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  1. Data Management
  2. DM-29577

Please refine the MT hexapod low-level commands

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      Description

      The current low-level MT hexapod controller has a few issues that I would love to have cleaned up, if you can find the time:

      • Commanding a motion requires two separate commands: SET_POSITION followed by MOVE (and something similar for offsets). This introduces a potential race condition if two users are trying to command the hexapod. It is also a nuisance. I believe it was originally chosen because of the MOVE_LUT command, but we don't use that anymore.
      • Remove the unused MOVE_LUT command and any associated code that is easy to pull out. That includes removing the LUT tables and no longer reporting the LUT values in the configuration (making the configuration data much shorter).

      Please also also consider removing the offset command. The CSC isn't using it (it supports offsets, but implements them by commanding absolute moves).

      The hexapod EUI will be affected by this ticket and need to do the related modification.

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            rowen Russell Owen created issue -
            rowen Russell Owen made changes -
            Field Original Value New Value
            Link This issue relates to DM-29578 [ DM-29578 ]
            ttsai Te-Wei Tsai made changes -
            Epic Link DM-27621 [ 441885 ]
            ttsai Te-Wei Tsai made changes -
            Component/s ts_main_telescope [ 16710 ]
            ttsai Te-Wei Tsai made changes -
            Labels HexRot M2Hexapod hexapod
            ttsai Te-Wei Tsai made changes -
            End date 15/Apr/21
            Sprint TSSW Sprint - Apr 12 - Apr 26 [ 1089 ]
            Start date 14/Apr/21
            Story Points 1
            ttsai Te-Wei Tsai made changes -
            Status To Do [ 10001 ] In Progress [ 3 ]
            ttsai Te-Wei Tsai made changes -
            Description The current low-level MT hexapod controller has a few issues that I would love to have cleaned up, if you can find the time:
            * Commanding a motion requires two separate commands: SET_POSITION followed by MOVE (and something similar for offsets). This introduces a potential race condition if two users are trying to command the hexapod. It is also a nuisance. I believe it was originally chosen because of the MOVE_LUT command, but we don't use that anymore.
            * Remove the unused MOVE_LUT command and any associated code that is easy to pull out. That includes removing the LUT tables and no longer reporting the LUT values in the configuration (making the configuration data *much* shorter).

            Please also also consider removing the offset command. The CSC isn't using it (it supports offsets, but implements them by commanding absolute moves).
            The current low-level MT hexapod controller has a few issues that I would love to have cleaned up, if you can find the time:
             * Commanding a motion requires two separate commands: SET_POSITION followed by MOVE (and something similar for offsets). This introduces a potential race condition if two users are trying to command the hexapod. It is also a nuisance. I believe it was originally chosen because of the MOVE_LUT command, but we don't use that anymore.
             * Remove the unused MOVE_LUT command and any associated code that is easy to pull out. That includes removing the LUT tables and no longer reporting the LUT values in the configuration (making the configuration data *much* shorter).

            Please also also consider removing the offset command. The CSC isn't using it (it supports offsets, but implements them by commanding absolute moves).

            The hexapod EUI will be affected by this ticket and need to do the related modification.
            ttsai Te-Wei Tsai made changes -
            Story Points 1 2
            rowen Russell Owen made changes -
            Link This issue is triggering DM-29664 [ DM-29664 ]
            ttsai Te-Wei Tsai made changes -
            Link This issue is triggering DM-29720 [ DM-29720 ]
            ttsai Te-Wei Tsai made changes -
            Reviewers Russell Owen [ rowen ]
            Status In Progress [ 3 ] In Review [ 10004 ]
            rowen Russell Owen 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 -
            Link This issue relates to DM-29769 [ DM-29769 ]

              People

              Assignee:
              ttsai Te-Wei Tsai
              Reporter:
              rowen Russell Owen
              Reviewers:
              Russell Owen
              Watchers:
              Bo Xin [X] (Inactive), Russell Owen, Te-Wei Tsai, Tiago Ribeiro
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