org.lsst.ccs.subsystems.fcs
Class BasicAutoChangerModule

java.lang.Object
  java.util.Observable
      org.lsst.ccs.framework.Module
          org.lsst.ccs.subsystems.fcs.common.MobileItemModule
              org.lsst.ccs.subsystems.fcs.BasicAutoChangerModule

All Implemented Interfaces:

Serializable, Observer, org.lsst.ccs.framework.Configurable, AutoChanger

Direct Known Subclasses:

AutoChangerModule, SftAutoChangerModule

public abstract class BasicAutoChangerModule
extends MobileItemModule
implements AutoChanger

An abstract changer module without a fliprail, without online clamp, and without a motor. This Module is in charge of the 2 latches which hold a filter in the autochanger. This basic autochanger is used in single filter test and will be used with the final hardware too. It extends MobileItemModule for the actions which can be applied to the 2 latches : OPENLATCHES and CLOSELATCHES.

Author:

virieux

See Also:

Serialized Form

Nested Class Summary

Nested classes/interfaces inherited from class org.lsst.ccs.framework.Module

org.lsst.ccs.framework.Module.ValueUpdate

Nested classes/interfaces inherited from interface org.lsst.ccs.framework.Configurable

org.lsst.ccs.framework.Configurable.Environment

Field Summary

protected CarouselModule	carousel
protected boolean	closingLatches
protected FcsEnumerations.LockStatus	latchesState
protected boolean	openingLatches
static String	publishedByAutoChangerOutputName
protected ModuleState	state
protected long	timeoutForClosingLatches
protected long	timeoutForOpeningLatches
protected long	timeToWaitForCompleteClose When we close the Latches, after the numeric sensors have detected that the latches are closed, we want to wait some time to be sure that the latches are really closed.
protected long	timeToWaitForCompleteOpen When we open the Latches, after the numeric sensors have detected that the latches are opened, we want to wait some time to be sure that the latches are really opened.
protected TruckModule	truckXminus The truck on side X-
protected TruckModule	truckXplus The truck on side X+
protected boolean	updatingLatches

Fields inherited from class org.lsst.ccs.subsystems.fcs.common.MobileItemModule

itemMoving, lock, motionCompleted

Fields inherited from class org.lsst.ccs.framework.Module

environment, log, name, nObserverThreads, registry, tickMillis

Constructor Summary

BasicAutoChangerModule()

Method Summary

void	checkPreConditionsForTrucksMotion() This method checks if the preconditions are ok before a motion of the trucks can be started.
String	closeLatchesAtStandby() Open the 2 latches when the autochanger trucks are at standby position.
String	closeLatchesAtStandbyOneAfterOne() Deprecated.
Filter	getFilterOnTrucks()
String	getFilterOnTrucksName()
CompactIOModule	getFilterSensorsDIO()
String	getFilterSensorsDIOName()
FcsEnumerations.LockStatus	getLatchesState() This method returns the latchesState if it is not been updated otherwise it waits until the end of the update.
FilterLatchModule	getLatchXminus()
FilterLatchModule	getLatchXplus()
CompactIOModule	getRailsSensorsDIO()
String	getRailsSensorsDIOName()
ModuleState	getState()
StatusDataPublishedByBasicAutoChanger	getStatusData()
long	getTimeoutForClosingLatches()
long	getTimeoutForOpeningLatches()
long	getTimeToWaitForCompleteClose()
long	getTimeToWaitForCompleteOpen()
FcsEnumerations.AutoChangerTrucksLocation	getTrucksLocation() This method returns the truckLocation if it is not been updated otherwise it waits until the end of the update.
TruckModule	getTruckXminus()
TruckModule	getTruckXplus()
abstract String	goToStandback()
abstract String	goToStandby()
String	grabFilterAtStandby(Filter filter)
void	initModule()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isAtStandback()
boolean	isAtStandby()
boolean	isHoldingFilterAtStandby()
abstract boolean	isMoving()
abstract boolean	isMovingToStandback()
abstract boolean	isMovingToStandby()
boolean	isTrucksEmpty()
abstract String	moveFilterToStandback(Filter aFilter)
abstract String	moveFilterToStandby(Filter aFilter)
String	openLatchesAtStandby() Open the 2 latches when the autochanger trucks are at standby position.
String	openLatchesAtStandbyOneAfterOne() Deprecated.
void	postAction(FcsEnumerations.MobileItemAction action)
void	processUpdate(Observable source, org.lsst.ccs.framework.Module.ValueUpdate v) What has to be done for each tick of the timer.
void	publishDataAndNotifyObservers()
void	setFilterOnTrucks(Filter filterOnTrucks)
void	setFilterSensorsDIO(CompactIOModule filterSensorsDIO)
void	setFilterSensorsDIOName(String filterSensorsDIOName)
void	setLatchXminus(FilterLatchModule latchXminus)
void	setLatchXplus(FilterLatchModule latchXplus)
void	setRailsSensorsDIO(CompactIOModule railsSensorsDIO)
void	setRailsSensorsDIOName(String railsSensorsDIOName)
void	setState(ModuleState state)
void	setTimeoutForClosingLatches(long timeoutForClosingLatches)
void	setTimeoutForOpeningLatches(long timeoutForOpeningLatches)
void	setTimeToWaitForCompleteClose(long timeToWaitForCompleteClose)
void	setTimeToWaitForCompleteOpen(long timeToWaitForCompleteOpen)
void	setTrucksEmpty(boolean isEmpty)
void	setTruckXminus(TruckModule truckXminus)
void	setTruckXplus(TruckModule truckXplus)
void	startAction(FcsEnumerations.MobileItemAction action)
String	toString()
String	ungrabFilterAtStandby()
void	updateLatchesStateWithSensors() This methods updates the latches status in reading the sensors.
abstract void	updateStateWithSensors()
void	updateStateWithSensorsToCheckIfActionIsCompleted()
void	updateTrucksLocationWithSensors() This methods updates the trucks location in reading the sensors.

