org.lsst.ccs.subsystems.fcs

Class CarouselModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

org.lsst.ccs.subsystems.fcs.CarouselModule

All Implemented Interfaces:

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

Direct Known Subclasses:

SftCarouselModule

public class CarouselModule
extends org.lsst.ccs.framework.Module
implements Carousel

This is a representation of the hardware of the carousel. It receives commands from the FCSMAinModule and send back an acknowledge. It publishes data on the status bus. In engineering mode it can receive commands from the engineering console. It has a latch, an engine which are connected to real or simulated hardware.

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 static org.lsst.ccs.utilities.logging.Logger	fcslog
static String	publishedByCarouselOutputName

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

environment, log, name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description
CarouselModule(String aName, int aTickMillis, int nbSockets, List<CarouselSocket> socketsList)

Method Summary

Modifier and Type	Method and Description
static double	addAngle(double angle1, double angle2) Add 2 angles : an angle is a double which value is between -360 and +360
String	engageBrake() Lock the carousel (or engage the break).
void	engageClampsContact() After a rotation, when the carousel is stopped the power contact can be engaged again.
Actuator	getClampActuatorXminus()
Actuator	getClampActuatorXplus()
CarouselClampModule	getClampXminus() This method returns the clampX- which is at standby position.
CarouselClampModule	getClampXplus() This method returns the clampX+ which is at standby position.
Filter	getFilterAtStandby() This methods return the filter which is in the socketAtStandby at standby position.
String	getFilterInStandbyName()
double	getFilterPosition(Filter filter)
int	getNbSockets()
double	getPosition() The carousel position measures the rotation angle of the carousel within the fixed part of the camera.
CarouselSocket	getSocketAtStandby() This methods returns the socket at standby position or null if there is no socket at standby position.
int	getSocketNumber(Filter filter)
CarouselSocket[]	getSockets()
double	getStandbyPositionForFilter(Filter filter)
ModuleState	getState()
StatusDataPublishedByCarousel	getStatusData()
String	grabFilterAtStandby(Filter filter) This method has to be executed when a filter has just been moved on the carousel at standby position by the autochanger.
String	grabFilterAtStandby(Object filterName)
void	initModule()
boolean	isAbleToMove() The carousel can be EngageBrakeed by a break or prevented to move by the autochanger fliprail.
boolean	isHoldingFilterAtStandby()
boolean	isLocked()
boolean	isOnStandby(Filter filter)
boolean	isReadyToGrabAFilterAtStandby() This method let us know if the carousel is ready to receive a filter at standby position : - the carousel must not rotate - an empty socketAtStandby is at standby position.
boolean	isRotating()
protected String	moveFilterToStandby(Filter filter) This method rotates the carousel to put the given filter in front of the autochanger (standby position).
void	printSockets() Print for every socket on carousel, the name of the filter it contains.
void	processUpdate(Observable source, org.lsst.ccs.framework.Module.ValueUpdate v) What to do when the Modules we observe send there new values : we notify our own observers
void	publishData() Publish Data on status bus for trending data base and GUIs.
String	releaseBrake() UnEngageBrake the carousel (or disengage the break)
String	releaseClamps() This is a command that can be sent to the carousel.
void	releaseClampsContact() Before rotating the carousel we have to release the power contact between the moving part and the fixed part.
void	removeFilterFromCarousel(Filter filter)
String	rotate(double angle) Deprecated.
void	setState(ModuleState state)
void	tick() What has to be done for each tick of the timer.
String	toString()
void	ungrabFilterAtStandby(Filter filter)
String	unlockClamps()
String	unlockClamps(Filter filter) This methods ReleaseBrakes the 2 clamps at standby position, without Thread.sleep
void	updateClampsStateWithSensors() Read the clamps state from PDO : all the clamp sensors are read at one time.
void	updateClampsStateWithSensorsFromPDO() Read the clamps state from PDO : all the clamp sensors are read at one time.
void	updateClampsStateWithSensorsFromSDO() Read the clamp sensors one by one with RSDO command

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

alias, getComponentTree, getEnvironment, getModule, getName, getNObserverThreads, getObservables, getSubsystem, getTickMillis, init, listens, percolateSignal, postStart, sendSignal, sendSignalWithTimeLimit, setEnvironment, setName, setNObserverThreads, setObservables, setTickMillis, shutdownNow, signal, 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

Methods inherited from interface org.lsst.ccs.framework.Configurable

change, getCheckedValueFromConfiguration, getChildren, getComponentByName, getFullPath, getParent, getParentObject, injectResources, listChildren, notifyChange, notifyChangeWithoutPreliminaryChecks, proceduralWalk, start, treeWalk

Field Detail

fcslog

protected static final org.lsst.ccs.utilities.logging.Logger fcslog

publishedByCarouselOutputName

public static final String publishedByCarouselOutputName

See Also:

Constant Field Values

Constructor Detail

CarouselModule

public CarouselModule(String aName,
                      int aTickMillis,
                      int nbSockets,
                      List<CarouselSocket> socketsList)

Method Detail

getSockets

public CarouselSocket[] getSockets()

getPosition

public double getPosition()

Description copied from interface: Carousel

The carousel position measures the rotation angle of the carousel within the fixed part of the camera.

Specified by:

getPosition in interface Carousel

Returns:

The position of the carousel in degrees. Its values is greater or equal to 0 and less than 360.

getState

public ModuleState getState()

setState

public void setState(ModuleState state)

getNbSockets

public int getNbSockets()

Returns:

the nbSockets

getClampActuatorXminus

public Actuator getClampActuatorXminus()

Returns:

the clampActuatorXminus

getClampActuatorXplus

public Actuator getClampActuatorXplus()

Returns:

the clampActuatorXminus

getClampXminus

public CarouselClampModule getClampXminus()

This method returns the clampX- which is at standby position. It can returns null if there is no socketAtStandby halted at standby position.

Returns:

getClampXplus

public CarouselClampModule getClampXplus()

This method returns the clampX+ which is at standby position. It can returns null if there is no socketAtStandby halted at standby position.

Returns:

initModule

public void initModule()

Overrides:

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

getStatusData

public StatusDataPublishedByCarousel getStatusData()

publishData

public void publishData()

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

toString

public String toString()

Overrides:

toString in class Object

processUpdate

public void processUpdate(Observable source,
                          org.lsst.ccs.framework.Module.ValueUpdate v)

What to do when the Modules we observe send there new values : we notify our own observers

Overrides:

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

getSocketAtStandby

public CarouselSocket getSocketAtStandby()

Description copied from interface: Carousel

This methods returns the socket at standby position or null if there is no socket at standby position. If the carousel is rotating, it returns null.

Specified by:

getSocketAtStandby in interface Carousel

Returns:

the socket which is at standby position or null if there is no socket at standby position.

getFilterAtStandby

public Filter getFilterAtStandby()

This methods return the filter which is in the socketAtStandby at standby position. When there is no filter at standby position it returns null.

Returns:

filter at standby position or null if there is no filter at standby position.

getFilterInStandbyName

public String getFilterInStandbyName()

isReadyToGrabAFilterAtStandby

@Command(level=1,
         description="Returns true if Carousel is stopped and no filter is at STANDBY position",
         type=QUERY)
public boolean isReadyToGrabAFilterAtStandby()
                                                                                                                                                                              throws FcsHardwareException

This method let us know if the carousel is ready to receive a filter at standby position : - the carousel must not rotate - an empty socketAtStandby is at standby position.

