org.lsst.ccs.subsystem.cablerotator

Class Commands

java.lang.Object

org.lsst.ccs.Agent

org.lsst.ccs.Subsystem

org.lsst.ccs.subsystem.cablerotator.Commands

All Implemented Interfaces:

org.lsst.ccs.framework.HasLifecycle, org.lsst.ccs.messaging.CommandExecutor, org.lsst.ccs.ServiceLifecycle, org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener, org.lsst.ccs.subsystem.motorplatform.bus.ShellCommandListener

public class Commands
extends org.lsst.ccs.Subsystem
implements org.lsst.ccs.framework.HasLifecycle, org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener, org.lsst.ccs.subsystem.motorplatform.bus.ShellCommandListener

Commands subsystem component, accepts commands.

Author:

tether

Nested Class Summary

Nested classes/interfaces inherited from class org.lsst.ccs.Agent

org.lsst.ccs.Agent.RunningCommand

Field Summary

Fields inherited from class org.lsst.ccs.Agent

AGENT_HEARTBEAT_TASK, AGENT_RUNTIMEINFO_TASK, commandExecutorLock, currentAction, currentQueries, currentSignals, jvmShutdown, logBusHandler, stateService, treeComponentInitialized

Constructor Summary

Constructors

Constructor and Description
Commands()

Method Summary

Modifier and Type	Method and Description
void	changeAxisEnable(org.lsst.ccs.subsystem.motorplatform.bus.ChangeAxisEnable req)
void	clearAllFaults(org.lsst.ccs.subsystem.motorplatform.bus.ClearAllFaults req)
void	clearAxisFaults(org.lsst.ccs.subsystem.motorplatform.bus.ClearAxisFaults req)
void	clearFaults()
void	disable(String axisName)
void	disableAllAxes(org.lsst.ccs.subsystem.motorplatform.bus.DisableAllAxes req)
void	enable(String axisName)
void	enableAllAxes(org.lsst.ccs.subsystem.motorplatform.bus.EnableAllAxes req)
void	home(String axisName)
void	homeAxis(org.lsst.ccs.subsystem.motorplatform.bus.HomeAxis req)
void	init()
void	moveAxisAbsolute(org.lsst.ccs.subsystem.motorplatform.bus.MoveAxisAbsolute req)
void	moveAxisRelative(org.lsst.ccs.subsystem.motorplatform.bus.MoveAxisRelative req)
void	moveBy(String axisName, double positionChangeMm, double seconds)
void	moveTo(String axisName, double newPositionMm, double speedMmSec)
void	postInit() Sets the Agent property marking this as a motorplatform subsystem.
void	sendAxisStatus(org.lsst.ccs.subsystem.motorplatform.bus.SendAxisStatus cmd)
void	sendConfiguration(org.lsst.ccs.subsystem.motorplatform.bus.SendConfiguration cmd)
void	sendControllerStatus(org.lsst.ccs.subsystem.motorplatform.bus.SendControllerStatus cmd)
String	status(String axisName)
void	stopAll()
void	stopAllMotion(org.lsst.ccs.subsystem.motorplatform.bus.StopAllMotion req)

Methods inherited from class org.lsst.ccs.Subsystem

getLogHandler, getNumberCommandThreads, ping, printRunningCommands, setLogFormat, setLogHandlerLevel, setLogLevel, setStackTraceDepth

Methods inherited from class org.lsst.ccs.Agent

broadcastStatus, checkAllHardwareStopped, createHelper, executeCommandRequest, getAgentInfo, getAgentPersistenceService, getAgentService, getAgentServices, getCCSVersions, getCommandCount, getComponentConfigurationEnvironment, getComponentConfigurationEnvironmentByName, getComponentLookup, getCurrentAction, getDescription, getDistributionInfo, getEnvironmentLockService, getEnvironmentMessagingAccess, getLogger, getMessagingAccess, getName, getScheduler, getStatusBroadcastPeriod, helper, internalCheckHardware, isConnectedToTheBuses, isInEngineeringMode, populateComponentLookup, preBuild, printComponentNodeTree, publishSubsystemDataOnStatusBus, sendAck, sendNack, sendStatusMessage, setAgentName, shutdownAgent, startAgent, vetoTransitionToNormalMode

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface org.lsst.ccs.framework.HasLifecycle

build, postBuild, postShutdown, postStart, shutdown, start

Methods inherited from interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

changeOutputLine, clearCapture, setupCapture

Methods inherited from interface org.lsst.ccs.ServiceLifecycle

afterInit, afterStart, preInit, preShutdown, preStart

Constructor Detail

Commands

public Commands()

Method Detail

init

public void init()

Specified by:

init in interface org.lsst.ccs.framework.HasLifecycle

postInit

public void postInit()

Sets the Agent property marking this as a motorplatform subsystem. Must be done before we connect to the buses.

