org.lsst.ccs.subsystems.fcs

Class LoaderClampModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.LoaderClampModule

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, MovedByEPOSController, org.lsst.ccs.UsesSubsystem

public class LoaderClampModule
extends MobileItemModule
implements MovedByEPOSController

This is model for the clamps mechanism in the loader. 4 hooks are used for the clamping of the filter in the loader. This hooks are moved all together by the hooksController. Raises alert : - CAN_BUS_TIMEOUT in updateStateWithSensorsToCheckIfActionIsCompleted

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 boolean	updatingState

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
LoaderClampModule(LoaderHookModule hook1, LoaderHookModule hook2, LoaderHookModule hook3, LoaderHookModule hook4, Map<String,Integer> paramsForCurrentToClamp, Map<String,Integer> paramsForCurrentToGoHomePosition) Build a new LoaderClampModule with 4 hooks and the parameters to configure the EPOS controller in mode CURRENT and in mode HOMING.

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay)
void	checkConditionsToGoToHomePosition()
org.lsst.ccs.framework.TreeWalkerDiag	checkHardware()
void	checkInitialized() Check if clamp is initialized.
void	checkSensorsOK() check if clamp sensors have correct values.
void	clamp() Clamp clamp or strongly close.
void	close() Close clamp in order to hold the filter.
StatusDataPublishedByLoaderClamp	createStatusDataPublishedByLoaderClamp() Creates and returns the object to be published on the STATUS bus by the LoaderClampModule.
String	getControllerName() Returns controller name.
int	getCurrentToClamp()
int	getCurrentToGoHome()
FcsEnumerations.LockStatus	getLockStatus()
int	getTargetPositionToClamp()
int	getTargetPositionToClose()
int	getTargetPositionToOpen()
void	goToClampedPosition() In the initialisation phase, this close the clamp to be able to define the absolute position of the encoder.
void	goToHomePosition() In the initialisation phase, this open the clamp to be able to define the absolute position of the encoder.
void	initializeHardware() If loader is empty, go to home position otherwise go to clamped position.
void	initModule()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action) Check if the action is completed.
boolean	isAtClampedPosition() Returns true if hook is closed and at clamped position
boolean	isAtClosedPosition() Returns true if hook is at closed position.
boolean	isAtHomePosition() Returns true if hook is open and at home position
boolean	isAtOpenPosition() Returns true if hook is at open position.
boolean	isCANDevicesReady() Returns true if loader CANopen devices are booted, identified and initialized.
boolean	isControllerInFault() Return true if the controller is in fault (an EmergencyMessage has been previously received.)
boolean	isInError() Returns true if clamp LockStatus is in ERROR or LockStatus is UNKNOWN.
boolean	isInitialized() Returns true if loader clamp is initialized.
boolean	isLocked() Returns true if LockStatus=LOCKED
boolean	isUnlocked() Returns true if LockStatus=UNLOCKED
String	listHooks() Lists and display hooks ino.
String	listSensorsValues() List and display clamp sensors values.
void	open() Open clamp in order to release filter.
void	postAction(FcsEnumerations.MobileItemAction action)
String	printHardwareState() Return a printed list of hardware with initialization information.
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
void	setControllerInFault(boolean controllerInFault)
void	startAction(FcsEnumerations.MobileItemAction action)
void	tick()
String	toString()
void	updateCurrent() Updates the field readCurrent of the clamp in reading the CPU of the controller.
void	updatePosition() Updates the position of the clamp 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, wait, wait, wait

Methods inherited from interface org.lsst.ccs.subsystems.fcs.common.MovedByEPOSController

processEmergencyMessage, processFaultReset, processUpdate

Methods inherited from interface org.lsst.ccs.UsesSubsystem

getComponentConfigurationEnvironment, getComponentLookup, getName, getSubsystem

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.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

updatingState

protected volatile boolean updatingState

Constructor Detail

LoaderClampModule

public LoaderClampModule(LoaderHookModule hook1,
                         LoaderHookModule hook2,
                         LoaderHookModule hook3,
                         LoaderHookModule hook4,
                         Map<String,Integer> paramsForCurrentToClamp,
                         Map<String,Integer> paramsForCurrentToGoHomePosition)

Build a new LoaderClampModule with 4 hooks and the parameters to configure the EPOS controller in mode CURRENT and in mode HOMING.

Parameters:

hook1 -

hook2 -

hook3 -

hook4 -

paramsForCurrentToClamp -

paramsForCurrentToGoHomePosition -

Method Detail

getControllerName

public String getControllerName()

Returns controller name.

Specified by:

getControllerName in interface MovedByEPOSController

Returns:

isControllerInFault

public boolean isControllerInFault()

Description copied from interface: MovedByEPOSController

Return true if the controller is in fault (an EmergencyMessage has been previously received.)

Specified by:

isControllerInFault in interface MovedByEPOSController

Returns:

setControllerInFault

public void setControllerInFault(boolean controllerInFault)

Specified by:

setControllerInFault in interface MovedByEPOSController

getTargetPositionToOpen

public int getTargetPositionToOpen()

getTargetPositionToClose

public int getTargetPositionToClose()

getTargetPositionToClamp

public int getTargetPositionToClamp()

getCurrentToClamp

public int getCurrentToClamp()

getCurrentToGoHome

public int getCurrentToGoHome()

isInitialized

@Command(type=QUERY,
         level=1,
         description="Returns true if loader clamp is initialized.")
public boolean isInitialized()

Returns true if loader clamp is initialized.

