Merge pull request #182 from lsst-ts/tickets/DM-47641

doc/news/DM-47641.feature.1.rst

@@ -0,0 +1 @@
+In maintel/mtcs, reduce m1m3 setting time.

doc/news/DM-47641.feature.2.rst

@@ -0,0 +1 @@
+In base_tcs, update _handle_in_position method to expose the timeout to use when handling the initial state race condition.	81efa99	Tiago Ribeiro <[email protected]>	Dec 1, 2024 at 10:59 PM

doc/news/DM-47641.feature.3.rst

@@ -0,0 +1 @@
+In maintel/mtcs, use the custom race_condition_timeout for checking the mount and hexapod are in position.

doc/news/DM-47641.feature.4.rst

@@ -0,0 +1 @@
+In maintel/mtcs.py, update wait_for_rotator_inposition to use a lower race condition timeout and to not await any settling time.

doc/news/DM-47641.feature.rst

@@ -0,0 +1 @@
+In maintel/mtcs, update _handle_m1m3_hardpoint_correction_command to wait for m1m3_settle_time after enabling/disabling force balance.

doc/news/DM-47641.removal.rst

@@ -0,0 +1 @@
+Removed backwards compatibility with m1m3 FATables not being in ts-xml.

python/lsst/ts/observatory/control/base_tcs.py

@@ -1903,6 +1903,7 @@ async def _handle_in_position(
         timeout: float,
         settle_time: float = 5.0,
         component_name: str = "",
+        race_condition_timeout: float = 5.0,
     ) -> str:
         """Handle inPosition event.
 
@@ -1917,6 +1918,8 @@ async def _handle_in_position(
         component_name : `str`, optional
             The name of the component. This is used in log messages and to
             construct a return message when in position.
+        race_condition_timeout : `float`
+            Timeout to use when handling race condition (in seconds).
 
         Returns
         -------
@@ -1931,7 +1934,7 @@ async def _handle_in_position(
         in_position = await in_position_event.aget(timeout=self.fast_timeout)
         self.log.debug(f"{component_name} in position: {in_position.inPosition}.")
 
-        _settle_time = max([settle_time, self.fast_timeout])
+        _settle_time = max([settle_time, race_condition_timeout])
 
         if in_position.inPosition:
             self.log.debug(

python/lsst/ts/observatory/control/maintel/mtcs.py

@@ -33,11 +33,7 @@
 from lsst.ts import salobj, utils
 from lsst.ts.utils import angle_diff
 from lsst.ts.xml.enums import MTM1M3, MTM2, MTDome, MTMount, MTPtg, MTRotator
-
-try:
-    from lsst.ts.xml.tables.m1m3 import FATable
-except ImportError:
-    from lsst.ts.criopy.M1M3FATable import FATABLE as FATable
+from lsst.ts.xml.tables.m1m3 import FATable
 
 from ..base_tcs import BaseTCS
 from ..constants import mtcs_constants
@@ -128,6 +124,20 @@ def __init__(
 
         self.open_dome_shutter_time = 1200.0
         self.timeout_hardpoint_test_status = 600.0
+        # There is a race condition when commanding the mount
+        # to a new target, which is the time it takes for it
+        # to start moving after we send the command to the pointing.
+        # This timeout expresses how long to wait when handling this
+        # race condition.
+        self.mtmount_race_condition_timeout = 3.0
+        # Similar to the mtmount_race_condition_timeout, this is
+        # used to check the in position event race condition for
+        # the hexapod when checking if it is ready to take data.
+        self.hexapod_ready_to_take_data_timeout = 0.5
+        # Similar to the mtmount_race_condition_timeout, this is
+        # used to check the in position event race condition for
+        # the rotator when checking if it is in position.
+        self.mtrotator_race_condition_timeout = 3.0
 
         self.tel_park_el = 80.0
         self.tel_park_az = 0.0
@@ -155,7 +165,7 @@ def __init__(
         # timeout to raise m1m3, in seconds.
         self.m1m3_raise_timeout = 600.0
         # time it takes for m1m3 to settle after a slew finishes.
-        self.m1m3_settle_time = 5.0
+        self.m1m3_settle_time = 0.0
 
         # Tolerance on the stability of the balance force magnitude
         self.m1m3_force_magnitude_stable_tolerance = 50.0
@@ -503,12 +513,14 @@ async def wait_for_mtmount_inposition(
                 timeout=timeout,
                 settle_time=0.0,
                 component_name="MTMount elevation",
+                race_condition_timeout=self.mtmount_race_condition_timeout,
             ),
             self._handle_in_position(
                 self.rem.mtmount.evt_azimuthInPosition,
                 timeout=timeout,
                 settle_time=0.0,
                 component_name="MTMount azimuth",
+                race_condition_timeout=self.mtmount_race_condition_timeout,
             ),
         )
 
@@ -572,8 +584,9 @@ async def wait_for_rotator_inposition(
         return await self._handle_in_position(
             self.rem.mtrotator.evt_inPosition,
             timeout=timeout,
-            settle_time=self.tel_settle_time,
+            settle_time=0.0,
             component_name="MTRotator",
+            race_condition_timeout=self.mtrotator_race_condition_timeout,
         )
 
     async def dome_az_in_position(self) -> str:
@@ -1547,9 +1560,9 @@ async def _handle_m1m3_hardpoint_correction_command(
                 )
             except (asyncio.TimeoutError, salobj.base.AckTimeoutError):
                 self.log.warning("Command timed out, continuing.")
-            else:
-                self.log.debug("Waiting for force balance system to settle.")
+            self.log.info("Waiting for force balance system to settle.")
             await self._wait_force_balance_system_state(enable=enable)
+            await asyncio.sleep(self.m1m3_settle_time)
         else:
             self.log.warning(
                 f"Hardpoint corrections already in desired state ({enable=}). Nothing to do."
@@ -2595,6 +2608,7 @@ async def _ready_to_take_data(self) -> None:
                     timeout=self.long_timeout,
                     settle_time=0.0,
                     component_name="Camera Hexapod",
+                    race_condition_timeout=self.hexapod_ready_to_take_data_timeout,
                 ),
             )
         except asyncio.TimeoutError:

python/lsst/ts/observatory/control/remote_group.py

@@ -443,11 +443,16 @@ async def get_state(
                 timeout=self.fast_timeout
             )
             return salobj.State(ss.summaryState)
-        except asyncio.TimeoutError as e:
+        except asyncio.TimeoutError:
             if ignore_timeout:
                 return None
             else:
-                raise e
+                raise asyncio.TimeoutError(
+                    f"Timeout getting summary state for {component}. "
+                    "This usually means that no historical data is available. "
+                    "You might have to recycle the CSC state manually to recover "
+                    "from this condition."
+                )
 
     async def next_state(self, component: str) -> salobj.State:
         """Get summary state for component.

ups/ts_observatory_control.table

@@ -6,7 +6,6 @@ setupRequired(sconsUtils)
 setupRequired(ts_utils)
 setupRequired(ts_salobj)
 setupRequired(ts_idl)
-setupRequired(ts_criopy)
 
 envPrepend(PATH, ${PRODUCT_DIR}/bin)