org.lsst.ccs.subsystems.fcs

Class LoaderModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

org.lsst.ccs.subsystems.fcs.LoaderModule

All Implemented Interfaces:

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

public class LoaderModule
extends org.lsst.ccs.framework.Module

This is the model for the loader in the Filter Exchange System. The loader is used to load a filter into the camera or to unload a filter from the camera.

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.framework.Module

environment, log, name, nObserverThreads, registry, tickMillis

Constructor Summary

Constructors

Constructor and Description
LoaderModule(String moduleName, int aTickMillis, LoaderCarrierModule carrier, LoaderClampModule clamp, String plutoGatewayName, NumericSensor filterPresenceSensor, NumericSensor loaderOnCameraPresenceSensor)

Method Summary

Modifier and Type	Method and Description
boolean	checkPreConditionsForCarrierMotion()
boolean	checkPreConditionsForOpeningHooks()
String	clampHooks() This method closes the clamps strongly.
String	closeHooks() This method closes the clamps.
LoaderCarrierModule	getCarrier()
LoaderClampModule	getClamp()
void	initializeHardware()
void	initModule()
boolean	isAutochangerHoldingFilter()
boolean	isCarrierAtStoragePosition()
boolean	isConnectedOnCamera() Returns the boolean field atHandoff.
boolean	isEmpty() Returns the boolean field empty.
boolean	isHardwareReady()
boolean	isHoldingAFilter()
boolean	isMoving()
boolean	isOnCamera()
String	listHooks()
String	listSensorsValues()
void	moveToHandoff() Moves the loader carrier to the handoff position.
void	moveToStorage() Moves the loader carrier to the storage position.
String	openHooks() This method opens the clamp.
void	test()
void	tick()
void	updateStateWithSensors() This methods updates the carrier and clamp state in reading all the sensors.

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, shutdownNow, signal, 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, toString, wait, wait, wait

Constructor Detail

LoaderModule

public LoaderModule(String moduleName,
                    int aTickMillis,
                    LoaderCarrierModule carrier,
                    LoaderClampModule clamp,
                    String plutoGatewayName,
                    NumericSensor filterPresenceSensor,
                    NumericSensor loaderOnCameraPresenceSensor)

Method Detail

initModule

public void initModule()

Overrides:

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

isHardwareReady

public boolean isHardwareReady()

isEmpty

@Command(type=QUERY,
         level=0,
         description="Return true if there is no filter in the loader. This command doesn\'t read again the sensors.")
public boolean isEmpty()

Returns the boolean field empty. If the empty boolean is being updated and waits for a response from a sensor, this methods waits until empty is updated. If the field empty is not being updated, it returns immediatly the field empty.

Returns:

empty

isConnectedOnCamera

@Command(type=QUERY,
         level=0,
         description="Return true if the loader is connected on the camera. This command doesn\'t read again the sensors.")
public boolean isConnectedOnCamera()

Returns the boolean field atHandoff. If the atHandoff boolean is being updated and waits for a response from a sensor, this methods waits until atHandoff is updated. If the field atHandoff is not being updated, it returns immediatly the field atHandoff.

Returns:

atHandoff

isAutochangerHoldingFilter

@Command(type=QUERY,
         level=0,
         description="Return true if the autochanger is holding the filter. This command doesn\'t read again the sensors.")
public boolean isAutochangerHoldingFilter()

isHoldingAFilter

@Command(type=QUERY,
         level=0,
         description="Return true if a filter is there and it is held by the clamp.")
public boolean isHoldingAFilter()
                                                                                                                                                      throws SDORequestException,
                                                                                                                                                             org.lsst.ccs.bus.BadCommandException,
                                                                                                                                                             FcsHardwareException

Throws:

