org.lsst.ccs.subsystems.fcs

Class CarouselModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

org.lsst.ccs.subsystems.fcs.CarouselModule

All Implemented Interfaces:

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

Direct Known Subclasses:

SftCarouselModule

public class CarouselModule
extends org.lsst.ccs.framework.Module
implements Carousel

This is a representation of the hardware of the carousel. It receives commands from the FCSMAinModule and send back an acknowledge. It publishes data on the status bus. In engineering mode it can receive commands from the engineering console. It has a latch, an engine which are connected to real or simulated hardware.

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

Modifier and Type	Field and Description
static String	publishedByCarouselOutputName

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

environment, log, name, nObserverThreads, registry, tickMillis

Constructor Summary

Constructors

Constructor and Description
CarouselModule(String aName, int aTickMillis, Motor carouselMotor, GenericLatch brake, int nbSockets, List<CarouselSocket> socketsList)

Method Summary

Methods

Modifier and Type	Method and Description
static double	addAngle(double angle1, double angle2) Add 2 angles : an angle is a double which value is between -360 and +360
void	engageClampsContact() After a rotation, when the carousel is stopped the power contact can be engaged again.
Actuator	getClampActuatorXminus()
Actuator	getClampActuatorXplus()
FilterClampModule	getClampXminus() This method returns the clampX- which is at standby position.
FilterClampModule	getClampXplus() This method returns the clampX+ which is at standby position.
Filter	getFilterAtStandby() This methods return the filter which is in the socketAtStandby at standby position.
String	getFilterInStandbyName()
double	getFilterPosition(Filter filter)
int	getNbSockets()
double	getPosition() The carousel position measures the rotation angle of the carousel within the fixed part of the camera.
CarouselSocket	getSocketAtStandby() This methods returns the socket at standby position or null if there is no socket at standby position.
int	getSocketNumber(Filter filter)
CarouselSocket[]	getSockets()
double	getStandbyPositionForFilter(Filter filter)
ModuleState	getState()
StatusDataPublishedByCarousel	getStatusData()
String	grabFilterAtStandby(Filter filter) This method has to be executed when a filter has just been moved on the carousel at standby position by the autochanger.
String	grabFilterAtStandby(Object filterName)
void	initModule()
boolean	isAbleToMove() The carousel can be locked by a break or prevented to move by the autochanger fliprail.
boolean	isHoldingFilterAtStandby()
boolean	isLocked()
boolean	isOnStandby(Filter filter)
boolean	isReadyToGrabAFilterAtStandby() This method let us know if the carousel is ready to receive a filter at standby position : - the carousel must not rotate - an empty socketAtStandby is at standby position.
boolean	isRotating()
String	lock() Lock the carousel (or engage the break).
protected String	moveFilterToStandby(Filter filter) This method rotates the carousel to put the given filter in front of the autochanger (standby position).
void	printSockets() Print for every socket on carousel, the name of the filter it contains.
void	processUpdate(Observable source, org.lsst.ccs.framework.Module.ValueUpdate v) What to do when the Modules we observe send there new values : we notify our own observers
String	releaseClamps() This is a command that can be sent to the carousel.
void	releaseClampsContact() Before rotating the carousel we have to release the power contact between the moving part and the fixed part.
void	removeFilterFromCarousel(Filter filter)
String	rotate(double angle) Rotates carousel for an angle given as a parameter.
void	setState(ModuleState state)
String	stop() Stop the carousel if it is rotating.
void	tick() What has to be done for each tick of the timer.
String	toString()
void	ungrabFilterAtStandby(Filter filter)
String	unlock() Unlock the carousel (or disengage the break)
String	unlockClamps()
String	unlockClamps(Filter filter) This methods unlocks the 2 clamps at standby position, without Thread.sleep
void	updateClampsStateWithSensors()
void	updateClampsStateWithSensorsFromPDO() Read the clamps state from PDO : all the clamp sensors are read at one time.
void	updateClampsStateWithSensorsFromSDO() Deprecated.

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

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

Field Detail

publishedByCarouselOutputName

public static final String publishedByCarouselOutputName

See Also:

Constant Field Values

Constructor Detail

CarouselModule

public CarouselModule(String aName,
              int aTickMillis,
              Motor carouselMotor,
              GenericLatch brake,
              int nbSockets,
              List<CarouselSocket> socketsList)

Method Detail

getSockets

public CarouselSocket[] getSockets()

getPosition

public double getPosition()

Description copied from interface: Carousel

The carousel position measures the rotation angle of the carousel within the fixed part of the camera.

