org.lsst.ccs.subsystems.fcs

Class AutochangerOnlineClampModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.AutochangerOnlineClampModule

All Implemented Interfaces:

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

public class AutochangerOnlineClampModule
extends MobileItemModule
implements MovedByEPOSController

This is a model for online clamp which holds a filter when it is at ONLINE position. The online clamps are part of the autochanger subsystem. There is 3 online clamps.

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 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
AutochangerOnlineClampModule(String moduleName, int aTickMillis, EPOSController onlineClampController, NumericSensor lockSensor0, NumericSensor lockSensor1, NumericSensor unlockSensor0, NumericSensor unlockSensor1, int currentToLock, int currentToUnlock, int currentToClamp, Map<String,Integer> paramsForCurrentToLock, Map<String,Integer> paramsForCurrentToUnlock, int holdTime, int travelTime)

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay)
void	checkConditionForLocking()
void	checkConditionForUnlocking()
void	checkControllerBeforeAction()
org.lsst.ccs.framework.TreeWalkerDiag	checkHardware() This method is called during INITIALIZATION phase.
void	configureController()
void	configureDigitalInputOfOnlineClamps() This method is used to configure the controllers of the autochanger online clamps.
void	configureDigitalOutputOfOnlineClamps() This methods is used to configure the autochanger onlineClamps EPOS controllers.
StatusDataPublishedByAutochangerOnlineClamp	createStatusDataPublishedByOnlineClamp()
EPOSController	getController()
String	getControllerName() Return the name of the controller.
int	getCurrentToClamp()
int	getCurrentToLock()
int	getCurrentToUnlock()
int	getHoldTime()
NumericSensor	getLockSensor()
FcsEnumerations.LockStatus	getLockStatus()
StatusDataPublishedByAutochangerOnlineClamp	getStatusData()
int	getTravelTime()
NumericSensor	getUnlockSensor()
NumericSensor	getUnlockSensorC()
void	initModule()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isControllerInFault() Return true if the controller is in fault (an EmergencyMessage has been previously received.)
boolean	isHardwareReady()
boolean	isInError()
boolean	isInitialized()
boolean	isInTravel()
boolean	isLocked()
boolean	isLockSensorInError()
boolean	isUnlocked()
boolean	isUnlockSensorInError()
void	postAction(FcsEnumerations.MobileItemAction action)
void	processUpdate(Observable source, org.lsst.ccs.framework.Module.ValueUpdate v) What to do when the Modules we observe send there new values.
void	publishData()
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
void	setControllerInFault(boolean controllerInFault)
void	setCurrentToClamp(int currentToClamp)
void	setCurrentToLock(int currentToLock)
void	setCurrentToUnlock(int currentToUnlock)
void	setHoldTime(int holdTime)
void	setTravelTime(int travelTime)
void	slowDownCurrent()
void	startAction(FcsEnumerations.MobileItemAction action)
String	testLock()
String	testUnlock()
void	tick()
void	updateStateWithSensors() This methods updates the whole autochanger state in reading all the sensors.
void	updateStateWithSensors(String[] hexaValues) This methods updates lockStatus from the values return by the sensors.
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.subsystems.fcs.common.MovedByEPOSController

getName, processEmergencyMessage

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

updatingState

protected volatile boolean updatingState

Constructor Detail

AutochangerOnlineClampModule

public AutochangerOnlineClampModule(String moduleName,
                                    int aTickMillis,
                                    EPOSController onlineClampController,
                                    NumericSensor lockSensor0,
                                    NumericSensor lockSensor1,
                                    NumericSensor unlockSensor0,
                                    NumericSensor unlockSensor1,
                                    int currentToLock,
                                    int currentToUnlock,
                                    int currentToClamp,
                                    Map<String,Integer> paramsForCurrentToLock,
                                    Map<String,Integer> paramsForCurrentToUnlock,
                                    int holdTime,
                                    int travelTime)

Method Detail

getCurrentToLock

public int getCurrentToLock()

setCurrentToLock

@ConfigChanger
public void setCurrentToLock(int currentToLock)

getCurrentToUnlock

public int getCurrentToUnlock()

setCurrentToUnlock

@ConfigChanger
public void setCurrentToUnlock(int currentToUnlock)

getCurrentToClamp

public int getCurrentToClamp()

setCurrentToClamp

@ConfigChanger
public void setCurrentToClamp(int currentToClamp)

getHoldTime

public int getHoldTime()

setHoldTime

@ConfigChanger
public void setHoldTime(int holdTime)

getTravelTime

public int getTravelTime()

setTravelTime

@ConfigChanger
public void setTravelTime(int travelTime)

getController

public EPOSController getController()

getLockStatus

public FcsEnumerations.LockStatus getLockStatus()

getLockSensor

public NumericSensor getLockSensor()

getUnlockSensor

public NumericSensor getUnlockSensor()

getUnlockSensorC

public NumericSensor getUnlockSensorC()

isLockSensorInError

@Command(type=QUERY,
         level=1,
         description="Returns true if lockSensor and lockSensorC retun the same value.")
public boolean isLockSensorInError()

isUnlockSensorInError

@Command(type=QUERY,
         level=1,
         description="Returns true if unlockSensor and unlockSensorC retun the same value.")
public boolean isUnlockSensorInError()

isInError

@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=ERROR, this means that lockSensor or unlockSensor is in ERROR or thatunlockSensor and lockSensor return non consistant values.")
public boolean isInError()

isLocked

@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=LOCKED.")
public boolean isLocked()

isUnlocked

@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=UNLOCKED.")
public boolean isUnlocked()

isInTravel

@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=INTRAVEL.")
public boolean isInTravel()

isControllerInFault

@Command(type=QUERY,
         level=1,
         description="Returns true if controller is in fault.")
public boolean isControllerInFault()

Description copied from interface: MovedByEPOSController

Return true if the controller is in fault (an EmergencyMessage has been previously received.)

Specified by:

isControllerInFault in interface MovedByEPOSController

Returns:

setControllerInFault

public void setControllerInFault(boolean controllerInFault)

Specified by:

setControllerInFault in interface MovedByEPOSController

getControllerName

public String getControllerName()

Description copied from interface: MovedByEPOSController

Return the name of the controller.

Specified by:

getControllerName in interface MovedByEPOSController

Returns:

isInitialized

@Command(type=QUERY,
         level=1,
         description="Returns true if clamp is initialized.")
public boolean isInitialized()

initModule

public void initModule()

Overrides:

initModule in class MobileItemModule

tick

public void tick()

Overrides:

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

isHardwareReady

@Command(type=QUERY,
         level=1,
         description="Returns true if controller is initialized and configured.")
public boolean isHardwareReady()

Specified by:

isHardwareReady in class MobileItemModule

checkConditionForUnlocking

@Command(type=QUERY,
         level=1,
         description="Check if the onlineClamp can be locked.")
public void checkConditionForUnlocking()
                                                                                                                                       throws FcsHardwareException

Throws:

FcsHardwareException

checkConditionForLocking

@Command(type=QUERY,
         level=1,
         description="Check if the onlineClamp can be locked.")
public void checkConditionForLocking()
                                                                                                                                     throws FcsHardwareException

Throws:

FcsHardwareException

checkHardware

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

This method is called during INITIALIZATION phase. It configures the controller for the digital inputs and outputs. It changes it to CURRENT mode if it's not in this mode and it writes in the CPU of the controller the values of configuration for CURRENT mode parameters.

Specified by:

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

Overrides:

checkHardware in class MobileItemModule

Returns:

Throws:

org.lsst.ccs.HardwareException

checkControllerBeforeAction

@Command(type=QUERY,
         level=1,
         description="Read in the CPU of the controller parameters for mode CURRENT.If a parameter has a different value than in configuration, throws an exception.")
public void checkControllerBeforeAction()
                                                                                                                                                                                                                                               throws org.lsst.ccs.HardwareException,
                                                                                                                                                                                                                                                      FcsHardwareException

Throws:

org.lsst.ccs.HardwareException

FcsHardwareException

configureController

@Command(type=ACTION,
         level=1,
         description="Configure controller.")
public void configureController()
                                                                                                               throws SDORequestException,
                                                                                                                      org.lsst.ccs.HardwareException,
                                                                                                                      FcsHardwareException

Throws:

SDORequestException

org.lsst.ccs.HardwareException

FcsHardwareException

updateStateWithSensors

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

This methods updates the whole autochanger state in reading all the sensors.

Throws:

FcsHardwareException

updateStateWithSensors

@Command(type=ACTION,
         level=1,
         description="Update state in reading sensors.")
public void updateStateWithSensors(String[] hexaValues)

This methods updates lockStatus from the values return by the sensors. This values are given in an array of hexa values as arguments of the method.

Parameters:

hexaValues -

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

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

testLock

@Command(type=ACTION,
         level=1,
         description="Lock online clamp for CPPM test bench.")
public String testLock()
                                                                                                                       throws SDORequestException,
                                                                                                                              ShortResponseToSDORequestException,
                                                                                                                              org.lsst.ccs.messaging.BadCommandException,
                                                                                                                              org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                                                                                                              InterruptedException,
                                                                                                                              FcsHardwareException,
                                                                                                                              org.lsst.ccs.HardwareException

Throws:

SDORequestException

ShortResponseToSDORequestException

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

InterruptedException

FcsHardwareException

org.lsst.ccs.HardwareException

testUnlock

@Command(type=ACTION,
         level=1,
         description="Unlock online clamp for CPPM test bench.")
public String testUnlock()
                                                                                                                           throws SDORequestException,
                                                                                                                                  org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                  ShortResponseToSDORequestException,
                                                                                                                                  org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                                                                                                                  InterruptedException,
                                                                                                                                  FcsHardwareException,
                                                                                                                                  org.lsst.ccs.HardwareException

