Merge pull request #510 from gemini-hlsw/probe-guide

Probe guide

build.sbt

@@ -147,7 +147,8 @@ lazy val navigate_server = project
     libraryDependencies ++= Seq(
       CatsEffect.value,
       Fs2,
-      Log4Cats.value
+      Log4Cats.value,
+      LucumaAgs
     ) ++ MUnit.value ++ LucumaCore.value ++ Http4sClient
   )
   .dependsOn(navigate_model % "compile->compile;test->test")

modules/server/src/main/scala/navigate/server/tcs/ProbeGuide.scala

@@ -0,0 +1,16 @@
+// Copyright (c) 2016-2023 Association of Universities for Research in Astronomy, Inc. (AURA)
+// For license information see LICENSE or https://opensource.org/licenses/BSD-3-Clause
+
+package navigate.server.tcs
+
+import cats.Eq
+import cats.Show
+import cats.derived.*
+import lucuma.ags.GuideProbe
+
+/** Data type for guide config. */
+case class ProbeGuide(
+  from: GuideProbe,
+  to:   GuideProbe
+) derives Eq,
+      Show

modules/server/src/main/scala/navigate/server/tcs/TcsBaseControllerEpics.scala

@@ -372,7 +372,8 @@ class TcsBaseControllerEpics[F[_]: Async: Parallel](
 
     val m1 = (x: TcsCommands[F]) =>
       config.m1Guide match {
-        case M1GuideConfig.M1GuideOff        => x.m1GuideCommand.state(false)
+        case M1GuideConfig.M1GuideOff        =>
+          x.m1GuideCommand.state(false).probeGuideModeCommand.setMode(config.probeGuide)
         case M1GuideConfig.M1GuideOn(source) =>
           x.m1GuideCommand
             .state(true)
@@ -384,6 +385,8 @@ class TcsBaseControllerEpics[F[_]: Async: Parallel](
             .frames(1)
             .m1GuideConfigCommand
             .filename("")
+            .probeGuideModeCommand
+            .setMode(config.probeGuide)
       }
 
     config.m2Guide match {
@@ -396,6 +399,8 @@ class TcsBaseControllerEpics[F[_]: Async: Parallel](
           .mode(config.mountGuide)
           .mountGuideCommand
           .source("SCS")
+          .probeGuideModeCommand
+          .setMode(config.probeGuide)
           .post
           .verifiedRun(ConnectionTimeout)
       case M2GuideConfig.M2GuideOn(coma, sources) =>
@@ -405,7 +410,11 @@ class TcsBaseControllerEpics[F[_]: Async: Parallel](
           .flatMap(x => beams.map(y => (x, y)))
           .foldLeft(
             requireReset.fold(
-              gains(tcsEpics.startCommand(timeout)).m2GuideResetCommand.mark.post
+              tcsEpics
+                .startCommand(timeout)
+                .m2GuideResetCommand
+                .mark
+                .post
                 .verifiedRun(ConnectionTimeout),
               ApplyCommandResult.Completed.pure[F]
             )
@@ -427,6 +436,8 @@ class TcsBaseControllerEpics[F[_]: Async: Parallel](
                   .beam(beam)
                   .m2GuideConfigCommand
                   .reset(false)
+                  .probeGuideModeCommand
+                  .setMode(config.probeGuide)
                   .post
                   .verifiedRun(ConnectionTimeout),
                 r.pure[F]
@@ -441,6 +452,8 @@ class TcsBaseControllerEpics[F[_]: Async: Parallel](
                   .mode(config.mountGuide)
                   .mountGuideCommand
                   .source("SCS")
+                  .probeGuideModeCommand
+                  .setMode(config.probeGuide)
                   .post
                   .verifiedRun(ConnectionTimeout),
                 ApplyCommandResult.Completed.pure[F]

