ControllerCommand¶

class lsst.ts.salobj.topics.ControllerCommand(salinfo: SalInfo, name: str, queue_len: int = 100)¶

Bases: ReadTopic

Read a specified command topic.

Parameters:

salinfoSalInfo: SAL component information.
namestr: Command name, with no prefix, e.g. “start”.
queue_lenint, optional: Number of elements that can be queued for get_oldest.

Notes

Each command must be acknowledged by writing an appropriate ackcmd message. If you use a callback function to process the command then this happens automatically, as follows:

If the callback function returns None then send a final acknowledgement with ack=SalRetCode.CMD_COMPLETE.
If the callback function returns an acknowledgement (instance of SalInfo.AckCmdType) instead of None, then send that as the final acknowledgement. This is very unusual, but might be useful if the callback wants to exit early and leave some background task or thread processing the rest of the command.
If the callback function raises asyncio.TimeoutError then send a final acknowledgement with ack=SalRetCode.CMD_TIMEOUT.
If the callback function raises asyncio.CancelledError then send a final acknowledgement with ack=SalRetCode.CMD_ABORTED.
If the callback function raises ExpectedError then send a final acknowledgement with ack=SalRetCode.CMD_FAILED and result=f"Failed: {exception}".
If the callback function raises any other Exception then do the same as ExpectedError and also log a traceback.

Attributes Summary

`DataType`	The type (class) for a message of this topic.
`allow_multiple_callbacks`	Can callbacks can run simultaneously?
`callback`	Asynchronous callback function, or None if there is not one.
`has_callback`	Return True if there is a callback function.
`has_data`	Has any data ever been seen for this topic?
`max_history`
`metadata`	Get topic metadata as a `TopicMetadata`, if available,else None.
`nqueued`	Return the number of messages in the Python queue.
`volatile`	Does this topic have volatile durability?

Methods Summary

`ack`(data, ackcmd)	Acknowledge a command by writing a new state.
`ack_in_progress`(data, timeout[, result])	Ackowledge this command as "in progress".
`aget`([timeout])	Get the most recently seen message (with no delay), or wait for data if no data has ever been seen (`has_data` False).
`basic_close`()	A synchronous and possibly less thorough version of `close`.
`close`()	Shut down and release resources.
`flush`()	Flush the queue used by `get_oldest` and `next`.
`get`()	Get the most recent message, or `None` if no data has ever been seen (`has_data` False).
`get_oldest`()	Pop and return the oldest message from the queue, or `None` if the queue is empty.
`next`(*[, timeout])	Wait for data, returning old data if found.

Attributes Documentation

DataType¶

The type (class) for a message of this topic.

When you read or write a message for this topic you are reading or writing an instance of DataType.

Notes

The preferred way to write a message for a topic is:

RemoteCommand.start to start a command.
CommandEvent.write to write an event.
CommandTelemetry.write to write a telemetry message.

allow_multiple_callbacks¶

Can callbacks can run simultaneously?

Notes

Ignored for synchronous callbacks because those block while running. In particular, if the callback is synchronous but launches one or more background jobs then the number of those jobs cannot be limited by this class.

callback¶

Asynchronous callback function, or None if there is not one.

Synchronous callback functions are deprecated.

The callback function is called when a new message is received; it receives one argument: the message (an object of type topics.BaseTopic.DataType).

Raises:

TypeError: When setting a new callback if the callback is not None and is not callable.

Notes

Setting a callback flushes the queue, and it will remain empty as long as there is a callback.

get_oldest and next are prohibited if there is a callback function. Technically they could both work, but get_oldest would always return None and next would miss messages if they arrived while waiting for something else. It seems safer to raise an exception.

has_callback¶: Return True if there is a callback function.

has_data¶

Has any data ever been seen for this topic?

Raises:

RuntimeError: If the salinfo has not started reading.

max_history¶

metadata¶: Get topic metadata as a TopicMetadata, if available,else None.

nqueued¶: Return the number of messages in the Python queue.

volatile¶: Does this topic have volatile durability?

Methods Documentation

async ack(data: BaseMsgType, ackcmd: AckCmdDataType) → None¶

Acknowledge a command by writing a new state.

Parameters:

dataDataType: Data for the command being acknowledged.
ackcmdsalobj.AckCmdType: Command acknowledgement data.

async ack_in_progress(data: BaseMsgType, timeout: float, result: str = '') → None¶

Ackowledge this command as “in progress”.

Parameters:

dataDataType: Data for the command being acknowledged.
timeoutfloat: Estimated command duration (sec).
resultstr, optional: Reason for acknowledgement. Typically left “”.

async aget(timeout: float | None = None) → BaseMsgType¶

Get the most recently seen message (with no delay), or wait for data if no data has ever been seen (has_data False).

This is almost exactly like get. The only difference: if no data has ever been received by this topic it will wait for data. Once the topic has received any data, calling aget is identical to calling get (except for the need to use await) and the call will return almost instantly.

Please avoid aget, if possible, because it tends to confuse users. Use get to get the current data or next to wait for new data (you will almost never need both for the same topic).

Parameters:

timeoutfloat, optional: Time limit, in seconds. If None then no time limit.

Returns:

dataDataType: The current or next message.

Raises:

asyncio.TimeoutError: If no message is available within the specified time limit.
RuntimeError: If a callback function is present, or if the salinfo has not started reading.

Notes

This method does not remove data from the queue, so it does not change which data is returned by next. In that respect it is not quite identical to this snippet, which otherwise does the same thing as aget:

data = self.get()
if data is None:
    data = await self.next(flush=False, timeout=timeout)
return data

Do not modify the returned data. To make a copy that you can safely modify, use copy.copy(data).

basic_close() → None¶

A synchronous and possibly less thorough version of close.

Intended for exit handlers and constructor error handlers.

async close() → None¶

Shut down and release resources.

Intended to be called by SalInfo.close(), since that tracks all topics.

flush() → None¶

Flush the queue used by get_oldest and next.

This makes get_oldest return None and next wait, until a new message arrives. It does not change which message will be returned by aget or get.

Raises:

RuntimeError: If a callback function is present.

get() → lsst.ts.salobj.type_hints.BaseMsgType | None¶

Get the most recent message, or None if no data has ever been seen (has_data False).

This method does not change which message will be returned by aget, get_oldest, and next.

Returns:

dataself.DataType or None: Return self.data if data has been read, else None.

Raises:

RuntimeError: If the salinfo has not started reading.

get_oldest() → lsst.ts.salobj.type_hints.BaseMsgType | None¶

Pop and return the oldest message from the queue, or None if the queue is empty.

This is a variant of next that does not wait for a new message. This method affects which message will be returned by next, but not which message will be returned by aget or get.

Returns:

dataself.DataType or None: The oldest message found on the queue, if any, else None.

Raises:

RuntimeError: If a callback function is present, or if the salinfo has not started reading.

Notes

Use with caution when mixing with next, since that also consumes data from the queue.

async next(*, timeout: float | None = None) → BaseMsgType¶

Wait for data, returning old data if found.

Unlike RemoteEvent.next and RemoteTelemetry.next, the flush argument is not allowed; the only way to flush old commands is to call flush.

Parameters:

timeoutfloat, optional: Time limit, in seconds. If None then no time limit.

Returns:

dataDataType: Command data.

Raises:

asyncio.TimeoutError: If no message is available within the specified time limit.
RuntimeError: If a callback function is present.

Notes

Do not modify the data or assume that it will be static. If you need a private copy, then copy it yourself.

Navigation

ControllerCommand¶