Add Coldload agent and others

.gitignore

@@ -1,6 +1,10 @@
 # dynamic package version
 pcs/_version.py
 
+# Docker build dependencies
+
+docker/rfsoc_controller/ccatkidlib
+
 # Byte-compiled / optimized / DLL files
 __pycache__/
 *.py[cod]

Dockerfile

@@ -7,7 +7,8 @@ FROM simonsobs/ocs:v0.11.3-19-gd729e04
 
 # Install addition network related packages for ACU interface agent
 RUN apt-get update -y && apt-get install -y iputils-ping \
-    curl
+    curl \
+    rsync
 
 # Copy in and install requirements
 COPY requirements.txt /app/pcs/requirements.txt

docker/rfsoc_controller/Dockerfile

@@ -0,0 +1,13 @@
+FROM pcs
+
+# Will eventually want to pip install ccatkidlib from github once made public
+WORKDIR /app/pcs/
+COPY ./ccatkidlib /app/pcs/ccatkidlib 
+
+RUN python -m pip install -e ./ccatkidlib && \
+    python -m pip install -r ./ccatkidlib/requirements.txt && \
+    python -m pip install numpy==2.0.2
+
+WORKDIR /
+
+ENTRYPOINT ["dumb-init", "ocs-agent-cli"]

docs/agents/coldload_scpipsu.rst

@@ -0,0 +1,114 @@
+.. highlight:: rst
+
+.. _coldload_scpipsu:
+
+========
+Coldload
+========
+
+The Coldload agent controls and monitors the temperature of a coldload. The coldload therommeter is read out using a Lakeshore 240/372/etc. 
+through the associated Lakeshore agent. The temperature of the coldload is controlled by varying the current supplied through a Standard Commands for Programmable Instruments (SCPI) power supply unit. 
+Communication with the power supply unit can be done through direct Ethernet connection (if availabile) or can be mediated through GPIB (e.g, using a Prologix Interface).
+
+.. argparse::
+    :filename: ../pcs/agents/coldload_scpipsu/agent.py
+    :func: add_agent_args
+    :prog: python3 agent.py
+
+Configuration File Examples
+---------------------------
+
+Below are configuration examples for the SO-OCS site config file 
+and docker-compose file for running the
+Agent in a docker container.
+
+OCS Site Config
+```````````````
+
+To run the Coldload agent, a RaritanAgent block must be added
+to the site config file. Here is an example configuration block with
+all available arguments::
+
+      {'agent-class': 'ColdloadAgent_ScpiPsu',
+       'instance-id': 'power-psu-coldload',
+       'manage': 'docker',
+       'arguments': [
+         ['--ip-address', '10.10.10.50'],
+         ['--gpib-slot', '15'],
+         ['--psu-channel', 1],
+         ['--lakeshore', ['cryo-ls240-lsa291f', 'Channel_4']],
+         ['--max-current', 0.6]
+         ]},
+
+The ``--ip-address`` argument should be changed to the IP address of the BK Precision power supply on the network.
+The ``--gpib-slot`` argument should be changed to the GPIB port if using a Prologix Interface for communication.
+The ``--port`` argument should be added if communicating through Ethernet directly.
+The ``--psu-channel`` argument should be changed to the power supply channel connected to the coldload.
+The ``--lakeshore`` argument should be a list with two elements: The instance-id of the Lakeshore agent and the coldload thermometer channel.
+The ``-max-current`` argument specifies the maximum current that will be supplied by the power supply. The default is shown above.
+
+Docker Compose
+``````````````
+The Coldload agent should be configured to run in a Docker container. An
+example docker compose service configuration is shown here::
+
+  ocs-coldload: 
+    image: ghcr.io/ccatobs/pcs:latest
+    <<: *log-options
+    hostname: ocs-docker
+    network_mode: "host"
+    environment:
+      - INSTANCE_ID=power-psu-coldload
+      - SITE_HUB=ws://192.168.24.55:8001/ws
+      - SITE_HTTP=http://192.168.24.55:8001/call
+    volumes:
+      - ${OCS_CONFIG_DIR}:/config:ro
+
+Description
+-----------
+
+A "coldload" is an approximate blackbody that is used cryogenically as a calibration source. The coldload used for Mod-Cam is an aluminum plate coated with epoxy.
+The temperature of the coldload is controlled by varying the current supplied by a BK Precision 9130B power supply through resistors mounted on the coldload. The
+temperature is read out using a Lakeshore LS240. The Coldload agent subclasses the Simon's Observatory SOCS `ScpiPsu agent <https://domain.invalid/>`_  for control over the power supply
+but limits control to only the power supply channel connected to the coldload. Additionally, the Coldload agent subscribes to the Lakeshore agent feed monitoring the coldload temperature.
+The Coldload agent's main functionality is controlling the power supply (turning the channel on/off and getting/setting the voltage/current), but subscribing to the temperature feed also allows
+getting the temperature of the coldload (get_temp()) and setting the temperature of the coldload using a PID controller (set_temp()). When setting the temperature of the coldload, the PID values 
+(error, integral of error, and derivative of error) as well as the current are continously published to the 'pid_output' OCS feed for monitoring. Finally, the Coldload agent exposes the serial read(), write()
+commands to allow for greater control over the power supply unit.
+
+Example Clients
+---------------
+
+Below is an example client to control outlets::
+
+    from ocs.ocs_client import OCSClient
+    client = OCSClient('power-psu-coldload')
+
+    # Get channel output 
+    client.get_output()
+
+    # Set channel output
+    client.set_output(state='on')
+    client.set_output(state='off')
+
+    # Get/set voltage
+    client.get_voltage()
+    client.set_voltage(volts=15) # Volts
+
+    # Get/set current
+    client.get_current()
+    client.set_current(current=0.1) # Amps
+
+    # Get/set temperature
+    client.get_temp()
+    client.set_temp(temp=65, max_current=1, pid=[2.25e-3, 5.1e-7, 0.71]) # Kelvin
+
+    # Read/write serial commands
+    client.write(msg='*idn?')
+    client.read()
+
+Agent API
+---------
+
+.. autoclass:: pcs.agents.coldload_scpipsu.agent.ColdloadAgent_ScpiPsu
+    :members: