There were several issues:

• HexapodCsc do_move and do_offset methods started with an assert that the low-level controller was not moving (I forgot to change that in DM-29423 and my unit test was not catching it). Fixed by changing to assert that the state is enabled.
• HexapodCsc was not resetting the nstopped counter run_multiple_commands (only for run_command). Note that in the course of this ticket I changed the counter to ntelemetry; this makes the waiting simpler and a bit more efficient.
• While fixing the previous item I also discovered that hexrotcomm.BaseCsc.run_multiple_commands was not acquiring the write_lock. Fixed by adding a new basic_run_command method which both run_command and run_multiple_command calls. I then fixed the previous item by overriding basic_run_command in HexapodCsc.

I added unit tests for move interrupts move immediately and stop interrupts move immediately.

Pull requests:

• https://github.com/lsst-ts/ts_hexrotcomm/pull/38
• https://github.com/lsst-ts/ts_mthexapod/pull/46

The update looks good to me.

Te-Wei's review:

lsst-ts/ts_mthexapod

python/lsst/ts/mthexapod/hexapod_commander.py

1. Maybe add the doc string for do_movestop() and do_movemove()?
https://github.com/lsst-ts/ts_mthexapod/pull/46/files#diff-5b2b21eacf3c164219f784f6ea9cf911eff9545571f19a11c855aa5ac29a9471R80
https://github.com/lsst-ts/ts_mthexapod/pull/46/files#diff-5b2b21eacf3c164219f784f6ea9cf911eff9545571f19a11c855aa5ac29a9471R91

2. Not sure the meaning of 500, -500, 510, -520, and 530 in the realization of the above two functions. Why do you want to set the z position like that?

python/lsst/ts/mthexapod/hexapod_csc.py

1. In wait_stopped(), do you want to check the minimum value of 3 mentioned in doc string here?
https://github.com/lsst-ts/ts_mthexapod/pull/46/files#diff-aa27843b4f5f8b8e93da82ca8dff98645d300df64b708e8e76f184df93b49ca5R872-R875

My response:

hexapod_commander.py 1 & 2: the values were arbitrary; the main requirement was that the move be long enough to be interrupted and that (for "movemove") each move was to a different location so it was clear if a move was interrupted. However, I decided these two new commands were too specialized so I removed them. Better to use a Nublado notebook for this kind of thing.

hexapod_csc.py: I would rather allow rely on documentation, to allow experimentation with newer versions of the low-level controller.

Released:

• ts_hexrotcomm v0.18.1
• ts_mthexapod v0.17.1