From e179461077f07d9c1ea6d655f89f170de075b568 Mon Sep 17 00:00:00 2001
From: jsugiyama <75608221+17-sugiyama@users.noreply.github.com>
Date: Wed, 30 Oct 2024 21:44:44 +0900
Subject: [PATCH 1/2] add fast_brake command for rapid dpindown

---
 socs/agents/hwp_supervisor/agent.py | 70 +++++++++++++++++++++++++++--
 1 file changed, 67 insertions(+), 3 deletions(-)

diff --git a/socs/agents/hwp_supervisor/agent.py b/socs/agents/hwp_supervisor/agent.py
index 3957b1262..a207200b7 100644
--- a/socs/agents/hwp_supervisor/agent.py
+++ b/socs/agents/hwp_supervisor/agent.py
@@ -657,6 +657,26 @@ class WaitForBrake:
         min_freq: float
         prev_freq: float = None
 
+    @dataclass
+    class FastBrake:
+        """
+        Configure the PID and PCU agents to more actively brake the HWP
+        """
+        freq_tol: float
+        freq_tol_duration: float
+        brake_voltage: float
+
+    @dataclass
+    class WaitForFastBrake:
+        """
+        Waits until the HWP has slowed down enough before shutting off PMX.
+
+        min_freq : float
+            Frequency (Hz) below which the PMX should be shut off.
+        """
+        min_freq: float
+        prev_freq: float = None
+
     @dataclass
     class PmxOff:
         """
@@ -1143,6 +1163,42 @@ def check_acu_ok_for_spinup():
                         freq_tol_duration=30,
                     ))
                     return
+            elif isinstance(state, ControlState.FastBrake):
+                # Flip PID direciton and tune stop
+                pid_dir = int(query_pid_state()['direction'])
+                if pid_dir == 1:
+                    self.run_and_validate(
+                        clients.pcu.send_command,
+                        kwargs={'command': 'on_2'}, timeout=None
+                    )
+                else:
+                    self.run_and_validate(
+                        clients.pcu.send_command,
+                        kwargs={'command': 'on_1'}, timeout=None
+                    )
+                self.run_and_validate(clients.pmx.ign_ext)
+                self.run_and_validate(clients.pmx.set_v, kwargs={'volt': state.brake_voltage})
+                self.run_and_validate(clients.pmx.set_on)
+
+                time.sleep(10)
+                self.action.set_state(ControlState.WaitForFastBrake(
+                    min_freq=0.2,
+                    prev_freq=hwp_state.enc_freq,
+                ))
+
+            elif isinstance(state, ControlState.WaitForFastBrake):
+                f0 = query_pid_state()['current_freq']
+                time.sleep(5)
+                f1 = query_pid_state()['current_freq']
+                if f0 < 0.2 or (f1 > f0):
+                    self.log.info("Turning off PMX and putting PCU in stop mode")
+                    self.run_and_validate(clients.pmx.set_off)
+                    self.run_and_validate(
+                        clients.pcu.send_command,
+                        kwargs={'command': 'stop'}, timeout=None
+                    )
+                    time.sleep(5)
+                    return
 
             elif isinstance(state, ControlState.EnableDriverBoard):
                 def set_outlet_state(outlet: int, outlet_state: bool):
@@ -1549,6 +1605,7 @@ def set_const_voltage(self, session, params):
     @ocs_agent.param('freq_tol', type=float, default=0.05)
     @ocs_agent.param('freq_tol_duration', type=float, default=10)
     @ocs_agent.param('brake_voltage', type=float, default=10.)
+    @ocs_agent.param('fast', type=bool, default=False)
     def brake(self, session, params):
         """brake(freq_thresh=0.05, freq_thresh_duration=10, brake_voltage=10)
 
@@ -1578,11 +1635,18 @@ def brake(self, session, params):
                 'success': True}
             }
         """
-        state = ControlState.Brake(
+        if params['fast']:
+            state = ControlState.FastBrake(
             freq_tol=params['freq_tol'],
             freq_tol_duration=params['freq_tol_duration'],
-            brake_voltage=params['brake_voltage'],
-        )
+            brake_voltage=30.,
+            )
+        else:
+            state = ControlState.Brake(
+                freq_tol=params['freq_tol'],
+                freq_tol_duration=params['freq_tol_duration'],
+                brake_voltage=params['brake_voltage'],
+                )
         action = self.control_state_machine.request_new_action(state)
         action.sleep_until_complete(session=session)
         return action.success, f"Completed with state: {action.cur_state_info.state}"

From 3eef07ca7a144f04d9de4e6f531c389a3e39194f Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Wed, 30 Oct 2024 13:06:14 +0000
Subject: [PATCH 2/2] [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci
---
 socs/agents/hwp_supervisor/agent.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/socs/agents/hwp_supervisor/agent.py b/socs/agents/hwp_supervisor/agent.py
index a207200b7..9f0fafac3 100644
--- a/socs/agents/hwp_supervisor/agent.py
+++ b/socs/agents/hwp_supervisor/agent.py
@@ -1637,16 +1637,16 @@ def brake(self, session, params):
         """
         if params['fast']:
             state = ControlState.FastBrake(
-            freq_tol=params['freq_tol'],
-            freq_tol_duration=params['freq_tol_duration'],
-            brake_voltage=30.,
+                freq_tol=params['freq_tol'],
+                freq_tol_duration=params['freq_tol_duration'],
+                brake_voltage=30.,
             )
         else:
             state = ControlState.Brake(
                 freq_tol=params['freq_tol'],
                 freq_tol_duration=params['freq_tol_duration'],
                 brake_voltage=params['brake_voltage'],
-                )
+            )
         action = self.control_state_machine.request_new_action(state)
         action.sleep_until_complete(session=session)
         return action.success, f"Completed with state: {action.cur_state_info.state}"