org.lsst.ccs.subsystems.fcs

Class AutoChangerTwoTrucksModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.AutoChangerTwoTrucksModule

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 AutoChangerTwoTrucksModule
extends MobileItemModule

This is a model for the autochanger trucks. The autochanger trucks move a filter from STANDBY position to ONLINE position or HANDOFF position. The ONLINE position is just in front of the focal front. The STANDBY position is near the carousel. The HANDOFF position is a position when the loader can hold a filter. The trucks are moved by 2 controllers, a master and a slave. Each controller has an absolute encoder.

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.common.MobileItemModule

currentAction, FCSLOG, haltRequired, hasToWaitForEndOfAction, lock, motionCompleted, moving, scheduler, stopRequired

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

name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description
AutoChangerTwoTrucksModule(AutochangerTruckModule truckXminus, AutochangerTruckModule truckXplus) Build a new AutoChangerTrucksModule with 6 sensors.

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay)
void	checkConditionsForTrucksMotion() This method sends Exceptions if the conditions for trucks motion are not filled.
org.lsst.ccs.framework.TreeWalkerDiag	checkHardware() This method is called by method checkHardware in AutoChangerModule during INITIALIZATION phase.
void	checkPositionSensors() This method is called in the postAction method to check that after a motion to well known position as STANDBY, HANDOFF and ONLINE, position sensors confirm the trucks position.
void	configureControllers() Configure Autochanger trucks master and slave controllers.
static void	configureDigitalInputOfLinearRails(EPOSController ctl) This configures the digital inputs of the EPOS controller to work with a holding brake.
static void	configureDigitalOutputOfLinearRails(EPOSController ctl) Configuration of an EPOS controller to work with a holding brake.
StatusDataPublishedByAutoChangerTrucks	createStatusDataPublishedByAutoChangerTrucks() Creates an object to be published on the status bus.
int	getEncoderRibbonMaxValue() return encoderRibbonMaxValue Used by simulation.
int	getEncoderRibbonMinValue() return encoderRibbonMinValue Used by simulation.
int	getHandoffPosition() Return HANDOFF position.
int	getOnlinePosition() Return ONLINE position.
int	getPosition() Return actual trucks position.
int	getStandbyPosition() Return STANDBY position.
StatusDataPublishedByAutoChangerTrucks	getStatusData() Build the class StatusDataPublishedByAutoChangerTrucks
long	getTimeoutForTrucksMotion() Return the timeout for trucks motion.
void	goToHandOff() Move Autochanger trucks to the Handoff position.
void	goToOnline() Move Autochanger trucks to the Online position.
void	goToStandby() Move Autochanger trucks to the Standby position.
void	homing() Do the homing of the trucks which consists in configuring the 2 controllers in order to configure the encoders and set the point "0".
void	initModule()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isAtHandoffPosition() Returns the boolean field atHandoff.
boolean	isAtOnlinePosition() Returns the boolean field atOnline.
boolean	isAtStandbyPosition() Returns the boolean field atStandby.
boolean	isCANDevicesReady()
boolean	isHomingDone() Return true if the homing of the trucks has been done.
boolean	isInitialized() Return true if both controllers are initialized and homing of trucks are done.
boolean	isPositionSensorsInError() Return true if TruckXminus position sensors or TruckXminus position sensors are in error.
void	moveToAbsoluteTargetPosition(int targetPosition) Move the trucks to an absolute position given as argument.
void	moveToRelativeTargetPosition(int relativePosition) Move the trucks to a relative position given as argument.
void	postAction(FcsEnumerations.MobileItemAction action)
void	publishData()
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
int	readPosition() For the GUI and end users for test purpose.
void	startAction(FcsEnumerations.MobileItemAction action)
void	tick()
void	updatePosition() Updates the field position of the carrier in reading the CPU of the controller.
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.AlertRaiser

raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseWarning, 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

Constructor Detail

AutoChangerTwoTrucksModule

public AutoChangerTwoTrucksModule(AutochangerTruckModule truckXminus,
                                  AutochangerTruckModule truckXplus)

Build a new AutoChangerTrucksModule with 6 sensors. Initialize fields with initial default values.

