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:

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

Direct Known Subclasses:

SimuLoaderClampModule

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. This hooks are moved all together by the hooksController.

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 boolean	updatingState

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

LoaderClampModule(String moduleName, int aTickMillis, LoaderHookModule hook1, LoaderHookModule hook2, LoaderHookModule hook3, LoaderHookModule hook4, String plutoGWName, long timeoutForClosingHooks, long timeoutForClosingHooksStrongly, long timeoutForOpeningHooks, long timeoutForGoingToHomePosition, int targetPositionToOpen, int targetPositionToClose, int targetPositionToCloseStrongly, int currentToClose, int currentToGoHome, Map<String,Integer> paramsForCurrentToClamp, Map<String,Integer> paramsForCurrentToGoHomePosition, int minPosition, int maxPosition)

Method Summary

Modifier and Type	Method and Description
String	clamp()
String	close()
int	getCurrentToClose()
int	getCurrentToGoHome()
LoaderHookModule	getHook1()
LoaderHookModule	getHook2()
LoaderHookModule	getHook3()
LoaderHookModule	getHook4()
FcsEnumerations.LockStatus	getLockStatus()
int	getMaxPosition()
int	getMinPosition()
int	getPosition()
StatusDataPublishedByLoaderClamp	getStatusData()
int	getTargetPositionToClamp()
int	getTargetPositionToClose()
int	getTargetPositionToOpen()
long	getTimeoutForClampingHooks()
long	getTimeoutForClosingHooks()
long	getTimeoutForGoingToHomePosition()
long	getTimeoutForOpeningHooks()
String	goToClampedPosition() 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() If loader is empty, go to home position otherwise go to clamped position.
void	initModule()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action) Check if the action is completed.
boolean	isAtClampedPosition()
boolean	isAtClosedPosition()
boolean	isAtHomePosition()
boolean	isAtOpenPosition()
boolean	isEmpty()
boolean	isHardwareReady()
boolean	isLocked()
boolean	isUnlocked()
String	listHooks()
String	listSensorsValues()
String	listStatus()
String	open()
void	postAction(FcsEnumerations.MobileItemAction action)
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	startAction(FcsEnumerations.MobileItemAction action)
void	stopAction(FcsEnumerations.MobileItemAction action, long delay)
void	tick()
String	toString()
void	updatePosition() Updates the position of the clamp in reading the CPU of the controller.
void	updateStateWithSensors() This methods updates the lockStatus in reading all the sensors.
protected void	updateStateWithSensors(String[] readHexaValues) This methods updates the lockStatus from an array of hexaValues.
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, 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

updatingState

protected volatile boolean updatingState

Constructor Detail

LoaderClampModule

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

Method Detail

getHook1

public LoaderHookModule getHook1()

getHook2

public LoaderHookModule getHook2()

getHook3

public LoaderHookModule getHook3()

getHook4

public LoaderHookModule getHook4()

getPosition

public int getPosition()

getMinPosition

public int getMinPosition()

getMaxPosition

public int getMaxPosition()

getTargetPositionToOpen

public int getTargetPositionToOpen()

getTargetPositionToClose

public int getTargetPositionToClose()

getTargetPositionToClamp

public int getTargetPositionToClamp()

getCurrentToClose

public int getCurrentToClose()

getCurrentToGoHome

public int getCurrentToGoHome()

getTimeoutForClosingHooks

public long getTimeoutForClosingHooks()

getTimeoutForClampingHooks

public long getTimeoutForClampingHooks()

getTimeoutForOpeningHooks

public long getTimeoutForOpeningHooks()

getTimeoutForGoingToHomePosition

public long getTimeoutForGoingToHomePosition()

getLockStatus

public FcsEnumerations.LockStatus getLockStatus()

isLocked

@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=LOCKED")
public boolean isLocked()

isUnlocked

@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=UNLOCKED")
public boolean isUnlocked()

isEmpty

@Command(type=QUERY,
         level=1,
         description="Returns true if loader is empty.")
public boolean isEmpty()

isHardwareReady

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

Specified by:

isHardwareReady in class MobileItemModule

initModule

public void initModule()

Overrides:

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

isAtHomePosition

@Command(type=QUERY,
         level=1,
         description="Returns true if hook is open and at home position")
public boolean isAtHomePosition()
                                                                                                                                          throws SDORequestException,
                                                                                                                                                 org.lsst.ccs.bus.BadCommandException

Throws:

