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  1. Data Management
  2. DM-27621

Hexapod Required Changes

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    Details

    • Type: Epic
    • Status: Done
    • Resolution: Done
    • Fix Version/s: None
    • Component/s: None
    • Labels:
    • Epic Name:
      Hexapod Required Changes
    • Story Points:
      47
    • WBS:
      1.04C.15.2 (Main Telescope)
    • Team:
      Telescope and Site
    • Epic Priority:
      1

      Description

      Code changes needed for the Hexapod system:

      • Clearing error to change fault state to standby state instead of offline state
      • Working with the hexapod lookup tables

        Attachments

          Issue Links

          has to be done after

          Epic - Created by Jira Software - do not edit or delete. Issue type for a big user story that needs to be broken down. DM-25674 Develop and Test the Hexapod and Rotator Software Phase 3

          • Done
          has to be done before

          Epic - Created by Jira Software - do not edit or delete. Issue type for a big user story that needs to be broken down. DM-27718 Phase 1 Software Integration

          • Done
          mentioned in

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          Stories in Epic (Custom Issue Matrix)

          Key Summary Story Points Assignee Status
           
          		DM-30120

          Low-level Hexapod Controller Should Use TAI time in Telemetry

          		 0 Te-Wei Tsai Done
           
          		DM-30044

          Update the Version of Camera Hexapod Controller to v1.0.9

          		0 Te-Wei Tsai Done
           
          		DM-29887

          MTHexapod moves are still not reliable

          		 4 Russell Owen Done
           
          		DM-29788

          Camera Hexapod: State machine reaction upon sending "clearError" command.

          		 2 Te-Wei Tsai Done
           
          		DM-30168

          confirm that the hexapod low-level controller doesn't command moves when it is supposed to be stationary

          		 1 Te-Wei Tsai Done
           
          		DM-30167

          add voltage and current of hexapod legs to hexapod telemetry

          		 1 Russell Owen Done
           
          		DM-30166

          hexapod low-level controller needs to send current and voltage for the actuators

          		 3 Te-Wei Tsai Done
           
          		DM-30715

          Rewrite the Logic to Assign the DDS Telemetry Data

          		 2 Te-Wei Tsai Done
           
          		DM-30712

          Clarify the Position Commands Columns in Hexapod EUI

          		 1 Te-Wei Tsai Done
           
          		DM-30686

          Remove motorCurrent/Voltage workaround in ts_mthexapod

          		 0 Russell Owen Done
           
          		DM-28752

          Get rid of the moveToReference command in the MT hexapods

          		 0 Russell Owen Done
           
          		DM-28687

          The MTHexapod low-level controller mis-handles clearError if there is a fault condition

          		 4 Te-Wei Tsai Done
           
          		DM-27764

          Support the Configuration File in Hexapod Low-Level Controller Code

          		 2 Te-Wei Tsai Done
           
          		DM-27763

          Put the Hard-Coded Parameters to Configuration File for Hexapod GUI

          		 1 Te-Wei Tsai Done
           
          		DM-27730

          Completion of the Hexapod Required Changes

          		 Te-Wei Tsai Done
           
          		DM-28998

          The MTHexapod low-level controller appears to only publish application status for the first actuator

          		 1 Te-Wei Tsai Done
           
          		DM-28981

          Fix ApplicationStatus enumerations for MTHexapod and MTRotator

          		 1 Russell Owen Done
           
          		DM-28945

          move SalIndex from ts_mthexapod to ts_idl

          		 0 Russell Owen Done
           
          		DM-29423

          MTHexapod moves can be delayed or lost if compensation mode is enabled

          		 2 Russell Owen Done
           
          		DM-31248

          MTHexapod: evt_configuration needs to be published upon enabled

          		 0 Te-Wei Tsai Done
           
          		DM-28153

          Fix the ts_mthexapod Jenkins build

          		 0 Russell Owen Done
           
          		DM-28161

          Update ts_mthexapod to only issue a compensation move if the position hasn't changed

          		 2 Russell Owen Done
           
          		DM-27886

          fix hexapod GUI telemetry plots

          		 1 Te-Wei Tsai Done
           
          		DM-29769

          Update MTHexapod and MTRotator for changes to the low-level controllers

          		 0 Russell Owen Done
           
          		DM-29738

          Camera hexapod: Move "positionSet" command to list of EnabledState commands

          		 0 Te-Wei Tsai Done
           
          		DM-29712

          Clarify the pivot point x,y,z definition in the hexapod EUI

          		 0 Te-Wei Tsai Done
           
          		DM-29577

          Please refine the MT hexapod low-level commands

          		 2 Te-Wei Tsai Done
           
          		DM-29693

          MT Camera Hexapod pivot point modifications are not reported in the EUI or the EFD.

