org.lsst.ccs.subsystems.fcs
Class CarouselSocket

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

All Implemented Interfaces:

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

Direct Known Subclasses:

SimuCarouselSocket

public class CarouselSocket
extends MobileItemModule

This is a socket on the carousel : there is 5 sockets on a carousel. When a filter is on the carousel, it is attached at a socket. A socket has a clamp on each side : - clampX- (clampXminus) - clampX+ (clampXplus) clampX+ and clampX- are the same except for the method isLocked() See FilterClampXminusModule and FilterClampXplusModule The main job of this class CarouselSocket is to synchronize the actions on the 2 clamps. The state of the CarouselSocket is the state of the clamps when both clamps state are identical. To synchonize an action (updateSateWithSensor, unlock or release) on both clamps, we use a CyclicBarrier : we start 2 threads and they wait for each other action completion with a CyclicBarrier. During an action on both clamps, we want to lock the CarouselSocket so no other thread can try to access this object before the completion of action. We do that with a Lock and Condition. (see java.util.concurrent). CarouselSocket extends MobileItemModule because we want to lock or release the clamps when the carousel is at standby position and we want to wait until the action is completed. We know if the action is completed in reading the clamps sensors. So we use the general mechanism provided by the MobileItemModule.

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

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

CarouselSocket()

CarouselSocket(double position)
This constructor is for tests.

Method Summary

BridgeToHardware	getBridge()
FcsEnumerations.FilterClampState	getClampsState()
FilterClampModule	getClampXminus()
FilterClampModule	getClampXplus()
Filter	getFilter()
double	getPosition()
double	getStandbyPosition()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isClampedOnFilter()
boolean	isEmpty()
boolean	isReadyToClamp()
boolean	isUnclampedEmpty()
boolean	isUnclampedOnFilter()
void	postAction(FcsEnumerations.MobileItemAction action)
void	putFilterOnSocket(Filter filter)
String	releaseClamps() Releases the 2 clamps of the socket.
String	releaseClampsWithThreadSleep() Deprecated.
void	removeFilter() Software removing
void	setBridge(BridgeToHardware bridge)
void	setClampXminus(FilterClampModule clampXminus)
void	setClampXplus(FilterClampModule clampXplus)
protected void	setFilter(Filter filter)
void	setPosition(double position)
void	setStandbyPosition(double standbyPosition)
void	startAction(FcsEnumerations.MobileItemAction action)
String	toString()
String	unlockClamps() This method unclamp the 2 clamps at standby position.
String	unlockClampsWithThreadSleep() Deprecated.
void	updateClampsStateWithSensors()
void	updateClampsStateWithSensors(CanOpenProxy.PDOStorage pdoStorage)
void	updateClampsStateWithSensorsFromSDO() Deprecated.
void	updateStateWithSensorsToCheckIfActionIsCompleted()

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, initModule, listens, newConfigurationContext, notifyChange, notifyChangeWithoutPreliminaryChecks, processUpdate, 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

Constructor Detail

CarouselSocket

public CarouselSocket()

CarouselSocket

public CarouselSocket(double position)

This constructor is for tests.

Parameters:

position -

Method Detail

getBridge

public BridgeToHardware getBridge()

setBridge

public void setBridge(BridgeToHardware bridge)

getClampXminus

public FilterClampModule getClampXminus()

setClampXminus

public void setClampXminus(FilterClampModule clampXminus)

getClampXplus

public FilterClampModule getClampXplus()

setClampXplus

public void setClampXplus(FilterClampModule clampXplus)

getPosition

public double getPosition()

setPosition

public void setPosition(double position)

getFilter

public Filter getFilter()

setFilter

protected void setFilter(Filter filter)

getStandbyPosition

public double getStandbyPosition()

setStandbyPosition

public void setStandbyPosition(double standbyPosition)

getClampsState

public FcsEnumerations.FilterClampState getClampsState()

updateClampsStateWithSensorsFromSDO

@Deprecated
public void updateClampsStateWithSensorsFromSDO()
                                         throws HardwareException

Deprecated.

This method updates the state of the 2 clamps in reading the values sent by the sensors. The values of the sensors are read clamp by clamp with read SDO commands.

Throws:

HardwareError

HardwareException

updateClampsStateWithSensors

public void updateClampsStateWithSensors(CanOpenProxy.PDOStorage pdoStorage)
                                  throws HardwareException

Throws:

HardwareException

updateClampsStateWithSensors

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

Throws:

HardwareException

org.lsst.ccs.bus.BadCommandException

isEmpty

public boolean isEmpty()
                throws HardwareException

Throws:

HardwareException

isClampedOnFilter

public boolean isClampedOnFilter()

isUnclampedOnFilter

public boolean isUnclampedOnFilter()

isUnclampedEmpty

public boolean isUnclampedEmpty()

isReadyToClamp

public boolean isReadyToClamp()

releaseClamps

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

Releases the 2 clamps of the socket.

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareError

HardwareException

releaseClampsWithThreadSleep

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

Deprecated.

Releases the 2 clamps of the socket.

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareError

HardwareException

unlockClamps

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

This method unclamp the 2 clamps at standby position. It turn ON the actuators and wait for the end of the unlocking task. The unlock is completed when the clamps sensors notice that the clamps are UNLOCKED. So this method reads the sensors with the method updateClampsStateWithSensors until the clamps are UNLOCKED or the duration of the task is greater than the timeout (timeoutUnlock) To read the sensors at a regular time schedule we use the ScheduledThreadPoolExecutor (scheduler.scheduleAtFixedRate) from the java.util.concurrent package.

Parameters:

bridge -

actuatorXminus -

actuatorXplus -

Returns:

a message for the end user

Throws:

HardwareError

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareException

unlockClampsWithThreadSleep

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

Deprecated.

Unlock the 2 clamps in the old way : we unlock the clamp one by one, so the reading of the clamps sensors is not optimized.

Parameters:

actuatorXminus -

actuatorXplus -

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareException

removeFilter

public void removeFilter()
                  throws org.lsst.ccs.bus.BadCommandException

Software removing

Throws:

org.lsst.ccs.bus.BadCommandException

putFilterOnSocket

public void putFilterOnSocket(Filter filter)

toString

public String toString()

Overrides:

toString in class Object

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Specified by:

isActionCompleted in class MobileItemModule

updateStateWithSensorsToCheckIfActionIsCompleted

public void updateStateWithSensorsToCheckIfActionIsCompleted()
                                                      throws Exception

Specified by:

updateStateWithSensorsToCheckIfActionIsCompleted in class MobileItemModule

Throws:

Exception

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

postAction

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

Specified by:

postAction in class MobileItemModule

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareException