Adapt the constansts.

python/lsst/ts/mtdomegui/constants.py

@@ -20,105 +20,22 @@
 # along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
 __all__ = [
-    "MAX_JERK",
-    "MAX_ACCELERATION",
-    "MAX_VELOCITY",
     "MAX_POSITION",
     "MAX_TEMPERATURE",
-    "NUM_INTERLOCK",
-    "NUM_POSITION_AZIMUTH",
-    "NUM_RESOLVER_ELEVATION",
-    "NUM_RESOLVER_SHUTTER",
-    "NUM_RESOLVER_DOOR",
-    "NUM_DRIVE_AZIMUTH",
-    "NUM_DRIVE_ELEVATION",
     "NUM_DRIVE_SHUTTER",
-    "NUM_DRIVE_LOUVER",
-    "NUM_DRIVE_DOOR",
-    "NUM_TEMPERATURE_AZIMUTH",
-    "NUM_TEMPERATURE_ELEVATION",
-    "NUM_TEMPERATURE_SHUTTER",
-    "NUM_TEMPERATURE_LOUVER",
-    "NUM_TEMPERATURE_THERMAL",
-    "NUM_TEMPERATURE_DOOR",
-    "NUM_DOOR_LIMIT_SWITCH",
-    "NUM_DOOR_LOCKING_PIN",
-    "NUM_DOOR_BRAKE",
     "SUBSYSTEMS",
 ]
 
-
-# Maximum jerk in degree/second^3
-MAX_JERK = 40.0
-
-# Maximum acceleration in degree/second^2
-MAX_ACCELERATION = 10.0
-
-# Maximum velocity in degree/second
-MAX_VELOCITY = 3.5
+from lsst.ts.mtdomecom import APSCS_NUM_MOTORS_PER_SHUTTER, APSCS_NUM_SHUTTERS
 
 # Maximum position in degree
 MAX_POSITION = 360.0
 
 # Maximum temperature in degree Celsius
 MAX_TEMPERATURE = 10.0
 
-# Number of the interlocks
-NUM_INTERLOCK = 16
-
-# Number of the azimuth position encoders
-NUM_POSITION_AZIMUTH = 3
-
-# Number of the elevation (light/wind screen) resolvers
-NUM_RESOLVER_ELEVATION = 2
-
-# Number of the aperture shutter resolvers
-NUM_RESOLVER_SHUTTER = 4
-
-# Number of the rear access door resolvers
-NUM_RESOLVER_DOOR = 2
-
-# Number of the azimuth drives
-NUM_DRIVE_AZIMUTH = 5
-
-# Number of the elevation (light/wind screen) drives
-NUM_DRIVE_ELEVATION = 2
-
 # Number of the aperture shutter drives
-NUM_DRIVE_SHUTTER = 4
-
-# Number of the drives per louver
-NUM_DRIVE_LOUVER = 2
-
-# Number of the rear access door drives
-NUM_DRIVE_DOOR = 2
-
-# Number of the azimuth temperature sensors
-NUM_TEMPERATURE_AZIMUTH = 13
-
-# Number of the elevation (light/wind screen) temperature sensors
-NUM_TEMPERATURE_ELEVATION = 2
-
-# Number of the aperture shutter temperature sensors
-NUM_TEMPERATURE_SHUTTER = 4
-
-# Number of the temperature sensors per louver
-NUM_TEMPERATURE_LOUVER = 2
-
-# Number of the thermal temperature sensors
-NUM_TEMPERATURE_THERMAL = 13
-
-# Number of the rear access door temperature sensors
-NUM_TEMPERATURE_DOOR = 2
-
-# Number of the rear access door limit switches
-NUM_DOOR_LIMIT_SWITCH = 4
-
-# Number of the rear access door locking pins
-NUM_DOOR_LOCKING_PIN = 2
-
-# Number of the rear access door brakes
-NUM_DOOR_BRAKE = 2
+NUM_DRIVE_SHUTTER = APSCS_NUM_MOTORS_PER_SHUTTER * APSCS_NUM_SHUTTERS
 
 # Subsystems. This should be consistent with
 # lsst.ts.xml.enums.MTDome.SubSystemId.

python/lsst/ts/mtdomegui/status.py

@@ -23,18 +23,16 @@
 
 from dataclasses import dataclass, field
 
-from lsst.ts.mtdomecom import CBCS_NUM_CAPACITOR_BANKS
+from lsst.ts.mtdomecom import CBCS_NUM_CAPACITOR_BANKS, MON_NUM_SENSORS
 from lsst.ts.xml.enums import MTDome
 
-from .constants import NUM_INTERLOCK
-
 
 @dataclass
 class Status:
     """System status."""
 
     # Interlocks.
-    interlocks: list[bool] = field(default_factory=lambda: [False] * NUM_INTERLOCK)
+    interlocks: list[bool] = field(default_factory=lambda: [False] * MON_NUM_SENSORS)
 
     # System state. See the `SignalState` for the enum of each field.
     # Put the default values of "lockingPinsEngaged" and "brakeEngaged" to -1

python/lsst/ts/mtdomegui/tab/tab_aperture_shutter.py

@@ -34,7 +34,7 @@
 )
 from qasync import asyncSlot
 
-from ..constants import NUM_DRIVE_SHUTTER, NUM_RESOLVER_SHUTTER, NUM_TEMPERATURE_SHUTTER
+from ..constants import NUM_DRIVE_SHUTTER
 from ..model import Model
 from ..signals import SignalFaultCode, SignalMotion, SignalState, SignalTelemetry
 from ..utils import (
@@ -111,7 +111,7 @@ def _create_status(self) -> dict[str, QLabel | list[QLabel]]:
         drive_torque_actual = [create_label() for _ in range(NUM_DRIVE_SHUTTER)]
         drive_torque_commanded = [create_label() for _ in range(NUM_DRIVE_SHUTTER)]
         drive_current_actual = [create_label() for _ in range(NUM_DRIVE_SHUTTER)]
-        drive_temperature = [create_label() for _ in range(NUM_TEMPERATURE_SHUTTER)]
+        drive_temperature = [create_label() for _ in range(NUM_DRIVE_SHUTTER)]
 
         return {
             "position_actual": position_actual,
@@ -157,13 +157,13 @@ def _create_figures(self) -> dict[str, TabFigure]:
                 "Drive Temperature",
                 self.model,
                 "deg C",
-                [str(idx) for idx in range(NUM_TEMPERATURE_SHUTTER)],
+                [str(idx) for idx in range(NUM_DRIVE_SHUTTER)],
             ),
             "resolver": TabFigure(
                 "Calibrated Resolver",
                 self.model,
                 "deg",
-                [str(idx) for idx in range(NUM_RESOLVER_SHUTTER)],
+                [str(idx) for idx in range(NUM_DRIVE_SHUTTER)],
             ),
             "power": TabFigure(
                 "Total Power",
@@ -315,7 +315,7 @@ def _create_group_drive_temperature(self) -> QGroupBox:
 
         layout = QFormLayout()
 
-        for idx in range(NUM_TEMPERATURE_SHUTTER):
+        for idx in range(NUM_DRIVE_SHUTTER):
             layout.addRow(f"Temperature {idx}:", self._status["drive_temperature"][idx])
 
         return create_group_box("Drive Temperature", layout)
@@ -378,7 +378,7 @@ async def _callback_telemetry(self, telemetry: dict) -> None:
                 f"{telemetry['driveCurrentActual'][idx]:.2f} A"
             )
 
-        for idx in range(NUM_TEMPERATURE_SHUTTER):
+        for idx in range(NUM_DRIVE_SHUTTER):
             self._status["drive_temperature"][idx].setText(
                 f"{telemetry['driveTemperature'][idx]:.2f} deg C"
             )

python/lsst/ts/mtdomegui/tab/tab_azimuth.py

@@ -22,6 +22,11 @@
 __all__ = ["TabAzimuth"]
 
 from lsst.ts.guitool import TabTemplate, create_group_box, create_label
+from lsst.ts.mtdomecom import (
+    AMCS_NUM_MOTOR_TEMPERATURES,
+    AMCS_NUM_MOTORS,
+    AMCS_NUM_RESOLVERS,
+)
 from lsst.ts.xml.enums import MTDome
 from PySide6.QtWidgets import (
     QFormLayout,
@@ -33,7 +38,6 @@
 )
 from qasync import asyncSlot
 
