MockModel

class lsst.ts.m2com.MockModel(log: Logger | None = None, inclinometer_angle: float = 90.0, telemetry_interval: float = 0.05, communication_voltage: float = 23.0, communication_current: float = 6.5, motor_voltage: float = 23.0, motor_current: float = 8.5)

Bases: object

Mock Model class.

Parameters

loglogging.Logger or None, optional

A logger. If None, a logger will be instantiated. (the default is None)

inclinometer_anglefloat, optional

Inclinometer angle in degree. (the default is 90.0)

telemetry_intervalfloat, optional

Telemetry interval in second. (the default is 0.05, which means 20 Hz)

communication_voltagefloat, optional

Communication voltage in volt if the power is on. (the default is 23.0)

communication_currentfloat, optional

Communication current in ampere if the power is on. (the default is 6.5)

motor_voltagefloat, optional

Motor voltage in volt if the power is on. (the default is 23.0)

motor_currentfloat, optional

Motor current in ampere if the power is on. (the default is 8.5)

Attributes

loglogging.Logger

A logger.

control_open_loopMockControlOpenLoop

Open-loop control.

control_closed_loopMockControlClosedLoop

Closed-loop control.

telemetry_intervalfloat

Telemetry interval in second.

inclinometer_anglefloat

Inclinometer angle in degree.

inclinometer_angle_externalfloat

External inclinometer angle in degree. This has the same coordinate system of look-up table angle.

control_parametersdict

Control parameters in the closed-loop controller (CLC).

mirror_positiondict

Mirror’s position. The key is the axis (x, y, z, xRot, yRot, zRot) of mirror. The units are the micron and arcsec.

steps_hardpoints_offsetnumpy.ndarray [int]

Offset of the hardpoint steps. This is used in the rigid body movement.

power_communicationMockPowerSystem

Power system of communication.

power_motorMockPowerSystem

Power system of motor.

in_positionbool

M2 assembly is in position or not.

list_ilclist [MockInnerLoopController]

List of the inner-loop controllers (ILC).

mtmount_in_positionbool

MTMount in position or not.

script_engineMockScriptEngine

Script engine to run the binary script.

error_handlerMockErrorHandler

Error handler to manage the error codes.

plantMockPlant

Plant model.

Attributes Summary

digital_input_communication	Updated digital input when the communication power is on.
digital_input_default	Default digital input defined with the enum 'DigitalInput'.
digital_input_motor	Updated digital input when the motor power is on.
digital_output_default	Default digital output defined with the enum 'DigitalOutput'.
position_limit_radial	Mirror radial motion limit (in mm).
position_limit_z	Mirror motion limit in the optical direction (in mm).

Methods Summary

balance_forces_and_steps([do_update, ...])	Balance the forces and steps.
check_set_point_position_mirror(...)	Check the set point of mirror's position.
clear_errors()	Clear the errors.
configure(config_dir, lut_path)	Do the configuration.
enable_open_loop_max_limit(status)	Enable the maximum limit of open-loop control.
fault(error_code)	Fault the model.
get_current_hardpoint_displacement()	Get the current hardpoint displacements in meter.
get_default_mirror_position()	Get the default mirror position.
get_digital_input()	Get the value of digital input that represents the current state of the system.
get_digital_output()	Get the value of digital output.
get_mode_ilc(addresses)	Get the mode of inner-loop controller (ILC).
get_telemetry_data()	Get the telemetry data.
handle_position_mirror(mirror_position_set_point)	Handle positioning the mirror.
is_actuator_force_out_limit()	The actuator force is out of limit or not.
is_force_error_tangent_out_limit()	The force error of tangent link is out of limit or not.
reset_breakers(power_type)	Reset the breakers.
set_inclinometer_angle(angle[, is_external])	Set the angle of inclinometer.
set_mode_ilc(addresses, mode)	Set the mode of inner-loop controller (ILC).
switch_digital_output(digital_output, bit, ...)	Switch the digital output with the specific bit.
switch_force_balance_system(status)	Switch the force balance system.

Attributes Documentation

digital_input_communication

Updated digital input when the communication power is on.

digital_input_default

Default digital input defined with the enum ‘DigitalInput’.

digital_input_motor

Updated digital input when the motor power is on.

digital_output_default

Default digital output defined with the enum ‘DigitalOutput’.

position_limit_radial

Mirror radial motion limit (in mm).

position_limit_z

Mirror motion limit in the optical direction (in mm).

Methods Documentation

balance_forces_and_steps(do_update: bool = True, steps_rigid_body: int = 100) → bool

Balance the forces and steps.

