MTCS¶

class lsst.ts.observatory.control.maintel.MTCS(domain: Domain | None = None, log: Logger | None = None, intended_usage: int | None = None)¶

Bases: BaseTCS

High level library for the Main Telescope Control System

This is the high level interface for interacting with the CSCs that control the Main Telescope. Essentially this will allow the user to slew and track the telescope.

This is a placeholder for the Main Telescope Class.

Parameters:

domain: `salobj.Domain`: Domain to use of the Remotes. If None, create a new domain.

Attributes Summary

`CoordFrame`	Return CoordFrame enumeration.
`RotFrame`	Return RotFrame enumeration.
`RotMode`	Return RotMode enumeration.
`WrapStrategy`	Return WrapStrategy enumeration
`compensation_mode_components`	Set with the name of the components that support compensation mode.
`components`	List of components names.
`components_attr`	List of remotes names.
`dome_trajectory_name`	Return name of the DomeTrajectory component.
`instrument_focus`
`m1m3_engineering_states`	M1M3 engineering states.
`plate_scale`	Plate scale in mm/arcsec.
`ptg_name`	Return name of the pointing component.
`usages`	Define class usages.
`valid_use_cases`	Returns valid usages.

Methods Summary

`abort_raise_m1m3`()	Abort a raise m1m3 operation.
`add_point_data`()	Add current position to a point file.
`assert_all_enabled`([message])	Check if all components are in the enabled state.
`assert_has_compensation_mode`(component)	Assert that component is part of the set of components that supports compensation mode.
`assert_liveliness`()	Assert liveliness of components belonging to the group.
`assert_m1m3_detailed_state`(detailed_states)	Assert that M1M3 detailed state is one of the input set.
`azel_from_radec`(ra, dec[, time])	Calculate Az/El coordinates from RA/Dec in ICRS.
`cancel_not_done`(tasks)	Cancel all coroutines in `coro_list`.
`check_comp_heartbeat`(component)	Monitor heartbeats from the specified component and raises and exception if not.
`check_component_state`(component[, desired_state])	Monitor the summary state of a component and raises an exception if it is or goes to a state different than the desired state.
`check_dome_following`()	Check if dome following is enabled.
`check_tracking`([track_duration])	Check tracking state.
`clear_catalog`()	Clear internal catalog.
`close`()
`close_dome`([force])	Method to close dome shutter.
`close_m1_cover`()	Method to close mirror covers.
`close_m1m3_booster_valve`()	Close M1M3 booster valves.
`components_to_check`()	Return components for which check is enabled.
`disable_aos_closed_loop`()
`disable_ccw_following`()	Disable camera cable wrap following the rotator.
`disable_checks_for_components`(components)	Disables checks for a list of components.
`disable_compensation_mode`(component)	Disable compensation mode for one of the hexapods.
`disable_dome_following`([check])	Disable dome following mode.
`disable_m1m3_balance_system`()	Disable m1m3 balance system.
`disable_m2_balance_system`()	Disable m2 balance system.
`dome_az_in_position`()	Wait for `_dome_az_in_position` event to be set and return a string indicating the dome azimuth is in position.
`dome_el_in_position`()	Wait for `_dome_el_in_position` event to be set and return a string indicating the dome elevation is in position.
`enable`([overrides])	Enable all components.
`enable_aos_closed_loop`(config)
`enable_ccw_following`()	Enable camera cable wrap following the rotator.
`enable_compensation_mode`(component)	Enable compensation mode for one of the hexapods.
`enable_dome_following`([check])	Enabled dome following mode.
`enable_m1m3_balance_system`()	Enable m1m3 balance system.
`enable_m2_balance_system`()	Enable m2 balance system.
`enter_m1m3_engineering_mode`()	Enter M1M3 engineering mode.
`exit_m1m3_engineering_mode`()	Exit M1M3 engineering mode.
`expand_overrides`([overrides])	Expand an overrides dict with entries for every component.
`find_target`(az, el, mag_limit[, mag_range, ...])	Make a cone search and return a target close to the specified position.
`find_target_dm_butler`(az, el, mag_limit[, ...])	Make a cone search in the butler source catalog and return a target in the magnitude range, close to the specified position.
`find_target_local_catalog`(az, el, mag_limit)	Make a cone search in the internal catalog and return a target in the magnitude range, close to the specified position.
`find_target_simbad`(az, el, mag_limit[, ...])	Make a cone search in the HD catalog using Simbad and return a target with magnitude inside the magnitude range, close to the specified position.
`flush_offset_events`()	Abstract method to flush events before and offset is performed.
`get_bore_sight_angle`()	Get the instrument bore sight angle with respect to the telescope axis.
`get_compensation_mode_camera_hexapod`()	Return the last sample of `compensationMode` event from camera hexapod.
`get_compensation_mode_m2_hexapod`()	Return the last sample of `compensationMode` event from m2 hexapod.
`get_heartbeat`(component)	Get last heartbeat for component.
`get_identity`()	Get user identity.
`get_m1m3_actuator_ids`()	Get a list of the M1M3 actuator ids.
`get_m1m3_actuator_index`(actuator_id)	Convert from actuator_id into actuator index using M1M3 FATable.
`get_m1m3_actuator_secondary_ids`()	Get a list of the M1M3 actuator secondary ids.
`get_m1m3_actuator_secondary_index`(actuator_id)	Convert from actuator_id into actuator secondary index using M1M3 FATable.
`get_m1m3_actuator_to_test`(actuators_to_test)	Given a list of m1m3 actuator to test, generate a list of actuator that can be tested concurrently.
`get_m1m3_applied_balance_forces`()	Returns the last sample of `appliedBalanceForces` data from m1m3.
`get_m1m3_bump_test_status`(actuator_id)	Get latest m1m3 bump test status.
`get_m1m3_slew_controller_settings`()	Retrieve the current M1M3 slew controller settings.
`get_m2_hardpoints`()	Retrieve the current list of M2 hardpoints.
`get_required_resources`(component, intended_usage)	Return the required resources based on the intended usage of the class.
`get_rot_angle_alternatives`(rot_angle)	Generate rotator angle alternatives based on the input rotator angle.
`get_simulation_mode`([components])	Return a list with the simulation mode for components in the group.
`get_software_versions`([components])	Return a list with the software versions for components in the group.
`get_state`(component[, ignore_timeout])	Get summary state for component.
`get_sun_azel`([time_tai])	Get the sun azimuth and elevation.
`get_telescope_and_dome_vent_azimuth`()	Get the telescope and dome vent azimuth.
`get_work_components`([components])	Parse input into a list of valid components from the group.
`home_dome`([physical_az])	Utility method to home dome.
`in_m1_cover_operational_range`()	Check if MTMount is in safe range for mirror covers operation.
`is_actuator_in_testing_state`(actuator_data, ...)
`is_catalog_loaded`()	Check if catalog is loaded.
`is_m1m3_in_engineering_mode`()	Check if M1M3 is in engineering mode.
`list_available_catalogs`()	List of available catalogs to load.
`load_catalog`(catalog_name)	Load a catalog from the available set.
`lower_m1m3`()	Lower M1M3.
`m1m3_booster_valve`()	Context manager to handle opening/closing M1M3 booster valves.
`m1m3_in_engineering_mode`()	Context manager to ensure m1m3 enters and exists engineering mode before/after an operation.
`map_slew_setting_to_attribute`(setting_enum)	Maps a SetSlewControllerSettings enum to the corresponding attribute returned by the evt_slew_controller_settings.
`monitor_position`([check])	Monitor MTCS axis position.
`move_camera_hexapod`(x, y, z, u, v[, w, sync])	Move camera hexapod.
`move_m2_hexapod`(x, y, z, u, v[, w, sync])	Move m2 hexapod.
`move_p2p_azel`(az, el[, timeout])	Move telescope using point to point mode.
`move_p2p_radec`(ra, dec[, timeout])	Move telescope using point to point mode.
`move_rotator`(position[, wait_for_in_position])	Move rotator to specified position and wait for movement to complete.
`next_heartbeat`(component)	Get next heartbeat for component.
`next_m1m3_applied_balance_forces`(flush)	Returns the next sample of `appliedBalanceForces` data from m1m3.
`next_state`(component)	Get summary state for component.
`object_list_add`(name, radec)	Add object to object list.
`object_list_clear`()	Remove all objects stored in the internal object list.
`object_list_get`(name)	Get an object from the list or query Simbad and return it.
`object_list_get_all`()	Return list of objects in the object list.
`object_list_remove`(name)	Remove object from object list.
`offline`()	Put all CSCs in offline.
`offset_azel`(az, el[, relative, persistent, ...])	Offset telescope in azimuth and elevation.
`offset_camera_hexapod`(x, y, z, u, v[, w, sync])	Offset camera hexapod.
`offset_done`()	Wait for offset events.
`offset_m2_hexapod`(x, y, z, u, v[, w, sync])	Offset M2 hexapod.
`offset_pa`(angle, radius)	Offset the telescope based on a position angle and radius.
`offset_radec`(ra, dec)	Offset telescope in RA and Dec.
`offset_rot`(rot)	Apply a rotation offset.
`offset_xy`(x, y[, relative, persistent, absorb])	Offsets in the detector X/Y plane.
`open_dome_shutter`([force])	Method to open dome shutter.
`open_m1_cover`()	Method to open mirror covers.
`open_m1m3_booster_valve`()	Open M1M3 booster valves.
`parallactic_angle`(ra, dec[, time])	Return parallactic angle for the given Ra/Dec coordinates.
`park_dome`()	Park the dome by moving it to the park azimuth.
`park_mount`(position)	Park the TMA in the selected position.
`point_azel`(az, el[, rot_tel, target_name, ...])	Slew the telescope to a fixed alt/az position.
`prepare_for_flatfield`([check])	A high level method to position the telescope and dome for flat field operations.
`prepare_for_onsky`([overrides])	Prepare telescope for on-sky operations.
`process_as_completed`(tasks)	Process tasks are they complete.
`radec_from_azel`(az, el[, time])	Calculate Ra/Dec in ICRS coordinates from Az/El.
`raise_m1m3`()	Raise M1M3.
`ready_to_offset`()	Make sure telescope is ready to perform an offset.
`ready_to_take_data`()	Wait for the telescope control system to be ready to take data.
`reset_camera_hexapod_position`()	Reset position of the camera hexapod.
`reset_checks`()	Reset all checks, enabling check for all components.
`reset_m1m3_forces`()	Reset M1M3 forces.
`reset_m2_forces`()	Reset M2 forces.
`reset_m2_hexapod_position`()	Reset position of the M2 hexapod.
`reset_offsets`([absorbed, non_absorbed])	Reset pointing offsets.
`rotation_matrix`(angle)	Rotation matrix.
`run_m1m3_actuator_bump_test`(actuator_id[, ...])	M1M3 actuator bump test.
`run_m1m3_hard_point_test`(hp)	Test an M1M3 hard point.
`run_m2_actuator_bump_test`(actuator, force[, ...])	M2 actuator bump test.
`set_azel_slew_checks`(wait_dome)	Handle azEl slew to wait or not for the dome.
`set_m1m3_slew_controller_settings`(...)	Set a specific M1M3 slew controller setting based on the provided enumeration.
`set_rem_loglevel`(level)	Set remotes log level.
`set_rot_angle_alternatives`(...)	Set the rotator angle alternatives.
`set_state`(state[, overrides, components])	Set summary state for all components.
`shutdown`()	Shutdown components.
`slew`(ra, dec[, rotPA, target_name, frame, ...])	Slew the telescope and start tracking an Ra/Dec target.
`slew_dome_to`(az[, check])	Utility method to slew dome to a specified position.
`slew_ephem_target`(ephem_file, target_name[, ...])	Slew the telescope to a target defined by ephemeris data defined in a file.
`slew_icrs`(ra, dec[, rot, rot_type, ...])	Slew the telescope and start tracking an Ra/Dec target in ICRS coordinate frame.
`slew_object`(name[, rot, rot_type, dra, ...])	Slew to an object name.
`slew_to_m1_cover_operational_range`()	Slew the telescope to safe range for mirror covers operation.
`slew_to_planet`(planet[, rot_sky, slew_timeout])	Slew and track a solar system body.
`standby`()	Put all CSCs in standby.
`start_tracking`([slew_timeout])	Start tracking the current position of the telescope.
`stop_all`()	Stop telescope and dome.
`stop_m1m3_bump_test`()	Stop bump test.
`stop_m1m3_hard_point_test`(hp)	Interrupt hard point test.
`stop_m2_bump_test`()	Stop the M2 actuator bump test.
`stop_rotator`()	Stop rotator movement and wait for controller to publish Stationary substate event.
`stop_tracking`()	Task to stop telescope tracking.
`unpark_dome`()	Un-Park the dome by moving it a small delta amount.
`unpark_mount`()	Un-park the TMA.
`wait_for_dome_inposition`(timeout[, wait_settle])	Wait for the Dome to be in position.
`wait_for_dome_state`(expected_states, ...[, ...])	Wait for a specific dome state.
`wait_for_inposition`(timeout[, wait_settle, ...])	Wait for Mount, Dome and Rotator to be in position.
`wait_for_mtmount_inposition`(timeout[, ...])	Wait for the MTMount `inPosition` event.
`wait_for_rotator_inposition`(timeout[, ...])	Wait for the Rotator `inPosition` event.
`wait_m1m3_actuator_in_testing_state`(actuator)	Wait until the specified actuator enters testing state.
`wait_m1m3_force_balance_system`(timeout)	Wait for m1m3 force balance system to stabilize.
`wait_m1m3_settle`()	Wait until m1m3 has settle.
`wait_tracking_stopped`()	Wait until the mount and rotator reports that they have stopped tracking.

Attributes Documentation

CoordFrame¶: Return CoordFrame enumeration.

RotFrame¶: Return RotFrame enumeration.

RotMode¶: Return RotMode enumeration.

WrapStrategy¶: Return WrapStrategy enumeration

compensation_mode_components¶: Set with the name of the components that support compensation mode.

components¶

List of components names.

The name of the CSC follow the format used in the class constructor, e.g. CSCName or CSCName:index (for indexed components), e.g. “Hexapod:1” (for Hexapod with index=1) or “ATHexapod”.

Returns:

componentslist of str: List of CSCs names.

components_attr¶

List of remotes names.

The remotes names are reformatted to fit the requirements for object attributes. It will be the name of the CSC (as in components) in lowercase, replacing the colon by an underscore, e.g. “Hexapod:1” -> “hexapod_1” or “ATHexapod” -> “athexapod”.

Returns:

components_attrlist of str: List of remotes attribute names.

dome_trajectory_name¶: Return name of the DomeTrajectory component.

instrument_focus¶

m1m3_engineering_states¶

M1M3 engineering states.

Returns:

set`[ `MTM1M3.DetailedStates ]: Set with the M1M3 detailed states.

plate_scale¶: Plate scale in mm/arcsec.

ptg_name¶: Return name of the pointing component.

usages¶

valid_use_cases¶

Returns valid usages.

Returns:

usages: enum

Methods Documentation

async abort_raise_m1m3() → None¶: Abort a raise m1m3 operation.

async add_point_data() → None¶: Add current position to a point file. If a file is open it will append to that file. If no file is opened it will open a new one.

async assert_all_enabled(message: str = '') → None¶

Check if all components are in the enabled state.

Parameters:

message: `str`: Additional message to append to error.

assert_has_compensation_mode(component: str) → None¶

Assert that component is part of the set of components that supports compensation mode.

Parameters:

componentstr: Name of the component

Raises:

AssertionError: If component does not support compensation mode or if it is not a valid MTCS component.

async assert_liveliness() → None¶

Assert liveliness of components belonging to the group.

The assertion is done by waiting for a new heartbeat from the component. The check feature will apply to the assertion so components marked with check=False will be skipped.

Raises:

AssertionError: If cannot get heartbeat for one or more components.

async assert_m1m3_detailed_state(detailed_states: set[lsst.ts.xml.enums.MTM1M3.DetailedStates]) → None¶: Assert that M1M3 detailed state is one of the input set.

Calculate Az/El coordinates from RA/Dec in ICRS.

