Merge pull request #170 from lsst-ts/tickets/DM-46179

DM-46179 Extend TCS readiness check to other image types beyond OBJECT

doc/news/DM-46179.bugfix.rst

@@ -0,0 +1 @@
+Fix MTRotator enumeration from INITIALIZING to STATIONARY

doc/news/DM-46179.feature.rst

@@ -0,0 +1,2 @@
+Extend TCS readiness check to other image types beyond OBJECT, such as:
+ENGTEST, CWFS and ACQ.

doc/news/DM-46179.removal.rst

@@ -0,0 +1 @@
+In MTCSAsyncMock remove old idl.enums import in favor of new xml.enums

python/lsst/ts/observatory/control/base_camera.py

@@ -965,7 +965,8 @@ async def take_imgtype(
         if imgtype not in ["BIAS", "DARK"]:
             await self.setup_instrument(**kwargs)
 
-        if imgtype == "OBJECT" and self.ready_to_take_data is not None:
+        tcs_ready_imgtypes = ["OBJECT", "ENGTEST", "ACQ", "CWFS"]
+        if imgtype in tcs_ready_imgtypes and self.ready_to_take_data is not None:
             self.log.debug(f"imagetype: {imgtype}, wait for TCS to be ready.")
             try:
                 await asyncio.wait_for(
@@ -977,7 +978,7 @@ async def take_imgtype(
                     "Timeout waiting for TCS to report as ready to take data "
                     f"(timeout={self.max_tcs_wait_time})."
                 )
-        elif imgtype == "OBJECT" and self.ready_to_take_data is None:
+        elif imgtype in tcs_ready_imgtypes and self.ready_to_take_data is None:
             self.log.debug(f"imagetype: {imgtype}, TCS synchronization not configured.")
         else:
             self.log.debug(f"imagetype: {imgtype}, skip TCS synchronization.")

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

@@ -26,6 +26,7 @@
 import typing
 
 import astropy
+import pytest
 from lsst.ts import utils
 from lsst.ts.observatory.control import CameraExposure
 from lsst.ts.observatory.control.mock import RemoteGroupAsyncMock
@@ -785,6 +786,60 @@ def assert_take_calibration(self, expected_camera_exposure: CameraExposure) -> N
             "await counts for cmd_discardRows.set_start."
         )
 
+    async def assert_take_image_tcs_sync(
+        self,
+        image_type: str,
+        exptime: float = 1.0,
+        n: int = 1,
+        should_fail: bool = False,
+        **kwargs: typing.Any,
+    ) -> None:
+        """Test that taking an image of a given type waits for TCS readiness
+        and asserts the camera commands.
+
+        Parameters
+        ----------
+        image_type : str
+            The image type to test (e.g., "OBJECT", "ENGTEST", "ACQ","CWFS").
+        exptime : float
+            Exposure time.
+        n : int
+            Number of images to take.
+        should_fail : bool
+            If True, simulate TCS failure and expect a RuntimeError.
+        **kwargs
+            Additional arguments to pass to the `assert_take_<type>` method.
+        """
+        image_type_lower = image_type.lower()
+
+        assert_method_name = f"assert_take_{image_type_lower}"
+
+        assert_take_method = getattr(self, assert_method_name, None)
+
+        if assert_take_method is None:
+            raise AttributeError(
+                f"No method found for image type '{image_type}'. "
+                f"Ensure that '{assert_method_name}' exist."
+            )
+
+        with self.get_fake_tcs() as fake_tcs:
+            fake_tcs.fail = should_fail
+
+            if should_fail:
+                with pytest.raises(RuntimeError):
+                    await assert_take_method(
+                        exptime=exptime,
+                        n=n,
+                        **kwargs,
+                    )
+            else:
+                await assert_take_method(
+                    exptime=exptime,
+                    n=n,
+                    **kwargs,
+                )
+                assert fake_tcs.called == 1
+
     @contextlib.contextmanager
     def get_fake_tcs(self) -> typing.Generator[FakeTCS, None, None]:
         fake_tcs = FakeTCS(self.log)

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

@@ -25,11 +25,10 @@
 import typing
 
 import numpy as np
-from lsst.ts import idl, utils
-from lsst.ts.idl.enums import MTM1M3
+from lsst.ts import utils, xml
 from lsst.ts.observatory.control.maintel.mtcs import MTCS, MTCSUsages
 from lsst.ts.observatory.control.mock import RemoteGroupAsyncMock
-from lsst.ts.xml.enums import MTDome
+from lsst.ts.xml.enums import MTM1M3, MTDome
 
 
 class MTCSAsyncMock(RemoteGroupAsyncMock):
@@ -106,7 +105,7 @@ async def setup_types(self) -> None:
         )
         self._mtrotator_evt_in_position = types.SimpleNamespace(inPosition=True)
         self._mtrotator_evt_controller_state = types.SimpleNamespace(
-            enabledSubstate=idl.enums.MTRotator.EnabledSubstate.INITIALIZING
+            enabledSubstate=xml.enums.MTRotator.EnabledSubstate.STATIONARY
         )
 
