Merge pull request #772 from lsst-ts/tickets/DM-41222

Add the MTM2_command_setHardpointList.

doc/version-history.rst

@@ -50,7 +50,7 @@ v21.0.0
   * MTM2
 
     * Reuse the enum **BumpTest** in MTM1M3.
-    * Add the topics: ``MTM2_logevent_actuatorBumpTestStatus`` and ``MTM2_command_killActuatorBumpTest``.
+    * Add the topics: ``MTM2_logevent_actuatorBumpTestStatus``, ``MTM2_command_killActuatorBumpTest``, and ``MTM2_command_setHardpointList``.
 
 v20.0.0
 -------

python/lsst/ts/xml/data/sal_interfaces/MTM2/MTM2_Commands.xml

@@ -244,4 +244,16 @@
     <EFDB_Topic>MTM2_command_killActuatorBumpTest</EFDB_Topic>
     <Description>Kill the running actuator bump test in the closed-loop control.</Description>
   </SALCommand>
+  <SALCommand>
+    <Subsystem>MTM2</Subsystem>
+    <EFDB_Topic>MTM2_command_setHardpointList</EFDB_Topic>
+    <Description>Set the hardpoint list. When there is a failed actuator, it should be selected to be hardpoint to let the telescope continue the survey in the night. The failed actuator will be fixed/inspected in a latter time. There is some geometry requirement for the selection of hardpoints. The bad selection of hardpoints will be rejected immediately by the internal evaluation. See the check_hardpoints() in ts_m2com for more details.</Description>
+    <item>
+      <EFDB_Name>actuators</EFDB_Name>
+      <Description>Ordered 0-based actuator Ids to be the hardpoints. The first three are the axial actuators and the latters are the tangent links.</Description>
+      <IDL_Type>int</IDL_Type>
+      <Units>unitless</Units>
+      <Count>6</Count>
+    </item>
+  </SALCommand>
 </SALCommandSet>