org.lsst.ccs.subsystems.fcs

Class LoaderCarrierModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.LoaderCarrierModule

All Implemented Interfaces:

Observer, org.lsst.ccs.config.ConfigurationBulkChangeHandler, org.lsst.ccs.framework.Configurable, org.lsst.ccs.framework.HardwareController, org.lsst.ccs.framework.HasLifecycle, org.lsst.ccs.framework.SignalHandler, AlertRaiser, MovedByEPOSController, org.lsst.ccs.UsesSubsystem

public class LoaderCarrierModule
extends MobileItemModule
implements MovedByEPOSController

This is a model for the carrier in the loader.

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	storagePositionSensor0
protected NumericSensor	storagePositionSensor1
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

name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description
LoaderCarrierModule(NumericSensor handoffPositionSensor, NumericSensor handoffPositionSensor1, NumericSensor storagePositionSensor, NumericSensor storagePositionSensor1) Creation of a LoaderCarrierModule with 4 sensors.

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay)
boolean	checkFilterPresence() Updates the boolean field empty and returns it.
org.lsst.ccs.framework.TreeWalkerDiag	checkHardware()
StatusDataPublishedByLoaderCarrier	createStatusDataPublishedByLoaderCarrier() Creates an bject to be published on the STATUS bus.
String	getControllerName() Return the name of the controller.
int	getCurrent()
int	getHandoffPosition()
NumericSensor	getHandoffPositionSensor0()
NumericSensor	getHandoffPositionSensor1()
int	getMaxCurrent()
int	getMaxSpeed()
int	getPosition()
int	getSpeed()
int	getSsiPosition()
StatusDataPublishedByLoaderCarrier	getStatusData() Returns the object to be published on the STATUS bus by the LoaderCarrierModule.
int	getStoragePosition()
NumericSensor	getStoragePositionSensor0()
NumericSensor	getStoragePositionSensor1()
long	getTimeoutForGoingToHandOff()
long	getTimeoutForGoingToStorage()
String	goToAbsolutePosition(int absolutePosition) For end user.
String	goToHandOff() Move the carrier to Handoff position.
String	goToStorage() Move the carrier to storage position.
void	initializeHardware() Command for ENGINEERING mode.
void	initModule()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isAtHandoffPosition() Returns the boolean field atHandoff.
boolean	isAtStoragePosition() Returns the boolean field atStorage.
boolean	isAutochangerHoldingFilter() Return true if the autochanger is holding the filter at HANDOFF.
boolean	isCANDevicesReady() Returns true if loader CANopen devices are booted, identified and initialized.
boolean	isConnectedOnCamera()
boolean	isControllerInFault() Returns true if carrierController is in Fault.
boolean	isEmpty() Returns the boolean field empty.
boolean	isHandoffSensorsInError()
boolean	isInitialized()
boolean	isLimitSwitchDownInError()
boolean	isLimitSwitchUpInError()
boolean	isStorageSensorsInError()
void	postAction(FcsEnumerations.MobileItemAction action)
String	printHardwareState() Return a printed list of hardware with initialization information.
void	processEmergencyMessage(EmergencyMessage msg) What to do when we received an Emergency message from controller with an errorCode;
void	processFaultReset() What to do when a faultReset has been done on the controller.
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
int	readPosition() To display position for end user.
void	setControllerInFault(boolean controllerInFault)
void	startAction(FcsEnumerations.MobileItemAction action)
void	tick()
void	updateCurrent() Updates the field position of the carrier in reading the CPU of the controller.
void	updatePosition() Updates the field position of the carrier in reading the CPU of the controller.
void	updateStateWithSensors() This methods updates the carrier state in reading all the carrier sensors.
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

getNObserverThreads, getObservables, getTickMillis, init, listens, processUpdate, sendSignal, sendSignalWithTimeLimit, 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

processUpdate

Methods inherited from interface org.lsst.ccs.UsesSubsystem

getComponentConfigurationEnvironment, getComponentLookup, getName, getSubsystem

Methods inherited from interface org.lsst.ccs.subsystems.fcs.common.AlertRaiser

raiseAlarm, raiseAlarm, raiseAlarm, raiseWarning, raiseWarning, raiseWarning

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

change, dropSubmittedChanges, getChildren, getComponentByName, getEnvironment, getParent, getParentObject, getSubmittedChanges, isParameterConfigurable, postStart, printConfigurableParameters, setBulkParameter, start, submitChange, submitChanges, validateBulkChange

