org.lsst.ccs.subsystems.fcs

Class LoaderModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

org.lsst.ccs.subsystems.fcs.LoaderModule

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, FilterHolder, org.lsst.ccs.UsesSubsystem

public class LoaderModule
extends org.lsst.ccs.framework.Module
implements org.lsst.ccs.framework.HardwareController, FilterHolder

This is the model for the loader in the Filter Exchange System. The loader is used to load a filter into the camera or to unload a filter from the camera.

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.framework.Module

name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description
LoaderModule(LoaderCarrierModule carrier, LoaderClampModule clamp, String plutoGatewayName, NumericSensor filterPresenceSensor0, NumericSensor filterPresenceSensor1, NumericSensor loaderOnCameraSensor0, NumericSensor loaderOnCameraSensor1) Build a LoaderModule with a carrier, a clamp and sensors.

Method Summary

Modifier and Type	Method and Description
boolean	checkConditionsForCarrierMotion() Check if the loader carrier can move.
boolean	checkConditionsForOpeningHooks() Check if the clamp can be opened.
org.lsst.ccs.framework.TreeWalkerDiag	checkHardware()
boolean	checkPreConditionsForClosingHooks() Check if the clamp can be closed.
void	checkStarted() CheckStarted is executed by completeInitialization when a first start has failed.
void	checkStopped() This method is executed during a shutdown of the subystem to prevent a shutdown when some hardware is moving.
String	clampHooks() This method closes the clamps strongly.
String	closeHooks() This method closes the clamps.
StatusDataPublishedByLoader	createStatusDataPublishedByLoader() Creates an Object to be published on the STATUS bus.
LoaderCarrierModule	getCarrier()
EPOSController	getCarrierController()
LoaderClampModule	getClamp()
NumericSensor	getFilterPresenceSensor0()
NumericSensor	getFilterPresenceSensor1()
EPOSController	getHooksController()
NumericSensor	getLoaderOnCameraSensor0()
NumericSensor	getLoaderOnCameraSensor1()
StatusDataPublishedByLoader	getStatusData()
String	goToHandoff() Moves the loader carrier to the handoff position.
String	goToStorage() Moves the loader carrier to the storage position.
void	initializeHardware() This command has to be executed after the initialization phase and after the checkHardware command.
void	initModule()
boolean	isAtHandoff() This method returns true if the autochanger trucks are at HANDOFF position, false otherwise.
boolean	isAtStandby() This method returns true if the autochanger trucks are at STANDBY position, false otherwise.
boolean	isAutochangerHoldingFilter() Return true if the autochanger is holding the filter.
boolean	isCANDevicesInitialized()
boolean	isCANDevicesReady() Return true if CAN open devices (controllers and plutoGateway) are booted, identified and initialized.
boolean	isCarrierAtStoragePosition()
boolean	isConnectedOnCamera() Returns the boolean field atHandoff.
boolean	isEmpty() Returns the boolean field empty.
boolean	isEmptyToPublish() To publish data we don't want to read again the sensors.
boolean	isFilterPresenceSensorsInError()
boolean	isHardwareReady() Return true if loader clamp and carrier hardware is ready to be controlled.
boolean	isHoldingFilter() Return true if a filter is present and it is held by the loader clamp.
boolean	isInitialized()
boolean	isLoaderOnCameraSensorsInError()
boolean	isMoving()
boolean	isOnCameraToPublish() To publish data we don't want to read again the sensors.
String	listHooks()
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() This command opens the clamp.
String	printHardwareState() Print list of hardware with initialization information.
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	tick()
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() This methods updates the carrier and clamp state in reading all the sensors.

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

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

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

Methods inherited from interface org.lsst.ccs.UsesSubsystem

getComponentConfigurationEnvironment, getComponentLookup, getName, getSubsystem

Constructor Detail

LoaderModule

public LoaderModule(LoaderCarrierModule carrier,
                    LoaderClampModule clamp,
                    String plutoGatewayName,
                    NumericSensor filterPresenceSensor0,
                    NumericSensor filterPresenceSensor1,
                    NumericSensor loaderOnCameraSensor0,
                    NumericSensor loaderOnCameraSensor1)

Build a LoaderModule with a carrier, a clamp and sensors.

