Merge branch 'main' into hwp-acu-checks

.pre-commit-config.yaml

@@ -12,10 +12,10 @@ repos:
     - id: isort
       name: isort (python)
 -   repo: https://github.com/hhatto/autopep8
-    rev: v2.2.0
+    rev: v2.3.1
     hooks:
     -   id: autopep8
 -   repo: https://github.com/pycqa/flake8
-    rev: 7.0.0
+    rev: 7.1.0
     hooks:
     -   id: flake8

docs/agents/wiregrid_tiltsensor.rst

@@ -0,0 +1,70 @@
+.. highlight:: rst
+
+.. _wiregrid_tiltsensor:
+
+==========================
+Wiregrid Tilt Sensor Agent
+==========================
+
+The Wiregrid Tilt Sensor Agent records the wire-grid tilt sensor outputs
+related to the tilt angle of the wire-grid plane along the gravitaional direction.
+There is two types of tilt sensors, DWL and sherborne.
+The tilt sensor data is sent via serial-to-ethernet converter.
+The converter is linked to the tilt sensor
+via RS-422(DWL) or RS-485(sherborne), D-sub 9-pin cable.
+The agent communicates with the converter via Ethernet.
+
+.. argparse::
+   :filename: ../socs/agents/wiregrid_tiltsensor/agent.py
+   :func: make_parser
+   :prog: python3 agent.py
+
+Configuration File Examples
+---------------------------
+
+Below are configuration examples for the ocs config file and for running the
+Agent in a docker container.
+
+OCS Site Config
+````````````````
+
+An example site-config-file block::
+
+    {'agent-class': 'WiregridTiltSensorAgent',
+     'instance-id': 'wg-tilt-sensor',
+     'arguments': ['--ip-address', '192.168.11.27',
+                   '--port', '32',
+                   '--sensor-type', 'DWL']},
+
+- ``ip-address`` is an IP address of the serial-to-ethernet converter.
+- ``port`` is an asigned port for the tilt sensor.
+  (The converter has four D-sub ports, 23, 26, 29, 32, to control
+  multiple devices connected via serial communication.
+  Communicating device is determined by the ethernet port number of the converter.)
+- ``sensor_type`` represents the type of tilt sensor to communicate with.
+  We have the two types of tilt sensor, DWL and sherborne.
+  Available values of this argument are only 'DWL' or 'sherborne',
+  and depend on SATp.
+
+Docker Compose
+``````````````
+
+An example docker-compose configuration::
+
+    ocs-wg-tilt-sensor-agent:
+      image: simonsobs/socs:latest
+      hostname: ocs-docker
+      network_mode: "host"
+      command:
+        - INSTANCE_ID=wg-tilt-sensor
+      volumes:
+        - ${OCS_CONFIG_DIR}:/config:ro
+
+- Since the agent within the container needs to communicate with hardware on the
+  host network you must use ``network_mode: "host"`` in your compose file.
+
+Agent API
+---------
+
+.. autoclass:: socs.agents.wiregrid_tiltsensor.agent.WiregridTiltSensorAgent
+    :members:

docs/index.rst

@@ -82,6 +82,7 @@ API Reference        Full API documentation for core parts of the SOCS library.
     agents/wiregrid_actuator
     agents/wiregrid_encoder
     agents/wiregrid_kikusui
+    agents/wiregrid_tiltsensor
 
 .. toctree::
     :caption: Simulator Reference

docs/requirements.txt

@@ -1,3 +1,4 @@
 sphinx>=5.0.0
 sphinx_rtd_theme>=2.0.0
-sphinx-argparse>=0.4.0
+# unpin when https://github.com/sphinx-doc/sphinx-argparse/issues/56 is fixed
+sphinx-argparse==0.4.0

socs/agents/hwp_supervisor/agent.py

@@ -118,12 +118,12 @@ class HWPClients:
 class IBootState:
     instance_id: str
     outlets: List[int]
+    agent_type: Literal['iboot, synaccess']
     outlet_state: Dict[int, Optional[int]] = None
     op_data: Optional[Dict] = None
 
     def __post_init__(self):
         self.outlet_state = {o: None for o in self.outlets}
-        self.outlet_labels = {o: f'outletStatus_{o}' for o in self.outlets}
 
     def update(self):
         op = get_op_data(self.instance_id, 'acq', test_mode=False)
@@ -132,10 +132,23 @@ def update(self):
             self.outlet_state = {o: None for o in self.outlets}
             return
 
-        self.outlet_state = {
-            outlet: op['data'][label]['status']
-            for outlet, label in self.outlet_labels.items()
-        }
+        if self.agent_type == 'iboot':
+            self.outlet_labels = {o: f'outletStatus_{o}' for o in self.outlets}
+            self.outlet_state = {
+                outlet: op['data'][label]['status']
+                for outlet, label in self.outlet_labels.items()
+            }
+        elif self.agent_type == 'synaccess':
+            self.outlet_labels = {o: str(o - 1) for o in self.outlets}
+            self.outlet_state = {
+                outlet: op['data']['fields'][label]['status']
+                for outlet, label in self.outlet_labels.items()
+            }
+        else:
+            raise ValueError(
+                f"Invalid agent_type: {self.agent_type}. "
+                "Must be in ['iboot', 'synaccess']"
+            )
 
 
 @dataclass
@@ -238,13 +251,15 @@ def from_args(cls, args: argparse.Namespace):
         )
 
         if args.gripper_iboot_id is not None:
-            self.gripper_iboot = IBootState(args.gripper_iboot_id, args.gripper_iboot_outlets)
+            self.gripper_iboot = IBootState(args.gripper_iboot_id, args.gripper_iboot_outlets,
+                                            args.gripper_power_agent_type)
             log.info("Gripper Ibootbar id set: {id}", id=args.gripper_iboot_id)
         else:
             log.warn("Gripper Ibootbar id not set")
 
         if args.driver_iboot_id is not None:
-            self.driver_iboot = IBootState(args.driver_iboot_id, args.driver_iboot_outlets)
+            self.driver_iboot = IBootState(args.driver_iboot_id, args.driver_iboot_outlets,
+                                           args.driver_power_agent_type)
             log.info("Driver Ibootbar id set: {id}", id=args.driver_iboot_id)
         else:
             log.warn("Driver Ibootbar id not set")
@@ -284,6 +299,7 @@ def update_enc_state(self, op):
         """
         self._update_from_keymap(op, {
             'enc_freq': 'approx_hwp_freq',
+            'encoder_last_updated': 'encoder_last_updated',
             'last_quad': 'last_quad',
             'last_quad_time': 'last_quad_time',
         })
@@ -1555,6 +1571,9 @@ def make_parser(parser=None):
     pgroup.add_argument(
         '--gripper-iboot-outlets', nargs='+', type=int,
         help="Outlets for gripper iboot power")
+    pgroup.add_argument(
+        '--gripper-power-agent-type', choices=['iboot', 'synaccess'], default=None,
+        help="Type of agent used for controlling the gripper power")
 
     pgroup.add_argument(
         '--acu-instance-id',

socs/agents/ocs_plugin_so.py

@@ -54,5 +54,6 @@
         ('WiregridActuatorAgent', 'wiregrid_actuator/agent.py'),
         ('WiregridEncoderAgent', 'wiregrid_encoder/agent.py'),
         ('WiregridKikusuiAgent', 'wiregrid_kikusui/agent.py'),
+        ('WiregridTiltSensorAgent', 'wiregrid_tiltsensor/agent.py'),
 ]:
     ocs.site_config.register_agent_class(n, os.path.join(root, f))

socs/agents/pysmurf_controller/agent.py

@@ -24,7 +24,7 @@
 from sodetlib.operations import bias_dets
 
 from socs.agents.pysmurf_controller.smurf_subprocess_util import (
-    RunCfg, RunResult, run_smurf_func)
+    QuantileData, RunCfg, RunResult, run_smurf_func)
 
 
 class PysmurfScriptProtocol(protocol.ProcessProtocol):
@@ -129,7 +129,10 @@ def __init__(self, agent, args):
                 'observatory.{}.feeds.pysmurf_session_data'.format(args.monitor_id),
             )
 
-        self.agent.register_feed('bias_step_quantiles', record=True)
+        self.agent.register_feed('bias_step_results', record=True)
+        self.agent.register_feed('noise_results', record=True)
+        self.agent.register_feed('iv_results', record=True)
+        self.agent.register_feed('bias_wave_results', record=True)
 
     def _on_session_data(self, _data):
         data, feed = _data
@@ -655,6 +658,18 @@ def take_noise(self, session, params):
 
             result = run_smurf_func(cfg)
             set_session_data(session, result)
+            if result.success:
+                block_data = {}
+                for qd in result.return_val['quantiles'].values():
+                    if isinstance(qd, dict):
+                        qd = QuantileData(**qd)
+                    block_data.update(qd.to_block_data())
+                d = {
+                    'timestamp': time.time(),
+                    'block_name': 'noise_results',
+                    'data': block_data
+                }
+                self.agent.publish_to_feed('noise_results', d)
             return result.success, "Finished taking noise"
 
     @ocs_agent.param('kwargs', default=None)
@@ -747,11 +762,11 @@ def take_iv(self, session, params):
 