Methods inherited from class org.lsst.ccs.subsystems.fcs.common.MobileItemModule

cancelReadingSensors, executeAction, readSensorsUntilActionIsCompleted, shutdownNow, waitForEndOfAction

Methods inherited from class org.lsst.ccs.framework.Module

alias, change, checkHardware, dropConfigurationContext, getAvailableCommands, getCheckedValueFromConfiguration, getChildren, getContext, getModule, getName, getNObserverThreads, getObservables, getSubsystem, getTickMillis, init, listens, newConfigurationContext, notifyChange, notifyChangeWithoutPreliminaryChecks, publishData, publishData, publishData, publishData, publishData, publishData, publishData, register, register, removeLogPanicState, sendToReply, sendToStatus, setBeanName, setContext, setEnvironment, setHandlerLevel, setLogLevel, setName, setNObserverThreads, setObservables, setStateModularSubsystem, setStateModularSubsystem, setTickMillis, shutdownCommand, start, startTicking, tick, update

Methods inherited from class java.util.Observable

addObserver, clearChanged, countObservers, deleteObserver, deleteObservers, hasChanged, notifyObservers, notifyObservers, setChanged

Methods inherited from class java.lang.Object

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

Methods inherited from interface org.lsst.ccs.subsystems.fcs.common.AutoChanger

getTrucksPosition, goToPosition, locateTrucks, moveFilterToOnline, stop

Field Detail

carousel

protected CarouselModule carousel

truckXminus

protected TruckModule truckXminus

The truck on side X-

truckXplus

protected TruckModule truckXplus

The truck on side X+

publishedByAutoChangerOutputName

public static String publishedByAutoChangerOutputName

state

protected volatile ModuleState state

latchesState

protected volatile FcsEnumerations.LockStatus latchesState

updatingLatches

protected volatile boolean updatingLatches

closingLatches

protected volatile boolean closingLatches

openingLatches

protected volatile boolean openingLatches

timeoutForOpeningLatches

protected long timeoutForOpeningLatches

timeoutForClosingLatches

protected long timeoutForClosingLatches

timeToWaitForCompleteClose

protected long timeToWaitForCompleteClose

When we close the Latches, after the numeric sensors have detected that the latches are closed, we want to wait some time to be sure that the latches are really closed.

timeToWaitForCompleteOpen

protected long timeToWaitForCompleteOpen

When we open the Latches, after the numeric sensors have detected that the latches are opened, we want to wait some time to be sure that the latches are really opened.

Constructor Detail

BasicAutoChangerModule

public BasicAutoChangerModule()

Method Detail

getRailsSensorsDIO

public CompactIOModule getRailsSensorsDIO()

setRailsSensorsDIO

public void setRailsSensorsDIO(CompactIOModule railsSensorsDIO)

getFilterSensorsDIO

public CompactIOModule getFilterSensorsDIO()

setFilterSensorsDIO

public void setFilterSensorsDIO(CompactIOModule filterSensorsDIO)

getFilterOnTrucks

public Filter getFilterOnTrucks()

Specified by:

getFilterOnTrucks in interface AutoChanger

getState

public ModuleState getState()

Returns:

the state

setState

public void setState(ModuleState state)

