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:

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

Direct Known Subclasses:

BasicAutoChangerModule, CarouselSocket, FilterClampModule, FilterLatchModule, LoaderCarrierModule, LoaderClampModule

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

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
protected FcsEnumerations.MobileItemAction	currentAction
protected AtomicBoolean	haltRequired
protected boolean	itemMoving
protected Lock	lock
protected Condition	motionCompleted

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

environment, log, name, nObserverThreads, registry, tickMillis

Constructor Summary

Constructors

Constructor and Description
MobileItemModule(String moduleName, int aTickMillis)

Method Summary

Methods

Modifier and Type	Method and Description
void	abort()
void	abort(long delay) just to avoid taping "sendSignal HALT"
protected 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)
boolean	isItemMoving()
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.
org.lsst.ccs.framework.TreeWalkerDiag	signal(org.lsst.ccs.framework.Signal signal) This shutdowns the scheduler.
abstract void	startAction(FcsEnumerations.MobileItemAction action)
void	stop()
abstract void	stopAction(FcsEnumerations.MobileItemAction action, long delay)
abstract void	updateStateWithSensorsToCheckIfActionIsCompleted()

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, initModule, listens, newConfigurationContext, notifyChange, notifyChangeWithoutPreliminaryChecks, percolateSignal, processUpdate, 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, 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 volatile boolean itemMoving

currentAction

protected volatile FcsEnumerations.MobileItemAction currentAction

lock

protected final Lock lock

motionCompleted

protected final Condition motionCompleted

haltRequired

protected AtomicBoolean haltRequired

Constructor Detail

MobileItemModule

public MobileItemModule(String moduleName,
                int aTickMillis)

Method Detail

isItemMoving

public boolean isItemMoving()

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

stopAction

public abstract void stopAction(FcsEnumerations.MobileItemAction action,
              long delay)
                         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

protected 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

timeoutForAction -

Returns:

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 -

abort

@Command(type=ABORT,
         level=1,
         description="Abort the running action.")
public void abort(long delay)
           throws org.lsst.ccs.bus.BadCommandException

just to avoid taping "sendSignal HALT"

Parameters:

delay -

Throws:

org.lsst.ccs.bus.BadCommandException

abort

@Command(type=ABORT,
         level=1,
         description="Abort the running action.")
public void abort()
           throws org.lsst.ccs.bus.BadCommandException

Throws:

org.lsst.ccs.bus.BadCommandException

stop

@Command(type=ABORT,
         level=1,
         description="Abort the running action.")
public void stop()
          throws org.lsst.ccs.bus.BadCommandException

Throws:

org.lsst.ccs.bus.BadCommandException

signal

public org.lsst.ccs.framework.TreeWalkerDiag signal(org.lsst.ccs.framework.Signal signal)

This shutdowns the scheduler.

Specified by:

signal in interface org.lsst.ccs.framework.SignalHandler

Overrides:

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