         # MTDome data
@@ -127,19 +126,19 @@ async def setup_types(self) -> None:
 
         # MTM1M3 data
         self._mtm1m3_evt_detailed_state = types.SimpleNamespace(
-            detailedState=idl.enums.MTM1M3.DetailedState.PARKED
+            detailedState=xml.enums.MTM1M3.DetailedState.PARKED
         )
         self._mtm1m3_evt_applied_balance_forces = types.SimpleNamespace(
             forceMagnitude=0.0
         )
         self._mtm1m3_evt_hp_test_status = types.SimpleNamespace(
-            testState=[idl.enums.MTM1M3.HardpointTest.NOTTESTED] * 6
+            testState=[xml.enums.MTM1M3.HardpointTest.NOTTESTED] * 6
         )
         self._mtm1m3_evt_force_actuator_bump_test_status = types.SimpleNamespace(
             actuatorId=0,
-            primaryTest=[idl.enums.MTM1M3.BumpTest.NOTTESTED]
+            primaryTest=[xml.enums.MTM1M3.BumpTest.NOTTESTED]
             * len(self.mtcs.get_m1m3_actuator_ids()),
-            secondaryTest=[idl.enums.MTM1M3.BumpTest.NOTTESTED]
+            secondaryTest=[xml.enums.MTM1M3.BumpTest.NOTTESTED]
             * len(self.mtcs.get_m1m3_actuator_secondary_ids()),
             primaryTestTimestamps=[0.0] * len(self.mtcs.get_m1m3_actuator_ids()),
             secondaryTestTimestamps=[0.0]
@@ -149,8 +148,8 @@ async def setup_types(self) -> None:
             slewFlag=False,
             balanceForcesApplied=False,
         )
-        self.desired_hp_test_final_status = idl.enums.MTM1M3.HardpointTest.PASSED
-        self.desired_bump_test_final_status = idl.enums.MTM1M3.BumpTest.PASSED
+        self.desired_hp_test_final_status = xml.enums.MTM1M3.HardpointTest.PASSED
+        self.desired_bump_test_final_status = xml.enums.MTM1M3.BumpTest.PASSED
 
         self.m1m3_actuator_offset = 101
 
@@ -437,11 +436,11 @@ async def mtrotator_cmd_stop(self, *args: typing.Any, **kwargs: typing.Any) -> N
 
     async def _mtrotator_stop(self) -> None:
         self._mtrotator_evt_controller_state.enabledSubstate = (
-            idl.enums.MTRotator.EnabledSubstate.CONSTANT_VELOCITY
+            xml.enums.MTRotator.EnabledSubstate.CONSTANT_VELOCITY
         )
         await asyncio.sleep(1.0)
         self._mtrotator_evt_controller_state.enabledSubstate = (
-            idl.enums.MTRotator.EnabledSubstate.STATIONARY
+            xml.enums.MTRotator.EnabledSubstate.STATIONARY
         )
 
     async def mtrotator_tel_rotation_next(
@@ -587,7 +586,7 @@ async def mtm1m3_cmd_raise_m1m3(
         if (
             raise_m1m3
             and self._mtm1m3_evt_detailed_state.detailedState
-            == idl.enums.MTM1M3.DetailedState.PARKED
+            == xml.enums.MTM1M3.DetailedState.PARKED
         ):
             self._mtm1m3_raise_task = asyncio.create_task(self.execute_raise_m1m3())
         else:
@@ -604,7 +603,7 @@ async def mtm1m3_cmd_enter_engineering(
         # since it could change considerably from what the m1m3 actually does.
         asyncio.create_task(
             self._set_m1m3_detailed_state(
-                idl.enums.MTM1M3.DetailedState.PARKEDENGINEERING
+                xml.enums.MTM1M3.DetailedState.PARKEDENGINEERING
             )
         )
 
@@ -626,7 +625,7 @@ async def mtm1m3_cmd_exit_engineering(
         # simply put m1m3 in PARKED state, regardless of which engineering
         # state it was before.
         asyncio.create_task(
-            self._set_m1m3_detailed_state(idl.enums.MTM1M3.DetailedState.PARKED)
+            self._set_m1m3_detailed_state(xml.enums.MTM1M3.DetailedState.PARKED)
         )
 
