org.lsst.ccs.subsystems.fcs

Class CarouselSocket

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.CarouselSocket

All Implemented Interfaces:

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

Direct Known Subclasses:

SimuCarouselSocket

public class CarouselSocket
extends MobileItemModule
implements org.lsst.ccs.framework.ClearAlertHandler

This is a socket on the carousel : there is 5 sockets on a carousel. When a filter is on the carousel, it is attached at a socket. A socket has a clamp on each side : - clampX- (clampXminus) - clampX+ (clampXplus) clampX+ and clampX- are the same except for the method isLocked() See FilterClampXminusModule and FilterClampXplusModule The main job of this class CarouselSocket is to synchronize the actions on the 2 clamps. The state of the CarouselSocket is the state of the clamps when both clamps state are identical. To synchonize an action (updateSateWithSensor, unlock or release) on both clamps, we use a CyclicBarrier : we start 2 threads and they wait for each other action completion with a CyclicBarrier. During an action on both clamps, we want to lock the CarouselSocket so no other thread can try to access this object before the completion of action. We do that with a Lock and Condition. (see java.util.concurrent). CarouselSocket extends MobileItemModule because we want to lock or release the clamps when the carousel is at standby positionOnCarousel and we want to wait until the action is completed. We know if the action is completed in reading the clamps sensors. So we use the general mechanism provided by the MobileItemModule. this class raises ALERT FCS004 in method updateStateWithSensorsToCheckIfActionIsCompleted

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.ClearAlertHandler

org.lsst.ccs.framework.ClearAlertHandler.ClearAlertCode

Nested classes/interfaces inherited from interface org.lsst.ccs.framework.Configurable

org.lsst.ccs.framework.Configurable.Environment

Field Summary

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
CarouselSocket(String moduleName, int aTickMillis, CarouselClampModule clampXminus, CarouselClampModule clampXplus, double position, double standbyPosition)

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay)
org.lsst.ccs.framework.ClearAlertHandler.ClearAlertCode	canClearAlert(org.lsst.ccs.bus.data.Alert alert)
StatusDataPublishedByCarouselSocket	createStatusDataPublishedByCarouselSocket() Create an object to be published on the STATUS bus by a CarouselSocket.
double	getActualPosition() Return the actual position of this socket.
double	getCarouselPosition() Return the absolute position of the Carousel.
FcsEnumerations.FilterClampState	getClampsState() Returns the state of the clamps.
CarouselClampModule	getClampXminus()
CarouselClampModule	getClampXplus()
Filter	getFilter()
double	getPositionOnCarousel()
double	getStandbyPosition()
void	initModule() ***********************************************************************************************
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isAtStandby() Return true if this socket is at HALTED at STANDBY position.
boolean	isAutochangerHoldingFilter() Checking if autochanger is holding the filter is delegated to autochangerHandler.
boolean	isClampedOnFilter()
boolean	isEmpty()
boolean	isHardwareReady()
boolean	isReadyToClamp()
boolean	isUnclampedEmpty()
boolean	isUnclampedOnFilter()
void	postAction(FcsEnumerations.MobileItemAction action)
void	publishData()
void	putFilterOnSocket(Filter filter) This is only a software operation.
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
String	releaseClamps() Releases the 2 clamps of the socket.
void	removeFilter() Software removing.
void	setClampXminus(CarouselClampModule clampXminus)
void	setClampXplus(CarouselClampModule clampXplus)
void	startAction(FcsEnumerations.MobileItemAction action)
void	tick()
String	toString()
String	unlockClamps() This method unclamp the 2 clamps at standby positionOnCarousel.
void	updateClampsStateWithSensors()
void	updateClampsStateWithSensors(PDOStorage pdoStorage)
void	updateClampsStateWithSensorsFromSDO() Deprecated.
void	updateStateWithSensorsToCheckIfActionIsCompleted()

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

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

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

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

Constructor Detail

CarouselSocket

public CarouselSocket(String moduleName,
                      int aTickMillis,
                      CarouselClampModule clampXminus,
                      CarouselClampModule clampXplus,
                      double position,
                      double standbyPosition)

Method Detail

getClampXminus

public CarouselClampModule getClampXminus()

setClampXminus

public void setClampXminus(CarouselClampModule clampXminus)

getClampXplus

public CarouselClampModule getClampXplus()

setClampXplus

public void setClampXplus(CarouselClampModule clampXplus)

getActualPosition

public double getActualPosition()

Return the actual position of this socket.

Returns:

getCarouselPosition

public double getCarouselPosition()

Return the absolute position of the Carousel.

Returns:

getPositionOnCarousel

public double getPositionOnCarousel()

getFilter

public Filter getFilter()

getStandbyPosition

public double getStandbyPosition()

isAtStandby

public boolean isAtStandby()

Return true if this socket is at HALTED at STANDBY position.

