Version History

v8.2.6 (2025-10-13)

Bug Fixes

• Set local_scheme to ‘no-local-version’ to remove git hash from dev package version. (OSW-1135)

Performance Enhancement

• Set conda build string. (OSW-1207)

Other Changes and Additions

• Updated conda recipe to use ts-conda-build 0.5. (OSW-1206)

v8.2.5 (2025-09-22)

Bug Fixes

• Avoided use of ‘-’ in topic subname suffix string. (OSW-888)

Other Changes and Additions

• Fix version handling for conda packaging. (OSW-729)

• Update image versions in docker-compose.yaml for Cycle 42. (OSW-729)

v8.2.4 (2025-08-19)

Bug Fixes

• Sleep some time when deleting the topics in unit tests. (OSW-783)

Other Changes and Additions

• Update multipartition CSC list in check_schema.py (OSW-800)

• Add orjson to conda requirements (OSW-800)

v8.2.3 (2025-06-18)

New Features

• Added schema checking script (DM-50528)

• Add new delete_topics submodule with utilities to delete topics and schema from the Kafka broker. (OSW-397)

Bug Fixes

• Updated schema deletion operation in BaseCscTestCase to mark schemas for deletion before permanently deleting them. (OSW-397)

Other Changes and Additions

• Updated broker client configuration to remove deprecated request for api version. (OSW-397)

• Updated the BaseCscTestCase.asyncTearDown method to use the new DeleteTopics class to handle topic deletion. (OSW-397)

• Improved handling of exception when deleting consumer group in SalInfo. (OSW-397)

v8.2.2 (2025-04-23)

Bug Fixes

• Added the authlib dependency. (DM-50407)

v8.2.1 (2025-04-01)

Other Changes and Additions

• Updates conda recipe to replace xml_conda_version with xml_version. (DM-49653)

v8.2.0 (2025-04-01)

Other Changes and Additions

• Adds a tearDown method to the BaseCscTescCase class to cleanup the broker after the test is executed. (DM-49643)

• Improves SalInfo._blocking_create_topics to list the existing topics and only attempt to create the ones that don’t exist. (DM-49643)

• Adds a signal handler for BaseScript to capture SIGINT and SIGTEM and ensure that correct cleanup is executed after receiving a signal. (DM-49643)

• Make general unit tests improvements. Mostly around cleaning up resources after the unit tests are executed to ensure we are not leaving crud behind in the test kafka cluster. (DM-49643)

• Adds a signal handler for BaseCSC to capture SIGINT and SIGTEM and ensure that correct cleanup is executed after receiving a signal. (DM-49643)

• Updates check for duplicate heartbeat, when starting a CSC, to create its own Domain and Remote. This improves resource cleanup, preventing consumers from dangling around. (DM-49643)

• Updates SalLogHandler to store any message logged before the controller has started and emit them once it is. (DM-49643)

v8.1.0

Performance Enhancement

• Updated SalInfo to replace the use of Consumer.pool with Consumer.consume and allow users to specify the number of images to consume and the timeout. By default, num_messages=1 and timeout=0.1, which falls back to the original behavior with Consumer.pool. (DM-48885)

• Updated Remote to allow users to specify num_messages and consume_messages_timeout, which is passed on to SalInfo and used to set how the read loop behaves. (DM-48885)

Documentation

• Replace set_random_topic_subname references with set_test_topic_subname. (DM-48919)

v8.0.0

This new major release of salobj replaces DDS with Kafka.

• Update to use Kafka instead of DDS to read and write messages.

• CSCs may specify initial_state=None to use the default state.

• Changes that are most likely to break existing code:

  • SalInfo:

    • You must call start before writing data.

    • Deleted the deprecated makeAckCmd method; call make_ackcmd instead.

    • The SalInfo metadata attribute has been replaced by component_info. component_info is more comprehensive (it is used to generate Kafka topics) and is derived directly from the XML files.

  • Messages no longer support the get_vars method; use the vars built-in function instead. In other words change message.get_vars() to vars(message).

  • Deleted function get_opensplice_version.

• Added bin script and entry point get_component_info to get information about a SAL component from ts_xml. The information includes enumerations, Avro schemas for topics, and array lengths for fields.

• BaseCsc: stop setting $OSPL_MASTER_PRIORITY; it is not needed for Kafka. Delete constant MASTER_PRIORITY_ENV_VAR.

• Move the following submodules to ts_xml:

  • component_info.py

  • field_info.py

  • get_component_info.py

  • sal_enums.py

  • get_enums_from_xml.py

  • xml_utils.py

  • type_hints.py

  • topic_info.py

• Re-export the following submodules to maintain backward compatibility.

  • lsst.ts.xml.sal_enums.

  • lsst.ts.xml.type_hints.

