Add unpark MTDome logic for MTCS

doc/news/DM-45610.feature.rst

@@ -0,0 +1 @@
+Implement dome unpark in MTCS.

python/lsst/ts/observatory/control/maintel/mtcs.py

@@ -148,6 +148,8 @@ def __init__(
  self._dome_az_in_position: typing.Union[None, asyncio.Event] = None
  self._dome_el_in_positio: typing.Union[None, asyncio.Event] = None
 
+ self.dome_az_unpark_offset = 0.1 # A small move to un-park the Dome
+
  # timeout to raise m1m3, in seconds.
  self.m1m3_raise_timeout = 600.0
  # time it takes for m1m3 to settle after a slew finishes.
@@ -668,6 +670,55 @@ async def park_dome(self) -> None:
  check_in_position=True,
  )
 
+ async def unpark_dome(self) -> None:
+ """Un-Park the dome by moving it a small delta amount."""
+
+ await self.assert_all_enabled(
+ message="All components need to be enabled for un-parking the Dome."
+ )
+
+ self.log.debug("Checking if the dome is currently PARKED.")
+ az_motion = await self.rem.mtdome.evt_azMotion.aget(timeout=self.fast_timeout)
+
+ if az_motion.state == MTDome.MotionState.PARKED:
+ self.log.info("Dome is currently PARKED. Proceeding to un-park.")
+
+ current_position = await self.rem.mtdome.tel_azimuth.aget(
+ timeout=self.fast_timeout
+ )
+
+ unparked_position = (
+ current_position.positionActual + self.dome_az_unpark_offset
+ )
+
+ self.rem.mtdome.evt_azMotion.flush()
+
+ # We don't specify the dome velocity as it defaults to
+ # zero, which is what we want.
+ await self.rem.mtdome.cmd_moveAz.set_start(
+ position=unparked_position,
+ timeout=self.park_dome_timeout,
+ )
+
+ # Define expected and bad states for parking
+ expected_states = {MTDome.MotionState.MOVING, MTDome.MotionState.CRAWLING}
+ bad_states = {
+ MTDome.MotionState.ERROR,
+ MTDome.MotionState.UNDETERMINED,
+ MTDome.MotionState.DISABLED,
+ MTDome.MotionState.DISABLING,
+ MTDome.MotionState.PARKED,
+ MTDome.MotionState.PARKING,
+ }
+
+ self.log.info("Waiting for dome to reach the PARKED state.")
+
+ await self.wait_for_dome_state(
+ expected_states, bad_states, timeout=self.park_dome_timeout
+ )
+ else:
+ self.log.info("Dome is not in PARKED state. No need to un-park.")
+
  def set_azel_slew_checks(self, wait_dome: bool) -> typing.Any:
  """Handle azEl slew to wait or not for the dome.
 

python/lsst/ts/observatory/control/mock/mtcs_async_mock.py

@@ -121,7 +121,7 @@ async def setup_types(self) -> None:
  )
 
  # MTDome Motion PARKED state. State is set by the mocked park cmd.
- self._mtdome_evt_azMotion_state = types.SimpleNamespace(
+ self._mtdome_evt_az_motion = types.SimpleNamespace(
  state=MTDome.MotionState.UNDETERMINED, inPosition=False
  )
 
@@ -234,11 +234,12 @@ async def setup_mtdome(self) -> None:
  """Augment MTDome."""
  mtdome_mocks = {
  "tel_azimuth.next.side_effect": self.mtdome_tel_azimuth_next,
+ "tel_azimuth.aget.side_effect": self.mtdome_tel_azimuth_next,
  "tel_lightWindScreen.next.side_effect": self.mtdome_tel_light_wind_screen_next,
  "cmd_park.start.side_effect": self.mtdome_cmd_park,
- "evt_azMotion.aget.side_effect": self.mtdome_evt_az_motion_state_next,
- "evt_azMotion.next.side_effect": self.mtdome_evt_az_motion_state_next,
  "cmd_moveAz.set_start.side_effect": self.mtdome_cmd_move_az,
+ "evt_azMotion.aget.side_effect": self.mtdome_evt_az_motion_next,
+ "evt_azMotion.next.side_effect": self.mtdome_evt_az_motion_next,
  }
 
  self.mtcs.rem.mtdome.configure_mock(**mtdome_mocks)
@@ -478,35 +479,51 @@ async def _mtdome_park(self) -> None:
  # Mock implementation of cmd_park
  await asyncio.sleep(self.heartbeat_time)
  self.log.info("Dome park command executed")
- self._mtdome_evt_azMotion_state = types.SimpleNamespace(
+ self._mtdome_evt_az_motion = types.SimpleNamespace(
  state=MTDome.MotionState.PARKED, inPosition=True
  )
 