Returns:

initModule

public void initModule()

***********************************************************************************************

Overrides:

initModule in class MobileItemModule

isAutochangerHoldingFilter

@Command(type=QUERY,
         description="Returns true if the autochanger holds the filter.")
public boolean isAutochangerHoldingFilter()

Checking if autochanger is holding the filter is delegated to autochangerHandler.

Returns:

isHardwareReady

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

Specified by:

isHardwareReady in class MobileItemModule

getClampsState

@Command(type=QUERY,
         level=0,
         description="Return clamps state - doesn\'t read again sensors.")
public FcsEnumerations.FilterClampState getClampsState()

Returns the state of the clamps. If the state is being updated and waiting for a response from a sensor, this methods waits until the state is updated. If the state is not being updated, it returns immediatly the state.

Returns:

state

updateClampsStateWithSensorsFromSDO

@Deprecated
public void updateClampsStateWithSensorsFromSDO()
                                                     throws FcsHardwareException

Deprecated.

This method updates the state of the 2 clamps in reading the values sent by the sensors. The values of the sensors are read clamp by clamp with read SDO commands.

Throws:

FcsHardwareException

updateClampsStateWithSensors

public void updateClampsStateWithSensors(PDOStorage pdoStorage)
                                  throws FcsHardwareException

Throws:

FcsHardwareException

updateClampsStateWithSensors

@Command(type=QUERY,
         level=0,
         description="Update clamps state in reading sensors.")
public void updateClampsStateWithSensors()
                                                                                                                                         throws FcsHardwareException,
                                                                                                                                                org.lsst.ccs.messaging.BadCommandException

Throws:

FcsHardwareException

org.lsst.ccs.messaging.BadCommandException

isEmpty

@Command(type=QUERY,
         level=0,
         description="Returns true if there is no filter in the socket.")
public boolean isEmpty()

isClampedOnFilter

@Command(type=QUERY,
         level=0,
         description="Returns true if there is a filter in the socket and the clampsare LOCKED.")
public boolean isClampedOnFilter()

isUnclampedOnFilter

@Command(type=QUERY,
         level=0,
         description="Returns true if there is a filter in the socket and the clampsare UNLOCKED.")
public boolean isUnclampedOnFilter()

isUnclampedEmpty

@Command(type=QUERY,
         level=0,
         description="Returns true if there is NO filter in the socket and the clampsare UNLOCKED.")
public boolean isUnclampedEmpty()

isReadyToClamp

@Command(type=QUERY,
         level=0,
         description="Returns true if this socket is ready to clamp a filter.")
public boolean isReadyToClamp()

releaseClamps

@Command(type=ACTION,
         level=1,
         description="Release the 2 clamps of this socket if the socket is at STANDBY position.")
public String releaseClamps()
                                                                                                                                                               throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                                                      org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                                                                                                                                                      FcsHardwareException

Releases the 2 clamps of the socket.

Returns:

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

unlockClamps

@Command(type=ACTION,
         level=1,
         description="Unlock the 2 clamps of this socket if the socket is at STANDBY position.")
public String unlockClamps()
                                                                                                                                                             throws FcsHardwareException,
                                                                                                                                                                    org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                                                    org.lsst.ccs.messaging.ErrorInCommandExecutionException

This method unclamp the 2 clamps at standby positionOnCarousel. It turn ON the actuators and wait for the end of the unlocking task. The unlock is completed when the clamps sensors notice that the clamps are UNLOCKED. So this method reads the sensors with the method updateClampsStateWithSensors until the clamps are UNLOCKED or the duration of the task is greater than the timeout (timeoutForUnlocking) To read the sensors at a regular time schedule we use the ScheduledThreadPoolExecutor (scheduler.scheduleAtFixedRate) from the java.util.concurrent package.

Returns:

a message for the end user

Throws:

FcsHardwareException

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

removeFilter

public void removeFilter()
                  throws org.lsst.ccs.messaging.BadCommandException

Software removing. Removes a filter from carousel. This method has no action on hardware. It updates the objects Socket and Filter. A filter can be removed from Carousel only when the socketAtStandby is at standby filterPosition.

Throws:

org.lsst.ccs.messaging.BadCommandException

putFilterOnSocket

public void putFilterOnSocket(Filter filter)

This is only a software operation. It updates the filter when a filter is seen by the sensors.

Parameters:

filter -

tick

public void tick()

Overrides:

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

toString

@Command(type=QUERY,
         level=1,
         description="Returns a String representation of a CarouselSocket.")
public String toString()

Overrides:

toString in class Object

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

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

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

publishData

public void publishData()

Specified by:

publishData in class MobileItemModule

createStatusDataPublishedByCarouselSocket

public StatusDataPublishedByCarouselSocket createStatusDataPublishedByCarouselSocket()

Create an object to be published on the STATUS bus by a CarouselSocket.

Returns:

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

canClearAlert

public org.lsst.ccs.framework.ClearAlertHandler.ClearAlertCode canClearAlert(org.lsst.ccs.bus.data.Alert alert)

Specified by:

canClearAlert in interface org.lsst.ccs.framework.ClearAlertHandler