Returns:

getLockStatus

public FcsEnumerations.LockStatus getLockStatus()

Returns:

lockStatus

isLocked

@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=LOCKED")
public boolean isLocked()

Returns true if LockStatus=LOCKED

Returns:

isUnlocked

@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=UNLOCKED")
public boolean isUnlocked()

Returns true if LockStatus=UNLOCKED

Returns:

isInError

@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=UNLOCKED")
public boolean isInError()

Returns true if clamp LockStatus is in ERROR or LockStatus is UNKNOWN. That means that one hook is in ERROR status or one or more of the 4 hooks has a different LockStatus than the other.

Returns:

true if clamp LockStatus is in ERROR or LockStatus is UNKNOWN.

isCANDevicesReady

public boolean isCANDevicesReady()

Returns true if loader CANopen devices are booted, identified and initialized.

Specified by:

isCANDevicesReady in class MobileItemModule

Returns:

initModule

public void initModule()

Overrides:

initModule in class MobileItemModule

isAtHomePosition

@Command(type=QUERY,
         level=1,
         description="Returns true if clamp is open and at home position")
public boolean isAtHomePosition()

Returns true if hook is open and at home position

Returns:

isAtClampedPosition

@Command(type=QUERY,
         level=1,
         description="Returns true if hook is closed and at clamped position")
public boolean isAtClampedPosition()

Returns true if hook is closed and at clamped position

Returns:

isAtClosedPosition

@Command(type=QUERY,
         level=1,
         description="Returns true if hook is at closed position.")
public boolean isAtClosedPosition()

Returns true if hook is at closed position.

Returns:

isAtOpenPosition

@Command(type=QUERY,
         level=1,
         description="Returns true if hook is at open position.")
public boolean isAtOpenPosition()

Returns true if hook is at open position.

Returns:

initializeHardware

@Command(type=ACTION,
         level=1,
         description="Attention : this commands moves the clamp to do the homing of the controller. If loader is empty, go to home position otherwise go to clamped position.",
         alias="homing")
public void initializeHardware()

If loader is empty, go to home position otherwise go to clamped position. ATTENTION : this command moves the clamp.

Throws:

FcsHardwareException

checkHardware

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

Specified by:

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

Overrides:

checkHardware in class MobileItemModule

Throws:

org.lsst.ccs.HardwareException

checkSensorsOK

public void checkSensorsOK()

check if clamp sensors have correct values.

Throws:

FcsHardwareException - if in error.

checkInitialized

public void checkInitialized()

Check if clamp is initialized.

Throws:

RejectedCommandException - if clamp is not initialized

tick

public void tick()

Overrides:

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

goToClampedPosition

@Command(type=ACTION,
         level=1,
         description="Go to clamped position to intialize hardware.")
public void goToClampedPosition()

In the initialisation phase, this close the clamp to be able to define the absolute position of the encoder.

Throws:

RejectedCommandException

FcsHardwareException

goToHomePosition

@Command(type=ACTION,
         level=1,
         description="Go to home position to initialize hardware.")
public void goToHomePosition()

In the initialisation phase, this open the clamp to be able to define the absolute position of the encoder. September 2014 : this command is also used to open the clamp.

Throws:

RejectedCommandException

FcsHardwareException

checkConditionsToGoToHomePosition

public void checkConditionsToGoToHomePosition()

close

@Command(type=ACTION,
         level=1,
         description="Close clamp.")
public void close()

Close clamp in order to hold the filter. When the clamp is closed, the filter is held by loader so autochanger can open its latches and move trucks back without the filter.

Throws:

RejectedCommandException

FailedCommandException

FcsHardwareException

clamp

@Command(type=ACTION,
         level=1,
         description="Clamp clamp.")
public void clamp()

Clamp clamp or strongly close. When the clamp is clamped, the filter is held strongly and so the carrier can go to STORAGE position safely.

Throws:

RejectedCommandException

FailedCommandException

FcsHardwareException

open

@Command(type=ACTION,
         level=1,
         description="Open clamp.")
public void open()

Open clamp in order to release filter.

Throws:

RejectedCommandException

FailedCommandException

FcsHardwareException

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Check if the action is completed. This method is called after updateStateWithSensorsToCheckIfActionIsCompleted where the different new values of current or position or sensors values have been updated.

Specified by:

isActionCompleted in class MobileItemModule

Parameters:

action -

Returns:

updateStateWithSensorsToCheckIfActionIsCompleted

public void updateStateWithSensorsToCheckIfActionIsCompleted()

Specified by:

updateStateWithSensorsToCheckIfActionIsCompleted in class MobileItemModule

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

updateCurrent

@Command(type=QUERY,
         level=1,
         description="Update clamp current in reading controller.")
public void updateCurrent()

Updates the field readCurrent of the clamp in reading the CPU of the controller.

Throws:

FcsHardwareException

updatePosition

@Command(type=QUERY,
         level=1,
         description="Update clamp position in reading controller.")
public void updatePosition()

Updates the position of the clamp in reading the CPU of the controller.

Throws:

FcsHardwareException

listHooks

@Command(type=QUERY,
         level=1,
         description="List and display clamp info.")
public String listHooks()

Lists and display hooks ino. For end user at the console.

Returns:

listSensorsValues

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

List and display clamp sensors values. for end user

Returns:

printHardwareState

@Command(type=ACTION,
         level=1,
         description="Return a printed list of hardware with initialization information.")
public String printHardwareState()

Return a printed list of hardware with initialization information. For debug purpose.

Returns:

toString

@Command(type=QUERY,
         level=1,
         description="List and display clamp info.")
public String toString()

Overrides:

toString in class Object

createStatusDataPublishedByLoaderClamp

public StatusDataPublishedByLoaderClamp createStatusDataPublishedByLoaderClamp()

Creates and returns the object to be published on the STATUS bus by the LoaderClampModule.

Returns:

publishData

public void publishData()

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

Specified by:

publishData in interface MovedByEPOSController

Specified by:

publishData in class MobileItemModule