ENH: finish pre-flight checkout, add pmps boilerplate

[nrwslac]

Description

• Finish pre-flight checkout, add PMPS 6695 inputs and outputs.
• Sent the Upstream Y axis encoder counts for both MR1K3 and MR2K3 to the arbiter. This will be used to indicate whether or not the mirrors are in or out of the beam.
• The PLC doesn't currently have a hard fast fault link, so we link the fast fault output to be sent to the arbiter @ghalym links to hardware in the arbiter. DEV: TXI PLCs are not in communication with ARbiter and MR1K3 is in Veto lcls-plc-kfe-arbiter#24 FF04.

Motivation and Context

Prepare TXI to take beam.

How Has This Been Tested?

• We sent and received test values from TXI optics and to the arbiter.
• Running on PLC

Where Has This Been Documented?

https://jira.slac.stanford.edu/browse/ECS-5580
https://confluence.slac.stanford.edu/display/L2SI/MR1K3+Pre-Flight+Results+6-18-2024?src=jira
https://confluence.slac.stanford.edu/display/L2SI/MR2K3+Pre-Flight+Results+6-18-2024?src=jira

Screenshots (if appropriate):

Pre-merge checklist

• Code works interactively
• Code contains descriptive comments
• Test suite passes locally
• Libraries are set to fixed versions and not Always Newest
• Code committed with pre-commit (alternatively pre-commit run --all-files)

[nrwslac]

https://confluence.slac.stanford.edu/display/L2SI/PMPS+Preemptive+Request+IDs

[ZLLentz]

I noted the tiny things I saw when stepping through this
By and large looks normal and good and solid 👍
The most improvable thing is the lack of vetoes but I understand the specifics are still an ongoing discussion

[ZLLentz]

UnitName = empty string looks a little bit suspect

[ZLLentz]

It's non-standard that PMPS_POST is not the final program run, but I'm not sure how much it matters. Maybe this will delay faults from MR1K3 and MR2K3 until the next cycle?

Edit: I see now that the following programs don't do anything that may result in a fast fault, so probably no impact

[ZLLentz]

It's notable that there are no vetoes here- perhaps this is related to the txi time crunch? Perhaps TXI optics have no veto conditions?

[nrwslac]

yeap, there are no pmps constraints in the program currently.