org.lsst.ccs.subsystems.fcs.singlefiltertest

Class SftAutoChangerModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.singlefiltertest.BasicAutoChangerModule

org.lsst.ccs.subsystems.fcs.singlefiltertest.SftAutoChangerModule

All Implemented Interfaces:

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

public class SftAutoChangerModule
extends BasicAutoChangerModule

This class is for the Single Filter Test autochanger. The autochanger in Single Filter Test has no flip rail and no online clamp. To move the autochanger trucks in the Single Filter Test we have 2 pneumatic cylinders each moved by an actuator : when we want the truck to be in stanby position, the standby actuator has to be ON and the standback actuator has to be OFF, when we want the truck to be in standback position, the standback actuator has to be ON and the standby actuator has to be OFF.

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 SftTruckMotor	sftTrucksMotor

Fields inherited from class org.lsst.ccs.subsystems.fcs.singlefiltertest.BasicAutoChangerModule

carousel, closingLatches, latchesState, openingLatches, publishedByAutoChangerOutputName, state, timeoutForClosingLatches, timeoutForOpeningLatches, timeToWaitForCompleteClose, timeToWaitForCompleteOpen, truckXminus, truckXplus, updatingLatches

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
SftAutoChangerModule(String moduleName, int aTickMillis, FilterLatchModule latchXminus, FilterLatchModule latchXplus, TruckModule truckXminus, TruckModule truckXplus, String railsSensorsDIOName, String filterSensorsDIOName, SftTruckMotor sftTrucksMotor, long timeToConfortAPosition, long timeToGoToStandby, long timeToGoToStandback)

Method Summary

Modifier and Type	Method and Description
SftTruckMotor	getSftTrucksMotor()
long	getTimeToConfortAPosition()
long	getTimeToGoToStandback()
long	getTimeToGoToStandby()
double	getTrucksPosition()
String	goToPosition(double trucksPositionOnline)
String	goToStandback()
String	goToStandby() This methods moves the trucks from standback position to standby position.
boolean	isMoving()
boolean	isMovingToStandback()
boolean	isMovingToStandby()
void	locateTrucks()
String	moveFilterToOnline(Filter filter)
String	moveFilterToStandback(Filter aFilter)
String	moveFilterToStandby(Filter aFilter)
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
void	setSftTrucksMotor(SftTruckMotor sftTrucksMotor)
void	setTimeToConfortAPosition(long timeToConfortAPosition)
void	setTimeToGoToStandback(long timeToGoToStandback)
void	setTimeToGoToStandby(long timeToGoToStandby)
String	toString()
void	updateStateWithSensors()

Methods inherited from class org.lsst.ccs.subsystems.fcs.singlefiltertest.BasicAutoChangerModule

abortAction, checkPreConditionsForTrucksMotion, closeLatchesAtHandoff, closeLatchesAtStandby, getFilterOnTrucks, getFilterOnTrucksName, getFilterSensorsDIO, getFilterSensorsDIOName, getLatchesState, getLatchXminus, getLatchXplus, getRailsSensorsDIO, getRailsSensorsDIOName, getState, getStatusData, getTrucksLocation, getTruckXminus, getTruckXplus, grabFilterAtHandoff, grabFilterAtStandby, initModule, isActionCompleted, isAtHandoff, isAtStandback, isAtStandby, isHardwareReady, isHoldingFilterAtStandback, isHoldingFilterAtStandby, isOnline, isTrucksEmpty, openLatchesAtHandoff, openLatchesAtStandby, postAction, processUpdate, publishData, publishDataAndNotifyObservers, setFilterOnTrucks, setFilterSensorsDIOName, setRailsSensorsDIOName, setState, setTimeoutForClosingLatches, setTimeoutForOpeningLatches, setTimeToWaitForCompleteClose, setTimeToWaitForCompleteOpen, setTrucksEmpty, startAction, tick, ungrabFilterAtHandoff, ungrabFilterAtStandby, updateLatchesStateWithSensors, updateStateWithSensorsToCheckIfActionIsCompleted, updateTrucksLocationWithSensors

