package autochanger

import org.lsst.ccs.subsystems.fcs.*
import org.lsst.ccs.subsystems.fcs.testbench.*
import org.lsst.ccs.subsystems.fcs.common.*
import org.lsst.ccs.subsystems.fcs.simulation.*
import org.lsst.ccs.subsystems.fcs.drivers.*
import org.lsst.ccs.description.groovy.CCSBuilder



def acPlutoGatewayName = "acSensorsGateway" // to monitor the autochanger sensors

CCSBuilder builder = ["autochanger-standalone"]

builder.
    main (AutochangerMainModule, 
    bridge:ref("tcpProxy"), autochanger:ref("autochanger"))
//begin description of Main submodules
{  
    //-------------------------
    // BEGIN Filter Manager description
    
    filterManager(FilterManager) {//begin description of filter manager's children
        filterU (Filter,filterID:1, weight:38, socketName:"socket1")
        filterG (Filter,filterID:2, weight:33, socketName:"socket2")
        filterR (Filter,filterID:3, weight:30, socketName:"socket3")
        filterI (Filter,filterID:4, weight:28, socketName:"socket4")
        filterZ (Filter,filterID:5, weight:28, socketName:"socket5")
        filterY (Filter,filterID:6, weight:22.5,socketName:"OUT")
        dummyFilter (Filter,filterID:10,weight:44.5,socketName:"OUT")
    }//end description of filter manager's children
    // END Filter Manager description
    // ------------------------------
    
    //-------------------------
    // BEGIN Filter Identificator description
    filterIdentificator(FilterIdentificator,plutoGatewayName: acPlutoGatewayName)
    {//begin description of filter Identificator's children
        filterIDSensor0 ( DigitalSensor,
            dioName:acPlutoGatewayName,inputNumero:0,byteNumero:4)
        
        filterIDSensor1 ( DigitalSensor,
            dioName:acPlutoGatewayName,inputNumero:1,byteNumero:4)
        
        filterIDSensor2 ( DigitalSensor,
            dioName:acPlutoGatewayName,inputNumero:2,byteNumero:4)
        
        filterIDSensor3 ( DigitalSensor,
            dioName:acPlutoGatewayName,inputNumero:3,byteNumero:4)
        
        filterIDSensor4 ( DigitalSensor,
            dioName:acPlutoGatewayName,inputNumero:4,byteNumero:4)
        
        filterIDSensor5 ( DigitalSensor,
            dioName:acPlutoGatewayName,inputNumero:5,byteNumero:4)
    }//end description of filter identificator's children
    // END Filter Identificator description
    // tcp Proxy
    tcpProxy (SimuCanOpenProxy,
        portNumber:50000,fieldBusTimeout:2000,clientName:"TestBench",
        hardwareBootTimeout:1000
    ) {
        
        // can open devices
        "$acPlutoGatewayName" (SimuAutochangerStandalonePlutoGateway,
            nodeID:"3a",serialNB:"3269")
        
        brakeSystemGateway (CanOpenPlutoGateway,
            nodeID:"2b",serialNB:"2071")
        
        // can open devices
        linearRailMasterController (SimuAutochangerLinearRailController, 
            nodeID:"2a",serialNB:"80001881",plutoGatewayName:acPlutoGatewayName,
            paramsForCurrent:[
                MotorType:10, PositionSensorType:260,PolePairNumber:1,
                ContinuousCurrentLimit:7200,OutputCurrentLimit:14400,
                ThermalTimeConstantWinding:187,
                MaxSpeedInCurrentMode:9140],
            paramsForProfilePosition:[
                ProfileAcceleration:1207, ProfileDeceleration:1207,
                MaxProfileVelocity:322, QuickStopDeceleration:1207,
                MaxFollowingError:200000,//on verra plus tard
                ProfileVelocity:281,MotionProfileType:0],
            paramsForHoming:[HomeOffset:0],
            encoderRibbonMinValue:8161299,

