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When the last sub-exposure of a science target starts reading out, the target is completed and the next one is picked through the normal path (get_next, activate, publish, slew, acquire) while camerad reads out. A readout gate holds every camerad command for the new target (camera settings, expose) until camerad reports READY. There is no early pick in single-step or single-target mode, after a cancel, with a thread error set, or when the current row is a calibration. Readouts are counted from camerad's PIXELCOUNT messages, so the count cannot run ahead of the shutter; a PIXELCOUNT from the tail of the previous readout cannot end the next target's EXPOSE wait. camera_set runs in parallel with the slew and acquisition behind the readout gate and is joined just before the exposure; a target is never exposed unless its own camera settings were applied. The flexure compensator is set just before each exposure, re-applied during the readout between sub-exposures, and before a REPEAT exposes. Co-Authored-By: Claude Opus 5.5 <[email protected]>
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| if ( seq.arm_readout_flag && !( readout_fraction >= 0.5 ) ) { | ||
| seq.arm_readout_flag = false; | ||
| seq.wait_state_manager.set_and_clear( {Sequencer::SEQ_WAIT_READOUT}, // set READOUT | ||
| {Sequencer::SEQ_WAIT_EXPOSE} ); // clear EXPOSE |
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If every received PIXELCOUNT for an exposure is at least 50%, this condition leaves SEQ_WAIT_EXPOSE set indefinitely. This can happen with a short, heavily binned readout: CArcDevice::readout() throttles intermediate callbacks to every ten 25 ms iterations and always emits a final callback at completion, so a first-half callback is not guaranteed. Losing the early UDP packets produces the same result. Although camerad subsequently publishes READY, handletopic_camerad() does not clear EXPOSE, and sequence_start() remains in its unbounded exposure wait without reaching the readout wait. Preserve the stale-message protection, but also provide a completion fallback that releases EXPOSE when the current exposure command has finished.
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When the last sub-exposure of a science target starts reading out, the target is completed and the next one is picked through the normal path (get_next, activate, publish, slew, acquire) while camerad reads out, so the slew and acquisition overlap the ~21 s readout. A readout gate holds every camerad command for the new target (camera settings, expose) until camerad reports READY.
Stacked on #483 (base branch
feat/auto-ontarget); merges cleanly with #485.Jira: PAL-181, PAL-152. Tested on sky 2026-10-28/29 UT using branch cf/summit-20261020: every target change in the 10:27–12:34 UT sequencerd log (17) was picked at the start of the last readout, and the compensator was set before each of the 18 exposures. All were NEXP=1, so the re-apply between sub-exposures and the REPEAT path have not run on sky.
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