org.lsst.ccs.subsystems.fcs

Class AutoChangerTrucksModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.AutoChangerTrucksModule

All Implemented Interfaces:

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

public class AutoChangerTrucksModule
extends MobileItemModule

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	handoffPositionSensor0
protected NumericSensor	handoffPositionSensor1
protected NumericSensor	onlinePositionSensor0
protected NumericSensor	onlinePositionSensor1
protected NumericSensor	standbyPositionSensor0
protected NumericSensor	standbyPositionSensor1
protected boolean	updatingState

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

AutoChangerTrucksModule(String moduleName, int aTickMillis, int encoderRibbonMinValue, int encoderRibbonMaxValue, int minActualValue, int maxActualValue, int standbyPosition, int handoffPosition, int onlinePosition, long timeoutForTrucksMotion, NumericSensor handoffPositionSensor0, NumericSensor handoffPositionSensor1, NumericSensor onlinePositionSensor0, NumericSensor onlinePositionSensor1, NumericSensor standbyPositionSensor0, NumericSensor standbyPositionSensor1)

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay)
org.lsst.ccs.framework.TreeWalkerDiag	checkHardware() This method is called by method checkHardware in AutoChangerModule during INITIALIZATION phase.
void	configureControllers()
static void	configureDigitalInputOfLinearRails(EPOSController ctl) This configures the digital inputs of the EPOS controller to work with a holding brake.
static void	configureDigitalOutputOfLinearRails(EPOSController ctl) Configuration of an EPOS controller to work with a holding brake.
StatusDataPublishedByAutoChangerTrucks	createStatusDataPublishedByAutoChangerTrucks() Creates an object to be published on the status bus.
int	getCurrent()
int	getEncoderRibbonMaxValue()
int	getEncoderRibbonMinValue()
int	getHandoffPosition()
NumericSensor	getHandoffPositionSensor0()
NumericSensor	getHandoffPositionSensor1()
EPOSController	getLinearRailMasterController()
EPOSController	getLinearRailSlaveController()
int	getOnlinePosition()
NumericSensor	getOnlinePositionSensor0()
NumericSensor	getOnlinePositionSensor1()
int	getPosition()
int	getSpeed()
int	getStandbyPosition()
NumericSensor	getStandbyPositionSensor0()
NumericSensor	getStandbyPositionSensor1()
StatusDataPublishedByAutoChangerTrucks	getStatusData() Build the class StatusDataPublishedByAutoChangerTrucks
long	getTimeoutForTrucksMotion()
void	goToHandOff() Move Autochanger trucks to the Handoff position.
void	goToOnline() Move Autochanger trucks to the Online position.
void	goToStandby() Move Autochanger trucks to the Standby position.
void	homing()
void	initModule()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isAtHandoffPosition() Returns the boolean field atHandoff.
boolean	isAtOnlinePosition() Returns the boolean field atOnline.
boolean	isAtStandbyPosition() Returns the boolean field atStandby.
boolean	isHandoffSensorsInError()
boolean	isHardwareReady()
boolean	isHomingDone()
boolean	isInitialized()
boolean	isMasterControllerInFault()
boolean	isOnlineSensorsInError()
boolean	isSlaveControllerInFault()
boolean	isStandbySensorsInError()
void	moveToAbsoluteTargetPosition(int targetPosition) Move the trucks to an absolute position given as argument.
void	moveToRelativeTargetPosition(int relativePosition) Move the trucks to a relative position given as argument.
void	postAction(FcsEnumerations.MobileItemAction action)
void	processUpdate(Observable source, org.lsst.ccs.framework.Module.ValueUpdate v) What to do when the Modules we observe (the controllers) send new values.
void	publishData()
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
int	readPosition() For the GUI and end users for test purpose.
void	startAction(FcsEnumerations.MobileItemAction action)
void	tick()
void	updatePosition() Updates the field position of the carrier in reading the CPU of the controller.
void	updateStateWithSensors()
protected void	updateStateWithSensors(String[] readHexaValues) This methods updates the lockStatus from an array of hexaValues.
void	updateStateWithSensorsToCheckIfActionIsCompleted()