Parameters:

rafloat, str or astropy.coordinates.Angle: Target RA, either as a float (hour), a sexagesimal string (HH:MM:SS.S or HH MM SS.S) coordinates or astropy.coordinates.Angle.
decfloat, str or astropy.coordinates.Angle: Target Dec, either as a float (deg), a sexagesimal string (DD:MM:SS.S or DD MM SS.S) coordinates or astropy.coordinates.Angle.
timeastropy.time.core.Time or None, optional: The time which the coordinate trasformation is intended for. If None (default) use current time.

Returns:

azelastropy.coordinates.AltAz: Astropy coordinates with azimuth and elevation.

async static cancel_not_done(tasks: List[Task]) → None¶

Cancel all coroutines in coro_list.

Remove futures from input tasks list and cancel them.

Parameters:

taskslist [futures]: A list of coroutines to cancel.

async check_comp_heartbeat(component: str) → None¶

Monitor heartbeats from the specified component and raises and exception if not.

This method will run forever as long as the component continues to send heartbeats. The intention is that this can run alongside an operation, to make sure the component remains responsive.

Parameters:

componentstr: Name of the component to follow. The name of the CSC follow the format CSCName or CSCName:index (for indexed components), e.g. “Hexapod:1” (for Hexapod with index=1) or “ATHexapod”.

Raises:

RuntimeError: If the component does not send heartbeats in self.fast_timeout seconds.

async check_component_state(component: str, desired_state: State = State.ENABLED) → None¶

Monitor the summary state of a component and raises an exception if it is or goes to a state different than the desired state.

This method will run forever as long as the summary state remains unchanged. The intention is that this can run alongside an operation that require the component to be in a certain state, when the operation is completed, the task can be canceled.

Parameters:

componentstr: Name of the component to follow. Must be one of: atmcs, atptg, ataos, atpneumatics, athexapod, atdome, atdometrajectory
desired_statesalobj.State: Desired state of the CSC.

Raises:

RuntimeError: If state is not desired_state.
KeyError: If component is not found.

async check_dome_following() → bool¶

Check if dome following is enabled.

Returns:

dome_followingbool: True is enabled False otherwise.

async check_tracking(track_duration: float | None = None) → None¶

Check tracking state.

This method monitors all the required parameters for tracking a target; from telescope and pointing component to the dome.

If any of those conditions fails, raise an exception.

This method is useful in case an operation required tracking to be active and be interrupted in case tracking stops. One can start this method concurrently and monitor it for any exception. If an exception is raise, the concurrent task can be interrupted or marked as failed as appropriately.

If a track_duration is specified, the method will return after the time has passed. Otherwise it will just check forever.

Parameters:

track_durationfloat or None: How long should tracking be checked for (second)? Must be a positive float or None (default).

clear_catalog() → None¶: Clear internal catalog.

async close() → None¶

async close_dome(force: bool = False) → None¶

Method to close dome shutter.

Raises:

RuntimeError: If shutter motion state is neither OPEN nor CLOSED. If mirror covers are RETRACTED and telescope elevation is not in safe range unless force=True.

Warning

The dome shutter should not be closed when the mirror covers are retracted. This method will check if the covers are deployed or if the telescope is in a safe elevation to continue.

async close_m1_cover() → None¶

Method to close mirror covers.

Raises:

RuntimeError: If mirror covers state is neither DEPLOYED nor RETRACTED. If mirror system state is FAULT.

Warning

The mirror covers should be closed when the telescope is pointing to the zenith. The method will check if the telescope is in an operational range and, if not, will move the telescope to an operational elevation, maintaining the same azimuth before closing the mirror cover. The telescope will be left in that same position in the end.

async close_m1m3_booster_valve() → None¶: Close M1M3 booster valves.

components_to_check() → List[str]¶

Return components for which check is enabled.

Returns:

list of str: Components to check.

async disable_aos_closed_loop() → None¶

async disable_ccw_following() → None¶: Disable camera cable wrap following the rotator.

disable_checks_for_components(components: List[str]) → None¶

Disables checks for a list of components.

The elements of components that are not part of the CSC group will be ignored.

Parameters:

components: `list` of `str`: A list of strings that indentifies the components to disable the check. The names can be eather in attribute format (e.g. “mtmount” or “hexapod_1”) or in salobj remote name format (e.g. “MTMount” or “Hexapod:1”).

async disable_compensation_mode(component: str) → None¶

Disable compensation mode for one of the hexapods.

Parameters:

componentstr: Name of the component

See also

enable_compensation_mode: Enable compensation mode.
compensation_mode_components: Set of components with compensation mode.

async disable_dome_following(check: Any = None) → None¶: Disable dome following mode.

async disable_m1m3_balance_system() → None¶: Disable m1m3 balance system.

async disable_m2_balance_system() → None¶: Disable m2 balance system.

async dome_az_in_position() → str¶: Wait for _dome_az_in_position event to be set and return a string indicating the dome azimuth is in position.

async dome_el_in_position() → str¶: Wait for _dome_el_in_position event to be set and return a string indicating the dome elevation is in position.

async enable(overrides: Dict[str, str] | None = None) → None¶

Enable all components.

This method will enable all group components. Users can provide overrides for the start command (in a dictionary).

Parameters:

overrides: `dict`: Dictionary with overrides to apply. If None use recommended overrides.

async enable_aos_closed_loop(config: dict) → None¶

async enable_ccw_following() → None¶: Enable camera cable wrap following the rotator.

async enable_compensation_mode(component: str) → None¶

Enable compensation mode for one of the hexapods.

Parameters:

componentstr: Name of the component. Must be in compensation_mode_components.

See also

disable_compensation_mode: Disable compensation mode.
compensation_mode_components: Set of components with compensation mode.

async enable_dome_following(check: Any = None) → None¶: Enabled dome following mode.

async enable_m1m3_balance_system() → None¶: Enable m1m3 balance system.

async enable_m2_balance_system() → None¶: Enable m2 balance system.

async enter_m1m3_engineering_mode() → None¶: Enter M1M3 engineering mode.

async exit_m1m3_engineering_mode() → None¶: Exit M1M3 engineering mode.

async expand_overrides(overrides: Dict[str, str] | None = None) → Dict[str, str]¶

Expand an overrides dict with entries for every component.

Any components that have no specified override are set to “”.

Parameters:

overridesdict or None: A dictionary with (component name, overrides) pair or None. The component name is as it appears in the components_attr attribute, which is the name of the CSC in lowercase, replacing “:” by “_” for indexed components, e.g. “Hexapod:1” -> “hexapod_1” or “ATHexapod” -> “athexapod”.

Returns:

complete_overridesdict: Dictionary with overrides for every component in the group. Unspecifies components have override “”.

Raises:

RuntimeError: If an item in the parameter overrides dictionary is not a CSC in the group.

async find_target(az: float, el: float, mag_limit: float, mag_range: float = 2.0, radius: float = 0.5) → Table¶

Make a cone search and return a target close to the specified position.

Parameters:

az: `float`: Azimuth (in degrees).
el: `float`: Elevation (in degrees).
mag_limit: `float`: Minimum (brightest) V-magnitude limit.
mag_range: `float`, optional: Magnitude range. The maximum/faintest limit is defined as mag_limit+mag_range (default=2).
radius: `float`, optional: Radius of the cone search (default=2 degrees).

Returns:

targetastropy.Table: Target information.

async find_target_dm_butler(az: float, el: float, mag_limit: float, mag_range: float = 2.0, radius: float = 0.5) → str¶

Make a cone search in the butler source catalog and return a target in the magnitude range, close to the specified position.

Parameters:

az: `float`: Azimuth (in degrees).
el: `float`: Elevation (in degrees).
mag_limit: `float`: Minimum (brightest) V-magnitude limit.
mag_range: `float`, optional: Magnitude range. The maximum/faintest limit is defined as mag_limit+mag_range (default=2).
radius: `float`, optional: Radius of the cone search (default=2 degrees).

Returns:

str: Name of the target.

Raises:

RuntimeError:: If DM stack is not available.

async find_target_local_catalog(az: float, el: float, mag_limit: float, mag_range: float = 2.0, radius: float = 0.5) → str¶

Make a cone search in the internal catalog and return a target in the magnitude range, close to the specified position.