Notes

This function will check the actuators are in position or not and udpate the self.in_position after doing the force dynamics.

Parameters

do_updatebool, optional

If True, update the internal data. Otherwise, no update. (the default is True)

steps_rigid_bodyint, optional

Steps to run for the rigid body movement. (the default is 100)

Raises

RuntimeError

When the open-loop and closed-loop controls are running at the same time.

check_set_point_position_mirror(mirror_position_set_point: dict) → bool

Check the set point of mirror’s position.

Parameters

mirror_position_set_pointdict

Dictionary with the same format as self.mirror_position.

Returns

bool

True if all check pass. Otherwise, False.

clear_errors() → None

Clear the errors.

configure(config_dir: Path, lut_path: str) → None

Do the configuration.

Parameters

config_dirpathlib.PosixPath

Configuration directory.

lut_pathstr

Look-up table (LUT) path.

enable_open_loop_max_limit(status: bool) → bool

Enable the maximum limit of open-loop control.

Parameters

statusbool

True if allow the maximum limit of open-loop control. Otherwise, False.

Returns

resultbool

True if succeeds. Otherwise, False.

fault(error_code: MockErrorCode) → None

Fault the model.

Parameters

error_codeenum MockErrorCode

Error code.

get_current_hardpoint_displacement() → ndarray[Any, dtype[float64]]

Get the current hardpoint displacements in meter.

Returns

numpy.ndarray

Current hardpoint displacements in meter.

get_default_mirror_position() → dict

Get the default mirror position.

Returns

dict

Default mirror position. The key is axis.

get_digital_input() → int

Get the value of digital input that represents the current state of the system.

Returns

digital_inputint

Value of the digital input.

get_digital_output() → int

Get the value of digital output.

Returns

digital_outputint

Value of the digital output.

get_mode_ilc(addresses: list[int]) → list[lsst.ts.xml.enums.MTM2.InnerLoopControlMode]

Get the mode of inner-loop controller (ILC).

Parameters

addresseslist [int]

0-based addresses.

Returns

list_modelist [MTM2.InnerLoopControlMode]

List of the ILC mode.

get_telemetry_data() → dict

Get the telemetry data.

Returns

telemetry_datadict

Telemetry data.

handle_position_mirror(mirror_position_set_point: dict) → None

Handle positioning the mirror.

Notes

This translates the “Context.move.vi” in ts_mtm2_cell.

Parameters

mirror_position_set_pointdict

Dictionary with the same format as self.mirror_position.

is_actuator_force_out_limit() → tuple[bool, lsst.ts.m2com.enum.MockErrorCode, list, list]

The actuator force is out of limit or not.

By default, return the judgement based on the open-loop control. If the closed-loop control is running, return the result based on it.

Returns

is_out_limitbool

True if the actuator force is out of limit. Otherwise, False.

error_codeenum MockErrorCode

Error code.

limit_switches_retractlist

Triggered retracted limit switches.

limit_switches_extendlist

Triggered extended limit switches.

is_force_error_tangent_out_limit() → tuple[bool, lsst.ts.m2com.enum.MockErrorCode]

The force error of tangent link is out of limit or not.

This function is translated from TangentLoadCellFaultDetection.vi in ts_mtm2 LabVIEW project.

Returns

is_out_limitbool

True if the force error is out of limit. Otherwise, False.

error_codeenum MockErrorCode

Error code.

reset_breakers(power_type: PowerType) → bool

Reset the breakers.

Parameters

power_typeMTM2.PowerType

Power type.

Returns

resultbool

True if succeeds. Otherwise, False.

set_inclinometer_angle(angle: float, is_external: bool = False) → None

Set the angle of inclinometer.

Parameters

anglefloat

Inclinometer angle in degree.

is_externalbool, optional

Is the external inclinometer angle or not. (the default is False)

set_mode_ilc(addresses: list[int], mode: InnerLoopControlMode) → None

Set the mode of inner-loop controller (ILC).

Parameters

addresseslist [int]

0-based addresses.

modeenum MTM2.InnerLoopControlMode

ILC mode.

switch_digital_output(digital_output: int, bit: DigitalOutput, status: DigitalOutputStatus) → int

Switch the digital output with the specific bit.

Parameters

digital_outputint

Digital output.

bitenum DigitalOutput

Bit to switch.

statusenum DigitalOutputStatus

Digital output status.

Returns

int

Updated value of the digital output.

Raises

RuntimeError

If the status is not supported.

switch_force_balance_system(status: bool) → bool

Switch the force balance system.

Parameters

statusbool

True if turn on the force balance system. Otherwise, False.

Returns

resultbool

True if succeeds. Otherwise, False.