necst.ctrl.antenna.az_unwrap

Runtime support for absolute-modulo azimuth encoder unwrapping.

load_unwrap_disabled_mount_az_limit()[source]

Return raw-Az command limits when absolute unwrap is configured off.

When an absolute-modulo Az encoder is configured but antenna_encoder_unwrap.az.enabled is false, the control system has no branch information. In that state Az commands must be confined to the raw absolute encoder range (normally 0..360 deg). If no unwrap section exists, return None so NANTEN2/incremental-encoder configurations are unchanged.

Return type:

Optional[dict]

assert_mount_az_allowed_when_unwrap_disabled(az_deg, *, action_label='Az target')[source]

Reject Az commands outside raw range when unwrap is configured off.

This is a fail-closed guard for absolute-modulo encoders. It intentionally uses the configured raw absolute encoder range, not the wider continuous drive range, because without unwrap the controller cannot distinguish e.g. 10 deg from 370 deg.

Parameters:

  • az_deg (Any) –

  • action_label (str) –

Return type:

Optional[dict]

load_az_unwrap_config()[source]
Return type:

tuple[neclib.coordinates.angle_unwrap.AbsoluteModuloUnwrapConfig, Optional[pathlib.Path], float, float, float, str, str, int]

class AtomicStateWriter(path)[source]

Bases: object

Low-rate atomic state persistence, isolated from encoder callbacks.

Parameters:

path (Optional[Path]) –

submit(payload)[source]
Parameters:

payload (dict) –

Return type:

None

close(final_payload=None, timeout=1.0)[source]
Parameters:

  • final_payload (Optional[dict]) –

  • timeout (float) –

Return type:

None

class AzUnwrapRuntime[source]

Bases: object

process(raw_az_deg, *, el_deg, encoder_time)[source]
Parameters:

  • raw_az_deg (float) –

  • el_deg (float) –

  • encoder_time (float) –

Return type:

tuple[float, necst_msgs.msg._antenna_az_unwrap_status.AntennaAzUnwrapStatus]

get_state_report()[source]

Return runtime/state-file information for ROS service responses.

The report is generated inside the encoder node process. Therefore the reported state_path and state-file content refer to the path that encoder_readout actually uses, not to a caller’s local ~/.necst.

Return type:

dict

manual_initialize(*, raw_az, continuous_az, branch, reason='manual state set via encoder service')[source]

Validate and persist a manual unwrap state inside encoder_readout.

This is the service-side equivalent of the old local-file CLI. The validation rules and JSON schema are shared with the local fallback, but the write happens in the encoder node process, so Docker/HOME differences cannot redirect the state file to the wrong computer.

Parameters:

  • raw_az (Optional[float]) –

  • continuous_az (Optional[float]) –

  • branch (Optional[int]) –

  • reason (str) –

Return type:

AntennaAzUnwrapStatus

close()[source]
Return type:

None

fill_get_response(response, report)[source]

Fill GetAzUnwrapState.Response-like objects from a runtime report.

Parameters:

  • response (Any) –

  • report (Mapping[str, Any]) –

Return type:

Any

fill_set_response(response, *, success, state, reason, state_path, enabled, valid, raw_az_deg, modulo_az_deg, continuous_az_deg, branch, period_deg, drive_min_deg, drive_max_deg)[source]

Fill SetAzUnwrapState.Response-like objects without importing ROS types.

Parameters:

  • response (Any) –

  • success (bool) –

  • state (str) –

  • reason (str) –

  • state_path (str) –

  • enabled (bool) –

  • valid (bool) –

  • raw_az_deg (float) –

  • modulo_az_deg (float) –

  • continuous_az_deg (float) –

  • branch (int) –

  • period_deg (float) –

  • drive_min_deg (float) –

  • drive_max_deg (float) –

Return type:

Any

report_from_status(runtime, status, *, success=True)[source]

Convert a status message to a response/report dictionary.

Parameters:
Return type:

dict

main(argv=None)[source]

Inspect or initialize Az unwrap state.

Default mode uses ROS services served by encoder_readout, so the state is written to the encoder node’s actual state_path. Use –local only as a deliberate emergency fallback on the encoder PC/container.

Return type:

int

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