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  1. Data Management
  2. DM-33631

Test the Latest Version of Hexapod Code on Summit

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    Details

    • Story Points:
      1
    • Sprint:
      TSSW Sprint - Feb 14 - Feb 28
    • Team:
      Telescope and Site
    • Urgent?:
      No

      Description

      Test the latest version of hexapod code on summit. The main update is to use the single socket instead of two. This update also put the CSC as the default commander.

      PS. The story point in this ticket contains the effort in DM-33630.

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            Hide
            ttsai Te-Wei Tsai added a comment - - edited

            Deployed the ts_hexapod_controller v1.3.0 on summit and it allowed the connection/disconnection now:

            Feb 21 13:50:10 localhost journal: LSST Wrapper: The state of GUI server is connected. socket = 14.
            Feb 21 13:50:49 localhost journal: LSST Wrapper: Clearing drive faults.
            Feb 21 13:50:49 localhost journal: LSST Wrapper: processed State Cmd: 1, 0x8000, counter=1, parameter1 = 6.000000.
            Feb 21 13:50:49 localhost journal: LSST Wrapper: STO interlock open
            Feb 21 13:50:53 localhost journal: LSST Wrapper: processed State Cmd: 3, 0x8000, counter=0, parameter1 = 0.000000.
            Feb 21 13:50:53 localhost journal: LSST Wrapper: Clearing drive faults.
            Feb 21 13:50:53 localhost journal: LSST Wrapper: processed State Cmd: 1, 0x8000, counter=2, parameter1 = 6.000000.
            Feb 21 13:50:53 localhost journal: LSST Wrapper: STO interlock open
            Feb 21 13:50:57 localhost journal: LSST Wrapper: processed State Cmd: 3, 0x8000, counter=0, parameter1 = 0.000000.
            Feb 21 13:51:14 localhost journal: LSST Wrapper: Sequence Id (3) failed: Not allowed in Offline/PublishOnly state
            Feb 21 13:51:37 localhost journal: LSST Wrapper: Clearing drive faults.
            Feb 21 13:51:37 localhost journal: LSST Wrapper: processed State Cmd: 1, 0x8000, counter=4, parameter1 = 6.000000.
            Feb 21 13:51:37 localhost journal: LSST Wrapper: STO interlock open
            Feb 21 13:51:41 localhost journal: LSST Wrapper: processed State Cmd: 3, 0x8000, counter=0, parameter1 = 0.000000.
            Feb 21 13:51:41 localhost journal: LSST Wrapper: Clearing drive faults.
            Feb 21 13:51:41 localhost journal: LSST Wrapper: processed State Cmd: 1, 0x8000, counter=5, parameter1 = 6.000000.
            Feb 21 13:51:41 localhost journal: LSST Wrapper: STO interlock open
            Feb 21 13:51:45 localhost journal: LSST Wrapper: processed State Cmd: 3, 0x8000, counter=0, parameter1 = 0.000000.
            Feb 21 13:51:53 localhost journal: LSST Wrapper: No connection with CSC yet
            Feb 21 13:51:53 localhost journal: LSST Wrapper: Command source now == CSC
            Feb 21 13:52:00 localhost journal: LSST Wrapper: Connection socket being reset in GUI server.
            Feb 21 13:52:00 localhost journal: LSST Wrapper: The state of GUI server is disconnected.
            

            Reconnection:

            Feb 21 13:52:00 localhost journal: LSST Wrapper: The state of GUI server is disconnected.
            Feb 21 13:55:10 localhost journal: LSST Wrapper: Get the connection from: 198.19.100.16.
            Feb 21 13:55:10 localhost journal: LSST Wrapper: The state of GUI server is connected. socket = 14.
            Feb 21 13:55:33 localhost journal: LSST Wrapper: Connection socket being reset in GUI server.
            Feb 21 13:55:33 localhost journal: LSST Wrapper: The state of GUI server is disconnected.
            Feb 21 13:56:11 localhost journal: LSST Wrapper: Get the connection from: 198.19.100.16.
            Feb 21 13:56:11 localhost journal: LSST Wrapper: The state of GUI server is connected. socket = 14.
            

