Add MTAOS commands and events for closed loop operations

doc/news/interface_changes/DM-49035.mtaos.rst

@@ -0,0 +1 @@
+* Add `command_startClosedLoop`, `command_stopClosedLoop`, and `logevent_closedLoopState` to the `MTAOS` interface.

python/lsst/ts/xml/data/sal_interfaces/MTAOS/MTAOS_Commands.xml

@@ -191,4 +191,21 @@
     <EFDB_Topic>MTAOS_command_resetOffsetDOF</EFDB_Topic>
     <Description>Reset user applied offsets to the degrees of freedom (DOF).</Description>
   </SALCommand>
+  <SALCommand>
+    <Subsystem>MTAOS</Subsystem>
+    <EFDB_Topic>MTAOS_command_startClosedLoop</EFDB_Topic>
+    <Description>Start the closed loop operation of the system. This command will start the loop that will run the WEP, OFC and issueCorrection commands as images roll in. The loop will run until the stopClosedLoop command is issued.</Description>
+    <item>
+      <EFDB_Name>config</EFDB_Name>
+      <Description>Yaml configuration string with additional parameters to be passed to the closed loop.</Description>
+      <IDL_Type>string</IDL_Type>
+      <Units>unitless</Units>
+      <Count>1</Count>
+    </item>
+  </SALCommand>
+  <SALCommand>
+    <Subsystem>MTAOS</Subsystem>
+    <EFDB_Topic>MTAOS_command_stopClosedLoop</EFDB_Topic>
+    <Description>Stop the closed loop operation of the system.</Description>
+  </SALCommand>
 </SALCommandSet>

python/lsst/ts/xml/data/sal_interfaces/MTAOS/MTAOS_Events.xml

@@ -3,6 +3,7 @@
 <SALEventSet xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://lsst-sal.tuc.noao.edu/schema/SALEventSet.xsd">
   <Enumeration>FilterType_u,FilterType_g,FilterType_r,FilterType_i,FilterType_z,FilterType_y,FilterType_ref</Enumeration>
   <Enumeration>Mode_LsstCamFAM,Mode_LsstCamCWS,Mode_ComCam</Enumeration>
+  <Enumeration>ClosedLoopState_IDLE,ClosedLoopState_WAITING_IMAGE,ClosedLoopState_PROCESSING,ClosedLoopState_WAITING_APPLY,ClosedLoopState_APPLYING_CORRECTION,ClosedLoopState_ERROR</Enumeration>
   <SALEvent>
     <Subsystem>MTAOS</Subsystem>
     <EFDB_Topic>MTAOS_logevent_wavefrontError</EFDB_Topic>
@@ -379,4 +380,16 @@
       <Count>1</Count>
     </item>
   </SALEvent>
+  <SALEvent>
+    <Subsystem>MTAOS</Subsystem>
+    <EFDB_Topic>MTAOS_logevent_closedLoopState</EFDB_Topic>
+    <Description>State of the closed loop.</Description>
+    <item>
+      <EFDB_Name>state</EFDB_Name>
+      <Description>ClosedLoopState enumeration.</Description>
+      <IDL_Type>int</IDL_Type>
+      <Units>unitless</Units>
+      <Count>1</Count>
+    </item>
+  </SALEvent>
 </SALEventSet>

python/lsst/ts/xml/enums/MTAOS.py

@@ -18,7 +18,7 @@
 #
 # You should have received a copy of the GNU General Public License
 
-__all__ = ["Mode", "FilterType"]
+__all__ = ["Mode", "FilterType", "ClosedLoopState"]
 
 import enum
 
@@ -45,3 +45,12 @@ class FilterType(enum.IntEnum):
     z = enum.auto()
     y = enum.auto()
     ref = enum.auto()
+
+
+class ClosedLoopState(enum.IntEnum):
+    IDLE = enum.auto()
+    WAITING_IMAGE = enum.auto()
+    PROCESSING = enum.auto()
+    WAITING_APPLY = enum.auto()
+    APPLYING_CORRECTION = enum.auto()
+    ERROR = enum.auto()