Merge branch 'main' into vantage-windchill

socs/agents/acu/agent.py

@@ -1076,6 +1076,10 @@ def go_to(self, session, params):
             if not acquired:
                 return False, f"Operation failed: {self.azel_lock.job} is running."
 
+            self.log.info('Clearing faults to prepare for motion.')
+            yield self.acu_control.clear_faults()
+            yield dsleep(1)
+
             ok, msg = yield self._check_ready_motion(session)
             if not ok:
                 return False, msg
@@ -1116,6 +1120,10 @@ def set_boresight(self, session, params):
             if not acquired:
                 return False, f"Operation failed: {self.boresight_lock.job} is running."
 
+            self.log.info('Clearing faults to prepare for motion.')
+            yield self.acu_control.clear_faults()
+            yield dsleep(1)
+
             ok, msg = yield self._check_ready_motion(session)
             if not ok:
                 return False, msg
@@ -1387,6 +1395,8 @@ def generate_scan(self, session, params):
           Process .stop method is called)..
 
         """
+        self.log.info('User scan params: {params}', params=params)
+
         az_endpoint1 = params['az_endpoint1']
         az_endpoint2 = params['az_endpoint2']
         el_endpoint1 = params['el_endpoint1']
@@ -1400,6 +1410,16 @@ def generate_scan(self, session, params):
         if az_accel is None:
             az_accel = self.scan_params['az_accel']
 
+        # Do we need to limit the az_accel?  This limit comes from a
+        # maximum jerk parameter; the equation below (without the
+        # empirical 0.85 adjustment) is stated in the SATP ACU ICD.
+        min_turnaround_time = (0.85 * az_speed / 9 * 11.616)**.5
+        max_turnaround_accel = 2 * az_speed / min_turnaround_time
+        if az_accel > max_turnaround_accel:
+            self.log.warn('WARNING: user requested accel=%.2f; limiting to %.2f' %
+                          (az_accel, max_turnaround_accel))
+            az_accel = max_turnaround_accel
+
         # If el is not specified, drop in the current elevation.
         init_el = None
         if el_endpoint1 is None:
@@ -1434,6 +1454,13 @@ def generate_scan(self, session, params):
             point_batch_count = scan_upload_len / step_time
 
         session.set_status('running')
+        self.log.info('The plan: {plan}', plan=plan)
+        self.log.info('The scan_params: {scan_params}', scan_params=scan_params)
+
+        # Clear faults.
+        self.log.info('Clearing faults to prepare for motion.')
+        yield self.acu_control.clear_faults()
+        yield dsleep(1)
 
         # Verify we're good to move
         ok, msg = yield self._check_ready_motion(session)
@@ -1499,6 +1526,14 @@ def _run_track(self, session, point_gen, step_time, azonly=False,
         STACK_TARGET = FULL_STACK - \
             max(MIN_STACK_POP * 2 + LOOP_STEP / step_time, point_batch_count * 2)
 
+        # Special error bits to watch here
+        PTRACK_FAULT_KEYS = [
+            'ProgramTrack_position_failure',
+            'Track_start_too_early',
+            'Turnaround_accel_too_high',
+            'Turnaround_time_too_short',
+        ]
+
         with self.azel_lock.acquire_timeout(0, job='generate_scan') as acquired:
 
             if not acquired:
@@ -1525,6 +1560,8 @@ def _run_track(self, session, point_gen, step_time, azonly=False,
 
             lines = []
             last_mode = None
+            was_graceful_exit = True
+            faults = {}
 
             while True:
                 current_modes = {'Az': self.data['status']['summary']['Azimuth_mode'],
@@ -1536,14 +1573,21 @@ def _run_track(self, session, point_gen, step_time, azonly=False,
                     self.log.info(f'scan mode={mode}, line_buffer={len(lines)}, track_free={free_positions}')
                     last_mode = mode
 
+                for k in PTRACK_FAULT_KEYS:
+                    if k not in faults and self.data['status']['ACU_failures_errors'].get(k):
+                        self.log.info('Fault during track: "{k}"', k=k)
+                        faults[k] = True
+
                 if mode != 'abort':
                     # Reasons we might decide to abort ...
                     if current_modes['Az'] != 'ProgramTrack':
                         self.log.warn('Unexpected mode transition!')
                         mode = 'abort'
+                        was_graceful_exit = False
                     if current_modes['Remote'] == 0:
                         self.log.warn('ACU no longer in remote mode!')
                         mode = 'abort'
+                        was_graceful_exit = False
                     if session.status == 'stopping':
                         mode = 'abort'
 
@@ -1586,7 +1630,9 @@ def _run_track(self, session, point_gen, step_time, azonly=False,
             yield self.acu_control.http.Command('DataSets.CmdTimePositionTransfer',
                                                 'Clear Stack')
 
-        return True, 'Track ended cleanly'
+        if not was_graceful_exit:
+            return False, 'Problems during scan'
+        return True, 'Scan ended cleanly'
 
     @ocs_agent.param('starting_index', type=int, default=0)
     def exercise(self, session, params):

socs/agents/lakeshore372/agent.py

@@ -929,9 +929,9 @@ def get_input_setup(self, session, params):
     @ocs_agent.param('setpoint', type=float)
     @ocs_agent.param('heater', type=str)
     @ocs_agent.param('channel', type=int)
-    @ocs_agent.param('P', type=int)
+    @ocs_agent.param('P', type=float)
     @ocs_agent.param('I', type=float)
-    @ocs_agent.param('update_time', type=int)
+    @ocs_agent.param('update_time', type=float)
     @ocs_agent.param('sample_heater_range', type=float, default=10e-3)
     @ocs_agent.param('test_mode', type=bool, default=False)
     def custom_pid(self, session, params):
@@ -946,9 +946,9 @@ def custom_pid(self, session, params):
             setpoint (float): Setpoint in Kelvin
             heater (str): 'still' or 'sample'
             channel (int): LS372 Channel to PID off of
-            P (int): Proportional value in Watts/Kelvin
-            I (int): Integral Value in Hz
-            update_time (int): Time between PID updates in seconds
+            P (float): Proportional value in Watts/Kelvin
+            I (float): Integral Value in Hz
+            update_time (float): Time between PID updates in seconds
             sample_heater_range (float): Range for sample heater in Amps.
                                          Default is 10e-3.
             test_mode (bool, optional): Run the Process loop only once.

socs/agents/ucsc_radiometer/agent.py

@@ -65,6 +65,8 @@ def acq(self, session, params=None):
         pm = Pacemaker(1 / 60, quantize=False)
 
         self.take_data = True
+        session.set_status('running')
+
         while self.take_data:
             r = requests.get(self.url)
             data = r.json()