Merge branch 'develop' into tickets/DM-46003

doc/news/DM-45696.feature.1.rst

@@ -0,0 +1 @@
+In base_tcs.py, expand captured rotator limit exceptions during slew cmd.

doc/news/DM-45696.feature.2.rst

@@ -0,0 +1 @@
+In atcalsys, pass group_id metadata to the electromer and fiber spectrograph when taking data.

python/lsst/ts/observatory/control/auxtel/atcalsys.py

@@ -481,10 +481,12 @@ async def _take_data(
         fiber_spectrum_exposure_coroutine = self.take_fiber_spectrum(
             exposure_time=fiber_spectrum_exposure_time,
             exposures_done=exposures_done,
+            group_id=exposure_metadata.get("group_id", ""),
         )
         electrometer_exposure_coroutine = self.take_electrometer_scan(
             exposure_time=electrometer_exposure_time,
             exposures_done=exposures_done,
+            group_id=exposure_metadata.get("group_id", ""),
         )
         try:
             fiber_spectrum_exposure_task = asyncio.create_task(
@@ -514,6 +516,7 @@ async def take_electrometer_scan(
         self,
         exposure_time: float | None,
         exposures_done: asyncio.Future,
+        group_id: str,
     ) -> list[str]:
         """Perform an electrometer scan for the specified duration.
 
@@ -523,6 +526,8 @@ async def take_electrometer_scan(
             Exposure time for the fiber spectrum (seconds).
         exposures_done : `asyncio.Future`
             A future indicating when the camera exposures where complete.
+        group_id : `str`
+            Group ID for this data.
 
         Returns
         -------
@@ -538,6 +543,7 @@ async def take_electrometer_scan(
             try:
                 await self.electrometer.cmd_startScanDt.set_start(
                     scanDuration=exposure_time,
+                    groupId=group_id,
                     timeout=exposure_time + self.long_timeout,
                 )
             except salobj.AckTimeoutError:
@@ -563,6 +569,7 @@ async def take_fiber_spectrum(
         self,
         exposure_time: float | None,
         exposures_done: asyncio.Future,
+        group_id: str,
     ) -> list[str]:
         """Take exposures with the fiber spectrograph until
         the exposures with the camera are complete.
@@ -576,6 +583,8 @@ async def take_fiber_spectrum(
             Exposure time for the fiber spectrum (seconds).
         exposures_done : `asyncio.Future`
             A future indicating when the camera exposures where complete.
+        group_id : str
+            Group id for the data.
 
         Returns
         -------
@@ -591,6 +600,7 @@ async def take_fiber_spectrum(
                 await self.fiberspectrograph.cmd_expose.set_start(
                     duration=exposure_time,
                     numExposures=1,
+                    groupId=group_id,
                     timeout=exposure_time + self.long_timeout,
                 )
             except salobj.AckTimeoutError:

python/lsst/ts/observatory/control/base_tcs.py

@@ -648,30 +648,51 @@ async def slew_icrs(
                     offset_y=offset_y,
                 )
             except salobj.AckError as ack_error:
-                if "Target out of rotator limit" in ack_error.ackcmd.result:
+                if "rotator position angle out of range" in ack_error.ackcmd.result:
                     self.log.warning(
                         "Target out of rotator limit. Trying different angle."
                     )
                     continue
+                elif "Target out of rotator limit" in ack_error.ackcmd.result:
+                    self.log.warning(
+                        "Target out of rotator limit. Trying different angle."
+                    )
+                    continue
+                elif "out of slew limit margin" in ack_error.ackcmd.result:
+                    self.log.warning(
+                        "Target out of rotator slew limit margin. Trying different angle."
+                    )
+                    continue
                 else:
                     raise ack_error
             except Exception as e:
                 slew_exception = e
                 break
             else:
                 if self._overslew_az:
-                    overslew_az = 2.0 * 3600.0 * np.cos(alt_az.alt.rad)
-                    self.log.info(
-                        "Overslew Azimuth feature is enabled. Slewing past target position by"
-                        f"{(overslew_az/3600.):.1f} degrees and waiting for settle."
-                    )
-                    await asyncio.sleep(self.tel_settle_time)
-                    await self.offset_azel(az=overslew_az, el=0, relative=False)
-                    await asyncio.sleep(self.tel_settle_time)
-                    self.log.info("Slewing back to target position.")
-                    await self.offset_azel(az=0, el=0, relative=False)
+                    try:
+                        overslew_az = 2.0 * 3600.0 * np.cos(alt_az.alt.rad)
+                        self.log.info(
+                            "Overslew Azimuth feature is enabled. Slewing past target position by"
+                            f"{(overslew_az/3600.):.1f} degrees and waiting for settle."
+                        )
+                        await asyncio.sleep(self.tel_settle_time)
+                        await self.offset_azel(az=overslew_az, el=0, relative=False)
+                        await asyncio.sleep(self.tel_settle_time)
+                        self.log.info("Slewing back to target position.")
+                        await self.offset_azel(az=0, el=0, relative=False)
+                    except salobj.AckError as ack_error:
+                        if (
+                            "out of range"
+                            or "out of slew limit" in ack_error.ackcmd.result
+                        ):
+                            self.log.warning(
+                                "Overslew is out of operational limits. Skipping overslew."
+                            )
+                            continue
+                        else:
+                            raise ack_error
                 break
-
         if slew_exception is not None:
             raise slew_exception