Version History

v6.0.0

Backward Incompatible Changes:

• Telemetry topics now have volatile durability. All SAL components on your system must use ts_salobj 6 and ts_sal 5 or newer.
• Topics use a new DDS partition naming scheme that is incompatible with ts_sal 4 and ts_salobj 5.
• Requires ts_xml 6 and IDL files built with ts_sal 5 or later, for authorization support.
• Removed deprecated main method from BaseCsc and BaseScript. Call BaseCsc.amain or BaseScript.amain instead, e.g. asyncio.run(MyCSC(index=...)) or asyncio.run(MyScript.amain()).
• Removed deprecated initial_simulation_mode argument from BaseCsc and ConfigurableCsc. Use simulation_mode instead.
• Removed deprecated support for calling BaseCsc.fault without an error code or report; both must now be specified.
• Removed deprecated support for setting BaseCsc.summary_state directly. To transition your CSC to a FAULT state call the BaseCsc.fault method. Unit tests may call the set_summary_state function or issue the usual state transition commands.
• Commands are no longer acknowledged with CMD_INPROGRESS if the do_xxx callback function is asynchronous. This was needlessly chatty. Instead users are expected to issue such an ack manually (e.g. by calling topics.ControllerCommand.ack_in_progress) when beginning to execute a command that will take significant time before it is reported as CMD_COMPLETE.
• Removed the deprecated SalInfo.idl_loc property; use SalInfo.metadata.idl_path instead.
• The force_output argument to topics.ControllerEvent.set_put is now keyword-only.
• Removed the deprecated max_history argument from topics.ControllerCommand’s constructor. Commands are volatile, so historical data is not available.
• Removed bin/purge_topics.py command-line script, because it is no longer needed.

Deprecations:

• Simplified simulation mode support in CSCs. This is described in simulation mode and results in the following deprecations:
  • CSCs should now set class variable valid_simulation_modes, even if they do not support simulation. Failure to do so will result in a deprecation warning, but supports the old way of doing things.
  • Deprecated BaseCsc.implement_simulation_mode. Start your simulator in whichever other method seems most appropriate.
  • Deprecated the need to override BaseCsc.add_arguments and BaseCsc.add_kwargs_from_args to add the --simulate command-line argument. This argument is added automatically if valid_simulation_modes has more than one entry.
• Renamed environment variable LSST_DDS_DOMAIN to LSST_DDS_PARTITION_PREFIX. The old environment variable is used, with a deprecation warning, if the new one is not defined.
• Renamed SalInfo.makeAckCmd to SalInfo.make_ackcmd. The old method is still available, but issues a deprecation warning.

• Renamed ControllerCommand.ackInProgress to ControllerCommand.ack_in_progress and added a required timeout argument.

  The old method is still available, but issues a deprecation warning.

• Remote: the tel_max_history constructor argument is deprecated and should not be specified. If specified it must be 0 (or None, but please don’t do that).
• topics.RemoteTelemetry: the max_history constructor argument is deprecated and should not be specified. If specified then it must be 0 (or None, but please don’t do that).

Changes:

• Implemented authorization support, though that is off by default for now. This will not be complete until ts_sal has full support.
• Simplified the simulation support in CSCs, as explained in Deprecations above.
• Added --loglevel and --version arguments to BaseCsc’s command-line argument parser.
• CscCommander now rounds float arrays when displaying events and telemetry (it already rounded float scalars).
• Added support for running without a durability service: set environment variable LSST_DDS_HISTORYSYNC to a negative value to prevent waiting for historical data.
• Added the get_opensplice_version function.
• If a command is acknowledged with CMD_INPROGRESS then the command timeout is extended by the timeout value in the acknowledgement. Thus a slow command will need a long timeout as long as command issues a CMD_INPROGRESS acknowledgement with a reasonable timeout value.
• Added the settingsToApply argument to BaseCscTestCase.check_standard_state_transitions, to allow testing CSCs that do not have a default configuration.
• Environment variable LSST_DDS_IP is no longer used.
• The private_host field of DDS topics is no longer read nor set.
• Updated the git pre-commit hook to prevent the commit if black formatting needed. This encourages the user to properly commit the necessary reformatting.
• Update Jenkinsfile to disable concurrent builds and clean up old log files.
• Removed the .travis.yml file because it duplicates testing done in Jenkins.
• Use asynco.create_task instead of deprecated asyncio.ensure_future.
• Read topics now use DDS_READ_QUEUE_LEN as the default value for queue_len. They have the same value, but this makes it easier and safer to change DDS_READ_QUEUE_LEN in future.