        )

        // can open devices
        linearRailSlaveController (SimuAutochangerLinearRailController, 
            nodeID:"2c",serialNB:"80001932",plutoGatewayName:acPlutoGatewayName,
            paramsForCurrent:[
                MotorType:10, PositionSensorType:1,PolePairNumber:1,
                ContinuousCurrentLimit:7200,OutputCurrentLimit:14400,
                ThermalTimeConstantWinding:187,MaxSpeedInCurrentMode:9140],
            paramsForProfilePosition: [
                ProfileAcceleration:30000,
                ProfileDeceleration:30000,
                ProfileVelocity:7000,
                QuickStopDeceleration:30000,
                MaxFollowingError:7000,
                MotionProfileType:0],
            paramsForHoming:[HomeOffset:0],
            encoderRibbonMinValue:7449994,

        )

        latchXminusController (SimuAutochangerLatchController,  //CanOpenEPOS24-3
            nodeID:"f",serialNB:"84004735",latchName:"latchXminus",plutoGatewayName:acPlutoGatewayName,
            paramsForCurrent:[MotorType:1, PositionSensorType:0,PolePairNumber:2,
                ContinuousCurrentLimit:300,OutputCurrentLimit:200,
                ThermalTimeConstantWinding:40,
                MaxSpeedInCurrentMode:100],
            paramsForProfilePosition:[MotionProfileType:0],
            paramsForHoming:[HomeOffset:0],
        )

        // can open devices
        latchXplusController (SimuAutochangerLatchController,  //CanOpenEPOS24-3
            nodeID:"e", serialNB:"84004711", latchName:"latchXplus", plutoGatewayName:acPlutoGatewayName,
            paramsForCurrent:[
                MotorType:1, PositionSensorType:0,PolePairNumber:2,
                ContinuousCurrentLimit:300,OutputCurrentLimit:200,
                ThermalTimeConstantWinding:40,MaxSpeedInCurrentMode:100],
            paramsForProfilePosition:[MotionProfileType:0],
            paramsForHoming:[HomeOffset:0])

        // can open devices
        onlineClampXminusController (SimuAutochangerOnlineClampController, 
            nodeID:"31",serialNB:"79011618",onlineClampName:"onlineClampXminus",
            paramsForCurrent: [
                MotorType:1, PositionSensorType:0,PolePairNumber:1,
                ContinuousCurrentLimit:5000,OutputCurrentLimit:4000,
                ThermalTimeConstantWinding:160,MaxSpeedInCurrentMode:6930],
            paramsForProfilePosition:[ 
                ProfileAcceleration:30000, ProfileDeceleration:30000,
                ProfileVelocity:7000, QuickStopDeceleration:10000,
                MaxFollowingError:2000, MotionProfileType:0],
            paramsForHoming:[
                HomeOffset:0, MaxProfileVelocity:6930,
                SpeedForSwitchSearch:100, SpeedForZeroSearch:10,
                HomingAcceleration:1000,CurrentThresholdHomingMode:500,
                HomePosition:0]
        )
        // can open devices
        onlineClampXplusController (SimuAutochangerOnlineClampController, 
            nodeID:"30", serialNB:"79011616", onlineClampName:"onlineClampXplus",
            paramsForCurrent: [
                MotorType:1, 
                PositionSensorType:0,
                PolePairNumber:1,
                ContinuousCurrentLimit:5000,
                OutputCurrentLimit:4000,
                ThermalTimeConstantWinding:160, 
                MaxSpeedInCurrentMode:6930],
            paramsForProfilePosition:[
                ProfileAcceleration:30000, 
                ProfileDeceleration:30000,
                ProfileVelocity:7000, 
                QuickStopDeceleration:10000,
                MaxFollowingError:2000, 
                MotionProfileType:0],
            paramsForHoming:[
                HomeOffset:0, 
                MaxProfileVelocity:6930, 
                SpeedForSwitchSearch:100,
                SpeedForZeroSearch:10, 
                HomingAcceleration:1000,
                CurrentThresholdHomingMode:500, 
                HomePosition:0]
        )
        // can open devices
        onlineClampYminusController (SimuAutochangerOnlineClampController, 
            nodeID:"32", serialNB:"79011243", onlineClampName:"onlineClampYminus",
            paramsForCurrent:[
                MotorType:1, PositionSensorType:0,PolePairNumber:1,
                ContinuousCurrentLimit:5000,OutputCurrentLimit:4000,
                ThermalTimeConstantWinding:160, MaxSpeedInCurrentMode:6930],
            paramsForProfilePosition:[
                ProfileAcceleration:30000,
                ProfileDeceleration:30000,
                ProfileVelocity:7000,
                QuickStopDeceleration:10000,
                MaxFollowingError:2000,
                MotionProfileType:0],
            paramsForHoming:[
                HomeOffset:0, MaxProfileVelocity:6930,
                SpeedForSwitchSearch:100,
                SpeedForZeroSearch:10,
                HomingAcceleration:1000,
                CurrentThresholdHomingMode:500,
                HomePosition:0]
        )
    //************************************//            
    }//end description of bridge's children
    //************************************//
    //**************************************************************************//
    // end of Bridge
    //**************************************************************************//
    
