Merge pull request #238 from lsst-ts/tickets/DM-46980

tickets/DM-46980: Add home dome SAL script for MT

doc/news/DM-46980.feature.rst

@@ -0,0 +1 @@
+Add home dome SAL Script for ``maintel``.

python/lsst/ts/standardscripts/data/scripts/maintel/mtdome/home_dome.py

@@ -0,0 +1,27 @@
+#!/usr/bin/env python
+# This file is part of ts_standardscripts
+#
+# Developed for the LSST Telescope and Site Systems.
+# This product includes software developed by the LSST Project
+# (https://www.lsst.org).
+# See the COPYRIGHT file at the top-level directory of this distribution
+# for details of code ownership.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+import asyncio
+
+from lsst.ts.standardscripts.maintel.mtdome import HomeDome
+
+asyncio.run(HomeDome.amain())

python/lsst/ts/standardscripts/maintel/mtdome/__init__.py

@@ -22,6 +22,7 @@
 from .crawl_az import *
 from .disable_dome_following import *
 from .enable_dome_following import *
+from .home_dome import *
 from .park_dome import *
 from .slew_dome import *
 from .unpark_dome import *

python/lsst/ts/standardscripts/maintel/mtdome/home_dome.py

@@ -0,0 +1,111 @@
+# This file is part of ts_standardscripts
+#
+# Developed for the LSST Telescope and Site Systems.
+# This product includes software developed by the LSST Project
+# (https://www.lsst.org).
+# See the COPYRIGHT file at the top-level directory of this distribution
+# for details of code ownership.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.``
+
+__all__ = ["HomeDome"]
+
+import yaml
+from lsst.ts import salobj
+from lsst.ts.observatory.control.maintel.mtcs import MTCS, MTCSUsages
+
+
+class HomeDome(salobj.BaseScript):
+    """Home azimuth of the MTDome.
+
+    Parameters
+    ----------
+    index : `int`
+        Index of Script SAL component.
+
+    Notes
+    -----
+    **Checkpoints**
+
+    Homing dome: Before commanding azimuth dome to be homed.
+    """
+
+    def __init__(self, index, add_remotes: bool = True):
+        super().__init__(index=index, descr="Home MT dome.")
+
+        self.mtcs = None
+        self.physical_az = None
+        self.home_dome_duration = 60.0
+
+    @classmethod
+    def get_schema(cls):
+        schema_yaml = """
+            $schema: http://json-schema.org/draft-07/schema#
+            $id: https://github.com/lsst-ts/ts_standardscripts/maintel/mtdome/home_dome.yaml
+            title: HomeDome v1
+            description: Configuration for HomeDome.
+            type: object
+            properties:
+              physical_az:
+                description: Physical azimuth position for the dome as read by markings.
+                type: number
+              ignore:
+                  description: >-
+                    CSCs from the group to ignore in status check. Name must
+                    match those in self.group.components, e.g.; hexapod_1.
+                  type: array
+                  items:
+                    type: string
+            additionalProperties: false
+            required: [physical_az]
+        """
+        return yaml.safe_load(schema_yaml)
+
+    async def configure(self, config):
+        """Configure script.
+
+        Parameters
+        ----------
+        config : `types.SimpleNamespace`
+            Script configuration, as defined by `schema`.
+        """
+        self.config = config
+        self.physical_az = config.physical_az
+
+        if self.mtcs is None:
+            self.mtcs = MTCS(
+                domain=self.domain,
+                intended_usage=MTCSUsages.Slew | MTCSUsages.StateTransition,
+                log=self.log,
+            )
+            await self.mtcs.start_task
+
+        if hasattr(self.config, "ignore"):
+            for comp in self.config.ignore:
+                if comp not in self.mtcs.components_attr:
+                    self.log.warning(
+                        f"Component {comp} not in CSC Group. "
+                        f"Must be one of {self.mtcs.components_attr}. Ignoring."
+                    )
+                else:
+                    self.log.debug(f"Ignoring component {comp}.")
+                    setattr(self.mtcs.check, comp, False)
+
+    def set_metadata(self, metadata):
+        metadata.duration = self.home_dome_duration
+
+    async def run(self):
+        await self.mtcs.assert_all_enabled()
+        await self.checkpoint("Homing dome")
+        await self.mtcs.home_dome(physical_az=self.physical_az)

tests/test_maintel_mtdome_home_dome.py

@@ -0,0 +1,97 @@
+# This file is part of ts_standardscripts
+#
+# Developed for the LSST Telescope and Site Systems.
+# This product includes software developed by the LSST Project
+# (https://www.lsst.org).
+# See the COPYRIGHT file at the top-level directory of this distribution
+# for details of code ownership.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+import contextlib
+import unittest
+
+import pytest
+from lsst.ts import salobj, standardscripts
+from lsst.ts.idl.enums.Script import ScriptState
+from lsst.ts.standardscripts.maintel.mtdome import HomeDome
+
+
+class TestHomeDome(
+    standardscripts.BaseScriptTestCase, unittest.IsolatedAsyncioTestCase
+):
+    async def basic_make_script(self, index):
+        self.script = HomeDome(index=index)
+
+        return (self.script,)
+
+    @contextlib.asynccontextmanager
+    async def make_dry_script(self):
+        async with self.make_script(self):
+            self.script.mtcs = unittest.mock.AsyncMock()
+            self.script.mtcs.assert_all_enabled = unittest.mock.AsyncMock()
+            self.script.mtcs.home_dome = unittest.mock.AsyncMock()
+            yield
+
+    async def test_run(self):
+        async with self.make_dry_script():
+            await self.configure_script(physical_az=300.0)
+
+            await self.run_script()
+            self.script.mtcs.assert_all_enabled.assert_awaited_once()
+            self.script.mtcs.home_dome.assert_awaited_once()
+            self.script.mtcs.home_dome.assert_called_with(physical_az=300.0)
+
+    async def test_executable(self):
+        scripts_dir = standardscripts.get_scripts_dir()
+        script_path = scripts_dir / "maintel" / "mtdome" / "home_dome.py"
+        await self.check_executable(script_path)
+
+    async def test_config(self):
+        async with self.make_script():
+            await self.configure_script(physical_az=300.0)
+            assert self.script.physical_az == 300.0
+
+    async def test_invalid_configurations(self):
+        # Set of invalid configurations to test, all should fail to configure
+        configs_bad = [
+            dict(physical_az="not_valid"),
+            dict(physical_az=[1, 3]),
+            dict(physical_az=None),
+        ]
+
+        async with self.make_script():
+            for config in configs_bad:
+                with pytest.raises(salobj.ExpectedError):
+                    await self.configure_script(**config)
+                    assert self.script.state == ScriptState.CONFIGURE_FAILED
+
+    async def test_configure_ignore(self):
+        async with self.make_script():
+            components = ["mtptg"]
+            await self.configure_script(physical_az=300.0, ignore=components)
+
+            assert self.script.mtcs.check.mtptg is False
+
+    async def test_configure_ignore_not_csc_component(self):
+        async with self.make_script():
+            components = ["not_csc_comp", "mtptg"]
+            await self.configure_script(physical_az=300.0, ignore=components)
+
+            assert hasattr(self.script.mtcs, "not_csc_comp") is False
+            assert self.script.mtcs.check.mtptg is False
+
+
+if __name__ == "__main__":
+    unittest.main()