8000 Rel 4159 by hstecher · Pull Request #2904 · gemini-hlsw/seqexec · GitHub
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Rel 4159 #2904

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21dbe5c
REL-4159: Fix AO probe freeze in LGS mode when STRAP/SFO loops are open
hstecher May 14, 2026
09fc863
REL-4159: Add debug logging for on-sky verification of LGS fix
hstecher May 14, 2026
2663461
REL-4159: Fix AO probe freeze in LgsWithP1/LgsWithOi modes
hstecher Jun 26, 2026
6d5e5c2
REL-4159: Add debug logging at the AO loop-open decision points
hstecher Jun 26, 2026
0d8f383
REL-4159: Fix "Can not set nod/chop in P1+LGS mode" in LGS+P1/LGS+OI
hstecher Jul 16, 2026
5eeaa29
REL-4159: Suppress AOWFS nod/chop in P1+LGS (real fix for nod/chop re…
hstecher Jul 17, 2026
ede005a
REL-4159: Revert hasTarget to false for LgsWithP1/LgsWithOi
hstecher Jul 28, 2026
c3e298e
REL-4159: Model the AOWFS demand on tcl/tk seqexec for the LGS relay …
hstecher Sep 29, 2026
f58f207
REL-4159: Leave AO follow to the TCC in LGS+P1/OI; fix spurious STRAP…
hstecher Oct 6, 2026
0783441
REL-4159: LGS+P1/OI guide and Altair loop handling as tcl/tk seqexec
hstecher Oct 6, 2026
725d05c
REL-4159: Revert plain-LGS STRAP resume change from fb82de5fc
hstecher Oct 6, 2026
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49 changes: 41 additions & 8 deletions modules/server/src/main/scala/seqexec/server/altair/Altair.scala
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8000
Original file line numberDiff line number Diff line change
Expand Up @@ -16,6 +16,7 @@ import seqexec.server.gems.GemsController.GemsConfig
import seqexec.server.tcs.Gaos
import seqexec.server.tcs.Gaos.{ PauseConditionSet, ResumeConditionSet }
import seqexec.server.tcs.TcsController.FocalPlaneOffset
import seqexec.server.tcs.TcsController.ProbeTrackingConfig
import squants.Time

trait Altair[F[_]] extends Gaos[F] {
Expand All @@ -36,8 +37,18 @@ trait Altair[F[_]] extends Gaos[F] {

def isFollowing: F[Boolean]

// Are we using a NGS, either for NGS mode or LGS + NGS ?
def hasTarget(guide: AltairConfig): Boolean
/**
* AOWFS probe tracking demand for an Altair mode. `sequenceTracking` is what the step's
* guideWithAO asks for; a mode may override it.
*
* This replaces the old `hasTarget: Boolean`, which could only pick between the sequence demand
* and ProbeTrackingConfig.Off, and so had no way to express "keep following, don't nod/chop" --
* the state the LGS relay modes need. See REL-4159.
*/
def aoProbeTracking(
guide: AltairConfig,
sequenceTracking: ProbeTrackingConfig
): ProbeTrackingConfig

}

Expand Down Expand Up @@ -73,12 +84,34 @@ object Altair {

override def isFollowing: F[Boolean] = controller.isFollowing

override def hasTarget(guide: AltairConfig): Boolean = guide match {
case Lgs(st, sf, _) => st || sf
case LgsWithOi => false
case LgsWithP1 => false
case Ngs(_, _) => true
case AltairOff => false
// Ngs and plain Lgs: the AOWFS carries the NGS and tracks it normally, so the
// step's demand stands. In particular it stands regardless of whether
// STRAP/SFO happen to be closed right now -- conditioning this on the loop
// state wrote aoFollow=Off and froze the probe (fixed and verified on-sky
// 2026-07-17).
//
// LgsWithP1 / LgsWithOi are the relay modes: the tip-tilt reference lives on
// P1 or the OIWFS. The AOWFS nod/chop must be AllOff (the TCS rejects
// nod/chop on the AOWFS in P1+LGS mode), and the TCC does not put the
// AOWFS/FSM into follow in these modes (confirmed on-sky 2026-07-28;
// demanding follow On drove the probe on every offset and the TCS never
// reached in-position). So the demand is Off: FollowOff + AllOff, matching
// the state the TCC leaves it in. setAltairProbe never writes follow in
// these modes, so this cannot freeze a probe the TCC has following, and
// the AO loop is treated as guiding from the detector demand alone (see
// TcsNorthControllerEpicsAo.aoGuideActive).
//
// This mirrors tcl/tk seqexec, whose beamconfig drives the AOWFS nod/chop
// channel to all-Off when lgsp1 or lgsoi is set, and whose telconfig
// inherits AO follow from the TCC rather than deciding it (RealTcs.itcl).
override def aoProbeTracking(
guide: AltairConfig,
sequenceTracking: ProbeTrackingConfig
): ProbeTrackingConfig = guide match {
case Lgs(_, _, _) => sequenceTracking
case Ngs(_, _) => sequenceTracking
case LgsWithOi | LgsWithP1 => ProbeTrackingConfig.Off
case AltairOff => ProbeTrackingConfig.Off
}