Requirements:

• ts_idl 1.3 (older versions might work but have not been tested)
• ts_xml 6.1 (older versions might work but have not been tested)
• IDL files for Test, Script, and LOVE generated by ts_sal 4.2 or later
• SALPY_Test generated by ts_sal 4.2 or later

v5.17.2

Changes:

• Work around a bug in licensed OpenSplice 6.10.4 and 6.10.3 (case 00020647). The workaround is compatible with the community edition of OpenSplice 6.9.190705.

Requirements:

• ts_idl 1
• ts_xml 4.7
• IDL files for Test, Script, and LOVE generated by ts_sal 4.1 or later
• SALPY_Test generated by ts_sal 4.1 or later

v5.17.1

Changes:

• Bug fix: BaseCscTestCase.check_bin_script now sets a random LSST_DDS_DOMAIN, just like make_csc.

Requirements:

• ts_idl 1
• ts_xml 4.7
• IDL files for Test, Script, and LOVE generated by ts_sal 4.1 or later
• SALPY_Test generated by ts_sal 4.1 or later

v5.17.0

Changes:

• Added the CscCommander.start method and the --enable command-line flag.
• Added the SalInfo.name_index property.
• Made SalInfo an async contextual manager. This is primarily useful for unit tests.

Requirements:

• ts_idl 1
• ts_xml 4.7
• IDL files for Test, Script, and LOVE generated by ts_sal 4.1 or later
• SALPY_Test generated by ts_sal 4.1 or later

v5.16.0

Changes:

• Add the filter_ackcmd argument to ReadTopic’s constructor.
• Improve Jenkins.conda cleanup.

Requirements:

• ts_idl 1
• ts_xml 4.7
• IDL files for Test, Script, and LOVE generated by ts_sal 4.1 or later
• SALPY_Test generated by ts_sal 4.1 or later

v5.15.2

Changes:

• Made RemoteCommand.next capable of being called by multiple coroutines at the same time. This change should also eliminate a source of index errors.
• Bug fix: two tests in test_topics.py failed if LSST_DDS_IP was defined.

Requirements:

• ts_idl 1
• ts_xml 4.7
• IDL files for Test, Script, and LOVE generated by ts_sal 4.1 or later
• SALPY_Test generated by ts_sal 4.1 or later

v5.15.1

Changes:

• Updated for compatibility with ts_sal 4.2, while retaining compatibility with 4.1 This required a small change to one unit test.

Requirements:

• ts_idl 1
• ts_xml 4.7
• IDL files for Test, Script, and LOVE generated by ts_sal 4.1 or later
• SALPY_Test generated by ts_sal 4.1 or later

v5.15.0

Changes:

• Add angle_wrap_center and angle_wrap_nonnegative functions.
• Broke the test of black formatting out into its own test file test_black.py, to make it easier to copy into other packages.

Requirements:

• ts_idl 1
• ts_xml 4.7
• IDL files for Test, Script, and LOVE generated by ts_sal 4.1 or later
• SALPY_Test generated by ts_sal 4.1 or later

v5.14.0

Changes:

• Add create and profile arguments to AsyncS3Bucket’s constructor.
• Add other and suffix arguments to AsyncS3Bucket.make_key.

• Change current_tai, current_tai_from_utc, tai_from_utc, and tai_from_utc_unix to return float.

  Formerly they returned a numpy.float64 scalar (though current_tai returned a float if using CLOCK_TAI).

• Add timeout argument to BaseCscTestCase.make_csc to handle CSCs that are very slow to start.
• Added minimal compatibility with ts_xml 5.2: the new generic setAuthList command. Controller can be constructed, but the command is not yet supported.
• Sped up test_csc.py by reducing a needlessly long timeout introduced in v5.12.0.

Requirements:

• ts_idl 1
• ts_xml 4.7
• IDL files for Test, Script, and LOVE generated by ts_sal 4.1 or later
• SALPY_Test generated by ts_sal 4.1 or later

v5.13.1

Changes:

• Enable test of IDL topic metadata for array fields. This requires IDL files generated by ts_sal 4.1 or later.
• Make some improvements to setup.py to add requirements.
• Add build/upload pypi package to Jenkinsfile.conda.

