DM-45744 Implement ATBuilding CSC +790-148

.pre-commit-config.yaml

@@ -0,0 +1,28 @@
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.6.0
+    hooks:
+      - id: check-yaml
+        args:
+          - "--unsafe"
+      - id: end-of-file-fixer
+      - id: trailing-whitespace
+  - repo: https://github.com/psf/black-pre-commit-mirror
+    rev: 24.4.2
+    hooks:
+      - id: black
+        # It is recommended to specify the latest version of Python
+        # supported by your project here, or alternatively use
+        # pre-commit's default_language_version, see
+        # https://pre-commit.com/#top_level-default_language_version
+        language_version: python3.12
+  - repo: https://github.com/pycqa/isort
+    rev: 5.13.2
+    hooks:
+      - id: isort
+        name: isort (python)
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    # Ruff version.
+    rev: v0.5.5
+    hooks:
+      - id: ruff

python/lsst/ts/vent/controller/__init__.py

@@ -20,10 +20,12 @@
 # along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
 try:
-    from .version import *  # Generated by sconsUtils
+    from .version import __version__  # Generated by sconsUtils
 except ImportError:
     __version__ = "?"
 
 from .config import Config
-from .controller import Controller, VentGateState
+from .controller import Controller
 from .dispatcher import Dispatcher
+
+__all__ = ["__version__", "Config", "Controller", "Dispatcher"]

python/lsst/ts/vent/controller/controller.py

@@ -22,33 +22,49 @@
 import logging
 from enum import IntEnum
 
-import megaind
+try:
+    import megaind
+
+    MEGAIND_AVAILABLE = True
+except ImportError:
+    MEGAIND_AVAILABLE = False
 import pymodbus.client
 
 from . import vf_drive
 from .config import Config
+from .simulate import DomeVentsSimulator
 
-__all__ = ["Controller"]
+__all__ = ["Controller", "VentGateState"]
 
 
 class VentGateState(IntEnum):
-    CLOSED = 0
-    PARTIALLY_OPEN = 1
-    OPEN = 2
+    CLOSED = 1
+    PARTIALLY_OPEN = 2
+    OPEN = 3
     FAULT = -1
 
 
+class FanDriveState(IntEnum):
+    STOPPED = 1
+    OPERATING = 2
+    FAULT = 3
+
+
 class Controller:
     """A controller that commands the components associated with the AT dome
     vents and fans. The code in this class is meant to run on the Raspberry Pi
     described in
     https://confluence.lsstcorp.org/display/~fritzm/Auxtel+Vent+Gate+Automation.
     """
 
-    def __init__(self, config: Config = Config()):
+    def __init__(self, config: Config = Config(), simulate: bool = False):
         self.cfg = config
         self.default_fan_frequency = self.cfg.max_freq
         self.log = logging.getLogger(type(self).__name__)
+        self.simulate = simulate
+        self.simulator = DomeVentsSimulator(self.cfg) if simulate else None
+        self.vfd_client = None
+        self.connected = False
 
     async def connect(self) -> None:
         """Connects to the variable frequency drive via modbus.
@@ -58,10 +74,24 @@ async def connect(self) -> None:
         ModbusException
             If the variable frequency drive is not available.
         """
+        if self.simulate:
+            await self.simulator.start()
+
         self.vfd_client = pymodbus.client.AsyncModbusTcpClient(
             self.cfg.hostname, port=self.cfg.port
         )
         await self.vfd_client.connect()
+        self.connected = True
+
+    async def stop(self) -> None:
+        """Disconnects from the variable frequency drive, and stops
+        the simulator if simulating.
+        """
+        if self.simulate:
+            await self.simulator.stop()
+
+        if self.vfd_client is not None:
+            self.vfd_client.close()
 
     async def get_fan_manual_control(self) -> bool:
         """Returns the variable frequency drive setting for manual
@@ -83,6 +113,7 @@ async def get_fan_manual_control(self) -> bool:
         """
 
         self.log.debug("get fan_manual_control")
+        assert self.connected
         settings = tuple(
             [
                 (
@@ -117,6 +148,7 @@ async def fan_manual_control(self, manual: bool) -> None:
         """
 
         self.log.debug("set vfd_manual_control")
+        assert self.connected
         settings = vf_drive.MANUAL if manual else vf_drive.AUTO
         for address, value in zip(vf_drive.CFG_REGISTERS, settings):
             await self.vfd_client.write_register(
@@ -132,6 +164,7 @@ async def start_fan(self):
             If a communications error occurs.
         """
         self.log.debug("start_fan()")
+        assert self.connected
         await self.set_fan_frequency(self.default_fan_frequency)
 
     async def stop_fan(self):
@@ -143,6 +176,7 @@ async def stop_fan(self):
             If a communications error occurs.
         """
         self.log.debug("stop_fan()")
+        assert self.connected
         await self.set_fan_frequency(0.0)
 
     async def get_fan_frequency(self) -> float:
@@ -155,6 +189,7 @@ async def get_fan_frequency(self) -> float:
         """
 
         self.log.debug("get fan_frequency")
+        assert self.connected
         cmd = (
             await self.vfd_client.read_holding_registers(
                 slave=self.cfg.slave, address=vf_drive.Registers.CMD_REGISTER
@@ -188,6 +223,7 @@ async def set_fan_frequency(self, frequency: float) -> None:
             If a communications error occurs.
         """
         self.log.debug("set fan_frequency")
+        assert self.connected
         if not 0 <= frequency <= self.cfg.max_freq:
             raise ValueError(f"Frequency must be between 0 and {self.cfg.max_freq}")
 
@@ -209,11 +245,35 @@ async def vfd_fault_reset(self) -> None:
             If a communications error occurs.
         """
 
+        assert self.connected
         for address, value in vf_drive.FAULT_RESET_SEQUENCE:
             await self.vfd_client.write_register(
                 slave=self.cfg.slave, address=address, value=value
             )
 
+    async def get_drive_state(self) -> FanDriveState:
+        """Returns the current fan drive state based on the contents
+        of the IPAE register.
+
+        Raises
+        ------
+        ModbusException
+            If a communications error occurs.
+        """
+
+        assert self.connected
+        ipae = (
+            await self.vfd_client.read_holding_registers(
+                slave=self.cfg.slave, address=vf_drive.Registers.IPAE_REGISTER
+            )
+        ).registers[0]
+
+        if ipae in (0, 1, 2, 3, 5):
+            return FanDriveState.STOPPED
+        if ipae == 4:
+            return FanDriveState.OPERATING
+        return FanDriveState.FAULT
+
     async def last8faults(self) -> list[tuple[int, str]]:
         """Returns the last eight fault conditions recorded by the drive.
 
@@ -231,8 +291,9 @@ async def last8faults(self) -> list[tuple[int, str]]:
         """
 
         self.log.debug("last8faults")
+        assert self.connected
         rvals = await self.vfd_client.read_holding_registers(
-            slave=1, address=vf_drive.Registers.FAULT_REGISTER, count=8
+            slave=self.cfg.slave, address=vf_drive.Registers.FAULT_REGISTER, count=8
         )
         return [(r, vf_drive.FAULTS[r]) for r in rvals.registers]
 
@@ -246,6 +307,10 @@ def vent_open(self, vent_number: int) -> None:
 
         Raises
         ------
+        ModuleNotFoundError
+            If the megaind module has not been installed, in which case the
+            daughterboard cannot be controlled.
+
         ValueError
             If vent_number is invalid.
 