Parameters:

state - the state to set

getLatchXminus

public FilterLatchModule getLatchXminus()

setLatchXminus

public void setLatchXminus(FilterLatchModule latchXminus)

getLatchXplus

public FilterLatchModule getLatchXplus()

setLatchXplus

public void setLatchXplus(FilterLatchModule latchXplus)

getTruckXminus

public TruckModule getTruckXminus()

setTruckXminus

public void setTruckXminus(TruckModule truckXminus)

getTruckXplus

public TruckModule getTruckXplus()

setTruckXplus

public void setTruckXplus(TruckModule truckXplus)

isTrucksEmpty

public boolean isTrucksEmpty()

setTrucksEmpty

public void setTrucksEmpty(boolean isEmpty)

setFilterOnTrucks

public void setFilterOnTrucks(Filter filterOnTrucks)

getFilterOnTrucksName

public String getFilterOnTrucksName()

getFilterSensorsDIOName

public String getFilterSensorsDIOName()

setFilterSensorsDIOName

public void setFilterSensorsDIOName(String filterSensorsDIOName)

getRailsSensorsDIOName

public String getRailsSensorsDIOName()

setRailsSensorsDIOName

public void setRailsSensorsDIOName(String railsSensorsDIOName)

getTimeToWaitForCompleteClose

public long getTimeToWaitForCompleteClose()

setTimeToWaitForCompleteClose

public void setTimeToWaitForCompleteClose(long timeToWaitForCompleteClose)

getTimeToWaitForCompleteOpen

public long getTimeToWaitForCompleteOpen()

setTimeToWaitForCompleteOpen

public void setTimeToWaitForCompleteOpen(long timeToWaitForCompleteOpen)

getTimeoutForClosingLatches

public long getTimeoutForClosingLatches()

setTimeoutForClosingLatches

public void setTimeoutForClosingLatches(long timeoutForClosingLatches)

getTimeoutForOpeningLatches

public long getTimeoutForOpeningLatches()

setTimeoutForOpeningLatches

public void setTimeoutForOpeningLatches(long timeoutForOpeningLatches)

isMovingToStandback

public abstract boolean isMovingToStandback()

isMovingToStandby

public abstract boolean isMovingToStandby()

initModule

public void initModule()

Overrides:

initModule in class org.lsst.ccs.framework.Module

processUpdate

public void processUpdate(Observable source,
                          org.lsst.ccs.framework.Module.ValueUpdate v)

What has to be done for each tick of the timer. We have to publish on the status bus.

Overrides:

processUpdate in class org.lsst.ccs.framework.Module

getStatusData

public StatusDataPublishedByBasicAutoChanger getStatusData()

publishDataAndNotifyObservers

public void publishDataAndNotifyObservers()

toString

public String toString()

Overrides:

toString in class Object

isMoving

public abstract boolean isMoving()

Returns:

true if the trucks are moving

goToStandby

public abstract String goToStandby()
                            throws org.lsst.ccs.bus.BadCommandException,
                                   org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                   HardwareException,
                                   CanOpenException

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareException

CanOpenException

goToStandback

public abstract String goToStandback()
                              throws org.lsst.ccs.bus.BadCommandException,
                                     org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                     HardwareException,
                                     CanOpenException

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareException

CanOpenException

moveFilterToStandby

public abstract String moveFilterToStandby(Filter aFilter)
                                    throws org.lsst.ccs.bus.BadCommandException,
                                           org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                           HardwareException,
                                           CanOpenException

Specified by:

moveFilterToStandby in interface AutoChanger

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareException

CanOpenException

moveFilterToStandback

public abstract String moveFilterToStandback(Filter aFilter)
                                      throws org.lsst.ccs.bus.BadCommandException,
                                             org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                             HardwareException,
                                             CanOpenException

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareException

CanOpenException

updateStateWithSensors

public abstract void updateStateWithSensors()
                                     throws HardwareException,
                                            org.lsst.ccs.bus.ErrorInCommandExecutionException

Throws:

HardwareException

org.lsst.ccs.bus.ErrorInCommandExecutionException

checkPreConditionsForTrucksMotion

public void checkPreConditionsForTrucksMotion()
                                       throws org.lsst.ccs.bus.BadCommandException,
                                              HardwareException,
                                              org.lsst.ccs.bus.ErrorInCommandExecutionException

This method checks if the preconditions are ok before a motion of the trucks can be started. If the preconditions are not ok, it throws a BadCommandException. A motion of the trucks can be started : if the latches are not in error and if the truks are empty or (the trucks are loaded and the latches are locked).

