Merge pull request #119 from lsst-ts/tickets/DM-41593

DM-41593: Update MoveP2P script to monitor state of the components and fault if any of them goes to FAULT

doc/news/DM-41593.feature.rst

@@ -0,0 +1 @@
+In ``maintel/mtcs.py``, update ``move_p2p_radec`` to check that the mtcs is in ENABLED state while moving.

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

@@ -1778,11 +1778,20 @@ async def move_p2p_radec(
         """
         async with self.m1m3_booster_valve():
             azel = self.azel_from_radec(ra=ra, dec=dec)
-            await self.rem.mtmount.cmd_moveToTarget.set_start(
-                azimuth=azel.az.value,
-                elevation=azel.alt.value,
-                timeout=timeout,
+            tasks = [
+                asyncio.create_task(self.check_component_state(component))
+                for component in self.components_to_check()
+            ]
+            tasks.append(
+                asyncio.create_task(
+                    self.rem.mtmount.cmd_moveToTarget.set_start(
+                        azimuth=azel.az.value,
+                        elevation=azel.alt.value,
+                        timeout=timeout,
+                    )
+                )
             )
+            await self.process_as_completed(tasks)
 
     async def offset_camera_hexapod(
         self,

tests/maintel/test_mtcs.py

@@ -1780,12 +1780,21 @@ async def test_move_p2p_azel_with_timeout(self) -> None:
 
         self.assert_m1m3_booster_valve()
 
+    async def test_move_p2p_azel_fail_cscs_not_enabled(self) -> None:
+        with pytest.raises(
+            RuntimeError,
+            match=".* state is <State.STANDBY: 5>, expected <State.ENABLED: 2>",
+        ):
+            await self.mtcs.move_p2p_azel(az=0.0, el=80.0, timeout=30.0)
+
     async def test_move_p2p_radec(self) -> None:
         az = 90.0
         el = 80.0
 
         radec = self.mtcs.radec_from_azel(az=az, el=el)
 
+        await self.mtcs.enable()
+
         self.log.info(f"{radec=}")
         await self.mtcs.move_p2p_radec(
             ra=radec.ra.to(units.hourangle).value,
@@ -1800,6 +1809,21 @@ async def test_move_p2p_radec(self) -> None:
 
         self.assert_m1m3_booster_valve()
 
+    async def test_move_p2p_radec_fail_cscs_not_enabled(self) -> None:
+        az = 90.0
+        el = 80.0
+
+        radec = self.mtcs.radec_from_azel(az=az, el=el)
+
+        with pytest.raises(
+            RuntimeError,
+            match=".* state is <State.STANDBY: 5>, expected <State.ENABLED: 2>",
+        ):
+            await self.mtcs.move_p2p_radec(
+                ra=radec.ra.to(units.hourangle).value,
+                dec=radec.dec.value,
+            )
+
     async def test_m1m3_booster_valve(self) -> None:
         async with self.mtcs.m1m3_booster_valve():
             await asyncio.sleep(0)