

Attributes#

loglogging.Logger: A logger.
is_csc_commanderbool: Commandable SAL component (CSC) is the commander or not.
local_modeenum LocalMode: Local model.
is_closed_loopbool: Closed-loop control is on or not.
inclination_sourceenum MTM2.InclinationTelemetrySource: Inclination telemetry source.
signal_controlSignalControl: Signal to report the control status.
signal_power_systemSignalPowerSystem: Signal to report the power system status.
signal_statusSignalStatus: Signal to report the updated status of system.
signal_configSignalConfig: Signal to send the configuration.
signal_scriptSignalScript: Signal to send the script progress.
signal_ilc_statusSignalIlcStatus: Signal to send the inner-loop controller (ILC) status.
signal_closed_loop_control_modeSignalClosedLoopControlMode: Signal to send the update status of closed-loop control mode.
system_statusdict: System status.
fault_managerFaultManager: Fault manager to record the system error.
utility_monitorUtilityMonitor: Utility monitor to monitor the utility status.
controllerlsst.ts.m2com.ControllerCell: Controller to do the TCP/IP communication with the servers of M2 cell.
duration_refreshint: Duration to refresh the data in milliseconds.
ilc_retry_timesint: Retry times to transition the inner-loop controller (ILC) state.
ilc_timeoutfloat: Timeout in second for the transition of ILC state.

Methods Summary

`apply_actuator_force`(actuators, force)	Apply the actuator force.
`clear_error`(error)	Clear the error.
`command_actuator`(command[, actuators, ...])	Run the actuator command.
`command_script`(command[, script_name, ...])	Run the script command.
`connect`([time_process])	Connect to the M2 controller.
`disconnect`()	Disconnect from the M2 controller.
`enter_diagnostic`()	Transition from the Standby mode to the Diagnostic mode.
`enter_enable`()	Transition from the Diagnostic mode to the Enable mode.
`exit_diagnostic`()	Transition from the Diagnostic mode to the Standby mode.
`exit_enable`()	Transition from the Enable mode to the Diagnostic mode.
`fault`()	Fault the system and transition to the Diagnostic mode if the system is in the Enable mode originally.
`get_actuator_default_status`(status)	Get the default actuator status.
`get_current_force_limits`()	Get the current force limits.
`go_to_position`(x, y, z, rx, ry, rz)	Go to the position.
`is_enabled_and_closed_loop_control`()	The system is in the Enabled state and closed-loop control or not.
`is_enabled_and_open_loop_control`()	The system is in the Enabled state and open-loop control or not.
`reboot_controller`()	Reboot the cell controller.
`report_config`(**kwargs)	Report the configuration defined in Config class.
`report_control_status`()	Report the control status.
`report_error`(error)	Report the error.
`report_script_progress`(progress)	Report the script progress.
`reset_breakers`(power_type)	Reset the breakers.
`reset_errors`()	Reset errors.
`update_connection_information`(host, ...)	Update the connection information.
`update_system_status`(status_name, new_status)	Update the system status.

Methods Documentation

async apply_actuator_force(actuators: list[int], force: float) → None#

Apply the actuator force.

Parameters#

actuatorslist: Selected actuators to do the movement. If the empty list [] is passed, the function will raise the RuntimeError.
forcefloat: Force to apply in Newton.

Raises#

RuntimeError: No actuator is selected.
RuntimeError: Not in the enabled state with closed-loop control.

clear_error(error: int) → None#

Clear the error.

Parameters#

errorint: Error code.

async command_actuator(command: CommandActuator, actuators: list[int] | None = None, target_displacement: float | int = 0, unit: ActuatorDisplacementUnit = ActuatorDisplacementUnit.Millimeter) → None#

Run the actuator command.

Parameters#

commandenum lsst.ts.m2com.CommandActuator: Actuator command.
actuatorslist [int] or None, optional: Selected actuators to do the movement. If the empty list [] is passed, the function will raise the RuntimeError. (the default is None)
target_displacementfloat or int, optional: Target displacement of the actuators. (the default is 0)
unitenum lsst.ts.m2com.ActuatorDisplacementUnit, optional: Displacement unit. (the default is ActuatorDisplacementUnit.Millimeter)

Raises#

RuntimeError: Not in the enabled state with open-loop control.

async command_script(command: CommandScript, script_name: str | None = None, bypass_state_checking: bool = False) → None#

Run the script command.

Parameters#

commandenum lsst.ts.m2com.CommandScript: Script command.
script_namestr or None, optional: Name of the script. (the default is None)
bypass_state_checkingbool, optional: Bypass the state checking or not. (the default is False)

Raises#

RuntimeError: Not in the enabled state.

async connect(time_process: float = 3.0) → None#

Connect to the M2 controller.

Parameters#

time_processfloat, optional: Waiting time to let the application processes the received welcome messages. (the default is 3.0)

Raises#

RuntimeError: There is the connection with the M2 controller already.

async disconnect() → None#: Disconnect from the M2 controller.

async enter_diagnostic() → bool#

Transition from the Standby mode to the Diagnostic mode.

Returns#

bool: True if the communication power is on already, which implies the commandable SAL component (CSC) is using the M2 now. Otherwise, False.

Raises#

RuntimeError: When the system is not in the Standby mode.

async enter_enable() → bool#

Transition from the Diagnostic mode to the Enable mode.

Returns#

bool: True if the motor power is on already, which implies the commandable SAL component (CSC) is using the M2 now. Otherwise, False.

Raises#

RuntimeError: When the system is not in the Diagnostic mode.

async exit_diagnostic() → None#

Transition from the Diagnostic mode to the Standby mode.

Raises#

RuntimeError: When the system is not in the Diagnostic mode.

async exit_enable() → None#

Transition from the Enable mode to the Diagnostic mode.

Raises#

RuntimeError: When the system is not in the Enable mode.

async fault() → None#: Fault the system and transition to the Diagnostic mode if the system is in the Enable mode originally.

get_actuator_default_status(status: Any) → dict#

Get the default actuator status.

Parameters#

statusany: Default status.

Returns#

collectiondict: Collection of default actuator status.

get_current_force_limits() → tuple[float, float]#

Get the current force limits.

Returns#

float: Maximum axial force in Newton.
float: Maximum tangent force in Newton.

async go_to_position(x: float, y: float, z: float, rx: float, ry: float, rz: float) → None#

Go to the position.

Parameters#

xfloat: Position x in um.
yfloat: Position y in um.
zfloat: Position z in um.
rxfloat: Rotation x in arcsec.
ryfloat: Rotation y in arcsec.
rzfloat: Rotation z in arcsec.

Raises#

RuntimeError: Not in the closed-loop control.

is_enabled_and_closed_loop_control() → bool#

The system is in the Enabled state and closed-loop control or not.

Returns#

bool: True if the system is in the Enabled state and closed-loop control. Otherwise, False.

is_enabled_and_open_loop_control() → bool#

The system is in the Enabled state and open-loop control or not.

Returns#

bool: True if the system is in the Enabled state and open-loop control. Otherwise, False.

async reboot_controller() → None#

Reboot the cell controller.

Raises#

RuntimeError: Not in the standby state with local control.

report_config(**kwargs: dict[str, Any]) → Config#

Report the configuration defined in Config class.

Parameters#

**kwargsdict: Configuration key-value pairs. The available keys are defined in Config class.

Returns#

configConfig: Configuration.

Raises#

KeyError: Key name does not exist in the Config class.

report_control_status() → None#: Report the control status.

report_error(error: int) → None#

Report the error.

Parameters#

errorint: Error code.

report_script_progress(progress: int) → None#

Report the script progress.

Parameters#

progressint: Progress of the script execution (0-100%).

async reset_breakers(power_type: PowerType) → None#

Reset the breakers.

Parameters#

power_typeenum MTM2.PowerType: Power type.

async reset_errors() → None#: Reset errors.

update_connection_information(host: str, port_command: int, port_telemetry: int, timeout_connection: float) → None#

Update the connection information.

Parameters#

hoststr: Host address.
port_commandint: Command port to connect.
port_telemetryint: Telemetry port to connect.
timeout_connectionfloat: Connection timeout in second.

Raises#

RuntimeError: There is the connection with the M2 controller already.
ValueError: When the command port equals to the telemetry port.

update_system_status(status_name: str, new_status: bool) → None#

Update the system status.

Parameters#

status_namestr: Status name. It must be in the keys of self.system_status.
new_statusbool: New status.

Raises#

ValueError: Status name is not in the list.