Merge pull request #7 from lsst-ts/tickets/DM-DM-48969

Tickets/dm dm 48969
lsst-ts · Feb 19, 2025 · a6d4285 · a6d4285
2 parents 94b0080 + 66d8433
commit a6d4285
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Showing 20 changed files with 47 additions and 36 deletions.
diff --git a/doc/screenshot/azimuth.png b/doc/screenshot/azimuth.png
diff --git a/doc/screenshot/calibration.png b/doc/screenshot/calibration.png
diff --git a/doc/screenshot/elevation.png b/doc/screenshot/elevation.png
diff --git a/doc/screenshot/louver_single.png b/doc/screenshot/louver_single.png
diff --git a/doc/screenshot/rad.png b/doc/screenshot/rad.png
diff --git a/doc/screenshot/shutter.png b/doc/screenshot/shutter.png
diff --git a/doc/version_history.rst b/doc/version_history.rst
@@ -6,6 +6,16 @@
 Version History
 ##################
 
+.. _lsst.ts.mtdomegui-0.4.3:
+
+-------------
+0.4.3
+-------------
+
+* Allow to query the shutter status.
+* Fix the unit of position of the shutter.
+* Change the torque unit to be N*m instead of J.
+
 .. _lsst.ts.mtdomegui-0.4.2:
 
 -------------

diff --git a/python/lsst/ts/mtdomegui/model.py b/python/lsst/ts/mtdomegui/model.py
@@ -124,6 +124,7 @@ async def connect(self) -> None:
             if self._is_simulation_mode
             else {
                 LlcName.AMCS: self.callback_status_amcs,
+                LlcName.APSCS: self.callback_status_apscs,
                 LlcName.CBCS: self.callback_status_cbcs,
             }
         )

diff --git a/python/lsst/ts/mtdomegui/tab/tab_aperture_shutter.py b/python/lsst/ts/mtdomegui/tab/tab_aperture_shutter.py
@@ -144,7 +144,7 @@ def _create_figures(self) -> dict[str, TabFigure]:
             "drive_torque": TabFigure(
                 "Actual Drive Torque",
                 self.model,
-                "J",
+                "N*m",
                 [str(idx) for idx in range(NUM_DRIVE_SHUTTER)],
             ),
             "drive_current": TabFigure(
@@ -361,18 +361,18 @@ async def _callback_telemetry(self, telemetry: dict) -> None:
         position_actual = telemetry["positionActual"]
         for idx in range(APSCS_NUM_SHUTTERS):
             self._status["position_commanded"][idx].setText(
-                f"{position_commanded[idx]:.2f} deg"
+                f"{position_commanded[idx]:.2f} %"
             )
             self._status["position_actual"][idx].setText(
-                f"{position_actual[idx]:.2f} deg"
+                f"{position_actual[idx]:.2f} %"
             )
 
         for idx in range(NUM_DRIVE_SHUTTER):
             self._status["drive_torque_commanded"][idx].setText(
-                f"{telemetry['driveTorqueCommanded'][idx]:.2f} J"
+                f"{telemetry['driveTorqueCommanded'][idx]:.2f} N*m"
             )
             self._status["drive_torque_actual"][idx].setText(
-                f"{telemetry['driveTorqueActual'][idx]:.2f} J"
+                f"{telemetry['driveTorqueActual'][idx]:.2f} N*m"
             )
             self._status["drive_current_actual"][idx].setText(
                 f"{telemetry['driveCurrentActual'][idx]:.2f} A"

diff --git a/python/lsst/ts/mtdomegui/tab/tab_azimuth.py b/python/lsst/ts/mtdomegui/tab/tab_azimuth.py
@@ -153,7 +153,7 @@ def _create_figures(self) -> dict[str, TabFigure]:
             "drive_torque": TabFigure(
                 "Actual Drive Torque",
                 self.model,
-                "J",
+                "N*m",
                 [str(idx) for idx in range(AMCS_NUM_MOTORS)],
             ),
             "drive_current": TabFigure(
@@ -382,10 +382,10 @@ async def _callback_telemetry(self, telemetry: dict) -> None:
 
         for idx in range(AMCS_NUM_MOTORS):
             self._status["drive_torque_commanded"][idx].setText(
-                f"{telemetry['driveTorqueCommanded'][idx]:.2f} J"
+                f"{telemetry['driveTorqueCommanded'][idx]:.2f} N*m"
             )
             self._status["drive_torque_actual"][idx].setText(
-                f"{telemetry['driveTorqueActual'][idx]:.2f} J"
+                f"{telemetry['driveTorqueActual'][idx]:.2f} N*m"
             )
             self._status["drive_current_actual"][idx].setText(
                 f"{telemetry['driveCurrentActual'][idx]:.2f} A"

diff --git a/python/lsst/ts/mtdomegui/tab/tab_calibration.py b/python/lsst/ts/mtdomegui/tab/tab_calibration.py
@@ -105,7 +105,7 @@ def _create_figures(self) -> dict[str, TabFigure]:
             "drive_torque": TabFigure(
                 "Actual Drive Torque",
                 self.model,
-                "J",
+                "N*m",
                 ["torque"],
             ),
             "drive_current": TabFigure(
@@ -280,10 +280,10 @@ async def _callback_telemetry(self, telemetry: dict) -> None:
         self._status["position_actual"].setText(f"{position_actual:.2f}")
 