• Remove the do_setAuthList command.

• Give a local variable a more pythonesque name.

v7.8.0

• Added optional stem parameter to AsyncS3Bucket::make_key.

• Implemeted URL return from AsyncS3Bucket::upload.

v7.7.1

• Added WildcardIndexError to handle wildcard indices in SAL components, ensuring backward compatibility.

v7.7.0

• Add new functionality to allow specifying extra commands for a CSC. This will allow us to improve backwards compatibility when adding new commands to CSC.

• Add support for setting block information in BaseScript.

v7.6.1

• Remove backward compatibility with moto version 3.

• Remove the do_setAuthList command.

• Give a local variable a more pythonesque name.

v7.6.0

• Updated moto to version 5.

• Removed testing for a non-existent warning from a unit test.

• Update the version of the ts-conda-build dependency to 0.4.

• Reformat code with black.

v7.5.0

• Removed all references to the unsigned long and unsigned long long data types, as they are no longer supported.

v7.4.0

• CSCs now optionally check for an already-running instance when starting. This is always on when starting a CSC using the command line/entry point. It is off by default when constructing the CSC class directly, to make unit tests start more quickly. To support this:

  • Add optional constructor argument check_if_duplicate to BaseCsc, ConfigurableCsc, and TestCsc.

  • Add optional argument check_if_duplicate to BaseCsc.make_from_cmd_line.

  Note that existing subclasses need not change anything to get the new behavior. You may add optional constructor argument check_if_duplicate if you like, but it is not very useful.

• Added topics.MockWriteTopic and make_mock_write_topics. These are used to test writers (such as ESS data clients) without actually writing data to SAL.

• topics.SetWriteResult: change to a dataclass.

• topics.WriteTopic: change default_force_output from a class variable to an instance variable computed in the constructor. This simplifies subclassing and makes topics.MockWriteTopic practical.

v7.3.4

• BaseCsc: fix the log message if an end_<state> method fails; the message claimed it was begin_<state> that failed.

• Add some missing Raises docs, especially missing asyncio.TimeoutError entries.

• topics.ReadTopic: eliminate a false warning that async callback functors (classes with async __call__ methods) are synchronous.

• Switched to ts_pre_commit_config.

• Jenkinsfile: use new shared library.

• Remove scons support.

Requirements:

• ts_ddsconfig

• ts_idl 4.2

• ts_utils 1.1

• IDL files for Test and Script generated from ts_xml 11 using ts_sal 7

v7.3.3

• QosSet: fix doc strings.

Requirements:

• ts_ddsconfig

• ts_idl 4.2

• ts_utils 1.1

• IDL files for Test and Script generated from ts_xml 11 using ts_sal 7

v7.3.2

• CscCommander:

  • Reduce clutter from logMessage events by only publishing the most interesting fields: level, name, message, and (if not empty) traceback.

  • telemetry_callback: do not assume an attribute already exists for previous data. This makes it easier to use for events such as clockOffset, where you only want to see the information if it has changed significantly. Also improve the documentation.

• Remove some unwanted files that were accidentally added to the last release.

Requirements:

• ts_ddsconfig

• ts_idl 4.2

• ts_utils 1.1

• IDL files for Test and Script generated from ts_xml 11 using ts_sal 7

v7.3.1

• SalLogHandler: reduce the frequency of “_async_emit’ was never awaited” warnings at shutdown.

• conda/meta.yaml: remove redundant “entry_points” information.

• pre-commit: update black to 23.1.0, isort to 5.12.0, mypy to 1.0.0, and pre-commit-hooks to v4.4.0.

• Jenkinsfile: do not run as root.

Requirements:

• ts_ddsconfig

• ts_idl 4.2

• ts_utils 1.1

• IDL files for Test and Script generated from ts_xml 11 using ts_sal 7

v7.3.0

• Deprecate synchronous callbacks from ReadTopic, including do_x methods in CSCs and SAL scripts. Also deprecate synchronous do_x methods in CSC commanders (DM-37501).

• CscCommander: add telemetry_fields_compare_digits constructor argument.

• Improve error output from BaseConfigTestCase.check_config_files (DM-37500).

Requirements:

• ts_ddsconfig

• ts_idl 4.2

• ts_utils 1.1

• IDL files for Test and Script generated from ts_xml 11 using ts_sal 7

v7.2.2

• CscCommander: remove outdated information from the doc string.

• command_test_csc: call the correct function.

• TestCscCommander: remove unused constructor arguments.

• Make mypy 0.991 happy.

Requirements:

• ts_ddsconfig

• ts_idl 4.2

• ts_utils 1.1

• IDL files for Test and Script generated from ts_xml 11 using ts_sal 7

v7.2.1

• Modernize the conda recipe.