Methods inherited from interface org.lsst.ccs.config.ConfigurationBulkChangeHandler

setParameterBulk

Field Detail

storagePositionSensor0

protected NumericSensor storagePositionSensor0

handoffPositionSensor0

protected NumericSensor handoffPositionSensor0

storagePositionSensor1

protected NumericSensor storagePositionSensor1

handoffPositionSensor1

protected NumericSensor handoffPositionSensor1

updatingState

protected volatile boolean updatingState

Constructor Detail

LoaderCarrierModule

public LoaderCarrierModule(NumericSensor handoffPositionSensor,
                           NumericSensor handoffPositionSensor1,
                           NumericSensor storagePositionSensor,
                           NumericSensor storagePositionSensor1)

Creation of a LoaderCarrierModule with 4 sensors.

Parameters:

handoffPositionSensor -

handoffPositionSensor1 -

storagePositionSensor -

storagePositionSensor1 -

Method Detail

getPosition

@Command(type=QUERY,
         level=0,
         description="Returns carrier position.")
public int getPosition()

getSsiPosition

public int getSsiPosition()

getSpeed

public int getSpeed()

getCurrent

public int getCurrent()

isControllerInFault

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

Returns true if carrierController is in Fault.

Specified by:

isControllerInFault in interface MovedByEPOSController

Returns:

getControllerName

public String getControllerName()

Description copied from interface: MovedByEPOSController

Return the name of the controller.

Specified by:

getControllerName in interface MovedByEPOSController

Returns:

setControllerInFault

public void setControllerInFault(boolean controllerInFault)

Specified by:

setControllerInFault in interface MovedByEPOSController

isInitialized

@Command(type=QUERY,
         level=1,
         description="Returns true if carrier is initialized and ready to receive commands.")
public boolean isInitialized()

getMaxSpeed

@Command(type=QUERY,
         level=1,
         description="Return the max speed in rpm/mn (format decimal).")
public int getMaxSpeed()

Returns:

max speed in rpm/mn (format decimal).

getMaxCurrent

@Command(type=QUERY,
         level=1,
         description="Return the max current in mA (format decimal).")
public int getMaxCurrent()

Returns:

max current in mA (format decimal).

getHandoffPosition

@Command(type=QUERY,
         level=1,
         description="Return the handoff position in microns (format decimal).")
public int getHandoffPosition()

Returns:

handoff position in microns (format decimal).

getStoragePosition

@Command(type=QUERY,
         level=1,
         description="Return the storage position in microns (format decimal).")
public int getStoragePosition()

Returns:

storage position in microns (format decimal).

getStoragePositionSensor0

public NumericSensor getStoragePositionSensor0()

getHandoffPositionSensor0

public NumericSensor getHandoffPositionSensor0()

getStoragePositionSensor1

public NumericSensor getStoragePositionSensor1()

getHandoffPositionSensor1

public NumericSensor getHandoffPositionSensor1()

getTimeoutForGoingToHandOff

@Command(type=QUERY,
         level=1,
         description="Return the timeout for going to Handoff in millis (format decimal).")
public long getTimeoutForGoingToHandOff()

Returns:

timeout for going to Handoff action in millis (format decimal).

getTimeoutForGoingToStorage

@Command(type=QUERY,
         level=1,
         description="Return the timeout for going to Storage in millis (format decimal).")
public long getTimeoutForGoingToStorage()

Returns:

timeout for going to Storage action in millis (format decimal).

isStorageSensorsInError

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

isHandoffSensorsInError

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

isLimitSwitchDownInError

public boolean isLimitSwitchDownInError()

isLimitSwitchUpInError

public boolean isLimitSwitchUpInError()

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

Specified by:

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

Overrides:

checkHardware in class MobileItemModule

Throws:

org.lsst.ccs.HardwareException

isCANDevicesReady

public boolean isCANDevicesReady()

Returns true if loader CANopen devices are booted, identified and initialized.

Specified by:

isCANDevicesReady in class MobileItemModule

Returns:

checkFilterPresence

@Command(type=QUERY,
         level=0,
         description="Read the sensors and return true if a filter is in the loader.")
public boolean checkFilterPresence()

Updates the boolean field empty and returns it.

Returns:

empty

Throws:

FcsHardwareException

isEmpty

@Command(type=QUERY,
         level=0,
         description="Return true if there is no filter in the loader. This command doesn\'t read again the sensors.")
public boolean isEmpty()

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

Returns:

empty

isAtStoragePosition

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

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

Returns:

atStorage

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 atHandoff is updated. If the field atHandoff is not being updated, it returns immediatly the field atHandoff.

Returns:

atHandoff

isConnectedOnCamera

@Command(type=QUERY,
         level=0,
         description="Return true if the loader is connected on the camera. This command doesn\'t read again the sensors.")
public boolean isConnectedOnCamera()

Returns:

true if loader is connected on camera

isAutochangerHoldingFilter

@Command(type=QUERY,
         level=0,
         description="Return true if the autochanger is holding the filter. This command doesn\'t read again the sensors.")
public boolean isAutochangerHoldingFilter()

Return true if the autochanger is holding the filter at HANDOFF. This command doesn't read again the sensors.

Returns:

Throws:

FcsHardwareException

goToHandOff

@Command(type=ACTION,
         level=1,
         alias="goToHandoff",
         description="Move the carrier to Handoff position.")
public String goToHandOff()

Move the carrier to Handoff position.

Returns:

Throws:

RejectedCommandException

FailedCommandException

FcsHardwareException

goToStorage

@Command(type=ACTION,
         level=1,
         description="Move the carrier to STORAGE position.")
public String goToStorage()

Move the carrier to storage position.

Returns:

Throws:

RejectedCommandException

FailedCommandException

FcsHardwareException

goToAbsolutePosition

@Command(type=ACTION,
         level=1,
         description="Move the carrier to absolute position given as argument (in decimal format).")
public String goToAbsolutePosition(int absolutePosition)

For end user. Move the carrier to absolute position given as argument (in decimal format).

Parameters:

absolutePosition -

Returns:

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Specified by:

isActionCompleted in class MobileItemModule

updatePosition

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

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

Throws:

FcsHardwareException

readPosition

@Command(type=QUERY,
         level=1,
         description="To update and display position for end user.Updates carrier position in reading controller and returns it.")
public int readPosition()

To display position for end user. Updates carrier position in reading controller and returns it.

Returns:

position

updateCurrent

@Command(type=QUERY,
         level=1,
         description="Update carrier current in reading controller.")
public void updateCurrent()

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

Throws:

FcsHardwareException

updateStateWithSensorsToCheckIfActionIsCompleted

public void updateStateWithSensorsToCheckIfActionIsCompleted()

Specified by:

updateStateWithSensorsToCheckIfActionIsCompleted in class MobileItemModule

updateStateWithSensors

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

This methods updates the carrier state in reading all the carrier sensors.

Throws:

FcsHardwareException

updateStateWithSensors

protected void updateStateWithSensors(String[] readHexaValues)

This methods updates the lockStatus from an array of hexaValues.

Parameters:

readHexaValues -

Throws:

FcsHardwareException

startAction

public void startAction(FcsEnumerations.MobileItemAction action)

Specified by:

startAction in class MobileItemModule

abortAction

public void abortAction(FcsEnumerations.MobileItemAction action,
                        long delay)

Specified by:

abortAction in class MobileItemModule

quickStopAction

public void quickStopAction(FcsEnumerations.MobileItemAction action,
                            long delay)

Specified by:

quickStopAction in class MobileItemModule

postAction

public void postAction(FcsEnumerations.MobileItemAction action)

Specified by:

postAction in class MobileItemModule

initializeHardware

@Command(type=ACTION,
         level=1,
         description="Check if hardware is ready to be started.")
public void initializeHardware()

Command for ENGINEERING mode. Not used during INITIALIZATION.

Throws:

FcsHardwareException

printHardwareState

@Command(type=ACTION,
         level=1,
         description="Return a printed list of hardware with initialization information.")
public String printHardwareState()

Return a printed list of hardware with initialization information. For debug purpose.

Returns:

getStatusData

public StatusDataPublishedByLoaderCarrier getStatusData()

Returns the object to be published on the STATUS bus by the LoaderCarrierModule.

Returns:

createStatusDataPublishedByLoaderCarrier

public StatusDataPublishedByLoaderCarrier createStatusDataPublishedByLoaderCarrier()

Creates an bject to be published on the STATUS bus.

Returns:

processEmergencyMessage

public void processEmergencyMessage(EmergencyMessage msg)

What to do when we received an Emergency message from controller with an errorCode;

Specified by:

processEmergencyMessage in interface MovedByEPOSController

Parameters:

msg -

processFaultReset

public void processFaultReset()

Description copied from interface: MovedByEPOSController

What to do when a faultReset has been done on the controller.

Specified by:

processFaultReset in interface MovedByEPOSController

publishData

public void publishData()

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

Specified by:

publishData in interface MovedByEPOSController

Specified by:

publishData in class MobileItemModule