     async def mtm1m3_cmd_test_hardpoint(
@@ -658,8 +657,8 @@ async def mtm1m3_cmd_abort_raise_m1m3(
         self, *args: typing.Any, **kwargs: typing.Any
     ) -> None:
         if self._mtm1m3_evt_detailed_state.detailedState in {
-            idl.enums.MTM1M3.DetailedState.RAISINGENGINEERING,
-            idl.enums.MTM1M3.DetailedState.RAISING,
+            xml.enums.MTM1M3.DetailedState.RAISINGENGINEERING,
+            xml.enums.MTM1M3.DetailedState.RAISING,
         }:
             self._mtm1m3_abort_raise_task = asyncio.create_task(
                 self.execute_abort_raise_m1m3()
@@ -670,12 +669,12 @@ async def mtm1m3_cmd_abort_raise_m1m3(
     async def execute_raise_m1m3(self) -> None:
         self.log.debug("Start raising M1M3...")
         self._mtm1m3_evt_detailed_state.detailedState = (
-            idl.enums.MTM1M3.DetailedState.RAISING
+            xml.enums.MTM1M3.DetailedState.RAISING
         )
         await asyncio.sleep(self.execute_raise_lower_m1m3_time)
         self.log.debug("Done raising M1M3...")
         self._mtm1m3_evt_detailed_state.detailedState = (
-            idl.enums.MTM1M3.DetailedState.ACTIVE
+            xml.enums.MTM1M3.DetailedState.ACTIVE
         )
 
     async def mtm1m3_cmd_lower_m1m3(
@@ -686,7 +685,7 @@ async def mtm1m3_cmd_lower_m1m3(
         if (
             lower_m1m3
             and self._mtm1m3_evt_detailed_state.detailedState
-            == idl.enums.MTM1M3.DetailedState.ACTIVE
+            == xml.enums.MTM1M3.DetailedState.ACTIVE
         ):
             self._mtm1m3_lower_task = asyncio.create_task(self.execute_lower_m1m3())
         else:
@@ -697,12 +696,12 @@ async def mtm1m3_cmd_lower_m1m3(
     async def execute_lower_m1m3(self) -> None:
         self.log.debug("Start lowering M1M3...")
         self._mtm1m3_evt_detailed_state.detailedState = (
-            idl.enums.MTM1M3.DetailedState.LOWERING
+            xml.enums.MTM1M3.DetailedState.LOWERING
         )
         await asyncio.sleep(self.execute_raise_lower_m1m3_time)
         self.log.debug("Done lowering M1M3...")
         self._mtm1m3_evt_detailed_state.detailedState = (
-            idl.enums.MTM1M3.DetailedState.PARKED
+            xml.enums.MTM1M3.DetailedState.PARKED
         )
 
     async def execute_abort_raise_m1m3(self) -> None:
@@ -712,12 +711,12 @@ async def execute_abort_raise_m1m3(self) -> None:
 
         self.log.debug("Set m1m3 detailed state to lowering...")
         self._mtm1m3_evt_detailed_state.detailedState = (
-            idl.enums.MTM1M3.DetailedState.LOWERING
+            xml.enums.MTM1M3.DetailedState.LOWERING
         )
         await asyncio.sleep(self.execute_raise_lower_m1m3_time)
         self.log.debug("M1M3 raise task done, set detailed state to parked...")
         self._mtm1m3_evt_detailed_state.detailedState = (
-            idl.enums.MTM1M3.DetailedState.PARKED
+            xml.enums.MTM1M3.DetailedState.PARKED
         )
 
     async def mtm1m3_cmd_enable_hardpoint_corrections(
@@ -741,7 +740,7 @@ async def mtm1m3_cmd_disable_hp_corrections(
             )
 
     async def _set_m1m3_detailed_state(
-        self, detailed_state: idl.enums.MTM1M3.DetailedState
+        self, detailed_state: xml.enums.MTM1M3.DetailedState
     ) -> None:
         self.log.debug(
             f"M1M3 detailed state: {self._mtm1m3_evt_detailed_state.detailedState!r} -> {detailed_state!r}"
@@ -751,8 +750,8 @@ async def _set_m1m3_detailed_state(
 
     async def _mtm1m3_cmd_test_hardpoint(self, hp: int) -> None:
         hp_test_status = [
-            idl.enums.MTM1M3.HardpointTest.TESTINGPOSITIVE,
-            idl.enums.MTM1M3.HardpointTest.TESTINGNEGATIVE,
+            xml.enums.MTM1M3.HardpointTest.TESTINGPOSITIVE,
+            xml.enums.MTM1M3.HardpointTest.TESTINGNEGATIVE,
             self.desired_hp_test_final_status,
         ]
 
@@ -765,10 +764,10 @@ async def _mtm1m3_cmd_force_actuator_bump_test(
         self, actuator_id: int, test_primary: bool, test_secondary: bool
     ) -> None:
         bump_test_states = [
-            idl.enums.MTM1M3.BumpTest.TESTINGPOSITIVE,
-            idl.enums.MTM1M3.BumpTest.TESTINGPOSITIVEWAIT,
-            idl.enums.MTM1M3.BumpTest.TESTINGNEGATIVE,
-            idl.enums.MTM1M3.BumpTest.TESTINGNEGATIVEWAIT,
+            xml.enums.MTM1M3.BumpTest.TESTINGPOSITIVE,
+            xml.enums.MTM1M3.BumpTest.TESTINGPOSITIVEWAIT,
+            xml.enums.MTM1M3.BumpTest.TESTINGNEGATIVE,
+            xml.enums.MTM1M3.BumpTest.TESTINGNEGATIVEWAIT,
         ]
 
         if test_primary: