org.lsst.ccs.subsystems.fcs

Class LoaderClampModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.LoaderClampModule

All Implemented Interfaces:

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

public class LoaderClampModule
extends MobileItemModule

This is model for the clamps mechanism in the loader. 4 hooks are used for the clamping of the filter in the loader.

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
Hook	hook1
Hook	hook2
Hook	hook3
Hook	hook4
CanOpenEPOS	hooksController
protected boolean	updatingState

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

Constructors

Constructor and Description

LoaderClampModule(String moduleName, int aTickMillis, long timeoutForClosingHooks, long timeoutForClosingHooksStrongly, long timeoutForOpeningHooks, long timeoutForGoingToHomePosition, int targetPositionToOpen, int targetPositionToClose, int targetPositionToCloseStrongly, int currentToClose, int currentToGoHome, Map<String,Integer> paramsForCurrentToClose, Map<String,Integer> paramsForCurrentToGoHomePosition, Hook hook1, Hook hook2, Hook hook3, Hook hook4)

Method Summary

Methods

Modifier and Type	Method and Description
String	clamp()
String	close()
FcsEnumerations.LockStatus	getLockStatus()
String	goToClosePosition() In the initialisation phase, this close the clamp to be able to define the absolute position of the encoder.
String	goToHomePosition() In the initialisation phase, this open the clamp to be able to define the absolute position of the encoder.
void	initializeHardware()
void	initModule()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isEmpty()
boolean	isLocked()
boolean	isUnlocked()
String	listHooks()
String	listSensorsValues()
String	open()
void	postAction(FcsEnumerations.MobileItemAction action)
void	startAction(FcsEnumerations.MobileItemAction action)
String	toString()
void	updateStateWithSensors() This methods updates the lockStatus in reading all the hooks sensors.
void	updateStateWithSensorsToCheckIfActionIsCompleted()

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

executeAction, readSensorsUntilActionIsCompleted, shutdownNow

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, processUpdate, publishData, publishData, publishData, publishData, publishData, publishData, publishData, 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

Field Detail

hooksController

public CanOpenEPOS hooksController

hook1

public Hook hook1

hook2

public Hook hook2

hook3

public Hook hook3

hook4

public Hook hook4

updatingState

protected volatile boolean updatingState

Constructor Detail

LoaderClampModule

public LoaderClampModule(String moduleName,
                 int aTickMillis,
                 long timeoutForClosingHooks,
                 long timeoutForClosingHooksStrongly,
                 long timeoutForOpeningHooks,
                 long timeoutForGoingToHomePosition,
                 int targetPositionToOpen,
                 int targetPositionToClose,
                 int targetPositionToCloseStrongly,
                 int currentToClose,
                 int currentToGoHome,
                 Map<String,Integer> paramsForCurrentToClose,
                 Map<String,Integer> paramsForCurrentToGoHomePosition,
                 Hook hook1,
                 Hook hook2,
                 Hook hook3,
                 Hook hook4)

Method Detail

getLockStatus

public FcsEnumerations.LockStatus getLockStatus()

isLocked

public boolean isLocked()

isUnlocked

public boolean isUnlocked()

isEmpty

public boolean isEmpty()

initModule

public void initModule()

Overrides:

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

initializeHardware

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

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareException

goToClosePosition

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

In the initialisation phase, this close the clamp to be able to define the absolute position of the encoder.

Returns:

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareException

goToHomePosition

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

In the initialisation phase, this open the clamp to be able to define the absolute position of the encoder.

Returns:

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareException

close

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

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareException

clamp

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

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareException

open

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

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareException

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

updateStateWithSensors

public void updateStateWithSensors()

This methods updates the lockStatus in reading all the hooks sensors.

listHooks

public String listHooks()

listSensorsValues

public String listSensorsValues()

toString

public String toString()

Overrides:

toString in class Object