org.lsst.ccs.subsystems.fcs

Class LoaderCarrierModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.LoaderCarrierModule

All Implemented Interfaces:

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

public class LoaderCarrierModule
extends MobileItemModule

This is a model for the carrier in the loader.

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 NumericSensor	handoffPositionSensor
protected NumericSensor	storagePositionSensor
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
LoaderCarrierModule(String moduleName, int aTickMillis)

Method Summary

Modifier and Type	Method and Description
boolean	checkFilterPresence() Updates the boolean field empty and returns it.
void	goToHandOff()
void	goToStorage()
void	initializeHardware()
void	initModule()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isAtHandoffPosition() Returns the boolean field atHandoff.
boolean	isAtStoragePosition() Returns the boolean field atStorage.
boolean	isAutochangerHoldingFilter()
boolean	isConnectedOnCamera()
boolean	isEmpty() Returns the boolean field empty.
boolean	isHardwareReady()
void	postAction(FcsEnumerations.MobileItemAction action)
void	startAction(FcsEnumerations.MobileItemAction action)
void	stopAction(FcsEnumerations.MobileItemAction action, long delay)
void	updateStateWithSensors() This methods updates the carrier state in reading all the carrier sensors.
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, toString, wait, wait, wait

Field Detail

storagePositionSensor

protected NumericSensor storagePositionSensor

handoffPositionSensor

protected NumericSensor handoffPositionSensor

updatingState

protected volatile boolean updatingState

Constructor Detail

LoaderCarrierModule

public LoaderCarrierModule(String moduleName,
                           int aTickMillis)

Method Detail

initModule

public void initModule()

Overrides:

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

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

checkFilterPresence

@Command(type=QUERY,
         level=0,
         description="Read the sensors and return true if a filter is in the loader.")
public boolean checkFilterPresence()
                                                                                                                                                          throws FcsHardwareException

Updates the boolean field empty and returns it.

Returns:

empty

Throws:

FcsHardwareException

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

isAtStoragePosition

@Command(type=QUERY,
         level=0,
         description="Return true if the carrier is at storage position. This command doesn\'t read again the sensors.")
public boolean isAtStoragePosition()

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

Returns:

atStorage

isAtHandoffPosition

@Command(type=QUERY,
         level=0,
         description="Return true if the carrier is at storage position. This command doesn\'t read again the sensors.")
public boolean isAtHandoffPosition()

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

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:

true if loader is connected on camera

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()

goToHandOff

public void goToHandOff()

goToStorage

public void goToStorage()

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

updateStateWithSensors

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

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

Throws:

FcsHardwareException

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

initializeHardware

public void initializeHardware()