Parameters:

carrier -

clamp -

plutoGatewayName -

filterPresenceSensor0 -

filterPresenceSensor1 -

loaderOnCameraSensor0 -

loaderOnCameraSensor1 -

Method Detail

getFilterPresenceSensor0

public NumericSensor getFilterPresenceSensor0()

getFilterPresenceSensor1

public NumericSensor getFilterPresenceSensor1()

getLoaderOnCameraSensor0

public NumericSensor getLoaderOnCameraSensor0()

getLoaderOnCameraSensor1

public NumericSensor getLoaderOnCameraSensor1()

isFilterPresenceSensorsInError

public boolean isFilterPresenceSensorsInError()

isLoaderOnCameraSensorsInError

public boolean isLoaderOnCameraSensorsInError()

isEmptyToPublish

public boolean isEmptyToPublish()

To publish data we don't want to read again the sensors.

Returns:

isOnCameraToPublish

public boolean isOnCameraToPublish()

To publish data we don't want to read again the sensors.

Returns:

getHooksController

public EPOSController getHooksController()

getCarrierController

public EPOSController getCarrierController()

initModule

public void initModule()

Overrides:

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

isHardwareReady

@Command(type=QUERY,
         level=0,
         description="Return true if loader clamp and carrier hardware is ready to be controlled.That means that controllers and plutoGateway are booted, identified and initialized and homing of the controllers have been done.")
public boolean isHardwareReady()

Return true if loader clamp and carrier hardware is ready to be controlled. That means that controllers and plutoGateway are booted, identified and initialized and homing of the controllers have been done.

Returns:

isCANDevicesReady

@Command(type=QUERY,
         level=0,
         description="Return true if CAN open devices (controllers and plutoGateway) are booted, identified  and initialized.")
public boolean isCANDevicesReady()

Return true if CAN open devices (controllers and plutoGateway) are booted, identified and initialized.

Returns:

isInitialized

@Command(type=QUERY,
         level=0,
         description="Return true if hardware (controllers and plutoGateway) is correctly initializedand homing of the controllers is done.")
public boolean isInitialized()

isCANDevicesInitialized

@Command(type=QUERY,
         level=0,
         description="Return true if hardware (controllers and plutoGateway) is correctly initialized.")
public boolean isCANDevicesInitialized()

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

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 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

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. This command doesn't read again the sensors.

Returns:

Throws:

FcsHardwareException

isHoldingFilter

@Command(type=QUERY,
         level=0,
         description="Return true if a filter is present and it is held by the loader clamp.")
public boolean isHoldingFilter()

Return true if a filter is present and it is held by the loader clamp.

Specified by:

isHoldingFilter in interface FilterHolder

Returns:

Throws:

FcsHardwareException

isMoving

@Command(type=QUERY,
         level=0,
         description="Return true if the clamp or the carrier are in action.")
public boolean isMoving()

getClamp

public LoaderClampModule getClamp()

getCarrier

public LoaderCarrierModule getCarrier()

isCarrierAtStoragePosition

public boolean isCarrierAtStoragePosition()

initializeHardware

@Command(type=ACTION,
         level=1,
         description="Attention ! this commands does the homing of the controllers and might move hardware. Initialize loader hardware.",
         alias="homing")
public void initializeHardware()
                                                                                                                                                                                                                                   throws org.lsst.ccs.HardwareException

This command has to be executed after the initialization phase and after the checkHardware command. It can't be automaticaly executed during initialization phase because it's not compliant with the CCS requirement which says that the initialization of the subsystem can't make move hardware.

Throws:

org.lsst.ccs.HardwareException

checkHardware

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

Specified by:

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

Throws:

org.lsst.ccs.HardwareException

checkStarted

public void checkStarted()
                  throws org.lsst.ccs.HardwareException

CheckStarted is executed by completeInitialization when a first start has failed. Because end user could have changed many things, we have to check again that all is correct.