Parameters:

truckXminus -

truckXplus -

Method Detail

getPosition

@Command(type=QUERY,
         level=1,
         description="Return actual trucks position. Doesn\'t read again the position on the controller.")
public int getPosition()

Return actual trucks position. Doesn't read again the position on the controller.

Returns:

getHandoffPosition

@Command(type=QUERY,
         level=1,
         description="Return HANDOFF position. Doesn\'t read again the position on the controller.")
public int getHandoffPosition()

Return HANDOFF position. Doesn't read again the position on the controller.

Returns:

getStandbyPosition

@Command(type=QUERY,
         level=1,
         description="Return STANDBY position. Doesn\'t read again the position on the controller.")
public int getStandbyPosition()

Return STANDBY position. Doesn't read again the position on the controller.

Returns:

getOnlinePosition

@Command(type=QUERY,
         level=1,
         description="Return ONLINE position. Doesn\'t read again the position on the controller.")
public int getOnlinePosition()

Return ONLINE position. Doesn't read again the position on the controller.

Returns:

getEncoderRibbonMinValue

public int getEncoderRibbonMinValue()

return encoderRibbonMinValue Used by simulation.

Returns:

getEncoderRibbonMaxValue

public int getEncoderRibbonMaxValue()

return encoderRibbonMaxValue Used by simulation.

Returns:

getTimeoutForTrucksMotion

@Command(type=QUERY,
         level=1,
         description="Return timeout for trucks motion.")
public long getTimeoutForTrucksMotion()

Return the timeout for trucks motion. If trucks motion duration is greater than timeoutForTrucksMotion, an ALERT is raised.

Returns:

timeoutForTrucksMotion

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

Returns:

atHandoff

isAtOnlinePosition

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

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

Returns:

atHandoff

isAtStandbyPosition

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

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

Returns:

atStandby

isHomingDone

@Command(type=QUERY,
         level=0,
         description="Return true if the homing of the trucks has been done.")
public boolean isHomingDone()

Return true if the homing of the trucks has been done.

Returns:

isPositionSensorsInError

@Command(type=QUERY,
         level=0,
         description="Return true if TruckXminus position sensors or TruckXminus position sensors are in error.")
public boolean isPositionSensorsInError()

Return true if TruckXminus position sensors or TruckXminus position sensors are in error.

Returns:

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

This method is called by method checkHardware in AutoChangerModule during INITIALIZATION phase.

Specified by:

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

Overrides:

checkHardware in class MobileItemModule

Returns:

Throws:

org.lsst.ccs.HardwareException

configureControllers

@Command(type=ACTION,
         level=1,
         description="Configure Autochanger trucks master and slave controllers.",
         alias="initControllers")
public void configureControllers()

Configure Autochanger trucks master and slave controllers.

Throws:

FcsHardwareException

isInitialized

@Command(type=QUERY,
         level=0,
         description="Return true if both controllers are initialized and homing of trucks are done.")
public boolean isInitialized()

Return true if both controllers are initialized and homing of trucks are done.

Returns:

checkConditionsForTrucksMotion

@Command(type=QUERY,
         level=1,
         description="Check if the motion of trucks are allowed.")
public void checkConditionsForTrucksMotion()

This method sends Exceptions if the conditions for trucks motion are not filled. Autochanger trucks motion is allowed if : - controllers are initialized - homing is done - trucks are empty OR (loaded with a filter but latches are closed AND carousel or loader doesn't hold filter)

Throws:

FcsHardwareException

RejectedCommandException

goToHandOff

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

Move Autochanger trucks to the Handoff position. If Autochanger trucks are already at HANDOFF position, it does nothing.

Throws:

RejectedCommandException

FcsHardwareException

goToOnline

@Command(type=ACTION,
         level=1,
         description="Move Autochanger trucks to the Online position.")
public void goToOnline()

Move Autochanger trucks to the Online position. If Autochanger trucks are already at ONLINE position, it does nothing.

Throws:

FcsHardwareException

goToStandby

@Command(type=ACTION,
         level=1,
         description="Move Autochanger trucks to the Standby position.")
public void goToStandby()

Move Autochanger trucks to the Standby position. If Autochanger trucks are already at STANDBY position, it does nothing.