Specified by:

postInit in interface org.lsst.ccs.framework.HasLifecycle

homeAxis

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Scripting) Start an axis homing.",
         timeout=30)
public void homeAxis(org.lsst.ccs.subsystem.motorplatform.bus.HomeAxis req)

Specified by:

homeAxis in interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

moveAxisAbsolute

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Scripting) Start a move to an absolute position.",
         timeout=30)
public void moveAxisAbsolute(org.lsst.ccs.subsystem.motorplatform.bus.MoveAxisAbsolute req)

Specified by:

moveAxisAbsolute in interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

moveAxisRelative

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Scripting) Start a position change.",
         timeout=30)
public void moveAxisRelative(org.lsst.ccs.subsystem.motorplatform.bus.MoveAxisRelative req)

Specified by:

moveAxisRelative in interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

clearAllFaults

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Scripting) Clear faults on both axes.",
         timeout=30)
public void clearAllFaults(org.lsst.ccs.subsystem.motorplatform.bus.ClearAllFaults req)

Specified by:

clearAllFaults in interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

changeAxisEnable

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Scripting) Enable/disable axis.",
         timeout=30)
public void changeAxisEnable(org.lsst.ccs.subsystem.motorplatform.bus.ChangeAxisEnable req)

Specified by:

changeAxisEnable in interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

clearAxisFaults

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Scripting) Clear faults for one axis.",
         timeout=30)
public void clearAxisFaults(org.lsst.ccs.subsystem.motorplatform.bus.ClearAxisFaults req)

Specified by:

clearAxisFaults in interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

enableAllAxes

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Scripting) Enable all axes.",
         timeout=30)
public void enableAllAxes(org.lsst.ccs.subsystem.motorplatform.bus.EnableAllAxes req)

Specified by:

enableAllAxes in interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

disableAllAxes

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Scripting) Disable all axes.",
         timeout=30)
public void disableAllAxes(org.lsst.ccs.subsystem.motorplatform.bus.DisableAllAxes req)

Specified by:

disableAllAxes in interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

stopAllMotion

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Scripting) Emergency stop motion.",
         timeout=30)
public void stopAllMotion(org.lsst.ccs.subsystem.motorplatform.bus.StopAllMotion req)

Specified by:

stopAllMotion in interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

sendControllerStatus

@Command(level=0,
         type=QUERY,
         description="(Scripting) Publish controller status ASAP.",
         timeout=30)
public void sendControllerStatus(org.lsst.ccs.subsystem.motorplatform.bus.SendControllerStatus cmd)

Specified by:

sendControllerStatus in interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

sendConfiguration

@Command(level=0,
         type=QUERY,
         description="(Scripting) Publish controller configuration ASAP.",
         timeout=30)
public void sendConfiguration(org.lsst.ccs.subsystem.motorplatform.bus.SendConfiguration cmd)

Specified by:

sendConfiguration in interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

sendAxisStatus

@Command(level=0,
         type=QUERY,
         description="(Scripting) Publish axis status ASAP.",
         timeout=30)
public void sendAxisStatus(org.lsst.ccs.subsystem.motorplatform.bus.SendAxisStatus cmd)

Specified by:

sendAxisStatus in interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

clearFaults

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Console) Clear faults on all axes.",
         timeout=30)
public void clearFaults()

Specified by:

clearFaults in interface org.lsst.ccs.subsystem.motorplatform.bus.ShellCommandListener

stopAll

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Console) Emergeny stop motion.",
         timeout=30)
public void stopAll()

Specified by:

stopAll in interface org.lsst.ccs.subsystem.motorplatform.bus.ShellCommandListener

enable

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Console) Enable an axis.",
         timeout=30)
public void enable(String axisName)

Specified by:

enable in interface org.lsst.ccs.subsystem.motorplatform.bus.ShellCommandListener

disable

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Console) Disable an axis.",
         timeout=30)
public void disable(String axisName)

Specified by:

disable in interface org.lsst.ccs.subsystem.motorplatform.bus.ShellCommandListener

home

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Console) Start an axis homing.",
         timeout=30)
public void home(String axisName)

Specified by:

home in interface org.lsst.ccs.subsystem.motorplatform.bus.ShellCommandListener

moveTo

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Console) Start a move to an absolute position.",
         timeout=30)
public void moveTo(String axisName,
                                                                                                                                                                                double newPositionMm,
                                                                                                                                                                                double speedMmSec)

Specified by:

moveTo in interface org.lsst.ccs.subsystem.motorplatform.bus.ShellCommandListener

moveBy

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Console) Start a position change.",
         timeout=30)
public void moveBy(String axisName,
                                                                                                                                                                   double positionChangeMm,
                                                                                                                                                                   double seconds)

Specified by:

moveBy in interface org.lsst.ccs.subsystem.motorplatform.bus.ShellCommandListener

status

@Command(level=1,
         type=QUERY,
         description="(Console) Show status info for an axis.",
         timeout=30)
public String status(String axisName)

Specified by:

status in interface org.lsst.ccs.subsystem.motorplatform.bus.ShellCommandListener