Parameters:

az: `float`: Azimuth (in degrees).
el: `float`: Elevation (in degrees).
mag_limit: `float`: Minimum (brightest) V-magnitude limit.
mag_range: `float`, optional: Magnitude range. The maximum/faintest limit is defined as mag_limit+mag_range (default=2).
radius: `float`, optional: Radius of the cone search (default=2 degrees).

Returns:

str: Name of the target.

Raises:

RuntimeError:: If catalog is not loaded. If no object is found.

async find_target_simbad(az: float, el: float, mag_limit: float, mag_range: float = 2.0, radius: float = 0.5) → str¶

Make a cone search in the HD catalog using Simbad and return a target with magnitude inside the magnitude range, close to the specified position.

Parameters:

az: `float`: Azimuth (in degrees).
el: `float`: Elevation (in degrees).
mag_limit: `float`: Minimum (brightest) V-magnitude limit.
mag_range: `float`, optional: Magnitude range. The maximum/faintest limit is defined as mag_limit+mag_range (default=2).
radius: `float`, optional: Radius of the cone search (default=2 degrees).

Returns:

str: Name of the target.

Raises:

RuntimeError:: If no object is found.

flush_offset_events() → None¶: Abstract method to flush events before and offset is performed.

async get_bore_sight_angle() → float¶: Get the instrument bore sight angle with respect to the telescope axis.

async get_compensation_mode_camera_hexapod() → BaseMsgType¶

Return the last sample of compensationMode event from camera hexapod.

Returns:

MTHexapod_logevent_compensationMode

async get_compensation_mode_m2_hexapod() → BaseMsgType¶

Return the last sample of compensationMode event from m2 hexapod.

Returns:

MTHexapod_logevent_compensationMode

async get_heartbeat(component: str) → BaseMsgType¶

Get last heartbeat for component.

Parameters:

componentstr: Name of the component.

Returns:

heartbeat: Last component heartbeat.

get_identity() → str¶

Get user identity.

Returns:

str: Identity.

get_m1m3_actuator_ids() → list[int]¶

Get a list of the M1M3 actuator ids.

Returns:

list`[ `int ]: List of M1M3 actuator ids.

get_m1m3_actuator_index(actuator_id: int) → int¶

Convert from actuator_id into actuator index using M1M3 FATable.

Parameters:

actuator_idint: Actuator id.

Returns:

actuator_indexint: Array index of actuator.

Raises:

RuntimeError: If actuator_id is not valid.

See also

get_m1m3_actuator_secondary_index: Get m1m3 actuator secondary index from actuator secondary id.

get_m1m3_actuator_secondary_ids() → list[int]¶

Get a list of the M1M3 actuator secondary ids.

Returns:

list`[ `int ]: List of M1M3 actuator secondary ids.

get_m1m3_actuator_secondary_index(actuator_id: int) → int¶

Convert from actuator_id into actuator secondary index using M1M3 FATable.

Parameters:

actuator_idint: Actuator id.

Returns:

actuator_indexint: Secondary array index of actuator.

Raises:

RuntimeError: If actuator_id is not valid.

See also

get_m1m3_actuator_index: Get m1m3 actuator index from actuator id.

async get_m1m3_actuator_to_test(actuators_to_test: list[int]) → AsyncGenerator[ForceActuatorData, None]¶

Given a list of m1m3 actuator to test, generate a list of actuator that can be tested concurrently.

Yields:

int: Id of the next suitable M1M3 actuator to test.

async get_m1m3_applied_balance_forces() → BaseMsgType¶

Returns the last sample of appliedBalanceForces data from m1m3.

Returns:

MTM1M3_logevent_appliedBalanceForces or MTM1M3_appliedBalanceForces

async get_m1m3_bump_test_status(actuator_id: int) → tuple[lsst.ts.xml.enums.MTM1M3.BumpTest, lsst.ts.xml.enums.MTM1M3.BumpTest | None]¶

Get latest m1m3 bump test status.

Parameters:

actuator_idint: Id of the actuator.

Returns:

primary_statusMTM1M3.BumpTest: Status of the primary (z-axis) test.
secondary_statusMTM1M3.BumpTest | None: Status of the secondary (xy-axis) test.

async get_m1m3_slew_controller_settings() → dict¶

Retrieve the current M1M3 slew controller settings.

Returns:

dict: A dictionary containing the current settings, where the keys are the names used in the SetSlewControllerSettings enumeration.

Raises:

RuntimeError: If the expected attribute is not found in the event.

async get_m2_hardpoints() → list[int]¶

Retrieve the current list of M2 hardpoints.

Returns:

list [ int ]: List of M2 hardpoints.

get_required_resources(component: str, intended_usage: None | int) → Any¶

Return the required resources based on the intended usage of the class.

When subclassing, overwrite this method to add the child class use cases.

Parameters:

component: `str`: Name of the component, with index as it appears in components_attr attribute (e.g. test_1 for the Test component with index 1).
intended_usage: `int` or `None`: An integer constructed from the self.valid_use_cases. Usages can be combined to enable combined operations (see base class documentation). If None, returns appropriate values to load all resources.

Returns:

resources: types.SimpleNamespace

A simple namespaces with the following attributes:

add_this: bool: Should this remote be added to the collection?
readonly: bool: Create the remote for this component in readonly mode? Some operations does not require commanding.
include: list [str]: What topics should be included?

Raises:

KeyError: If component is not in the list of components.

get_rot_angle_alternatives(rot_angle: float) → Generator[float, None, None]¶

Generate rotator angle alternatives based on the input rotator angle.

Parameters:

rot_anglefloat: Desired rotator angle (in deg).

Yields:

float: Rotator angle alternatives (in deg).

async get_simulation_mode(components: List[str] | None = None) → Dict[str, BaseMsgType]¶

Return a list with the simulation mode for components in the group.

Parameters:

componentslist of str, optional: List with the name of components to get the simulation mode. If None (default) return the values for all components.

Returns:

simulation_mode: dict: Dictionary with the name of the component and the value of simulation mode.

async get_software_versions(components: List[str] | None = None) → Dict[str, BaseMsgType]¶

Return a list with the software versions for components in the group.

Parameters:

componentslist of str, optional: List with the name of components to get the software versions. If None (default) return the values for all components.

Returns:

software_versions: dict: Dictionary with the name of the component and the value of software versions.

async get_state(component: str, ignore_timeout: bool = False) → State¶

Get summary state for component.

Parameters:

componentstr: Name of the component.
ignore_timeoutbool: If True will return None in case it times out getting the state. Default is False, which means raise TimeoutError.

Returns:

statesalobj.State or None: Current state of component.

Raises:

asyncio.TimeoutError: If can not get state in self.fast_timeout seconds.

get_sun_azel(time_tai: float | None = None) → tuple[float, float]¶

Get the sun azimuth and elevation.

Parameters:

time_taifloat or None, optional: TAI timestamp to get sun position. If None compute current tai.

Returns:

tuple`[`float, float]: Sun elevation and azimuth in degrees.

get_telescope_and_dome_vent_azimuth() → tuple[float, float]¶

Get the telescope and dome vent azimuth.

Returns:

tel_vent_azimuthfloat: Azimuth to vent the telescope (in deg).
dome_vent_azimuthfloat: Azimuth to vent the dome (in deg).

get_work_components(components: List[str] | None = None) → List[str]¶

Parse input into a list of valid components from the group.

Parameters:

componentslist of str or None: Input list of components to process or None. If None return a list with all components.

Returns:

work_componentslist of str: List of valid components.

Raises:

RuntimeError: If a component in the components input list is not part of the group.

async home_dome(physical_az: float = 0.0) → None¶

Utility method to home dome.

Parameters:

physical_azfloat: Azimuth angle of the dome as read by markings (in deg).

async in_m1_cover_operational_range() → bool¶

Check if MTMount is in safe range for mirror covers operation.

Returns:

elevation_in_range: bool: Returns True when telescope elevation is in safe range for mirror covers operation.

is_actuator_in_testing_state(actuator_data: ForceActuatorData, bump_test_status: BaseMsgType) → bool¶

is_catalog_loaded() → bool¶

Check if catalog is loaded.

