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  1. Data Management
  2. DM-29975

Please make the STOP command more reliable in the hexapod

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      Description

      Based on recent MTHexapod testing it appears that the STOP command is sometimes ignored. The CSC runs the following command sequence:

      Set position:
      		 
          codcode=enums.CommandCode.POSITION_SET
      		 
          params1-6=desired position
      		 
       
      		 
      Move point to point:
      		 
          code=enums.CommandCode.SET_ENABLED_SUBSTATE
      		 
          param1=enums.SetEnabledSubstateParam.MOVE_POINT_TO_POINT
      		 
          param2=sync
      		 
       
      		 
      Pause for a short time (as little as 0 seconds)
      		 
       
      		 
      Stop:
      		 
          code=enums.CommandCode.SET_ENABLED_SUBSTATE
      		 
          param1=enums.SetEnabledSubstateParam.STOP

      If the pause is too short the stop command is ignored and the move finishes normally.

      I consider this a serious, high priority bug that requires a lot of tricky code to work around in the CSC – code that delays sending the STOP command.

      Please also check if the rotator has the same problem. If it does then please file a ticket or ask me to do so.

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          relates to

          Story - Created by Jira Software - do not edit or delete. Issue type for a user story. DM-28687 The MTHexapod low-level controller mis-handles clearError if there is a fault condition

          • Done

          Story - Created by Jira Software - do not edit or delete. Issue type for a user story. DM-29887 MTHexapod moves are still not reliable

          • Done

            Activity

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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-29887 [ DM-29887 ]
            ttsai Te-Wei Tsai made changes -
            Epic Link DM-27621 [ 441885 ]
            Labels hexapod
            ttsai Te-Wei Tsai made changes -
            Link This issue relates to DM-28687 [ DM-28687 ]
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            ttsai Te-Wei Tsai added a comment -

            I think the low-level controller code will need some time to write the new received command to the cmdMsgBuffer as a thread-safe circular buffer now after the update of DM-28687 (the mutex lock is used). Therefore, it might be better to let the CSC add a small time between the commands. 

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            ttsai Te-Wei Tsai added a comment - I think the low-level controller code will need some time to write the new received command to the cmdMsgBuffer as a thread-safe circular buffer now after the update of DM-28687 (the mutex lock is used). Therefore, it might be better to let the CSC add a small time between the commands. 
            aclements Andy Clements made changes -
            Epic Link DM-27621 [ 441885 ]
            ttsai Te-Wei Tsai made changes -
            Epic Link DM-32113 [ 770361 ]
            ttsai Te-Wei Tsai made changes -
            Epic Link DM-32113 [ 770361 ] DM-27623 [ 441888 ]
            aclements Andy Clements made changes -
            Epic Link DM-27623 [ 441888 ] DM-27622 [ 441886 ]
            aclements Andy Clements made changes -
            Epic Link DM-27622 [ 441886 ] DM-27721 [ 442128 ]

              People

              Assignee:
              ttsai Te-Wei Tsai
              Reporter:
              rowen Russell Owen
              Watchers:
              Russell Owen, Te-Wei Tsai
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              2 Start watching this issue

                Dates

                Created:
                Updated:

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