Merge pull request #242 from lsst-ts/tickets/DM-46979

Tickets/DM-46979: Make SAL Scripts to park and unpark the TMA.

doc/news/DM-46979.feature.rst

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+Add SAL scripts to park and unpark the TMA for ``maintel``.
+

python/lsst/ts/standardscripts/data/scripts/maintel/mtmount/park_mount.py

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+#!/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.mtmount import ParkMount
+
+asyncio.run(ParkMount.amain())

python/lsst/ts/standardscripts/data/scripts/maintel/mtmount/unpark_mount.py

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+#!/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.mtmount import UnparkMount
+
+asyncio.run(UnparkMount.amain())

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

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+# 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/>.
+
+from .park_mount import *
+from .unpark_mount import *

python/lsst/ts/standardscripts/maintel/mtmount/park_mount.py

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+# 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__ = ["ParkMount"]
+
+import yaml
+from lsst.ts import salobj
+from lsst.ts.observatory.control.maintel.mtcs import MTCS, MTCSUsages
+from lsst.ts.xml.enums import MTMount
+
+
+class ParkMount(salobj.BaseScript):
+    """Park Mount for the MTMount.
+
+    Parameters
+    ----------
+    index : `int`
+        Index of Script SAL component.
+
+    Notes
+    -----
+    **Checkpoints**
+
+    None
+    """
+
+    def __init__(self, index):
+        super().__init__(index=index, descr="Park Mount for the MTMount.")
+
+        self.mtcs = None
+
+    @classmethod
+    def get_schema(cls):
+        schema_yaml = """
+            $schema: http://json-schema.org/draft-07/schema#
+            $id: https://github.com/lsst-ts/ts_standardscripts/maintel/mtmount/park_mount.yaml
+            title: ParkMount v1
+            description: Configuration for ParkMount.
+            type: object
+            properties:
+              position:
+                description: The position to park the MTMount.
+                type: string
+                enum: ["ZENITH", "HORIZON"]
+              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: [position]
+        """
+        return yaml.safe_load(schema_yaml)
+
+    def set_metadata(self, metadata):
+        pass
+
+    async def configure(self, config):
+        """Configure script.
+
+        Parameters
+        ----------
+        config : `types.SimpleNamespace`
+            Script configuration, as defined by `schema`.
+        """
+        self.config = config
+        self.position = MTMount.ParkPosition[config.position]
+
+        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)
+
+    async def run(self):
+        await self.mtcs.park_mount(position=self.position)

python/lsst/ts/standardscripts/maintel/mtmount/unpark_mount.py

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+#
+# 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__ = ["UnparkMount"]
+
+import yaml
+from lsst.ts import salobj
+from lsst.ts.observatory.control.maintel.mtcs import MTCS, MTCSUsages
+
+
+class UnparkMount(salobj.BaseScript):
+    """Un-park Mount for the MTMount.
+
+    Parameters
+    ----------
+    index : `int`
+        Index of Script SAL component.
+
+    Notes
+    -----
+    **Checkpoints**
+
+    None
+    """
+
+    def __init__(self, index):
+        super().__init__(index=index, descr="Unpark Mount for the MTMount.")
+
+        self.mtcs = None
+
+    @classmethod
+    def get_schema(cls):
+        schema_yaml = """
+            $schema: http://json-schema.org/draft-07/schema#
+            $id: https://github.com/lsst-ts/ts_standardscripts/maintel/mtmount/unpark_mount.yaml
+            title: UnparkMount v1
+            description: Configuration for UnparkMount.
+            type: object
+            properties:
+              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
+        """
+        return yaml.safe_load(schema_yaml)
+
+    def set_metadata(self, metadata):
+        pass
+
+    async def configure(self, config):
+        """Configure script.
+
+        Parameters
+        ----------
+        config : `types.SimpleNamespace`
+            Script configuration, as defined by `schema`.
+        """
+        self.config = config
+
+        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)
+
+    async def run(self):
+        await self.mtcs.unpark_mount()

tests/test_maintel_mtmount_park_mount.py

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+# 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
+
+from lsst.ts import standardscripts
+from lsst.ts.standardscripts.maintel.mtmount import ParkMount
+from lsst.ts.xml.enums import MTMount
+
+
+class TestParkMount(
+    standardscripts.BaseScriptTestCase, unittest.IsolatedAsyncioTestCase
+):
+    async def basic_make_script(self, index):
+        self.script = ParkMount(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.park_mount = unittest.mock.AsyncMock()
+            yield
+
+    async def test_executable(self):
+        scripts_dir = standardscripts.get_scripts_dir()
+        script_path = scripts_dir / "maintel" / "mtmount" / "park_mount.py"
+        await self.check_executable(script_path)
+
+    async def test_configure_ignore(self):
+        async with self.make_script():
+            components = ["mtptg"]
+            await self.configure_script(position="ZENITH", ignore=components)
+            assert self.script.mtcs.check.mtptg is False
+
+    async def test_configure_ignore_not_mtcs_component(self):
+        async with self.make_script():
+            # Test the ignore feature with one non-MTCS component.
+            components = ["not_mtcs_comp", "mtptg"]
+            await self.configure_script(position="ZENITH", ignore=components)
+            assert not hasattr(self.script.mtcs.check, "not_mtcs_comp")
+            assert self.script.mtcs.check.mtptg is False
+
+    async def test_park_zenith(self):
+        async with self.make_dry_script():
+            await self.configure_script(position="ZENITH")
+            await self.run_script()
+            self.script.mtcs.park_mount.assert_called_with(
+                position=MTMount.ParkPosition.ZENITH
+            )
+
+    async def test_park_horizon(self):
+        async with self.make_dry_script():
+            await self.configure_script(position="HORIZON")
+            await self.run_script()
+            self.script.mtcs.park_mount.assert_called_with(
+                position=MTMount.ParkPosition.HORIZON
+            )