Implement Goto Field for LCO (#16)

* Add method to select macros based on observatory

* Add mock FFLCOHelper

* Big refactor of goto-field with initial support for LCO

* More updates and testing

* Update deps

* Add differences in acquisition and guiding for APO/LCO

* Try to set observatory in macro if not set in class

* Fix super call in GotoFieldLCOMacro

* Do not cover GoToFieldLCOMacro

* LCO arc time 45s

* Remove default guider time in command

* Fix super() of __init__ in AutoModeMacro

* Fixes to boss_hartmann()

* Do not command screen for now

pyproject.toml

@@ -43,7 +43,6 @@ pytest-asyncio = ">=0.10.0"
 pytest-cov = ">=2.8.1"
 pytest-mock = ">=1.13.0"
 pytest-sugar = ">=0.9.2"
-codecov = ">=2.0.15"
 coverage = {version = ">=5.0", extras = ["toml"]}
 ipdb = ">=0.12.3"
 rstcheck = ">=3.3.1"

src/hal/actor/actor.py

@@ -39,7 +39,7 @@ def __init__(self, *args, **kwargs):
         if self.observatory == "APO":
             kwargs["models"] += ["tcc", "mcp", "boss"]
         elif self.observatory == "LCO":
-            kwargs["models"] += ["yao"]
+            kwargs["models"] += ["yao", "lcolamps"]
 
         super().__init__(*args, schema=schema, **kwargs)
 
@@ -73,7 +73,8 @@ def __init__(self, actor: HALActor):
             FFSHelper,
             HALHelper,
             JaegerHelper,
-            LampsHelper,
+            LampsHelperAPO,
+            LampsHelperLCO,
             Scripts,
             TCCHelper,
         )
@@ -85,10 +86,16 @@ def __init__(self, actor: HALActor):
         self.apogee = APOGEEHelper(actor)
         self.boss = BOSSHelper(actor)
         self.cherno = ChernoHelper(actor)
-        self.ffs = FFSHelper(actor)
         self.jaeger = JaegerHelper(actor)
-        self.lamps = LampsHelper(actor)
-        self.tcc = TCCHelper(actor)
+
+        if self.observatory == "APO":
+            self.ffs = FFSHelper(actor)
+            self.lamps = LampsHelperAPO(actor)
+            self.tcc = TCCHelper(actor)
+        else:
+            self.ffs = None
+            self.lamps = LampsHelperLCO(actor)
+            self.tcc = None
 
         self.bypasses: set[str] = set(actor.config["bypasses"])
         self._available_bypasses = ["all"]
@@ -100,4 +107,9 @@ def __init__(self, actor: HALActor):
 
         self.scripts = Scripts(actor, actor.config["scripts"][self.observatory])
 
-        self.macros = {macro.name: macro for macro in all_macros}
+        self.macros = {
+            macro.name: macro
+            for macro in all_macros
+            if macro.observatory is None
+            or macro.observatory.lower() == self.observatory.lower()
+        }

src/hal/actor/commands/goto_field.py

@@ -37,8 +37,6 @@
 @click.option(
     "--guider-time",
     type=float,
-    default=config["macros"]["goto_field"]["guider_time"],
-    show_default=True,
     help="Exposure time for guiding/acquisition.",
 )
 @click.option(
@@ -98,6 +96,7 @@ async def goto_field(
 
     assert command.actor
 
+    observatory = command.actor.observatory
     jaeger_helper = command.actor.helpers.jaeger
 
     if stages is not None and auto is True:
@@ -111,17 +110,18 @@ async def goto_field(
         # previous configuration has the same field_id, regardless of whether it
         # was observed or not.
         previous = jaeger_helper._previous[-1] if jaeger_helper._previous else None
+        auto_mode_stages = config["macros"]["goto_field"]["auto_mode"]
 
         if configuration is None:
             return command.fail("No configuration loaded. Auto mode cannot be used.")
         elif configuration.cloned is True:
-            stages = config["macros"]["goto_field"]["cloned_stages"]
+            stages = auto_mode_stages["cloned_stages"][observatory]
         elif previous and previous.field_id == configuration.field_id:
-            stages = config["macros"]["goto_field"]["repeat_field_stages"]
+            stages = auto_mode_stages["repeat_field_stages"][observatory]
         elif configuration.is_rm_field is True:
-            stages = config["macros"]["goto_field"]["rm_field_stages"]
+            stages = auto_mode_stages["rm_field_stages"][observatory]
         else:
-            stages = config["macros"]["goto_field"]["new_field_stages"]
+            stages = auto_mode_stages["new_field_stages"][observatory]
 
     if stages is not None and len(stages) == 0:
         return command.finish("No stages to run.")

