tickets/DM-48018: Script for balanced AOS triplets.

doc/version_history.rst

@@ -87,6 +87,7 @@ New Features
 - Update HomeBothAxis script to re-enable the force balance system after homing the mount. (`DM-47641 <https://rubinobs.atlassian.net/browse/DM-47641>`_)
 - In base_track_target, update track_azel routine to remove stop_tracking before start_tracking. (`DM-47641 <https://rubinobs.atlassian.net/browse/DM-47641>`_)
 - In maintel/base_close_loop.py, make filter required. (`DM-47641 <https://rubinobs.atlassian.net/browse/DM-47641>`_)
+- Add ``maintel/take_aos_sequence_balanced_comcam.py``, which takes AOS triplets while evenly dividing dz offsets between the camera and M2 hexapods. (`DM-48018 <https://rubinobs.atlassian.net/browse/DM-48018>`_)
 
 
 Bug Fixes

python/lsst/ts/standardscripts/data/scripts/maintel/take_aos_sequence_balanced_comcam.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 TakeAOSSequenceComCam
+
+asyncio.run(TakeAOSSequenceComCam.amain())

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

@@ -45,6 +45,7 @@
 from .standby_mtcs import *
 from .stop import *
 from .stop_rotator import *
+from .take_aos_sequence_balanced_comcam import *
 from .take_aos_sequence_comcam import *
 from .take_image_anycam import *
 from .take_image_comcam import *

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

@@ -0,0 +1,60 @@
+# 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__ = ["TakeAOSSequenceBalancedComCam"]
+
+
+from lsst.ts.standardscripts.maintel.take_aos_sequence_comcam import (
+    TakeAOSSequenceComCam,
+)
+
+
+class TakeAOSSequenceBalancedComCam(TakeAOSSequenceComCam):
+    """Take aos sequence, either triplet (intra-focal, extra-focal
+    and in-focus images), intra doublets (intra and in-focus) or extra
+    doublets (extra and in-focus) sequences with ComCam.
+
+    This version splits the dz offset evenly between the camera and M2
+    hexapods.
+
+    Parameters
+    ----------
+    index : `int`
+        Index of Script SAL component.
+
+    Notes
+    -----
+    **Checkpoints**
+
+    * sequence {n} of {m}: before taking a sequence.
+
+    """
+
+    async def _apply_z_offset(self, z_offset: float) -> None:
+        """Apply dz offset.
+
+        Parameters
+        ----------
+        z_offset : float
+            dz offset to apply, in microns.
+        """
+        await self.mtcs.offset_camera_hexapod(x=0, y=0, z=z_offset / 2, u=0, v=0)
+        await self.mtcs.offset_m2_hexapod(x=0, y=0, z=z_offset / 2, u=0, v=0)

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

@@ -244,6 +244,16 @@ async def configure_tcs(self) -> None:
         else:
             self.log.debug("MTCS already defined, skipping.")
 
+    async def _apply_z_offset(self, z_offset: float) -> None:
+        """Apply dz offset.
+
+        Parameters
+        ----------
+        z_offset : float
+            dz offset to apply, in microns.
+        """
+        await self.mtcs.offset_camera_hexapod(x=0, y=0, z=z_offset, u=0, v=0)
+
     async def take_aos_sequence(self) -> None:
         """Take out-of-focus sequence images."""
         supplemented_group_id = self.next_supplemented_group_id()
@@ -257,7 +267,7 @@ async def take_aos_sequence(self) -> None:
 
             # Move the hexapod to the target z position
             z_offset = -self.dz - self.current_z_position
-            await self.mtcs.offset_camera_hexapod(x=0, y=0, z=z_offset, u=0, v=0)
+            self._apply_z_offset(z_offset)
             self.current_z_position = -self.dz
 
             self.log.info("Taking in-focus image")
@@ -281,7 +291,7 @@ async def take_aos_sequence(self) -> None:
 
             # Move the hexapod to the target z position
             z_offset = self.dz - self.current_z_position
-            await self.mtcs.offset_camera_hexapod(x=0, y=0, z=z_offset, u=0, v=0)
+            self._apply_z_offset(z_offset)
             self.current_z_position = self.dz
 
             self.log.info("Taking extra-focal image")
@@ -340,7 +350,7 @@ async def take_aos_sequence(self) -> None:
 
         # Move the hexapod to the target z position
         z_offset = -self.current_z_position
-        await self.mtcs.offset_camera_hexapod(x=0, y=0, z=z_offset, u=0, v=0)
+        self._apply_z_offset(z_offset)
         self.current_z_position = 0
 
         if self.mode != Mode.PAIR:

tests/test_maintel_take_aos_sequence_comcam.py

@@ -23,21 +23,29 @@
 import unittest
 from unittest.mock import patch
 
-from lsst.ts import standardscripts
 from lsst.ts.idl.enums.Script import ScriptState
 from lsst.ts.observatory.control.maintel.comcam import ComCam, ComCamUsages
 from lsst.ts.observatory.control.maintel.mtcs import MTCS, MTCSUsages
-from lsst.ts.standardscripts.maintel import Mode, TakeAOSSequenceComCam
 from lsst.ts.utils import index_generator
 
+from lsst.ts import standardscripts
+from lsst.ts.standardscripts.maintel import (
+    Mode,
+    TakeAOSSequenceBalancedComCam,
+    TakeAOSSequenceComCam,
+)
+
 index_gen = index_generator()
 
 
 class TestTakeAOSSequenceComCam(
     standardscripts.BaseScriptTestCase, unittest.IsolatedAsyncioTestCase
 ):
+    ScriptClass = TakeAOSSequenceComCam
+    scriptName = "take_aos_sequence_comcam.py"
+
     async def basic_make_script(self, index):
-        self.script = TakeAOSSequenceComCam(index=index)
+        self.script = self.ScriptClass(index=index)
 
         self.script.mtcs = MTCS(
             domain=self.script.domain,
@@ -260,9 +268,14 @@ async def test_take_doublet(self):
     async def test_executable_lsstcam(self) -> None:
         """Test that the script is executable."""
         scripts_dir = standardscripts.get_scripts_dir()
-        script_path = scripts_dir / "maintel" / "take_aos_sequence_comcam.py"
+        script_path = scripts_dir / "maintel" / self.scriptName
         await self.check_executable(script_path)
 
 
+class TestTakeAOSSequenceBalancedComCam(TestTakeAOSSequenceComCam):
+    ScriptClass = TakeAOSSequenceBalancedComCam
+    scriptName = "take_aos_sequence_balanced_comcam.py"
+
+
 if __name__ == "__main__":
     unittest.main()