MockControlOpenLoop

class lsst.ts.m2com.MockControlOpenLoop

Bases: object

Mock open-loop control.

Attributes:

inclinometer_anglefloat

Inclinometer angle in degree.

open_loop_max_limit_is_enabledbool

The maximum limit of open-loop control is enabled or not.

is_runningbool

The open-loop control is running or not.

actuator_stepsnumpy.ndarray [int]

Current positions of the actuator in steps referenced to the home position.

Attributes Summary

STEP_TO_MM

Methods Summary

calculate_forces_to_positions(forces)	Calculate the forces to positions.
calculate_forces_to_steps(forces)	Calculate the forces to steps.
calculate_steps_to_forces(steps)	Calculate the steps to forces.
correct_inclinometer_angle(angle[, offset])	Correct the inclinometer's value and make sure to limit the resulting value to the indicated range: (-270, 90).
get_actuator_positions()	Get the actuator positions in millimeter.
get_forces_mirror_weight(angle)	Get the forces that bear the weight of mirror.
is_actuator_force_out_limit()	The actuator force is out of limit or not.
move_actuator_steps(actuators, steps)	Move the actuator steps.
pause()	Pause the movement.
read_file_static_transfer_matrix(filepath[, ...])	Read the file of static transfer matrix (the size is 78 x 78).
resume()	Resume the movement.
run_steps(steps)	Run the steps.
start(actuators, displacement, unit)	Start the movement.
stop()	Stop the movement.
update_actuator_steps(actuator_steps)	Update the current actuator steps referenced to the home position.

Attributes Documentation

STEP_TO_MM = 1.9967536601e-05

Methods Documentation

calculate_forces_to_positions(forces: ndarray[Any, dtype[float64]]) → ndarray[Any, dtype[float64]]

Calculate the forces to positions.

This is just an extension of self.calculate_forces_to_steps().

Parameters:

forcesnumpy.ndarray

Actuator forces in Newton.

Returns:

numpy.ndarray

Actuator positions in millimeter.

calculate_forces_to_steps(forces: ndarray[Any, dtype[float64]]) → ndarray[Any, dtype[int64]]

Calculate the forces to steps.

This is the reverse of self.calculate_steps_to_forces().

Parameters:

forcesnumpy.ndarray

Actuator forces in Newton.

Returns:

numpy.ndarray [int]

Actuator steps.

calculate_steps_to_forces(steps: ndarray[Any, dtype[int64]]) → ndarray[Any, dtype[float64]]

Calculate the steps to forces.

This function is translated from vendor’s original LabVIEW code. The static transfer matrix is used to simlulate the force change of actuator’s movement.

Parameters:

stepsnumpy.ndarray [int]

Actuator steps.

Returns:

numpy.ndarray

Actuator forces in Newton.

correct_inclinometer_angle(angle: float, offset: float = 0.94) → float

Correct the inclinometer’s value and make sure to limit the resulting value to the indicated range: (-270, 90).

This function is translated from vendor’s original LabVIEW code. The hard-coded range is related to the configuration of inclinometer in the mirror assembly.

Parameters:

anglefloat

Inclinometer angle in degree.

offsetfloat, optional

Offset in degree. The default value is hard-coded in the LabVIEW’s project. (the default is 0.94)

Returns:

angle_correctfloat

Corrected inclinometer angle in degree.

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

Get the actuator positions in millimeter.

Returns:

numpy.ndarray

Actuator positions in millimeter.

get_forces_mirror_weight(angle: float) → ndarray[Any, dtype[float64]]

Get the forces that bear the weight of mirror.

This function is translated from vendor’s original LabVIEW code. This is just an estimation of forces.

Parameters:

anglefloat

Inclinometer angle in degree.

Returns:

forcesnumpy.ndarray

Forces to support the mirror in Newton.

is_actuator_force_out_limit() → tuple[bool, list, list]

The actuator force is out of limit or not. The result will depend on self.open_loop_max_limit_is_enabled.

Returns:

bool

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

list

Triggered retracted limit switches.

list

Triggered extended limit switches.

move_actuator_steps(actuators: list[int] | numpy.ndarray[Any, numpy.dtype[numpy.int64]], steps: int | list[int] | numpy.ndarray[Any, numpy.dtype[numpy.int64]]) → None

Move the actuator steps.

Parameters:

actuatorslist [int] or numpy.ndarray [int]

Actuator IDs to do the movement.

stepsint, list [int] or numpy.ndarray [int]

Actuator steps to move.

Raises:

ValueError

When the data type is not integer.

RuntimeError

When the actuator force is out of limit.

pause() → None

Pause the movement.

read_file_static_transfer_matrix(filepath: str | pathlib.Path, skiprows: int = 7) → None

Read the file of static transfer matrix (the size is 78 x 78).

This file comes from the vender’s original project used in the simulation purpose.

Parameters:

filepathstr or pathlib.PosixPath

File path of the static transfer matrix.

skiprowsint, optional

Number of lines to skip (int) at the start of the file. (the default is 7)

resume() → None

Resume the movement.

Raises:

RuntimeError

When the movement is done.

run_steps(steps: int) → None

Run the steps.

If the requested displacement is done or the actuator force is out of limit, the value of self.is_running will change to False.

Parameters:

stepsint

Absolute steps (>=0) to move. The internal calculation will consider the direction of target displacement by itself.

Raises:

RuntimeError

When the actuators are not running.

ValueError

When the steps is less than 0.

start(actuators: list[int], displacement: int | float, unit: ActuatorDisplacementUnit) → None

Start the movement.

Parameters:

actuatorslist [int]

Actuator IDs to do the movement.

displacementint or float

Displacement to move.

unitenum ActuatorDisplacementUnit

Unit of the displacement.

Raises:

RuntimeError

When the actuators are moving.

ValueError

When no actuators are selected.

stop() → None

Stop the movement.

update_actuator_steps(actuator_steps: ndarray[Any, dtype[int64]]) → None

Update the current actuator steps referenced to the home position.

Parameters:

actuator_stepsnumpy.ndarray [int]

New current positions of the actuator in steps.

Raises:

ValueError

When the length of actuators does not match.

ValueError

When the data type is not integer.