Update MoveRotator and tests with new design for MTCS creation

python/lsst/ts/standardscripts/maintel/mtrotator/move_rotator.py

@@ -22,7 +22,7 @@
 __all__ = ["MoveRotator"]
 
 import yaml
-from lsst.ts.observatory.control.maintel.mtcs import MTCS, MTCSUsages
+from lsst.ts.observatory.control.maintel.mtcs import MTCS
 
 from ...base_block_script import BaseBlockScript
 
@@ -49,15 +49,7 @@ class MoveRotator(BaseBlockScript):
     def __init__(self, index: int, add_remotes: bool = True) -> None:
         super().__init__(index=index, descr="Move Rotator")
 
-        self.mtcs = MTCS(
-            domain=self.domain,
-            intended_usage=None if add_remotes else MTCSUsages.DryTest,
-            log=self.log,
-        )
-
-        for comp in self.mtcs.components_attr:
-            if comp not in ["mtrotator", "mtmount"]:
-                setattr(self.mtcs.check, comp, False)
+        self.mtcs = None
 
         self.rotator_velocity = 3.5  # degrees per second
         self.short_timeout = 10  # seconds
@@ -105,22 +97,46 @@ def get_schema(cls):
         return schema_dict
 
     async def configure(self, config):
+        """
+        Configure the script.
+
+        Parameters
+        ----------
+        config : `dict`
+            Dictionary containing the configuration parameters.
+        """
+        await self.configure_tcs()
+
         self.target_angle = config.angle
         self.wait_for_complete = config.wait_for_complete
 
         await super().configure(config=config)
 
+    async def configure_tcs(self) -> None:
+        """
+        Handle creating MTCS object and waiting for remote to start.
+        """
+        if self.mtcs is None:
+            self.log.debug("Creating MTCS.")
+            self.mtcs = MTCS(
+                domain=self.domain,
+                log=self.log,
+            )
+            await self.mtcs.start_task
+        else:
+            self.log.debug("MTCS already defined, skipping.")
+
     def set_metadata(self, metadata):
+        """Set the metadata for the script."""
         metadata.duration = self.long_timeout
 
     async def run_block(self):
+        """Run the script."""
         await self.checkpoint(f"Start moving rotator to {self.target_angle} degrees.")
         await self.mtcs.move_rotator(
             angle=self.target_angle, wait_for_complete=self.wait_for_complete
         )
         if self.wait_for_complete:
-            await self.checkpoint_message(
-                f"Rotator reached {self.target_angle} degrees."
-            )
+            await self.checkpoint(f"Rotator reached {self.target_angle} degrees.")
         else:
             await self.checkpoint("Stop script and keep rotator moving.")

tests/test_maintel_mtrotator_move_rotator.py

@@ -19,10 +19,10 @@
 # You should have received a copy of the GNU General Public License
 # along with this program. If not, see <https://www.gnu.org/licenses/>.
 
-import asyncio
 import unittest
 
 from lsst.ts import standardscripts
+from lsst.ts.observatory.control.maintel.mtcs import MTCS, MTCSUsages
 from lsst.ts.standardscripts.maintel.mtrotator import MoveRotator
 
 
@@ -32,23 +32,18 @@ class TestMoveRotator(
     async def basic_make_script(self, index):
         self.script = MoveRotator(index=index, add_remotes=False)
 
+        self.script.mtcs = MTCS(
+            domain=self.script.domain,
+            intended_usage=MTCSUsages.DryTest,
+            log=self.script.log,
+        )
+
         self.start_angle = 0.0  # degrees
         self.very_short_sleep = 0.1  # seconds
-        self.script.mtcs.move_rotator = unittest.mock.AsyncMock(
-            side_effect=self.mock_move_rotator
-        )
+        self.script.mtcs.move_rotator = unittest.mock.AsyncMock()
 
         return (self.script,)
 
-    async def mock_move_rotator(self, angle, wait_for_complete):
-        if wait_for_complete is False:
-            await asyncio.sleep(self.very_short_sleep)
-        else:
-            current_angle = self.start_angle
-            while current_angle < angle:
-                await asyncio.sleep(self.very_short_sleep)
-                current_angle += self.script.rotator_velocity * self.very_short_sleep
-
     async def test_configure_default(self):
         """Test the default configuration"""
 
@@ -100,6 +95,18 @@ async def test_configure_with_program_reason(self):
                 == "MoveRotator BLOCK-123 202306060001 SITCOM-321"
             )
 
+    async def test_run_with_default_config(self):
+        async with self.make_script():
+            target_angle = 45.0
+
+            await self.configure_script(angle=target_angle)
+
+            await self.run_script()
+
+            self.script.mtcs.move_rotator.assert_called_once_with(
+                angle=target_angle, wait_for_complete=True
+            )
+
     async def test_executable(self):
         scripts_dir = standardscripts.get_scripts_dir()
         script_path = scripts_dir / "maintel" / "mtrotator" / "move_rotator.py"