         self._status["drive_torque_commanded"].setText(
-            f"{telemetry['driveTorqueCommanded']:.2f} J"
+            f"{telemetry['driveTorqueCommanded']:.2f} N*m"
         )
         self._status["drive_torque_actual"].setText(
-            f"{telemetry['driveTorqueActual']:.2f} J"
+            f"{telemetry['driveTorqueActual']:.2f} N*m"
         )
         self._status["drive_current_actual"].setText(
             f"{telemetry['driveCurrentActual']:.2f} A"

diff --git a/python/lsst/ts/mtdomegui/tab/tab_elevation.py b/python/lsst/ts/mtdomegui/tab/tab_elevation.py
@@ -151,7 +151,7 @@ def _create_figures(self) -> dict[str, TabFigure]:
             "drive_torque": TabFigure(
                 "Actual Drive Torque",
                 self.model,
-                "J",
+                "N*m",
                 [str(idx) for idx in range(LWSCS_NUM_MOTORS)],
             ),
             "drive_current": TabFigure(
@@ -398,10 +398,10 @@ async def _callback_telemetry(self, telemetry: dict) -> None:
 
         for idx in range(LWSCS_NUM_MOTORS):
             self._status["drive_torque_commanded"][idx].setText(
-                f"{telemetry['driveTorqueCommanded'][idx]:.2f} J"
+                f"{telemetry['driveTorqueCommanded'][idx]:.2f} N*m"
             )
             self._status["drive_torque_actual"][idx].setText(
-                f"{telemetry['driveTorqueActual'][idx]:.2f} J"
+                f"{telemetry['driveTorqueActual'][idx]:.2f} N*m"
             )
             self._status["drive_current_actual"][idx].setText(
                 f"{telemetry['driveCurrentActual'][idx]:.2f} A"

diff --git a/python/lsst/ts/mtdomegui/tab/tab_louver_single.py b/python/lsst/ts/mtdomegui/tab/tab_louver_single.py
@@ -114,7 +114,7 @@ def _create_figures(self) -> dict[str, TabFigure]:
             "drive_torque": TabFigure(
                 f"{louver_name} Actual Drive Torque",
                 self.model,
-                "J",
+                "N*m",
                 [str(idx) for idx in range(LCS_NUM_MOTORS_PER_LOUVER)],
             ),
             "drive_current": TabFigure(
@@ -291,9 +291,9 @@ def update_drive(
         Parameters
         ----------
         torque_commanded : `list` [`float`]
-            Commanded torque in J.
+            Commanded torque in N*m.
         torque_actual : `list` [`float`]
-            Actual torque in J.
+            Actual torque in N*m.
         current_actual : `list` [`float`]
             Actual current in A.
         encoder_head : `list` [`float`]
@@ -302,10 +302,10 @@ def update_drive(
 
         for idx in range(LCS_NUM_MOTORS_PER_LOUVER):
             self._status["drive_torque_commanded"][idx].setText(
-                f"{torque_commanded[idx]:.2f} J"
+                f"{torque_commanded[idx]:.2f} N*m"
             )
             self._status["drive_torque_actual"][idx].setText(
-                f"{torque_actual[idx]:.2f} J"
+                f"{torque_actual[idx]:.2f} N*m"
             )
             self._status["drive_current_actual"][idx].setText(
                 f"{current_actual[idx]:.2f} A"

diff --git a/python/lsst/ts/mtdomegui/tab/tab_rear_access_door.py b/python/lsst/ts/mtdomegui/tab/tab_rear_access_door.py
@@ -161,7 +161,7 @@ def _create_figures(self) -> dict[str, TabFigure]:
             "drive_torque": TabFigure(
                 "Actual Drive Torque",
                 self.model,
-                "J",
+                "N*m",
                 [str(idx) for idx in range(RAD_NUM_DOORS)],
             ),
             "drive_current": TabFigure(
@@ -395,10 +395,10 @@ async def _callback_telemetry(self, telemetry: dict) -> None:
             )
 
             self._status["drive_torque_commanded"][idx].setText(
-                f"{telemetry['driveTorqueCommanded'][idx]:.2f} J"
+                f"{telemetry['driveTorqueCommanded'][idx]:.2f} N*m"
             )
             self._status["drive_torque_actual"][idx].setText(
-                f"{telemetry['driveTorqueActual'][idx]:.2f} J"
+                f"{telemetry['driveTorqueActual'][idx]:.2f} N*m"
             )
             self._status["drive_current_actual"][idx].setText(
                 f"{telemetry['driveCurrentActual'][idx]:.2f} A"

diff --git a/tests/tab/test_tab_aperture_shutter.py b/tests/tab/test_tab_aperture_shutter.py
@@ -69,11 +69,11 @@ async def test_set_signal_telemetry(widget: TabApertureShutter) -> None:
     # Sleep so the event loop can access CPU to handle the signal
     await asyncio.sleep(1)
 