Throws:

RejectedCommandException

FcsHardwareException

moveToAbsoluteTargetPosition

@Command(type=ACTION,
         level=1,
         description="Move Autochanger trucks to the absolute position given as argument.",
         alias="mobeABSPos")
public void moveToAbsoluteTargetPosition(int targetPosition)

Move the trucks to an absolute position given as argument.

Parameters:

targetPosition -

Throws:

RejectedCommandException

FcsHardwareException

moveToRelativeTargetPosition

@Command(type=ACTION,
         level=1,
         description="Move Autochanger trucks to the relative position given as argument.",
         alias="moveRELPos")
public void moveToRelativeTargetPosition(int relativePosition)

Move the trucks to a relative position given as argument.

Parameters:

relativePosition -

Throws:

RejectedCommandException

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

checkPositionSensors

public void checkPositionSensors()

This method is called in the postAction method to check that after a motion to well known position as STANDBY, HANDOFF and ONLINE, position sensors confirm the trucks position. Otherwise it throws a FailedCommandException.

Throws:

FcsHardwareException

homing

@Command(type=ACTION,
         level=1,
         description="Read actual position and do the homing of the master controllerwith this actual position.")
public void homing()

Do the homing of the trucks which consists in configuring the 2 controllers in order to configure the encoders and set the point "0".

Throws:

RejectedCommandException

FcsHardwareException

updatePosition

@Command(type=QUERY,
         level=1,
         description="Update trucks 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="Update trucks position in reading controller and return position.")
public int readPosition()

For the GUI and end users for test purpose. Update positon in reading the master controller and returns the value read.

Returns:

trucks position

Throws:

RejectedCommandException

FcsHardwareException

isCANDevicesReady

public boolean isCANDevicesReady()

Specified by:

isCANDevicesReady in class MobileItemModule

Returns:

true if both controllers are initialized and homing of trucks are done.

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Specified by:

isActionCompleted in class MobileItemModule

updateStateWithSensorsToCheckIfActionIsCompleted

public void updateStateWithSensorsToCheckIfActionIsCompleted()

Specified by:

updateStateWithSensorsToCheckIfActionIsCompleted in class MobileItemModule

configureDigitalInputOfLinearRails

@Command(type=ACTION,
         level=1,
         description="To configure the autochanger linear rails controllers.")
public static void configureDigitalInputOfLinearRails(EPOSController ctl)

This configures the digital inputs of the EPOS controller to work with a holding brake. This configuration is required for the controllers of the Linear Rails of the autochanger. Digital Inputs activated for Linear Rails : Drive Enable Input=01 Mask=Enabled Polarity=HighActive QuickStop Input=02 Mask=Enabled Polarity=HighActive ********************************************* 1 - Configure the Digital Input Functionnality index 0x2070 subindex 01 to 04 Functionnality tab Value = 15 General Purpose A Value = 14 General Purpose B Value = 13 General Purpose C Value = 12 General Purpose D Value = 11 General Purpose E Value = 10 General Purpose F Value = 9 General Purpose G Value = 8 General Purpose H Value = 7 General Purpose I Value = 6 General Purpose J Value = 5 QuickStop 1 Value = 4 Drive enable 1 Value = 3 Position marker 0 Value = 2 Home switch 0 Value = 1 Positive Limit switch 0 Value = 0 Negative Limit switch 0 ********************************************* 2 - Configure the Digital Input Polarity index 0x2071 subindex 03 Value=0 HighActive Value=1 Low Active ********************************************* 3 - Configure the Digital Input Mask index 0x2071 subindex 02 Value=0 HighActive Value=1 Low Active ******************************************** 4 - Configure the Digital Input Execution Mask index 0x2071 subindex 04 Used to suppress execution of the digital input functionalities. The function (Negative or Positive Limit Switch Error Routine) will be executed when the associated bit in functionalities state register goes high and the bit in this execution mask is set. Functionnality tab Value = 15 General Purpose A 0 Value = 14 General Purpose B 0 Value = 13 General Purpose C 0 Value = 12 General Purpose D 0 Value = 11 General Purpose E 0 Value = 10 General Purpose F 0 Value = 9 General Purpose G 0 Value = 8 General Purpose H 0 Value = 7 General Purpose I 0 Value = 6 General Purpose J 0 Value = 5 QuickStop 1 Value = 4 Drive enable 1 Value = 3 Position marker 0 Value = 2 Home switch 0 Value = 1 Positive Limit switch 0 Value = 0 Negative Limit switch 0 To configure the autochanger linear rails controllers. This method is to be executed during initialization phase.