          		 3 Te-Wei Tsai Done
           
          		DM-29689

          Camera MThexapod inPosition event not generated

          		 1 Russell Owen Done
           
          		DM-28412

          Change the Ports of Hexapod

          		 0 Te-Wei Tsai Done
           
          		DM-28273

          Support the Log File in Hexapod EUI

          		 2 Te-Wei Tsai Done
           
          		DM-28452

          Update MT rotator and hexapod CSCs to support CSC-specific ports

          		 1 Russell Owen Done
           
          		DM-28434

          Update the Hexapod Code to Reflect the Modified Circuit of Limit Switch

          		 4 Te-Wei Tsai Done
           
          		DM-31724

          Change MT hexapod CSC to read and report 3 bus voltages, not 6 actuator voltages

          		 0 Russell Owen Done
           
          		DM-27238

          Work on generic Hexapod script for running through test case LVV-T1992

          		 3 Eric Coughlin Done
           
          		DM-27456

          Upgrade the Camera Hexapod PXI Code

          		 1 Te-Wei Tsai Done
           
          		DM-30938

          Publish the TAI time stamp arriving in the header of the low-level controller by the CSC

          		 0 Russell Owen Done
           
          		DM-30550

          Camera Hexapod Chronograph page presents jumping "calibrated actuator position" values.

          		 1 Russell Owen Done
           
          		DM-29692

          Camera MThexapod CompensationMode does not work

          		 Russell Owen Won't Fix
           
          		DM-29664

          Update the Hexapod CSC for DM-29577

          		 1 Russell Owen Won't Fix
           
          		DM-30952

          Remove special handling for timestamp field of MTHexapod actuators telemetry topic

          		 0 Russell Owen Won't Fix
           
          		DM-30352

          Support the Rotary Encoder Phase 1

          		 0 Te-Wei Tsai Invalid
           
          		DM-30754

          Check the Details of "Home" Command for Rotary Encoder

          		 0 Te-Wei Tsai Invalid
           
          		DM-30750

          Support the Rotary Encoder Phase 2

          		 0 Te-Wei Tsai Invalid
           
          		DM-29720

          Support the Command Queue in Low-Level Hexapod Controller

          		 Te-Wei Tsai Invalid

            Activity

            Ascending order - Click to sort in descending order
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            Permalink
            aclements Andy Clements added a comment -

            Added 27 SP and 6 weeks via LCR 2801

            Show
            aclements Andy Clements added a comment - Added 27 SP and 6 weeks via LCR 2801
            Hide
            Permalink
            aclements Andy Clements added a comment -

            Hi Sandrine - the hexapod required changes have been done and the epic is full.  Please review this epic.  Any continued work on the hexapod will be completed in the commissioning epics. Thanks!

            Show
            aclements Andy Clements added a comment - Hi Sandrine - the hexapod required changes have been done and the epic is full.  Please review this epic.  Any continued work on the hexapod will be completed in the commissioning epics. Thanks!
            Hide
            Permalink
            sthomas Sandrine Thomas added a comment -

            The code change has been completed and the hexapods are in the process of being tested. This particular epic is done.

            Show
            sthomas Sandrine Thomas added a comment - The code change has been completed and the hexapods are in the process of being tested. This particular epic is done.

              People

              Assignee:
              ttsai Te-Wei Tsai
              Reporter:
              aclements Andy Clements
              Reviewers:
              Sandrine Thomas
              Watchers:
              Andy Clements, Holger Drass, Sandrine Thomas
              Votes:
              0 Vote for this issue
              Watchers:
              3 Start watching this issue

                Dates

                Due:
                Created:
                Updated:
                Resolved:
                Start date:
                End date:

                  Jenkins

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