DM-28452: update the ports

doc/version_history.rst

@@ -6,6 +6,22 @@
 Version History
 ###############
 
+v0.13.0
+=======
+
+Changes:
+
+* Updated to use device-specific TCP/IP ports.
+  This requires ts_hexrotcomm v0.14.
+
+Requires:
+
+* ts_hexrotcomm 0.14
+* ts_salobj 6.1
+* ts_idl 2.2
+* ts_xml 7.1
+* MTHexapod, MTMount, and MTRotator IDL files, e.g. made using ``make_idl_files.py MTHexapod MTMount MTRotator``
+
 v0.12.1
 =======
 

python/lsst/ts/mthexapod/__init__.py

@@ -1,6 +1,6 @@
 # This file is part of ts_mthexapod.
 #
-# Developed for the LSST Data Management System.
+# Developed for the Rubin Observatory Telescope and Site System.
 # This product includes software developed by the LSST Project
 # (https://www.lsst.org).
 # See the COPYRIGHT file at the top-level directory of this distribution

python/lsst/ts/mthexapod/base.py

@@ -1,6 +1,6 @@
 # This file is part of ts_mthexapod.
 #
-# Developed for the LSST Data Management System.
+# Developed for the Rubin Observatory Telescope and Site System.
 # This product includes software developed by the LSST Project
 # (https://www.lsst.org).
 # See the COPYRIGHT file at the top-level directory of this distribution

python/lsst/ts/mthexapod/compensation.py

@@ -1,6 +1,6 @@
 # This file is part of ts_mthexapod.
 #
-# Developed for the LSST Data Management System.
+# Developed for the Rubin Observatory Telescope and Site System.
 # This product includes software developed by the LSST Project
 # (https://www.lsst.org).
 # See the COPYRIGHT file at the top-level directory of this distribution

python/lsst/ts/mthexapod/constants.py

@@ -1,6 +1,6 @@
 # This file is part of ts_mthexapod.
 #
-# Developed for the LSST Data Management System.
+# Developed for the Rubin Observatory Telescope and Site System.
 # This product includes software developed by the LSST Project
 # (https://www.lsst.org).
 # See the COPYRIGHT file at the top-level directory of this distribution
@@ -20,21 +20,16 @@
 # along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
 __all__ = [
-    "CAM_SYNC_PATTERN",
-    "M2_SYNC_PATTERN",
     "MAX_ACCEL_LIMIT",
     "MAX_LINEAR_VEL_LIMIT",
     "MAX_ANGULAR_VEL_LIMIT",
     "MAX_POSITION_LIMITS",
+    "IndexControllerConstants",
 ]
 
 from . import base
 from . import enums
 
-# Required value of command.sync_pattern for MTHexapod commands.
-CAM_SYNC_PATTERN = 0x6666
-M2_SYNC_PATTERN = 0xB4B4
-
 # Limits for the configureAcceleration command (deg/sec^2).
 MAX_ACCEL_LIMIT = 500.0
 
@@ -51,3 +46,37 @@
         maxXY=10500, minZ=-8900, maxZ=8900, maxUV=0.175, minW=-0.05, maxW=0.05,
     ),
 }
+
+
+class ControllerConstants:
+    """Constants needed to communicate with a low-level MTHexapod controller.
+
+    Parameters
+    ----------
+    port : `int`
+        Configuration and telemetry port.
+        The command port is one larger than this value.
+    sync_pattern : `int`
+        Sync pattern for commands to the low-level controller.
+    config_frame_id : `int`
+        Frame ID for configuration messages from the low-level controller.
+    telemetry_frame_id : `int`
+        Frame ID for telemetry messages from the low-level controller.
+    """
+
+    def __init__(self, port, sync_pattern, config_frame_id, telemetry_frame_id):
+        self.port = port
+        self.sync_pattern = sync_pattern
+        self.config_frame_id = config_frame_id
+        self.telemetry_frame_id = telemetry_frame_id
+
+
+# Dict of SalIndex: ControllerConstants
+IndexControllerConstants = {
+    enums.SalIndex.CAMERA_HEXAPOD: ControllerConstants(
+        port=5560, sync_pattern=0x6666, config_frame_id=0x1B, telemetry_frame_id=0x7,
+    ),
+    enums.SalIndex.M2_HEXAPOD: ControllerConstants(
+        port=5550, sync_pattern=0xB4B4, config_frame_id=0x1C, telemetry_frame_id=0x8,
+    ),
+}

python/lsst/ts/mthexapod/enums.py

@@ -1,6 +1,6 @@
 # This file is part of ts_mthexapod.
 #
-# Developed for the LSST Data Management System.
+# Developed for the Rubin Observatory Telescope and Site System.
 # This product includes software developed by the LSST Project
 # (https://www.lsst.org).
 # See the COPYRIGHT file at the top-level directory of this distribution
@@ -19,7 +19,7 @@
 # You should have received a copy of the GNU General Public License
 # along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
-__all__ = ["SalIndex", "CommandCode", "FrameId", "SetEnabledSubstateParam"]
+__all__ = ["SalIndex", "CommandCode", "SetEnabledSubstateParam"]
 
 import enum
 
@@ -46,16 +46,6 @@ class CommandCode(enum.IntEnum):
     OFFSET = 0x8010
 
 
-class FrameId(enum.IntEnum):
-    """Frame IDs for Camera and M2 MTHexapod telemetry and configuration.
-    """
-
-    CAM_TELEMETRY = 0x7
-    CAM_CONFIG = 0x1B
-    M2_TELEMETRY = 0x8
-    M2_CONFIG = 0x1C
-
-
 class SetEnabledSubstateParam(enum.IntEnum):
     """Substates for the ENABLED state.
     """

python/lsst/ts/mthexapod/fourier_series.py

@@ -1,6 +1,6 @@
 # This file is part of ts_mthexapod.
 #
-# Developed for the LSST Data Management System.
+# Developed for the Rubin Observatory Telescope and Site System.
 # This product includes software developed by the LSST Project
 # (https://www.lsst.org).
 # See the COPYRIGHT file at the top-level directory of this distribution

python/lsst/ts/mthexapod/hexapod_commander.py

@@ -1,6 +1,6 @@
 # This file is part of ts_mthexapod.
 #
-# Developed for the LSST Data Management System.
+# Developed for the Rubin Observatory Telescope and Site System.
 # This product includes software developed by the LSST Project
 # (https://www.lsst.org).
 # See the COPYRIGHT file at the top-level directory of this distribution

python/lsst/ts/mthexapod/hexapod_csc.py

@@ -1,6 +1,6 @@
 # This file is part of ts_mthexapod.
 #
-# Developed for the LSST Data Management System.
+# Developed for the Rubin Observatory Telescope and Site System.
 # This product includes software developed by the LSST Project
 # (https://www.lsst.org).
 # See the COPYRIGHT file at the top-level directory of this distribution
@@ -39,31 +39,6 @@
 from . import utils
 
 
-class ControllerConstants:
-    """Constants needed to communicate with an MTHexapod controller.
-    """
-
-    def __init__(self, sync_pattern, config_frame_id, telemetry_frame_id):
-        self.sync_pattern = sync_pattern
-        self.config_frame_id = config_frame_id
-        self.telemetry_frame_id = telemetry_frame_id
-
-
-# Dict of SalIndex: ControllerConstants
-IndexControllerConstants = {
-    enums.SalIndex.CAMERA_HEXAPOD: ControllerConstants(
-        sync_pattern=constants.CAM_SYNC_PATTERN,
-        config_frame_id=enums.FrameId.CAM_CONFIG,
-        telemetry_frame_id=enums.FrameId.CAM_TELEMETRY,
-    ),
-    enums.SalIndex.M2_HEXAPOD: ControllerConstants(
-        sync_pattern=constants.M2_SYNC_PATTERN,
-        config_frame_id=enums.FrameId.M2_CONFIG,
-        telemetry_frame_id=enums.FrameId.M2_TELEMETRY,
-    ),
-}
-
-
 class HexapodCsc(hexrotcomm.BaseCsc):
     """MTHexapod CSC.
 
@@ -120,7 +95,7 @@ def __init__(
         simulation_mode=0,
     ):
         index = enums.SalIndex(index)
-        controller_constants = IndexControllerConstants[index]
+        controller_constants = constants.IndexControllerConstants[index]
 
         # The maximum position limits configured in the low-level controller.
         # The limits specified by the configureLimits command must be
@@ -152,6 +127,7 @@ def __init__(
         super().__init__(
             name="MTHexapod",
             index=index,
+            port=controller_constants.port,
             sync_pattern=controller_constants.sync_pattern,
             CommandCode=enums.CommandCode,
             ConfigClass=structs.Config,

python/lsst/ts/mthexapod/mock_controller.py

@@ -1,6 +1,6 @@
 # This file is part of ts_mthexapod.
 #
-# Developed for the LSST Data Management System.
+# Developed for the Rubin Observatory Telescope and Site System.
 # This product includes software developed by the LSST Project
 # (https://www.lsst.org).
 # See the COPYRIGHT file at the top-level directory of this distribution
@@ -53,12 +53,12 @@ class MockMTHexapodController(hexrotcomm.BaseMockController):
         Logger.
     host : `str` (optional)
         IP address of CSC server.
-    command_port : `int` (optional)
-        Command socket port.  This argument is intended for unit tests;
-        use the default value for normal operation.
-    telemetry_port : `int` (optional)
-        Telemetry socket port. This argument is intended for unit tests;
-        use the default value for normal operation.
+    command_port : `int` or `None` (optional)
+        Command socket port.
+        If `None` then use the default port for this device.
+    telemetry_port : `int` or `None` (optional)
+        Telemetry socket port.
+        If `None` then use the default port for this device.
     initial_state : `lsst.ts.idl.enums.MTHexapod.ControllerState` (optional)
         Initial state of mock controller.
 
@@ -119,12 +119,13 @@ def __init__(
         index,
         log,
         host=hexrotcomm.LOCAL_HOST,
-        command_port=hexrotcomm.COMMAND_PORT,
-        telemetry_port=hexrotcomm.TELEMETRY_PORT,
+        command_port=None,
+        telemetry_port=None,
         initial_state=ControllerState.OFFLINE,
     ):
         index = enums.SalIndex(index)
         self.max_pos_limits = constants.MAX_POSITION_LIMITS[index]
+
         # Amplitude of jitter in various measured values,
         # to simulate encoder jitter. This add realism
         # and exercises jitter rejection in HexapodCommander.

python/lsst/ts/mthexapod/ranged_polynomial.py

@@ -1,6 +1,6 @@
 # This file is part of ts_mthexapod.
 #
-# Developed for the LSST Data Management System.
+# Developed for the Rubin Observatory Telescope and Site System.
 # This product includes software developed by the LSST Project
 # (https://www.lsst.org).
 # See the COPYRIGHT file at the top-level directory of this distribution

python/lsst/ts/mthexapod/simple_hexapod.py

@@ -1,6 +1,6 @@
 # This file is part of ts_mthexapod.
 #
-# Developed for the LSST Data Management System.
+# Developed for the Rubin Observatory Telescope and Site System.
 # This product includes software developed by the LSST Project
 # (https://www.lsst.org).
 # See the COPYRIGHT file at the top-level directory of this distribution

python/lsst/ts/mthexapod/structs.py

@@ -1,6 +1,6 @@
 # This file is part of ts_mthexapod.
 #
-# Developed for the LSST Data Management System.
+# Developed for the Rubin Observatory Telescope and Site System.
 # This product includes software developed by the LSST Project
 # (https://www.lsst.org).
 # See the COPYRIGHT file at the top-level directory of this distribution

python/lsst/ts/mthexapod/utils.py

@@ -1,6 +1,6 @@
 # This file is part of ts_mthexapod.
 #
-# Developed for the LSST Data Management System.
+# Developed for the Rubin Observatory Telescope and Site System.
 # This product includes software developed by the LSST Project
 # (https://www.lsst.org).
 # See the COPYRIGHT file at the top-level directory of this distribution

tests/test_base.py

@@ -1,6 +1,6 @@
 # This file is part of ts_mthexapod.
 #
-# Developed for the LSST Data Management System.
+# Developed for the Rubin Observatory Telescope and Site System.
 # This product includes software developed by the LSST Project
 # (https://www.lsst.org).
 # See the COPYRIGHT file at the top-level directory of this distribution

tests/test_compensation.py

@@ -1,6 +1,6 @@
 # This file is part of ts_mthexapod.
 #
-# Developed for the LSST Data Management System.
+# Developed for the Rubin Observatory Telescope and Site System.
 # This product includes software developed by the LSST Project
 # (https://www.lsst.org).
 # See the COPYRIGHT file at the top-level directory of this distribution

tests/test_csc.py

@@ -1,6 +1,6 @@
 # This file is part of ts_mthexapod.
 #
-# Developed for the LSST Data Management System.
+# Developed for the Rubin Observatory Telescope and Site System.
 # This product includes software developed by the LSST Project
 # (https://www.lsst.org).
 # See the COPYRIGHT file at the top-level directory of this distribution
@@ -78,7 +78,6 @@ async def make_csc(
         settings_to_apply="",
         simulation_mode=1,
         log_level=None,
-        timeout=STD_TIMEOUT,
     ):
         # TODO DM-28005: add a controller for the temperature
         async with super().make_csc(
@@ -87,7 +86,6 @@ async def make_csc(
             settings_to_apply=settings_to_apply,
             simulation_mode=simulation_mode,
             log_level=log_level,
-            timeout=timeout,
         ), salobj.Controller(
             name="MTMount",
         ) as self.mtmount_controller, salobj.Controller(

tests/test_fourier_series.py

@@ -1,6 +1,6 @@
 # This file is part of ts_mthexapod.
 #
-# Developed for the LSST Data Management System.
+# Developed for the Rubin Observatory Telescope and Site System.
 # This product includes software developed by the LSST Project
 # (https://www.lsst.org).
 # See the COPYRIGHT file at the top-level directory of this distribution

tests/test_ranged_polynomial.py

@@ -1,6 +1,6 @@
 # This file is part of ts_mthexapod.
 #
-# Developed for the LSST Data Management System.
+# Developed for the Rubin Observatory Telescope and Site System.
 # This product includes software developed by the LSST Project
 # (https://www.lsst.org).
 # See the COPYRIGHT file at the top-level directory of this distribution

tests/test_simple_hexapod.py

@@ -1,6 +1,6 @@
 # This file is part of ts_mthexapod.
 #
-# Developed for the LSST Data Management System.
+# Developed for the Rubin Observatory Telescope and Site System.
 # This product includes software developed by the LSST Project
 # (https://www.lsst.org).
 # See the COPYRIGHT file at the top-level directory of this distribution

tests/test_utils.py

@@ -1,6 +1,6 @@
 # This file is part of ts_mthexapod.
 #
-# Developed for the LSST Data Management System.
+# Developed for the Rubin Observatory Telescope and Site System.
 # This product includes software developed by the LSST Project
 # (https://www.lsst.org).
 # See the COPYRIGHT file at the top-level directory of this distribution