Returns:

bool: True if catalog was loaded, False otherwise.

async is_m1m3_in_engineering_mode() → bool¶

Check if M1M3 is in engineering mode.

Returns:

bool: True if M1M3 in engineering mode, False otherwise.

list_available_catalogs() → Set[str]¶

List of available catalogs to load.

Returns:

catalog_namesset: Set with the names of the available catalogs.

See also

load_catalog: Load a catalog from the available set.

load_catalog(catalog_name: str) → None¶

Load a catalog from the available set.

Parameters:

catalog_namestr: Name of the catalog to load. Must be a valid entry in the list of available catalogs.

Raises:

RuntimeError: If input catalog_name is not a valid entry in the list of available catalogs. If catalog was already loaded or not cleared before loading a new one.

See also

list_available_catalogs: List available catalogs to load.

async lower_m1m3() → None¶: Lower M1M3.

m1m3_booster_valve() → AsyncIterator[None]¶: Context manager to handle opening/closing M1M3 booster valves.

m1m3_in_engineering_mode() → AsyncIterator[None]¶

Context manager to ensure m1m3 enters and exists engineering mode before/after an operation.

If M1M3 is in engineering mode before, this context manager is a nop, e.g. it will leave M1M3 in engineering mode afterwards.

map_slew_setting_to_attribute(setting_enum: SetSlewControllerSettings) → str¶

Maps a SetSlewControllerSettings enum to the corresponding attribute returned by the evt_slew_controller_settings.

Parameters:

setting_enumMTM1M3.SetSlewControllerSettings: The enum member to be mapped.

Returns:

str: The corresponding attribute name.

async monitor_position(check: Any | None = None) → None¶

Monitor MTCS axis position.

Monitor/log a selected set of axis from the main telescope. This is useful during slew activities to make sure everything is going as expected.

Parameters:

checktypes.SimpleNamespace or None: Override self.check for defining which resources are used.

async move_camera_hexapod(x: float, y: float, z: float, u: float, v: float, w: float = 0.0, sync: bool = True) → None¶

Move camera hexapod.

When the camera hexapod compensation mode is on, move it to a new position relative to the LUT. When the camera hexapod compensation mode is off, move it to a new absolute position.

Parameters:

xfloat: Hexapod-x position (microns).
yfloat: Hexapod-y position (microns).
zfloat: Hexapod-z position (microns).
ufloat: Hexapod-u angle (degrees).
vfloat: Hexapod-v angle (degrees).
wfloat, optional: Hexapod-w angle (degrees). Default 0.
syncbool, optional: Should the hexapod movement be synchronized? Default True.

async move_m2_hexapod(x: float, y: float, z: float, u: float, v: float, w: float = 0.0, sync: bool = True) → None¶

Move m2 hexapod.

When the m2 hexapod compensation mode is on, move it to a new position relative to the LUT. When the m2 hexapod compensation mode is off, move it to a new absolute position.

Parameters:

xfloat: Hexapod-x position (microns).
yfloat: Hexapod-y position (microns).
zfloat: Hexapod-z position (microns).
ufloat: Hexapod-u angle (degrees).
vfloat: Hexapod-v angle (degrees).
wfloat, optional: Hexapod-w angle (degrees). Default 0.
syncbool, optional: Should the hexapod movement be synchronized? Default True.

async move_p2p_azel(az: float, el: float, timeout: float = 120.0) → None¶

Move telescope using point to point mode.

Parameters:

azfloat: Azimuth (in deg).
elfloat: Elevation (in deg).
timeoutfloat, optional: Timeout for positioning the telescope, by default=120.0 (in seconds).

async move_p2p_radec(ra: float, dec: float, timeout: float = 120.0) → None¶

Move telescope using point to point mode.

Telescope will not track after getting in position.

Parameters:

rafloat: Desired right ascension (in hours).
decfloat: Desired declination (in deg).
timeoutfloat, optional: Timeout for positioning the telescope, by default 120.0 (in seconds)

async move_rotator(position: float, wait_for_in_position: bool = True) → None¶

Move rotator to specified position and wait for movement to complete.

Parameters:

positionfloat: Desired rotator position (deg).
wait_for_in_positionbool, optional: Wait for rotator to reach desired position before returning the function? Default True.

async next_heartbeat(component: str) → BaseMsgType¶

Get next heartbeat for component.

Parameters:

componentstr: Name of the component.

Returns:

heartbeat: Last component heartbeat.

async next_m1m3_applied_balance_forces(flush: bool) → BaseMsgType¶

Returns the next sample of appliedBalanceForces data from m1m3.

Parameters:

flushbool: Flush the topic queue before getting the next sample?

Returns:

MTM1M3_logevent_appliedBalanceForces or MTM1M3_appliedBalanceForces

async next_state(component: str) → State¶

Get summary state for component.

Parameters:

componentstr: Name of the component.

Returns:

statesalobj.State: Current state of component.

object_list_add(name: str, radec: ICRS) → None¶

Add object to object list.

Parameters:

name: `str`: Name of the object.
object_table: `astropy.table.row.Row`: Table row with object information.

object_list_clear() → None¶: Remove all objects stored in the internal object list.

object_list_get(name: str) → ICRS¶

Get an object from the list or query Simbad and return it.

Parameters:

name: `str`: Name of the object.

Returns:

radec: ICRS: Table row with object information.

object_list_get_all() → Set[str]¶

Return list of objects in the object list.

Returns:

object_list_namesset: Set with the names of all targets in the object list.

object_list_remove(name: str) → None¶

Remove object from object list.

Parameters:

name: `str`: Object name.

Raises:

RuntimeError: If input object name not in the object list.

async offline() → None¶: Put all CSCs in offline.

async offset_azel(az: float, el: float, relative: bool = True, persistent: bool | None = None, absorb: bool = False) → None¶

Offset telescope in azimuth and elevation.

For more information see the Notes section below or the package documentation in https://ts-observatory-control.lsst.io/.

Parameters:

azfloat: Offset in azimuth (arcsec).
elfloat: Offset in elevation (arcsec).
relativebool, optional: If True (default) offset is applied relative to the current position, if False offset replaces any existing offsets.
persistentbool or None, optional (deprecated): (Deprecated) Should the offset be absorbed and persisted between slews? Use of this parameter is deprecated. Use absorb instead.
absorbbool, optional: Should the offset be absorbed and persisted between slews? (default: False)

See also

offset_xy: Offsets in the detector X/Y plane.
offset_radec: Offset in sky coordinates.
reset_offsets: Reset offsets.

Notes

The persistent flag is deprecated. Use absorb instead.

There are a couple different ways users can modify how offsets are treated via the input flags relative and absorb.

These flags allows users to control the following behavior;

1 - If the offset is relative to the current position
(relative=True) or relative to the pointing origin (e.g. the initial slew position).

2 - If the offset will only apply only to the current target
(absorb=False) or if they will be absorbed by the pointing and persist after a new targets (absorb=True).

By default relative=True and absorb=False, which means offsets will be relative to the current position and will reset after a slew.

The default relative offsets will accumulate. For instance,

>>> await tcs.offset_azel(az=10, el=0)
>>> await tcs.offset_azel(az=0, el=10)

Will result in a 10 arcsec offset in both azimuth and elevation.

Non-relative offsets will overrides any previous non-relative offset. For instance, the pair of commands below:

>>> await tcs.offset_azel(az=10, el=0)
>>> await tcs.offset_azel(az=0, el=10)

Results in only 10 arcsec offset in elevation, e.g., is equivalent to just doing the second command;

>>> await tcs.offset_azel(az=0, el=10, relative=True)

This is because the non-relative offset requested by the second command will reset the offset done on the previous command.

It is important to keep in mind that these offsets can also be combined with one another. For instance, if you do;

>>> await tcs.offset_azel(az=10, el=0)
>>> await tcs.offset_azel(az=0, el=10)
>>> await tcs.offset_azel(az=0, el=10, relative=False)

You will get 10 arcsec offset in azimuth and 20 arcsec in elevation.

Nevertheless, if after doing the above you do;

>>> await tcs.offset_azel(az=0, el=0, relative=False)

It will result in a 10 arcsec offset in both azimuth and elevation, from the relative offsets done previously.