• Add mypy to pre-commit and update other pre-commit tasks.

Requirements:

• ts_ddsconfig

• ts_idl 4.2

• ts_utils 1.1

• IDL files for Test and Script generated from ts_xml 11 using ts_sal 7

v7.2.0

• BaseScript: fail with state Script.ScriptState.CONFIGURE_FAILED if configuration fails. This requires ts_idl 4.2.

• Controller and BaseCsc: add constructor argument allow_missing_callbacks. This defaults to false, but if true allows the subclass to omit do_{command} methods. This is useful for writing simple mock CSCs that support a subset of standard behavior. Unsupported commands will fail with an appropriate error message.

Requirements:

• ts_ddsconfig

• ts_idl 4.2

• ts_utils 1.1

• IDL files for Test and Script generated from ts_xml 11 using ts_sal 7

v7.1.4

• ReadTopic: fix aget to not steal data from next, as documented. This may break existing code that relied on the incorrect behavior, but it makes the queued data more predictable.

• BaseCscTestCase.make_csc: eliminate a possible race condition.

• Remote:

  • Add missing start_called method; it was documented but not present.

  • Remote can now be used as an asynchronous context manager, even when constructed with start=False.

  • Add a __repr__ method.

• Fix a few race conditions in unit tests.

• Configure pre-commit to run isort to sort imports.

• Modernize type annotations.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_utils 1.1

• IDL files for Test and Script generated from ts_xml 11 using ts_sal 7

v7.1.3

• Correctly process all topics if multiple topics updates are available.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_utils 1.1

• IDL files for Test and Script generated from ts_xml 11 using ts_sal 7

v7.1.2

• Refine stream_as_generator:

  • Simplify the code to use loop.run_in_executor instead of being clever. (This also makes it compatible with Windows.)

  • Remove the now-unusable encoding argument.

  • Add a new exit_str argument.

• Fix CI Jenkinsfile: change HOME to WHOME everywhere except final cleanup.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_utils 1.1

• IDL files for Test and Script generated from ts_xml 11 using ts_sal 7

v7.1.1

• Pin the version of moto to be larger than or equal to 3.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_utils 1.1

• IDL files for Test and Script generated from ts_xml 11 using ts_sal 7

v7.1.0

• Update for ts_sal 7, which is required:

  • Remove all references to the “priority” field (RFC-848).

  • Rename “{component_name}ID” fields to “salIndex” (RFC-849).

• BaseCsc: make start easier to use by making the handling of the initial state occur after start is done (using the new start_phase2 Controller method). This allows CSCs to write SAL messages in start, after calling await super().start(), without worrying that transitioning to a non-default initial state writes contradictory information.

• ConfigurableCsc: always publish the configurationApplied event when transitioning from STANDBY to DISABLED state.

• Controller:

  • Add write_only constructor argument.

  • Add start_phase2 method.

• BaseScript:

  • Replace optional descr argument with **kwargs in the amain and make_from_cmd_line class methods. This allows one to define a generic script class that can be used without subclassing, as long as the specifics can be defined by constructor arguments. An example is a script that can control the main or auxiliary telescope scheduler, with a constructor argument that specifies which one to control.

  • Simplify error handling in BaseScript.amain. Only return exit codes 0 (success) or 1.

• SalInfo:

  • Add write_only constructor argument.

  • Log whether authorization support is enabled at INFO level, instead of DEBUG level.

• SalLogHandler: support logging from threads.

• Modernize continuous integration Jenkinsfile.

• Start using pyproject.toml.

• Use entry_points instead of bin scripts.

• Unpin the numpy version to be able to build with Python 3.10.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_utils 1.1

• IDL files for Test and Script generated from ts_xml 11 using ts_sal 7

v7.0.1

• Fix some doc strings.

• topics.RemoteCommand.start: improve an error message.

• doc/conf.py: make linters happier.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_utils 1.1

• IDL files for Test and Script generated from ts_xml 11

v7.0.0

• Update the way configuration is handled to handle our new standard.

  • Write configurationApplied and configurationsAvailable events, instead of the obsolete settingsApplied and settingVersions.

  • Stop writing the obsolete appliedSettingsMatchStart event.

  • Rename start command settingsToApply field to configurationOverride.

  • Rename settings_to_apply arguments to override.

  • Rename the --settings CSC command-line argument to --override.

  • Ignore the require_settings CSC class constant. The new configuration system makes default configuration site-specific, and the default is usually fine.

• Warning: ConfigurableCsc now requires that environment variable LSST_SITE be defined. As a result:

  • BaseCscTestCse: set environment variable LSST_SITE in setUp and restore it in tearDown. Subclasses with setUp and/or tearDown methods should call super().setUp() and/or super().tearDown().

