Refactor auto-pilot macro (#19)

* Rename the auto mode to auto-pilot mode

* Add SpectrographHelper

* Refactor auto pilot macro

* Split testing into linting and pytest

* Change workflow name

* Update deps

* Fix leftover merge conflict markers in goto_field.py

* Unwind FPS if reverse fails

* Preserve the count in auto-pilot

* If exposure starts, mark configuration as goto'd

* Fix tests

* Actually commit jaeger helper changes

* Fix auto-pilot message

* Additional improvements and handling of corner cases

* Fix tests

* Update changelog

.github/workflows/linting.yml

@@ -0,0 +1,47 @@
+name: Linting
+
+on:
+  push:
+    paths-ignore:
+      - 'docs/**'
+  pull_request:
+    paths-ignore:
+      - 'docs/**'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    strategy:
+      fail-fast: false
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.12'
+          cache: 'pip'
+
+      - name: Clone actorkeys
+        uses: actions/checkout@v4
+        with:
+          repository: sdss/actorkeys
+          ref: sdss5
+          path: actorkeys
+
+      - name: Install dependencies
+        run: |
+          pip install --upgrade wheel pip setuptools
+          pip install .
+
+      - name: Lint with ruff
+        run: |
+          pip install ruff
+          ruff check src/hal
+
+      - name: Lint with black
+        run: |
+          pip install black
+          black --check src/hal

.github/workflows/test.yml

@@ -42,16 +42,6 @@ jobs:
           pip install --upgrade wheel pip setuptools
           pip install .
 
-      - name: Lint with ruff
-        run: |
-          pip install ruff
-          ruff src/hal
-
-      - name: Lint with black
-        run: |
-          pip install black
-          black --check src/hal
-
       - name: Test with pytest
         run: |
           pip install pytest pytest-mock pytest-asyncio pytest-cov

CHANGELOG.md

@@ -2,6 +2,10 @@
 
 ## Next version
 
+### 🚀 New
+
+* [#19](https://github.com/sdss/HAL/pull/19) Fully rewritten version of the auto-pilot. The behaviour is generally unchanged but this rewrite fixes several bugs and should allow the auto-pilot to be started and stopped at any point. The command has been changed to `hal auto-pilot` although `hal auto` is still being aliased.
+
 ### ✨ Improved
 
 * Fail `expose` and `goto-field` macros if another macro is running.

pyproject.toml

@@ -30,11 +30,12 @@ hal = "hal.__main__:hal"
 [tool.poetry.dependencies]
 python = "^3.10,<4.0"
 sdsstools = "^1.0.0"
-sdss-clu = "^2.0.0"
+sdss-clu = "^2.2.7"
 click-default-group = "^1.2.2"
 numpy = "^1.22.1"
 sdssdb = ">=0.8.3"
 peewee = "^3.17.0"
+typing-extensions = "^4.11.0"
 
 [tool.poetry.group.dev.dependencies]
 ipython = ">=8.0.0"
@@ -59,12 +60,12 @@ ruff = ">=0.0.291"
 
 [tool.black]
 line-length = 88
-target-version = ['py311']
+target-version = ['py312']
 fast = true
 
 [tool.ruff]
 line-length = 88
-target-version = 'py311'
+target-version = 'py312'
 exclude = ["typings/"]
 
 [ruff.lint]
@@ -91,7 +92,7 @@ asyncio_mode = "auto"
 branch = true
 include = ["src/hal/*"]
 omit = [
-    "*/__init__.py",
+    "src/hal/__init__.py",
     "src/hal/__main__.py",
     "src/hal/exceptions.py",
     "src/hal/macros/test_macro.py",

src/hal/actor/actor.py

@@ -10,7 +10,7 @@
 
 import os
 
-from typing import ClassVar, TypeVar
+from typing import ClassVar
 
 from clu.legacy import LegacyActor
 
@@ -21,9 +21,6 @@
 __all__ = ["HALActor", "ActorHelpers"]
 
 
-T = TypeVar("T", bound="HALActor")
-
-
 class HALActor(LegacyActor):
     """HAL actor."""
 

src/hal/actor/commands/__init__.py

@@ -106,7 +106,7 @@ def fail_if_running_macro(command: HALCommandType):
     return True
 
 
-from .auto import *
+from .auto_pilot import *
 from .bypass import *
 from .calibrations import *
 from .expose import *

src/hal/actor/commands/auto.py → src/hal/actor/commands/auto_pilot.py

@@ -23,10 +23,10 @@
     from .. import HALCommandType
 
 
-__all__ = ["auto"]
+__all__ = ["auto_pilot"]
 
 
-@hal_command_parser.command(name="auto")
+@hal_command_parser.command(name="auto-pilot", aliases=["auto"])
 @click.option(
     "--stop",
     is_flag=True,
@@ -65,7 +65,7 @@
     default=None,
     help="Preload the next design this many seconds before the exposure completes.",
 )
-async def auto(
+async def auto_pilot(
     command: HALCommandType,
     stop: bool = False,
     now: bool = False,
@@ -75,18 +75,18 @@ async def auto(
     count: int = 1,
     preload_ahead: float | None = None,
 ):
-    """Starts the auto mode."""
+    """Starts the auto-pilot mode."""
 