SDORequestException

org.lsst.ccs.bus.BadCommandException

FcsHardwareException

isMoving

@Command(type=QUERY,
         level=0,
         description="Return true if no filter is in the loader.")
public boolean isMoving()

getClamp

public LoaderClampModule getClamp()

getCarrier

public LoaderCarrierModule getCarrier()

isCarrierAtStoragePosition

public boolean isCarrierAtStoragePosition()

isOnCamera

@Command(type=QUERY,
         level=0,
         description="Returns true if loader is connected to the camera.")
public boolean isOnCamera()
                                                                                                                                     throws FcsHardwareException

Throws:

FcsHardwareException

initializeHardware

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

Throws:

FcsHardwareException

org.lsst.ccs.bus.ErrorInCommandExecutionException

org.lsst.ccs.bus.BadCommandException

tick

public void tick()

Overrides:

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

checkPreConditionsForCarrierMotion

@Command(level=1,
         description="Return true if the carrier can move.",
         type=QUERY)
public boolean checkPreConditionsForCarrierMotion()
                                                                                                                                               throws SDORequestException,
                                                                                                                                                      org.lsst.ccs.bus.BadCommandException,
                                                                                                                                                      FcsHardwareException,
                                                                                                                                                      org.lsst.ccs.bus.ErrorInCommandExecutionException

Throws:

SDORequestException

org.lsst.ccs.bus.BadCommandException

FcsHardwareException

org.lsst.ccs.bus.ErrorInCommandExecutionException

checkPreConditionsForOpeningHooks

@Command(level=1,
         type=QUERY,
         description="Check if the clamp can be open.")
public boolean checkPreConditionsForOpeningHooks()
                                                                                                                                         throws SDORequestException,
                                                                                                                                                org.lsst.ccs.bus.BadCommandException,
                                                                                                                                                FcsHardwareException,
                                                                                                                                                org.lsst.ccs.bus.ErrorInCommandExecutionException

Throws:

SDORequestException

org.lsst.ccs.bus.BadCommandException

FcsHardwareException

org.lsst.ccs.bus.ErrorInCommandExecutionException

closeHooks

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

This method closes the clamps. When this action is completed the filter is clamped softly on the loader and can't fall.

Returns:

a message for the end user.

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

FcsHardwareException

clampHooks

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

This method closes the clamps strongly. When this action is completed, the filter is clamped softly on the loader and is tight fermely on the carrier.

Returns:

a message for the end user.

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

FcsHardwareException

openHooks

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

This method opens the clamp.

Returns:

a message for the end user.

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

FcsHardwareException

moveToHandoff

@Command(level=1,
         description="Move the loader carrier to HANDOFF position",
         type=ACTION)
public void moveToHandoff()
                                                                                                                               throws org.lsst.ccs.bus.BadCommandException,
                                                                                                                                      FcsHardwareException,
                                                                                                                                      SDORequestException,
                                                                                                                                      org.lsst.ccs.bus.ErrorInCommandExecutionException

Moves the loader carrier to the handoff position.

Throws:

org.lsst.ccs.bus.BadCommandException

FcsHardwareException

SDORequestException

org.lsst.ccs.bus.ErrorInCommandExecutionException

moveToStorage

@Command(type=ACTION,
         level=1,
         description="Move the loader carrier to STORAGE position")
public void moveToStorage()
                                                                                                                               throws org.lsst.ccs.bus.BadCommandException,
                                                                                                                                      FcsHardwareException,
                                                                                                                                      SDORequestException,
                                                                                                                                      org.lsst.ccs.bus.ErrorInCommandExecutionException

Moves the loader carrier to the storage position.

Throws:

org.lsst.ccs.bus.BadCommandException

FcsHardwareException

SDORequestException

org.lsst.ccs.bus.ErrorInCommandExecutionException

updateStateWithSensors

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

This methods updates the carrier and clamp state in reading all the sensors.

Throws:

FcsHardwareException

listHooks

@Command(type=QUERY,
         level=0,
         description="List and display info on the hooks.")
public String listHooks()

listSensorsValues

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

test

public void test()