org.lsst.ccs.subsystems.fcs

Class CarouselSocket

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.CarouselSocket

All Implemented Interfaces:

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

Direct Known Subclasses:

SimuCarouselSocket

public class CarouselSocket
extends MobileItemModule

This is a socket on the carousel : there is 5 sockets on a carousel. When a filter is on the carousel, it is attached at a socket. A socket has a clamp on each side : - clampX- (clampXminus) - clampX+ (clampXplus) clampX+ and clampX- are the same except for the method isLocked() See FilterClampXminusModule and FilterClampXplusModule The main job of this class CarouselSocket is to synchronize the actions on the 2 clamps. The state of the CarouselSocket is the state of the clamps when both clamps state are identical. To synchonize an action (updateSateWithSensor, unlock or release) on both clamps, we use a CyclicBarrier : we start 2 threads and they wait for each other action completion with a CyclicBarrier. During an action on both clamps, we want to lock the CarouselSocket so no other thread can try to access this object before the completion of action. We do that with a Lock and Condition. (see java.util.concurrent). CarouselSocket extends MobileItemModule because we want to lock or release the clamps when the carousel is at standby position and we want to wait until the action is completed. We know if the action is completed in reading the clamps sensors. So we use the general mechanism provided by the MobileItemModule.

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.common.MobileItemModule

currentAction, fcslog, haltRequired, hasToWaitForEndOfAction, lock, motionCompleted, moving

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

environment, log, name, nObserverThreads, registry, tickMillis

Constructor Summary

Constructors

Constructor and Description
CarouselSocket(String moduleName, int aTickMillis, FilterClampModule clampXminus, FilterClampModule clampXplus, double position, double standbyPosition)

Method Summary

Modifier and Type	Method and Description
FcsEnumerations.FilterClampState	getClampsState() Returns the state of the clamps.
FilterClampModule	getClampXminus()
FilterClampModule	getClampXplus()
Filter	getFilter()
double	getPosition()
double	getStandbyPosition()
void	initModule()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isClampedOnFilter()
boolean	isEmpty()
boolean	isHardwareReady()
boolean	isReadyToClamp()
boolean	isUnclampedEmpty()
boolean	isUnclampedOnFilter()
void	postAction(FcsEnumerations.MobileItemAction action)
void	putFilterOnSocket(Filter filter)
String	releaseClamps() Releases the 2 clamps of the socket.
void	removeFilter() Software removing
void	setClampXminus(FilterClampModule clampXminus)
void	setClampXplus(FilterClampModule clampXplus)
void	startAction(FcsEnumerations.MobileItemAction action)
void	stopAction(FcsEnumerations.MobileItemAction action, long delay)
String	toString()
String	unlockClamps() This method unclamp the 2 clamps at standby position.
void	updateClampsStateWithSensors()
void	updateClampsStateWithSensors(CanOpenProxy.PDOStorage pdoStorage)
void	updateClampsStateWithSensorsFromSDO() Deprecated.
void	updateStateWithSensorsToCheckIfActionIsCompleted()

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

abort, abort, checkHardware, checkStarted, checkStopped, executeAction, isMoving, readSensorsUntilActionIsCompleted, shutdownNow, signal, stop

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

alias, change, dropConfigurationContext, getCheckedValueFromConfiguration, getChildren, getComponentByName, getComponentDictionariesTree, getComponentTree, getContext, getDictionary, getEnvironment, getMainDictionary, getModule, getName, getNObserverThreads, getObservables, getParent, getSubsystem, getTickMillis, init, injectResources, 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, 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

Constructor Detail

CarouselSocket

public CarouselSocket(String moduleName,
                      int aTickMillis,
                      FilterClampModule clampXminus,
                      FilterClampModule clampXplus,
                      double position,
                      double standbyPosition)

Method Detail

getClampXminus

public FilterClampModule getClampXminus()

setClampXminus

public void setClampXminus(FilterClampModule clampXminus)

getClampXplus

public FilterClampModule getClampXplus()

setClampXplus

public void setClampXplus(FilterClampModule clampXplus)

getPosition

public double getPosition()

getFilter

public Filter getFilter()

getStandbyPosition

public double getStandbyPosition()

initModule

public void initModule()

Overrides:

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

isHardwareReady

@Command(type=QUERY,
         level=1,
         description="Returns true if hardware is connected and ready.")
public boolean isHardwareReady()

Specified by:

isHardwareReady in class MobileItemModule

getClampsState

public FcsEnumerations.FilterClampState getClampsState()

Returns the state of the clamps. If the state is being updated and waiting for a response from a sensor, this methods waits until the state is updated. If the state is not being updated, it returns immediatly the state.

Returns:

state

updateClampsStateWithSensorsFromSDO

@Deprecated
public void updateClampsStateWithSensorsFromSDO()
                                                     throws FcsHardwareException

Deprecated.

This method updates the state of the 2 clamps in reading the values sent by the sensors. The values of the sensors are read clamp by clamp with read SDO commands.

Throws:

HardwareError

FcsHardwareException

updateClampsStateWithSensors

public void updateClampsStateWithSensors(CanOpenProxy.PDOStorage pdoStorage)
                                  throws FcsHardwareException

Throws:

FcsHardwareException

updateClampsStateWithSensors

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

Throws:

FcsHardwareException

org.lsst.ccs.bus.BadCommandException

isEmpty

public boolean isEmpty()
                throws FcsHardwareException

Throws:

FcsHardwareException

isClampedOnFilter

public boolean isClampedOnFilter()

isUnclampedOnFilter

public boolean isUnclampedOnFilter()

isUnclampedEmpty

public boolean isUnclampedEmpty()

isReadyToClamp

public boolean isReadyToClamp()

releaseClamps

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

Releases the 2 clamps of the socket.

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareError

FcsHardwareException

unlockClamps

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

This method unclamp the 2 clamps at standby position. It turn ON the actuators and wait for the end of the unlocking task. The unlock is completed when the clamps sensors notice that the clamps are UNLOCKED. So this method reads the sensors with the method updateClampsStateWithSensors until the clamps are UNLOCKED or the duration of the task is greater than the timeout (timeoutForUnlocking) To read the sensors at a regular time schedule we use the ScheduledThreadPoolExecutor (scheduler.scheduleAtFixedRate) from the java.util.concurrent package.

Returns:

a message for the end user

Throws:

HardwareError

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

FcsHardwareException

removeFilter

public void removeFilter()
                  throws org.lsst.ccs.bus.BadCommandException

Software removing

Throws:

org.lsst.ccs.bus.BadCommandException

putFilterOnSocket

public void putFilterOnSocket(Filter filter)

toString

public String toString()

Overrides:

toString in class Object

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,
                        FcsHardwareException

Specified by:

startAction in class MobileItemModule

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

FcsHardwareException

postAction

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

Specified by:

postAction in class MobileItemModule

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

FcsHardwareException

stopAction

public void stopAction(FcsEnumerations.MobileItemAction action,
                       long delay)
                throws org.lsst.ccs.bus.BadCommandException,
                       org.lsst.ccs.bus.ErrorInCommandExecutionException,
                       FcsHardwareException

Specified by:

stopAction in class MobileItemModule

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

FcsHardwareException