org.lsst.ccs.subsystems.fcs

Class AutoChangerModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.BasicAutoChangerModule

org.lsst.ccs.subsystems.fcs.AutoChangerModule

All Implemented Interfaces:

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

public class AutoChangerModule
extends BasicAutoChangerModule

This class will be used with the final hardware in which we have a clamp online to hold the filter at online position. It's not used for Single FIlter Test.

Author:

virieux

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.BasicAutoChangerModule

carousel, closingLatches, latchesState, openingLatches, publishedByAutoChangerOutputName, state, timeoutForClosingLatches, timeoutForOpeningLatches, timeToWaitForCompleteClose, timeToWaitForCompleteOpen, truckXminus, truckXplus, updatingLatches

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

currentAction, haltRequired, itemMoving, lock, motionCompleted

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

environment, log, name, nObserverThreads, registry, tickMillis

Constructor Summary

Constructors

Constructor and Description
AutoChangerModule(FilterLatch onlineClamp, double trucksPositionOnline, double trucksPositionAtStandby, double trucksPositionSwapout, Motor motor, String moduleName, int aTickMillis, FilterLatchModule latchXminus, FilterLatchModule latchXplus, TruckModule truckXminus, TruckModule truckXplus, String railsSensorsDIOName, String filterSensorsDIOName)

Method Summary

Methods

Modifier and Type	Method and Description
void	closeLatchesAtHandoff()
String	closeOnlineClamp() when a filter is at online position it is locked by a clamp.
Filter	getFilterOnline()
String	getFilterOnlineName()
Motor	getMotor()
FilterLatch	getOnlineClamp()
StatusDataPublishedByAutoChanger	getStatusData()
double	getTrucksPosition()
double	getTrucksPositionAtStandby()
double	getTrucksPositionOnline()
double	getTrucksPositionSwapout()
String	goToPosition(double requiredPosition) This method moves the autochanger trucks to a position given as a parameter.
String	goToStandback()
String	goToStandby()
void	initModule()
boolean	isAtStandby()
boolean	isHoldingFilterAtHandoff()
boolean	isMoving()
boolean	isMovingToStandback()
boolean	isMovingToStandby()
void	locateTrucks() This method has to be executed at the FCS startup.
String	moveFilterToOnline(Filter aFilter)
String	moveFilterToStandback(Filter aFilter)
String	moveFilterToStandby(Filter aFilter)
String	openOnlineClamp() when a filter is at online position it is locked by a clamp.
void	setMotor(Motor motor)
void	setOnlineClamp(FilterLatch onlineClamp)
void	setTrucksPositionAtStandby(double trucksPositionAtStandby)
void	setTrucksPositionOnline(double trucksPositionOnline)
void	setTrucksPositionSwapout(double trucksPositionSwapout)
String	stopAutochanger() Deprecated.
void	updateStateWithSensors()

Methods inherited from class org.lsst.ccs.subsystems.fcs.BasicAutoChangerModule

checkPreConditionsForTrucksMotion, closeLatchesAtStandby, getFilterOnTrucks, getFilterOnTrucksName, getFilterSensorsDIO, getFilterSensorsDIOName, getLatchesState, getLatchXminus, getLatchXplus, getRailsSensorsDIO, getRailsSensorsDIOName, getState, getTrucksLocation, getTruckXminus, getTruckXplus, grabFilterAtHandoff, grabFilterAtStandby, isActionCompleted, isAtHandoff, isAtStandback, isHoldingFilterAtStandback, isHoldingFilterAtStandby, isOnline, isTrucksEmpty, openLatchesAtHandoff, openLatchesAtStandby, postAction, processUpdate, publishAutoChangerData, publishData, publishDataAndNotifyObservers, setFilterOnTrucks, setFilterSensorsDIOName, setRailsSensorsDIOName, setState, setTimeoutForClosingLatches, setTimeoutForOpeningLatches, setTimeToWaitForCompleteClose, setTimeToWaitForCompleteOpen, setTrucksEmpty, startAction, stopAction, tick, toString, ungrabFilterAtHandoff, ungrabFilterAtStandby, updateLatchesStateWithSensors, updateStateWithSensorsToCheckIfActionIsCompleted, updateTrucksLocationWithSensors

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

abort, abort, executeAction, isItemMoving, readSensorsUntilActionIsCompleted, signal, stop

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

alias, change, checkHardware, dropConfigurationContext, getCheckedValueFromConfiguration, getChildren, getComponentByName, getComponentDictionariesTree, getComponentTree, getContext, getDictionary, getEnvironment, getMainDictionary, getModule, getName, getNObserverThreads, getObservables, getParent, getSubsystem, getTickMillis, init, listens, newConfigurationContext, notifyChange, notifyChangeWithoutPreliminaryChecks, percolateSignal, publish, publish, publish, publish, publish, publish, publishData, publishData, publishData, publishData, publishData, publishData, publishData, register, sendSignal, sendSignal, sendToReply, sendToStatus, setBeanName, setContext, setEnvironment, 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

