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While ACAM guides, a fine-acquire correction only re-points acamd's goal; the guide loop applies it at its next executed correction. The settle was timed from the send, so with short slicecam exposures the next sample median could be built from pre-move frames and the same correction applied twice (UT 2026-08-06, BD+28d4211: exposed 2.6 arcsec off slit). acamd tracks the request: offsetgoal marks the goal change pending; the guide loop clears it when it executes a correction computed from the changed goal (the pending state is captured before the goal is read, so a correction already in flight can never clear it). The flag is published; do_fineacquire waits for pending false on a status newer than its send before settling. A stop interrupts the wait; timeout FINE_ACQUIRE_MOVE_TIMEOUT (default 60 s, 0 disables) proceeds on the old timer. Also fixes the offset_acam_goal log line, which printed degrees labelled arcsec on the guiding path. Co-Authored-By: Claude Fable 5 <[email protected]>
After a correction has been applied, one frame already inside the goal is accepted without waiting for the full sample set. A frame can only accept, never reject: larger readings fall through to the existing median logic unchanged. SETTLE_FRAMES config default 2 -> 0; the wall-clock settle after the confirmed goal change covers the move.
A deliberate goal offset (the star-to-target offset after fine acquisition, put-on-slit, the GUI offset) armed a one-shot allowance that any sent correction cleared. A guide correction whose blocking pt_offset was in flight when the offset arrived cleared it as it completed, and the next frame's correction to the new goal was refused at the guiding cap, so the exposure was taken on the offset star. The cap selection also required acquire_mode == TARGET_GUIDE, which is a race of its own. Goal changes now carry a generation, and each correction is classified by the goal it was computed from: guide, fine-acquire, or deliberate offset. Only a deliberate-offset correction may use the larger ACQUIRE_TCS_MAX_PUTONSLIT_OFFSET cap; once sent it has made the change and clears goalshift_pending, unless a newer change arrived meanwhile. A correction computed from an older goal can neither use nor spend a newer goal's allowance. acamd.cfg.in: ACQUIRE_OFFSET_THRESHOLD=1.0, the value the deployed configuration uses. Co-Authored-By: Claude Opus 5.5 <[email protected]>
…ations' into feat/sequencer-wait-for-target-offset
A target offset sent while ACAM guides only changes acamd's goal; the guide loop's next correction makes the move. The sequencer exposed a fixed OFFSET_SETTLE_SEC (3 s) after sending it, which could be before the telescope had moved. It now waits until acamd's status shows the goal change raised after the offset was sent and cleared again (GOALSHIFT_PENDING), bounded at 30 s, after which it exposes anyway with a warning; a cancel ends the wait. OFFSET_SETTLE_SEC is now an extra wait after the move and defaults to 0. Co-Authored-By: Claude Opus 5.5 <[email protected]>
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| bool seen_pending = false; | ||
| const bool applied = this->acam_cv.wait_for( lock, | ||
| std::chrono::duration<double>( this->fineacquire_state.move_timeout_sec ), | ||
| [this, send_time, &seen_pending]() { |
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If the subscriber processes both the pending and cleared statuses before this waiter evaluates its predicate, acam_goalshift_pending retains only false and the local seen_pending can never become true. This can happen before offset_acam_goal() returns or when both notifications arrive before the waiting thread is rescheduled. A successfully completed correction then stalls fine acquisition and frame grabbing for the full default 60 seconds, potentially on multiple correction cycles. Record the raised and cleared publish times in handletopic_acamd, as the sequencer does, so completion remains observable after the transitions have passed.
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| const int attempts = this->target.attempts; | ||
| const std::string filter = this->motion.get_current_filtername(); | ||
| const std::string cover = this->motion.get_current_coverpos(); | ||
| const bool goalshift_pending = this->target.goalshift_pending.load(); |
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When a snapshot or frame-grab thread publishes status concurrently with offset_goal, it can capture goalshift_pending=false here, then pause while offset_goal raises the flag and publishes true. If the first publisher resumes afterward, it publishes its stale false with a newer PUBTIME. The new sequencer predicate interprets that pair as a completed move and can expose before the guide loop has applied the offset. Common::PubSub::publish locks only the socket send, not this state capture or timestamp creation. Serialize the entire status capture/publication operation so an older captured state cannot masquerade as a later completion.
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A target offset sent while ACAM guides only changes acamd's goal; the guide loop's next correction makes the move. The sequencer exposed a fixed OFFSET_SETTLE_SEC (3 s) after sending it, which could be before the telescope had moved. It now waits until acamd's status shows GOALSHIFT_PENDING raised after the offset was sent and cleared again, bounded at 30 s (it then exposes anyway, with a warning); a cancel ends the wait. OFFSET_SETTLE_SEC becomes an extra wait after the move, default 0.
Depends on #479 (acamd publishes GOALSHIFT_PENDING) and #497 (cleared only once the correction for the new goal has been made); #497 is merged into this branch. Base branch
feat/sequencer-nexp-stop-abort; this PR's change is the last commit.Jira: PAL-171. Tested on sky 2026-10-28/29 UT using branch cf/summit-20261020, 18 offset-star targets in 10:27–12:34 UT: acamd reported the offset made 5.6–9.2 s after it was sent for 15 of them and 12.9, 16.9 and 22.8 s for the other 3; the 30 s bound never fired and no exposure was taken on the offset star.
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