Sdss-hal

🚀 New

* Added a new `goto-field` stage, `lamps`, that runs concurrently with `reslew` and turn on BOSS calibrations lamps (if needed) at that point. This saves a few seconds if we are taking a single BOSS arc. The stage is not required, and the lamps will be turned on at the calibration stage if `lamps` is omitted.

✨ Improved

* Several performance improvements to `goto-field`. FFS are only closed if we are taking BOSS calibrations; when turning off lamps, we don't wait until they are really off, just send the command; the APOGEE shutter is closed at the beginning of the goto-field, but we don't wait for it to fully close before moving to the reconfiguration.
* After the BOSS FF stage, only the FF lamp is turned off.

🔧 Fixed

* Fixed a case in which lamp status reporting could fail if the lamps were caught at an intermediate state in which only some of the lamps were on.

⚙️ Engineering

* Macro exceptions are logged to the file log with full traceback.

🚀 Added

* [COS-88](https://jira.sdss.org/browse/COS-88) ([#11](https://github.com/sdss/HAL/pull/11)): `hal goto-field` now accepts an `--auto` flag that selects the stages depending on the design loaded.

🏷️ Changed

* If `expose` is called with `--without-fpi`, the FPI shutter is left where it is.

🚀 Added

* [9](https://github.com/sdss/HAL/pull/9) Some changes for LCO. Splits the script into APO and LCO version.

🏷️ Changed

* [8](https://github.com/sdss/HAL/pull/8) Go to field turns on HgCd during prepare if arcs or Hartmanns are going to be taken, even if the `fvc` stage is selected. If `fvc` is not selected both HgCd and Ne are turned on. The telescope now slews to the field rotator angle.

🚀 New

* [2](https://github.com/sdss/HAL/pull/2) HAL expose macro and actor command. Multiple subsequent commits fine-tuning its behaviour.

✨ Improved

* [COS-68](https://jira.sdss.org/browse/COS-68) Better handling of lamps during go to field macro. Reduce warm up time for HgCd lamp to 108 seconds to account for BOSS flushing.
* [COS-71](https://jira.sdss.org/browse/COS-71) Update evening/morning calibration scripts with dithered version.
* [6](https://github.com/sdss/HAL/pull/6) Update the `goto-field` macro to execute the FVC loop at a fixed rotator angle.
* [7](https://github.com/sdss/HAL/pull/7) Check FBI LED levels before exposing.
* Improved FPI shutter handling.
* Mote `goto-field` improvements:
* Go to field: add a `cherno stop` during the `prepare` stage.
* Do not reset cherno offset.
* Re-slew and open FFS at the same time.
* Slew timeout 160 -> 180s.
* Run 5 iterations with full corrections in the `acquire` stage before moving to guiding using the PID coefficients.

🔧 Fixed

* If a stage has been finished, do not cancel it.

🚀 New

* Basic infrastructure for scripts and macros.
* [1](https://github.com/sdss/HAL/pull/1) Command to run scripts.
* Goto commands and TCC status.
* `goto-field` macro.