In all cases above, the offset will be overwritten if a new target is sent, e.g.;

>>> await tcs.offset_azel(az=10, el=0, relative=True)
>>> await tcs.offset_azel(az=0, el=10, relative=True)
>>> await tcs.offset_azel(az=0, el=10)
>>> await tcs.slew_object("HD 164461")  # reset all offsets above

Will result in a slew with no offsets.

If you want offsets to persist between slews use absorb=True.

The relative flag applies the same way to absored offsets.

The following sequence of commands;

>>> await tcs.offset_azel(az=10, el=0, relative=True, absorb=True)
>>> await tcs.offset_azel(az=0, el=10, relative=True, absorb=True)
>>> await tcs.offset_azel(az=0, el=10, relative=False, absorb=True)
>>> await tcs.slew_object("HD 164461")

Will result in a slew offset by 10 arcsec in azimuth and 20 arcsec in elevation.

async offset_camera_hexapod(x: float, y: float, z: float, u: float, v: float, w: float = 0.0, sync: bool = True) → None¶

Offset camera hexapod.

Offsets are always relative to the current hexapod position, regardless of the compensation mode being on or off.

Parameters:

xfloat: Hexapod-x position (microns).
yfloat: Hexapod-y position (microns).
zfloat: Hexapod-z position (microns).
ufloat: Hexapod-u angle (degrees).
vfloat: Hexapod-v angle (degrees).
wfloat, optional: Hexapod-w angle (degrees). Default 0.
syncbool, optional: Should the hexapod movement be synchronized? Default True.

async offset_done() → None¶: Wait for offset events.

async offset_m2_hexapod(x: float, y: float, z: float, u: float, v: float, w: float = 0.0, sync: bool = True) → None¶

Offset M2 hexapod.

Offsets are always relative to the current hexapod position, regardless of the compensation mode being on or off.

Parameters:

xfloat: Hexapod-x position (microns).
yfloat: Hexapod-y position (microns).
zfloat: Hexapod-z position (microns).
ufloat: Hexapod-u angle (degrees).
vfloat: Hexapod-v angle (degrees).
wfloat, optional: Hexapod-w angle (degrees). Default 0.
syncbool, optional: Should the hexapod movement be synchronized? Default True.

async offset_pa(angle: float, radius: float) → None¶

Offset the telescope based on a position angle and radius.

Parameters:

anglefloat: Offset position angle, clockwise from North (degrees).
radiusfloat: Radial offset relative to target position (arcsec).

async offset_radec(ra: float, dec: float) → None¶

Offset telescope in RA and Dec.

Perform arc-length offset in sky coordinates. The magnitude of the offset is sqrt(ra^2 + dec^2) and the angle is the usual atan2(dec, ra).

Parameters:

rafloat: Offset in ra (arcsec).
decfloat or str: Offset in dec (arcsec).

See also

offset_azel: Offset in local AzEl coordinates.
offset_xy: Offsets in the detector X/Y plane.

async offset_rot(rot: float) → None¶

Apply a rotation offset.

Parameters:

rotfloat: Rotator offset (deg).

async offset_xy(x: float, y: float, relative: bool = True, persistent: bool | None = None, absorb: bool = False) → None¶

Offsets in the detector X/Y plane.

Offset the telescope field-of-view in the x and y direction.

Parameters:

xfloat: Offset in camera x-axis (arcsec).
yfloat: Offset in camera y-axis (arcsec).
relativebool, optional: If True (default) offset is applied relative to the current position, if False offset replaces any existing offsets.
persistentbool or None, optional (deprecated): (Deprecated) Should the offset be absorbed and persisted between slews? Use of this parameter is deprecated. Use absorb instead.
absorbbool, optional: Should the offset be absorbed and persisted between slews? (default: False)

See also

offset_azel: Offset in local AzEl coordinates.
offset_radec: Offset in sky coordinates.
reset_offsets: Reset offsets.

Notes

The persistent flag is deprecated. Use absorb instead.

If the image is displayed with the x-axis in horizontal position, increasing from left to right, a positive x-offset will result in the field-of-view moving to the right, and therefore, the stellar positions will move to the left.

If the image is displayed with y-axis in vertical position, increasing from bottom to top, a positive y-offset will result in field-of-view moving up, and therefore, the stellar positions will move down.

See the Notes section in offset_azel help page for more information about the relative and persistent flags.

async open_dome_shutter(force: bool = False) → None¶

Method to open dome shutter.

Raises:

RuntimeError: If shutter motion state is neither OPEN nor CLOSED. If mirror covers are RETRACTED and telescope elevation is not in safe range unless force=True.

Warning

The dome shutter should not be opened when the mirror covers are retracted. This method will check if the covers are deployed or if the telescope is in a safe elevation to continue.

async open_m1_cover() → None¶

Method to open mirror covers.

Raises:

RuntimeError: If mirror covers state is neither DEPLOYED nor RETRACTED. If mirror system state is FAULT.

Warning

The mirror covers should be opened when the telescope is pointing to the zenith. The method will check if the telescope is in an operational range and, if not, will move the telescope to an operational elevation, maintaining the same azimuth before opening the mirror cover. The telescope will be left in that same position in the end.

async open_m1m3_booster_valve() → None¶: Open M1M3 booster valves.

Return parallactic angle for the given Ra/Dec coordinates.

Parameters:

rafloat, str or astropy.coordinates.Angle: Target RA, either as a float (hour), a sexagesimal string (HH:MM:SS.S or HH MM SS.S) coordinates or astropy.coordinates.Angle.
decfloat, str or astropy.coordinates.Angle: Target Dec, either as a float (deg), a sexagesimal string (DD:MM:SS.S or DD MM SS.S) coordinates or astropy.coordinates.Angle.
timeastropy.time.core.Time or None, optional: The time which the coordinate trasformation is intended for. If None (default) use current time.

Returns:

pa_angleastropy.coordinates.Angle: Parallactic angle.

async park_dome() → None¶: Park the dome by moving it to the park azimuth.

async park_mount(position: ParkPosition) → None¶

Park the TMA in the selected position.

Parameters:

positionMTMount.ParkPosition: The position to park the TMA.

async point_azel(az: float, el: float, rot_tel: float = 0.0, target_name: str = 'azel_target', wait_dome: bool = False, slew_timeout: float = 1200.0) → None¶

Slew the telescope to a fixed alt/az position.

Telescope will not track once it arrives in position.

Parameters:

azfloat, str or astropy.coordinates.Angle: Target Azimuth (degree). Accepts float (deg), sexagesimal string (DD:MM:SS.S or DD MM SS.S) coordinates or astropy.coordinates.Angle
elfloat or str: Target Elevation (degree). Accepts float (deg), sexagesimal string (DD:MM:SS.S or DD MM SS.S) coordinates or astropy.coordinates.Angle
rot_telfloat or str: Specify rotator angle in mount physical coordinates. Accepts float (deg), sexagesimal string (DD:MM:SS.S or DD MM SS.S) coordinates or astropy.coordinates.Angle
target_namestr: Name of the position.
wait_domebool: Wait for dome to be in sync with the telescope? If preparing to take a flat, for instance, the dome will never be in sync.
slew_timeoutfloat: Timeout for the slew command (second).

async prepare_for_flatfield(check: Any = None) → None¶

A high level method to position the telescope and dome for flat field operations.

Parameters:

checktypes.SimpleNamespace or None: Override self.check for defining which resources are used.

async prepare_for_onsky(overrides: Dict[str, str] | None = None) → None¶

Prepare telescope for on-sky operations.

Parameters:

overrides: `dict`: Dictionary with overrides to apply. If None use the recommended overrides.

async process_as_completed(tasks: List[Task]) → Any¶

Process tasks are they complete.

If the first task that finishes completes successfully, it will cancel all other tasks in the list, empty the input list and return the value of the task. If the task results in an exception, it will cancel all other tasks, empty the list and raise the exception.

Parameters:

taskslist`[`asyncio.Tasks]: List of asyncio tasks to process.

Returns:

ret_valobject: Return value from the first completed task.

Calculate Ra/Dec in ICRS coordinates from Az/El.

