Merge pull request #107 from lsst-ts/tickets/DM-41081

Update ``MTCS.move_rotator`` with new ``wait_for_in_position`` option

doc/version_history.rst

@@ -11,6 +11,7 @@ v0.31.0
 
 * Add ``LSSTCam`` class to interface with the LSSTCam CSC using the ``BaseCamera`` interface.
 * In ``constants/latiss_constants.py``, update blue300lppm_qn1, holo4_003, and holo4_001 sweet spots.
+* Add new option to ``MTCS.move_rotator`` to allow the function to return before the rotator is in position.
 
 v0.30.5
 -------

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

@@ -1567,25 +1567,33 @@ async def move_camera_hexapod(
             component_name="Camera Hexapod",
         )
 
-    async def move_rotator(self, position: float) -> None:
+    async def move_rotator(
+        self, position: float, wait_for_in_position: bool = True
+    ) -> None:
         """Move rotator to specified position and wait for movement to
         complete.
 
         Parameters
         ----------
         position : `float`
             Desired rotator position (deg).
+        wait_for_in_position : `bool`, optional
+            Wait for rotator to reach desired position before returning the
+            function? Default True.
         """
 
         await self.rem.mtrotator.cmd_move.set_start(
             position=position, timeout=self.long_timeout
         )
 
-        await self._handle_in_position(
-            in_position_event=self.rem.mtrotator.evt_inPosition,
-            timeout=self.long_long_timeout,
-            component_name="MTRotator",
-        )
+        if wait_for_in_position:
+            await self._handle_in_position(
+                in_position_event=self.rem.mtrotator.evt_inPosition,
+                timeout=self.long_long_timeout,
+                component_name="MTRotator",
+            )
+        else:
+            self.log.warning("Not waiting for rotator to reach desired position.")
 
     async def move_m2_hexapod(
         self,

tests/maintel/test_mtcs.py

@@ -1538,6 +1538,17 @@ async def test_move_rotator(self) -> None:
             timeout=self.mtcs.long_long_timeout, flush=False
         )
 
+    async def test_move_rotator_without_wait(self) -> None:
+        position = 10.0
+
+        await self.mtcs.move_rotator(position=position, wait_for_in_position=False)
+
+        self.mtcs.rem.mtrotator.cmd_move.set_start.assert_awaited_with(
+            position=position, timeout=self.mtcs.long_timeout
+        )
+        self.mtcs.rem.mtrotator.evt_inPosition.aget.assert_not_awaited()
+        self.mtcs.rem.mtrotator.evt_inPosition.next.assert_not_awaited()
+
     async def test_move_camera_hexapod(self) -> None:
         hexapod_positions = dict([(axis, np.random.rand()) for axis in "xyzuv"])