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ACU Agent -- two features (LAT support) #554

Merged
merged 3 commits into from
Nov 3, 2023
Merged

ACU Agent -- two features (LAT support) #554

merged 3 commits into from
Nov 3, 2023

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mhasself
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Description

  1. By passing --ignore-axis=..., the agent will decline to command one or more axes, and pretend that all moves on the axis succeed. This is useful in cases where an axis needs to be disabled for some reason, but you still want to run scans and stuff.
  2. The "idle stow" feature of LAT ACU requires using the command interface every minute, to prevent Survival Mode. This renames the process that does it, and makes sure to start that process if platform is LAT type. Can be disabled with cmdline option.

Motivation and Context

Both of these came up on LAT last week.

These changes will remove the need for me to run the LAT agent out of my user dir ... agent config should include args --ignore-axis el for now.

How Has This Been Tested?

I've tested these on SATP2.

Types of changes

  • Bug fix (non-breaking change which fixes an issue)
  • New feature (non-breaking change which adds functionality)
  • Breaking change (fix or feature that would cause existing functionality to not work as expected)

Checklist:

  • My code follows the code style of this project.
  • My change requires a change to the documentation.
  • I have updated the documentation accordingly.

@mhasself
ACU: add argument --ignore-axis
37815af 
"Ignoring" an axis will cause Agent to not command (or at least to not
command movement) on az, el, and/or third axis.  Motion requests from
user are assumed to succeed.

Infrastructure here also helps us change an odd historical behavior,
where calling go_to with "stop at end" would also cause force the
boresight axis to Stop.
@mhasself
ACU: rename restart_idle to idle_reset and make it work
2c4ed45 
In latest LAT, you need to do something (anything) on the command
interface to prevent Survival mode.  This will launch on startup *for
LATs*, unless --disable-reset-idle is passed.
@BrianJKoopman BrianJKoopman self-requested a review October 25, 2023 17:16
@BrianJKoopman BrianJKoopman added agent: acu enhancement New feature or request labels Oct 30, 2023
@mhasself mhasself mentioned this pull request Nov 1, 2023
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BrianJKoopman
BrianJKoopman requested changes Nov 2, 2023
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This looks good to me, a few small suggestions below.

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BrianJKoopman
BrianJKoopman approved these changes Nov 3, 2023
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Thanks for the updates!

@BrianJKoopman BrianJKoopman merged commit 87a9524 into main Nov 3, 2023
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@BrianJKoopman BrianJKoopman deleted the acu-new-cmdline branch November 3, 2023 13:07
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@mhasself @BrianJKoopman