org.lsst.ccs.subsystems.fcs.singlefiltertest

Class FilterLatchModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.singlefiltertest.FilterLatchModule

All Implemented Interfaces:

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

public class FilterLatchModule
extends MobileItemModule
implements FilterLatch

This is a model for a latch. A latch is what holds a filter in the trucks of the autochanger. There is 2 latches : one on each side of the filter. The state of the latches are monitoring by digital sensors : one sensor to know if a filter is in the latch or not and 2 status sensors to know if the latch is EngageBrakeed or ReleaseBrakeed. If the 2 status sensors are inconsistent, the latch is in error.

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	filterPresenceSensor
protected NumericSensor	lockSensor
protected NumericSensor	unlockSensor
protected boolean	updatingState This is used when we update the latch state with the values returned by the sensors.

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

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

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

environment, log, name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description
FilterLatchModule(String moduleName, int aTickMillis, long timeoutForClosing, long timeoutForOpening, String filterSensorsDIOName, NumericSensor lockSensor, NumericSensor unlockSensor, NumericSensor filterPresenceSensor, LatchActuatorModule latchActuator)

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay)
String	close() Close the latch : turn on the actuator, read the sensors and wait until the latch is closed.
NumericSensor	getFilterPresenceSensor()
LatchActuatorModule	getLatchActuator()
NumericSensor	getLockSensor()
FcsEnumerations.LockStatus	getLockStatus()
FcsEnumerations.FilterPresenceInLatchStatus	getPresenceStatus()
StatusDataPublishedByAutochangerLatch	getStatusData()
long	getTimeoutForClosing()
long	getTimeoutForOpening()
NumericSensor	getUnlockSensor()
void	initModule()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isControllerInFault()
boolean	isHardwareReady()
boolean	isLocked()
String	open() Open the latch if the carousel is holding the filter.
void	postAction(FcsEnumerations.MobileItemAction action)
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
void	setLockStatus(FcsEnumerations.LockStatus lockStatus)
void	setTimeoutForClosing(long timeoutForClosing)
void	setTimeoutForOpening(long timeoutForOpening)
void	startAction(FcsEnumerations.MobileItemAction action)
String	toString()
void	updateState(String hexaValue)
void	updateStateWithSensors()
void	updateStateWithSensorsToCheckIfActionIsCompleted()

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

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

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

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

Methods inherited from interface org.lsst.ccs.subsystems.fcs.common.FilterLatch

getName

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

filterPresenceSensor

protected NumericSensor filterPresenceSensor

lockSensor

protected NumericSensor lockSensor

unlockSensor

protected NumericSensor unlockSensor

updatingState

protected volatile boolean updatingState

This is used when we update the latch state with the values returned by the sensors.

Constructor Detail

FilterLatchModule

public FilterLatchModule(String moduleName,
                         int aTickMillis,
                         long timeoutForClosing,
                         long timeoutForOpening,
                         String filterSensorsDIOName,
                         NumericSensor lockSensor,
                         NumericSensor unlockSensor,
                         NumericSensor filterPresenceSensor,
                         LatchActuatorModule latchActuator)

Method Detail

setTimeoutForClosing

@ConfigChanger
public void setTimeoutForClosing(long timeoutForClosing)

setTimeoutForOpening

@ConfigChanger
public void setTimeoutForOpening(long timeoutForOpening)

getTimeoutForClosing

public long getTimeoutForClosing()

getTimeoutForOpening

public long getTimeoutForOpening()

getFilterPresenceSensor

public NumericSensor getFilterPresenceSensor()

Specified by:

getFilterPresenceSensor in interface FilterLatch

getLatchActuator

public LatchActuatorModule getLatchActuator()

getLockSensor

public NumericSensor getLockSensor()

Specified by:

getLockSensor in interface FilterLatch

getUnlockSensor

public NumericSensor getUnlockSensor()

Specified by:

getUnlockSensor in interface FilterLatch

isControllerInFault

public boolean isControllerInFault()

Specified by:

isControllerInFault in interface FilterLatch

initModule

public void initModule()

Overrides:

initModule in class MobileItemModule

isHardwareReady

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

Specified by:

isHardwareReady in class MobileItemModule

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(level=1,
         description="Read latch sensors and update latch state",
         type=QUERY)
public void updateStateWithSensors()
                                                                                                                                     throws Exception

Throws:

Exception

startAction

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

Specified by:

startAction in class MobileItemModule

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

abortAction

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

Specified by:

abortAction in class MobileItemModule

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

postAction

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

Specified by:

postAction in class MobileItemModule

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

getLockStatus

public FcsEnumerations.LockStatus getLockStatus()

Specified by:

getLockStatus in interface FilterLatch

setLockStatus

public void setLockStatus(FcsEnumerations.LockStatus lockStatus)

getPresenceStatus

public FcsEnumerations.FilterPresenceInLatchStatus getPresenceStatus()

getStatusData

public StatusDataPublishedByAutochangerLatch getStatusData()

open

@Command(level=3,
         description="Open latch",
         type=ACTION)
public String open()
                                                                                       throws org.lsst.ccs.messaging.BadCommandException,
                                                                                              org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                                                                              FcsHardwareException,
                                                                                              Exception

Open the latch if the carousel is holding the filter.

Returns:

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

Exception

close

@Command(level=3,
         description="Close latch",
         type=ACTION)
public String close()
                                                                                         throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                                                                                FcsHardwareException,
                                                                                                Exception

Close the latch : turn on the actuator, read the sensors and wait until the latch is closed. If the latch is not closed during the delai : timeoutForClosing throws an Exception.

Returns:

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

Exception

isLocked

@Command(level=1,
         description="Return true if the latch is closed",
         type=QUERY)
public boolean isLocked()

Returns:

true if the latch is closed.

updateState

public void updateState(String hexaValue)

publishData

public void publishData()

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

Specified by:

publishData in class MobileItemModule

toString

public String toString()

Overrides:

toString in class Object

quickStopAction

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

Specified by:

quickStopAction in class MobileItemModule

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException