I realized the hard-coded file path in "hexapod_LUT_source_final/" is different from the files in "ts_hexapod_controller/src/smlnkModel". The proof is in the following.

Used the command of 'grep -nr "fileid = cfopen(" .' in ts_hexapod_controller repository and got the following:

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./src/smlnkModel/extract_Azimuth_Data.c:50: fileid = cfopen("//nfsdemo//Azimuth_Data.csv.M2", "rb");
./src/smlnkModel/extract_Azimuth_Data.c:51: else fileid = cfopen("//nfsdemo//Azimuth_Data.csv.CAM", "rb");
./src/smlnkModel/lut/generate_LUT.c:72: fileid = cfopen("//nfsdemo//Elevation_Data.csv.M2", "rb");
./src/smlnkModel/lut/generate_LUT.c:73: else fileid = cfopen("//nfsdemo//Elevation_Data.csv.CAM", "rb");
./src/smlnkModel/lut/generate_LUT.c:182: fileid = cfopen("//nfsdemo//Temperature_Data.csv.M2", "rb");
./src/smlnkModel/lut/generate_LUT.c:183: else fileid = cfopen("//nfsdemo//Temperature_Data.csv.CAM", "rb");

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I realized the MATLAB Coder can not use the functions of setenv() and getenv(). It looks like the MOOG developer had the different version of LUT codes, especially for generate_LUT.c file.

Rearrange the LUT codes in ts_hexapod_controller repo. Added the cpLutCntlr.sh file to copy the LUT files.

It looks like the LUT code and hexapod controller simulink code are decoupled after reading the code of commanding.c in ts_hexapod_controller.

Updated the state machine of hexapod controller to transit the Fault state to Standby state after clearing the error. The result is in the following:

Move the hexapod position as the following:

The updated transition can follow:
https://github.com/lsst-ts/ts_hexapod_controller/blob/tickets/DM-24798/src/smlnkModel/hexapod_smlnk_Controller.c#L6685-L6688

Please help to review the PRs:

1. https://github.com/lsst-ts/ts_mt_hexRot_simulink/pull/4

2. https://github.com/lsst-ts/ts_hexapod_controller/pull/3

The Jenkins test is here:

https://tssw-ci.lsst.org/job/LSST_Telescope-and-Site/job/ts_hexapod_controller/job/tickets%252FDM-24798/10/

Thanks!

That one change you pointed out (two comments above, "the updated transition") looks fine and your tests are convincing. However, there are two pull requests (with many changed files). Please let me know if there is anything else you want reviewed besides that one snippet.

I think the snippet should be good enough at this moment. The main update is in the Simuilink model and it needs to have the Simulink installed to test. There are many files because they were generated by the Simulink model with machine code inside. In addition, the Simulink version I used is R2019a and it looks like MOOG used the R2017a before. Therefore, there should be some change how does the Simulink generate the C/C++ code. Thanks!

OK. Then I have marked the pull requests as reviewed (based on those few lines). Thank you for making this change.