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Tickets/dm 45566 #887

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Aug 7, 2024
Merged

Tickets/dm 45566 #887

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ada921c
Update the changed interface of MTHexapod with the controller's simpl…
teweitsai Aug 6, 2024
76a60c5
Remove the OfflineSubstate enum in MTHexapod and MTRotator.
teweitsai Aug 6, 2024
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2 changes: 2 additions & 0 deletions doc/news/interface_changes/DM-45566.mthexapod.rst
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@@ -0,0 +1,2 @@
Remove the MTHexapod_logevent_controllerState.offlineSubstate and add the MTHexapod_logevent_configuration.drivesEnabled.
Remove the OfflineSubstate enum in MTHexapod and MTRotator.
18 changes: 7 additions & 11 deletions python/lsst/ts/xml/data/sal_interfaces/MTHexapod/MTHexapod_Events.xml
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Expand Up @@ -7,10 +7,6 @@
ControllerState_Enabled=2,
ControllerState_Offline=3,
ControllerState_Fault=4
</Enumeration>
<Enumeration>
OfflineSubstate_PublishOnly=0,
OfflineSubstate_Available=1
</Enumeration>
<Enumeration>
EnabledSubstate_Stationary=0,
Expand Down Expand Up @@ -255,6 +251,13 @@
<Units>um/s2</Units>
<Count>1</Count>
</item>
<item>
<EFDB_Name>drivesEnabled</EFDB_Name>
<Description>Drives are enabled or not.</Description>
<IDL_Type>boolean</IDL_Type>
<Units>unitless</Units>
<Count>1</Count>
</item>
</SALEvent>
<SALEvent>
<Subsystem>MTHexapod</Subsystem>
Expand All @@ -279,13 +282,6 @@
<Units>unitless</Units>
<Count>1</Count>
</item>
<item>
<EFDB_Name>offlineSubstate</EFDB_Name>
<Description>Substate in OFFLINE mode, an OfflineSubstate enumeration value.</Description>
<IDL_Type>long</IDL_Type>
<Units>unitless</Units>
<Count>1</Count>
</item>
<item>
<EFDB_Name>enabledSubstate</EFDB_Name>
<Description>Substate in ENABLED mode, an EnabledSubstate enumeration value.</Description>
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4 changes: 0 additions & 4 deletions python/lsst/ts/xml/data/sal_interfaces/MTRotator/MTRotator_Events.xml
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Expand Up @@ -7,10 +7,6 @@
ControllerState_Enabled=2,
ControllerState_Offline=3,
ControllerState_Fault=4
</Enumeration>
<Enumeration>
OfflineSubstate_PublishOnly=0,
OfflineSubstate_Available=1
</Enumeration>
<Enumeration>
EnabledSubstate_Stationary=0,
Expand Down
5 changes: 2 additions & 3 deletions python/lsst/ts/xml/enums/MTHexapod.py
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Expand Up @@ -22,16 +22,15 @@
"ApplicationStatus",
"ControllerState",
"EnabledSubstate",
"OfflineSubstate",
"SalIndex",
"ErrorCode",
]

import enum

# MTHexapod and MTRotator have the same enum values for
# ControllerState, OfflineSubstate, and EnabledSubstate.
from .MTRotator import ControllerState, EnabledSubstate, OfflineSubstate
# ControllerState and EnabledSubstate.
from .MTRotator import ControllerState, EnabledSubstate


class ApplicationStatus(enum.IntFlag):
Expand Down
31 changes: 7 additions & 24 deletions python/lsst/ts/xml/enums/MTRotator.py
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Expand Up @@ -20,7 +20,6 @@

__all__ = [
"ControllerState",
"OfflineSubstate",
"EnabledSubstate",
"FaultSubstate",
"ApplicationStatus",
Expand All @@ -42,28 +41,12 @@ class ControllerState(enum.IntEnum):
"""

STANDBY = 0
DISABLED = enum.auto() # Deprecated in rotator
DISABLED = enum.auto() # Deprecated in rotator/hexapod
ENABLED = enum.auto()
OFFLINE = enum.auto() # Deprecated in rotator
OFFLINE = enum.auto() # Deprecated in rotator/hexapod
FAULT = enum.auto()


class OfflineSubstate(enum.IntEnum):
"""Controller substate for the OFFLINE state.

Value reported in ``telemetry.offline_substate``.

This is enum ``OfflineSubStates`` in Moog code.

Deprecated in the rotator.

TODO: Remove this after simplifying the state machine in hexapod, DM-39787.
"""

PUBLISH_ONLY = 0
AVAILABLE = enum.auto()


class EnabledSubstate(enum.IntEnum):
"""Controller substate for the ENABLED state.

Expand All @@ -74,11 +57,11 @@ class EnabledSubstate(enum.IntEnum):

STATIONARY = 0
MOVING_POINT_TO_POINT = enum.auto()
SLEWING_OR_TRACKING = enum.auto()
CONTROLLED_STOPPING = enum.auto()
INITIALIZING = enum.auto() # Deprecated in rotator
RELATIVE = enum.auto() # Deprecated in rotator
CONSTANT_VELOCITY = 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


class FaultSubstate(enum.IntEnum):
Expand Down
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