Merge pull request #178 from lsst-ts/tickets/DM-46979

Tickets/DM-46979: Add preliminary methods in MTCS to handle TMA park/unpark

doc/news/DM-46979.feature.rst

@@ -0,0 +1 @@
+Add methods in ``MTCS`` to park and unpark the TMA.

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

@@ -989,6 +989,32 @@ async def in_m1_cover_operational_range(self) -> bool:
 
         return elevation.actualPosition >= self.tel_operate_mirror_covers_el
 
+    async def park_mount(self, position: MTMount.ParkPosition) -> None:
+        """Park the TMA in the selected position.
+
+        Parameters
+        ----------
+        position : `MTMount.ParkPosition`
+            The position to park the TMA.
+        """
+
+        await self.assert_all_enabled(
+            message="All components need to be enabled for parking the TMA."
+        )
+
+        await self.rem.mtmount.cmd_park.start(
+            position=position, timeout=self.long_timeout
+        )
+
+    async def unpark_mount(self) -> None:
+        """Un-park the TMA."""
+
+        await self.assert_all_enabled(
+            message="All components need to be enabled for unparking the TMA."
+        )
+
+        await self.rem.mtmount.cmd_unpark.start(timeout=self.long_timeout)
+
     async def prepare_for_flatfield(self, check: typing.Any = None) -> None:
         # TODO: Implement (DM-21336).
         raise NotImplementedError("# TODO: Implement (DM-21336).")

tests/maintel/test_mtcs.py

@@ -840,6 +840,36 @@ async def test_not_in_m1_cover_operational_range(self) -> None:
 
         assert not elevation_in_range
 
+    async def test_park_mount_zenith(self) -> None:
+        await self.mtcs.enable()
+        await self.mtcs.assert_all_enabled()
+
+        await self.mtcs.park_mount(MTMount.ParkPosition.ZENITH)
+
+        self.mtcs.rem.mtmount.cmd_park.start.assert_awaited_with(
+            position=MTMount.ParkPosition.ZENITH, timeout=self.mtcs.long_timeout
+        )
+
+    async def test_park_mount_horizon(self) -> None:
+        await self.mtcs.enable()
+        await self.mtcs.assert_all_enabled()
+
+        await self.mtcs.park_mount(MTMount.ParkPosition.HORIZON)
+
+        self.mtcs.rem.mtmount.cmd_park.start.assert_awaited_with(
+            position=MTMount.ParkPosition.HORIZON, timeout=self.mtcs.long_timeout
+        )
+
+    async def test_unpark_mount(self) -> None:
+        await self.mtcs.enable()
+        await self.mtcs.assert_all_enabled()
+
+        await self.mtcs.unpark_mount()
+
+        self.mtcs.rem.mtmount.cmd_unpark.start.assert_awaited_with(
+            timeout=self.mtcs.long_timeout
+        )
+
     async def test_slew_to_m1_cover_operational_range(self) -> None:
         self._mtmount_tel_azimuth.actualPosition = 0.0
         self._mtmount_tel_elevation.actualPosition = (