-    assert widget._status["position_commanded"][0].text() == "1.00 deg"
-    assert widget._status["position_actual"][0].text() == "1.00 deg"
+    assert widget._status["position_commanded"][0].text() == "1.00 %"
+    assert widget._status["position_actual"][0].text() == "1.00 %"
 
-    assert widget._status["drive_torque_commanded"][0].text() == "1.00 J"
-    assert widget._status["drive_torque_actual"][0].text() == "1.00 J"
+    assert widget._status["drive_torque_commanded"][0].text() == "1.00 N*m"
+    assert widget._status["drive_torque_actual"][0].text() == "1.00 N*m"
     assert widget._status["drive_current_actual"][0].text() == "1.00 A"
 
     assert widget._status["drive_temperature"][0].text() == "1.00 deg C"

diff --git a/tests/tab/test_tab_azimuth.py b/tests/tab/test_tab_azimuth.py
@@ -75,8 +75,8 @@ async def test_set_signal_telemetry(widget: TabAzimuth) -> None:
     assert widget._status["velocity_commanded"].text() == "1.00 deg/sec"
     assert widget._status["velocity_actual"].text() == "1.00 deg/sec"
 
-    assert widget._status["drive_torque_commanded"][0].text() == "1.00 J"
-    assert widget._status["drive_torque_actual"][0].text() == "1.00 J"
+    assert widget._status["drive_torque_commanded"][0].text() == "1.00 N*m"
+    assert widget._status["drive_torque_actual"][0].text() == "1.00 N*m"
     assert widget._status["drive_current_actual"][0].text() == "1.00 A"
 
     assert widget._status["drive_temperature"][0].text() == "1.00 deg C"

diff --git a/tests/tab/test_tab_calibration.py b/tests/tab/test_tab_calibration.py
@@ -69,8 +69,8 @@ async def test_set_signal_telemetry(widget: TabCalibration) -> None:
     assert widget._status["position_commanded"].text() == "1.00"
     assert widget._status["position_actual"].text() == "1.00"
 
-    assert widget._status["drive_torque_commanded"].text() == "1.00 J"
-    assert widget._status["drive_torque_actual"].text() == "1.00 J"
+    assert widget._status["drive_torque_commanded"].text() == "1.00 N*m"
+    assert widget._status["drive_torque_actual"].text() == "1.00 N*m"
     assert widget._status["drive_current_actual"].text() == "1.00 A"
 
     assert widget._status["drive_temperature"].text() == "1.00 deg C"

diff --git a/tests/tab/test_tab_elevation.py b/tests/tab/test_tab_elevation.py
@@ -75,8 +75,8 @@ async def test_set_signal_telemetry(widget: TabElevation) -> None:
     assert widget._status["velocity_commanded"].text() == "1.00 deg/sec"
     assert widget._status["velocity_actual"].text() == "1.00 deg/sec"
 
-    assert widget._status["drive_torque_commanded"][0].text() == "1.00 J"
-    assert widget._status["drive_torque_actual"][0].text() == "1.00 J"
+    assert widget._status["drive_torque_commanded"][0].text() == "1.00 N*m"
+    assert widget._status["drive_torque_actual"][0].text() == "1.00 N*m"
     assert widget._status["drive_current_actual"][0].text() == "1.00 A"
 
     assert widget._status["drive_temperature"][0].text() == "1.00 deg C"

diff --git a/tests/tab/test_tab_louver.py b/tests/tab/test_tab_louver.py
@@ -88,8 +88,8 @@ async def test_set_signal_telemetry(widget: TabLouver) -> None:
         assert louver._status["position_commanded"].text() == "1.00 %"
         assert louver._status["position_actual"].text() == "1.00 %"
 
-        assert louver._status["drive_torque_commanded"][0].text() == "1.00 J"
-        assert louver._status["drive_torque_actual"][0].text() == "1.00 J"
+        assert louver._status["drive_torque_commanded"][0].text() == "1.00 N*m"
+        assert louver._status["drive_torque_actual"][0].text() == "1.00 N*m"
         assert louver._status["drive_current_actual"][0].text() == "1.00 A"
 
         assert louver._status["drive_temperature"][0].text() == "1.00 deg C"

diff --git a/tests/tab/test_tab_rear_access_door.py b/tests/tab/test_tab_rear_access_door.py
@@ -74,8 +74,8 @@ async def test_set_signal_telemetry(widget: TabRearAccessDoor) -> None:
     assert widget._status["position_commanded"][0].text() == "1.00 %"
     assert widget._status["position_actual"][0].text() == "1.00 %"
 
-    assert widget._status["drive_torque_commanded"][0].text() == "1.00 J"
-    assert widget._status["drive_torque_actual"][0].text() == "1.00 J"
+    assert widget._status["drive_torque_commanded"][0].text() == "1.00 N*m"
+    assert widget._status["drive_torque_actual"][0].text() == "1.00 N*m"
     assert widget._status["drive_current_actual"][0].text() == "1.00 A"
 
     assert widget._status["drive_temperature"][0].text() == "1.00 deg C"