As reported earlier, the IMC guardian code was upgraded.  This upgrade is now fully complete and committed.

The new IMC guardian module is located at:

USERAPPS/ioo/h1/guardian/IMC.py

This new guardian follows a newer paradigm, whereby we follow a slightly less scrict heirarchy:

Rather than three nodes controlling the IMC locking (ISC_IMC, SUS_MC2, IFO_IMC (manager)), we now have just one: IMC.   The SUS_MC2 module is now identical to all other suspensions, without additional controls states for IMC locking.  The IMC guardian module instructs all IMC suspension nodes (SUS_MC{1,2,3}) to go to their ALIGNED states, and monitors those states.  It then controls all of the "LOCKING" filters in the SUS MC2 controller directly.  The result is much simpler code and simpler control.  I expect that we'll use this paradigm for the rest of the ISC control as well.

The trade off is that we need to be much more carefull about defining which channels are under SUS control and which are under ISC control.  Two different guardians should still never touch the same channels.

The new IMC guardian also adds more sophisticated fault checking (for PSL, ISI, and SUS fault conditions), falling into a FAULT state if there is a problem.  This state then uses the new notification feature of guardian to notify the operator of what the problem is.  Once the fault has been cleared, it proceeds back to the state that was previously requested.