Throws:

SDORequestException

org.lsst.ccs.messaging.BadCommandException

ShortResponseToSDORequestException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

InterruptedException

FcsHardwareException

org.lsst.ccs.HardwareException

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

slowDownCurrent

public void slowDownCurrent()
                     throws org.lsst.ccs.messaging.BadCommandException,
                            SDORequestException,
                            ShortResponseToSDORequestException,
                            FcsHardwareException

Throws:

org.lsst.ccs.messaging.BadCommandException

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

configureDigitalInputOfOnlineClamps

@Command(type=ACTION,
         level=1,
         description="To configure the online clamps controllers.")
public void configureDigitalInputOfOnlineClamps()
                                                                                                                                                     throws SDORequestException,
                                                                                                                                                            FcsHardwareException

This method is used to configure the controllers of the autochanger online clamps. * ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital Inputs activated for OnlineClamps controllers are: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ QuickStop Input=01 Mask=Enabled Polarity=HighActive HE_Sensor General_A Input=02 Mask=Enabled Polarity=HighActive HE_Sensor\ General_B Input=03 Mask=Enabled Polarity=HighActive Check Brake Status ******************************************** 1 - Configure the Digital Input Functionnality index 0x2070 sindex input_ID 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 Value = 4 Drive enable Value = 3 Position marker Value = 2 Home switch Value = 1 Positive Limit switch Value = 0 Negative Limit switch msg = 'Set DigIn_1 Quick Stop,wsdo,%s,2070,01,02,0005\n' % (str(cobID)) self.com_hal.executeOperation(client,msg) msg = 'Set DigIn_2 General_A,wsdo,%s,2070,02,02,8000\n' % (str(cobID)) self.com_hal.executeOperation(client,msg) msg = 'Set DigIn_3 Genral_B,wsdo,%s,2070,02,02,4000\n' % (str(cobID)) self.com_hal.executeOperation(client,msg) *************************************************************** 2 - Configure the Digital Input Polarity index 0x2071 subindex 0x03 Value = 0 High Active Value = 1 Low Active **************************************************************** 3 - Configure the Digital Input Mask index 0x2071 subindex 0x02 Value = 0 Functionnality state will not be displayed Value = 1 Functionnality state will be displayed * Digital Input Functionnality tab value Bit_15 General Purpose A 1 Bit_14 General Purpose B 1 Bit_13 General Purpose C 0 Bit_12 General Purpose D 0 Bit_11 General Purpose E 0 Bit_10 General Purpose F 0 Bit_9 General Purpose G 0 Bit_8 General Purpose H 0 Bit_7 General Purpose I 0 Bit_6 General Purpose J 0 Bit_5 QuickStop 1 Bit_4 Drive enable 0 Bit_3 Position marker 0 Bit_2 Home switch 0 Bit_1 Positive Limit switch 0 Bit_0 Negative Limit switch 0 ********************************************************************* 4 - Configure the Digital Input Execution Mask index 0x2071 subindex 0x04 Digital Input Excecution Mask Value Bit_15 to Bit_6 reserved 0 Bit_5 QuickStop 1 Bit_4 Drive enable 1 Bit_3 Position marker 0 Bit_2 Home switch 0 Bit_1 Positive Limit switch 0 Bit_0 Negative Limit switch 0 **********************************************************************

Throws:

SDORequestException

FcsHardwareException

configureDigitalOutputOfOnlineClamps

@Command(type=ACTION,
         level=1,
         description="To configure the online clamps controllers.")
public void configureDigitalOutputOfOnlineClamps()
                                                                                                                                                      throws SDORequestException,
                                                                                                                                                             FcsHardwareException

This methods is used to configure the autochanger onlineClamps EPOS controllers. * ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital Outputs activated for OnlineClamps controller are: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Ready/Fault Output=01 Mask=Enabled Polarity=HighActive General_A Output=04 Mask=Enabled Polarity=HighActive ******************************************** 1 - Configure the Digital Output Functionnality index 0x2079 subindex input_ID 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 ******************************************************************************** 2 - 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 0 ******************************************************************************** 3 - Configure the Digital Output Functionnality Polarity index 0x2078 subindex 0x03 Value = 0 associated output not change => HighActive Value = 1 associated output inverted => LowActive ********************************************************************************

Throws:

SDORequestException

FcsHardwareException

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. This class observes its controller to publish data when its controller is in fault or after a faultReset. Needed to update the GUI.

Overrides:

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

Parameters:

source -

v -

getStatusData

public StatusDataPublishedByAutochangerOnlineClamp getStatusData()

createStatusDataPublishedByOnlineClamp

public StatusDataPublishedByAutochangerOnlineClamp createStatusDataPublishedByOnlineClamp()

publishData

public void publishData()

Specified by:

publishData in interface MovedByEPOSController

Specified by:

publishData in class MobileItemModule

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