Specified by:

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

Throws:

org.lsst.ccs.HardwareException

checkStopped

public void checkStopped()
                  throws org.lsst.ccs.HardwareException

This method is executed during a shutdown of the subystem to prevent a shutdown when some hardware is moving. Nothing to do here because all the moving hardware of the loader is represented by the class MobilItemModule where the method checkStopped is implemented.

Specified by:

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

Throws:

org.lsst.ccs.HardwareException

tick

public void tick()

Overrides:

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

checkConditionsForCarrierMotion

@Command(type=QUERY,
         level=1,
         description="Check if the carrier can move.")
public boolean checkConditionsForCarrierMotion()

Check if the loader carrier can move.

Returns:

Throws:

FcsHardwareException

FailedCommandException

checkConditionsForOpeningHooks

@Command(type=QUERY,
         level=1,
         description="Check if the clamp can be opened.")
public boolean checkConditionsForOpeningHooks()

Check if the clamp can be opened.

Returns:

Throws:

FcsHardwareException

checkPreConditionsForClosingHooks

@Command(type=QUERY,
         level=1,
         description="Check if the clamp can be closed.")
public boolean checkPreConditionsForClosingHooks()

Check if the clamp can be closed.

Returns:

Throws:

FcsHardwareException

closeHooks

@Command(type=ACTION,
         level=1,
         description="Close hooks.")
public String closeHooks()

This method closes the clamps. When this action is completed the filter is clamped softly on the loader and can't fall.

Returns:

a message for the end user.

Throws:

FcsHardwareException

clampHooks

@Command(type=ACTION,
         level=1,
         description="Clamp hooks.")
public String clampHooks()

This method closes the clamps strongly. When this action is completed, the filter is clamped softly on the loader and is tight fermely on the carrier.

Returns:

a message for the end user.

Throws:

FcsHardwareException

openHooks

@Command(level=1,
         type=ACTION,
         description="Open the hooks")
public String openHooks()

This command opens the clamp.

Returns:

a message for the end user.

Throws:

FcsHardwareException

goToHandoff

@Command(type=ACTION,
         level=1,
         description="Move the loader carrier to HANDOFF position")
public String goToHandoff()

Moves the loader carrier to the handoff position.

Returns:

Throws:

FcsHardwareException

SDORequestException

goToStorage

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

Moves the loader carrier to the storage position.

Returns:

Throws:

FcsHardwareException

SDORequestException

updateStateWithSensors

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

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

Specified by:

updateStateWithSensors in interface FilterHolder

Throws:

FcsHardwareException

updateFCSState

@Command(type=ACTION,
         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.

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:

RejectedCommandException

FcsHardwareException

FailedCommandException

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:

RejectedCommandException

FcsHardwareException

SDORequestException

FailedCommandException

listHooks

@Command(type=QUERY,
         level=0,
         description="List and display info on the hooks.")
public String listHooks()

listSensorsValues

@Command(type=QUERY,
         level=1,
         description="List and display hooks sensors values.")
public String listSensorsValues()

getStatusData

public StatusDataPublishedByLoader getStatusData()

createStatusDataPublishedByLoader

public StatusDataPublishedByLoader createStatusDataPublishedByLoader()

Creates an Object to be published on the STATUS bus.

Returns:

publishData

public void publishData()

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

isAtHandoff

public boolean isAtHandoff()

Description copied from interface: FilterHolder

This method returns true if the autochanger trucks are at HANDOFF position, false otherwise.

Specified by:

isAtHandoff in interface FilterHolder

Returns:

isAtStandby

public boolean isAtStandby()

Description copied from interface: FilterHolder

This method returns true if the autochanger trucks are at STANDBY position, false otherwise.

Specified by:

isAtStandby in interface FilterHolder

Returns:

printHardwareState

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

Print list of hardware with initialization information.

Returns: