Add set_dof.py script

doc/news/DM-47363.feature.rst

@@ -0,0 +1 @@
+Add new `set_dof.py`` to set absolute DOF position

python/lsst/ts/standardscripts/data/scripts/maintel/set_dof.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 import SetDOF
+
+asyncio.run(SetDOF.amain())

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

@@ -39,6 +39,7 @@
 from .offset_mtcs import *
 from .open_mirror_covers import *
 from .point_azel import *
+from .set_dof import *
 from .setup_mtcs import *
 from .standby_comcam import *
 from .standby_mtcs import *

python/lsst/ts/standardscripts/maintel/set_dof.py

@@ -0,0 +1,57 @@
+# 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__ = ["SetDOF"]
+
+from .apply_dof import ApplyDOF
+
+STD_TIMEOUT = 30
+
+
+class SetDOF(ApplyDOF):
+    """Set absolute positions DOF to the main telescope, either bending
+    mode or hexapod position.
+
+    Parameters
+    ----------
+    index : `int`
+        Index of Script SAL component.
+
+    Notes
+    -----
+    **Checkpoints**
+    "Setting DOF..." - The DOF absolute position is being applied.
+
+    """
+
+    async def run(self) -> None:
+        """Run script."""
+        # Assert feasibility
+        await self.assert_feasibility()
+
+        await self.checkpoint("Setting DOF...")
+        current_dof = await self.mtcs.rem.mtaos.evt_degreeOfFreedom.aget(
+            timeout=STD_TIMEOUT
+        )
+        dof_data = self.mtcs.rem.mtaos.cmd_offsetDOF.DataType()
+        for i, dof_absolute in enumerate(self.dofs):
+            dof_data.value[i] = dof_absolute - current_dof.aggregatedDoF[i]
+        await self.mtcs.rem.mtaos.cmd_offsetDOF.start(data=dof_data)

tests/test_maintel_set_dof.py

@@ -0,0 +1,87 @@
+# 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
+import random
+import types
+import unittest
+
+import numpy as np
+from lsst.ts import standardscripts
+from lsst.ts.observatory.control.maintel.mtcs import MTCS, MTCSUsages
+from lsst.ts.observatory.control.utils.enums import DOFName
+from lsst.ts.standardscripts.maintel import SetDOF
+
+random.seed(47)  # for set_random_lsst_dds_partition_prefix
+
+
+class TestSetDOF(standardscripts.BaseScriptTestCase, unittest.IsolatedAsyncioTestCase):
+    async def basic_make_script(self, index):
+        self.script = SetDOF(index=index)
+
+        # Mock the MTCS
+        self.script.mtcs = MTCS(
+            domain=self.script.domain,
+            intended_usage=MTCSUsages.DryTest,
+            log=self.script.log,
+        )
+        self.script.mtcs.rem.mtaos = unittest.mock.AsyncMock()
+        self.script.mtcs.rem.mtaos.cmd_offsetDOF.attach_mock(
+            unittest.mock.Mock(
+                return_value=types.SimpleNamespace(value=np.zeros(len(DOFName)))
+            ),
+            "DataType",
+        )
+        self.script.mtcs.rem.mtaos.configure_mock(
+            **{
+                "evt_degreeOfFreedom.aget": self.get_current_dof,
+            }
+        )
+
+        self.script.mtcs.assert_all_enabled = unittest.mock.AsyncMock()
+
+        return (self.script,)
+
+    async def get_current_dof(self, timeout):
+        await asyncio.sleep(0.5)
+        return np.zeros(len(DOFName))
+
+    async def test_run(self) -> None:
+        # Start the test itself
+        async with self.make_script():
+            config_dofs = {"M2_dz": 0.2, "Cam_dy": 0.3, "M1M3_B1": 0.5, "M2_B14": 0.7}
+
+            await self.configure_script(**config_dofs)
+
+            # Run the script
+            await self.run_script()
+
+            self.script.mtcs.rem.mtaos.cmd_offsetDOF.DataType.assert_called()
+            self.script.mtcs.rem.mtaos.cmd_offsetDOF.start.assert_awaited_once()
+
+    async def test_executable(self) -> None:
+        scripts_dir = standardscripts.get_scripts_dir()
+        script_path = scripts_dir / "maintel" / "set_dof.py"
+        await self.check_executable(script_path)
+
+
+if __name__ == "__main__":
+    unittest.main()