Revision History

v5.8.0

Major changes:

Other changes:

Requirements:

  • ts_idl 1
  • ts_xml 4.7
  • IDL files for Test, Script, and LOVE.
  • SALPY_Test generated by ts_sal 4 (for unit tests)

v5.7.0

Major changes:

  • Added astropy_time_from_tai_unix function.
  • Added CscCommander to support exercising CSCs from trivial command-line scripts (DM-23771).
  • Added bin/zrun_test_commander.py to exercise CscCommander.
  • Added stream_as_generator to support reading user input from asyncio-based interactive command-line scripts, such as CSC commanders.
  • The package is now conda-installable.
  • Added constants LOCAL_HOST, SECONDS_PER_DAY and MJD_MINUS_UNIX_SECONDS.

Other changes:

  • Set the name field of logMessage, if available (DM-23812).

  • Fixed two issues in tai_from_utc when provided with an astropy.time.Time.

    • Using the default value for the scale argument caused incorrect behavior. Now the scale argument is ignored, as it should be, since astropy time’s have their own scale.
    • The behavior on a leap second day was not well documented and differed from astropy.time. Document it and match astropy.time.

  • Improved logging for queues filling up, especially the DDS queue (DM-23802).

  • Prevent BaseScript from being constructed with index=0, because such a script would receive commands for every script (DM-23900).

  • Fixed a bug in ConfigurableCsc.begin_start that could result in an undefined variable when trying to print an error message.

  • Load the astropy leap second table at startup, so the first call to current_tai is fast.

  • Use time.monotonic instead of time.time to measure durations.

Requirements:

  • ts_idl 1
  • ts_xml 4.7
  • IDL files for Test, Script, and LOVE.
  • SALPY_Test generated by ts_sal 4 (for unit tests)

v5.6.0

Major changes:

  • Added BaseConfigTestCase to support testing configuration files in ts_config_x packages.

Requirements:

  • black
  • ts_idl 1
  • ts_xml 4.7
  • IDL files for Test, Script, and LOVE.
  • SALPY_Test generated by ts_sal 4 (for unit tests)

v5.5.0

Major changes:

Requirements:

  • black
  • ts_idl 1
  • ts_xml 4.7
  • IDL files for Test, Script, and LOVE.
  • SALPY_Test generated by ts_sal 4 (for unit tests)

v5.4.0

Major changes:

  • Add support for the new setGroupId Script command to BaseScript:

  • Changed BaseScript.do_resume and BaseScript.do_setCheckpoints to asynchronous, so all do_... methods are asynchronous, for consistency. I did not find any code outside of ts_salobj that was affected, but it is a potentially breaking change.

  • Output fields added to the logMessage event in ts_xml 4.7.

  • Code formatted by black, with a pre-commit hook to enforce this. See the README file for configuration instructions.

Minor changes:

Requirements:

  • black
  • ts_idl 1
  • ts_xml 4.7
  • IDL files for Test, Script, and LOVE.
  • SALPY_Test generated by ts_sal 4 (for unit tests)

v5.3.0

Major changes:

  • Add BaseCscTestCase as a useful base class for CSC unit tests. Update the unit tests to use it.

Minor changes:

  • DefaultingValidator now handles defaults in sub-objects (one level deep).
  • CSCs will now reject optional generic commands if not implemented (meaning there is no do_command method for them), instead of silently ignoring them. The optional generic commands are abort, enterControl, setValue, and the deprecated command setSimulationMode.
  • The action argument of BaseCsc.assert_enabled is now optional. There is no point to setting it when calling it from do_command methods as the user knows what command was rejected.
  • If a command is rejected because a CSC is in FAULT state, the error message contains the current value of the errorReport field of the errorCode event.
  • SalInfo could not be created for a SAL component that had no commands (because such a component also has no ackcmd topic).

Deprecated APIs:

  • lsst.ts.salobj.test_utils is deprecated. Please use lsst.ts.salobj instead.

Requirements:

  • ts_idl 1
  • ts_xml 4.6
  • IDL files for Test, Script, and LOVE.
  • SALPY_Test generated by ts_sal 4 (for unit tests)

v5.2.1

Fix a call to warnings.warn in Domain.

Requirements:

  • ts_idl 1
  • ts_xml 4.6
  • IDL files for Test and Script
  • SALPY_Test generated by ts_sal 4 (for unit tests)

v5.2.0

Major changes:

  • CSCs no longer support the setSimulationMode command, as per RFC-639.

Deprecated APIs:

  • BaseCsc and ConfigurableCsc: the initial_simulation_mode constructor argument is deprecated in favor of the new simulation_mode argument. It is an error to specify both.

v5.1.0

Major changes:

  • Provide IDL metadata, including descriptions of topics and descriptions and units of fields, via a new SalInfo metadata attribute, an instance of IdlMetadata. Some of the metadata is only available in IDL files built with SAL 4.6.
  • Add the AsyncS3Bucket class for writing to Amazon Web Services s3 buckets.

Minor changes:

  • Change a link in the doc string for BaseCsc.handle_summary_state to avoid Sphinx errors in subclasses in other packages.
  • Add a done_task attribute to Domain.
  • Add an isopen attribute to Controller.
  • Improve close methods for Domain, SalInfo, Controller and Remote to reduce warnings in unit tests. Subsequent calls wait until the first call finishes and SalInfo allows time for its read loop to finish.

Deprecated APIs:

  • SalInfo.idl_loc should now be SalInfo.metadata.idl_path.

Requirements:

  • ts_idl 1
  • IDL files for Test and Script
  • SALPY_Test generated by ts_sal 4 (for unit tests)

v5.0.0

Update for ts_sal v4. This version cannot communicate with ts_sal v3 or ts_salobj v4 because of changes at the DDS level:

  • The ackcmd topic has new fields that distinguish acknowledgements for commands sent by one Remote from those sent by another.
  • Command topics and the ackcmd topic now have volatile durability instead of transient. This means they cannot read late-joiner data, which eliminates a source of potential problems from stale commands or command acknowledgements.
  • The DDS queues now hold 100 samples instead of 1000.

Another backward incompatible change is that the setSimulationMode command can no only be issued in the STANDBY state. This makes it much easier to implement simulation mode in CSCs that connect to external controllers, because one can make the connection in the appropriate mode when in DISABLED or ENABLED state, without having to worry about changing it. This change may break some existing unit tests for CSCs that support simulation mode.

Deprecated APIs:

  • Specifying code=None for BaseCsc.fault is deprecated. Please always specify an error code so the errorCode event can be output.

  • BaseCsc.main and BaseScript.main are deprecated. Please replace cls.main(...) with asyncio.run(cls.amain(...)). This makes it much clearer that the call may not return quickly, avoids explicitly creating event loops, and takes advantage of the (new to Python 3.7) preferred way to run asynchronous code.

  • Setting BaseCsc.summary_state is deprecated. In unit tests use the standard state transition commands or call the set_summary_state function. In CSCs you should not be setting summary state directly; of the existing CSC code I’ve seen, most of it sends the CSC to a FAULT state, for which you should call BaseCsc.fault, and the rest doesn’t need to set the summary state at all.

  • Script commands setCheckpoints and setLogLevel are deprecated. Specify checkpoints and log level using the new pauseCheckpoint, stopCheckpoint and logLevel fields in the configure command.

  • Code that constructs a Remote or Controller without a running event loop should be rewritten because it will break when we replace the remaining usage of asyncio.ensure_future with the preferred asyncio.create_task. For example:

    csc = MyCscClass(...)
asyncio.get_event_loop().run_until_complete(csc.done_task)

    can be replaced with (see BaseCsc.make_from_cmd_line to add command-line arguments):

    asyncio.run(MyCscClass.amain(...))

New capabilities:

Other improvements:

  • Fix support for environment variable LSST_DDS_IP. The value is now a dotted IP address; formerly it was an integer.

  • Improve error handling when specifying a non-zero index for a non-indexed SAL component (DM-20976). The SalInfo constructor will now raise an exception.

  • Improve error handling in BaseCsc.fault. Report the problem and continue if the error code is not an integer, or if BaseCsc.report_summary_state fails.

  • The unit tests use the asynctest package, which is pip installable.

  • The documentation for BaseCsc.main now recommends specifying index=None or 0 for non-indexed components, instead of None or False, in order to match standard usage in ts_salobj. All three values worked, and continue to work, but no existing code used False.

  • Minor improvements to version handling:

    • Set lsst.ts.salobj.__version__ to “?” if running directly from source and there is no version.py file generated by setup.py or scons.
    • Update doc/conf.py to get __version__ from lsst.ts.salobj instead of lsst.ts.salobj.version.

  • Stop reading dead topics because ts_sal 4 no longer disposes of any samples immediately after writing. This removes a workaround added in v4.3.0.

  • Add this revision history.

Existing code is unlikely to require any changes to transition from salobj v4 to v5.

Communicates with ts_sal v4.

Requirements:

  • ts_idl
  • IDL files for Test and Script
  • SALPY_Test generated by ts_sal v4 (for unit tests)

v4.5.0

Minor updates for ts_watcher and ts_salkafka:

  • Add several name attributes to topics:

    • sal_name: the name used by SAL for a topic, e.g. “logevent_summaryState”.
    • attr_name: the name used by ts_salobj for topic attributes of Remote and Controller e.g. “evt_summaryState”.
    • dds_name: the name used by DDS for a topic, e.g. “Test_logevent_summaryState_90255bf1”.
    • rev_code: the revision code that SAL appends to DDS topic names, e.g. “90255bf1”.

  • Remove the attr_prefix attribute from topics.

Communicates with ts_sal v3.10 (but not 3.9).

Requirements:

  • ts_idl
  • IDL files for Test and Script
  • SALPY_Test generated by ts_sal v3.10 (for unit tests)

v4.4.0

Minor updates for ts_watcher:

  • Add support to Remote for adding topics after the object is constructed:

    • Change the meaning of constructor argument include=[] to include no topics. Formerly it would include all topics.
    • Add constructor argument start which defaults to True for backwards compatibility. Set it False if you want to add topics after constructing the remote.

  • Add function name_to_name_index for parsing SAL component names of the form name[:index].

  • Add attr_prefix attribute to topics.BaseTopic. Warning: this was replaced by attr_name in v4.5.0.

Communicates with ts_sal 3.10 (but not 3.9).

Requirements:

  • ts_idl
  • IDL files for Test and Script
  • SALPY_Test generated by ts_sal v3.10 (for unit tests)

v4.3.1

Make the unit test pass more reliably.

Warning: the unit tests only pass reliably if run using pytest. I still see a failure roughly 1/4 of the time when run using scons. This is probably a side effect of enabling code coverage analysis.

Other changes:

  • Make scons optional by moving bin scripts from bin.src/ to bin/ and making version.py optional.
  • Modify BaseCsc.set_summary_state to return a list of summary states. This is mostly for the sake of unit tests but it also tells callers what state the CSC started in.

Requirements:

  • ts_idl
  • IDL files for Test and Script
  • SALPY_Test generated by ts_sal v3.10 (for unit tests)

v4.3.0

The first version that is truly compatible with ts_sal 3.10.

Fix an incompatibility with SAL 3.10:

  • salobj could not reliably read ackcmd and command topics sent by SAL 3.10 because SAL 3.10 disposes those samples immediately after writing. Fixed by reading dead samples for those topics. This is intended as a temporary change until ts_sal is updated to not dispose samples after writing.
  • Added a unit test for salobj<->SAL communication. Thus ts_sal is now an optional dependency of ts_salobj.

Requirements: - ts_idl 0.1 - SALPY_Test generated by ts_sal 3.10 (for unit tests)

v4.2.0

Warning: do not use this version because it is not compatible with ts_sal. Use v4.3.0 or later.

Add BaseScript (moved from ts_scriptqueue).

v4.1.1

Warning: do not use this version because it is not compatible with ts_sal. Use v4.3.0 or later.

Do not warn about the config labels file if empty. Only warn if the config labels file has data and that data cannot be parsed as a dict.

Other changes:

  • Update log.warn to log.warning to fix deprecation warnings.

v4.1.0

Warning: do not use this version because it is not compatible with ts_sal. Use v4.3.0 or later.

Add evt_max_history and tel_max_history arguments to Remote constructor.

v4.0.0

Warning: do not use this version because it is not compatible with ts_sal. Use v4.3.0 or later.

Compete rewrite to use OpenSplice dds instead of SALPY libraries generated by ts_sal. For more information see https://community.lsst.org/t/changes-in-salobj-4-the-dds-version/3701

To generate IDL files use command-line script make_idl_files.py which is available in ts_sal 3.10. For example:

make_idl_files.py Test Script