modules/server/src/main/scala/navigate/server/tcs/TcsChannels.scala

@@ -49,7 +49,8 @@ case class TcsChannels[F[_]](
   mountGuide:       MountGuideChannels[F],
   oiwfs:            WfsChannels[F],
   guide:            GuideConfigStatusChannels[F],
-  guiderGains:      GuiderGainsChannels[F]
+  guiderGains:      GuiderGainsChannels[F],
+  probeGuideMode:   ProbeGuideModeChannels[F]
 )
 
 object TcsChannels {
@@ -513,6 +514,23 @@ object TcsChannels {
     )
   }
 
+  case class ProbeGuideModeChannels[F[_]](
+    state: Channel[F, String],
+    from:  Channel[F, String],
+    to:    Channel[F, String]
+  )
+
+  object ProbeGuideModeChannels {
+    def build[F[_]](
+      service: EpicsService[F],
+      top:     TcsTop
+    ): Resource[F, ProbeGuideModeChannels[F]] = for {
+      state <- service.getChannel[String](top.value, "wfsGuideMode.A")
+      from  <- service.getChannel[String](top.value, "wfsGuideMode.B")
+      to    <- service.getChannel[String](top.value, "wfsGuideMode.C")
+    } yield ProbeGuideModeChannels(state, from, to)
+  }
+
   object GuiderGains {
     def build[F[_]](
       service:  EpicsService[F],
@@ -601,6 +619,7 @@ object TcsChannels {
       oi   <- WfsChannels.build(service, tcsTop, "oiwfs", "oi")
       gd   <- GuideConfigStatusChannels.build(service, tcsTop)
       gg   <- GuiderGains.build(service, pwfs1Top, pwfs2Top, oiTop)
+      gm   <- ProbeGuideModeChannels.build(service, tcsTop)
     } yield TcsChannels[F](
       tt,
       p1tt,
@@ -631,7 +650,8 @@ object TcsChannels {
       mng,
       oi,
       gd,
-      gg
+      gg,
+      gm
     )
   }
 }

modules/server/src/main/scala/navigate/server/tcs/TcsEpicsSystem.scala

@@ -10,6 +10,7 @@ import cats.effect.Resource
 import cats.effect.Temporal
 import cats.effect.std.Dispatcher
 import eu.timepit.refined.types.string.NonEmptyString
+import lucuma.ags.GuideProbe
 import lucuma.core.math.Angle
 import mouse.all.*
 import navigate.epics.Channel
@@ -89,6 +90,7 @@ object TcsEpicsSystem {
     val p1GuiderGainsCmd: Command3Channels[F, Double, Double, Double]
     val p2GuiderGainsCmd: Command3Channels[F, Double, Double, Double]
     val oiGuiderGainsCmd: Command3Channels[F, Double, Double, Double]
+    val probeGuideModeCmd: Command3Channels[F, BinaryOnOff, GuideProbe, GuideProbe]
 
     // val offsetACmd: OffsetCmd[F]
     // val offsetBCmd: OffsetCmd[F]
@@ -897,6 +899,21 @@ object TcsEpicsSystem {
           )
 
       }
+
+    override val probeGuideModeCommand: ProbeGuideModeCommand[F, TcsCommands[F]] =
+      new ProbeGuideModeCommand[F, TcsCommands[F]] {
+        override def setMode(pg: Option[ProbeGuide]): TcsCommands[F] =
+          pg.fold(
+            addParam(tcsEpics.probeGuideModeCmd.setParam1(BinaryOnOff.Off))
+          )(pg =>
+            addMultipleParams(
+              List(tcsEpics.probeGuideModeCmd.setParam1(BinaryOnOff.On),
+                   tcsEpics.probeGuideModeCmd.setParam2(pg.from),
+                   tcsEpics.probeGuideModeCmd.setParam3(pg.to)
+              )
+            )
+          )
+      }
   }
 
   class TcsEpicsSystemImpl[F[_]: Monad: Parallel](epics: TcsEpics[F], st: TcsStatus[F])
@@ -911,6 +928,12 @@ object TcsEpicsSystem {
     applyCmd: GeminiApplyCommand[F],
     channels: TcsChannels[F]
   ) extends TcsEpics[F] {
+    given Encoder[GuideProbe, String] = _ match {
+      case GuideProbe.GmosOiwfs => "OIWFS"
+      case GuideProbe.Pwfs1     => "PWFS1"
+      case GuideProbe.Pwfs2     => "PWFS2"
+    }
+
     override def post(timeout: FiniteDuration): VerifiedEpics[F, F, ApplyCommandResult] =
       applyCmd.post(timeout)
 
@@ -1073,6 +1096,14 @@ object TcsEpicsSystem {
         channels.guiderGains.oiTiltGain,
         channels.guiderGains.oiFocusGain
       )
+
+    override val probeGuideModeCmd: Command3Channels[F, BinaryOnOff, GuideProbe, GuideProbe] =
+      Command3Channels(
+        channels.telltale,
+        channels.probeGuideMode.state,
+        channels.probeGuideMode.from,
+        channels.probeGuideMode.to
+      )
   }
 
   case class ParameterlessCommandChannels[F[_]: Monad](
@@ -1508,6 +1539,10 @@ object TcsEpicsSystem {
     def fileName(v:          String): S
   }
 
+  trait ProbeGuideModeCommand[F[_], +S] {
+    def setMode(pg: Option[ProbeGuide]): S
+  }
+
   trait WfsSignalProcConfigCommand[F[_], +S] {
     def darkFilename(v: String): S
   }
@@ -1561,6 +1596,7 @@ object TcsEpicsSystem {
     val mountGuideCommand: MountGuideCommand[F, TcsCommands[F]]
     val oiWfsCommands: WfsCommands[F, TcsCommands[F]]
     val guiderGainsCommands: GuiderGainsCommand[F, TcsCommands[F]]
+    val probeGuideModeCommand: ProbeGuideModeCommand[F, TcsCommands[F]]
   }
   /*
 

modules/server/src/main/scala/navigate/server/tcs/TelescopeGuideConfig.scala

@@ -12,6 +12,7 @@ case class TelescopeGuideConfig(
   mountGuide:  Boolean,
   m1Guide:     M1GuideConfig,
   m2Guide:     M2GuideConfig,
-  dayTimeMode: Boolean
+  dayTimeMode: Boolean,
+  probeGuide:  Option[ProbeGuide]
 ) derives Eq,
       Show

modules/server/src/test/scala/navigate/server/tcs/TcsBaseControllerEpicsSpec.scala → modules/server/src/test/scala/navigate/server/tcs/TcsBaseControllerEpicsSuite.scala

@@ -6,6 +6,7 @@ package navigate.server.tcs
 import cats.effect.IO
 import cats.effect.Ref
 import cats.syntax.all.*
+import lucuma.ags.GuideProbe
 import lucuma.core.math.Angle
 import lucuma.core.math.Coordinates
 import lucuma.core.math.Epoch
@@ -34,7 +35,7 @@ import TcsBaseController.*
 import M2GuideConfig.M2GuideOn
 import TestTcsEpicsSystem.GuideConfigState
 
-class TcsBaseControllerEpicsSpec extends CatsEffectSuite {
+class TcsBaseControllerEpicsSuite extends CatsEffectSuite {
 
   private val DefaultTimeout: FiniteDuration = FiniteDuration(1, TimeUnit.SECONDS)
 
