control/microcontroller: convert to using Logger and remove some unused/commented code - #5
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- Add comment clarifying SET_LIM uses limit codes instead of axis IDs - Add comment noting MERGIN typo is intentional to match firmware - Replace defensive padding/truncation with assertion for MSG_LENGTH 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
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…tbeat-skip, etc. Addresses six issues from the copilot-pull-request-reviewer bot review: #1 (cephla.py): Call acknowledge_aborted_command() after catching CommandAborted (and after the inner resend failure if it was also a CommandAborted), so the next send_command doesn't log the spurious "Last command aborted and not cleared before new command sent!" warning. The inner ack is gated on isinstance(e2, CommandAborted) to avoid the "ack with nothing to ack" path on TimeoutError. #2 (cephla.py): Drop the redundant `target_usteps = ...` recompute after _home_wheel. config and target_pos haven't changed and _target_pos_to_usteps doesn't depend on current_pos. #3 (cephla.py): Fix _home_wheel docstring — wheel is driven to config.min_index (typically slot 1), not "slot 0". #5 (firmware/serial_communication.cpp): Skip the `mcu_cmd_execution_status = COMPLETED_WITHOUT_ERRORS` reset when processing a HEARTBEAT. The keepalive has no result to report, and resetting would clobber a pending CMD_EXECUTION_ERROR from the previous command if the broadcast hasn't fired yet. Eliminates the narrow race where heartbeat traffic interleaves a failure broadcast. #6 (firmware/stage_commands.cpp): Split mark_move_failed() into two helpers — mark_move_failed() (for paths that already set mcu_cmd_execution_in_progress = true) and report_move_error() (for early-return paths that didn't). The !enabled branch in dispatch_filterwheel_move now uses report_move_error() so it doesn't spuriously unwind in_progress for an unrelated motion in flight on another axis. Invariant: only the function that claimed in_progress gets to clear it. #7 (test_filter_wheel.py): Add `getattr(mc, move_rel_attr).assert_not_called()` to both parametrized CommandAborted/TimeoutError tests, so the absolute-MOVETO recovery path is enforced — fall-back to relative MOVE would now be caught.
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See title.
Tested by: First by running
python main_hcs.py --simulationandpython main_hcs.py --simulation --verbose. I will also run this on the system itself.