The ics_cobraCharmer produces the trajectory for all the moves. We should be able to insert those information into database.

A branch of fpsActor is pushed to GitHub to address this ticket.

Talked to Chih-Yi today and he pointed out there are two way to implement this. One solution is obviously in fpsActor and another one in down to the function of moveThetaPhi in CobraCoach.py since it calculate the angle for theta, phi for each iteration before the move.

Turns out this is more complicated than what I thought.  The reason is addressed here.  cobra_target contains information from different levels BOFORE the cobra is actually moving.  It require visited, iteration (FPS), cobra location in mm (FPS), target location in mm (FPS), motor map information (cobraCoach), theta and phi angle (cobraCoach), theta and phi steps (cobraCharmer), theta and phi on-time (FPGA).   To insert only predicted angle is easy.  However, to input all those information at once is not straight-forward.  A possible implementation is passing an object all the way down to FPGA level and write information in every step.

Two branches in ics_fpsActor and ics_cobraCharmer is pushed for populating target table.  This version only populated the information in cobraCharmer level.  We need to think about how to get information down to FPGA level (steps and on-time).

I would need help from Kiyoto Yabe regarding the database prime key issue. Currently, the cobra_target table is populated with (pfs_visit_id, iteration, cobra_id) because cobra_match table requires those information (prime key referencing). So, I may need a function that only updating the opdb table instead of writing.

Maybe I don't understand what you want to do, but do you want to (for example) insert information other than (pfs_visit_id, iteration, cobra_id) into cobra_target after populating cobra_match table? Could you tell me example use cases?

There is opdb.update method already implemented, but it's not fully tested. I'll check it to see whether it works properly.

I tried db.update function, but it did not work.  There are two places I need to update the cobra_target table.  The first place is in ics_mcsActor. We need it before writing to cobra_match table. So, in MCS we only write three columns. However, we need update this table when we gather more information on where the cobra will go. I did some work arounds. The target table is populated and tested with bench system.

Perhaps I missed the discussion point in the last meeting, but does simply swapping the relationship between `cobra_target` and `cobra_match` solve the issue? I mean (pfs_visit_id, iteration, cobra_id) of `cobra_target` refers `cobra_match`, so that you don't need to populate `cobra_target` first. This relationship looks a bit strange to me, but it is probably OK practically.

Thanks for the comment, let me talk to Craig first. Then we decided how to do it. I think this is because cobra_match needs a reference from somewhere. Therefore, a pre-existed table is required.

Thank you, I got the problem.