Other changes:

• Since the simulator now moves more realistically, I added code to test_csc.py to allow speeding up mock controller moves, so the tests run reasonably quickly.
• I reformatted the code with black and added a git pre-commit hook to keep it that way.
• I added a revision history.

Pull request: https://github.com/lsst-ts/ts_hexapod/pull/11

Update looks good and reflect the real system. Great job!

Te-Wei Tsai's review:

[mock_controller.py]

1. Do you want to put the file of “CAMERA HEXAPOD STRUT FLEXURE COORDINATES.xlsx” in the doc or doc/ref? Otherwise, no one knows what is this. In addition, I do not know the comment like “emailed to me (indirectly) from John Andrew 2020-02-13” is necessary or not for a future’s maintainer.

https://github.com/lsst-ts/ts_hexapod/pull/11/files#diff-3eff6648ada2ac75c09c6e8ba651ea62R81-R82

2. It might be goood to have the above file to let people know the meaning of the magic number here:

https://github.com/lsst-ts/ts_hexapod/pull/11/files#diff-3eff6648ada2ac75c09c6e8ba651ea62R83-R98

3. What is the benefit to write a number as 500_000 instead of 500000 or 5*1e5?

https://github.com/lsst-ts/ts_hexapod/pull/11/files#diff-3eff6648ada2ac75c09c6e8ba651ea62R106

4. Although I know this is a guess, I am a little shocked to see the resolution could be in nm level:

https://github.com/lsst-ts/ts_hexapod/pull/11/files#diff-3eff6648ada2ac75c09c6e8ba651ea62R108-R109

[utils.py]

1. I could understand you reformatted the code in this PR for the readibility (or whatever the reason). But I thought here the original one is more familiar for a rotation matrix:

https://github.com/lsst-ts/ts_hexapod/pull/11/files#diff-1fe6a08da4d9305d9b23debf785a8728L126-R135

Thank you for the thorough review, and getting it done so quickly.

[mock_controller.py]

1. Good suggestion. I will add the file to the doc directory and clean up the description.

2. Likewise. I will add a URL to the comment.

3. I prefer _ every 3 digits for long integers to make the magnitude clearer. Unfortunately it only works for integers and these are treated as floats (and would be floats if we had higher resolution) so I'll remove the underscores. I suppose I could use exponential notation, but I find that more difficult to read.

4. Good catch! I agree that resolution is unrealistic. I'll back it off to 10.

[utils.py]

1. I agree that the code may be slightly harder to read, but in my opinion it is still quite readable. And it has the virtue of looking like black formatted code, thus looking more like the code around it. One of the great benefits of black is that it avoids having to think about code format. I prefer to only override black in extreme cases, and so far I have not come across any.

Merged to develop and master and tagged as v0.4.0

Note: the geometry is set as class variables in MockController in these lines of mock_controller.py: https://github.com/lsst-ts/ts_hexapod/blob/e86047c695e4cd19d2e451928919e8cc270d2337/python/lsst/ts/hexapod/mock_controller.py#L80-L110.

Thus it is very easy to override it in the script that runs the CSC. Here is an example showing how to override the actuator length limits:

import asyncio

from lsst.ts import hexapod

hexapod.MockController.actuator_max_length = <new value>

hexapod.MockController.actuator_min_length = <new value>

asyncio.run(hexapod.HexapodCsc.amain())