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

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

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

getComponentTree, getEnvironment, getModule, getName, getNObserverThreads, getObservables, getSubsystem, getTickMillis, init, listens, 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, toString, wait, wait, wait

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

change, getCheckedValueFromConfiguration, getChildren, getComponentByName, getFullPath, getParent, getParentObject, injectResources, listChildren, notifyChange, notifyChangeWithoutPreliminaryChecks, setBulkParameter, start, submitChange, submitChanges, validateBulkChange

Field Detail

handoffPositionSensor0

protected NumericSensor handoffPositionSensor0

handoffPositionSensor1

protected NumericSensor handoffPositionSensor1

onlinePositionSensor0

protected NumericSensor onlinePositionSensor0

onlinePositionSensor1

protected NumericSensor onlinePositionSensor1

standbyPositionSensor0

protected NumericSensor standbyPositionSensor0

standbyPositionSensor1

protected NumericSensor standbyPositionSensor1

updatingState

protected volatile boolean updatingState

Constructor Detail

AutoChangerTrucksModule

public AutoChangerTrucksModule(String moduleName,
                               int aTickMillis,
                               int encoderRibbonMinValue,
                               int encoderRibbonMaxValue,
                               int minActualValue,
                               int maxActualValue,
                               int standbyPosition,
                               int handoffPosition,
                               int onlinePosition,
                               long timeoutForTrucksMotion,
                               NumericSensor handoffPositionSensor0,
                               NumericSensor handoffPositionSensor1,
                               NumericSensor onlinePositionSensor0,
                               NumericSensor onlinePositionSensor1,
                               NumericSensor standbyPositionSensor0,
                               NumericSensor standbyPositionSensor1)

Method Detail

getPosition

@Command(type=QUERY,
         level=1,
         description="Return actual trucks position. Doesn\'t read again the position on the controller.")
public int getPosition()

getHandoffPosition

@Command(type=QUERY,
         level=1,
         description="Return HANDOFF position.")
public int getHandoffPosition()

getStandbyPosition

@Command(type=QUERY,
         level=1,
         description="Return STANDBY position.")
public int getStandbyPosition()

getOnlinePosition

@Command(type=QUERY,
         level=1,
         description="Return ONLINE position.")
public int getOnlinePosition()

getEncoderRibbonMinValue

public int getEncoderRibbonMinValue()

getEncoderRibbonMaxValue

public int getEncoderRibbonMaxValue()

isMasterControllerInFault

@Command(type=QUERY,
         level=1,
         description="Return true if the master controller is in fault.")
public boolean isMasterControllerInFault()

isSlaveControllerInFault

@Command(type=QUERY,
         level=1,
         description="Return true if the slave controller is in fault.")
public boolean isSlaveControllerInFault()

getLinearRailMasterController

public EPOSController getLinearRailMasterController()

getLinearRailSlaveController

public EPOSController getLinearRailSlaveController()

getStandbyPositionSensor0

public NumericSensor getStandbyPositionSensor0()

getHandoffPositionSensor0

public NumericSensor getHandoffPositionSensor0()

getOnlinePositionSensor0

public NumericSensor getOnlinePositionSensor0()

getStandbyPositionSensor1

public NumericSensor getStandbyPositionSensor1()

getOnlinePositionSensor1

public NumericSensor getOnlinePositionSensor1()

getHandoffPositionSensor1

public NumericSensor getHandoffPositionSensor1()

getCurrent

public int getCurrent()

getSpeed

public int getSpeed()

isStandbySensorsInError

@Command(type=QUERY,
         level=1,
         description="Return false if the 2 redondant position sensors at Standby are equal.")
public boolean isStandbySensorsInError()

isHandoffSensorsInError

@Command(type=QUERY,
         level=1,
         description="Return false if the 2 redondant position sensors at Handoff are equal.")
public boolean isHandoffSensorsInError()

isOnlineSensorsInError

@Command(type=QUERY,
         level=1,
         description="Return false if the 2 redondant position sensors at Online are equal.")
public boolean isOnlineSensorsInError()

getTimeoutForTrucksMotion

public long getTimeoutForTrucksMotion()

isAtHandoffPosition

@Command(type=QUERY,
         level=0,
         description="Return true if the carrier is at handoff 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 update is completed. If the field atHandoff is not being updated, it returns its immediatly.

