org.lsst.ccs.subsystems.fcs.singlefiltertest

Class SftAutoChangerModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.singlefiltertest.BasicAutoChangerModule

org.lsst.ccs.subsystems.fcs.singlefiltertest.SftAutoChangerModule

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, FilterHolder, org.lsst.ccs.UsesSubsystem

public class SftAutoChangerModule
extends BasicAutoChangerModule

This class is for the Single Filter Test autochanger. The autochanger in Single Filter Test has no flip rail and no online clamp. To move the autochanger trucks in the Single Filter Test we have 2 pneumatic cylinders each moved by an actuator : when we want the truck to be in stanby position, the standby actuator has to be ON and the standback actuator has to be OFF, when we want the truck to be in standback position, the standback actuator has to be ON and the standby actuator has to be OFF.

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 SftTruckMotor	sftTrucksMotor

Fields inherited from class org.lsst.ccs.subsystems.fcs.singlefiltertest.BasicAutoChangerModule

carousel, closingLatches, latchesState, openingLatches, publishedByAutoChangerOutputName, state, timeoutForClosingLatches, timeoutForOpeningLatches, truckXminus, truckXplus, updatingLatches

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
SftAutoChangerModule(SftFilterLatchModule latchXminus, SftFilterLatchModule latchXplus, TruckModule truckXminus, TruckModule truckXplus, String railsSensorsDIOName, String filterSensorsDIOName, SftTruckMotor sftTrucksMotor) Build a SftAutoChangerModule

Method Summary

Modifier and Type	Method and Description
SftTruckMotor	getSftTrucksMotor()
long	getTimeToConfortAPosition()
long	getTimeToGoToStandback()
long	getTimeToGoToStandby()
String	goToStandback() Move SFT autochanger to STANDBACK.
String	goToStandby() This methods moves the trucks from standback position to standby position.
boolean	isMoving() Return true if the MobileItemMobile is moving.
boolean	isMovingToStandback() ***********************************************************************************************
boolean	isMovingToStandby()
void	locateTrucks()
String	moveFilterToStandback(Filter aFilter) Move a filter to STANDBACK position.
String	moveFilterToStandby(Filter aFilter) Move filter at STANDBY position.
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
String	toString()
void	updateStateWithSensors() Read sensors and update latches and trucks state.

Methods inherited from class org.lsst.ccs.subsystems.fcs.singlefiltertest.BasicAutoChangerModule

abortAction, checkPreConditionsForTrucksMotion, closeLatchesAtHandoff, closeLatchesAtStandby, getFilterOnTrucks, getFilterOnTrucksName, getFilterSensorsDIO, getFilterSensorsDIOName, getLatchesState, getLatchXminus, getLatchXplus, getRailsSensorsDIO, getRailsSensorsDIOName, getState, getStatusData, getTrucksLocation, getTruckXminus, getTruckXplus, grabFilterAtHandoff, grabFilterAtStandby, initModule, isActionCompleted, isAtHandoff, isAtStandback, isAtStandby, isCANDevicesReady, isHoldingFilter, isHoldingFilterAtStandback, isHoldingFilterAtStandby, isOnline, isTrucksEmpty, openLatchesAtHandoff, openLatchesAtStandby, postAction, processUpdate, publishData, publishDataAndNotifyObservers, setFilterOnTrucks, setFilterSensorsDIOName, setRailsSensorsDIOName, setState, setTrucksEmpty, startAction, tick, ungrabFilterAtHandoff, ungrabFilterAtStandby, updateLatchesStateWithSensors, updateStateWithSensorsToCheckIfActionIsCompleted, updateTrucksLocationWithSensors

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

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

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

getNObserverThreads, getObservables, getTickMillis, init, listens, 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, 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, postStart, printConfigurableParameters, setBulkParameter, start, submitChange, submitChanges, validateBulkChange

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

setParameterBulk

Field Detail

sftTrucksMotor

protected SftTruckMotor sftTrucksMotor

Constructor Detail

SftAutoChangerModule

public SftAutoChangerModule(SftFilterLatchModule latchXminus,
                            SftFilterLatchModule latchXplus,
                            TruckModule truckXminus,
                            TruckModule truckXplus,
                            String railsSensorsDIOName,
                            String filterSensorsDIOName,
                            SftTruckMotor sftTrucksMotor)

Build a SftAutoChangerModule

Parameters:

latchXminus -

latchXplus -

truckXminus -

truckXplus -

railsSensorsDIOName -

filterSensorsDIOName -

sftTrucksMotor -

Method Detail

getSftTrucksMotor

public SftTruckMotor getSftTrucksMotor()

Returns:

getTimeToConfortAPosition

public long getTimeToConfortAPosition()

getTimeToGoToStandback

public long getTimeToGoToStandback()

getTimeToGoToStandby

public long getTimeToGoToStandby()

isMovingToStandback

public boolean isMovingToStandback()

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

Specified by:

isMovingToStandback in class BasicAutoChangerModule

Returns:

isMovingToStandby

public boolean isMovingToStandby()

Specified by:

isMovingToStandby in class BasicAutoChangerModule

isMoving

public boolean isMoving()

Description copied from class: MobileItemModule

Return true if the MobileItemMobile is moving. That means that we are waiting for an action to be completed.

Specified by:

isMoving in class BasicAutoChangerModule

Returns:

true if the trucks are moving

toString

public String toString()

Overrides:

toString in class BasicAutoChangerModule

locateTrucks

public void locateTrucks()

goToStandback

@Command(level=1,
         description="Go to STANDBACK",
         type=ACTION)
public String goToStandback()

Move SFT autochanger to STANDBACK.

Specified by:

goToStandback in class BasicAutoChangerModule

Returns:

Throws:

FcsHardwareException

goToStandby

@Command(level=1,
         description="Go to STANDBY.",
         type=ACTION)
public String goToStandby()

This methods moves the trucks from standback position to standby position. It first checks the preconditions for a motion of the trucks. Then it checks if the trucks are in standback position otherwise throws a RejectedCommandException. If the trucks are at standback, it first conforts the position (standbackMotor.on) then it moves the trucks to the standby position (standbackMotor.off then standbyMotor.on). The motor is stopped after the temporisation has expired. The command is completed when the position sensors at standby says the trucks are in standby.

Specified by:

goToStandby in class BasicAutoChangerModule

Returns:

Throws:

RejectedCommandException

FailedCommandException

FcsHardwareException

moveFilterToStandback

public String moveFilterToStandback(Filter aFilter)

Move a filter to STANDBACK position.

Specified by:

moveFilterToStandback in class BasicAutoChangerModule

Parameters:

aFilter -

Returns:

Throws:

FcsHardwareException

moveFilterToStandby

public String moveFilterToStandby(Filter aFilter)

Move filter at STANDBY position.

Specified by:

moveFilterToStandby in class BasicAutoChangerModule

Parameters:

aFilter -

Returns:

Throws:

FcsHardwareException

FailedCommandException

updateStateWithSensors

@Command(level=1,
         description="Read sensors and update latches and trucks state",
         type=QUERY)
public void updateStateWithSensors()

Read sensors and update latches and trucks state.

Specified by:

updateStateWithSensors in interface FilterHolder

Specified by:

updateStateWithSensors in class BasicAutoChangerModule

Throws:

FcsHardwareException

quickStopAction

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

Specified by:

quickStopAction in class MobileItemModule