ATHexapod¶
Note
This page is generated by python script generate_cet.py.
Commands¶
applyPositionLimits¶
Description: Apply the position limits.
- EFDB_Topic:
ATHexapod_command_applyPositionLimits
xyMax¶
- IDL_Type:
double
- Units:
mm
Description: X and Y maximum position.
zMin¶
- IDL_Type:
double
- Units:
mm
Description: Z minimum position.
zMax¶
- IDL_Type:
double
- Units:
mm
Description: Z Maximum position.
uvMax¶
- IDL_Type:
double
- Units:
deg
Description: U and V Maximum position.
wMin¶
- IDL_Type:
double
- Units:
deg
Description: W minimum position.
wMax¶
- IDL_Type:
double
- Units:
deg
Description: W maximum position.
applyPositionOffset¶
Description: Apply the position offset.
- EFDB_Topic:
ATHexapod_command_applyPositionOffset
x¶
- IDL_Type:
double
- Units:
mm
Description: X position offset.
y¶
- IDL_Type:
double
- Units:
mm
Description: Y position offset.
z¶
- IDL_Type:
double
- Units:
mm
Description: Z position offset.
u¶
- IDL_Type:
double
- Units:
deg
Description: U position offset.
v¶
- IDL_Type:
double
- Units:
deg
Description: V position offset.
w¶
- IDL_Type:
double
- Units:
deg
Description: W position offset.
moveToPosition¶
Description: Move to the commanded position.
- EFDB_Topic:
ATHexapod_command_moveToPosition
x¶
- IDL_Type:
double
- Units:
mm
Description: X position.
y¶
- IDL_Type:
double
- Units:
mm
Description: Y position.
z¶
- IDL_Type:
double
- Units:
mm
Description: Z position.
u¶
- IDL_Type:
double
- Units:
deg
Description: U position.
v¶
- IDL_Type:
double
- Units:
deg
Description: V position.
w¶
- IDL_Type:
double
- Units:
deg
Description: W position.
pivot¶
Description: Pivot the hexapod.
- EFDB_Topic:
ATHexapod_command_pivot
x¶
- IDL_Type:
double
- Units:
mm
Description: X position to pivot.
y¶
- IDL_Type:
double
- Units:
mm
Description: Y position to pivot.
z¶
- IDL_Type:
double
- Units:
mm
Description: Z position to pivot.
setMaxSystemSpeeds¶
Description: Set the max system speeds.
- EFDB_Topic:
ATHexapod_command_setMaxSystemSpeeds
speed¶
- IDL_Type:
double
- Units:
mm/s
Description: Velocities in the range of under 1 mm/s are recommended.
stopAllAxes¶
Description: Stop all of the axes.
- EFDB_Topic:
ATHexapod_command_stopAllAxes
stopAllAxes¶
- IDL_Type:
boolean
- Units:
unitless
Description: Stop all axes.
disable¶
Description: Transition from state Enabled to Disabled.
- EFDB_Topic:
SALGeneric_command_disable
- Category:
csc
enable¶
Description: Transition from state Disabled to Enabled.
- EFDB_Topic:
SALGeneric_command_enable
- Category:
csc
exitControl¶
Description: Transition from state Standby to Offline. Most CSCs will quit, but CSCs that support the enterControl command will keep running.
- EFDB_Topic:
SALGeneric_command_exitControl
- Category:
csc
setLogLevel¶
Description: Set the logging level.
- EFDB_Topic:
SALGeneric_command_setLogLevel
- Category:
csc
level¶
- IDL_Type:
int
- Units:
unitless
Description: Logging level, as a Python logging level: error=40, warning=30, info=20, debug=10.
subsystem¶
- IDL_Type:
string
- Units:
unitless
Description: If this CSC itself has sub-ordinate components, they may be listed here. An empty string means the setting applies to all such sub-ordinate components, or just to this CSC itself.
standby¶
Description: Transition from state Offline/Available, Disabled or Fault to Standby.
- EFDB_Topic:
SALGeneric_command_standby
- Category:
csc
start¶
Description: Transition from state Standby to Disable, in a specified configuration.
- EFDB_Topic:
SALGeneric_command_start
- Category:
csc
configurationOverride¶
- IDL_Type:
string
- Units:
unitless
- Description:
Configuration override in the form [{name}][:{version}]. For salobj-based CSCs: name is a filename with “.yaml” suffix and version is a git hash; for example:
“foo.yaml” specifies just a file. Two or three config files are loaded: “_init.yaml”, “_{site}.yaml” (if present), and “foo.yaml”.
“:37bf936” specifies just a git hash. One or two config files are loaded from the specified git commit: “_init.yaml” and “_{site}.yaml” (if present.
“bar.yaml:HEAD~2” specifies both a file and a git hash. Two or three config files are read from the specified git commit: “_init.yaml”, “_{site}.yaml” (if present), and “bar.yaml”.
Enumerations¶
- DetailedState:
InMotionState
NotInMotionState
Events¶
detailedState¶
Description: The substates of the hexapod.