  • If you have unit tests that do not inherit from BaseCscTestCase and construct a configurable CSC, you will have to manage the environment variable yourself.

• Breaking Changes:

  • Eliminate BaseCsc.report_summary_state. Use handle_summary_state instead.

  • Make BaseCsc.fault async.

  • Make BaseScript.set_state async.

  • Make Controller.put_log_level async.

  • Change topics.CommandEvent, topics.CommandTelemetry and topics.WriteTopic put and set_put to asynchronous write and set_write. write does not support writing a data instance; call set or set_write to set data.

  • Make topics.ControllerCommand.ack and ack_in_progress async and delete deprecated ackInProgress.

  • TestCsc: eliminate the topic-type-specific make_random_[cmd/evt/tel]_[arrays/scalars] methods. Use the new make_random_[arrays/scalars]_dict methods, instead.

  • Delete assert_black_formatted and tests/test_black.py; use pytest-black instead.

  • IdlMetadata: eliminate the str_length field (RFC-827).

  • Simplify construction of topics.BaseTopic, topics.ReadTopic, and topics.WriteTopic: use constructor argument attr_name instead of name and sal_prefix.

  • BaseConfigTestCase: delete the get_module_dir method. It is no longer useful and was unsafe.

• Eliminate the following deprecated features:

  • Configuration schema must be defined in code; salobj will no longer read it from a file:

    • ConfigurableCsc: eliminate the deprecated schema_path constructor argument.

    • Update check_standard_config_files to require that the config schema be a module constant.

  • BaseCsc: class variable valid_simulation_modes may no longer be None and class variable version is required.

  • CscCommander: get_rounded_public_fields is gone; use get_rounded_public_data with the same arguments.

  • Remote: the tel_max_history constructor argument is gone.

  • SalInfo:

    • The makeAckCmd method is gone; use make_ackcmd.

    • The truncate_result argument of make_ackcmd and the MAX_RESULT_LEN constant are gone. Don’t worry about length limits.

  • topics.ReadTopic.get: eliminate the flush argument.

  • topics.RemoteTelemetry: the constructor no longer accepts the max_history argument.

  • Delete constants MJD_MINUS_UNIX_SECONDS and SECONDS_PER_DAY (use the values in ts_utils).

  • Delete functions (use the same-named version in ts_utils, unless otherwise noted):

    • angle_diff

    • angle_wrap_center

    • angle_wrap_nonnegative

    • assertAnglesAlmostEqual: use ts_utils assert_angles_almost_equal

    • astropy_time_from_tai_unix

    • current_tai

    • index_generator

    • make_done_future

    • modify_environ

    • set_random_lsst_dds_domain: use set_random_lsst_dds_partition_prefix

    • tai_from_utc_unix

    • tai_from_utc

    • utc_from_tai_unix

• Other changes:

  • Stop acknowledging SAL commands with CMD_ACK (RFC-831).

  • Enhance CscCommander.make_from_cmd_line to support index = an IntEnum subclass.

  • Fix the OpenSplice version reported in the softwareVersions event. Report the value of environment variable OSPL_RELEASE instead of the version of the dds library.

  • Update Jenkinsfile to checkout ts_config_ocs.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_utils 1.1

• IDL files for Test and Script generated from ts_xml 11

v6.9.3

• Updated the version of astropy.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_utils 1.1

• ts_xml 10.1

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5 or 6

v6.9.2

• Change set_random_lsst_dds_partition_prefix to use os.urandom, which cannot be seeded, and to generate shorter strings.

• Fix a few places where ts_salobj’s deprecated index_generator was still in use, instead of the version in ts_utils.

• BaseCscTestCase: add a setUp method that calls set_random_lsst_dds_partition_prefix. Retain the existing calls for backwards compatibility with subclasses that define setUp and don’t call super().setUp().

• SalInfo: make start raise an exception if the instance is already closing or closed.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_utils 1.1

• ts_xml 10.1

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5 or 6

v6.9.1

• Move index_generator to ts_utils. Keep a deprecated copy in ts_salobj, for backwards compatiblity.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_utils 1.1

• ts_xml 10.1

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5 or 6

v6.9.0

• Use the new parse_idl_file and make_dds_topic_class functions in ADLink’s ddsutil.py, instead of our versions. This change requires ts-dds version 6.9 (community) or 6.10 (licensed) build 18.

• Remove deprecated support for environment variable LSST_DDS_DOMAIN.