-from ..constants import NUM_DRIVE_AZIMUTH, NUM_POSITION_AZIMUTH, NUM_TEMPERATURE_AZIMUTH
 from ..model import Model
 from ..signals import (
     SignalFaultCode,
@@ -113,10 +117,10 @@ def _create_status(self) -> dict[str, QLabel | list[QLabel]]:
             System status.
         """
 
-        drive_torque_actual = [create_label() for _ in range(NUM_DRIVE_AZIMUTH)]
-        drive_torque_commanded = [create_label() for _ in range(NUM_DRIVE_AZIMUTH)]
-        drive_current_actual = [create_label() for _ in range(NUM_DRIVE_AZIMUTH)]
-        drive_temperature = [create_label() for _ in range(NUM_TEMPERATURE_AZIMUTH)]
+        drive_torque_actual = [create_label() for _ in range(AMCS_NUM_MOTORS)]
+        drive_torque_commanded = [create_label() for _ in range(AMCS_NUM_MOTORS)]
+        drive_current_actual = [create_label() for _ in range(AMCS_NUM_MOTORS)]
+        drive_temperature = [create_label() for _ in range(AMCS_NUM_MOTOR_TEMPERATURES)]
 
         return {
             "position_actual": create_label(),
@@ -149,31 +153,31 @@ def _create_figures(self) -> dict[str, TabFigure]:
                 "Actual Drive Torque",
                 self.model,
                 "J",
-                [str(idx) for idx in range(NUM_DRIVE_AZIMUTH)],
+                [str(idx) for idx in range(AMCS_NUM_MOTORS)],
             ),
             "drive_current": TabFigure(
                 "Actual Drive Current",
                 self.model,
                 "A",
-                [str(idx) for idx in range(NUM_DRIVE_AZIMUTH)],
+                [str(idx) for idx in range(AMCS_NUM_MOTORS)],
             ),
             "drive_temperature": TabFigure(
                 "Drive Temperature",
                 self.model,
                 "deg C",
-                [str(idx) for idx in range(NUM_TEMPERATURE_AZIMUTH)],
+                [str(idx) for idx in range(AMCS_NUM_MOTOR_TEMPERATURES)],
             ),
             "encoder_head": TabFigure(
                 "Calibrated Encoder Head",
                 self.model,
                 "deg",
-                [str(idx) for idx in range(NUM_DRIVE_AZIMUTH)],
+                [str(idx) for idx in range(AMCS_NUM_MOTORS)],
             ),
             "position_encoder": TabFigure(
                 "Calibrated Position Encoder",
                 self.model,
                 "deg",
-                [str(idx) for idx in range(NUM_POSITION_AZIMUTH)],
+                [str(idx) for idx in range(AMCS_NUM_RESOLVERS)],
             ),
         }
 
@@ -291,7 +295,7 @@ def _create_group_drive_torque(self) -> QGroupBox:
 
         layout = QFormLayout()
 
-        for idx in range(NUM_DRIVE_AZIMUTH):
+        for idx in range(AMCS_NUM_MOTORS):
             layout.addRow(
                 f"Torque {idx} (commanded):",
                 self._status["drive_torque_commanded"][idx],
@@ -301,7 +305,7 @@ def _create_group_drive_torque(self) -> QGroupBox:
             )
             add_empty_row_to_form_layout(layout)
 
-        for idx in range(NUM_DRIVE_AZIMUTH):
+        for idx in range(AMCS_NUM_MOTORS):
             layout.addRow(
                 f"Current {idx} (actual):", self._status["drive_current_actual"][idx]
             )
@@ -319,7 +323,7 @@ def _create_group_drive_temperature(self) -> QGroupBox:
 
         layout = QFormLayout()
 
-        for idx in range(NUM_TEMPERATURE_AZIMUTH):
+        for idx in range(AMCS_NUM_MOTOR_TEMPERATURES):
             layout.addRow(f"Temperature {idx}:", self._status["drive_temperature"][idx])
 
         return create_group_box("Drive Temperature", layout)
@@ -375,7 +379,7 @@ async def _callback_telemetry(self, telemetry: dict) -> None:
         )
         self._status["velocity_actual"].setText(f"{velocity_actual:.2f} deg/sec")  # type: ignore[union-attr]
 
-        for idx in range(NUM_DRIVE_AZIMUTH):
+        for idx in range(AMCS_NUM_MOTORS):
             self._status["drive_torque_commanded"][idx].setText(
                 f"{telemetry['driveTorqueCommanded'][idx]:.2f} J"
             )
@@ -386,7 +390,7 @@ async def _callback_telemetry(self, telemetry: dict) -> None:
                 f"{telemetry['driveCurrentActual'][idx]:.2f} A"
             )
 
-        for idx in range(NUM_TEMPERATURE_AZIMUTH):
+        for idx in range(AMCS_NUM_MOTOR_TEMPERATURES):
             self._status["drive_temperature"][idx].setText(
                 f"{telemetry['driveTemperature'][idx]:.2f} deg C"
             )

python/lsst/ts/mtdomegui/tab/tab_command.py

@@ -21,12 +21,15 @@
 
 __all__ = ["TabCommand"]
 
+import math
+
 from lsst.ts.guitool import (
     TabTemplate,
     create_double_spin_box,
     create_group_box,
     set_button,
 )
+from lsst.ts.mtdomecom import AMCS_NUM_MOTORS, LWSCS_VMAX
 from lsst.ts.xml.enums import MTDome
 from PySide6.QtWidgets import (
     QComboBox,
@@ -38,14 +41,7 @@
 )
 from qasync import asyncSlot
 
-from ..constants import (
-    MAX_POSITION,
-    MAX_TEMPERATURE,
-    MAX_VELOCITY,
-    NUM_DRIVE_AZIMUTH,
-    NUM_DRIVE_SHUTTER,
-    SUBSYSTEMS,
-)
+from ..constants import MAX_POSITION, MAX_TEMPERATURE, NUM_DRIVE_SHUTTER, SUBSYSTEMS
 from ..model import Model
 from .tab_selector import TabSelector
 
@@ -98,7 +94,7 @@ def _create_tabs(self, model: Model) -> dict[str, TabSelector]:
         names_louver = [
             f"{louver.name} ({idx})" for (idx, louver) in enumerate(MTDome.Louver)
         ]
-        names_drive_azimuth = [str(idx) for idx in range(NUM_DRIVE_AZIMUTH)]
+        names_drive_azimuth = [str(idx) for idx in range(AMCS_NUM_MOTORS)]
         names_drive_shuttor = [str(idx) for idx in range(NUM_DRIVE_SHUTTER)]
 
         return {
@@ -107,13 +103,13 @@ def _create_tabs(self, model: Model) -> dict[str, TabSelector]:
             "drive_shuttor": TabSelector("Shutter Drive", model, names_drive_shuttor),
         }
 
-    def _create_command_parameters(self, decimal: int = 2) -> dict:
+    def _create_command_parameters(self, decimal: int = 3) -> dict:
         """Create the command parameters.
 
         Parameters
         ----------
         decimal : `int`, optional
-            Decimal. (the default is 2)
+            Decimal. (the default is 3)
 
         Returns
         -------
@@ -132,8 +128,8 @@ def _create_command_parameters(self, decimal: int = 2) -> dict:
         velocity = create_double_spin_box(
             "deg/sec",
             decimal,
-            maximum=MAX_VELOCITY,
-            minimum=-MAX_VELOCITY,
+            maximum=math.degrees(LWSCS_VMAX),
+            minimum=-math.degrees(LWSCS_VMAX),
         )
 
         speed = create_double_spin_box(