ConfigurableCsc¶

class lsst.ts.salobj.ConfigurableCsc(name: str, index: Optional[int], schema_path: Optional[Union[str, pathlib.Path]] = None, config_schema: Optional[Dict[str, Any]] = None, config_dir: Optional[Union[str, pathlib.Path]] = None, initial_state: lsst.ts.salobj.sal_enums.State = State.STANDBY, settings_to_apply: 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.
schema_pathstr, pathlib.Path or None, optional: Path to a schema file used to validate configuration files. This is deprecated; new code should specify config_schema instead. The recommended path is <package_root>/"schema"/f"{name}.yaml" for example:

schema_path = pathlib.Path(__file__).resolve().parents[4] / “schema” / f”{name}.yaml”
config_schemadict or None, optional: Configuration schema, as a dict in jsonschema format. Exactly one of schema_path or config_schema must not be None.
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.
settings_to_applystr, optional: Settings 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.
ValueError: If schema_path and config_schema are both None, or if neither is None.
salobj.ExpectedError: If simulation_mode is invalid. Note: you will only see this error if you await start_task.

Notes

Configuration

Configuration is handled by the start command, as follows:

The settingsToApply 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 schema_path. 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:

Set summary state, then run the ConfigurableCsc.start asynchronously, which does the following:
If initial_summary_state is State.DISABLED or State.ENABLED then call ConfigurableCsc.configure.
Call BaseCsc.set_simulation_mode
Call BaseCsc.handle_summary_state
Call BaseCsc.report_summary_state
Set start_task done

Attributes

config_dirpathlib.Path: Get or set the configuration directory.
config_validatorDefaultingValidator: Validator for configuration files that also sets default values for omitted items.
schema_versionstr: Configuration schema version, as specified in the schema as the final word of the title. Used to find the config_dir.

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`
`require_settings`
`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`()	Set `self.config_label_dict` and output `evt_settingVersions`.
`report_summary_state`()	Report a new value for summary_state, including current state.
`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: 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¶

require_settings: bool = False¶

simulation_help: typing.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: typing.Optional[typing.Sequence[int]] = None¶

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.BaseDdsDataType) → None¶

Begin do_disable; called before state changes.

Parameters

dataDataType: Command data

async begin_enable(data: lsst.ts.salobj.type_hints.BaseDdsDataType) → None¶

Begin do_enable; called before state changes.

Parameters

dataDataType: Command data

async begin_exitControl(data: lsst.ts.salobj.type_hints.BaseDdsDataType) → None¶

Begin do_exitControl; called before state changes.

Parameters

dataDataType: Command data

async begin_standby(data: lsst.ts.salobj.type_hints.BaseDdsDataType) → None¶

Begin do_standby; called before the state changes.

Parameters

dataDataType: Command data

async begin_start(data: lsst.ts.salobj.type_hints.BaseDdsDataType) → None¶

Begin do_start; configure the CSC before changing state.

Parameters

datacmd_start.DataType: Command data

Notes

The settingsToApply 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 schema at schema_path, 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.BaseDdsDataType) → None¶

Transition from State.ENABLED to State.DISABLED.

Parameters

datacmd_disable.DataType: Command data

async do_enable(data: lsst.ts.salobj.type_hints.BaseDdsDataType) → None¶

Transition from State.DISABLED to State.ENABLED.

Parameters

datacmd_enable.DataType: Command data

async do_exitControl(data: lsst.ts.salobj.type_hints.BaseDdsDataType) → None¶

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

Parameters

datacmd_exitControl.DataType: Command data

do_setAuthList(data: lsst.ts.salobj.type_hints.BaseDdsDataType) → 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.

do_setLogLevel(data: lsst.ts.salobj.type_hints.BaseDdsDataType) → None¶

Set logging level.

Parameters

datacmd_setLogLevel.DataType: Logging level.

async do_standby(data: lsst.ts.salobj.type_hints.BaseDdsDataType) → 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.BaseDdsDataType) → None¶

Transition from State.STANDBY to State.DISABLED.

Parameters

datacmd_start.DataType: Command data

async end_disable(data: lsst.ts.salobj.type_hints.BaseDdsDataType) → 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.BaseDdsDataType) → 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.BaseDdsDataType) → 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.BaseDdsDataType) → 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.BaseDdsDataType) → None¶

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

Parameters

dataDataType: Command data

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.

put_log_level() → None¶: Output the logLevel event.

read_config_dir() → None¶

Set self.config_label_dict and output evt_settingVersions.

Set self.config_label_dict from self.config_dir/_labels.yaml. Output the settingVersions event (if changed) as follows:

recommendedSettingsLabels is a comma-separated list of labels in self.config_label_dict, truncated by omitting labels if necessary.
recommendedSettingsVersion is derived from git information for self.config_dir, if it is a git repository, else “”.

report_summary_state() → None¶

Report a new value for summary_state, including current state.

Subclasses may wish to override for code that depends on the current state (rather than the state transition command that got it into that state).

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.

If initial_summary_state is State.DISABLED or State.ENABLED then call configure.
Run BaseCsc.start

Navigation

ConfigurableCsc¶