• Remote and SalInfo: improve retrieval of historical data in one special case: reading an indexed SAL component using index=0 in the Remote (meaning “read data from all indices”). Formerly there would be only 1 sample of historical data: the most recent sample output with any index. Now retrieve the most recent sample for each index, in the order received.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_utils 1

• ts_xml 10.1

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5 or 6

v6.8.1

Changes:

• test_dds_utils.py: fix test_dds_get_version to handle the case that the dds module has a __version__ attribute. This makes the test compatible with OpenSplice 6.11, while retaining compatibility with 6.10.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_utils 1

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5 or 6

v6.8.0

Changes:

• BaseCsc: output errorCode(errorCode=0, errorReport=””, traceback=””) when going to any non-fault state.

  Also log a critical error message when going to fault state. Warning: This change will break unit tests that read errorCode events.

• CscCommander: update documentation to expect no extra, unwanted generic commands. This reflects what you get with ts_xml 10 and ts_sal 6.

• Fix a new mypy error by not checking DM’s lsst/__init__.py files.

• Remove all use of SALPY. Inter-language SAL communication is now tested in a separate integration test package.

• Update schema links to point to main instead of master.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_utils 1

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5 or 6

v6.7.0

Changes:

• Support optional authlist-based command authorization using environment variable LSST_DDS_ENABLE_AUTHLIST.

• Modernize unit tests to use bare assert.

• BaseScript: support new checkpoint counting fields in Script SAL topics: totalCheckpoints in the metadata event and numCheckpoints in the state event.

• Update sal_scripts.rst to describe the BaseScript.set_metadata method.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_utils 1

• ts_xml 10.1

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5 or 6

v6.6.4

Changes:

• Speed up creation of topics, and thus of controllers, CSCs, scripts and remotes. This uses new functions parse_idl_file and make_dds_topic_class. Used together, these are dramatically faster than ddsutil.get_dds_classes_from_idl, because they only parse the IDL file once.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_utils 1

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5 or 6

v6.6.3

Changes:

• BaseCsc.start: if starting in a state other than the default state, add a brief delay after each state transition command. This assures that each summaryState event will have a unique value of private_sndStamp, avoiding a source of lost summaryState data in the EFD.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_utils 1

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5 or 6

v6.6.2

Changes:

• SalInfo: if the index constructor argument is an enum.IntEnum then save the value as is. Formerly the value was cast to an int, which lost information.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_utils 1

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5 or 6

v6.6.1

Changes:

• Eliminate some deprecation warnings by using ts_utils functions in all library code. I missed some usage of deprecated wrappers for make_done_future and various time functions in v6.6.0.

• Add missing instances of with self.assertWarns in unit tests that call deprecated wrapper functions.

• astropy_time_from_tai_unix: added a missing deprecation warning and changed it to call the version in ts_utils.

• Fix a “test_none_valid_simulation_modes_simulation_mode” warning in a unit test.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_utils 1

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5 or 6

v6.6.0

Changes:

• Moved basic functions to ts_utils, to make them available with fewer dependencies:

  • current_tai and similar time functions.

  • angle_wrap_center and similar angle functions.

  • make_done_future.

  • test utilities assertAnglesAlmostEqual (called assert_angles_almost_equal in ts_utils) and modify_environ.

• Added temporary wrappers for the code that was moved, for backwards compatibility. These wrappers issue a DepreciationWarning warning and will be removed in ts_salobj v7.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_utils 1

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5 or 6

v6.5.5

Changes:

• In BaseCscTestCase.make_csc Stop adding StreamHandler to the loggers. If debugging unit tests use --log-cli-level to show log messages.

• Fix tests/test_speed.py for when lsst.verify cannot be imported (needed for conda packages).

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5 or 6

v6.5.4

Changes:

• Expanded mypy test coverage by enabling disallow_untyped_defs. Fixed the resulting type errors.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5 or 6

v6.5.3

Changes:

• Change set_random_lsst_dds_partition_prefix to not use “.” in the name, in order to work around a bug in OpenSplice 6.11.1.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5 or 6

v6.5.2

Changes:

• Stop using deprecated char and octet fields in the Test SAL component. They are ignored if present, for backwards compatibility.

• Updated the two included IDL files to remove the char and octet fields and updated the data to match that generated by ts_sal 6 pre-release (no significant changes).

• parse_idl bug fix: if the units was missing then it could not find the description. The only such field is the index field for indexed SAL components (e.g. TestID).

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5 or 6

v6.5.1

Changes:

• Prevent pytest from checking the generated version.py file. This is necessary in order to prevent mypy from checking that file.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5 or 6

v6.5.0

Changes:

• Add type annotations and check them with mypy.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5 or 6

v6.4.3

Changes:

• topics.WriteTopic.set: make NaNs compare equal when deciding if the data has changed. As a result, topics.ControllerEvent.set_put will no longer output a new event if the only change is to set NaN values to NaN again.

