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

Direct Known Subclasses:

SftCarouselModule

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

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 Map<String,CarouselSocket>	socketsMap A map to store the sockets by their names.

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, CarouselSocket... oneOrMoreSockets) A Constructor with a variable numbers of sockets.

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
StatusDataPublishedByCarousel	createStatusDataPublishedByCarousel() Create an object StatusDataPublishedByCarousel to be published on the STATUS bus.
String	engageBrake()
void	engageClampsContact()
PieceOfHardware	getCancbxAI420_1()
PieceOfHardware	getCancbxAI420_2()
EPOSController	getCarouselController()
PieceOfHardware	getClampsSensorsReader()
CarouselClampModule	getClampXminus() This method returns the clampX- which is at standby filterPosition.
EPOSController	getClampXminusController()
CarouselClampModule	getClampXplus() This method returns the clampX+ which is at standby filterPosition.
EPOSController	getClampXplusController()
Filter	getFilterAtStandby() This methods return the filter which is in the socketAtStandby at standby filterPosition.
String	getFilterAtStandbyName() Return the filter which is in the socket at STANDBY filterPosition or NO_FILTER if there is no filter at STANDBY.
double	getFilterPosition(Filter filter)
double	getPosition() return carousel position.
CarouselSocket	getSocketAtStandby() Return the socket HALTED at STANDBY filterPosition if there is one.
CarouselSocket	getSocketByName(String socketName) Return a CarouselSocket which name is given as parameter.
double	getStandbyPositionForFilter(Filter filter)
ModuleState	getState()
String	grabFilterAtStandby(Filter filter) This method has to be executed when a filter has just been moved on the carousel at standby filterPosition by the autochanger.
String	grabFilterAtStandby(Object filterName)
void	initModule()
boolean	isAbleToMove()
boolean	isAtStandby() Used to publish on the STATUS bus for the GUI.
boolean	isAutochangerHoldingFilter() This methods returns true if the autochanger is holding a filter at STANDBY filterPosition.
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 filterPosition : - the carousel must not rotate - an empty socketAtStandby is at standby filterPosition.
boolean	isRotating()
protected String	moveFilterToStandby(Filter filter) This method rotates the carousel to put the given filter in front of the autochanger (standby filterPosition).
void	publishData() Publish Data on status bus for trending data base and GUIs.
String	releaseBrake()
String	releaseClamps()
void	releaseClampsContact()
String	rotate(double angle) Rotates carousel for an angle given as a parameter.
String	rotateToAbsoluteAngle(double angle) A quick and dirty simulated rotation to test the carousel GUI.
String	rotateToRelativeAngle(double angle) A quick and dirty simulated rotation to test the carousel GUI.
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 filterPosition.
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
void	updateCurrent() Updates the field current in reading the CPU of the controller.
void	updatePosition() Updates the filterPosition of the carousel in reading the CPU of the controller.

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

getComponentTree, getEnvironment, getModule, getName, getNObserverThreads, getObservables, getSubsystem, getTickMillis, init, listens, postStart, processUpdate, 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, setBulkParameter, start, submitChange, submitChanges, validateBulkChange

Field Detail

socketsMap

protected Map<String,CarouselSocket> socketsMap

A map to store the sockets by their names. The key of this map is the socket name.

Constructor Detail

CarouselModule

public CarouselModule(String aName,
                      int aTickMillis,
                      CarouselSocket... oneOrMoreSockets)

A Constructor with a variable numbers of sockets. In single-filter-test carousel has only 1 socket. In Filter Exchanger final product and prototype, carousel has 5 sockets.

Parameters:

aName -

aTickMillis -

oneOrMoreSockets -

Method Detail

getSocketByName

public CarouselSocket getSocketByName(String socketName)

Return a CarouselSocket which name is given as parameter.

Parameters:

socketName -

Returns:

getPosition

public double getPosition()

return carousel position.

