Remove the deprecated states in MTRotator.py.

doc/news/interface_changes/DM-45603.mtrotator.rst

@@ -0,0 +1 @@
+Remove the deprecated states in ControllerState and EnabledSubstate in MTRotator.py.

python/lsst/ts/xml/data/sal_interfaces/MTHexapod/MTHexapod_Events.xml

@@ -3,18 +3,14 @@
 <SALEventSet xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://lsst-sal.tuc.noao.edu/schema/SALEventSet.xsd">
   <Enumeration>
     ControllerState_Standby=0,
-    ControllerState_Disabled=1,
     ControllerState_Enabled=2,
-    ControllerState_Offline=3,
     ControllerState_Fault=4
 </Enumeration>
   <Enumeration>
     EnabledSubstate_Stationary=0,
     EnabledSubstate_MovingPointToPoint=1,
     EnabledSubstate_SlewingOrTracking=2,
     EnabledSubstate_ControlledStopping=3,
-    EnabledSubstate_Initializing=4,
-    EnabledSubstate_Relative=5,
     EnabledSubstate_ConstantVelocity=6
 </Enumeration>
   <Enumeration>

python/lsst/ts/xml/data/sal_interfaces/MTRotator/MTRotator_Events.xml

@@ -3,18 +3,14 @@
 <SALEventSet xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://lsst-sal.tuc.noao.edu/schema/SALEventSet.xsd">
   <Enumeration>
     ControllerState_Standby=0,
-    ControllerState_Disabled=1,
     ControllerState_Enabled=2,
-    ControllerState_Offline=3,
     ControllerState_Fault=4
 </Enumeration>
   <Enumeration>
     EnabledSubstate_Stationary=0,
     EnabledSubstate_MovingPointToPoint=1,
     EnabledSubstate_SlewingOrTracking=2,
     EnabledSubstate_ControlledStopping=3,
-    EnabledSubstate_Initializing=4,
-    EnabledSubstate_Relative=5,
     EnabledSubstate_ConstantVelocity=6
 </Enumeration>
   <Enumeration>

python/lsst/ts/xml/enums/MTRotator.py

@@ -40,11 +40,11 @@ class ControllerState(enum.IntEnum):
     Called ``States`` in Moog code.
     """
 
+    # Use the following values to be consistent with the Simulink model as the
+    # history reason.
     STANDBY = 0
-    DISABLED = enum.auto()  # Deprecated in rotator/hexapod
-    ENABLED = enum.auto()
-    OFFLINE = enum.auto()  # Deprecated in rotator/hexapod
-    FAULT = enum.auto()
+    ENABLED = 2
+    FAULT = 4
 
 
 class EnabledSubstate(enum.IntEnum):
@@ -55,13 +55,13 @@ class EnabledSubstate(enum.IntEnum):
     This is enum ``EnabledSubStates`` in Moog code.
     """
 
+    # Use the following values to be consistent with the Simulink model as the
+    # history reason.
     STATIONARY = 0
-    MOVING_POINT_TO_POINT = enum.auto()
-    SLEWING_OR_TRACKING = enum.auto()  # hexapod does not have this
-    CONTROLLED_STOPPING = enum.auto()  # hexapod does not have this
-    INITIALIZING = enum.auto()  # Deprecated in rotator/hexapod
-    RELATIVE = enum.auto()  # Deprecated in rotator/hexapod
-    CONSTANT_VELOCITY = enum.auto()  # hexapod does not have this
+    MOVING_POINT_TO_POINT = 1
+    SLEWING_OR_TRACKING = 2  # hexapod does not have this
+    CONTROLLED_STOPPING = 3  # hexapod does not have this
+    CONSTANT_VELOCITY = 6  # hexapod does not have this
 
 
 class FaultSubstate(enum.IntEnum):