Merge pull request #254 from lsst-ts/tickets/DM-48022

Tickets/dm 48022

doc/news/DM-48022.feature.rst

@@ -0,0 +1,5 @@
+Added new property `disable_m1m3_force_balance` with default `false`.
+Maintains the ability to disable the M1M3 balance system, in case
+the coupling effect between the elevation axis and m1m3
+support system, repeats again, driving the system to a huge
+oscillation

doc/news/DM-48022.removal.rst

@@ -0,0 +1 @@
+Deprecate `ignore_m1m3` property.

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

@@ -21,7 +21,6 @@
 
 __all__ = ["HomeBothAxes"]
 
-import asyncio
 import time
 
 import yaml
@@ -56,10 +55,8 @@ class HomeBothAxes(salobj.BaseScript):
     def __init__(self, index, add_remotes: bool = True):
         super().__init__(index=index, descr="Home both TMA axis.")
 
+        self.disable_m1m3_force_balance = False
         self.home_both_axes_timeout = 300.0  # timeout to home both MTMount axes.
-
-        self.ignore_m1m3 = False
-        self.warn_wait = 10.0
         self.mtcs = None
 
     @classmethod
@@ -72,7 +69,10 @@ def get_schema(cls):
             type: object
             properties:
                 ignore_m1m3:
-                    description: Ignore the m1m3 component?
+                    description: Ignore the m1m3 component? (Deprecated property)
+                    type: boolean
+                disable_m1m3_force_balance:
+                    description: Disable m1m3 force balance?
                     type: boolean
                     default: false
             additionalProperties: false
@@ -83,21 +83,25 @@ async def configure(self, config):
         if self.mtcs is None:
             self.mtcs = MTCS(domain=self.domain, log=self.log)
             await self.mtcs.start_task
-        self.ignore_m1m3 = config.ignore_m1m3
+
+        if hasattr(config, "ignore_m1m3"):
+            self.log.warning(
+                "The 'ignore_m1m3' configuration property is deprecated and will be removed"
+                " in future releases. Please use 'disable_m1m3_force_balance' instead.",
+                DeprecationWarning,
+                stacklevel=2,
+            )
+        self.disable_m1m3_force_balance = config.disable_m1m3_force_balance
 
     def set_metadata(self, metadata):
         metadata.duration = self.home_both_axes_timeout
 
     async def run(self):
 
-        if not self.ignore_m1m3:
+        if self.disable_m1m3_force_balance:
             await self.checkpoint("Disable M1M3 balance system.")
             await self.mtcs.disable_m1m3_balance_system()
-        else:
-            self.log.warning(
-                "Ignoring M1M3. Make sure m1m3 balance system is disabled!"
-            )
-            await asyncio.sleep(self.warn_wait)
+
         await self.checkpoint("Homing Both Axes")
         start_time = time.time()
         await self.mtcs.rem.mtmount.cmd_homeBothAxes.start(
@@ -108,7 +112,6 @@ async def run(self):
 
         self.log.info(f"Homing both axes took {elapsed_time:.2f} seconds")
 
-        if not self.ignore_m1m3:
+        if not self.disable_m1m3_force_balance:
             self.log.info("Enabling M1M3 balance system.")
-            await asyncio.sleep(self.warn_wait)
             await self.mtcs.enable_m1m3_balance_system()

tests/test_maintel_home_both_axes.py

@@ -20,6 +20,7 @@
 # along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
 import unittest
+from unittest.mock import patch
 
 from lsst.ts import standardscripts
 from lsst.ts.observatory.control.maintel.mtcs import MTCS, MTCSUsages
@@ -50,7 +51,59 @@ async def test_run(self):
 
             await self.run_script()
 
+            self.script.mtcs.disable_m1m3_balance_system.assert_not_called()
+            self.script.mtcs.rem.mtmount.cmd_homeBothAxes.start.assert_awaited_once_with(
+                timeout=self.script.home_both_axes_timeout
+            )
+
+    async def test_run_with_balance_disabled(self):
+        async with self.make_script():
+            await self.configure_script(disable_m1m3_force_balance=True)
+
+            await self.run_script()
+
             self.script.mtcs.disable_m1m3_balance_system.assert_awaited_once()
+
+            self.script.mtcs.rem.mtmount.cmd_homeBothAxes.start.assert_awaited_once_with(
+                timeout=self.script.home_both_axes_timeout
+            )
+
+    async def test_deprecated_ignore_m1m3_usage(self):
+        async with self.make_script():
+
+            with patch.object(self.script.log, "warning") as mock_log_warning:
+                await self.configure_script(ignore_m1m3=True)
+
+                mock_log_warning.assert_called_once_with(
+                    "The 'ignore_m1m3' configuration property is deprecated and will be removed"
+                    " in future releases. Please use 'disable_m1m3_force_balance' instead.",
+                    DeprecationWarning,
+                    stacklevel=2,
+                )
+
+            await self.run_script()
+
+            self.script.mtcs.disable_m1m3_balance_system.assert_not_called()
+
+            self.script.mtcs.rem.mtmount.cmd_homeBothAxes.start.assert_awaited_once_with(
+                timeout=self.script.home_both_axes_timeout
+            )
+
+    async def ttest_deprecated_ignore_m1m3_usage(self):
+        async with self.make_script():
+
+            with self.assertWarns(DeprecationWarning) as cm:
+                await self.configure_script(ignore_m1m3=True)
+
+            self.assertIn(
+                "The 'ignore_m1m3' configuration property is deprecated and will be removed"
+                " in future releases. Please use 'disable_m1m3_force_balance' instead.",
+                str(cm.warning),
+            )
+
+            await self.run_script()
+
+            # Assert that homeBothAxes command was called
             self.script.mtcs.rem.mtmount.cmd_homeBothAxes.start.assert_awaited_once_with(
                 timeout=self.script.home_both_axes_timeout
             )