• TestCsc assert_arrays/scalars_equal methods: make NaNs compare equal.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5 or 6

v6.4.2

Changes:

• Bug fix: test_idl_parser was still expecting the private_host field to be present. It is now optional.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5 or 6

v6.4.1

Changes:

• Pin the versions of astropy and numpy.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5 or 6

v6.4.0

Changes:

• Added function utc_from_tai_unix.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5 or 6

v6.3.8

Changes:

• Make tests/test_salobj_to_either.py compatible with ts_sal 6.

• DefaultingValidator: document that defaults are only handled 2 levels deep.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5 or 6

v6.3.7

Changes:

• CscCommander: remove the ability to mark trailing comments with #.

• CscCommander: add the ability to quote parameters, allowing them to contain spaces.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5

v6.3.6

Changes:

• BaseScript and ConfigurableCsc: ignore a metadata dict entry, if present, in config files.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5

v6.3.5

Changes:

• CscCommander: handle bool command arguments correctly. Allow any of 0, 1, f, t, false, true (case blind).

• Rewrite the configuration documentation to reduce duplication with the documentation for ts_ddsconfig.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5

v6.3.4

Changes:

• Improve handling of errors in the constructor in SalInfo, Controller, BaseCsc and BaseScript: Make sure the close methods will not access missing attributes.

• BaseCsc: check the simulation mode before calling the parent class’s constructor, to avoid needlessly constructing a Domain.

• BaseCsc: remove internal variable _requested_summary_state.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5

v6.3.3

Changes:

• Format the code using black 20.8b1.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5

v6.3.2

Changes:

• Use import unittest.mock instead of import unittest when using mocks.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5

v6.3.1

Changes:

• BaseCscTestCase: add timeout argument to check_bin_script.

• Stop using the abandoned asynctest library.

• Update test function modify_environ to use unittest.mock.patch and use it in all tests that modify os.environ (except we still don’t reset env var LSST_DDS_PARTITION_PREFIX after calling set_random_lsst_dds_partition_prefix, which is a potential issue).

• SalInfo: remove read conditions from the contained dds WaitSet when closing. ADLink suggested doing this (in my case 00020504) to avoid spurious error messages at shutdown.

• topics.RemoteCommand: fix a documentation error and improve the documentation for the wait_done argument to the start, set_start, and next_ackcmd methods.

• BaseCsc and CscCommander: improve the documentation for the index argument to the amain and make_from_cmd_line class methods.

• Controller: stop ignoring optional extra commands. ts_xml must now specify the correct commands for each SAL component.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5

v6.3.0

Deprecations:

• Deprecate BaseCsc.set_simulation_mode. Note that BaseCsc.implement_simulation_mode, and allowing valid_simulation_modes = None have both been deprecated for some time. Please move all simulation mode handling to the constructor (if synchronous) or BaseCsc.start (if not).

• Deprecate omitting the version class attribute of CSCs.

• Deprecate ConfigurableCsc constructor argument schema_path; please specify config_schema instead.

Changes:

• BaseCsc: support better help for the --simulate command-line argument, via a new simulation_help class variable which defaults to None. If not None and the CSC supports simulation, use this variable as the help string for the --simulate command-line argument.

• BaseCsc: set the simulation mode attribute in the constructor, instead of waiting until partway through the start method. Warning: if valid_simulation_modes is None then we cannot check it first, but should be checked later.

• BaseCsc: if there is no version attribute, set the cscVersions field of the softwareVersions event to “?”, instead of “” (that was a bug), and issue a deprecation warning.

• ConfigurableCsc: add constructor argument config_schema. this is the preferred way to specify the configuration schema because it allows the schema to be code, which simplifies packaging and distribution.

• BaseConfigTestCase: added argument schema_name to check_standard_config_files and made sal_name optional.

• Update test for warnings to include testing for the correct message. This makes sure the correct warning is seen (or not seen).

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5

v6.2.4

Changes:

• Remove test_no_commands from test_sal_info.py because ts_xml 8 no longer has a SAL component with no commands. This makes ts_salobj compatible with bohth ts_xml 7.1 and 8.

• Update doc/conf.py to work with documenteer 0.6.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test and Script generated by ts_sal 5

• SALPY_Test generated by ts_sal 5

v6.2.3

Changes:

• Add noarch: generic to the build section of conda/meta.yaml.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test, Script, and LOVE generated by ts_sal 5

• SALPY_Test generated by ts_sal 5

v6.2.2

Changes:

• CscCommander: add a digits argument to telemetry_callback method.

• Documentation: document that configuration label names must be valid python identifiers, and must not begin with _ (underscore).

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test, Script, and LOVE generated by ts_sal 5

• SALPY_Test generated by ts_sal 5

v6.2.1

Changes:

• Added context manager modify_environ to temporarily modify environment variables in unit tests. This is rather heavyweight (it copies os.environ), so I don’t recommended it for production code.

