org.lsst.ccs.subsystems.fcs

Class CarouselSocket

java.lang.Object

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

org.lsst.ccs.subsystems.fcs.CarouselSocket

All Implemented Interfaces:

org.lsst.ccs.framework.AlertHandler, org.lsst.ccs.framework.ClearAlertHandler, org.lsst.ccs.framework.HardwareController, org.lsst.ccs.framework.HasLifecycle, org.lsst.ccs.framework.SignalHandler, AlertRaiser, org.lsst.ccs.UsesSubsystem

public class CarouselSocket
extends MobileItemModule
implements org.lsst.ccs.framework.ClearAlertHandler

This is a socket on the carousel : there is 5 sockets on a carousel. When a filter is on the carousel, it is attached at a socket. A socket has a clamp on each side : - clampX- (clampXminus) - clampX+ (clampXplus) clampX+ and clampX- are the same except for the method isLocked() See FilterClampXminusModule and FilterClampXplusModule The main job of this class CarouselSocket is to synchronize the actions on the 2 clamps. The state of the CarouselSocket is the state of the clamps when both clamps state are identical. During an action on both clamps, we want to lock the CarouselSocket so no other thread can try to access this object before the completion of action. We do that with a Lock and Condition. (see java.util.concurrent). CarouselSocket extends MobileItemModule because we want to lock or release the clamps when the carousel is at standby position and we want to wait until the action is completed. We know if the action is completed in reading the clamps sensors. So we use the general mechanism provided by the MobileItemModule. this class raises ALERT FCS004 in method updateStateWithSensorsToCheckIfActionIsCompleted

Author:

virieux

Nested Class Summary

Nested classes/interfaces inherited from interface org.lsst.ccs.framework.ClearAlertHandler

org.lsst.ccs.framework.ClearAlertHandler.ClearAlertCode

Field Summary

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

currentAction, FCSLOG, hasToWaitForEndOfAction, lock, name, scheduler

Fields inherited from interface org.lsst.ccs.subsystems.fcs.common.AlertRaiser

alertSeparater

Constructor Summary

Constructors

Constructor and Description
CarouselSocket(CarouselClampModule clampXminus, CarouselClampModule clampXplus, int standbyPosition) Build a new CarouselSocket with a tickMillis of 5000.

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay) aborts action actually running.
org.lsst.ccs.framework.ClearAlertHandler.ClearAlertCode	canClearAlert(org.lsst.ccs.bus.data.Alert alert)
StatusDataPublishedByCarouselSocket	createStatusDataPublishedByCarouselSocket() Create an object to be published on the STATUS bus by a CarouselSocket.
FcsEnumerations.FilterClampState	getClampsState() Returns the state of the clamps.
CarouselClampModule	getClampXminus()
CarouselClampModule	getClampXplus()
Filter	getFilter()
int	getStandbyPosition()
void	init() ***********************************************************************************************
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isAtStandby() Return true if this socket is at STANDBY position.
boolean	isClampedOnFilter()
boolean	isEmpty()
boolean	isReadyToClamp()
boolean	isUnclampedEmpty()
boolean	isUnclampedOnFilter()
boolean	myDevicesReady() Return True if all CAN open devices useful for this MobileItemMobile are ready for an action.
void	postAction(FcsEnumerations.MobileItemAction action)
void	publishData()
void	putFilterOnSocket(Filter filter) This is only a software operation.
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
void	releaseClamps() Releases the 2 clamps of the socket.
void	removeFilter() Software removing.
void	setClampXminus(CarouselClampModule clampXminus)
void	setClampXplus(CarouselClampModule clampXplus)
void	startAction(FcsEnumerations.MobileItemAction action) Start action of unlocking or releasing clamps.
String	toString()
void	unlockClamps() This method unclamps the 2 clamps at standby position.
void	updateClampsStateWithSensors() Update clamps state in reading sensors.
void	updateClampsStateWithSensors(PDOStorage pdoStorage)
void	updateClampsStateWithSensorsFromSDO() Deprecated.
void	updateStateWithSensorsToCheckIfActionIsCompleted() reads sensors or any device and updates state from sensors it can be also reading a position or a current on a motor controller.

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

abort, abort, checkReadyForAction, checkStopped, executeAction, getHaltRequired, isMoving, quickstop, readSensorsUntilActionIsCompleted, shutdownNow, signal, stop, stop

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface org.lsst.ccs.framework.HardwareController

checkHardware, checkStarted

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

raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseWarning, raiseWarning, raiseWarning, raiseWarning, raiseWarning

Methods inherited from interface org.lsst.ccs.framework.SignalHandler

sendSignal, sendSignalWithTimeLimit

Methods inherited from interface org.lsst.ccs.UsesSubsystem

getComponentConfigurationEnvironment, getComponentLookup, getName, getSubsystem

Methods inherited from interface org.lsst.ccs.framework.HasLifecycle

postInit, postShutdown, postStart, start

Constructor Detail

CarouselSocket

public CarouselSocket(CarouselClampModule clampXminus,
                      CarouselClampModule clampXplus,
                      int standbyPosition)

Build a new CarouselSocket with a tickMillis of 5000.

