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  1. Data Management
  2. DM-29788

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

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    • 2
    • TSSW Sprint - Jun 21 - Jul 05, TSSW Sprint - Jul 05 - Jul 19
    • Telescope and Site

    Description

      This was encountered during the execution of test case

      https://jira.lsstcorp.org/secure/Tests.jspa#/testCase/LVV-T1599

      the execution is:

      https://jira.lsstcorp.org/secure/Tests.jspa#/testPlayer/testExecution/LVV-E1228

       

      After unplugging and replugging the motor encoder cable:

      Test Step:
      Send the "clearError" trigger and bring the system to the Enabled/Stationary state.

      Expected Result:

      The system is in the Enabled/Stationary state and ready to be commanded.

      Actual Result:

      Sending the "clearError" command cleared the "Drive fault" but not the "Simulink" fault and transitioned the state machine into standbyState.

      After transitioning the state machine, using the EUI, into disabledState the system allowed to clear the Simulink fault by sending the "clearError" command.

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        Activity

          ttsai Te-Wei Tsai added a comment -

          The update of branch DM-29788-2 will break the state machine transition and I tried another method in branch 3.

          ttsai Te-Wei Tsai added a comment - The update of branch DM-29788 -2 will break the state machine transition and I tried another method in branch 3.
          hdrass Holger Drass added a comment -

          – ClearError did not work from DDS:

          await hexapod_csc.cmd_clearError.set_start(timeout=10.) # This clears the error

          This was the answer:

          AckError: msg='Command failed', ackcmd=(ackcmd private_seqNum=159701259, ack=<SalRetCode.CMD_FAILED: -302>, error=1, result='Failed: Failed: final state is <State.FAULT: 3> instead of <State.STANDBY: 5>')

          – ClearError send from the EUI also does not work.

          hdrass Holger Drass added a comment - – ClearError did not work from DDS: await hexapod_csc.cmd_clearError.set_start(timeout=10.) # This clears the error This was the answer: AckError: msg='Command failed', ackcmd=(ackcmd private_seqNum=159701259, ack=<SalRetCode.CMD_FAILED: -302>, error=1, result='Failed: Failed: final state is <State.FAULT: 3> instead of <State.STANDBY: 5>') – ClearError send from the EUI also does not work.
          ttsai Te-Wei Tsai added a comment -

          After the discussion with Holger, this fault comes from the low-level drive fault (actuator 5). The clearError command does clear the error and go to the Standby state. But it comes back to the Fault again because of the drive fault is still there.

          ttsai Te-Wei Tsai added a comment - After the discussion with Holger, this fault comes from the low-level drive fault (actuator 5). The clearError command does clear the error and go to the Standby state. But it comes back to the Fault again because of the drive fault is still there.
          ttsai Te-Wei Tsai added a comment -

          Please help to review the PR:
          https://github.com/lsst-ts/ts_hexapod_controller/pull/18

          Thanks!

          ttsai Te-Wei Tsai added a comment - Please help to review the PR: https://github.com/lsst-ts/ts_hexapod_controller/pull/18 Thanks!
          rowen Russell Owen added a comment -

          Reviewed on github

          rowen Russell Owen added a comment - Reviewed on github

          People

            ttsai Te-Wei Tsai
            hdrass Holger Drass
            Russell Owen
            Bo Xin [X] (Inactive), Holger Drass, Russell Owen, Te-Wei Tsai
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            Dates

              Created:
              Updated:
              Resolved:

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