First push of modified take_stuttered code

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

@@ -163,6 +163,7 @@ async def take_bias(
             n_snaps=1,
             n_shift=None,
             row_shift=None,
+            change_focus=None,
             group_id=group_id,
             test_type=test_type,
             reason=reason,
@@ -236,6 +237,7 @@ async def take_darks(
             n_snaps=1,
             n_shift=None,
             row_shift=None,
+            change_focus=None,
             group_id=group_id,
             test_type=test_type,
             reason=reason,
@@ -320,6 +322,7 @@ async def take_flats(
             n_snaps=1,
             n_shift=None,
             row_shift=None,
+            change_focus=None,
             group_id=group_id,
             test_type=test_type,
             reason=reason,
@@ -423,6 +426,7 @@ async def take_object(
             n_snaps=n_snaps,
             n_shift=None,
             row_shift=None,
+            change_focus=None,
             group_id=group_id,
             test_type=test_type,
             reason=reason,
@@ -503,6 +507,7 @@ async def take_engtest(
             n_snaps=1,
             n_shift=None,
             row_shift=None,
+            change_focus=None,
             group_id=group_id,
             test_type=test_type,
             reason=reason,
@@ -592,6 +597,7 @@ async def take_focus(
             n_snaps=1,
             n_shift=None,
             row_shift=None,
+            change_focus=None,
             group_id=group_id,
             test_type=test_type,
             reason=reason,
@@ -677,6 +683,7 @@ async def take_cwfs(
             n_snaps=1,
             n_shift=None,
             row_shift=None,
+            change_focus=None,
             group_id=group_id,
             test_type=test_type,
             reason=reason,
@@ -765,6 +772,7 @@ async def take_acq(
             n_snaps=1,
             n_shift=None,
             row_shift=None,
+            change_focus=None,
             group_id=group_id,
             test_type=test_type,
             reason=reason,
@@ -780,6 +788,7 @@ async def take_stuttered(
         exptime: float,
         n_shift: int,
         row_shift: int,
+        change_focus: bool,
         n: int = 1,
         group_id: typing.Optional[str] = None,
         test_type: typing.Optional[str] = None,
@@ -807,6 +816,8 @@ async def take_stuttered(
             Number of shift-expose sequences.
         row_shift : `int`
             How many rows to shift at each sequence.
+        change_focus : 'bool'
+            Whether or not to shift focus on odd numbered shifts
         n : `int`, optional
             Number of frames to take.
         group_id : `str`, optional
@@ -824,8 +835,8 @@ async def take_stuttered(
         note : `str`
             Optional observer note to be added to the image header.
         checkpoint : `coro`
-            A optional awaitable callback that accepts one string argument
-            that is called before each bias is taken.
+            An awaitable callback that accepts one string argument
+            that is called to shift the focus.
         **kwargs
             Arbitrary keyword arguments.
 
@@ -862,6 +873,7 @@ async def take_stuttered(
             n_snaps=1,
             n_shift=n_shift,
             row_shift=row_shift,
+            change_focus=change_focus,
             group_id=group_id,
             test_type=test_type,
             reason=reason,
@@ -880,6 +892,7 @@ async def take_imgtype(
         n_snaps: int = 1,
         n_shift: typing.Optional[int] = None,
         row_shift: typing.Optional[int] = None,
+        change_focus=None,
         group_id: typing.Optional[str] = None,
         test_type: typing.Optional[str] = None,
         reason: typing.Optional[str] = None,
@@ -906,6 +919,9 @@ async def take_imgtype(
         row_shift : `int`, optional
             How many rows to shift at each sequence. Only used for stuttered
             images.
+        change_focus : `bool`, optional
+            Whether or not to shift focus during stuttered images. 
+            Only used for stuttered images.
         reason : `str`, optional
             Reason for the data being taken. This must be a short tag-like
             string that can be used to disambiguate a set of observations.
@@ -979,7 +995,10 @@ async def take_imgtype(
             self.log.debug(f"imagetype: {imgtype}, skip TCS synchronization.")
 
         if checkpoint is not None:
-            await checkpoint(f"Expose {n} {imgtype}")
+            if change_focus:
+                self.checkpoint=checkpoint
+            else:
+                await checkpoint(f"Expose {n} {imgtype}")
 
         camera_exposure = CameraExposure(
             exp_time=exptime if imgtype != "BIAS" else 0.0,
@@ -990,6 +1009,7 @@ async def take_imgtype(
             n_snaps=n_snaps,
             n_shift=n_shift,
             row_shift=row_shift,
+            change_focus=change_focus,
             test_type=test_type,
             reason=reason,
             program=program,
@@ -1283,6 +1303,10 @@ async def _handle_expose_shift(self, camera_exposure: CameraExposure) -> None:
         assert type(camera_exposure.n_shift) is int
 
         for i in range(camera_exposure.n_shift - 1):
+            if camera_exposure.change_focus and (i % 2 == 1):
+                # shift focus on odd numbered shifts
+                self.checkpoint("Shifting hexapod z")
+
             self.log.debug(
                 f"Exposing {i+1} of {camera_exposure.n_shift} for {camera_exposure.exp_time} seconds."
             )

python/lsst/ts/observatory/control/utils/camera_exposure.py

@@ -34,6 +34,7 @@ class CameraExposure:
     n_snaps: int
     n_shift: typing.Union[int, None]
     row_shift: typing.Union[int, None]
+    change_focus: typing.Union[bool, None]
     test_type: typing.Union[str, None]
     reason: typing.Union[str, None]
     program: typing.Union[str, None]