Parameters:

azfloat, str or astropy.coordinates.Angle: Target Azimuth (degree). Accepts float (deg), sexagesimal string (DD:MM:SS.S or DD MM SS.S) coordinates or astropy.coordinates.Angle
elfloat or str: Target Elevation (degree). Accepts float (deg), sexagesimal string (DD:MM:SS.S or DD MM SS.S) coordinates or astropy.coordinates.Angle
timeastropy.time.core.Time or None, optional: The time which the coordinate trasformation is intended for. If None (default) use current time.

Returns:

radec_icrsastropy.coordinates.ICRS: Astropy coordinates with azimuth and elevation.

async raise_m1m3() → None¶: Raise M1M3.

ready_to_offset() → AsyncIterator[None]¶

Make sure telescope is ready to perform an offset.

Overrides the parent class to implement setting/unsetting the slew flag on m1m3.

async ready_to_take_data() → None¶: Wait for the telescope control system to be ready to take data.

async reset_camera_hexapod_position() → None¶: Reset position of the camera hexapod.

reset_checks() → None¶: Reset all checks, enabling check for all components.

async reset_m1m3_forces() → None¶: Reset M1M3 forces.

async reset_m2_forces() → None¶: Reset M2 forces.

async reset_m2_hexapod_position() → None¶: Reset position of the M2 hexapod.

async reset_offsets(absorbed: bool = True, non_absorbed: bool = True) → None¶

Reset pointing offsets.

By default reset all pointing offsets. User can specify if they want to reset only the absorbed and non-absorbed offsets as well.

Parameters:

absorbedbool: Reset absorbed offset? Default True.
non_absorbedbool: Reset non-absorbed offset? Default True.

Raises:

RuntimeError:: If both absorbed and non_absorbed are False.

static rotation_matrix(angle: float) → Buffer | _SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes]¶: Rotation matrix.

async run_m1m3_actuator_bump_test(actuator_id: int, primary: bool = True, secondary: bool = False) → None¶

M1M3 actuator bump test.

Parameters:

actuator_idint: Id of the actuator.
primarybool, optional: Test primary (z) actuator (default=True)?
secondarybool, optional: Test secondary (x/y) actuators (default=False)?

async run_m1m3_hard_point_test(hp: int) → None¶

Test an M1M3 hard point.

Parameters:

hpint: Id of the hard point to test (start at 1).

async run_m2_actuator_bump_test(actuator: int, force: float, period: float = 60) → None¶

M2 actuator bump test.

Parameters:

actuatorint: Id of the actuator.
forcefloat: the +/- push/pull foce to be applied in N
periodfloat, optional: There will be two bumps and each bump will wait for (2 * period) seconds. Default time is 60 seconds.

set_azel_slew_checks(wait_dome: bool) → Any¶

Handle azEl slew to wait or not for the dome.

Parameters:

wait_domebool: Should the slew wait for the dome?

Returns:

checktypes.SimpleNamespace: Reformated check namespace.

async set_m1m3_slew_controller_settings(slew_setting: IntEnum, enable_slew_management: bool) → None¶

Set a specific M1M3 slew controller setting based on the provided enumeration.

Parameters:

slew_settingenum.IntEnum: The specific force component setting to be changed.
enable_slew_managementbool: True to enable, False to disable the specified force component controlled by the slew controller.

set_rem_loglevel(level: int) → None¶

Set remotes log level.

Useful to prevent the internal salobj warnings when read queues are filling up.

Parameters:

levelint: Log level.

set_rot_angle_alternatives(rot_angle_alternatives: List[float]) → None¶

Set the rotator angle alternatives.

It is not necessary to pass the 0. alternative, as it is added by default.

Duplicated entries are also removed.

Parameters:

rot_angle_alternativestyping.List[float]: List of rotator angle alternatives (in deg).

async set_state(state: State, overrides: Dict[str, str] | None = None, components: List[str] | None = None) → None¶

Set summary state for all components.

Parameters:

statesalobj.State: Desired state.
overridesdict or None: Settings to apply for each component.
componentslist[`str]`: List of components to set state, as they appear in self.components_attr.

Raises:

RuntimeError

If a component in components is not part of the group.
If it fails to transition one or more components.

async shutdown() → None¶: Shutdown components.

async slew(ra: float, dec: float, rotPA: float = 0.0, target_name: str = 'slew_icrs', frame: IntEnum | None = None, epoch: float = 2000.0, equinox: float = 2000.0, parallax: float = 0.0, pmRA: float = 0.0, pmDec: float = 0.0, rv: float = 0.0, dRA: float = 0.0, dDec: float = 0.0, rot_frame: IntEnum | None = None, rot_track_frame: IntEnum | None = None, rot_mode: IntEnum | None = None, az_wrap_strategy: IntEnum | None = None, time_on_target: float = 0.0, slew_timeout: float = 1200.0, stop_before_slew: bool = False, wait_settle: bool = True, offset_x: float = 0.0, offset_y: float = 0.0) → None¶

Slew the telescope and start tracking an Ra/Dec target.

Parameters:

rafloat: Target Right Ascension (hour)
decfloat: Target Declination (degree)
rotPAfloat: Desired rotator position angle for slew (degree).
target_namestr: Name of the target
frameint: Target co-ordinate reference frame.
epochfloat: Target epoch in years e.g. 2000.0. Julian (J) epoch is assumed.
equinoxfloat: Target equinox in years e.g. 2000.0
parallaxfloat: Parallax (arcseconds).
pmRAfloat: Proper Motion (RA) in RA Seconds/year.
pmDecfloat: Proper motion (Dec) in Arcseconds/year.
rvfloat: Radial velocity (km/sec).
dRAfloat: Differential Track Rate in RA.
rot_frameenum: Rotator coordinate frame (self.RotFrame). Specify how to select the position of the rotator. If self.RotFrame.TARGET uses sky position angle. If self.RotFrame.FIXED uses rotator physical position.
rot_track_frameenum: Rotator track frame (self.RotFrame). Specify the rotator tracking mode. If self.RotFrame.TARGET, follow sky. If self.RotFrame.FIXED keep rotator at fixed position.
rot_modeenum: Rotator position mode (self.RotMode). If self.RotMode.FIELD optimize for sky tracking, if self.RotMode.SLIT optimize for slit spectroscopy.
slew_timeoutfloat: Timeout for the slew command (second).
stop_before_slewbool: Stop tracking before starting the slew? This option is a workaround to some issues with the mount components not sending events reliably.
wait_settlebool: Wait telescope to settle before returning?

async slew_dome_to(az: float, check: Any = None) → None¶

Utility method to slew dome to a specified position.

Parameters:

azfloat or str: Azimuth angle for the dome (in deg).
checktypes.SimpleNamespace or None: Override self.check for defining which resources are used.

Raises:

RuntimeError: If the mtdometrajectory is ignored while the dome following is enabled. This is to prevent conflicts between the dome trajectory and the dome following features, which could result in unexpected behavior while slewing the dome.

async slew_ephem_target(ephem_file: str, target_name: str, rot_sky: float = 0.0, validate_only: bool = False, slew_timeout: float = 240.0) → None¶

Slew the telescope to a target defined by ephemeris data defined in a file.

Parameters:

ephem_filestr: Name of the file containing ephemeris data.
target_namestr: Target name.
rot_skyfloat: Desired instrument position angle (degree), Eastwards from North. Default is 0.0.
validate_onlybool, optional: If True, validate the target without changing the current demand. Default is False.
slew_timeoutfloat, optional: Timeout for the slew command in seconds, default is 1200 seconds (20 minutes).

async slew_icrs(ra: float, dec: float, rot: float = 0.0, rot_type: RotType = RotType.SkyAuto, target_name: str = 'slew_icrs', dra: float = 0.0, ddec: float = 0.0, offset_x: float = 0.0, offset_y: float = 0.0, az_wrap_strategy: IntEnum | None = None, time_on_target: float = 0.0, slew_timeout: float = 240.0, stop_before_slew: bool = False, wait_settle: bool = True) → Tuple[ICRS, Angle]¶

Slew the telescope and start tracking an Ra/Dec target in ICRS coordinate frame.

