Skip to content

ACU Agent: fix bug that prevents go_to #884

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
BrianJKoopman merged 1 commit into from
May 21, 2025
Merged

ACU Agent: fix bug that prevents go_to #884

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
16 changes: 9 additions & 7 deletions socs/agents/acu/agent.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,13 @@
SUN_MAP_REFRESH = 6 * avoidance.HOUR


#: Things the ACU might say when you've done things properly
OK_RESPONSES = [
b'OK, Command executed.',
b'OK, Command send.',
]


class ACUAgent:
"""Agent to acquire data from an ACU and control telescope pointing with the
ACU.
Expand Down Expand Up @@ -1121,9 +1128,6 @@ def _go_to_axis(self, session, axis, target,
# platform moving around.
UNREASONABLE_VEL = 0.1

# Positive acknowledgment of AcuControl.go_to
OK_RESPONSE = b'OK, Command executed.'

# Enum for the motion states
State = Enum(f'{axis}State',
['INIT', 'WAIT_MOVING', 'WAIT_STILL', 'FAIL', 'DONE'])
Expand Down Expand Up @@ -1279,7 +1283,7 @@ def get_history(t):
if state == State.INIT:
# Set target position and change mode to Preset.
result = yield ctrl.goto(target)
if result == OK_RESPONSE:
if result in OK_RESPONSES:
state = State.WAIT_MOVING
else:
self.log.error(f'ACU rejected go_to with message: {result}')
Expand Down Expand Up @@ -3027,8 +3031,6 @@ def log(msg):
dset_cmd = 'ShutterClose'
desired_key, undesired_key = 'Shutter_closed', 'Shutter_open'

OK_RESPONSE = b'OK, Command executed.'

# This just needs to be longer than 1 loop time.
STATE_WAIT = 5.

Expand Down Expand Up @@ -3060,7 +3062,7 @@ def log(msg):
elif state == 'init':
# Issue the command
result = yield self.acu_control.Command(self.datasets['shutter'], dset_cmd)
if result == OK_RESPONSE:
if result in OK_RESPONSES:
state = 'wait-moving'
timeout = time.time() + STATE_WAIT
else:
Expand Down