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  1. Data Management
  2. DM-28687

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

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    Details

    • Story Points:
      4
    • Sprint:
      TSSW Sprint - Jun 21 - Jul 05, TSSW Sprint - Jul 05 - Jul 19
    • Team:
      Telescope and Site
    • Urgent?:
      No

      Description

      If there is a fault condition such as an e-stop pressed then the clearError command oscillates between the "FAULT" and "STANDBY" state forever. I think it should got to FAULT and stay in FAULT.

      I observed this in today's testing. I believe the sequence was:

      • Use the EUI to put the controller into DDS mode
      • Use the hexapod commander to issue "enterControl" to the CSC
      • The state goes to FAULT
      • Use the hexapod commander to issue "clearError" to the CSC
      • The state oscillates between FAULT and STANDBY. I see no sign that it will ever stop doing this.

      That's the core of the problem above. But we continued as follows:

      • Use the hexapod commander to issue "exitControl" to the CSC. The oscillation stopped.
      • Use the EUI to issue "clearError". The oscillation resumed (as reported to the commander).

        Attachments

        1. dataInEfd.png
          dataInEfd.png
          513 kB
        2. enabledStateWithInvalidCommand.png
          enabledStateWithInvalidCommand.png
          417 kB
        3. IMG_20210712_140632.jpg
          IMG_20210712_140632.jpg
          618 kB
        4. stateMachine.png
          stateMachine.png
          91 kB
        5. stateTransition.png
          stateTransition.png
          431 kB

          Issue Links

            Activity

            rowen Russell Owen created issue -
            ttsai Te-Wei Tsai made changes -
            Field Original Value New Value
            Epic Link DM-27621 [ 441885 ]
            ttsai Te-Wei Tsai made changes -
            Labels HexRot MainTelescope
            rowen Russell Owen made changes -
            Link This issue relates to DM-28695 [ DM-28695 ]
            rowen Russell Owen made changes -
            Comment [ Also (perhaps this should be a different ticket) changing the configuration does not trigger a new configuration message from the low-level controller. [~pkubanek] changed the pivot point in the low-level controller and the CSC apparently did not see a configuration message (certainly it did not print new configuration, which it does when it sees a configuration message).

            Also a question: are the commands to set the pivot, acceleration, etc. only accepted in OFFLINE state? I was not able to change them from the CSC in ENABLED state (and the CSC rejects those commands in any other state, of course). ]
            tjenness Tim Jenness made changes -
            Team Telescope and Site [ 13500 ]
            ttsai Te-Wei Tsai made changes -
            End date 25/Jun/21
            Sprint TSSW Sprint - Jun 21 - Jul 05 [ 1104 ]
            Start date 24/Jun/21
            Story Points 1
            ttsai Te-Wei Tsai made changes -
            Status To Do [ 10001 ] In Progress [ 3 ]
            ttsai Te-Wei Tsai made changes -
            Status In Progress [ 3 ] To Do [ 10001 ]
            ttsai Te-Wei Tsai made changes -
            Status To Do [ 10001 ] In Progress [ 3 ]
            wvreeven Wouter van Reeven made changes -
            Sprint TSSW Sprint - Jun 21 - Jul 05 [ 1104 ] TSSW Sprint - Jun 21 - Jul 05, TSSW Sprint - Jul 5 - Jul 19 [ 1104, 1106 ]
            ttsai Te-Wei Tsai made changes -
            Story Points 1 2
            ttsai Te-Wei Tsai made changes -
            Attachment stateTransition.png [ 50955 ]
            ttsai Te-Wei Tsai made changes -
            Link This issue relates to DM-29720 [ DM-29720 ]
            ttsai Te-Wei Tsai made changes -
            Link This issue relates to DM-29975 [ DM-29975 ]
            ttsai Te-Wei Tsai made changes -
            Link This issue relates to DM-29931 [ DM-29931 ]
            ttsai Te-Wei Tsai made changes -
            Reviewers Russell Owen [ rowen ]
            Status In Progress [ 3 ] In Review [ 10004 ]
            ttsai Te-Wei Tsai made changes -
            Status In Review [ 10004 ] In Progress [ 3 ]
            ttsai Te-Wei Tsai made changes -
            Story Points 2 3
            hdrass Holger Drass made changes -
            Attachment IMG_20210712_140632.jpg [ 50978 ]
            rowen Russell Owen made changes -
            Assignee Te-Wei Tsai [ ttsai ] Russell Owen [ rowen ]
            rowen Russell Owen made changes -
            Assignee Russell Owen [ rowen ] Te-Wei Tsai [ ttsai ]
            ttsai Te-Wei Tsai made changes -
            Attachment stateMachine.png [ 51015 ]
            ttsai Te-Wei Tsai made changes -
            Attachment dataInEfd.png [ 51016 ]
            Attachment enabledStateWithInvalidCommand.png [ 51017 ]
            ttsai Te-Wei Tsai made changes -
            Status In Progress [ 3 ] In Review [ 10004 ]
            ttsai Te-Wei Tsai made changes -
            Status In Review [ 10004 ] Reviewed [ 10101 ]
            ttsai Te-Wei Tsai made changes -
            Resolution Done [ 10000 ]
            Status Reviewed [ 10101 ] Done [ 10002 ]
            ttsai Te-Wei Tsai made changes -
            Story Points 3 4
            ttsai Te-Wei Tsai made changes -
            Link This issue relates to DM-30814 [ DM-30814 ]

              People

              Assignee:
              ttsai Te-Wei Tsai
              Reporter:
              rowen Russell Owen
              Reviewers:
              Russell Owen
              Watchers:
              Holger Drass, Petr Kubanek, Russell Owen, Te-Wei Tsai
              Votes:
              0 Vote for this issue
              Watchers:
              4 Start watching this issue

                Dates

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

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