Ts-salobj

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Major changes:

* Added `astropy_time_from_tai_unix` function.
* Added `CscCommander` to support exercising CSCs from trivial command-line scripts (DM-23771).
* Added ``bin/zrun_test_commander.py`` to exercise `CscCommander`.
* Added `stream_as_generator` to support reading user input from asyncio-based interactive command-line scripts, such as CSC commanders.
* The package is now conda-installable.
* Added constants ``LOCAL_HOST``, ``SECONDS_PER_DAY`` and ``MJD_MINUS_UNIX_SECONDS``.

Other changes:

* Set the ``name`` field of ``logMessage``, if available (DM-23812).
* Fixed two issues in `tai_from_utc` when provided with an `astropy.time.Time`.

* Using the default value for the ``scale`` argument caused incorrect behavior.
Now the ``scale`` argument is ignored, as it should be, since astropy time's have their own scale.
* The behavior on a leap second day was not well documented and differed from `astropy.time`.
Document it and match `astropy.time`.

* Improved logging for queues filling up, especially the DDS queue (DM-23802).
* Prevent `BaseScript` from being constructed with index=0, because such a script would receive commands for every script (DM-23900).
* Fixed a bug in `ConfigurableCsc.begin_start` that could result in an undefined variable when trying to print an error message.
* Load the astropy leap second table at startup, so the first call to `current_tai` is fast.
* Use `time.monotonic` instead of `time.time` to measure durations.

Requirements:

* ts_idl 1
* ts_xml 4.7
* IDL files for Test, Script, and LOVE.
* SALPY_Test generated by ts_sal 4 (for unit tests)

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Major changes:

* Added `BaseConfigTestCase` to support testing configuration files in ts_config_x packages.

Requirements:

* black
* ts_idl 1
* ts_xml 4.7
* IDL files for Test, Script, and LOVE.
* SALPY_Test generated by ts_sal 4 (for unit tests)

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Major changes:

* Scripts now launch with master priority 0 (or will, once https://jira.lsstcorp.org/browse/DM-23462 is implemented).
This should make scripts launch more quickly.

Requirements:

* black
* ts_idl 1
* ts_xml 4.7
* IDL files for Test, Script, and LOVE.
* SALPY_Test generated by ts_sal 4 (for unit tests)

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Major changes:

* Add support for the new ``setGroupId`` ``Script`` command to `BaseScript`:

* Scripts must now have a non-blank group ID before they are run.
* Add `BaseScript.group_id` property.
* Add `BaseScript.next_supplemented_group_id` method.
* Changed `BaseScript.do_resume` and `BaseScript.do_setCheckpoints` to asynchronous, so all ``do_...`` methods are asynchronous, for consistency. I did not find any code outside of ts_salobj that was affected, but it is a potentially breaking change.
* Output fields added to the ``logMessage`` event in ts_xml 4.7.
* Code formatted by ``black``, with a pre-commit hook to enforce this. See the README file for configuration instructions.

Minor changes:

* Fix bugs in `BaseCscTestCase.check_bin_script` and update ``test_csc.py`` to call it.
* Removed our local copy of ``ddsutil.py``.

Requirements:

* black
* ts_idl 1
* ts_xml 4.7
* IDL files for Test, Script, and LOVE.
* SALPY_Test generated by ts_sal 4 (for unit tests)

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Major changes:

* Add `BaseCscTestCase` as a useful base class for CSC unit tests.
Update the unit tests to use it.

Minor changes:

* `DefaultingValidator` now handles defaults in sub-objects (one level deep).
* CSCs will now reject optional generic commands if not implemented (meaning there is no ``do_``\ *command* method for them), instead of silently ignoring them.
The optional generic commands are ``abort``, ``enterControl``, ``setValue``, and the deprecated command ``setSimulationMode``.
* The ``action`` argument of `BaseCsc.assert_enabled` is now optional. There is no point to setting it when calling it from ``do_``\ *command* methods as the user knows what command was rejected.
* If a command is rejected because a CSC is in ``FAULT`` state, the error message contains the current value of the ``errorReport`` field of the ``errorCode`` event.
* `SalInfo` could not be created for a SAL component that had no commands (because such a component also has no ackcmd topic).

Deprecated APIs:

* ``lsst.ts.salobj.test_utils`` is deprecated. Please use ``lsst.ts.salobj`` instead.


Requirements:

* ts_idl 1
* ts_xml 4.6
* IDL files for Test, Script, and LOVE.
* SALPY_Test generated by ts_sal 4 (for unit tests)

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Fix a call to `warnings.warn` in `Domain`.

Requirements:

* ts_idl 1
* ts_xml 4.6
* IDL files for Test and Script
* SALPY_Test generated by ts_sal 4 (for unit tests)