}
Expand Down
75 changes: 39 additions & 36 deletions modules/server/src/main/scala/seqexec/server/altair/AltairControllerEpics.scala
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Expand Up @@ -22,8 +22,8 @@ import seqexec.model.enum.ApplyCommandResult
import seqexec.server.SeqexecFailure
import seqexec.server.altair.AltairController._
import seqexec.server.tcs.FOCAL_PLANE_SCALE
import seqexec.server.tcs.Gaos.PauseCondition.{ GaosGuideOff, OiOff, P1Off }
import seqexec.server.tcs.Gaos.ResumeCondition.{ GaosGuideOn, OiOn, P1On }
import seqexec.server.tcs.Gaos.PauseCondition.GaosGuideOff
import seqexec.server.tcs.Gaos.ResumeCondition.GaosGuideOn
import seqexec.server.tcs.Gaos._
import seqexec.server.tcs.TcsController.FocalPlaneOffset
import seqexec.server.tcs.TcsEpics
Expand Down Expand Up @@ -309,9 +309,9 @@ object AltairControllerEpics {
).whenA(currCfg.sfoLoop === LgsSfoControl.Enable)

private def ttgsOn(strap: Boolean, sfo: Boolean, currCfg: EpicsAltairConfig): F[Unit] =
checkStrapLoopState(currCfg).fold(ApplicativeError[F, Throwable].raiseError,
Sync[F].delay(_)
) *>
checkStrapLoopState(currCfg)
.fold(ApplicativeError[F, Throwable].raiseError, Sync[F].delay(_))
.whenA(strap) *>
(startStrapGate(currCfg) *> startStrapLoop(currCfg)).whenA(strap) *>
startSfoLoop(currCfg).whenA(sfo)

Expand Down Expand Up @@ -411,7 +411,7 @@ object AltairControllerEpics {
val alreadyThere =
(currentCfg.sfoLoop === LgsSfoControl.Enable && sfo) && (currentCfg.strapLoop && strap)

val action = if (!alreadyThere && guidedStep)
val action = if (!alreadyThere && guidedStep && (strap || sfo))
L.debug(
s"Resuming Altair LGS(strap = $strap, sfo = $sfo) guiding because guidedStep=$guidedStep"
) *>
Expand Down Expand Up @@ -467,8 +467,8 @@ object AltairControllerEpics {
(L.debug("Flatting Altair DM") *> dmFlattenAction).whenA(unguidedStep).void
)

retrieveConfig.map { currCfg =>
cfg match {
retrieveConfig.flatMap { currCfg =>
val result = cfg match {
case Ngs(_, starPos) =>
pauseResumeNgsMode(starPos, currCfg, currentOffset, instrument)(pauseReasons,
resumeReasons
Expand All @@ -477,42 +477,45 @@ object AltairControllerEpics {
pauseResumeLgsMode(str, sfo, pos, currCfg, currentOffset, instrument)(pauseReasons,
resumeReasons
)
case LgsWithP1 =>
AltairPauseResume(
guideOff(currCfg.aoLoop && pauseReasons.fixed.contains(P1Off)),
GuideCapabilities(!pauseReasons.fixed.contains(P1Off),
canGuideM1 = !pauseReasons.fixed.contains(P1Off)
),
pauseTargetFilter = false,
(resumeReasons.contains(P1On) && resumeReasons.contains(
GaosGuideOn
) && (!currCfg.aoLoop || pauseReasons
.contains(P1Off))).option(setCorrectionsOn.void),
GuideCapabilities(resumeReasons.fixed.contains(P1On),
canGuideM1 = resumeReasons.fixed.contains(P1On)
),
none,
forceFreeze = false
)
case LgsWithOi =>
// LGS relay modes: replicate tcl/tk seqexec (RealTcs.itcl), which ran
// these modes correctly.
// - The Altair loop is never opened for offsets or because the
// tip-tilt guider (P1 / OI) goes off: aoduringmove is set
// unconditionally ("the laser moves with the telescope"). It is
// opened only when the step's AOWFS guide is park/freeze
// (GaosGuideOff, RealTcs.itcl:1351/1355).
// - It is closed again on a step that guides with the AOWFS if it is
// currently open.
// - While moving, M1 is left alone; M2 is gated by the tip-tilt
// guider in TcsNorthControllerEpicsAo.calcGuideOff.
// - After the move, M1 and the GAOS M2 source follow the AOWFS guide
// state, as tcl/tk telconfig does (m1/m2 guide on if the AOWFS is
// on). The P1 / OI M2 source is restored by guideOn from the step's
// own P1 / OI demand.
// See REL-4159.
case LgsWithP1 | LgsWithOi =>
val aoGuided = resumeReasons.contains(GaosGuideOn)
AltairPauseResume(
guideOff(currCfg.aoLoop && pauseReasons.fixed.contains(OiOff)),
GuideCapabilities(!pauseReasons.fixed.contains(OiOff),
canGuideM1 = !pauseReasons.fixed.contains(OiOff)
),
guideOff(false),
GuideCapabilities(canGuideM2 = !unguidedStep, canGuideM1 = true),
pauseTargetFilter = false,
(resumeReasons.contains(OiOn) && resumeReasons.contains(
GaosGuideOn
) && (!currCfg.aoLoop || pauseReasons
.contains(OiOff))).option(setCorrectionsOn.void),
GuideCapabilities(resumeReasons.fixed.contains(OiOn),
canGuideM1 = resumeReasons.fixed.contains(OiOn)
(aoGuided && !currCfg.aoLoop).option(
L.debug("Closing Altair loop for LGS relay mode") *> setCorrectionsOn.void
),
GuideCapabilities(canGuideM2 = aoGuided, canGuideM1 = aoGuided),
none,
forceFreeze = false
)
case AltairOff => turnOff(currCfg)
}
L.debug(
s"REL-4159 pauseResume: cfg=$cfg, currCfg=$currCfg, " +
s"pauseReasons=$pauseReasons, resumeReasons=$resumeReasons, " +
s"forceFreeze=${result.forceFreeze}, " +
s"pauseTargetFilter=${result.pauseTargetFilter}, " +
s"guideWhilePaused=${result.guideWhilePaused}, " +
s"restoreOnResume=${result.restoreOnResume}"
).as(result)
}
}

Expand Down
25 changes: 14 additions & 11 deletions modules/server/src/main/scala/seqexec/server/tcs/TcsNorth.scala
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Expand Up @@ -62,9 +62,15 @@ class TcsNorth[F[_]: Sync: Logger] private (

override def configure(config: CleanConfig): F[ConfigResult[F]] =
buildTcsConfig.flatMap { cfg =>
subsystems.traverse_(s =>
Log.debug(s"Applying TCS/$s configuration/config: ${subsystemConfig(cfg, s)}")
) *>
val aoDebug = cfg match {
case x: TcsNorthAoConfig =>
s"REL-4159 buildTcsAoConfig: aog=${x.gaos}, aoguide.tracking=${x.gds.aoguide.tracking}, aoguide.detector=${x.gds.aoguide.detector}"
case _ => "REL-4159 buildTcsConfig: non-AO step"
}
Log.debug(aoDebug) *>
subsystems.traverse_(s =>
Log.debug(s"Applying TCS/$s configuration/config: ${subsystemConfig(cfg, s)}")
) *>
tcsController.applyConfig(subsystems, gaos, cfg).as(ConfigResult(this))
}

Expand Down Expand Up @@ -107,14 +113,11 @@ class TcsNorth[F[_]: Sync: Logger] private (
private def buildTcsAoConfig(gc: GuideConfig, ao: Altair[F]): TcsNorthConfig = {
val aog = gc.gaosGuide.flatMap(_.swap.toOption).getOrElse(AltairOff)

val aoGuiderConfig = ao
.hasTarget(aog)
.fold(
calcGuiderConfig(config.guideWithAO),
GuiderConfig(ProbeTrackingConfig.Off,
config.guideWithAO.map(_.toGuideSensorOption).getOrElse(GuiderSensorOff)
)
)
// The detector demand always comes from the step; only the probe tracking can
// be overridden by the Altair mode (e.g. Frozen for the LGS relay modes).
val sequenceAoGuider = calcGuiderConfig(config.guideWithAO)
val aoGuiderConfig =
sequenceAoGuider.copy(tracking = ao.aoProbeTracking(aog, sequenceAoGuider.tracking))

AoTcsConfig[GuiderConfig @@ AoGuide, AltairConfig](
gc.tcsGuide,
Expand Down
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