Throws:

SDORequestException

configureDigitalOutputOfLinearRails

@Command(type=ACTION,
         level=1,
         description="To configure the autochanger linear rails controllers.")
public static void configureDigitalOutputOfLinearRails(EPOSController ctl)

Configuration of an EPOS controller to work with a holding brake. This is used for controllers of the Autochanger Linear Rails. * ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital Outputs activated for Linear Rails are: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ General_A Output=01 Mask=Enabled Polarity=HighActive Ready/Fault Output=02 Mask=Enabled Polarity=HighActive Holding Brake Output=03 Mask=Enabled Polarity=LowActive ******************************************** 1- First of all, mask all outputs index 0x2079 subindex 01 ********************************************** 2- Configure the Digital Output Fonctionnalities index 0x2079 subindex 01 to 03 Functionnality tab Value = 15 General Purpose Out_A Value = 14 General Purpose Out_B Value = 13 General Purpose Out_C Value = 12 General Purpose Out_D Value = 11 General Purpose Out_E Value = 10..8 not used Value = 7..3 reserved Value = 2 Holding Brake Value = 1 Position compare Value = 0 Ready/Fault ************************************************************************************ 3 - Configure the Digital Output Functionnality Polarity index 0x2078 subindex 0x03 Value = 0 associated output not change => HighActive Value = 1 associated output inverted => LowActive Tab Digital Output Functionnality Mask Value Bit_15 General Purpose Out_A 0 Bit_14 General Purpose Out_B 0 Bit_13 General Purpose Out_C 0 Bit_12 General Purpose Out_D 0 Bit_11 General Purpose Out_E 0 Bit_10 General Purpose Out_F 0 Bit_9 General Purpose Out_G 0 Bit_8 General Purpose Out_H 0 Bit_7 reserved 0 Bit_6 reserved 0 Bit_5 reserved 0 Bit_4 reserved 0 Bit_3 reserved 0 Bit_2 Holding Brake 1 (read only) Bit_1 Position Compare 0 (read only) Bit_0 Ready/Fault 0 (read only) ******************************************************************************** 4 - Configure the Digital Output Functionnality Mask index 0x2078 subindex 0x02 Value = 0 functionnality not activatd Value = 1 functionnality activated ******************************************************************************** Digital Output Functionnality Mask Value Bit_15 General Purpose Out_A 1 Bit_14 General Purpose Out_B 0 Bit_13 General Purpose Out_C 0 Bit_12 General Purpose Out_D 0 Bit_11 General Purpose Out_E 0 Bit_10 General Purpose Out_F 0 Bit_9 General Purpose Out_G 0 Bit_8 General Purpose Out_H 0 Bit_7 reserved 0 Bit_6 reserved 0 Bit_5 reserved 0 Bit_4 reserved 0 Bit_3 reserved 0 Bit_2 Holding Brake 1 Bit_1 Position Compare 0 Bit_0 Ready/Fault 1 ******************************************************************************** To configure the autochanger linear rails controllers. This method is to be executed during initialization phase.

Parameters:

ctl - controller

Throws:

SDORequestException

getStatusData

public StatusDataPublishedByAutoChangerTrucks getStatusData()

Build the class StatusDataPublishedByAutoChangerTrucks

Returns:

status data

createStatusDataPublishedByAutoChangerTrucks

public StatusDataPublishedByAutoChangerTrucks createStatusDataPublishedByAutoChangerTrucks()

Creates an object to be published on the status bus.

Returns:

publishData

public void publishData()

Specified by:

publishData in class MobileItemModule