             >> response.session['data']
             {
-                'bands': Bands number of each resonator
-                'channels': Channel number of each resonator
-                'bgmap': BGMap assignment for each resonator
-                'R_n': Normal resistance for each resonator
                 'filepath': Filepath of saved IVAnalysis object
+                'quantiles': {
+                    'Rn': Rn quantiles
+                    'p_sat': electrical power at 90% Rn quantiles
+                }
             }
         """
         if params['kwargs'] is None:
@@ -770,6 +785,18 @@ def take_iv(self, session, params):
             )
             result = run_smurf_func(cfg)
             set_session_data(session, result)
+            if result.success:
+                block_data = {}
+                for qd in result.return_val['quantiles'].values():
+                    if isinstance(qd, dict):
+                        qd = QuantileData(**qd)
+                    block_data.update(qd.to_block_data())
+                d = {
+                    'timestamp': time.time(),
+                    'block_name': 'iv_results',
+                    'data': block_data
+                }
+                self.agent.publish_to_feed('iv_results', d)
             return result.success, "Finished taking IV"
 
     @ocs_agent.param('kwargs', default=None)
@@ -807,14 +834,11 @@ def take_bias_steps(self, session, params):
                 'filepath': Filepath of saved BiasStepAnalysis object
                 'biased_total': Total number of detectors biased into rfrac_range
                 'biased_per_bg': List containing number of biased detectors on each bias line
-                'Rtes_quantiles': {
-                    'Rtes': List of 15%, 25%, 50%, 75%, 85% Rtes quantiles,
-                    'quantiles': List of quantile labels
-                    'count': Total count of the distribution
+                'quantiles': {
+                    'Rtes': Rtes quantiles,
+                    'Rfrac': Rfrac quantiles,
+                    'Si': Si quantiles,
                 }
-                'responsivity_quantiles': Same as above for responsivity
-                'Rfrac_quantiles': Same as above for Rfrac
-
             }
         """
 
@@ -838,15 +862,21 @@ def take_bias_steps(self, session, params):
             result = run_smurf_func(cfg)
             set_session_data(session, result)
             if result.success:  # Publish quantile results
-                for name, d in result.return_val['quantiles'].items():
-                    block = dict(zip(d['labels'], d['values']))
-                    block[f'{name}_count'] = d['count']
-                    pub_data = {
-                        'timestamp': time.time(),
-                        'block_name': f'{name}_quantile',
-                        'data': block
-                    }
-                    self.agent.publish_to_feed('bias_step_quantiles', pub_data)
+                block_data = {
+                    f'biased_bg{bg}': v
+                    for bg, v in enumerate(result.return_val['biased_per_bg'])
+                }
+                block_data['biased_total'] = result.return_val['biased_total']
+                for qd in result.return_val['quantiles'].values():
+                    if isinstance(qd, dict):
+                        qd = QuantileData(**qd)
+                    block_data.update(qd.to_block_data())
+                data = {
+                    'timestamp': time.time(),
+                    'block_name': 'bias_steps_results',
+                    'data': block_data
+                }
+                self.agent.publish_to_feed('bias_step_results', data)
 
             return result.success, "Finished taking bias steps"
 
@@ -883,14 +913,11 @@ def take_bias_waves(self, session, params):
                 'filepath': Filepath of saved BiasWaveAnalysis object
                 'biased_total': Total number of detectors biased into rfrac_range
                 'biased_per_bg': List containing number of biased detectors on each bias line
-                'Rtes_quantiles': {
-                    'Rtes': List of 15%, 25%, 50%, 75%, 85% Rtes quantiles,
-                    'quantiles': List of quantile labels
-                    'count': Total count of the distribution
+                'quantiles': {
+                    'Rtes': Rtes quantiles,
+                    'Rfrac': Rfrac quantiles,
+                    'Si': Si quantiles,
                 }
-                'responsivity_quantiles': Same as above for responsivity
-                'Rfrac_quantiles': Same as above for Rfrac
-
             }
         """
 
@@ -914,15 +941,19 @@ def take_bias_waves(self, session, params):
             result = run_smurf_func(cfg)
             set_session_data(session, result)
             if result.success:  # Publish quantile results
-                for name, d in result.return_val['quantiles'].items():
-                    block = dict(zip(d['labels'], d['values']))
-                    block[f'{name}_count'] = d['count']
-                    pub_data = {
-                        'timestamp': time.time(),
-                        'block_name': f'{name}_quantile',
-                        'data': block
-                    }
-                    self.agent.publish_to_feed('bias_wave_quantiles', pub_data)
+                block_data = {
+                    f'biased_bg{bg}': v
+                    for bg, v in enumerate(result.return_val['biased_per_bg'])
+                }
+                block_data['biased_total'] = result.return_val['biased_total']
+                for qd in result.return_val['quantiles'].values():
+                    block_data.update(QuantileData(**qd).to_block_data())
+                data = {
+                    'timestamp': time.time(),
+                    'block_name': 'bias_wave_results',
+                    'data': block_data
+                }
+                self.agent.publish_to_feed('bias_wave_results', data)
 
             return result.success, "Finished taking bias steps"