Requirements:

• ts_idl 1
• ts_xml 4.7
• IDL files for Test, Script, and LOVE generated by ts_sal 4.1 or later
• SALPY_Test generated by ts_sal 4.1 or later

v5.13.0

Backwards incompatible changes:

• topics.RemoteCommand.set and topics.RemoteCommand.set_start now start from a fresh data sample, rather than using the parameters for the most recent command (self.data) as defaults. This makes behavior easier to understand and avoids unpleasant surprises. It should affect very little code, since most code specifies all parameters for each call.

Other changes:

• current_tai now uses the system TAI clock, if available (only on Linux) and if it gives a reasonable time. Salobj logs a warning such as current_tai uses current_tai_from_utc; clock_gettime(CLOCK_TAI) is off by 37.0 seconds if CLOCK_TAI does not give a reasonable time. This warning indicates that salobj is computing TAI from the standard UTC-ish system clock; that time will be accurate on most days, but it will be off by up to a second on the day of a leap second.
• set_summary_state now accepts settingsToApply=None. Formerly it was not supported, but might work.
• Improved IO errors handling while accessing schema, labels and configuration file in ConfigurableCsc.
• ConfigurableCsc.get_default_config_dir renamed to ConfigurableCsc._get_default_config_dir.

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)

v5.12.0

Backwards incompatible changes:

• Many methods of topics in Remotes now raise RuntimeError if the remote has not yet started. This may cause some code (especially unit tests) to fail with a RuntimeError. The fix is to make sure the code waits for Remote.start_task before trying to read data or issue commands. In unit tests consider using async with salobj.Remote(...) as remote:. The methods that raise are:
  • Data reading methods: topics.ReadTopic.has_data, topics.ReadTopic.aget, topics.ReadTopic.get, topics.ReadTopic.get_oldest, and topics.ReadTopic.next.
  • Command issuing methods: topics.RemoteCommand.start and topics.RemoteCommand.set_start.

Other changes:

• Fixed an error in name_to_name_index: it could not handle names that contained integers (DM-24933).

• Fixed an error in BaseCscTestCase.make_csc: log_level was ignored after the first call, and also ignored if the level was greater than (verbosity less than) WARNING.

• Improved BaseCscTestCase.make_csc to allow log_level=None (do not change the log level) and make that the default.

• Update BaseScript.start to wait for its remotes to start.

• Update CscCommander to include the received time as part of event and telemetry output.

• Improved the error message from BaseCscTestCase.assert_next_sample to specify which field failed.

• Improved tests/test_speed.py:

  • Fixed a bug: the measurement “salobj.CreateClasses” was reported as the inverse of the correct value.
  • Do not fail the read speed measurements if samples are lost; writing is faster than reading, so some loss is likely. Instead, print the number of samples lost.
  • Improve the measurement “salobj.ReadTest_logLevel” by ignoring an extra logLevel event output by Controller.
  • Be more careful about shutting down the topic writer subprocess. This eliminates a warning about an unclosed socket.
  • Reduced the number of samples read and written, since it doesn’t affect the measurements, speeds up the test, and may reduce lost samples.
  • Removed the combined read/write speed test because it is redundant with the tests added in v5.11.0.

• Minor improvements to test_salobj_to_either.py and test_salpy_to_either.py, including printing how long it takes to create the listeneners, which is an upper limit (and decent approximation) of how long it waits for historical data.

• Made time limits in unit tests more generous and simpler. This should help test robustness on computers that are slow or starved for resources.

• Fixed flake8 warnings about f strings with no {}.

• Removed deprecated sudo: false entry from .travis.yml, in order to allow github checks to pass once again.

• Modified assert_black_formatted to ignore version.py.

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)

v5.11.0

Major changes:

• Update CscCommander to support custom commands and to run commands in the background.
• Add new speed tests for issuing commands, reading small and large topics, and writing small and large topics. Results of the speed tests are uploaded to SQuaSH by Jenkins.
• Add new function assert_black_formatted to simplify making sure code remains formatted with black, and a unit test that calls the function.
• Increased the shutdown delay in Controller from 0.5 seconds to 1 second, in order to give Remotes a bit more time to read final SAL/DDS messages. This may require tweaking timeouts in unit tests that wait for a controller to quit.

