TCS Command Sequences with AO details

To follow the kind of information provided in "IIF Command Sequences" here follows my suggestions for the required sequences when the AO system is used.

Preset Telescope

The number of telescope modes must be increased as follows:

MODE_ADAPTIVE_FIX-AO	PresetFlat, Point, track, guide, start active optics
MODE_ADAPTIVE_ACE-AO	PresetAO, Point, track, [guide], AcquireRef, [guide off], StartAO
MODE_ADAPTIVE_TTM-AO	TBD
MODE_ADAPTIVE_ICE-AO	TBD

Note 1: the square brackets indicate optional commands.

Note 2: in MODE_ADAPTIVE_ACE-AO, the command PresetAO can be executed in parallel with Point, track, [guide]

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The following paragraph is directly copied from the LBTO TWiki, what I deleted is in yellow and what I added is in red:

Execution:

1. Check for needed subsystems based on focal station and instrument, and check for supported mode.
   Return error if any needed subsystems are not running or mode is unsupported.
   
   • The PCS and MCS are always needed.
   • The PMC and PSF are needed for all instruments except the MAT.
   • The OSS is needed for all focal stations except PRIME.
   • The GCS is needed for focal stations BENTGREGORIANFRONT and DIRECTGREGORIAN.
   • MODE_STATIC and modes greater than MODE_ACTIVE are is not supported.
   • If the Adaptive Secondary is used also AOS is needed
2. Tell the MCS that a Preset is starting.
   Return error if MCS reports failure.
3. Stop WFS, guiding, and acquiring if GCS is running.
   Return error if GCS reports failure.
   Set AOS in OBSERVATION mode.
   If AOS status is READY, send StartObs command.
   If any adaptive mode is running, send a Stop command.
   If mode to set is MODE_ADAPTIVE_FIX-AO send PresetFlat command
   If mode to set is MODE_ADAPTIVE_ACE-AO send PresetAO command.
4. Perform secondary active optics offload calculation.
   This will apply any held WFS correction.
   Return error if PSF reports failure.
5. Send target to PCS.
   Return error if PCS reports failure.
6. If mode is greater than or equal to MODE_TRACK tell PCS to start tracking.
   Return error if PCS reports failure.
7. If mode is greater than or equal to MODE_ACQUIRE send guide star list to GCS.
   If the guide star list is empty and the mode is MODE_ACQUIRE tell GCS to put the probe on axis.
   Return error if GCS reports failure.
8. If mode is less than MODE_ACQUIRE and the focal station has an AGW, tell GCS to park the probe.
   Return error if GCS reports failure.
9. Wait for elevation to get there.
   Return error if wait times out or is aborted.
   
   • The wait will time out in 5 minutes and can be aborted from the IIF GUI.
10. Collimate all needed mirrors.
    This will include any secondary offload.
    Return error if any collimation fails.
11. Wait for telescope (azimuth and rotators) to get there.
    Return error if wait times out or is aborted.
    Return success for MODE_STATIC or MODE_TRACK.
    
    • The wait will time out in 5 minutes (minus the already used wait time in step 8) and can be aborted from the IIF GUI.
12. If mode is MODE_ACQUIRE tell GCS to start acquire loop.
    Return error if GCS reports failure.
    Return success.
13. Mode is at least guiding so tell GCS to start guiding.
    Return error if GCS reports failure.
    Return success for MODE_GUIDE.
14. Mode is at least active so tell GCS to start WFS loop.
    Return error if GCS reports failure.
    Return success for MODE_ACTIVE.
15. If mode is greater than or equal to MODE_ADAPTIVE_ACE-AO
    • Send AcquireRef command.
      Return Error if AOS reports failure
    • If guiding has been started: stop guiding
    • Send StartAO command.
      Return error if AOS reports failure
      Return success for MODE_ADAPTIVE_ACE-AO.

OffsetXY

When the system is operating in ADAPTIVE mode, small offsets can be done by moving the WFS stages in the AO system. But because this will accumulate tilt errors in the secondary mirror, the "offload modes" mechanism must be in effect. Currently the speed of correction provided by offload modes mechanism is slow, so only small offsets can be performed in "closed loop" mode.

Execution

1. Check for needed subsystems based on focal station and instrument.
   Return error if any needed subsystems are not running.
   
   • The PCS and MCS are always needed.
   • The PMC, PSF, OSS and AOS are needed for all focal stations except PRIME.
   • The GCS is needed for focal stations BENTGREGORIANFRONT and DIRECTGREGORIAN if the mode is greater than ACQUIRE.
2. Check for supported coordinate system.
   Return error if the coordinate system is not supported.
   Allowed coordinate systems are
   
   • COORD_RADEC
   • COORD_AZALT
   • COORD_DETXY
3. Calculate the move size,
   • If the mode is ADAPTIVE, decide if PauseAO is needed.
   • If the offset is small (<0.5 arcsec), PauseAO is not needed: send OffsetXY to AOS. *FINISHED*
4. decide if collimation is needed.
   The collimation will be done if the focal station is not PRIME and either
   
   • The time since the last collimation is greater than the threshold (default 120 sec)
   • The move size is greater than the threshold (default 2 arc-sec)
5. Pause AOS, WFS and guiding if GCS is being used.
   Return error if GCS reports failure.
6. Perform secondary active optics offload calculation if step 3 requires it.
   This will apply any held WFS correction.
   Return error if PSF reports failure.
7. Send offset to PCS.
   This will start the mount moving.
   Return error if PCS reports failure.
8. Tell GCS about offset.
   This will start the guide probe moving.
9. Wait for telescope (elevation, azimuth, and rotators) to get there.
   Return error if wait times out or is aborted.
   
10. If mode is ADAPTIVE send OffsetXY to AOS
    • The wait will time out in 5 minutes and can be aborted from the IIF GUI.
11. Collimate the primary and secondary mirrors if step 3 requires it.
    This will include any secondary offload.
12. Wait for GCS to finish.
    Convert errors to warnings so if probe cannot reach position the command will not fail.
13. Wait for secondary mirror offload.
    Return error if PSF reports failure.
14. Resume guiding.
    Return error if GCS reports failure.
15. If mode is ADAPTIVE: stop guiding and send ResumeAO to AOS.