Specified by:

getPosition in interface Carousel

Returns:

The position of the carousel in degrees. Its values is greater or equal to 0 and less than 360.

getState

public ModuleState getState()

setState

public void setState(ModuleState state)

getNbSockets

public int getNbSockets()

Returns:

the nbSockets

getClampActuatorXminus

public Actuator getClampActuatorXminus()

Returns:

the clampActuatorXminus

getClampActuatorXplus

public Actuator getClampActuatorXplus()

Returns:

the clampActuatorXminus

getClampXminus

public FilterClampModule getClampXminus()

This method returns the clampX- which is at standby position. It can returns null if there is no socketAtStandby halted at standby position.

Returns:

getClampXplus

public FilterClampModule getClampXplus()

This method returns the clampX+ which is at standby position. It can returns null if there is no socketAtStandby halted at standby position.

Returns:

initModule

public void initModule()

Overrides:

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

getStatusData

public StatusDataPublishedByCarousel getStatusData()

toString

public String toString()

Overrides:

toString in class Object

processUpdate

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

What to do when the Modules we observe send there new values : we notify our own observers

Overrides:

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

getSocketAtStandby

public CarouselSocket getSocketAtStandby()

Description copied from interface: Carousel

This methods returns the socket at standby position or null if there is no socket at standby position. If the carousel is rotating, it returns null.

Specified by:

getSocketAtStandby in interface Carousel

Returns:

the socket which is at standby position or null if there is no socket at standby position.

getFilterAtStandby

public Filter getFilterAtStandby()

This methods return the filter which is in the socketAtStandby at standby position. When there is no filter at standby position it returns null.

Returns:

filter at standby position or null if there is no filter at standby position.

getFilterInStandbyName

public String getFilterInStandbyName()

isReadyToGrabAFilterAtStandby

public boolean isReadyToGrabAFilterAtStandby()
                                      throws HardwareException

This method let us know if the carousel is ready to receive a filter at standby position : - the carousel must not rotate - an empty socketAtStandby is at standby position.

Returns:

true if the position of the carousel matches the position when one of its sockets is at standby position and this socketAtStandby is empty. false

Throws:

HardwareException

isHoldingFilterAtStandby

public boolean isHoldingFilterAtStandby()
                                 throws HardwareException

Throws:

HardwareException

isRotating

public boolean isRotating()

isAbleToMove

public boolean isAbleToMove()

Description copied from interface: Carousel

The carousel can be locked by a break or prevented to move by the autochanger fliprail. The carousel is able to move if no piece of hardware (nor simulated hardware) prevents the carousel to move.

Specified by:

isAbleToMove in interface Carousel

Returns:

true if the carousel is able to move, false if not.

isLocked

public boolean isLocked()

stop

public String stop()

Description copied from interface: Carousel

Stop the carousel if it is rotating.

Specified by:

stop in interface Carousel

Returns:

lock

public String lock()

Description copied from interface: Carousel

Lock the carousel (or engage the break).

Specified by:

lock in interface Carousel

Returns:

unlock

public String unlock()

Description copied from interface: Carousel

Unlock the carousel (or disengage the break)

Specified by:

unlock in interface Carousel

Returns:

updateClampsStateWithSensorsFromSDO

@Deprecated
public void updateClampsStateWithSensorsFromSDO()
                                         throws org.lsst.ccs.bus.BadCommandException,
                                                HardwareException

Deprecated.

Read the clamp sensors one by one with RSDO command

Throws:

org.lsst.ccs.bus.BadCommandException

HardwareError

HardwareException

updateClampsStateWithSensorsFromPDO

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

Read the clamps state from PDO : all the clamp sensors are read at one time. Tested with success on single-filter-test in April 2013

Throws:

org.lsst.ccs.bus.BadCommandException

HardwareError

HardwareException

updateClampsStateWithSensors

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

Throws:

org.lsst.ccs.bus.BadCommandException

HardwareException

rotate

public String rotate(double angle)
              throws IllegalArgumentException,
                     org.lsst.ccs.bus.BadCommandException

Rotates carousel for an angle given as a parameter. This method can be launched by the user from the TestConsole. It checks the value of the rotation angle entered by the user, converts it in a double, and send the result of the method rotate(double angle).

Specified by:

rotate in interface Carousel

Parameters:

angleEntered - : rotation angle The rotation angle can be positive or negative. It must be a double and have a value between -360.0 and 360.0

Returns:

the result of the command rotate(double angle)

Throws:

IllegalArgumentException, - BadCommandException

IllegalArgumentException - if the angle given as parameter is not in the ranges of available values.

org.lsst.ccs.bus.BadCommandException - if the carousel is already rotating or is unable to move.

tick

public void tick()

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

Overrides:

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

removeFilterFromCarousel

public void removeFilterFromCarousel(Filter filter)
                              throws org.lsst.ccs.bus.BadCommandException,
                                     HardwareException,
                                     org.lsst.ccs.bus.ErrorInCommandExecutionException

Throws:

org.lsst.ccs.bus.BadCommandException

HardwareException

org.lsst.ccs.bus.ErrorInCommandExecutionException

getFilterPosition

public double getFilterPosition(Filter filter)

getStandbyPositionForFilter

public double getStandbyPositionForFilter(Filter filter)

getSocketNumber

public int getSocketNumber(Filter filter)

Parameters:

filter -

Returns:

the position of the filter in the sockets array I'm not sure this method is useful actually. Only used is FcsMainModule in method printFilters.

moveFilterToStandby

protected String moveFilterToStandby(Filter filter)
                              throws InterruptedException,
                                     org.lsst.ccs.bus.BadCommandException

This method rotates the carousel to put the given filter in front of the autochanger (standby position). This method can't be launched by the user from the console. It computes the shortest way for the carousel. So the running way can be positive or negative. This could be more complicated if the carousel was not able to rotate more than TBD turns in one way.

Throws:

org.lsst.ccs.bus.BadCommandException

InterruptedException

printSockets

public void printSockets()

Print for every socket on carousel, the name of the filter it contains.

grabFilterAtStandby

public String grabFilterAtStandby(Object filterName)
                           throws org.lsst.ccs.bus.BadCommandException,
                                  org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                  HardwareException

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareException

grabFilterAtStandby

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

This method has to be executed when a filter has just been moved on the carousel at standby position by the autochanger. It updates the carousel socketAtStandby at standby or throw an exception. This method tests if the clamps are locked on a filter at standby position The clamps lock automaticaly, and the filter presence sensor tells us if the filter is here or not. If the clamps are locked on a filter at standby position, this method updates the socketAtStandby at standby position : it puts the filter on the socketAtStandby.

Parameters:

filter -

Returns:

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareError

HardwareException

ungrabFilterAtStandby

public void ungrabFilterAtStandby(Filter filter)
                           throws org.lsst.ccs.bus.BadCommandException,
                                  org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                  HardwareException

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareException

releaseClamps

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

Description copied from interface: Carousel

This is a command that can be sent to the carousel. It releases (unlock it) the clamps at standby position. (when a clamp is released, it can be locked automaticaly when a filter comes in the socket)

Specified by:

releaseClamps in interface Carousel

Returns:

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareException

unlockClamps

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

This methods unlocks the 2 clamps at standby position, without Thread.sleep

Specified by:

unlockClamps in interface Carousel

Parameters:

filter -

Returns:

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareError

HardwareException

unlockClamps

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

Throws:

org.lsst.ccs.bus.BadCommandException

HardwareException

org.lsst.ccs.bus.ErrorInCommandExecutionException

isOnStandby

public boolean isOnStandby(Filter filter)

addAngle

public static double addAngle(double angle1,
              double angle2)

Add 2 angles : an angle is a double which value is between -360 and +360

Parameters:

angle1 -

angle2 -

Returns:

result of the angles addition. Always > 0

releaseClampsContact

public void releaseClampsContact()

Description copied from interface: Carousel

Before rotating the carousel we have to release the power contact between the moving part and the fixed part.

Specified by:

releaseClampsContact in interface Carousel

engageClampsContact

public void engageClampsContact()

Description copied from interface: Carousel

After a rotation, when the carousel is stopped the power contact can be engaged again.

Specified by:

engageClampsContact in interface Carousel