org.lsst.ccs.subsystems.fcs.singlefiltertest

Class SftFilterLatchModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.singlefiltertest.SftFilterLatchModule

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, org.lsst.ccs.UsesSubsystem

public class SftFilterLatchModule
extends MobileItemModule

This is a model for a latch. A latch is what holds a filter in the trucks of the autochanger. There is 2 latches : one on each side of the filter. The state of the latches are monitoring by digital sensors : one sensor to know if a filter is in the latch or not and 2 status sensors to know if the latch is EngageBrakeed or ReleaseBrakeed. If the 2 status sensors are inconsistent, the latch is in error. This class is used in single-filter-test. For the final product the class AutochangerLatchModule is used.

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	filterPresenceSensor
protected LatchActuatorModule	latchActuator
protected NumericSensor	lockSensor
protected NumericSensor	unlockSensor
protected boolean	updatingState This is used when we update the latch state with the values returned by the sensors.

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
SftFilterLatchModule(String filterSensorsDIOName, NumericSensor lockSensor, NumericSensor unlockSensor, NumericSensor filterPresenceSensor, LatchActuatorModule latchActuator) Build a new SftFilterLatchModule

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay)
String	close() Close the latch : turn on the actuator, read the sensors and wait until the latch is closed.
NumericSensor	getFilterPresenceSensor()
LatchActuatorModule	getLatchActuator()
NumericSensor	getLockSensor()
FcsEnumerations.LockStatus	getLockStatus()
FcsEnumerations.FilterPresenceStatus	getPresenceStatus() Return the filter presence status.
StatusDataPublishedByAutochangerLatch	getStatusData() Returns an object to be published on the STATUS bus by AutochangerLatch.
long	getTimeoutForClosing()
long	getTimeoutForOpening()
NumericSensor	getUnlockSensor()
void	initModule() ***********************************************************************************************
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isCANDevicesReady()
boolean	isControllerInFault()
boolean	isLocked()
String	open() Open the latch if the carousel is holding the filter.
void	postAction(FcsEnumerations.MobileItemAction action)
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
void	setLockStatus(FcsEnumerations.LockStatus lockStatus)
void	startAction(FcsEnumerations.MobileItemAction action)
String	toString()
void	updateState(String hexaValue) Update Latch State.
void	updateStateWithSensors() Read latch sensors and update latch state.
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

getNObserverThreads, getObservables, getTickMillis, init, listens, processUpdate, sendSignal, sendSignalWithTimeLimit, setNObserverThreads, setObservables, setTickMillis, 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, postStart, printConfigurableParameters, setBulkParameter, start, submitChange, submitChanges, validateBulkChange

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

setParameterBulk

Field Detail

latchActuator

protected final LatchActuatorModule latchActuator

filterPresenceSensor

protected NumericSensor filterPresenceSensor

lockSensor

protected NumericSensor lockSensor

unlockSensor

protected NumericSensor unlockSensor

updatingState

protected volatile boolean updatingState

This is used when we update the latch state with the values returned by the sensors.

Constructor Detail

SftFilterLatchModule

public SftFilterLatchModule(String filterSensorsDIOName,
                            NumericSensor lockSensor,
                            NumericSensor unlockSensor,
                            NumericSensor filterPresenceSensor,
                            LatchActuatorModule latchActuator)

Build a new SftFilterLatchModule

Parameters:

filterSensorsDIOName -

lockSensor -

unlockSensor -

filterPresenceSensor -

latchActuator -

Method Detail

getTimeoutForClosing

public long getTimeoutForClosing()

getTimeoutForOpening

public long getTimeoutForOpening()

getFilterPresenceSensor

public NumericSensor getFilterPresenceSensor()

getLatchActuator

public LatchActuatorModule getLatchActuator()

getLockSensor

public NumericSensor getLockSensor()

getUnlockSensor

public NumericSensor getUnlockSensor()

isControllerInFault

public boolean isControllerInFault()

initModule

public void initModule()

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

Overrides:

initModule in class MobileItemModule

isCANDevicesReady

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

Specified by:

isCANDevicesReady in class MobileItemModule

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Specified by:

isActionCompleted in class MobileItemModule

updateStateWithSensorsToCheckIfActionIsCompleted

public void updateStateWithSensorsToCheckIfActionIsCompleted()

Specified by:

updateStateWithSensorsToCheckIfActionIsCompleted in class MobileItemModule

updateStateWithSensors

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

Read latch sensors and update latch state.

Throws:

FcsHardwareException

startAction

public void startAction(FcsEnumerations.MobileItemAction action)
                 throws FcsHardwareException

Specified by:

startAction in class MobileItemModule

Throws:

FcsHardwareException

abortAction

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

Specified by:

abortAction in class MobileItemModule

postAction

public void postAction(FcsEnumerations.MobileItemAction action)

Specified by:

postAction in class MobileItemModule

getLockStatus

public FcsEnumerations.LockStatus getLockStatus()

setLockStatus

public void setLockStatus(FcsEnumerations.LockStatus lockStatus)

getPresenceStatus

public FcsEnumerations.FilterPresenceStatus getPresenceStatus()

Return the filter presence status. Wait if the state is beeing updated.

Returns:

getStatusData

public StatusDataPublishedByAutochangerLatch getStatusData()

Returns an object to be published on the STATUS bus by AutochangerLatch.

Returns:

open

@Command(level=3,
         description="Open latch",
         type=ACTION)
public String open()

Open the latch if the carousel is holding the filter.

Returns:

Throws:

RejectedCommandException

FcsHardwareException

close

@Command(level=3,
         description="Close latch",
         type=ACTION)
public String close()

Close the latch : turn on the actuator, read the sensors and wait until the latch is closed. If the latch is not closed during the delai : timeoutForClosing throws an Exception.

Returns:

Throws:

FcsHardwareException

isLocked

@Command(level=1,
         description="Return true if the latch is closed",
         type=QUERY)
public boolean isLocked()

Returns:

true if the latch is closed.

updateState

public void updateState(String hexaValue)

Update Latch State.

Parameters:

hexaValue -

publishData

public void publishData()

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

Specified by:

publishData in class MobileItemModule

toString

public String toString()

Overrides:

toString in class Object

quickStopAction

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

Specified by:

quickStopAction in class MobileItemModule