Returns:

atHandoff

isAtOnlinePosition

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

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

Returns:

atHandoff

isAtStandbyPosition

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

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

Returns:

atStandby

isHomingDone

@Command(type=QUERY,
         level=0,
         description="Return true if the homing of the trucks has been done.")
public boolean isHomingDone()

initModule

public void initModule()

Overrides:

initModule in class MobileItemModule

tick

public void tick()

Overrides:

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

checkHardware

public org.lsst.ccs.framework.TreeWalkerDiag checkHardware()
                                                    throws org.lsst.ccs.HardwareException

This method is called by method checkHardware in AutoChangerModule during INITIALIZATION phase.

Specified by:

checkHardware in interface org.lsst.ccs.framework.HardwareController

Overrides:

checkHardware in class MobileItemModule

Returns:

Throws:

org.lsst.ccs.HardwareException

configureControllers

@Command(type=ACTION,
         level=1,
         description="Configure Autochanger trucks master and slave controllers.",
         alias="initControllers")
public void configureControllers()
                                                                                                                                                                                       throws SDORequestException,
                                                                                                                                                                                              FcsHardwareException

Throws:

SDORequestException

FcsHardwareException

isInitialized

public boolean isInitialized()

goToHandOff

@Command(type=ACTION,
         level=1,
         description="Move Autochanger trucks to the Handoff position.",
         alias="goToHandoff")
public void goToHandOff()
                                                                                                                                                                throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                                                       org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                                                                                                                                                       FcsHardwareException

Move Autochanger trucks to the Handoff position.

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

goToOnline

@Command(type=ACTION,
         level=1,
         description="Move Autochanger trucks to the Online position.")
public void goToOnline()
                                                                                                                                throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                       org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                                                                                                                       FcsHardwareException

Move Autochanger trucks to the Online position.

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

goToStandby

@Command(type=ACTION,
         level=1,
         description="Move Autochanger trucks to the Standby position.")
public void goToStandby()
                                                                                                                                  throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                         org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                                                                                                                         FcsHardwareException

Move Autochanger trucks to the Standby position.

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

moveToAbsoluteTargetPosition

@Command(type=ACTION,
         level=1,
         description="Move Autochanger trucks to the absolute position given as argument.",
         alias="mobeABSPos")
public void moveToAbsoluteTargetPosition(int targetPosition)
                                                                                                                                                                                                   throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                                                                                          SDORequestException,
                                                                                                                                                                                                          ShortResponseToSDORequestException,
                                                                                                                                                                                                          org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                                                                                                                                                                                          FcsHardwareException

Move the trucks to an absolute position given as argument.

Parameters:

targetPosition -

Throws:

org.lsst.ccs.messaging.BadCommandException

SDORequestException

ShortResponseToSDORequestException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

moveToRelativeTargetPosition

@Command(type=ACTION,
         level=1,
         description="Move Autochanger trucks to the relative position given as argument.",
         alias="moveRELPos")
public void moveToRelativeTargetPosition(int relativePosition)
                                                                                                                                                                                                   throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                                                                                          SDORequestException,
                                                                                                                                                                                                          ShortResponseToSDORequestException,
                                                                                                                                                                                                          org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                                                                                                                                                                                          FcsHardwareException

Move the trucks to a relative position given as argument.