Parameters:

clampXminus -

clampXplus -

standbyPosition -

Method Detail

getClampXminus

public CarouselClampModule getClampXminus()

setClampXminus

public void setClampXminus(CarouselClampModule clampXminus)

getClampXplus

public CarouselClampModule getClampXplus()

setClampXplus

public void setClampXplus(CarouselClampModule clampXplus)

getFilter

public Filter getFilter()

getStandbyPosition

public int getStandbyPosition()

isAtStandby

@Command(type=QUERY,
         level=1,
         description="Returns true if this socket is at STANDBY position on the carousel.")
public boolean isAtStandby()

Return true if this socket is at STANDBY position.

Returns:

init

public void init()

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

Specified by:

init in interface org.lsst.ccs.framework.HasLifecycle

myDevicesReady

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

Description copied from class: MobileItemModule

Return True if all CAN open devices useful for this MobileItemMobile are ready for an action. As an example, if this mobil item is moved by a controller and sensors are read through a sensors gateway, this method will return True when the controller and the gateway are ready to be used (booted, configured, homing done if needed).

Specified by:

myDevicesReady in class MobileItemModule

Returns:

getClampsState

@Command(type=QUERY,
         level=0,
         description="Return clamps state - doesn\'t read again sensors.")
public FcsEnumerations.FilterClampState getClampsState()

Returns the state of the clamps. If the state is being updated and waiting for a response from a sensor, this methods waits until the state is updated. If the state is not being updated, it returns immediatly the state.

Returns:

state

updateClampsStateWithSensorsFromSDO

@Deprecated
public void updateClampsStateWithSensorsFromSDO()

Deprecated.

This method updates the state of the 2 clamps in reading the values sent by the sensors. The values of the sensors are read clamp by clamp with read SDO commands.

Throws:

FcsHardwareException

updateClampsStateWithSensors

public void updateClampsStateWithSensors(PDOStorage pdoStorage)

updateClampsStateWithSensors

@Command(type=QUERY,
         level=0,
         description="Update clamps state in reading sensors.")
public void updateClampsStateWithSensors()

Update clamps state in reading sensors.

Throws:

FcsHardwareException

isEmpty

@Command(type=QUERY,
         level=0,
         description="Returns true if there is no filter in the socket.")
public boolean isEmpty()

isClampedOnFilter

@Command(type=QUERY,
         level=0,
         description="Returns true if there is a filter in the socket and the clampsare LOCKED.")
public boolean isClampedOnFilter()

isUnclampedOnFilter

@Command(type=QUERY,
         level=0,
         description="Returns true if there is a filter in the socket and the clampsare UNLOCKED.")
public boolean isUnclampedOnFilter()

isUnclampedEmpty

@Command(type=QUERY,
         level=0,
         description="Returns true if there is NO filter in the socket and the clampsare UNLOCKED.")
public boolean isUnclampedEmpty()

isReadyToClamp

@Command(type=QUERY,
         level=0,
         description="Returns true if this socket is ready to clamp a filter.")
public boolean isReadyToClamp()

releaseClamps

@Command(type=ACTION,
         level=1,
         description="Release the 2 clamps of this socket if the socket is at STANDBY position.")
public void releaseClamps()

Releases the 2 clamps of the socket.

Throws:

FcsHardwareException

unlockClamps

@Command(type=ACTION,
         level=1,
         description="Unlock the 2 clamps of this socket if the socket is at STANDBY position.")
public void unlockClamps()

This method unclamps the 2 clamps at standby position.

Throws:

FcsHardwareException

removeFilter

public void removeFilter()

Software removing. Removes a filter from carousel. This method has no action on hardware. It updates the objects Socket and Filter. A filter can be removed from Carousel only when the socketAtStandby is at standby filterPosition.

putFilterOnSocket

public void putFilterOnSocket(Filter filter)

This is only a software operation. It updates the filter when a filter is seen by the sensors.

Parameters:

filter -

toString

@Command(type=QUERY,
         level=1,
         description="Returns a String representation of a CarouselSocket.")
public String toString()

Overrides:

toString in class Object

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Specified by:

isActionCompleted in class MobileItemModule

updateStateWithSensorsToCheckIfActionIsCompleted

public void updateStateWithSensorsToCheckIfActionIsCompleted()

Description copied from class: MobileItemModule

reads sensors or any device and updates state from sensors it can be also reading a position or a current on a motor controller. It's abstract because it'up to the sub-classes to know what to do.

Specified by:

updateStateWithSensorsToCheckIfActionIsCompleted in class MobileItemModule

startAction

public void startAction(FcsEnumerations.MobileItemAction action)

Start action of unlocking or releasing clamps.

Specified by:

startAction in class MobileItemModule

Parameters:

action -

Throws:

FcsHardwareException

postAction

public void postAction(FcsEnumerations.MobileItemAction action)

Specified by:

postAction in class MobileItemModule

abortAction

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

Description copied from class: MobileItemModule

aborts action actually running. It has to be specified in sub-classes. It can be : write a zero value of current or send a stop command to a controller.

Specified by:

abortAction in class MobileItemModule

publishData

public void publishData()

Specified by:

publishData in class MobileItemModule

createStatusDataPublishedByCarouselSocket

public StatusDataPublishedByCarouselSocket createStatusDataPublishedByCarouselSocket()

Create an object to be published on the STATUS bus by a CarouselSocket.

Returns:

quickStopAction

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

Specified by:

quickStopAction in class MobileItemModule

canClearAlert

public org.lsst.ccs.framework.ClearAlertHandler.ClearAlertCode canClearAlert(org.lsst.ccs.bus.data.Alert alert)

Specified by:

canClearAlert in interface org.lsst.ccs.framework.ClearAlertHandler