src/hal/etc/hal.yml

@@ -46,44 +46,101 @@ lamp_warmup:
 
 macros:
   goto_field:
-    arc_time: 4
-    flat_time: 25
-    guider_time: 15.
-    acquisition_target_rms: 1.0
-    acquisition_min_rms: 3.0
-    acquisition_max_iterations: 4
-    fvc_az: 121
-    fvc_alt: 70
-    fvc_rot: 190
+    fvc:
+      az: 121
+      alt: 70
+      rot: 190
     keep_offsets: true
     fixed_rot: false
     fixed_altaz: false
-    cloned_stages: []
-    new_field_stages:
-      [
-        'slew',
-        'reconfigure',
-        'fvc',
-        'reslew',
-        'lamps',
-        'boss_arcs',
-        'acquire',
-        'guide',
-      ]
-    repeat_field_stages:
-      ['slew', 'reconfigure', 'fvc', 'reslew', 'lamps', 'acquire', 'guide']
-    rm_field_stages:
-      [
-        'slew',
-        'reconfigure',
-        'fvc',
-        'reslew',
-        'lamps',
-        'boss_arcs',
-        'boss_flat',
-        'acquire',
-        'guide',
-      ]
+    arc_time:
+      APO: 4
+      LCO: 45
+    flat_time:
+      APO: 25
+      LCO: 100
+    acquisition:
+      APO:
+        exposure_time: 15
+        target_rms: 1.0
+        min_rms: 3.0
+        max_iterations: 4
+        wait_time: null
+      LCO:
+        exposure_time: 15
+        target_rms: 0.8
+        min_rms: 3.0
+        max_iterations: 5
+        wait_time: 5
+    guide:
+      APO:
+        exposure_time: 15
+        wait_time: null
+      LCO:
+        exposure_time: 15
+        wait_time: 10
+    auto_mode:
+      cloned_stages:
+        APO: []
+        LCO: []
+      new_field_stages:
+        APO:
+          - slew
+          - reconfigure
+          - fvc
+          - reslew
+          - lamps
+          - boss_arcs
+          - acquire
+          - guide
+        LCO:
+          - slew
+          - reconfigure
+          - fvc
+          - reslew
+          - lamps
+          - boss_arcs
+          - boss_flat
+          - acquire
+          - guide
+      repeat_field_stages:
+        APO:
+          - slew
+          - reconfigure
+          - fvc
+          - reslew
+          - lamps
+          - acquire
+          - guide
+        LCO:
+          - slew
+          - reconfigure
+          - fvc
+          - reslew
+          - lamps
+          - acquire
+          - guide
+      rm_field_stages:
+        APO:
+          - slew
+          - reconfigure
+          - fvc
+          - reslew
+          - lamps
+          - boss_arcs
+          - boss_flat
+          - acquire
+          - guide
+        LCO:
+          - slew
+          - reconfigure
+          - fvc
+          - reslew
+          - lamps
+          - boss_arcs
+          - boss_flat
+          - acquire
+          - guide
 
   expose:
     boss_exptime: null

src/hal/helpers/cherno.py

@@ -109,6 +109,7 @@ async def acquire(
         target_rms: float | None = None,
         wait: bool | None = None,
         max_iterations: int | None = None,
+        wait_time: float | None = None,
     ):
         """Runs the acquisition command.
 
@@ -126,6 +127,9 @@ async def acquire(
             block only if ``target_rms`` has been defined.
         max_iterations
             Maximum number of iterations before failing.
+        wait_time
+            Time to wait between iterations, for example to let the telescope
+            settle.
 
         """
 
@@ -137,6 +141,9 @@ async def acquire(
         if max_iterations:
             command_str += f" -x {max_iterations}"
 
+        if wait_time:
+            command_str += f" -w {wait_time}"
+
         if block:
             await self._send_command(command, "cherno", command_str)
         else:
@@ -148,11 +155,16 @@ async def guide(
         self,
         command: HALCommandType,
         exposure_time: float = 15,
+        wait_time: float | None = None,
         wait: bool = False,
     ):
         """Start the guide loop."""
 
-        coro = self._send_command(command, "cherno", f"guide -t {exposure_time}")
+        command_str = f"guide -t {exposure_time}"
+        if wait_time:
+            command_str += f" -w {wait_time}"
+
+        coro = self._send_command(command, "cherno", command_str)
 
         if wait:
             await coro

src/hal/helpers/ffs.py

@@ -21,7 +21,7 @@
     from hal.actor import HALCommandType
 
 
-__all__ = ["FFSHelper"]
+__all__ = ["FFSHelper", "FFSStatus"]
 
 
 class FFSHelper(HALHelper):