Parameters:

rafloat, str or astropy.coordinates.Angle: Target RA, either as a float (hour), a sexagesimal string (HH:MM:SS.S or HH MM SS.S) coordinates or astropy.coordinates.Angle.
decfloat, str or astropy.coordinates.Angle: Target Dec, either as a float (deg), a sexagesimal string (DD:MM:SS.S or DD MM SS.S) coordinates or astropy.coordinates.Angle.
rotfloat, str or astropy.coordinates.Angle: Specify desired rotation angle. The value will have different meaning depending on the choince of rot_type parameter. Accepts float (deg), sexagesimal string (DD:MM:SS.S or DD MM SS.S) coordinates or astropy.coordinates.Angle
rot_typelsst.ts.observatory.control.utils.RotType: Rotation type. This parameter defines how rot_value is threated. Default is SkyAuto, the rotator is positioned with respect to the North axis and is automatically wrapped if outside the limit. See RotType for more options.
target_namestr: Target name.
slew_timeoutfloat: Timeout for the slew command (second). Default is 240s.

Returns:

radec_icrsastropy.coordinates.ICRS: Coordinates used in slew command.
rot_angleastropy.coordinates.Angle: Angle used in command for rotator.

Other Parameters:

drafloat, optional: Differential Track Rate in RA (second/second). Default is 0.
ddecfloat, optional: Differential Track Rate in Dec (arcsec/second). Default is 0.
offset_xfloat, optional: Apply offset to original slew position (in arcsec).
offset_yfloat, optional: Apply offset to original slew position (in arcsec).
az_wrap_strategyazWrapStrategy or None, optional: Azimuth wrap strategy. By default use maxTimeOnTarget=3, which attempts to maximize the time on target. Other options are; 1-noUnWrap, 2-optimize.
time_on_targetfloat, optional: Estimated time on target, in seconds. This is used by the optimize azimuth wrap algorithm to determine whether it needs to unwrap or not.
stop_before_slewbool: Stop tracking before starting the slew? This option is a workaround to some issues with the ATMCS not sending events reliably.
wait_settlebool: Wait telescope to settle before returning? It True add an additional sleep of self.tel_settle_time to the telescope positioning algorithm. Otherwise the algorithm will return as soon as it receives allAxesInPosition event from the ATMCS.

See also

slew_object: Slew to an object name.

async slew_object(name: str, rot: float = 0.0, rot_type: RotType = RotType.SkyAuto, dra: float = 0.0, ddec: float = 0.0, offset_x: float = 0.0, offset_y: float = 0.0, az_wrap_strategy: IntEnum | None = None, time_on_target: float = 0.0, slew_timeout: float = 240.0) → Tuple[ICRS, Angle]¶

Slew to an object name.

Use simbad to resolve the name and get coordinates.

Parameters:

namestr: Target name.
rotfloat, str or astropy.coordinates.Angle, optional: Specify desired rotation angle. Strategy depends on rot_type parameter. Accepts float (deg), sexagesimal string (DD:MM:SS.S or DD MM SS.S) coordinates or astropy.coordinates.Angle
rot_typelsst.ts.observatory.control.utils.RotType, optional: Rotation type. This parameter defines how rot_value is threated. Default is SkyAuto, the rotator is positioned with respect to the North axis and is automacally wrapped if outside the limit. See RotType for more options.
slew_timeoutfloat, optional: Timeout for the slew command (second). Default is 240 seconds.

Other Parameters:

drafloat, optional: Differential Track Rate in RA (second/second). Default is 0.
ddecfloat, optional: Differential Track Rate in Dec (arcsec/second). Default is 0.
offset_xfloat, optional: Apply offset to original slew position (in arcsec).
offset_yfloat, optional: Apply offset to original slew position (in arcsec).
az_wrap_strategyazWrapStrategy or None, optional: Azimuth wrap strategy. By default use maxTimeOnTarget=3, which attempts to maximize the time on target. Other options are; 1-noUnWrap, 2-optimize.
time_on_targetfloat, optional: Estimated time on target, in seconds. This is used by the optimize azimuth wrap algorithm to determine whether it needs to unwrap or not.

See also

slew_icrs: Slew to an ICRS coordinates.

async slew_to_m1_cover_operational_range() → None¶

Slew the telescope to safe range for mirror covers operation.

This method will slew the telescope to a safe elevation to perform mirror covers operations. It should be used in combination with the in_m1_covers_operational_range method.

async slew_to_planet(planet: IntEnum, rot_sky: float = 0.0, slew_timeout: float = 1200.0) → None¶

Slew and track a solar system body.

Parameters:

planetenum.IntEnum: Enumeration with planet name.
rot_skyfloat: Desired instrument position angle (degree), Eastwards from North.
slew_timeoutfloat, optional: Timeout for the slew command (second).

async standby() → None¶: Put all CSCs in standby.

async start_tracking(slew_timeout: float = 1200.0) → None¶

Start tracking the current position of the telescope.

Method returns once telescope and dome are in sync.

async stop_all() → None¶: Stop telescope and dome.

async stop_m1m3_bump_test() → None¶: Stop bump test.

async stop_m1m3_hard_point_test(hp: int) → None¶

Interrupt hard point test.

Parameters:

hpint: Id of the hard point for which the test is to be interrupted (start at 1).

async stop_m2_bump_test() → None¶

Stop the M2 actuator bump test.

Raises:

NotImplementedError: This method is not currently implemented.

async stop_rotator() → None¶: Stop rotator movement and wait for controller to publish Stationary substate event.

async stop_tracking() → None¶: Task to stop telescope tracking.

async unpark_dome() → None¶: Un-Park the dome by moving it a small delta amount.

async unpark_mount() → None¶: Un-park the TMA.

async wait_for_dome_inposition(timeout: float, wait_settle: bool = True) → str¶

Wait for the Dome to be in position.

Parameters:

timeout: `float`: How to wait for mount to be in position (in seconds).
wait_settle: `bool`: After receiving the in position command, add an additional settle wait? (default: True)

Returns:

ret_valstr: String indicating that dome is in position.

async wait_for_dome_state(expected_states: set[lsst.ts.xml.enums.MTDome.MotionState], bad_states: set[lsst.ts.xml.enums.MTDome.MotionState], timeout: float, check_in_position: bool = False) → None¶

Wait for a specific dome state.

Parameters:

expected_statesset[MTDome.MotionState]: Valid states to transition into while un-parking.
bad_statesset[MTDome.MotionState]: States that are not allowed while un-parking and should raise an error.
timeoutfloat: Maximum time to wait for the correct state.

Raises:

RuntimeError

If a bad state is encountered or the expected state is not reached: in time.

async wait_for_inposition(timeout: float, wait_settle: bool = True, check: Any | None = None) → List[str]¶

Wait for Mount, Dome and Rotator to be in position.

Parameters:

timeoutfloat: How long should it wait before timing out.
wait_settlebool: After slew complets, add an addional settle wait before returning.
checktypes.SimpleNamespace or None: Override self.check for defining which resources are used.

Returns:

statuslist of str: String with final status.

async wait_for_mtmount_inposition(timeout: float, wait_settle: bool = True) → None¶

Wait for the MTMount inPosition event.

Parameters:

timeout: `float`: How to to wait for mount to be in position (in seconds).
wait_settle: `bool`: After receiving the in position command add an addional settle wait? (default: True)

async wait_for_rotator_inposition(timeout: float, wait_settle: bool = True) → str¶

Wait for the Rotator inPosition event.

Parameters:

timeout: `float`: How to to wait for mount to be in position (in seconds).
wait_settle: `bool`: After receiving the in position command add an addional settle wait? (default: True)

Returns:

str: Message indicating the component is in position.

async wait_m1m3_actuator_in_testing_state(actuator: ForceActuatorData) → None¶

Wait until the specified actuator enters testing state.

Parameters:

actuatorForceActuatorData: Metadata about the actuator to wait for.

async wait_m1m3_force_balance_system(timeout: float) → None¶

Wait for m1m3 force balance system to stabilize.

Parameters:

timeoutfloat: How long to wait before timing out (in seconds).

async wait_m1m3_settle() → None¶: Wait until m1m3 has settle.

async wait_tracking_stopped() → None¶: Wait until the mount and rotator reports that they have stopped tracking.

Navigation

MTCS¶