org.lsst.ccs.subsystems.fcs.common
Class MobileItemModule

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

All Implemented Interfaces:

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

Direct Known Subclasses:

BasicAutoChangerModule, CarouselSocket, FilterClampModule, FilterLatchModule

public abstract class MobileItemModule
extends org.lsst.ccs.framework.Module

This represents a Mechanical Item which can be moved by a motor. Generaly we want to execute an action on this mechanical item : - start the action, - read sensors to know if the action is completed, - wait for the end of the action. This module provides a general way to start an action and wait until the action is completed. It factorises some code that otherwise would have to be duplicated in each Module that needs such fonctionnalities.

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 boolean	itemMoving
Lock	lock
Condition	motionCompleted

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

environment, log, name, nObserverThreads, registry, tickMillis

Constructor Summary

MobileItemModule()

Method Summary

void	cancelReadingSensors() This stops the reading of the sensors.
String	executeAction(FcsEnumerations.MobileItemAction action, long timeoutForAction) This executes an action which moves the MobileItem and waits for the end od this action.
abstract boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
abstract void	postAction(FcsEnumerations.MobileItemAction action)
void	readSensorsUntilActionIsCompleted(FcsEnumerations.MobileItemAction action, long beginTime, long timeout) Start reading the sensors at a fixed rate (scheduler.scheduleAtFixedRate) until the action is completed or the timeout for this action is past.
void	shutdownNow() This shutdowns the scheduler.
abstract void	startAction(FcsEnumerations.MobileItemAction action)
abstract void	updateStateWithSensorsToCheckIfActionIsCompleted()
void	waitForEndOfAction(FcsEnumerations.MobileItemAction action) This method waits until the action is completed.

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, toString, wait, wait, wait

Field Detail

itemMoving

protected boolean itemMoving

lock

public final Lock lock

motionCompleted

public final Condition motionCompleted

Constructor Detail

MobileItemModule

public MobileItemModule()

Method Detail

cancelReadingSensors

public void cancelReadingSensors()

This stops the reading of the sensors.

isActionCompleted

public abstract boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

updateStateWithSensorsToCheckIfActionIsCompleted

public abstract void updateStateWithSensorsToCheckIfActionIsCompleted()
                                                               throws Exception

Throws:

Exception

startAction

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

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareException

postAction

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

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareException

executeAction

public String executeAction(FcsEnumerations.MobileItemAction action,
                            long timeoutForAction)
                     throws org.lsst.ccs.bus.BadCommandException,
                            org.lsst.ccs.bus.ErrorInCommandExecutionException,
                            HardwareException

This executes an action which moves the MobileItem and waits for the end od this action. The MobileItemAction is an ENUM from the fcs.bus package.

Parameters:

action, - timeout

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareException

readSensorsUntilActionIsCompleted

public void readSensorsUntilActionIsCompleted(FcsEnumerations.MobileItemAction action,
                                              long beginTime,
                                              long timeout)

Start reading the sensors at a fixed rate (scheduler.scheduleAtFixedRate) until the action is completed or the timeout for this action is past.

Parameters:

action -

beginTime -

timeout -

waitForEndOfAction

public void waitForEndOfAction(FcsEnumerations.MobileItemAction action)

This method waits until the action is completed.

shutdownNow

public void shutdownNow()

This shutdowns the scheduler.

Overrides:

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