Parameters:

relativePosition -

Throws:

org.lsst.ccs.messaging.BadCommandException

SDORequestException

ShortResponseToSDORequestException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

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

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

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

homing

@Command(type=ACTION,
         level=1,
         description="Read actual position and do the homing of the master controllerwith this actual position.")
public void homing()
                                                                                                                                                                      throws SDORequestException,
                                                                                                                                                                             org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                                                                                                                                                             ShortResponseToSDORequestException,
                                                                                                                                                                             org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                                                             FcsHardwareException

Throws:

SDORequestException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

ShortResponseToSDORequestException

org.lsst.ccs.messaging.BadCommandException

FcsHardwareException

updatePosition

@Command(type=QUERY,
         level=1,
         description="Update trucks position in reading controller.")
public void updatePosition()
                                                                                                                                 throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                        SDORequestException,
                                                                                                                                        FcsHardwareException

Updates the field position of the carrier in reading the CPU of the controller.

Throws:

org.lsst.ccs.messaging.BadCommandException

SDORequestException

FcsHardwareException

readPosition

@Command(type=QUERY,
         level=1,
         description="Update trucks position in reading controller and return position.")
public int readPosition()
                                                                                                                                                  throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                                         SDORequestException,
                                                                                                                                                         FcsHardwareException

For the GUI and end users for test purpose. Update positon in reading the master controller and returns the value read.

Returns:

trucks position

Throws:

org.lsst.ccs.messaging.BadCommandException

SDORequestException

FcsHardwareException

isHardwareReady

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

Throws:

FcsHardwareException

updateStateWithSensors

protected void updateStateWithSensors(String[] readHexaValues)
                               throws FcsHardwareException

This methods updates the lockStatus from an array of hexaValues.

Parameters:

readHexaValues -

Throws:

FcsHardwareException

configureDigitalInputOfLinearRails

@Command(type=ACTION,
         level=1,
         description="To configure the autochanger linear rails controllers.")
public static void configureDigitalInputOfLinearRails(EPOSController ctl)
                                                                                                                                                                      throws SDORequestException,
                                                                                                                                                                             FcsHardwareException

This configures the digital inputs of the EPOS controller to work with a holding brake. This configuration is required for the controllers of the Linear Rails of the autochanger. Digital Inputs activated for Linear Rails : Drive Enable Input=01 Mask=Enabled Polarity=HighActive QuickStop Input=02 Mask=Enabled Polarity=HighActive ********************************************* 1 - Configure the Digital Input Functionnality index 0x2070 subindex 01 to 04 Functionnality tab Value = 15 General Purpose A Value = 14 General Purpose B Value = 13 General Purpose C Value = 12 General Purpose D Value = 11 General Purpose E Value = 10 General Purpose F Value = 9 General Purpose G Value = 8 General Purpose H Value = 7 General Purpose I Value = 6 General Purpose J Value = 5 QuickStop 1 Value = 4 Drive enable 1 Value = 3 Position marker 0 Value = 2 Home switch 0 Value = 1 Positive Limit switch 0 Value = 0 Negative Limit switch 0 ********************************************* 2 - Configure the Digital Input Polarity index 0x2071 subindex 03 Value=0 HighActive Value=1 Low Active ********************************************* 3 - Configure the Digital Input Mask index 0x2071 subindex 02 Value=0 HighActive Value=1 Low Active ******************************************** 4 - Configure the Digital Input Execution Mask index 0x2071 subindex 04 Used to suppress execution of the digital input functionalities. The function (Negative or Positive Limit Switch Error Routine) will be executed when the associated bit in functionalities state register goes high and the bit in this execution mask is set. Functionnality tab Value = 15 General Purpose A 0 Value = 14 General Purpose B 0 Value = 13 General Purpose C 0 Value = 12 General Purpose D 0 Value = 11 General Purpose E 0 Value = 10 General Purpose F 0 Value = 9 General Purpose G 0 Value = 8 General Purpose H 0 Value = 7 General Purpose I 0 Value = 6 General Purpose J 0 Value = 5 QuickStop 1 Value = 4 Drive enable 1 Value = 3 Position marker 0 Value = 2 Home switch 0 Value = 1 Positive Limit switch 0 Value = 0 Negative Limit switch 0 To configure the autochanger linear rails controllers. This method is to be executed during initialization phase.