@@ -574,7 +575,8 @@ class TcsBaseControllerEpicsSpec extends CatsEffectSuite {
       mountGuide = true,
       m1Guide = M1GuideConfig.M1GuideOn(M1Source.Oiwfs),
       m2Guide = M2GuideOn(true, Set(TipTiltSource.Oiwfs)),
-      dayTimeMode = false
+      dayTimeMode = false,
+      probeGuide = none
     )
 
     for {
@@ -660,7 +662,8 @@ class TcsBaseControllerEpicsSpec extends CatsEffectSuite {
       mountGuide = true,
       m1Guide = M1GuideConfig.M1GuideOn(M1Source.Oiwfs),
       m2Guide = M2GuideOn(true, Set(TipTiltSource.Oiwfs)),
-      dayTimeMode = true
+      dayTimeMode = true,
+      probeGuide = none
     )
 
     for {
@@ -746,7 +749,8 @@ class TcsBaseControllerEpicsSpec extends CatsEffectSuite {
       mountGuide = true,
       m1Guide = M1GuideConfig.M1GuideOn(M1Source.Oiwfs),
       m2Guide = M2GuideOn(true, Set(TipTiltSource.Oiwfs)),
-      false
+      dayTimeMode = false,
+      probeGuide = none
     )
 
     for {
@@ -772,6 +776,7 @@ class TcsBaseControllerEpicsSpec extends CatsEffectSuite {
       assert(r1.m2GuideReset.connected)
       assert(r1.mountGuide.mode.connected)
       assert(r1.mountGuide.source.connected)
+      assert(r1.probeGuideMode.state.connected)
 
       assertEquals(r1.m1Guide.value.flatMap(Enumerated[BinaryOnOff].fromTag), BinaryOnOff.On.some)
       assertEquals(r1.m1GuideConfig.source.value.flatMap(Enumerated[M1Source].fromTag),
@@ -804,6 +809,59 @@ class TcsBaseControllerEpicsSpec extends CatsEffectSuite {
       assertEquals(r2.mountGuide.mode.value.flatMap(Enumerated[BinaryOnOff].fromTag),
                    BinaryOnOff.Off.some
       )
+      assertEquals(r1.probeGuideMode.state.value.flatMap(Enumerated[BinaryOnOff].fromTag),
+                   BinaryOnOff.Off.some
+      )
+    }
+  }
+
+  test("Set guide mode OIWFS to OIWFS") {
+    val guideCfg = TelescopeGuideConfig(
+      mountGuide = true,
+      m1Guide = M1GuideConfig.M1GuideOn(M1Source.Oiwfs),
+      m2Guide = M2GuideOn(true, Set(TipTiltSource.Oiwfs)),
+      dayTimeMode = false,
+      probeGuide = ProbeGuide(GuideProbe.GmosOiwfs, GuideProbe.GmosOiwfs).some
+    )
+
+    for {
+      x        <- createController
+      (st, ctr) = x
+      _        <- ctr.enableGuide(guideCfg)
+      r1       <- st.get
+    } yield {
+      assert(r1.probeGuideMode.state.connected)
+
+      assertEquals(r1.probeGuideMode.state.value.flatMap(Enumerated[BinaryOnOff].fromTag),
+                   BinaryOnOff.On.some
+      )
+      assertEquals(r1.probeGuideMode.from.value, "OIWFS".some)
+      assertEquals(r1.probeGuideMode.to.value, "OIWFS".some)
+    }
+  }
+
+  test("Set guide mode PWFS1 to PWFS2") {
+    val guideCfg = TelescopeGuideConfig(
+      mountGuide = true,
+      m1Guide = M1GuideConfig.M1GuideOn(M1Source.Oiwfs),
+      m2Guide = M2GuideOn(true, Set(TipTiltSource.Oiwfs)),
+      dayTimeMode = false,
+      probeGuide = ProbeGuide(GuideProbe.Pwfs1, GuideProbe.Pwfs2).some
+    )
+
+    for {
+      x        <- createController
+      (st, ctr) = x
+      _        <- ctr.enableGuide(guideCfg)
+      r1       <- st.get
+    } yield {
+      assert(r1.probeGuideMode.state.connected)
+
+      assertEquals(r1.probeGuideMode.state.value.flatMap(Enumerated[BinaryOnOff].fromTag),
+                   BinaryOnOff.On.some
+      )
+      assertEquals(r1.probeGuideMode.from.value, "PWFS1".some)
+      assertEquals(r1.probeGuideMode.to.value, "PWFS2".some)
     }
   }