I think it's hard to ensure to revert the request state by the current implementation
because a revert process must be added to ALL states containing transient states for the case of accidental lockloss.
Laser power should be changed by using decorator and state transition not a change in request state with global variables.
Only when there is no jump by decorators, guardian with global variable
-----
I found that a request state of pcal guardian was left as OFS_CLOSE_LOW_P (low power mode) again
though bugs in the TCam photo session script was already fixed in klog#26147.
As shown in Fig.1, Request was changed when INITIAL_ALIGNMENT guardian entered ENGAGE_ADS_XARM_WITH_GRX state
but request wasn't reverted when INITIAL_ALIGNMENT went to DOWN.
In normal case, request to pcal guardian is reverted in RECORD_GOOD_VALUES_GRX of INITIAL_ALIGNMENT guardian.
If lockloss occurs before reaching RECORD_GOOD_VALUES_GRX, request of pcal guardian isn't reverted.
And also when INITIAL_ALIGNMENT guardian enters ENGAGE_ADS_XARM_WITH_GRX again, the request to pcal is still low power mode.
So request isn't reverted in RECORD_GOOD_VALUES_GRX if lockloss occurs at least once.
In order to avoid such a violation, reverting request to pcal must be implemented for ALL states in INITIAL_ALIGNMENT guardian.
But such a implementation makes hard to add a new state properly in the future.
So it shouldn't use global variables for such a purpose.
It should be implemented as follows.
1. Implement a new dedicated flag channel to limit pcal guardian as low power mode.
2. Implement a decorator on pcal guardian to check this new flag.
3. Enable this flag JUST BEFORE taking picture (in same state of taking picture)
4. Disable this flag JUST AFTER taking picture (in same state of taking picture)
Sorry for the late reply.
When the guardian reaches the state to record the good oplev values, the pcal power will be back to nominal.
> It should be implemented as follows.
> 1. Implement a new dedicated flag channel to limit pcal guardian as low power mode.
> 2. Implement a decorator on pcal guardian to check this new flag.
> 3. Enable this flag JUST BEFORE taking picture (in same state of taking picture)
> 4. Disable this flag JUST AFTER taking picture (in same state of taking picture)
To reduce the impact of unexpected lock losses, your modification plan will work well. After steps (1) and (2) are done, I will work on updating the initial alignment guardian.