• BaseScript: modified the constructor to restore the original value (or lack of value)

  of environment variable OSPL_MASTER_PRIORITY, after setting it to 0 to build the Domain.

• AsyncS3Bucket: simplified to not temporarily set environment variables holding ASW S3 secrets in mock mode. It turns out the moto mocking system already does this (and I added a test to verify that).

• BaseCsc: improved the output of _do_change_state to avoid an unnecessary traceback if the called code raises ExpectedError.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test, Script, and LOVE generated by ts_sal 5

• SALPY_Test generated by ts_sal 5

v6.2.0

Deprecations:

• CscCommander.get_rounded_public_fields is deprecated. Call CscCommander.get_rounded_public_data instead.

Changes:

• Improve CscCommander:

  • Add exclude_commands and telemetry_fields_to_not_compare constructor arguments.

  • Add method format_dict.

  • Renamed method get_rounded_public_fields to get_rounded_public_data, for consistency. The old method remains, for backwards compatibility, but is deprecated.

  • Round telemetry to 2 digits by default, instead of 4. That should greatly reduce the need to write custom code for CSC commanders.

• Improve Controller to fail in the constructor if the authList event is missing. The event was already required; this change simply reports the error earlier and more clearly.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test, Script, and LOVE generated by ts_sal 5

• SALPY_Test generated by ts_sal 5

v6.1.2

Changes:

• Fixed documented range of values for LSST_DDS_DOMAIN_ID in configuration. According to the reply to an ADLink ticket I filed their manual is in error; 0 and 230 are fine.

• Require ts_xml 6.2 or later. Removed a small piece of ts_xml 6.1 compatibility code from tests/test_csc_configuration.py.

• Add installation instructions.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test, Script, and LOVE generated by ts_sal 5

• SALPY_Test generated by ts_sal 5

v6.1.1

Document updates:

• Document environment variable LSST_DDS_DOMAIN_ID in configuration.

• Fix two incorrect references to AckCmdType.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.2

• IDL files for Test, Script, and LOVE generated by ts_sal 5

• SALPY_Test generated by ts_sal 5

v6.1.0

Backwards-incompatible changes:

• initial-state can no longer be salobj.State.FAULT when constructing a CSC. This may break some unit tests.

Changes:

• Gets its configuration from the new ts_ddsconfig package.

• Improved support for specifying the initial state of the CSC:

  • Add enable_cmdline_state class variable, which defaults to False. If True then BaseCsc.amain adds --state and (if relevant) --settings command-line argument`.

  • Added constructor argument settings_to_apply to BaseCsc and ConfigurableCsc. If you have a configurable CSC then you should add this parameter to your constructor.

  • CSCs now handle initial_state differently: the CSC starts in the default initial state and BaseCsc.start transitions to each intermediate state in turn.

  • As a result, initial_state can no longer be State.FAULT.

• Added function get_expected_summary_states.

• Improved BaseCsc.amain to accept an enum.IntEnum as the value of the index parameter. This restricts the allowed values and describes each value in the help.

• Improved BaseCscTestCase.assert_next_sample to try to cast read SAL values to the apppropriate enum, if the expected value is an instance of enum.IntEnum. This makes errors easier to understand.

• Improved Controller startup: commands will be ignored until the Controller has (at least mostly) started. This avoids mysterious errors from commanding a partially constructed SAL component.

• Improved the output of BaseCscTestCase if the subprocess dies.

• Uses pre-commit instead of a custom git pre-commit hook. You may have to do the following to take advantage of it:

  • Run pre-commit install once.

  • If directed, run git config --unset-all core.hooksPath once.

How to update your Code. Except as noted, all changes are backwards compatible with ts_salobj 6.0:

• If your CSC overrides the BaseCsc.start method, make sure it calls await super().start() at or near the end of your start method, not the beginning. This is because BaseCsc.start() can now call state transition commands, which will trigger calls to BaseCsc.handle_summary_state; thus your CSC should be as “started” as practical before calling await super().start().

• If you wish to be able to specify the initial state of your CSC from the command line:

  • Set class variable enable_cmdline_state to True.

  • If your CSC is configurable and does not have a usable default configuration (so it must have settings specified in the start command) specify class variable settings_required = True. This is rare, but Watcher is one such CSC.

• If you have a configurable CSC, add constructor argument settings_to_apply="" and pass it (by name) to super().__init__. This is essential if you set enable_cmdline_state = True, and useful for unit tests even if not. This change is not backwards compatible with ts_salobj 6.0.

• If your CSC is “externally commandable” (it does not quit in OFFLINE state) specify class variable default_initial_state = salobj.State.OFFLINE.