- EFDB_Topic:
ATHexapod_logevent_detailedState
detailedState¶
- IDL_Type:
long
- Units:
unitless
Description: Detailed state.
inPosition¶
Description: Is the hexapod in position?
- EFDB_Topic:
ATHexapod_logevent_inPosition
inPosition¶
- IDL_Type:
boolean
- Units:
unitless
Description: AT Hexapod in position.
timestamp¶
- IDL_Type:
double
- Units:
unitless
Description: Timestamp of telescope in position.
positionUpdate¶
Description: Updated position.
- EFDB_Topic:
ATHexapod_logevent_positionUpdate
positionX¶
- IDL_Type:
double
- Units:
mm
Description: New X position.
positionY¶
- IDL_Type:
double
- Units:
mm
Description: New Y position.
positionZ¶
- IDL_Type:
double
- Units:
mm
Description: New Z position.
positionU¶
- IDL_Type:
double
- Units:
deg
Description: New U position.
positionV¶
- IDL_Type:
double
- Units:
deg
Description: New V position.
positionW¶
- IDL_Type:
double
- Units:
deg
Description: New W position.
readyForCommand¶
Description: Is the hexapod ready for command.
- EFDB_Topic:
ATHexapod_logevent_readyForCommand
ready¶
- IDL_Type:
boolean
- Units:
unitless
Description: Hexapod ready to be commanded
settingsAppliedPivot¶
Description: Applied pivot that was set.
- EFDB_Topic:
ATHexapod_logevent_settingsAppliedPivot
pivotX¶
- IDL_Type:
double
- Units:
mm
Description: Pivot X position.
pivotY¶
- IDL_Type:
double
- Units:
mm
Description: Pivot Y position.
pivotZ¶
- IDL_Type:
double
- Units:
mm
Description: Pivot Z position.
settingsAppliedPositionLimits¶
Description: The applied position limits that were set.
- EFDB_Topic:
ATHexapod_logevent_settingsAppliedPositionLimits
limitXYMax¶
- IDL_Type:
double
- Units:
mm
Description: X and Y maximum limit.
limitZMin¶
- IDL_Type:
double
- Units:
mm
Description: Z minimum limit.
limitZMax¶
- IDL_Type:
double
- Units:
mm
Description: Z maximum limit.
limitUVMax¶
- IDL_Type:
double
- Units:
deg
Description: U and V maximum limit.
limitWMin¶
- IDL_Type:
double
- Units:
deg
Description: W minimum limit.
limitWMax¶
- IDL_Type:
double
- Units:
deg
Description: W maximum limit.
settingsAppliedTcp¶
Description: Applied TCP that were set.
- EFDB_Topic:
ATHexapod_logevent_settingsAppliedTcp
ip¶
- IDL_Type:
string
- IDL_Size:
15
- Units:
unitless
Description: IP address of the hexapod controller (XXX.XXX.XXX.XXX).
port¶
- IDL_Type:
long
- Units:
unitless
Description: port range, it will try to connect to any of the ports in this range
readTimeout¶
- IDL_Type:
float
- Units:
second
Description: TCP/IP read timeout
writeTimeout¶
- IDL_Type:
float
- Units:
second
Description: TCP/IP write timeout
connectionTimeout¶
- IDL_Type:
float
- Units:
second
Description: TCP/IP open/close connection timeout
settingsAppliedVelocities¶
Description: Applied velocities that were set.
- EFDB_Topic:
ATHexapod_logevent_settingsAppliedVelocities
systemSpeed¶
- IDL_Type:
double
- Units:
mm/s
Description: System speed.
configurationApplied¶
Description: Information about this CSC’s current configuration overrides.
- EFDB_Topic:
SALGeneric_logevent_configurationApplied
- Category:
configurable
configurations¶
- IDL_Type:
string
- Units:
unitless
Description: A comma-separated list of configurations applied. If configuration comes from a clone of a git repo, or similar directory, then it will be a list of file names, without the file extension. Ignore whitespace after commas.
version¶
- IDL_Type:
string
- Units:
unitless
Description: Version of the configuration source. For a clone of a git repo it will be a git hash.
url¶
- IDL_Type:
string
- Units:
unitless
Description: URL of the configuration source. For a clone of a git repo this will be a file URL. For a database it will be a standard database URL. This should always match the same-named field in configurationsAvailable.
schemaVersion¶
- IDL_Type:
string
- Units:
unitless
Description: Version of config schema used by this CSC. For a configuration git repo, this is the name of a folder in the config package, and is typically something like “v1”. This should always match the same-named field in configurationsAvailable.
otherInfo¶
- IDL_Type:
string
- Units:
unitless
Description: A comma-separated list of event topics (without the logevent prefix) used to publish the entire set of configuration parameters loaded by this CSC, and any other pertinent information. Ignore whitespace after commas.
configurationsAvailable¶
Description: Available configuration overrides for this CSC.
- EFDB_Topic:
SALGeneric_logevent_configurationsAvailable
- Category:
configurable
overrides¶
- IDL_Type:
string
- Units:
unitless
Description: Available overrides as a comma-separated list. Each entry is a possible value of the configurationOverride field of the start command. Ignore whitespace after commas.
version¶
- IDL_Type:
string
- Units:
unitless
Description: Version of the configuration source. For a clone of a git repo it will be a git hash.
url¶
- IDL_Type:
string
- Units:
unitless
Description: URL of the configuration source. For a clone of a git repo this will be a file URL. For a database it will be a standard database URL.
schemaVersion¶
- IDL_Type:
string
- Units:
unitless
Description: Version of config schema used by this CSC. For a configuration git repo, this is the name of a folder in the config package, and is typically something like “v1”.
errorCode¶
Description: Output when this CSC goes into the Fault state as an explanation of the problem.
- EFDB_Topic:
SALGeneric_logevent_errorCode
- Category:
csc
errorCode¶
- IDL_Type:
long
- Units:
unitless
Description: A numeric error code.
errorReport¶
- IDL_Type:
string
- Units:
unitless
Description: An string providing detailed information about the error.
traceback¶
- IDL_Type:
string
- Units:
unitless
Description: An optional stack trace of the error condition.
heartbeat¶
Description: Event output at regular intervals (typcally once per second) to show that the SAL component is alive.
- EFDB_Topic:
SALGeneric_logevent_heartbeat
- Category:
mandatory
heartbeat¶
- IDL_Type:
boolean
- Units:
unitless
Description: Deprecated field that you should ignore.
logLevel¶
Description: Current logging level.
- EFDB_Topic:
SALGeneric_logevent_logLevel
- Category:
mandatory
level¶
- IDL_Type:
int
- Units:
unitless
Description: Current logging level, a Python logging level: error=40, warning=30, info=20, debug=10.
subsystem¶
- IDL_Type:
string
- Units:
unitless
Description: If this CSC itself has sub-ordinate components, they may be listed here. An empty string means the setting applies to all such sub-ordinate components, or just to this CSC itself.
logMessage¶
Description: A log message.
- EFDB_Topic:
SALGeneric_logevent_logMessage
- Category:
mandatory
name¶
- IDL_Type:
string
- Units:
unitless
Description: Log name.
level¶
- IDL_Type:
int
- Units:
unitless
Description: Message level, a Python logging level: error=40, warning=30, info=20, debug=10.
message¶
- IDL_Type:
string
- Units:
unitless
Description: Log message.
traceback¶
- IDL_Type:
string
- Units:
unitless
Description: Exception traceback; “” if not an exception.
filePath¶
- IDL_Type:
string
- Units:
unitless
Description: Path to source file.
functionName¶
- IDL_Type:
string
- Units:
unitless
Description: Function or method name.
lineNumber¶
- IDL_Type:
long
- Units:
unitless
Description: Line number in the file specified by filePath.
process¶
- IDL_Type:
long
- Units:
unitless
Description: Process ID.
timestamp¶
- IDL_Type:
double
- Units:
second
Description: The time at which the condition being reported was observed (TAI unix seconds). 0 if unspecified.
simulationMode¶
Description: Current simulation mode.
- EFDB_Topic:
SALGeneric_logevent_simulationMode
- Category:
csc
mode¶
- IDL_Type:
int
- Units:
unitless
Description: Current simulation mode; 0 for normal operation (no simulation); other supported values are specific to each CSC.
softwareVersions¶
Description: Current versions of software in use by CSC.
- EFDB_Topic:
SALGeneric_logevent_softwareVersions
- Category:
mandatory
salVersion¶
- IDL_Type:
string
- IDL_Size:
256
- Units:
unitless
Description: This is the current version of SAL generation.
xmlVersion¶
- IDL_Type:
string
- IDL_Size:
256
- Units:
unitless
Description: This is the current version of CSC XML.
openSpliceVersion¶
- IDL_Type:
string
- IDL_Size:
256
- Units:
unitless
Description: This is the current version of OpenSplice.
cscVersion¶
- IDL_Type:
string
- IDL_Size:
256
- Units:
unitless
Description: The software version of this CSC.
subsystemVersions¶
- IDL_Type:
string
- Units:
unitless
Description: A comma delimited list of key=value pairs relating subsystem name (key) to its version number (value). This may be left blank if there are no subsystems within this CSC.
summaryState¶
Description: Current summary state of this CSC.
- EFDB_Topic:
SALGeneric_logevent_summaryState
- Category:
csc
summaryState¶
- IDL_Type:
long
- Units:
unitless
Description: High level state machine state identifier.
Telemetry¶
positionStatus¶
Description: The position of the hexapod.
- EFDB_Topic:
ATHexapod_positionStatus
setpointPosition¶
- IDL_Type:
double
- Units:
mm
- Count:
6
Description: http://sal.lsst.org/SAL/Telemetry/hexapod_Application_Demand.html
reportedPosition¶
- IDL_Type:
double
- Units:
mm
- Count:
6
Description: http://sal.lsst.org/SAL/Telemetry/hexapod_Application_Position.html
positionFollowingError¶
- IDL_Type:
double
- Units:
mm
- Count:
6
Description: http://sal.lsst.org/SAL/Telemetry/hexapod_Application_Error.html