ATHexapod¶

Note

This page is generated by python script generate_cet.py.

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Commands¶

applyPositionLimits¶

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¶

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¶

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¶

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¶

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¶

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. For CSCs that start in Standby state this makes the CSC quit. CSCs that start in Offline state, they remain active.

EFDB_Topic: SALGeneric_command_exitControl
Category: csc

setAuthList¶

EFDB_Topic: SALGeneric_command_setAuthList
Category: csc

authorizedUsers¶

IDL_Type: string
Units: unitless

Description: Comma seperated list of authorized users currently allowed to command this CSC,: in the form user@host. If the first character is +/- then the specified users are added/removed. Duplicates are silently ignored. The CSC’s own user@host is silently ignored, because it is always authorized. For removal, CSCs that are not in the list are silently ignored. Whitespace is allowed after the optional initial +/- and after each comma.

nonAuthorizedCSCs¶

IDL_Type: string
Units: unitless

Description: Comma seperated list of CSC’s not currently allowed to command this CSC,: in the form name[:index]. An index of 0 is stripped (name:0 becomes name). If the first character is +/- then the specified CSCs are added/removed. Duplicates are silently ignored. For removal, CSCs that are not in the list are silently ignored. Whitespace is allowed after the optional initial +/- and after each comma.

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 the 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 the CSC itself.

standby¶

Description: Transition from state Offline, 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¶

SummaryState

DisabledState
EnabledState
FaultState
OfflineState
StandbyState

DetailedState

InMotionState
NotInMotionState

Events¶

detailedState¶

EFDB_Topic: ATHexapod_logevent_detailedState

detailedState¶

IDL_Type: long
Units: unitless

Description: Detailed state.

inPosition¶

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¶

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¶

EFDB_Topic: ATHexapod_logevent_readyForCommand

ready¶

IDL_Type: boolean
Units: unitless

Description: Hexapod ready to be commanded

settingsAppliedPivot¶

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¶

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¶

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¶

EFDB_Topic: ATHexapod_logevent_settingsAppliedVelocities

systemSpeed¶

IDL_Type: double
Units: mm/s

Description: System speed.

authList¶

EFDB_Topic: SALGeneric_logevent_authList
Category: csc

authorizedUsers¶

IDL_Type: string
Units: unitless

Description: Comma seperated list of authorized users currently allowed to command this CSC.

nonAuthorizedCSCs¶

IDL_Type: string
Units: unitless

Description: Comma seperated list of CSC’s not currently allowed to command this CSC.

configurationApplied¶

Description: Information about CSC’s configuration.

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 the 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 the CSC, and any other pertinent information. Ignore whitespace after commas.

configurationsAvailable¶

Description: Information about the source of configuration information for the 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 the 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 a 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¶

EFDB_Topic: SALGeneric_logevent_heartbeat
Category: mandatory

heartbeat¶

IDL_Type: boolean
Units: unitless

Description: Beats the drum.

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 the 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 the 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: This is the top-level version of the 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 a CSC

summaryState¶

Description: Current summary state of the CSC

EFDB_Topic: SALGeneric_logevent_summaryState
Category: csc

summaryState¶

IDL_Type: long
Units: unitless

Description: High level state machine state identifier

Telemetry¶

positionStatus¶

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

Navigation

ATHexapod¶

Commands¶

applyPositionLimits¶

xyMax¶

zMin¶

zMax¶

uvMax¶

wMin¶

wMax¶

applyPositionOffset¶

x¶

y¶

z¶

u¶

v¶

w¶

moveToPosition¶

x¶

y¶

z¶

u¶

v¶

w¶

pivot¶

x¶

y¶

z¶

setMaxSystemSpeeds¶

speed¶

stopAllAxes¶

stopAllAxes¶

disable¶

enable¶

exitControl¶

setAuthList¶

authorizedUsers¶

nonAuthorizedCSCs¶

setLogLevel¶

level¶

subsystem¶

standby¶

start¶

configurationOverride¶

Enumerations¶

Events¶

detailedState¶

detailedState¶

inPosition¶

inPosition¶

timestamp¶

positionUpdate¶

positionX¶

positionY¶

positionZ¶

positionU¶

positionV¶

positionW¶

readyForCommand¶

ready¶

settingsAppliedPivot¶

pivotX¶

pivotY¶

pivotZ¶

settingsAppliedPositionLimits¶

limitXYMax¶

limitZMin¶

limitZMax¶

limitUVMax¶

limitWMin¶

limitWMax¶

settingsAppliedTcp¶

ip¶

port¶

readTimeout¶

writeTimeout¶

connectionTimeout¶

settingsAppliedVelocities¶

systemSpeed¶

authList¶