async def assert_dome_az(self, azimuth, move_expected):
"""Check the ATDome and ATDomeController commanded azimuth.
Parameters
----------
expected_azimuth : `float`
Expected new azimuth position (deg);
ignored if ``move_expected`` false.
move_expected : `bool`
Is a move expected?
Notes
-----
If ``move_expected`` then read the next ``azimuthCommandedState``
ATDome event.
Otherwise try to read the next event and expect it to time out.
"""
if move_expected:
az_cmd_state = await self.assert_next_sample(
self.dome_remote.evt_azimuthCommandedState,
commandedState=AzimuthCommandedState.GOTOPOSITION,
)
utils.assert_angles_almost_equal(az_cmd_state.azimuth, azimuth)
else:
with self.assertRaises(asyncio.TimeoutError):
await self.dome_remote.evt_azimuthCommandedState.next(
flush=False, timeout=NODATA_TIMEOUT)
async def assert_dome_azimuth(self, expected_azimuth, move_expected):
"""Check the Dome and MTDomeController commanded azimuth.
Parameters
----------
expected_azimuth : `float`
Expected new azimuth position (deg);
ignored if ``move_expected`` false.
move_expected : `bool`
Is a move expected?
Notes
-----
If ``move_expected`` then read the next ``azTarget`` MTDome event.
Otherwise try to read the next event and expect it to time out.
"""
if move_expected:
dome_azimuth_target = await self.dome_remote.evt_azTarget.next(
flush=False, timeout=STD_TIMEOUT)
utils.assert_angles_almost_equal(dome_azimuth_target.position,
expected_azimuth)
else:
with pytest.raises(asyncio.TimeoutError):
await self.dome_remote.evt_azTarget.next(
flush=False, timeout=NODATA_TIMEOUT)
async def test_move_azimuth(self):
"""Test issuing moveAzimuth commands to ATDome."""
async with self.make_csc(initial_state=salobj.State.ENABLED):
await self.assert_next_summary_state(salobj.State.ENABLED)
await self.assert_next_sample(
self.remote.evt_azimuthCommandedState,
commandedState=AzimuthCommandedState.UNKNOWN,
)
position = await self.remote.tel_position.next(
flush=True, timeout=STD_TIMEOUT
)
utils.assert_angles_almost_equal(position.azimuthPosition, 0)
for az in (3, -1):
predicted_duration = (
abs(az - position.azimuthPosition) / self.csc.az_vel
)
start_time = time.time()
# be conservative about the end time
predicted_end_time = start_time + predicted_duration
safe_done_end_time = (
predicted_end_time + self.csc.telemetry_interval * 2
)
await self.remote.cmd_moveAzimuth.set_start(
azimuth=az, timeout=STD_TIMEOUT
)
az_cmd_state = await self.assert_next_sample(
self.remote.evt_azimuthCommandedState,
commandedState=AzimuthCommandedState.GOTOPOSITION,
)
utils.assert_angles_almost_equal(az_cmd_state.azimuth, az)
isfirst = True
while True:
position = await self.remote.tel_position.next(
flush=True, timeout=STD_TIMEOUT
)
if isfirst:
isfirst = False
with self.assertRaises(AssertionError):
utils.assert_angles_almost_equal(
position.azimuthPosition, az
)
elif time.time() > safe_done_end_time:
utils.assert_angles_almost_equal(position.azimuthPosition, az)
break
await asyncio.sleep(self.csc.telemetry_interval)
async def assert_dome_elevation(self, expected_elevation, move_expected):
"""Check the Dome and MTDomeController commanded elevation.
Parameters
----------
expected_elevation : `float`
Expected new elevation position (deg);
ignored if ``move_expected`` false.
move_expected : `bool`
Is a move expected?
Notes
-----
If ``move_expected`` then read one ``elTarget`` Dome event.
"""
if move_expected:
dome_elevation_target = await self.dome_remote.evt_elTarget.next(
flush=False, timeout=STD_TIMEOUT)
utils.assert_angles_almost_equal(dome_elevation_target.position,
expected_elevation)
else:
with pytest.raises(asyncio.TimeoutError):
await self.dome_remote.evt_elTarget.next(
flush=False, timeout=NODATA_TIMEOUT)
def assert_telescope_target(self, elevation, azimuth):
utils.assert_angles_almost_equal(
self.csc.telescope_target.azimuth.position, azimuth)
utils.assert_angles_almost_equal(
self.csc.telescope_target.elevation.position, elevation)