Throws:

org.lsst.ccs.bus.BadCommandException

HardwareException

org.lsst.ccs.bus.ErrorInCommandExecutionException

grabFilterAtStandby

public String grabFilterAtStandby(Filter filter)
                           throws org.lsst.ccs.bus.BadCommandException,
                                  org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                  HardwareException,
                                  CanOpenException

Specified by:

grabFilterAtStandby in interface AutoChanger

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareException

CanOpenException

ungrabFilterAtStandby

public String ungrabFilterAtStandby()
                             throws org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                    org.lsst.ccs.bus.BadCommandException,
                                    HardwareException,
                                    CanOpenException

Specified by:

ungrabFilterAtStandby in interface AutoChanger

Throws:

org.lsst.ccs.bus.ErrorInCommandExecutionException

org.lsst.ccs.bus.BadCommandException

HardwareException

CanOpenException

getLatchesState

public FcsEnumerations.LockStatus getLatchesState()

This method returns the latchesState if it is not been updated otherwise it waits until the end of the update.

Returns:

the trucksLocation

isHoldingFilterAtStandby

public boolean isHoldingFilterAtStandby()

Returns:

true if the trucks are at standby position and hold the filter.

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Specified by:

isActionCompleted in class MobileItemModule

postAction

public void postAction(FcsEnumerations.MobileItemAction action)

Specified by:

postAction in class MobileItemModule

startAction

public void startAction(FcsEnumerations.MobileItemAction action)
                 throws org.lsst.ccs.bus.BadCommandException,
                        org.lsst.ccs.bus.ErrorInCommandExecutionException,
                        HardwareException

Specified by:

startAction in class MobileItemModule

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareException

updateStateWithSensorsToCheckIfActionIsCompleted

public void updateStateWithSensorsToCheckIfActionIsCompleted()
                                                      throws HardwareException,
                                                             org.lsst.ccs.bus.ErrorInCommandExecutionException

Specified by:

updateStateWithSensorsToCheckIfActionIsCompleted in class MobileItemModule

Throws:

HardwareException

org.lsst.ccs.bus.ErrorInCommandExecutionException

openLatchesAtStandbyOneAfterOne

@Deprecated
public String openLatchesAtStandbyOneAfterOne()
                                       throws org.lsst.ccs.bus.BadCommandException,
                                              org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                              HardwareException

Deprecated.

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareException

openLatchesAtStandby

public String openLatchesAtStandby()
                            throws org.lsst.ccs.bus.BadCommandException,
                                   org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                   HardwareException

Open the 2 latches when the autochanger trucks are at standby position.

Specified by:

openLatchesAtStandby in interface AutoChanger

Returns:

a message for the end user

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareError

HardwareException

closeLatchesAtStandbyOneAfterOne

@Deprecated
public String closeLatchesAtStandbyOneAfterOne()
                                        throws org.lsst.ccs.bus.BadCommandException,
                                               org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                               HardwareException

Deprecated.

This methods locks the trucks latches at standby position and updates the field filterOnTrucks, the field filterLocation of the object Filter and updates the data that we publish on the status bus. It sends the command "lock" to the hardware of the latches and if this command is executed with success it goes on with the updates otherwise it returns an exception.

Returns:

Throws:

org.lsst.ccs.bus.ErrorInCommandExecutionException

org.lsst.ccs.bus.BadCommandException

HardwareException

closeLatchesAtStandby

public String closeLatchesAtStandby()
                             throws org.lsst.ccs.bus.BadCommandException,
                                    org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                    HardwareException

Open the 2 latches when the autochanger trucks are at standby position.

Specified by:

closeLatchesAtStandby in interface AutoChanger

Returns:

a message for the end user

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareError

HardwareException

updateLatchesStateWithSensors

public void updateLatchesStateWithSensors()
                                   throws HardwareException,
                                          org.lsst.ccs.bus.ErrorInCommandExecutionException

This methods updates the latches status in reading the sensors.

Throws:

HardwareException

org.lsst.ccs.bus.ErrorInCommandExecutionException

getTrucksLocation

public FcsEnumerations.AutoChangerTrucksLocation getTrucksLocation()

This method returns the truckLocation if it is not been updated otherwise it waits until the end of the update.

Returns:

the trucksLocation

isAtStandby

public boolean isAtStandby()

Specified by:

isAtStandby in interface AutoChanger

Returns:

true if the trucks are at standby position, otherwise false

isAtStandback

public boolean isAtStandback()

Returns:

true if the trucks are at standback position, otherwise false

updateTrucksLocationWithSensors

public void updateTrucksLocationWithSensors()
                                     throws org.lsst.ccs.bus.ErrorInCommandExecutionException

This methods updates the trucks location in reading the sensors.

Throws:

org.lsst.ccs.bus.ErrorInCommandExecutionException