- async def mtdome_evt_az_motion_state_next(
+ self._mtdome_tel_azimuth = types.SimpleNamespace(
+ positionActual=360.0 - 32.0, # as per current logic in MTDome
+ # do_park: 360.0 - DOME_AZIMUTH_OFFSET
+ positionCommanded=0.0,
+ )
+
+ async def mtdome_cmd_move_az(self, *args: typing.Any, **kwargs: typing.Any) -> None:
+ asyncio.create_task(self._mtdome_move_az())
+
+ async def _mtdome_move_az(self, *args: typing.Any, **kwargs: typing.Any) -> None:
+ # Mock implementation of dome park , unpark and slew_dome_to
+ self.log.info("Dome moveAz command executed")
+ await asyncio.sleep(self.heartbeat_time * 2)
+ # This wait time and Dome MotionSate MOVING is to mock the
+ # test_unpark_dome
+ self._mtdome_evt_az_motion = types.SimpleNamespace(
+ state=MTDome.MotionState.MOVING, inPosition=False
+ )
+
+ # The following delay is timed so that the MOVING state above
+ # remains long enough for the test_unpark_dome to pick it
+ # up and complete successfully. Same wise the test_slew_dome_to
+ # expects at some point an ENABLED and inPosition.
+ await asyncio.sleep(self.heartbeat_time * 3)
+ self.log.info("Slew dome to azimuth command executed")
+ self._mtdome_evt_az_motion = types.SimpleNamespace(
+ state=MTDome.MotionState.ENABLED, inPosition=True
+ )
+
+ async def mtdome_evt_az_motion_next(
  self, *args: typing.Any, **kwargs: typing.Any
  ) -> types.SimpleNamespace:
  await asyncio.sleep(self.heartbeat_time * 3)
- return self._mtdome_evt_azMotion_state
+ return self._mtdome_evt_az_motion
 
  async def mtm1m3_evt_detailed_state(
  self, *args: typing.Any, **kwargs: typing.Any
  ) -> types.SimpleNamespace:
  await asyncio.sleep(self.heartbeat_time / 4.0)
  return self._mtm1m3_evt_detailed_state
 
- async def mtdome_cmd_move_az(
- self, position: float, velocity: float, timeout: float
- ) -> None:
- asyncio.create_task(self._mtdome_move_az())
-
- async def _mtdome_move_az(self) -> None:
- # Mock implementation of cmd_moveAz
- await asyncio.sleep(self.heartbeat_time * 3)
- self.log.info("Slew dome to azimuth command executed")
- self._mtdome_evt_azMotion_state = types.SimpleNamespace(
- state=MTDome.MotionState.ENABLED, inPosition=True
- )
-
  async def mtm1m3_evt_hp_test_status(
  self, *args: typing.Any, **kwargs: typing.Any
  ) -> types.SimpleNamespace:

tests/maintel/test_mtcs.py

@@ -782,6 +782,21 @@ async def test_park_dome(self) -> None:
  ), "Dome did not reach the PARKED state."
  assert az_motion.inPosition, "Dome is not in position."
 
+ async def test_unpark_dome(self) -> None:
+ await self.mtcs.enable()
+ await self.mtcs.assert_all_enabled()
+
+ # set initial PARKED state
+ await self.mtcs.park_dome()
+
+ await self.mtcs.unpark_dome()
+
+ az_motion = await self.mtcs.rem.mtdome.evt_azMotion.aget()
+
+ assert (
+ az_motion.state != MTDome.MotionState.PARKED
+ ), "Dome still in PARKED state."
+
  async def test_slew_dome_to(self) -> None:
  az = 90.0