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  1. Data Management
  2. DM-32693

Update MT hexapod and rotator CSCs to read command ack messages

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    • Story
    • Status: Done
    • Resolution: Done
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    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.

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            rowen Russell Owen created issue -
            rowen Russell Owen made changes -
            Field Original Value New Value
            Link This issue is triggered by DM-23849 [ DM-23849 ]
            rowen Russell Owen made changes -
            Link This issue is triggered by DM-31232 [ DM-31232 ]
            rowen Russell Owen added a comment - Pull requests: https://github.com/lsst-ts/ts_hexrotcomm/pull/48
            rowen Russell Owen made changes -
            Epic Link DM-27718 [ 442123 ]
            Sprint TSSW Sprint - Nov 22 - Dec 06 [ 1132 ]
            rowen Russell Owen made changes -
            Story Points 4 1
            rowen Russell Owen made changes -
            Status To Do [ 10001 ] In Progress [ 3 ]
            rowen Russell Owen made changes -
            Reviewers Te-Wei Tsai [ ttsai ]
            Status In Progress [ 3 ] In Review [ 10004 ]
            ttsai Te-Wei Tsai added a comment -

            Reviewed in GitHub. Please help to consider theĀ 

            ttsai Te-Wei Tsai added a comment - Reviewed in GitHub. Please help to consider theĀ 
            ttsai Te-Wei Tsai made changes -
            Status In Review [ 10004 ] Reviewed [ 10101 ]
            rowen Russell Owen made changes -
            Resolution Done [ 10000 ]
            Status Reviewed [ 10101 ] Done [ 10002 ]
            rowen Russell Owen added a comment -

            Thank you for a very helpful review (including spotting an error in the new CommandStatus struct).

            I tagged v0.25.0

            rowen Russell Owen added a comment - Thank you for a very helpful review (including spotting an error in the new CommandStatus struct). I tagged v0.25.0
            rowen Russell Owen made changes -
            Labels ts_hexrotcomm ts_mthexapod ts_mtrotator ts_hexrotcomm
            rowen Russell Owen made changes -
            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.
            aclements Andy Clements made changes -
            Assignee Russell Owen [ rowen ]

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              rowen Russell Owen
              rowen Russell Owen
              Te-Wei Tsai
              Russell Owen, Te-Wei Tsai
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                Updated:
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