Controller#

class lsst.ts.salobj.Controller(name, index=None, *, do_callbacks=False, write_only=False, allow_missing_callbacks=False, extra_commands={})#

Bases: object

A class that receives commands for a SAL component and sends telemetry and events from that component.

This class provides much of the behavior for BaseCsc, basically everything except the standard summary states and associated transition commands.

Parameters:

  • name (str) – Name of SAL component.

  • index (int or None, optional) – SAL component index, or 0 or None if the component is not indexed. A value is required if the component is indexed.

  • do_callbacks (bool, optional) – Set do_{command} methods as callbacks for commands? If true then there must be exactly one do_{command} method for each command. Cannot be true if write_only is true.

  • write_only (bool, optional) – If true then the Controller will have no command topics and will not read any SAL data. Cannot be true if do_callbacks is true.

  • allow_missing_callbacks (bool, optional) – Allow missing do_{command} callback methods? Missing method will be replaced with one that raises salobj.ExpectedError. This is intended for mock controllers, which may only support a subset of commands. Cannot be true unless do_callbacks is true.

  • extra_commands (set`[`str]) – List of valid commands that can be defined in the CSC without being in the interface.

log#

A logger.

Type:

logging.Logger

salinfo#

SAL info.

Type:

SalInfo

isopen#

Is this instance open? True until close is called. The instance is fully closed when done_task is done.

Type:

bool

start_called#

Has the start method been called? The instance is fully started when start_task is done.

Type:

bool

done_task#

A task which is finished when close or basic_close is done.

Type:

asyncio.Task

start_task#

A task which is finished when start is done, or to an exception if start fails.

Type:

asyncio.Task

cmd_<command_name>

Controller command topic. There is one for each command supported by the SAL component.

Type:

topics.ControllerCommand

evt_<event_name>

Controller event topic. There is one for each event topic supported by the SAL component.

Type:

topics.ControllerEvent

tel_<telemetry_name>

Controller telemetry topic. There is one for each telemetry topic supported by the SAL component.

Type:

topics.ControllerTelemetry

Raises:

  • ValueError – If do_callbacks and write_only are both true, or if allow_missing_callbacks is true and do_callbacks is not.

  • TypeError – If do_callbacks true and one or more do_{command} methods is present that has no corresponding command, or if do_callbacks true, allow_missing_callbacks false, and one or more do_{command} methods is missing.

Notes

Writing a Controller

(To write a CSC see Writing a CSC, instead)

To write a controller that is not a CSC (one that does not provide the standard summary states and associated state transition commands):

Here is an example that makes a Test controller and displays the topic-related attributes, but has no code to do anything useful with those topics (see TestCsc for that):

include salobj

# the index is arbitrary, but a remote must use the same index
# to talk to this controller
test_controller = salobj.Controller("Test", index=5)
print(dir(test_controller))

You should see the following topic-related attributes:

  • Commands, each an instance of topics.ControllerCommand:

    • cmd_standby

    • cmd_start

    • … and so on for all other standard CSC commands

    • cmd_setArrays

    • cmd_setScalars

  • Events, each an instance of topics.ControllerEvent:

    • evt_configurationApplied

    • … and so on for all other standard CSC events

    • evt_arrays

    • evt_scalars

  • Telemetry, each an instance of topics.ControllerTelemetry (note that there are no standard CSC telemetry topics):

    • tel_arrays

    • tel_scalars

Required Logging Attributes

Each Controller must support the following topics, as specified in ts_xml in SALGenerics.xml:

  • setLogLevel command

  • logLevel event

  • logMessage event

Adding Commands

When adding new commands to the CSC interface, there might be a time when one needs to support both the old interface (without the new commands) and the new interface. In this situations one can define the list of new commands using the extra_commands parameters. Callback to those commands can be defined in the CSC and they will work with both old and new interfaces.

Attributes Summary

domain

Methods Summary

close([exception, cancel_start])

Shut down, clean up resources and set done_task done.

close_tasks()

Shut down pending tasks.

do_setLogLevel(data)

Set logging level.

put_log_level()

Output the logLevel event.

start()

Finish construction.

start_phase2()

Additional work after start before fully started.

Attributes Documentation

domain#

Methods Documentation

async close(exception=None, cancel_start=True)#

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:

  • exception (Exception, 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_start (bool, optional) – Cancel the start task? Leave this true unless calling this from the start task.

Return type:

None

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 domain.

async close_tasks()#

Shut down pending tasks. Called by close.

Perform all cleanup other than disabling logging to SAL and closing the domain.

Return type:

None

async do_setLogLevel(data)#

Set logging level.

Parameters:

data (cmd_setLogLevel.DataType) – Logging level.

Return type:

None

async put_log_level()#

Output the logLevel event.

Return type:

None

async start()#

Finish construction.

Return type:

None

async start_phase2()#

Additional work after start before fully started.

Used by BaseCsc to transition to handle the initial state.

Return type:

None