Throws:

SDORequestException

FcsHardwareException

configureDigitalOutputOfLinearRails

@Command(type=ACTION,
         level=1,
         description="To configure the autochanger linear rails controllers.")
public static void configureDigitalOutputOfLinearRails(EPOSController ctl)
                                                                                                                                                                       throws SDORequestException,
                                                                                                                                                                              FcsHardwareException

Configuration of an EPOS controller to work with a holding brake. This is used for controllers of the Autochanger Linear Rails. * ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital Outputs activated for Linear Rails are: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ General_A Output=01 Mask=Enabled Polarity=HighActive Ready/Fault Output=02 Mask=Enabled Polarity=HighActive Holding Brake Output=03 Mask=Enabled Polarity=LowActive ******************************************** 1- First of all, mask all outputs index 0x2079 subindex 01 ********************************************** 2- Configure the Digital Output Fonctionnalities index 0x2079 subindex 01 to 03 Functionnality tab Value = 15 General Purpose Out_A Value = 14 General Purpose Out_B Value = 13 General Purpose Out_C Value = 12 General Purpose Out_D Value = 11 General Purpose Out_E Value = 10..8 not used Value = 7..3 reserved Value = 2 Holding Brake Value = 1 Position compare Value = 0 Ready/Fault ************************************************************************************ 3 - Configure the Digital Output Functionnality Polarity index 0x2078 subindex 0x03 Value = 0 associated output not change => HighActive Value = 1 associated output inverted => LowActive Tab Digital Output Functionnality Mask Value Bit_15 General Purpose Out_A 0 Bit_14 General Purpose Out_B 0 Bit_13 General Purpose Out_C 0 Bit_12 General Purpose Out_D 0 Bit_11 General Purpose Out_E 0 Bit_10 General Purpose Out_F 0 Bit_9 General Purpose Out_G 0 Bit_8 General Purpose Out_H 0 Bit_7 reserved 0 Bit_6 reserved 0 Bit_5 reserved 0 Bit_4 reserved 0 Bit_3 reserved 0 Bit_2 Holding Brake 1 (read only) Bit_1 Position Compare 0 (read only) Bit_0 Ready/Fault 0 (read only) ******************************************************************************** 4 - Configure the Digital Output Functionnality Mask index 0x2078 subindex 0x02 Value = 0 functionnality not activatd Value = 1 functionnality activated ******************************************************************************** Digital Output Functionnality Mask Value Bit_15 General Purpose Out_A 1 Bit_14 General Purpose Out_B 0 Bit_13 General Purpose Out_C 0 Bit_12 General Purpose Out_D 0 Bit_11 General Purpose Out_E 0 Bit_10 General Purpose Out_F 0 Bit_9 General Purpose Out_G 0 Bit_8 General Purpose Out_H 0 Bit_7 reserved 0 Bit_6 reserved 0 Bit_5 reserved 0 Bit_4 reserved 0 Bit_3 reserved 0 Bit_2 Holding Brake 1 Bit_1 Position Compare 0 Bit_0 Ready/Fault 1 ******************************************************************************** To configure the autochanger linear rails controllers. This method is to be executed during initialization phase.

Parameters:

ctl - controller

Throws:

SDORequestException

FcsHardwareException

getStatusData

public StatusDataPublishedByAutoChangerTrucks getStatusData()

Build the class StatusDataPublishedByAutoChangerTrucks

Returns:

status data

createStatusDataPublishedByAutoChangerTrucks

public StatusDataPublishedByAutoChangerTrucks createStatusDataPublishedByAutoChangerTrucks()

Creates an object to be published on the status bus.

Returns:

publishData

public void publishData()

Specified by:

publishData in class MobileItemModule

processUpdate

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

What to do when the Modules we observe (the controllers) send new values.

Overrides:

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

Parameters:

source -

v -