Details
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Type:
Story
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Status: Done
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Resolution: Done
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Fix Version/s: None
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Component/s: None
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Labels:
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Story Points:1
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Epic Link:
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Sprint:TSSW Sprint - Nov 22 - Dec 06
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Team:Telescope and Site
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Urgent?:No
Description
Update the MT hexapod and rotator CSCs to read command ack messages from the low-level controller.
Note that these acks may arrive before the command actually takes effect (the state is changed, motion begins, etc.). Thus for now I must leave in the code that checks the telemetry for the desired state change. Eventually I hope command ack will arrive after the command is done (or in the case of point-to-point move or stop, after that begins, at which point I can ignore the telemetry.
The only changes required are in ts_hexrotcomm.
Attachments
Issue Links
Activity
| Epic Link |
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| Sprint | TSSW Sprint - Nov 22 - Dec 06 [ 1132 ] |
| Story Points | 4 | 1 |
| Status | To Do [ 10001 ] | In Progress [ 3 ] |
| Reviewers | Te-Wei Tsai [ ttsai ] | |
| Status | In Progress [ 3 ] | In Review [ 10004 ] |
Reviewed in GitHub. Please help to consider the
| Status | In Review [ 10004 ] | Reviewed [ 10101 ] |
| Resolution | Done [ 10000 ] | |
| Status | Reviewed [ 10101 ] | Done [ 10002 ] |
Thank you for a very helpful review (including spotting an error in the new CommandStatus struct).
I tagged v0.25.0
| Labels | ts_hexrotcomm ts_mthexapod ts_mtrotator | ts_hexrotcomm |
| Description |
Update the MT hexapod and rotator CSCs to read command ack messages from the low-level controller.
The two message I care about are Ack and NoAck (success and failure). Much of this work should be done in ts_hexrotcomm. However, I hope that some of the existing workarounds for no ack can be removed, such as waiting for low-level controller state to change. Note that point-to-point moves (and other slow commands, if there are any) must still rely on telemetry messages to determine when the move finishes. |
Update the MT hexapod and rotator CSCs to read command ack messages from the low-level controller.
Note that these acks may arrive before the command actually takes effect (the state is changed, motion begins, etc.). Thus for now I must leave in the code that checks the telemetry for the desired state change. Eventually I hope command ack will arrive after the command is done (or in the case of point-to-point move or stop, after that begins, at which point I can ignore the telemetry. The only changes required are in ts_hexrotcomm. |
| Assignee | Russell Owen [ rowen ] |
Pull requests: