ConfigurableCsc

class lsst.ts.salobj.ConfigurableCsc(name: str, index: Optional[int], config_schema: Dict[str, Any], config_dir: Optional[Union[str, pathlib.Path]] = None, initial_state: lsst.ts.salobj.sal_enums.State = State.STANDBY, override: str = '', simulation_mode: int = 0)

Bases: lsst.ts.salobj.base_csc.BaseCsc, abc.ABC

Base class for a configurable Commandable SAL Component (CSC)

Parameters
namestr

Name of SAL component.

indexint or None

SAL component index, or 0 or None if the component is not indexed.

config_schemadict

Configuration schema, as a dict in jsonschema format.

config_dirstr, optional

Directory of configuration files, or None for the standard configuration directory (obtained from _get_default_config_dir). This is provided for unit testing.

initial_stateState or int, optional

The initial state of the CSC. This is provided for unit testing, as real CSCs should start up in State.STANDBY, the default.

overridestr, optional

Configuration override file to apply if initial_state is State.DISABLED or State.ENABLED.

simulation_modeint, optional

Simulation mode. The default is 0: do not simulate.

Raises
ValueError

If config_dir is not a directory or initial_state is invalid.

salobj.ExpectedError

If simulation_mode is invalid. Note: you will only see this error if you await start_task.

RuntimeError

If the environment variable LSST_SITE is not set.

Notes

Configuration

Configuration is handled by the start command, as follows:

  • The override field specifies a path to a configuration file found in the package specified by config_pkg in a subdirectory with the name of this SAL component (e.g. Test or ATDomeTrajectory).

  • The configuration file is validated against the schema specified by specified config_schema. This includes setting default values from the schema and validating the result again (in case the default values are invalid).

  • The validated configuration is converted to a struct-like object using types.SimpleNamespace.

  • The configuration is passed to the configure method, which subclasses must override. Note that configure is called just before summary state changes from State.STANDBY to State.DISABLED.

Constructor

The constructor does the following, beyond the parent class constructor:

Attributes
config_dirpathlib.Path

Get or set the configuration directory.

config_validatorStandardValidator

Validator for configuration files.

schema_versionstr

Configuration schema version, as specified in the schema as the final word of the title. Used to find the config_dir.

sitestr

The value of the LSST_SITE environment variable, e.g. “summit”. Used to select the correct configuration files.

Attributes Summary

config_dir

Get or set the configuration directory.

default_initial_state

disabled_or_enabled

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

domain

enable_cmdline_state

simulation_help

simulation_mode

Get the current simulation mode.

summary_state

Get the summary state as a State enum.

valid_simulation_modes

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.

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.

close([exception, cancel_start])

Shut down, clean up resources and set done_task done.

close_tasks()

Shut down pending tasks.

configure(config)

Configure the CSC.

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_setAuthList(data)

Update the authorization list.

do_setLogLevel(data)

Set logging level.

do_standby(data)

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

do_start(data)

Transition from State.STANDBY to State.DISABLED.

end_disable(data)

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

end_enable(data)

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

end_exitControl(data)

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

end_standby(data)

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

end_start(data)

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

fault(code, report[, traceback])

Enter the fault state and output the errorCode event.

get_config_pkg()

Get the name of the configuration package, e.g.

handle_summary_state()

Called when the summary state has changed.

implement_simulation_mode(simulation_mode)

Implement going into or out of simulation mode.

make_from_cmd_line(index, **kwargs)

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.

set_simulation_mode(simulation_mode)

Set the simulation mode.

start()

Finish constructing the CSC.

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: lsst.ts.salobj.sal_enums.State = 5
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
simulation_help: Optional[str] = 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,)

Methods Documentation

classmethod add_arguments(parser: argparse.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: argparse.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: Optional[Union[int, enum.IntEnum, bool]], **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 begin_disable(data: lsst.ts.salobj.type_hints.BaseMsgType) None

Begin do_disable; called before state changes.

Parameters
dataDataType

Command data

async begin_enable(data: lsst.ts.salobj.type_hints.BaseMsgType) None

Begin do_enable; called before state changes.

Parameters
dataDataType

Command data

async begin_exitControl(data: lsst.ts.salobj.type_hints.BaseMsgType) None

Begin do_exitControl; called before state changes.

Parameters
dataDataType

Command data

async begin_standby(data: lsst.ts.salobj.type_hints.BaseMsgType) None

Begin do_standby; called before the state changes.

Parameters
dataDataType

Command data

async begin_start(data: lsst.ts.salobj.type_hints.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 close(exception: Optional[Exception] = 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() None

Shut down pending tasks. Called by close.

abstract async configure(config: Any) None

Configure the CSC.

Parameters
configobject

The configuration, as described by the config schema, as a struct-like object.

Notes

Called when running the start command, just before changing summary state from State.STANDBY to State.DISABLED.

async do_disable(data: lsst.ts.salobj.type_hints.BaseMsgType) None

Transition from State.ENABLED to State.DISABLED.

Parameters
datacmd_disable.DataType

Command data

async do_enable(data: lsst.ts.salobj.type_hints.BaseMsgType) None

Transition from State.DISABLED to State.ENABLED.

Parameters
datacmd_enable.DataType

Command data

async do_exitControl(data: lsst.ts.salobj.type_hints.BaseMsgType) None

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

Parameters
datacmd_exitControl.DataType

Command data

async do_setAuthList(data: lsst.ts.salobj.type_hints.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: lsst.ts.salobj.type_hints.BaseMsgType) None

Set logging level.

Parameters
datacmd_setLogLevel.DataType

Logging level.

async do_standby(data: lsst.ts.salobj.type_hints.BaseMsgType) None

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

Parameters
datacmd_standby.DataType

Command data

async do_start(data: lsst.ts.salobj.type_hints.BaseMsgType) None

Transition from State.STANDBY to State.DISABLED.

Parameters
datacmd_start.DataType

Command data

async end_disable(data: lsst.ts.salobj.type_hints.BaseMsgType) None

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

Parameters
dataDataType

Command data

async end_enable(data: lsst.ts.salobj.type_hints.BaseMsgType) None

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

Parameters
dataDataType

Command data

async end_exitControl(data: lsst.ts.salobj.type_hints.BaseMsgType) None

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

Parameters
dataDataType

Command data

async end_standby(data: lsst.ts.salobj.type_hints.BaseMsgType) None

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

Parameters
dataDataType

Command data

async end_start(data: lsst.ts.salobj.type_hints.BaseMsgType) None

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

Parameters
dataDataType

Command data

async fault(code: Optional[int], 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.

abstract static get_config_pkg() str

Get the name of the configuration package, e.g. “ts_config_ocs”.

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.

classmethod make_from_cmd_line(index: Optional[Union[int, enum.IntEnum, bool]], **kwargs: Any) lsst.ts.salobj.base_csc.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.

**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: jsonschema.validators.create.<locals>.Validator, config_dir: pathlib.Path, files_to_read: typing.List[str], git_hash: str = '') types.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 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.