            Show
            ttsai Te-Wei Tsai added a comment - - edited Deployed the ts_hexapod_controller v1.3.0 on summit and it allowed the connection/disconnection now: Feb 21 13:50:10 localhost journal: LSST Wrapper: The state of GUI server is connected. socket = 14. Feb 21 13:50:49 localhost journal: LSST Wrapper: Clearing drive faults. Feb 21 13:50:49 localhost journal: LSST Wrapper: processed State Cmd: 1, 0x8000, counter=1, parameter1 = 6.000000. Feb 21 13:50:49 localhost journal: LSST Wrapper: STO interlock open Feb 21 13:50:53 localhost journal: LSST Wrapper: processed State Cmd: 3, 0x8000, counter=0, parameter1 = 0.000000. Feb 21 13:50:53 localhost journal: LSST Wrapper: Clearing drive faults. Feb 21 13:50:53 localhost journal: LSST Wrapper: processed State Cmd: 1, 0x8000, counter=2, parameter1 = 6.000000. Feb 21 13:50:53 localhost journal: LSST Wrapper: STO interlock open Feb 21 13:50:57 localhost journal: LSST Wrapper: processed State Cmd: 3, 0x8000, counter=0, parameter1 = 0.000000. Feb 21 13:51:14 localhost journal: LSST Wrapper: Sequence Id (3) failed: Not allowed in Offline/PublishOnly state Feb 21 13:51:37 localhost journal: LSST Wrapper: Clearing drive faults. Feb 21 13:51:37 localhost journal: LSST Wrapper: processed State Cmd: 1, 0x8000, counter=4, parameter1 = 6.000000. Feb 21 13:51:37 localhost journal: LSST Wrapper: STO interlock open Feb 21 13:51:41 localhost journal: LSST Wrapper: processed State Cmd: 3, 0x8000, counter=0, parameter1 = 0.000000. Feb 21 13:51:41 localhost journal: LSST Wrapper: Clearing drive faults. Feb 21 13:51:41 localhost journal: LSST Wrapper: processed State Cmd: 1, 0x8000, counter=5, parameter1 = 6.000000. Feb 21 13:51:41 localhost journal: LSST Wrapper: STO interlock open Feb 21 13:51:45 localhost journal: LSST Wrapper: processed State Cmd: 3, 0x8000, counter=0, parameter1 = 0.000000. Feb 21 13:51:53 localhost journal: LSST Wrapper: No connection with CSC yet Feb 21 13:51:53 localhost journal: LSST Wrapper: Command source now == CSC Feb 21 13:52:00 localhost journal: LSST Wrapper: Connection socket being reset in GUI server. Feb 21 13:52:00 localhost journal: LSST Wrapper: The state of GUI server is disconnected. Reconnection: Feb 21 13:52:00 localhost journal: LSST Wrapper: The state of GUI server is disconnected. Feb 21 13:55:10 localhost journal: LSST Wrapper: Get the connection from: 198.19.100.16. Feb 21 13:55:10 localhost journal: LSST Wrapper: The state of GUI server is connected. socket = 14. Feb 21 13:55:33 localhost journal: LSST Wrapper: Connection socket being reset in GUI server. Feb 21 13:55:33 localhost journal: LSST Wrapper: The state of GUI server is disconnected. Feb 21 13:56:11 localhost journal: LSST Wrapper: Get the connection from: 198.19.100.16. Feb 21 13:56:11 localhost journal: LSST Wrapper: The state of GUI server is connected. socket = 14.
            Hide
            ttsai Te-Wei Tsai added a comment - - edited

            GUI is running with the ts_hexapod_gui v1.3.0:

            Show
            ttsai Te-Wei Tsai added a comment - - edited GUI is running with the ts_hexapod_gui v1.3.0:
            Hide
            ttsai Te-Wei Tsai added a comment -

            Tested to reboot the controller:

            Feb 21 14:08:52 localhost journal: LSST Wrapper: The state of GUI server is connected. socket = 14.
            Feb 21 14:09:08 localhost journal: LSST Wrapper: Closing the CSC server.
            Feb 21 14:09:08 localhost journal: LSST Wrapper: Closing the GUI server.
            Feb 21 14:09:08 localhost journal: LSST Wrapper: Fail to send the command status: Bad file descriptor
            Feb 21 14:09:08 localhost journal: LSST Wrapper: Failed to send the command status to GUI server
            Feb 21 14:09:08 localhost journal: LSST Wrapper: Servers exit...shutting down
            Feb 21 14:09:08 localhost journal: LSST Wrapper: Mainloop Quit
            Feb 21 14:09:08 localhost main: Closing the CSC server.
            Feb 21 14:09:08 localhost main: Closing the GUI server.
            Feb 21 14:09:08 localhost main: Target application is closed.
            Feb 21 14:09:08 localhost runmain: Use the default configuration file: /home/pbalucan/github/ts_hexapod_controller/configHexapod/default.yaml.
            Feb 21 14:09:08 localhost runmain: >>>>>>>>>>>>> ETHERCAT NETWORK OPERATIONAL <<<<<<<<<<<<
            Feb 21 14:09:08 localhost runmain: Three EtherCat slaves are operational now.
            Feb 21 14:09:08 localhost runmain: The hexapod Simulink model is initialized.
            

            Show
            ttsai Te-Wei Tsai added a comment - Tested to reboot the controller: Feb 21 14:08:52 localhost journal: LSST Wrapper: The state of GUI server is connected. socket = 14. Feb 21 14:09:08 localhost journal: LSST Wrapper: Closing the CSC server. Feb 21 14:09:08 localhost journal: LSST Wrapper: Closing the GUI server. Feb 21 14:09:08 localhost journal: LSST Wrapper: Fail to send the command status: Bad file descriptor Feb 21 14:09:08 localhost journal: LSST Wrapper: Failed to send the command status to GUI server Feb 21 14:09:08 localhost journal: LSST Wrapper: Servers exit...shutting down Feb 21 14:09:08 localhost journal: LSST Wrapper: Mainloop Quit Feb 21 14:09:08 localhost main: Closing the CSC server. Feb 21 14:09:08 localhost main: Closing the GUI server. Feb 21 14:09:08 localhost main: Target application is closed. Feb 21 14:09:08 localhost runmain: Use the default configuration file: /home/pbalucan/github/ts_hexapod_controller/configHexapod/default.yaml. Feb 21 14:09:08 localhost runmain: >>>>>>>>>>>>> ETHERCAT NETWORK OPERATIONAL <<<<<<<<<<<< Feb 21 14:09:08 localhost runmain: Three EtherCat slaves are operational now. Feb 21 14:09:08 localhost runmain: The hexapod Simulink model is initialized.
            Hide
            ttsai Te-Wei Tsai added a comment -

            Please help to review this ticket based on the comments. Thanks!

            Show
            ttsai Te-Wei Tsai added a comment - Please help to review this ticket based on the comments. Thanks!
            Hide
            rowen Russell Owen added a comment -

            Looks good.

            Show
            rowen Russell Owen added a comment - Looks good.

              People

              Assignee:
              ttsai Te-Wei Tsai
              Reporter:
              ttsai Te-Wei Tsai
              Reviewers:
              Russell Owen
              Watchers:
              Russell Owen, Te-Wei Tsai
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                Updated:
                Resolved:

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