Returns:

getState

public ModuleState getState()

setState

public void setState(ModuleState state)

getClampXminusController

public EPOSController getClampXminusController()

Returns:

the clampXminusController

getClampXplusController

public EPOSController getClampXplusController()

Returns:

the clampXminusController

getCarouselController

public EPOSController getCarouselController()

getClampsSensorsReader

public PieceOfHardware getClampsSensorsReader()

getCancbxAI420_1

public PieceOfHardware getCancbxAI420_1()

getCancbxAI420_2

public PieceOfHardware getCancbxAI420_2()

getClampXminus

public CarouselClampModule getClampXminus()

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

Returns:

getClampXplus

public CarouselClampModule getClampXplus()

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

Returns:

isAtStandby

public boolean isAtStandby()

Used to publish on the STATUS bus for the GUI. Returns

Returns:

true if a socket is HALTED at STANDBY filterPosition, false otherwise.

getSocketAtStandby

public CarouselSocket getSocketAtStandby()

Return the socket HALTED at STANDBY filterPosition if there is one. Otherwise return null.

Returns:

getFilterAtStandby

public Filter getFilterAtStandby()

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

Returns:

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

getFilterAtStandbyName

public String getFilterAtStandbyName()

Return the filter which is in the socket at STANDBY filterPosition or NO_FILTER if there is no filter at STANDBY.

Returns:

isAutochangerHoldingFilter

public boolean isAutochangerHoldingFilter()

This methods returns true if the autochanger is holding a filter at STANDBY filterPosition.

Returns:

initModule

public void initModule()

Overrides:

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

publishData

public void publishData()

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

createStatusDataPublishedByCarousel

public StatusDataPublishedByCarousel createStatusDataPublishedByCarousel()

Create an object StatusDataPublishedByCarousel to be published on the STATUS bus.

Returns:

status

toString

public String toString()

Overrides:

toString in class Object

isReadyToGrabAFilterAtStandby

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

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

Returns:

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

Throws:

FcsHardwareException

isHoldingFilterAtStandby

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

Returns:

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

Throws:

FcsHardwareException

isRotating

public boolean isRotating()

isAbleToMove

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

Returns:

true if the brake is released

isLocked

public boolean isLocked()

engageBrake

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

releaseBrake

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

updatePosition

@Command(type=QUERY,
         level=1,
         description="Update carousel position in reading controller.")
public void updatePosition()
                                                                                                                                   throws FcsHardwareException

Updates the filterPosition of the carousel in reading the CPU of the controller.

Throws:

SDORequestException

FcsHardwareException

updateCurrent

@Command(type=QUERY,
         level=1,
         description="Update field current in reading controller.")
public void updateCurrent()
                                                                                                                              throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                     FcsHardwareException

Updates the field current in reading the CPU of the controller.

Throws:

org.lsst.ccs.messaging.BadCommandException

SDORequestException

FcsHardwareException

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(type=QUERY,
         level=1,
         description="Read clamps sensors and update clamps state")
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

rotateToAbsoluteAngle

@Command(type=ACTION,
         level=1,
         description="Rotate carousel to an absolute angle.")
public String rotateToAbsoluteAngle(@Argument(name="angle",description="Angle to reach in degrees")
                                                                                                                                          double angle)

A quick and dirty simulated rotation to test the carousel GUI.

Parameters:

angle -

Returns:

rotateToRelativeAngle

@Command(type=ACTION,
         level=1,
         description="Rotate carousel for an angle.")
public String rotateToRelativeAngle(@Argument(name="angle",description="Angle to reach in degrees")
                                                                                                                                  double angle)

A quick and dirty simulated rotation to test the carousel GUI.

Parameters:

angle -

Returns:

rotate

@Command(type=ACTION,
         level=1,
         description="Rotate carousel for an angle")
public String rotate(@Argument(name="angle",description="Angle to reach in degrees")
                                                                                                                  double angle)
                                                                                                           throws org.lsst.ccs.messaging.BadCommandException

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).

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

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

getFilterPosition

public double getFilterPosition(Filter filter)

getStandbyPositionForFilter

public double getStandbyPositionForFilter(Filter filter)

moveFilterToStandby

@Command(type=ACTION,
         level=1,
         description="Rotate carousel to put filter at standby position")
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 filterPosition). 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

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 filterPosition 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 filterPosition 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 filterPosition, this method updates the socketAtStandby at standby filterPosition : 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

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 filterPosition.

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()

engageClampsContact

public void engageClampsContact()