Returns:

true if the position of the carousel matches the position when one of its sockets is at standby position and this socketAtStandby is empty. false

Throws:

FcsHardwareException

isHoldingFilterAtStandby

@Command(level=1,
         description="Returns true if a filter is clamped at STANDBY position",
         type=QUERY)
public boolean isHoldingFilterAtStandby()
                                                                                                                                                        throws FcsHardwareException

Returns:

true if a filter is clamped at STANDBY position and carousel is stopped

Throws:

FcsHardwareException

isRotating

public boolean isRotating()

isAbleToMove

@Command(level=1,
         description="Returns true if the brake is released",
         type=QUERY)
public boolean isAbleToMove()

Description copied from interface: Carousel

The carousel can be EngageBrakeed by a break or prevented to move by the autochanger fliprail. The carousel is able to move if no piece of hardware (nor simulated hardware) prevents the carousel to move.

Specified by:

isAbleToMove in interface Carousel

Returns:

true if the brake is released

isLocked

public boolean isLocked()

engageBrake

@Command(level=1,
         description="Engage the carousel brake to stop the rotation",
         type=ACTION)
public String engageBrake()

Description copied from interface: Carousel

Lock the carousel (or engage the break).

Specified by:

engageBrake in interface Carousel

Returns:

releaseBrake

@Command(level=1,
         description="Release the carousel brake",
         type=ACTION)
public String releaseBrake()

Description copied from interface: Carousel

UnEngageBrake the carousel (or disengage the break)

Specified by:

releaseBrake in interface Carousel

Returns:

updateClampsStateWithSensorsFromSDO

public void updateClampsStateWithSensorsFromSDO()
                                         throws org.lsst.ccs.messaging.BadCommandException,
                                                FcsHardwareException

Read the clamp sensors one by one with RSDO command

Throws:

org.lsst.ccs.messaging.BadCommandException

FcsHardwareException

updateClampsStateWithSensorsFromPDO

public void updateClampsStateWithSensorsFromPDO()
                                         throws org.lsst.ccs.messaging.BadCommandException,
                                                FcsHardwareException

Read the clamps state from PDO : all the clamp sensors are read at one time. Tested with success on single-filter-test in April 2013

Throws:

org.lsst.ccs.messaging.BadCommandException

FcsHardwareException

updateClampsStateWithSensors

@Command(level=1,
         description="Read clamps sensors and update clamps state",
         type=QUERY)
public void updateClampsStateWithSensors()
                                                                                                                                             throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                                    FcsHardwareException

Read the clamps state from PDO : all the clamp sensors are read at one time. Tested with success on single-filter-test in April 2013

Throws:

org.lsst.ccs.messaging.BadCommandException

FcsHardwareException

rotate

@Command(level=1,
         description="Rotate carousel for an angle",
         type=ACTION)
 @Deprecated
public String rotate(double angle)
                                                                                                                        throws IllegalArgumentException,
                                                                                                                               org.lsst.ccs.messaging.BadCommandException

Deprecated.

Rotates carousel for an angle given as a parameter. This method can be launched by the user from the TestConsole. It checks the value of the rotation angle entered by the user, converts it in a double, and send the result of the method rotate(double angle).

Specified by:

rotate in interface Carousel

Parameters:

angle - : rotation angle The rotation angle can be positive or negative. It must be a double and have a value between -360.0 and 360.0

Returns:

the result of the command rotate(double angle)

Throws:

IllegalArgumentException, - BadCommandException

org.lsst.ccs.messaging.BadCommandException

IllegalArgumentException - if the angle given as parameter is not in the ranges of available values.

tick

public void tick()

What has to be done for each tick of the timer. We have to publish on the status bus to refresh the GUI.