SDORequestException

org.lsst.ccs.bus.BadCommandException

isAtClampedPosition

@Command(type=QUERY,
         level=1,
         description="Returns true if hook is closed and at clamped position")
public boolean isAtClampedPosition()
                                                                                                                                                  throws SDORequestException,
                                                                                                                                                         org.lsst.ccs.bus.BadCommandException

Throws:

SDORequestException

org.lsst.ccs.bus.BadCommandException

isAtClosedPosition

@Command(type=QUERY,
         level=1,
         description="Returns true if hook is at closed position.")
public boolean isAtClosedPosition()
                                                                                                                                      throws SDORequestException,
                                                                                                                                             org.lsst.ccs.bus.BadCommandException

Throws:

SDORequestException

org.lsst.ccs.bus.BadCommandException

isAtOpenPosition

@Command(type=QUERY,
         level=1,
         description="Returns true if hook is at open position.")
public boolean isAtOpenPosition()
                                                                                                                                  throws SDORequestException,
                                                                                                                                         org.lsst.ccs.bus.BadCommandException

Throws:

SDORequestException

org.lsst.ccs.bus.BadCommandException

initializeHardware

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

If loader is empty, go to home position otherwise go to clamped position.

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

FcsHardwareException

tick

public void tick()

Overrides:

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

goToClampedPosition

@Command(type=ACTION,
         level=1,
         description="Go to clamped position to intialize hardware.")
public String goToClampedPosition()
                                                                                                                                         throws org.lsst.ccs.bus.BadCommandException,
                                                                                                                                                org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                                                                                                                                FcsHardwareException

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

FcsHardwareException

goToHomePosition

@Command(type=ACTION,
         level=1,
         description="Go to home position to intialize hardware.")
public String goToHomePosition()
                                                                                                                                   throws org.lsst.ccs.bus.BadCommandException,
                                                                                                                                          org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                                                                                                                          FcsHardwareException

In the initialisation phase, this open the clamp to be able to define the absolute position of the encoder. September 2014 : this command is also used to open the clamp.

Returns:

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

FcsHardwareException

close

@Command(type=ACTION,
         level=1,
         description="Close clamp.")
public String close()
                                                                                          throws org.lsst.ccs.bus.BadCommandException,
                                                                                                 org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                                                                                 FcsHardwareException

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

FcsHardwareException

clamp

@Command(type=ACTION,
         level=1,
         description="Clamp clamp.")
public String clamp()
                                                                                          throws org.lsst.ccs.bus.BadCommandException,
                                                                                                 org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                                                                                 FcsHardwareException

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

FcsHardwareException

open

@Command(type=ACTION,
         level=1,
         description="Open clamp.")
public String open()
                                                                                        throws org.lsst.ccs.bus.BadCommandException,
                                                                                               org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                                                                               FcsHardwareException

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

FcsHardwareException

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Check if the action is completed. This method is called after updateStateWithSensorsToCheckIfActionIsCompleted where the different new values of current or position or sensors values have been updated.

Specified by:

isActionCompleted in class MobileItemModule

Parameters:

action -

Returns:

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

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

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

updateStateWithSensors

@Command(type=ACTION,
         level=1,
         description="Update clamp state in reading sensors.")
public void updateStateWithSensors()
                                                                                                                                   throws FcsHardwareException

This methods updates the lockStatus in reading all the sensors.

Throws:

FcsHardwareException

updateStateWithSensors

protected void updateStateWithSensors(String[] readHexaValues)
                               throws FcsHardwareException

This methods updates the lockStatus from an array of hexaValues.

Parameters:

readHexaValues -

Throws:

FcsHardwareException

updatePosition

@Command(type=QUERY,
         level=1,
         description="Update clamp position in reading controller.")
public void updatePosition()
                                                                                                                                throws org.lsst.ccs.bus.BadCommandException,
                                                                                                                                       SDORequestException

Updates the position of the clamp in reading the CPU of the controller.

Throws:

org.lsst.ccs.bus.BadCommandException

SDORequestException

listHooks

@Command(type=QUERY,
         level=1,
         description="List and display clamp info.")
public String listHooks()

listSensorsValues

@Command(type=QUERY,
         level=1,
         description="List and display clamp sensors values.")
public String listSensorsValues()

listStatus

@Command(type=QUERY,
         level=1,
         description="List and display clamp sensors values.")
public String listStatus()

toString

@Command(type=QUERY,
         level=1,
         description="List and display clamp info.")
public String toString()

Overrides:

toString in class Object

getStatusData

public StatusDataPublishedByLoaderClamp getStatusData()

publishData

public void publishData()

Publish Data on status bus for trending data base and GUIs.