Requirements:

• ts_ddsconfig

• ts_idl 2

• ts_xml 6.1 (older versions might work but have not been tested)

• IDL files for Test, Script, and LOVE generated by ts_sal 5

• SALPY_Test generated by ts_sal 5

v6.0.4

Changes:

• Fix SalLogHandler.emit to handle message and traceback data with unencodable characters, and to never raise an exception. This fixes DM-27380

• Beef up the unit test for invalid configuration to make sure the correct exception is raised and that the CSC can still be configured.

Requirements:

• ts_idl 2

• ts_xml 6.1 (older versions might work but have not been tested)

• IDL files for Test, Script, and LOVE generated by ts_sal 5

• SALPY_Test generated by ts_sal 5

v6.0.3

Changes:

• Fix an entry in Writing a CSC about setting evt_softwareVersions and evt_settingsApplied.

Requirements:

• ts_idl 2

• ts_xml 6.1 (older versions might work but have not been tested)

• IDL files for Test, Script, and LOVE generated by ts_sal 5

• SALPY_Test generated by ts_sal 5

v6.0.2

Changes:

• Add support for class variable version to BaseCsc:

  • If version is set, report it in the cscVersion field of the softwareVersions event.

  • If version is set, add a --version command-line argument to BaseCsc.amain that prints the version and quits. Otherwise do not add that command-line argument. Note: formerly the --version command-line argument was always present, but returned the version of ts_salobj.

• Update “Writing a CSC” documentation accordingly.

• Improved error handling in BaseCscTestCase.make_csc. Fails gracefully if the CSC or Remote cannot be constructed.

• The deprecated lsst.ts.salobj.test_utils submodule is gone; use lsst.ts.salobj directly.

Requirements:

• ts_idl 2

• ts_xml 6.1 (older versions might work but have not been tested)

• IDL files for Test, Script, and LOVE generated by ts_sal 5

• SALPY_Test generated by ts_sal 5

v6.0.1

Changes:

• Fixed a bug in assert_black_formatted: it did not exclude enough files. Note: to exclude version.py you must specify it in .gitignore as version.py, not by its full path (e.g. do not specify python/lsst/ts/salobj/version.py).

Requirements:

• ts_idl 2

• ts_xml 6.1 (older versions might work but have not been tested)

• IDL files for Test, Script, and LOVE generated by ts_sal 5

• SALPY_Test generated by ts_sal 5

v6.0.0

Backward Incompatible Changes:

• All SAL components on your system must use ts_salobj v6, ts_sal v5, and ts_idl v2.

• All quality of service (QoS) settings are now defined in ts_idl idl/QoS.xml, both for ts_salobj v6 and ts_sal v5. Thus QoS changes no longer require any code changes. This change requires ts_idl v2.

• This new QoS file has 4 separate profiles for: commands, events, telemetry topics, and the ackcmd topic, and, as of this writing, each profile is different.

• Topics use a new DDS partition naming scheme.

• topics.ReadTopic.get now defaults to not flushing the queue. Also specifying the flush argument is now deprecated; the argument will be removed in a future version of salobj.

• Requires ts_xml 6 and IDL files built with ts_sal 5, for authorization support.

• 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.

• The force_output argument to topics.ControllerEvent.set_put is now keyword-only.

• Removed constant DDS_READ_QUEUE_LEN. It is very unlikely that any code outside of ts_salobj was using this.

• Removed bin/purge_topics.py command-line script, because it is no longer needed.

• Removed many deprecated features:

  • Removed 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 initial_simulation_mode argument from BaseCsc and ConfigurableCsc. Use simulation_mode instead.

  • Removed support for calling BaseCsc.fault without an error code or report; both must now be specified.

  • Removed 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.

  • Removed the SalInfo.idl_loc property; use SalInfo.metadata.idl_path instead.

  • Removed the max_history argument from topics.ControllerCommand‘s constructor. Commands are volatile, so historical data is not available.

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).

• CscCommander now supports unit testing. To better support unit testing, please write output using the new CscCommander.output method, instead of print.

• 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.

• Added property topics.ReadTopic.nqueued.

• Fixed a bug in topics.ReadTopic.aget: if multiple messages arrived in the DDS queue while waiting, it would return the oldest message, rather than the newest.

• Improved the documentation for topics.ReadTopic.

• Read topics now use a named constant DEFAULT_QUEUE_LEN as the default value for queue_len, making it easy to change in future.

• Modified the way DDS data is read to lower the risk of the DDS read queue filling up.

• Improved cleanup to fix warnings exposed by setting $PYTHONDEVMODE=1.

• Improved Jenkinsfile to run tests with pytest instead of py.test.

Requirements:

• ts_idl 2

• ts_xml 6.1 (older versions might work but have not been tested)

• IDL files for Test, Script, and LOVE generated by ts_sal 5

• SALPY_Test generated by ts_sal 5

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