The real time computing and instrument control software for CaNaPy

CaNaPy is an LGS-AO experimental facility of new generation, currently being assembled by the research institutes participating to the project (INAF, IAC and Durham) and the European Southern Observatory. CaNaPy operation is at visible wavelengths, with a 63 W 589 nm laser used in pulsed mode. The project is lead by the ESO Technology Development Program, also in the frame of the ESO-ESA R&D collaboration, becoming available for ESO-ESA joint operation at OGS only after its commissioning in 2023. ESO and the participating institutes will use it for R&D field tests on LGS-AO technologies, with granted access. The CaNaPy AO system will use a Pyramid-WFS on the LGS reference; the uplink and downlink of the 589nm laser will share a common optical path using the same telescope for launch and for observations (monostatic configuration). A Shack-Hartmann WFS guiding on a nearby NGS will provide tip-tilt and focus measurements along the line of sight of the laser launch. Here, we present the current design and status of the Real-Time Control software of CaNaPy, with the use of DARC for the hard real-time core control loops and the modifications to implement Pyramid control algorithms using Python based software for the auxiliary loops, control interface and diagnostic displays. We also include in our design provisions for including predictive control algorithms and operating the AO loops at high frame rates. We will then focus on the design and development of the CaNaPy Instrument Control Software, with particular attention to the requirements, the architecture setting, the graphic interface, the interfaces between the ICS and the other modules that manage the operations of the instrument.