Constructor Detail

AutoChangerModule

public AutoChangerModule(FilterLatch onlineClamp,
                 double trucksPositionOnline,
                 double trucksPositionAtStandby,
                 double trucksPositionSwapout,
                 Motor motor,
                 String moduleName,
                 int aTickMillis,
                 FilterLatchModule latchXminus,
                 FilterLatchModule latchXplus,
                 TruckModule truckXminus,
                 TruckModule truckXplus,
                 String railsSensorsDIOName,
                 String filterSensorsDIOName)

Method Detail

initModule

public void initModule()

Overrides:

initModule in class BasicAutoChangerModule

getStatusData

public StatusDataPublishedByAutoChanger getStatusData()

Overrides:

getStatusData in class BasicAutoChangerModule

closeOnlineClamp

public String closeOnlineClamp()
                        throws org.lsst.ccs.bus.ErrorInCommandExecutionException

when a filter is at online position it is locked by a clamp. when the clamp is closed, the filter is hold at online position.

Returns:

Throws:

org.lsst.ccs.bus.ErrorInCommandExecutionException

openOnlineClamp

public String openOnlineClamp()
                       throws org.lsst.ccs.bus.ErrorInCommandExecutionException

when a filter is at online position it is locked by a clamp. when the clamp is open, the filter is not hold at online position, so the autochanger can move the filter back to standby position.

Throws:

org.lsst.ccs.bus.ErrorInCommandExecutionException

getOnlineClamp

public FilterLatch getOnlineClamp()

setOnlineClamp

public void setOnlineClamp(FilterLatch onlineClamp)

goToPosition

public String goToPosition(double requiredPosition)
                    throws IllegalArgumentException,
                           org.lsst.ccs.bus.BadCommandException

This method moves the autochanger trucks to a position given as a parameter.

Parameters:

requiredPosition - the position the trucks will have at the end of the execution this method if every thing works fine. It implies the autochanger motor.

Returns:

Throws:

IllegalArgumentException

org.lsst.ccs.bus.BadCommandException

stopAutochanger

@Deprecated
public String stopAutochanger()

Deprecated.

moveFilterToOnline

public String moveFilterToOnline(Filter aFilter)
                          throws org.lsst.ccs.bus.BadCommandException,
                                 org.lsst.ccs.bus.ErrorInCommandExecutionException

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

moveFilterToStandby

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

Specified by:

moveFilterToStandby in interface AutoChanger

Specified by:

moveFilterToStandby in class BasicAutoChangerModule

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

getFilterOnline

public Filter getFilterOnline()

getFilterOnlineName

public String getFilterOnlineName()

getTrucksPosition

public double getTrucksPosition()

getTrucksPositionAtStandby

public double getTrucksPositionAtStandby()

getTrucksPositionOnline

public double getTrucksPositionOnline()

getTrucksPositionSwapout

public double getTrucksPositionSwapout()

locateTrucks

public void locateTrucks()

This method has to be executed at the FCS startup. It checks the hardware trucks and set the trucks position.

setTrucksPositionAtStandby

public void setTrucksPositionAtStandby(double trucksPositionAtStandby)

setTrucksPositionOnline

public void setTrucksPositionOnline(double trucksPositionOnline)

setTrucksPositionSwapout

public void setTrucksPositionSwapout(double trucksPositionSwapout)

getMotor

public Motor getMotor()

setMotor

public void setMotor(Motor motor)

isMoving

public boolean isMoving()

Specified by:

isMoving in class BasicAutoChangerModule

Returns:

true if the trucks are moving

isAtStandby

public boolean isAtStandby()

Specified by:

isAtStandby in interface AutoChanger

Overrides:

isAtStandby in class BasicAutoChangerModule

Returns:

true if the trucks are at standby position, otherwise false

goToStandback

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

Specified by:

goToStandback in class BasicAutoChangerModule

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

goToStandby

public String goToStandby()
                   throws org.lsst.ccs.bus.BadCommandException

Specified by:

goToStandby in class BasicAutoChangerModule

Throws:

org.lsst.ccs.bus.BadCommandException

moveFilterToStandback

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

Specified by:

moveFilterToStandback in class BasicAutoChangerModule

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

isMovingToStandback

public boolean isMovingToStandback()

Specified by:

isMovingToStandback in class BasicAutoChangerModule

isMovingToStandby

public boolean isMovingToStandby()

Specified by:

isMovingToStandby in class BasicAutoChangerModule

updateStateWithSensors

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

Specified by:

updateStateWithSensors in class BasicAutoChangerModule

Throws:

HardwareException

org.lsst.ccs.bus.ErrorInCommandExecutionException

isHoldingFilterAtHandoff

@Command(level=1,
         description="Return true if the trucks are at HANDOFF position and hold a filter",
         type=QUERY)
public boolean isHoldingFilterAtHandoff()

Returns:

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

closeLatchesAtHandoff

public void closeLatchesAtHandoff()

Overrides:

closeLatchesAtHandoff in class BasicAutoChangerModule