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  1. Data Management
  2. DM-35880

Send zeroed applied*Forces events when forces are zeroed

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Details

    • Bug
    • Status: Done
    • Resolution: Done
    • None
    • ts_main_telescope
    • None

    Description

      M1M3 SS CSC doesn't send applied*Forces events when forces are zeroed - the zeroing is in fact handled in ForceController via calling disable method:

      void ForceController::zeroStaticForces() {
          SPDLOG_INFO("ForceController: zeroStaticForces()");
          if (_staticForceComponent.isEnabled()) {
              _staticForceComponent.disable();
          }
      }

      where disable method doesn't put zeroes into force vector, and doesn't call logApplied*Forces to publish the change. Fix that by moving zero*Forces into ForceComponent, add code to actually put 0 into message, and sends the message out so it gets logged into EFD.

      Also apply method check for enabled (and enable call) can be moved into force component, as when applying the forces, we would like to see them enabled:

      void ForceController::applyStaticForces() {
          SPDLOG_INFO("ForceController: applyStaticForces()");
          if (!_staticForceComponent.isEnabled()) {
              _staticForceComponent.enable();
          }
          _staticForceComponent.applyStaticForces(&_forceActuatorSettings->StaticXTable,
                                                  &_forceActuatorSettings->StaticYTable,
                                                  &_forceActuatorSettings->StaticZTable);
      }       
      

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            Please see GH PR.

            pkubanek Petr Kubanek added a comment - Please see GH PR.
            pkubanek Petr Kubanek added a comment -

            Reviewd in github

            pkubanek Petr Kubanek added a comment - Reviewd in github

            People

              pkubanek Petr Kubanek
              pkubanek Petr Kubanek
              Dave Mills
              Dave Mills, Doug Neill, Felipe Daruich, Petr Kubanek
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                Updated:
                Resolved:

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