org.lsst.ccs.subsystem.camera.rotator

Class CameraRotatorSubsystem

java.lang.Object

org.lsst.ccs.Agent

org.lsst.ccs.Subsystem

org.lsst.ccs.subsystem.camera.rotator.CameraRotatorSubsystem

All Implemented Interfaces:

org.lsst.ccs.config.ConfigurationBulkChangeHandler, org.lsst.ccs.framework.HasLifecycle, org.lsst.ccs.messaging.CommandExecutor, org.lsst.ccs.ServiceLifecycle

public class CameraRotatorSubsystem
extends org.lsst.ccs.Subsystem
implements org.lsst.ccs.framework.HasLifecycle, org.lsst.ccs.config.ConfigurationBulkChangeHandler

A subsystem for controlling the camera rotator.

Author:

The CCS Team

Nested Class Summary

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

org.lsst.ccs.Agent.RunningCommand, org.lsst.ccs.Agent.ShutdownResult

Field Summary

Fields

Modifier and Type	Field and Description
protected double	maxAcceleration
protected double	maxVelocity

Fields inherited from class org.lsst.ccs.Agent

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

Constructor Summary

Constructors

Constructor and Description
CameraRotatorSubsystem() Constructor

Method Summary

Modifier and Type	Method and Description
void	disable() Disable Rotator
void	enable() Enable Rotator
org.lsst.ccs.drivers.rotator.Position	getPosition() Get Rotator position information
org.lsst.ccs.drivers.rotator.RotatorState	getRotatorState() Get RotatorState as of mos-recent rotator event
void	init()
void	rotate(double position) Rotate camera to specified absolute position in degrees.
void	setParameterBulk(Map<String,Object> params) Set configuration parameters to new values.
String	showPosition() Show Rotator position information
String	showRotatorState() Show/print RotatorState
void	start()
void	stopRotation() Stoo any rotation in progress
void	validateBulkChange(Map<String,Object> params) Checks validity of a proposed set of ConfigurationParameters

Methods inherited from class org.lsst.ccs.Subsystem

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

Methods inherited from class org.lsst.ccs.Agent

createHelper, executeCommandRequest, getAgentInfo, getAgentPersistenceService, getAgentService, getAgentServices, getCCSVersions, getCommandCount, getComponentConfigurationEnvironment, getComponentConfigurationEnvironmentByName, getComponentLookup, getCurrentAction, getDescription, getDistributionInfo, getEnvironmentLockService, getEnvironmentMessagingAccess, getLogger, getMessagingAccess, getName, getScheduler, helper, initAgent, initLogBusHandler, isInEngineeringMode, populateComponentLookup, preInit, preStart, printComponentNodeTree, publishSubsystemDataOnStatusBus, sendAck, sendNack, sendStatusMessage, setAgentName, shutdownAgent, 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, postInit, postShutdown, postStart, shutdown

Methods inherited from interface org.lsst.ccs.ServiceLifecycle

afterBuild, afterInit, afterStart, preBuild, preShutdown

Field Detail

maxAcceleration

@ConfigurationParameter(description="maximum rotator acceleration",
                        range="0.0..1.0",
                        units="deg/s**2")
protected volatile double maxAcceleration

maxVelocity

@ConfigurationParameter(description="maximu rotator velocity",
                        range="0.0..3.5",
                        units="deg/s")
protected volatile double maxVelocity

Constructor Detail

CameraRotatorSubsystem

public CameraRotatorSubsystem()

Constructor

Method Detail

init

public void init()

Specified by:

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

start

public void start()

Specified by:

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

validateBulkChange

public void validateBulkChange(Map<String,Object> params)

Checks validity of a proposed set of ConfigurationParameters

Specified by:

validateBulkChange in interface org.lsst.ccs.config.ConfigurationBulkChangeHandler

Parameters:

Map - of ConfigurationParameters from name to value

setParameterBulk

public void setParameterBulk(Map<String,Object> params)

Set configuration parameters to new values. Checks input Map for those ConfigurationParameters which correspond to hardware settings; the others are left for framework to deal with. A DriverException occuring while writing to hardware is rethrown as a RuntimeException.

Specified by:

setParameterBulk in interface org.lsst.ccs.config.ConfigurationBulkChangeHandler

Parameters:

Map - of parameters for which a change is requested, keyed by names

rotate

@Command(type=ACTION,
         level=0,
         name="rotate",
         description="Rotate the camera",
         autoAck=false)
public void rotate(@Argument(name="position",description="absolute rotator position in degrees")
                                                                                                                                                     double position)

Rotate camera to specified absolute position in degrees. Before move, publish most recent position data. Any Exception is caught, and subsystem put into fault state.

Parameters:

double - position (in degreed)

stopRotation

@Command(type=ACTION,
         level=0,
         name="stopRotation",
         description="Stop the rotator",
         autoAck=false)
public void stopRotation()

Stoo any rotation in progress

getRotatorState

@Command(type=QUERY,
         level=0,
         name="getRotatorState",
         description="return RotatorState")
public org.lsst.ccs.drivers.rotator.RotatorState getRotatorState()

Get RotatorState as of mos-recent rotator event

Returns:

RotatorState

showRotatorState

@Command(type=QUERY,
         level=0,
         name="showRotatorState",
         description="return RotatorState as String")
public String showRotatorState()

Show/print RotatorState

Returns:

String

getPosition

@Command(type=QUERY,
         level=0,
         name="getPosition",
         description="get Rotator Position object")
public org.lsst.ccs.drivers.rotator.Position getPosition()

Get Rotator position information

Returns:

Position rotator position information

showPosition

@Command(type=QUERY,
         level=0,
         name="showPosition",
         description="show Rotator position information")
public String showPosition()

Show Rotator position information

Returns:

String position and requested position in degrees

enable

@Command(type=ACTION,
         level=1,
         name="enable",
         description="Enable Rotator")
public void enable()
                                                                                                                   throws org.lsst.ccs.drivers.commons.DriverException,
                                                                                                                          TimeoutException

Enable Rotator

Throws:

DriverException, - TimeoutException

org.lsst.ccs.drivers.commons.DriverException

TimeoutException

disable

@Command(type=ACTION,
         level=1,
         name="disable",
         description="Disable Rotator")
public void disable()
                                                                                                                      throws org.lsst.ccs.drivers.commons.DriverException,
                                                                                                                             TimeoutException

Disable Rotator

Throws:

DriverException, - TimeoutException

org.lsst.ccs.drivers.commons.DriverException

TimeoutException