@@ -254,11 +319,12 @@ def vent_open(self, vent_number: int) -> None:
         """
 
         self.log.debug(f"vent_open({vent_number})")
+        assert self.connected
         if not 0 <= vent_number <= 3:
             raise ValueError(f"Invalid {vent_number=} should be between 0 and 3")
         if self.cfg.vent_signal_ch[vent_number] == -1:
             raise ValueError(f"Vent {vent_number=} is not configured.")
-        megaind.setOd(self.cfg.megaind_stack, self.cfg.vent_signal_ch[vent_number], 1)
+        self.setOd(self.cfg.megaind_stack, self.cfg.vent_signal_ch[vent_number], 1)
 
     def vent_close(self, vent_number: int) -> None:
         """Closes the specified vent.
@@ -270,6 +336,10 @@ def vent_close(self, vent_number: int) -> None:
 
         Raises
         ------
+        ModuleNotFoundError
+            If the megaind module has not been installed, in which case the
+            daughterboard cannot be controlled.
+
         ValueError
             If vent_number is invalid.
 
@@ -278,11 +348,12 @@ def vent_close(self, vent_number: int) -> None:
         """
 
         self.log.debug(f"vent_close({vent_number})")
+        assert self.connected
         if not 0 <= vent_number <= 3:
             raise ValueError(f"Invalid {vent_number=} should be between 0 and 3")
         if self.cfg.vent_signal_ch[vent_number] == -1:
             raise ValueError(f"Vent {vent_number=} is not configured.")
-        megaind.setOd(self.cfg.megaind_stack, self.cfg.vent_signal_ch[vent_number], 0)
+        self.setOd(self.cfg.megaind_stack, self.cfg.vent_signal_ch[vent_number], 0)
 
     def vent_state(self, vent_number: int) -> VentGateState:
         """Returns the state of the specified vent.
@@ -294,6 +365,10 @@ def vent_state(self, vent_number: int) -> VentGateState:
 
         Raises
         ------
+        ModuleNotFoundError
+            If the megaind module has not been installed, in which case the
+            daughterboard cannot be controlled.
+
         ValueError
             If vent_number is invalid.
 
@@ -302,6 +377,7 @@ def vent_state(self, vent_number: int) -> VentGateState:
         """
 
         self.log.debug(f"vent_state({vent_number})")
+        assert self.connected
         if not 0 <= vent_number <= 3:
             raise ValueError(f"Invalid {vent_number=} should be between 0 and 3")
 
@@ -311,10 +387,10 @@ def vent_state(self, vent_number: int) -> VentGateState:
         ):
             raise ValueError(f"Vent {vent_number=} is not configured.")
 
-        op_state = megaind.getOptoCh(
+        op_state = self.getOptoCh(
             self.cfg.megaind_stack, self.cfg.vent_open_limit_ch[vent_number]
         )
-        cl_state = megaind.getOptoCh(
+        cl_state = self.getOptoCh(
             self.cfg.megaind_stack, self.cfg.vent_close_limit_ch[vent_number]
         )
 
@@ -327,3 +403,41 @@ def vent_state(self, vent_number: int) -> VentGateState:
                 return VentGateState.CLOSED
             case _:
                 return VentGateState.FAULT
+
+    def getOptoCh(self, *args, **kwargs) -> int:
+        """Calls megaind.getOptoCh or a simulated getOptoCh depending
+        whether the class was instantiated with simulate = True.
+
+        Raises
+        ------
+        ModuleNotFoundError
+            If the megaind module has not been installed, in which case the
+            daughterboard cannot be controlled.
+        """
+
+        assert self.connected
+        if self.simulate:
+            return self.simulator.getOptoCh(*args, **kwargs)
+        else:
+            if not MEGAIND_AVAILABLE:
+                raise ModuleNotFoundError("The megaind module is not available.")
+            return megaind.getOptoCh(*args, **kwargs)
+
+    def setOd(self, *args, **kwargs) -> None:
+        """Calls megaind.setOd or a simulated setOd depending
+        whether the class was instantiated with simulate = True.
+
+        Raises
+        ------
+        ModuleNotFoundError
+            If the megaind module has not been installed, in which case the
+            daughterboard cannot be controlled.
+        """
+
+        assert self.connected
+        if self.simulate:
+            self.simulator.setOd(*args, **kwargs)
+        else:
+            if not MEGAIND_AVAILABLE:
+                raise ModuleNotFoundError("The megaind module is not available.")
+            megaind.setOd(*args, **kwargs)