Other changes:

• Update the CSC documentation to move the details for configurable CSCs to a new section.
• Change SalInfo to only set the log level if it is less verbose than loggint.INFO. That makes it easier to set a more verbose level in unit tests.
• Update a unit test for compatibility with the pending release of ts_xml 5.2.
• Made test_salpy_to_either.py more robust by increasing the polling rate for messages.

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)

v5.10.0

Major changes:

• Sped up DDS message read and write by a factor of 8, as reported by tests/test_speed.py. This was done by speeding up tai_from_utc, which turned out to be the bottleneck.
• Add function tai_from_utc_unix, which does most of the work for tai_from_utc.

Minor changes:

• Improved the Jenkins file handling for building and uploading the documentation. If building the documentation fails then the Jenkins job fails. If uploading the documentation fails then the Jenkins job is marked as unstable.

Notes:

• tai_from_utc and astropy_time_from_tai_unix will be deprecated once we upgrade to a version of AstroPy that supports TAI seconds directly. That change has been committed to the AstroPy code base. The new function tai_from_utc_unix will remain.
• salobj now uses a daemon thread to maintain an internal leap second table.

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)

v5.9.0

Backwards incompatible changes:

• The arguments have changed slightly for AsyncS3Bucket.make_bucket_name and AsyncS3Bucket.make_key and the returned values are quite different. We changed our standards because it turns out that large numbers of buckets are a problem for Amazon Web Services (AWS).

Major changes:

• Add a timeout argument to BaseCscTestCase.check_standard_state_transitions.
• Update BaseCsc.start to output the softwareVersions event.
• Update ConfigurableCsc to output the settingsApplied event.

Minor changes:

• Allow the SALPY_Test library to be missing: skip the few necessary unit tests if the library is not found.
• The Jenkins job now builds and uploads the documentation (even if unit tests fail).
• Improve the reliability of tests/test_salobj_to_either.py by increasing a time limit.

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)

v5.8.0

Major changes:

• Improved AsyncS3Bucket:

  • Read environment variable S3_ENDPOINT_URL to obtain the endpoint URL. This allows use with non-AWS S3 servers.
  • Added support for running a mock S3 server: a new domock constructor argument and AsyncS3Bucket.stop_mock method. This is intended for CSCs running in simulation mode, and for unit tests.
  • Added static method AsyncS3Bucket.make_bucket_name.
  • Added static method AsyncS3Bucket.make_key.

• Improved BaseCscTestCase:

  • Added argument skip_commands to BaseCscTestCase.check_standard_state_transitions.
  • Added argument **kwargs to BaseCscTestCase.make_csc and BaseCscTestCase.basic_make_csc.
  • Changed argument *cmdline_args to cmdline_args for BaseCscTestCase.check_bin_script, for clarity.

Other changes:

• Added a Configuring ts_salobj section to the documentation.
• Added missing unit test for topics.QueueCapacityChecker.
• Standardized the formatting for attributes documented in the Notes section for some classes.

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:

• Scripts now launch with master priority 0 (or will, once https://jira.lsstcorp.org/browse/DM-23462 is implemented). This should make scripts launch more quickly.

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:

  • Scripts must now have a non-blank group ID before they are run.
  • Add BaseScript.group_id property.
  • Add BaseScript.next_supplemented_group_id method.

• 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:

• Fix bugs in BaseCscTestCase.check_bin_script and update test_csc.py to call it.
• Removed our local copy of ddsutil.py.

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:

• Add function current_tai to return the current time in TAI unix seconds (LSST’s standard for SAL timestamps).
• Enhance function tai_from_utc to support alternate formats for UTC using new argument format="unix".
• Add topics.ReadTopic.aget to return the current sample, if any, else wait for the next sample (DM-20975).
• Add coroutine BaseCsc.handle_summary_state. This is the preferred way to handle changes to summary state instead of overriding synchronous method BaseCsc.report_summary_state.
• Add property BaseCsc.disabled_or_enabled which returns true if the current summary state is State.DISABLED or State.ENABLED. This is useful in BaseCsc.handle_summary_state to determine if you should start or stop a telemetry loop.
• Add result_contains argument to assertRaisesAckError.
• Enhance topics.ControllerCommand automatic acknowledgement for callback functions so that the ack value is SalRetCode.CMD_ABORTED if the callback raises asyncio.CancelledError and SalRetCode.CMD_TIMEOUT if the callback raises asyncio.TimeoutError.
• Controller.start now waits for all remotes to start (except those constructed with start=False, which is rare).
• Added start_called attribute to SalInfo, Controller and Remote.

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