org.lsst.ccs.subsystems.fcs

Class LoaderMainModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

org.lsst.ccs.subsystems.fcs.MainModule

org.lsst.ccs.subsystems.fcs.LoaderMainModule

All Implemented Interfaces:

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

public class LoaderMainModule
extends MainModule

This is the Main Module for the Loader control software when the loader is in standalone.

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 inherited from class org.lsst.ccs.subsystems.fcs.MainModule

bridge, haltRequired, stopRequired

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

name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description
LoaderMainModule(BridgeToHardware bridge) Build a LoaderMainModule with a bridge.

Method Summary

Modifier and Type	Method and Description
String	clampHooks() Clamp (close strongly) the loader clamp.
String	closeHooks() Close the loader clamp.
LoaderModule	getLoader()
String	goToHandoff() Move carrier to HANDOFF position.
String	goToStorage() Move carrier to STORAGE position.
void	initModule()
String	listHooksSensors()
String	listSensorsValues()
String	loadFilterInCamera() This command can be launched when a filter is in the loader and we want to put in inside the camera.
String	openHooks() Open the loader clamp.
String	printHardwareState() Print list of hardware with initialization information.
String	toString()
String	unloadFilterFromCamera() This command can be launched when the loader is empty and we want to take a filter from the camera.
void	updateFCSState() Check that Loader hardware is ready to be operated and moved.
void	updateStateWithSensors() Update loader state in reading the sensors.

Methods inherited from class org.lsst.ccs.subsystems.fcs.MainModule

controlRealHardware, getFilterNames, getHaltRequired, getStopRequired, getTcpProxy, isCANDevicesReady, listHardwareNames, listLoaderHardwareNames, postStart, printHardwareList, signal, simulateAlert, simulateWarning

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

getNObserverThreads, getObservables, getTickMillis, init, listens, processUpdate, sendSignal, sendSignalWithTimeLimit, setNObserverThreads, setObservables, setTickMillis, shutdownNow, startTicking, tick, 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.subsystems.fcs.common.AlertRaiser

raiseAlarm, raiseAlarm, raiseAlarm, raiseWarning, raiseWarning, raiseWarning

Methods inherited from interface org.lsst.ccs.UsesSubsystem

getComponentConfigurationEnvironment, getComponentLookup, getName, getSubsystem

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

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

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

setParameterBulk

Constructor Detail

LoaderMainModule

public LoaderMainModule(BridgeToHardware bridge)

Build a LoaderMainModule with a bridge.

Parameters:

bridge -

Method Detail

getLoader

public LoaderModule getLoader()

initModule

public void initModule()

Overrides:

initModule in class MainModule

loadFilterInCamera

@Command(type=ACTION,
         level=1,
         description="Load a filter from the loader into the camera.")
public String loadFilterInCamera()

This command can be launched when a filter is in the loader and we want to put in inside the camera.

Returns:

Throws:

FcsHardwareException

unloadFilterFromCamera

@Command(type=ACTION,
         level=1,
         description="Unload a filter from the camera into the loader.")
public String unloadFilterFromCamera()

This command can be launched when the loader is empty and we want to take a filter from the camera. A filter must be at handoff position and held by autochanger.

Returns:

Throws:

FcsHardwareException

SDORequestException

openHooks

@Command(type=ACTION,
         level=0,
         description="Open the loader clamp.")
public String openHooks()

Open the loader clamp.

Returns:

closeHooks

@Command(type=ACTION,
         level=0,
         description="Close the loader clamp.")
public String closeHooks()

Close the loader clamp.

Returns:

Throws:

FcsHardwareException

clampHooks

@Command(type=ACTION,
         level=0,
         description="Clamp the loader clamp.")
public String clampHooks()

Clamp (close strongly) the loader clamp.

Returns:

Throws:

FcsHardwareException

updateStateWithSensors

@Command(type=QUERY,
         level=0,
         description="Update loader state in reading the sensors.")
public void updateStateWithSensors()

Update loader state in reading the sensors.

Overrides:

updateStateWithSensors in class MainModule

Throws:

FcsHardwareException

updateFCSState

@Command(type=QUERY,
         level=1,
         description="Update FCS state and FCS readyness state and publishes on the status bus.")
public void updateFCSState()

Check that Loader hardware is ready to be operated and moved. This means that : - all CAN open devices are booted, identified and initialized, - homing has been done on the controllers. This updates the FCS state and FCS readyness state and publishes on the status bus.

Overrides:

updateFCSState in class MainModule

printHardwareState

@Command(type=QUERY,
         level=1,
         description="Print the list of hardware with initialization information.")
public String printHardwareState()

Print list of hardware with initialization information.

Overrides:

printHardwareState in class MainModule

Returns:

goToHandoff

@Command(type=ACTION,
         level=0,
         description="Carrier go to Handoff.")
public String goToHandoff()

Move carrier to HANDOFF position.

Returns:

Throws:

FcsHardwareException

goToStorage

@Command(type=ACTION,
         level=0,
         description="Carrier go to Storage.")
public String goToStorage()

Move carrier to STORAGE position.

Returns:

Throws:

FcsHardwareException

listHooksSensors

@Command(type=QUERY,
         level=0,
         description="List and display hooks sensors.")
public String listHooksSensors()

listSensorsValues

@Command(type=QUERY,
         level=0,
         description="List and display the hooks sensors values.")
public String listSensorsValues()

toString

public String toString()

Overrides:

toString in class Object