HexapodCommander

class lsst.ts.hexapod.HexapodCommander(index, enable)

Bases: lsst.ts.salobj.csc_commander.CscCommander

Command the Hexapod CSC from the command line.

Parameters:

index : int

SAL index of Hexapod CSC.

Read commands from stdin and write updated events and telemetry to stdout.

The telemetry is filtered so that tiny changes due to encoder jitter

are ignored.

See bin/command_hexapod.py for an example of how to use this class.

Methods Summary

add_arguments(parser)	Add arguments to the parser created by make_from_cmd_line.
add_kwargs_from_args(args, kwargs)	Add constructor keyword arguments based on parsed arguments.
amain(*, index, **kwargs)	Construct the commander and run it.
check_arguments(args, *names)	Check that the required arguments are provided, and return them as a keyword argument dict with cast values.
close()	Close the commander, prior to quitting.
do_start(args)	Allow the start command to have no arguments.
event_callback(data, name)	Generic callback for events.
evt_summaryState_callback(data)
field_is_public(name)	Return True if the specified field name is public, False otherwise.
format_data(data)	Format an event or telemetry sample for printing.
format_item(key, value)	Format one event or telemetry field for printing.
get_commands_help()	Get help for each command, as a list of strings.
get_public_data(data)	Return a dict of field_name: value for public fields.
get_rounded_public_fields(data[, digits])	Get the public fields for a sample, with float values rounded.
make_from_cmd_line(index, **kwargs)	Construct a SAL-related class from command line arguments.
output(str)	Print a string to output, appending a final newline.
positions_close(position1, position2)	Return True if two positions are nearly equal.
print_help()	Print help.
run_command(cmd)	Run the specified command string and wait for it to finish.
run_command_topic(command_name, args)	Run a command that has an associated salobj RemoteCommand topic.
start()	Start asynchonous processes.
tel_actuators_callback(data)	Callback for actuators telemetry.
tel_application_callback(data)	Callback for the application telemetry.
telemetry_callback(data, name)	Generic callback for telemetry.

Methods Documentation

classmethod add_arguments(parser)

Add arguments to the parser created by make_from_cmd_line.

Parameters:

parser : argparse.ArgumentParser

The argument parser.

Notes

If you override this method then you should almost certainly override add_kwargs_from_args as well.

classmethod add_kwargs_from_args(args, kwargs)

Add constructor keyword arguments based on parsed arguments.

Parameters:

args : argparse.namespace

Parsed command.

kwargs : dict

Keyword argument dict for the constructor. Update this based on args. The index argument will already be present if relevant.

Notes

If you override this method then you should almost certainly override add_arguments as well.

classmethod amain(*, index, **kwargs)

Construct the commander and run it.

Parse the command line to construct the commander, then parse and execute commands until the exit is seen.

Parameters:

index : int, True, False or None

If the CSC is indexed: specify True make index a required command line argument, or specify a non-zero int to use that index. If the CSC is not indexed: specify None or 0.

**kwargs : dict, optional

Additional keyword arguments for your CSC’s constructor.

check_arguments(args, *names)

Check that the required arguments are provided, and return them as a keyword argument dict with cast values.

Parameters:

args : List [str]

Command arguments, as strings.

*names : List [str or tuple]

Argument name and optional cast function. Each element is either:

• An argument name, in which case the argument is cast to a float

• A tuple of (name, cast function), in which case the argument

  is cast using the cast function.

close()

Close the commander, prior to quitting.

do_start(args)

Allow the start command to have no arguments.

event_callback(data, name)

Generic callback for events.

You may provide evt_<event_name> methods to override printing of specific events.

evt_summaryState_callback(data)

field_is_public(name)

Return True if the specified field name is public, False otherwise.

format_data(data)

Format an event or telemetry sample for printing.

format_item(key, value)

Format one event or telemetry field for printing.

get_commands_help()

Get help for each command, as a list of strings.

End with “Other Commands:” and any commands in help_dict that are not in command_dict.

get_public_data(data)

Return a dict of field_name: value for public fields.

Parameters:

data : dds_sample

DDS sample.

get_rounded_public_fields(data, digits=4)

Get the public fields for a sample, with float values rounded.

classmethod make_from_cmd_line(index, **kwargs)

Construct a SAL-related class from command line arguments.

Parameters:

index : int, True, False or None

If the SAL component is indexed: specify True to make index a required command line argument, or specify a non-zero int to use that index. If the SAL component is not indexed: specify None or 0.

**kwargs : dict, optional

Additional keyword arguments for your class’s constructor.

Returns:

instance : cls

The constructed instance.

Notes

To add additional command-line arguments, override add_arguments and add_kwargs_from_args.

output(str)

Print a string to output, appending a final newline.

Please call this instead of print to support unit tests.

If self.testing is True then append str to self.output_queue instead of printing it. Use this mode for unit testing a CSC commander.

positions_close(position1, position2)

Return True if two positions are nearly equal.

Parameters:

position1 : List [float]

Position 1: x, y, z (µm) and rotx, roty, rotz (deg)

position2 : List [float]

Position 2: x, y, z (µm) and rotx, roty, rotz (deg)

print_help()

Print help.

run_command(cmd)

Run the specified command string and wait for it to finish.

Parameters:

cmd : str

Command string (command name and arguments). Note: does not handle the “exit” command.

run_command_topic(command_name, args)

Run a command that has an associated salobj RemoteCommand topic.

Parameters:

command_name : str

Command name, e.g. Enable

args : List [str]

String arguments for the command. There must be exactly one argument per public fields.

Notes

This method works for command topics that take scalar arguments. To support command topics with more exotic arguments you must provide a do_<command> method that parses the arguments and add an entry to self.help_dict.

start()

Start asynchonous processes.

tel_actuators_callback(data)

Callback for actuators telemetry.

Output actuators telemetry data if the values have changed enough to be interesting.

Parameters:

data : self.controller.tel_actuators.DataType.

Actuators data.

tel_application_callback(data)

Callback for the application telemetry.

Output application telemetry if the values have changed enough to be interesting.

Parameters:

data : self.controller.tel_application.DataType.

Actuators data.

telemetry_callback(data, name)

Generic callback for telemetry.

You may provide tel_<telemetry_name> methods to override printing of specific telemetry topics.