Overrides:

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

removeFilterFromCarousel

public void removeFilterFromCarousel(Filter filter)
                              throws org.lsst.ccs.messaging.BadCommandException,
                                     FcsHardwareException,
                                     org.lsst.ccs.messaging.ErrorInCommandExecutionException

Throws:

org.lsst.ccs.messaging.BadCommandException

FcsHardwareException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

getFilterPosition

public double getFilterPosition(Filter filter)

getStandbyPositionForFilter

public double getStandbyPositionForFilter(Filter filter)

getSocketNumber

public int getSocketNumber(Filter filter)

Parameters:

filter -

Returns:

the position of the filter in the sockets array I'm not sure this method is useful actually. Only used is FcsMainModule in method printFilters.

moveFilterToStandby

@Command(level=1,
         description="Rotate carousel to put filter at standby position",
         type=ACTION)
protected String moveFilterToStandby(Filter filter)
                                                                                                                                                throws org.lsst.ccs.messaging.BadCommandException

This method rotates the carousel to put the given filter in front of the autochanger (standby position). This method can't be launched by the user from the console. It computes the shortest way for the carousel. So the running way can be positive or negative. This could be more complicated if the carousel was not able to rotate more than TBD turns in one way.

Parameters:

filter -

Returns:

Throws:

org.lsst.ccs.messaging.BadCommandException

printSockets

public void printSockets()

Print for every socket on carousel, the name of the filter it contains.

grabFilterAtStandby

public String grabFilterAtStandby(Object filterName)
                           throws org.lsst.ccs.messaging.BadCommandException,
                                  org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                  FcsHardwareException

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

grabFilterAtStandby

public String grabFilterAtStandby(Filter filter)
                           throws org.lsst.ccs.messaging.BadCommandException,
                                  org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                  FcsHardwareException

This method has to be executed when a filter has just been moved on the carousel at standby position by the autochanger. It updates the carousel socketAtStandby at standby or throw an exception. This method tests if the clamps are Locked on a filter at standby position The clamps Locks automaticaly, and the filter presence sensor tells us if the filter is here or not. If the clamps are Locked on a filter at standby position, this method updates the socketAtStandby at standby position : it puts the filter on the socketAtStandby.

Parameters:

filter -

Returns:

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

ungrabFilterAtStandby

public void ungrabFilterAtStandby(Filter filter)
                           throws org.lsst.ccs.messaging.BadCommandException,
                                  org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                  FcsHardwareException

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

releaseClamps

@Command(level=1,
         description="Release clamps at standby position to get ready to clamp again",
         type=ACTION)
public String releaseClamps()
                                                                                                                                                    throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                                           org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                                                                                                                                           FcsHardwareException

Description copied from interface: Carousel

This is a command that can be sent to the carousel. It releases (ReleaseBrake it) the clamps at standby position. (when a clamp is released, it can be EngageBrakeed automaticaly when a filter comes in the socket)

Specified by:

releaseClamps in interface Carousel

Returns:

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

unlockClamps

public String unlockClamps(Filter filter)
                    throws org.lsst.ccs.messaging.BadCommandException,
                           org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                           FcsHardwareException

This methods ReleaseBrakes the 2 clamps at standby position, without Thread.sleep

Specified by:

unlockClamps in interface Carousel

Parameters:

filter -

Returns:

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

unlockClamps

@Command(level=3,
         description="Unlock the clamps",
         type=ACTION)
public String unlockClamps()
                                                                                                      throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                             FcsHardwareException,
                                                                                                             org.lsst.ccs.messaging.ErrorInCommandExecutionException

Throws:

org.lsst.ccs.messaging.BadCommandException

FcsHardwareException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

isOnStandby

public boolean isOnStandby(Filter filter)

addAngle

public static double addAngle(double angle1,
                              double angle2)

Add 2 angles : an angle is a double which value is between -360 and +360

Parameters:

angle1 -

angle2 -

Returns:

result of the angles addition. Always > 0

releaseClampsContact

public void releaseClampsContact()

Description copied from interface: Carousel

Before rotating the carousel we have to release the power contact between the moving part and the fixed part.

Specified by:

releaseClampsContact in interface Carousel

engageClampsContact

public void engageClampsContact()

Description copied from interface: Carousel

After a rotation, when the carousel is stopped the power contact can be engaged again.

Specified by:

engageClampsContact in interface Carousel