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

abort, abort, checkHardware, checkStarted, checkStopped, executeAction, getHaltRequired, 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, sendSignal, sendSignalWithTimeLimit, setEnvironment, setName, setNObserverThreads, setObservables, setTickMillis, 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

sftTrucksMotor

protected SftTruckMotor sftTrucksMotor

Constructor Detail

SftAutoChangerModule

public SftAutoChangerModule(String moduleName,
                            int aTickMillis,
                            FilterLatchModule latchXminus,
                            FilterLatchModule latchXplus,
                            TruckModule truckXminus,
                            TruckModule truckXplus,
                            String railsSensorsDIOName,
                            String filterSensorsDIOName,
                            SftTruckMotor sftTrucksMotor,
                            long timeToConfortAPosition,
                            long timeToGoToStandby,
                            long timeToGoToStandback)

Method Detail

getSftTrucksMotor

public SftTruckMotor getSftTrucksMotor()

setSftTrucksMotor

public void setSftTrucksMotor(SftTruckMotor sftTrucksMotor)

getTimeToConfortAPosition

public long getTimeToConfortAPosition()

getTimeToGoToStandback

public long getTimeToGoToStandback()

getTimeToGoToStandby

public long getTimeToGoToStandby()

setTimeToConfortAPosition

@ConfigChanger
public void setTimeToConfortAPosition(long timeToConfortAPosition)

setTimeToGoToStandby

@ConfigChanger
public void setTimeToGoToStandby(long timeToGoToStandby)

setTimeToGoToStandback

@ConfigChanger
public void setTimeToGoToStandback(long timeToGoToStandback)

isMovingToStandback

public boolean isMovingToStandback()

Specified by:

isMovingToStandback in class BasicAutoChangerModule

isMovingToStandby

public boolean isMovingToStandby()

Specified by:

isMovingToStandby in class BasicAutoChangerModule

isMoving

public boolean isMoving()

Specified by:

isMoving in class BasicAutoChangerModule

Returns:

true if the trucks are moving

toString

public String toString()

Overrides:

toString in class BasicAutoChangerModule

locateTrucks

public void locateTrucks()

goToStandback

@Command(level=1,
         description="Go to STANDBACK",
         type=ACTION)
public String goToStandback()
                                                                                                     throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                            org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                                                                                            FcsHardwareException,
                                                                                                            CanOpenException

Specified by:

goToStandback in class BasicAutoChangerModule

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

CanOpenException

goToStandby

@Command(level=1,
         description="Go to STANDBY.",
         type=ACTION)
public String goToStandby()
                                                                                                  throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                         org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                                                                                         FcsHardwareException,
                                                                                                         CanOpenException

This methods moves the trucks from standback position to standby position. It first checks the preconditions for a motion of the trucks. Then it checks if the trucks are in standback position otherwise throws a BadCommandException. If the trucks are at standback, it first conforts the position (standbackMotor.on) then it moves the trucks to the standby position (standbackMotor.off then standbyMotor.on). The motor is stopped after the temporisation has expired. The command is completed when the position sensors at standby says the trucks are in standby.

Specified by:

goToStandby in class BasicAutoChangerModule

Returns:

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

CanOpenException

moveFilterToStandback

public String moveFilterToStandback(Filter aFilter)
                             throws org.lsst.ccs.messaging.BadCommandException,
                                    org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                    FcsHardwareException,
                                    CanOpenException

Specified by:

moveFilterToStandback in class BasicAutoChangerModule

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

CanOpenException

moveFilterToStandby

public String moveFilterToStandby(Filter aFilter)
                           throws org.lsst.ccs.messaging.BadCommandException,
                                  org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                  FcsHardwareException,
                                  CanOpenException

Specified by:

moveFilterToStandby in interface AutoChanger

Specified by:

moveFilterToStandby in class BasicAutoChangerModule

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

CanOpenException

goToPosition

public String goToPosition(double trucksPositionOnline)
                    throws org.lsst.ccs.messaging.BadCommandException

Throws:

org.lsst.ccs.messaging.BadCommandException

getTrucksPosition

public double getTrucksPosition()

moveFilterToOnline

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

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

CanOpenException

updateStateWithSensors

@Command(level=1,
         description="Read sensors and update latches and trucks state",
         type=QUERY)
public void updateStateWithSensors()
                                                                                                                                            throws FcsHardwareException,
                                                                                                                                                   org.lsst.ccs.messaging.ErrorInCommandExecutionException

Specified by:

updateStateWithSensors in class BasicAutoChangerModule

Throws:

FcsHardwareException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

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