     assert command.actor
 
     expose_macro = command.actor.helpers.macros["expose"]
     assert isinstance(expose_macro, ExposeMacro)
 
-    macro = command.actor.helpers.macros["auto"]
+    macro = command.actor.helpers.macros["auto_pilot"]
 
     if (stop or modify or pause or resume) and not macro.running:
         return command.fail(
-            "I'm afraid I cannot do that Dave. The auto mode is not running."
+            "I'm afraid I cannot do that Dave. The auto pilot mode is not running."
         )
 
     if pause and resume:
@@ -102,10 +102,10 @@ async def auto(
 
     if stop is True:
         if now is True:
-            command.warning(auto_mode_message="Cancelling auto mode NOW.")
+            command.warning(auto_pilot_message="Stopping auto-pilot mode NOW.")
             macro.cancel(now=True)
         else:
-            command.warning(auto_mode_message="Cancelling auto after stage completes.")
+            command.warning(auto_pilot_message="Stopping auto-pilot after this stage.")
             macro.cancel(now=False)
 
         return command.finish()
@@ -130,10 +130,14 @@ async def auto(
             "I'm afraid I cannot do that Dave. The auto mode is already running."
         )
 
+    macro.reset(command, count=count, preload_ahead_time=preload_ahead)
+
     result: bool = True
     while True:
+        # Reset the macro (stages and such) but keep the current config.
+        macro.reset(command, reset_config=False)
+
         # Run the auto loop until the command is cancelled.
-        macro.reset(command, count=count, preload_ahead_time=preload_ahead)
         if not await macro.run():
             result = False
             break

src/hal/actor/commands/goto_field.py

@@ -12,8 +12,6 @@
 
 import click
 
-from hal import config
-
 from . import fail_if_running_macro, hal_command_parser, stages
 
 
@@ -99,32 +97,15 @@ async def goto_field(
     if not fail_if_running_macro(command):
         return
 
-    observatory = command.actor.observatory
-    jaeger_helper = command.actor.helpers.jaeger
-
     if stages is not None and auto is True:
         return command.fail("--auto cannot be used with custom stages.")
     elif auto is True:
-        configuration = jaeger_helper.configuration
-
-        # The jaeger helper marks if a configuration is a new field or not but
-        # only if the previous configuration has been observed, which only works
-        # in full HAL auto mode. For goto-field auto mode, we can only check if the
-        # 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"]
+        configuration = command.actor.helpers.jaeger.configuration
 
         if configuration is None:
             return command.fail("No configuration loaded. Auto mode cannot be used.")
-        elif configuration.cloned is True:
-            stages = auto_mode_stages["cloned_stages"][observatory]
-        elif previous and previous.field_id == configuration.field_id:
-            stages = auto_mode_stages["repeat_field_stages"][observatory]
-        elif configuration.is_rm_field is True:
-            stages = auto_mode_stages["rm_field_stages"][observatory]
-        else:
-            stages = auto_mode_stages["new_field_stages"][observatory]
+
+        stages = configuration.get_goto_field_stages()
 
     if stages is not None and len(stages) == 0:
         return command.finish("No stages to run.")

src/hal/etc/hal.yml

@@ -165,7 +165,7 @@ macros:
           APO: 730
           LCO: 900
 
-  auto:
+  auto_pilot:
     guider_time: 15
     min_rms: 3.0
     count: 1

src/hal/etc/schema.json

@@ -78,7 +78,7 @@
       ]
     },
     "expose_is_paused": { "type": "boolean" },
-    "auto_mode_message": { "type": "string" },
+    "auto_pilot_message": { "type": "string" },
     "additionalProperties": false
   }
 }

src/hal/helpers/__init__.py

@@ -8,6 +8,8 @@
 
 from __future__ import annotations
 
+import asyncio
+
 from typing import TYPE_CHECKING, cast
 
 from clu import Command, CommandStatus
@@ -60,6 +62,43 @@ async def _send_command(
         return cast(Command, cmd)
 
 
+class SpectrographHelper(HALHelper):
+    """A helper class to control a spectrograph."""
+
+    def __init__(self, actor: HALActor):
+        super().__init__(actor)
+
+        self._exposure_time_remaining_timer: asyncio.Task | None = None
+        self._exposure_time_remaining: float = 0
+
+    def is_exposing(self) -> bool:
+        """Returns ``True`` if the spectrograph is exposing."""
+
+        raise NotImplementedError()
+
+    @property
+    def exposure_time_remaining(self) -> float:
+        """Returns the remaining exposure time in seconds."""
+
+        if not self.is_exposing() or self._exposure_time_remaining <= 0.0:
+            return 0.0
+
+        return self._exposure_time_remaining
+
+    async def _timer(self):
+        """Updates the exposure time remaining."""
+
+        try:
+            while self._exposure_time_remaining > 0.0:
+                await asyncio.sleep(0.1)
+                self._exposure_time_remaining -= 0.1
+        except asyncio.CancelledError:
+            pass
+        finally:
+            self._exposure_time_remaining_timer = None
+            self._exposure_time_remaining = 0.0
+
+
 def get_default_exposure_time(observatory: str, design_mode: str | None = None):
     """Returns the default exposure time for the current design mode."""