    /**********************************************************************/
    /*                FAKE CAROUSEL DESCRIPTION                       */
    /**********************************************************************/
    //in the autochanger standalone subsystem the fake carousel is a switch which
    //simulates that carousel holds a filter at STANDBY 
    
    carousel(FakeFilterHolder,
        plutoGatewayName:acPlutoGatewayName, 
        holdingFilterSensors:ref("carouselHoldingFilterSensors"),
    )
    {//begin description of fakeCarousel's children 
        carouselHoldingFilterSensors (ComplementarySensors,
            sensor:ref("carouselHoldingFilterSensor0"),
            sensorC:ref("carouselHoldingFilterSensor1"),
        )
        {
            carouselHoldingFilterSensor0(DigitalSensor ,
                dioName:acPlutoGatewayName, inputNumero:6,byteNumero:3)
            carouselHoldingFilterSensor1(DigitalSensor ,
                dioName:acPlutoGatewayName, inputNumero:7,byteNumero:3)
        }
    }//end description of fakeCarousel's children
    
    /**********************************************************************/
    /*                END of FAKE CAROUSEL DESCRIPTION                 */
    /**********************************************************************/

    /**********************************************************************/
    /*                FAKE LOADER DESCRIPTION                       */
    /**********************************************************************/
    //in the autochanger standalone subsystem the fake loader is a switch which
    //simulate that loader holds a filter at HANDOFF 

    loader(FakeFilterHolder, plutoGatewayName:acPlutoGatewayName, 
        holdingFilterSensors:ref("loaderHoldingFilterSensors"),
    )
    {//begin description of fakeAutochanger's children 
        loaderHoldingFilterSensors (ComplementarySensors,
            sensor:ref("loaderHoldingFilterSensor0"),
            sensorC:ref("loaderHoldingFilterSensor1"),
        ) {
            loaderHoldingFilterSensor0(DigitalSensor ,
                dioName:acPlutoGatewayName, inputNumero:6, byteNumero:2)
            loaderHoldingFilterSensor1(DigitalSensor ,
                dioName:acPlutoGatewayName, inputNumero:7, byteNumero:2)    
        }
    }//end description of fakeLoader's children
    
    /**********************************************************************/
    /*                END of FAKE AUTOCHANGER DESCRIPTION                 */
    /**********************************************************************/
    
    //**************************************************************************//
    //**************************************************************************//
    // autochanger
    //**************************************************************************//
    //**************************************************************************//
    autochanger(AutoChangerModule,
        plutoGatewayName:acPlutoGatewayName,
        loaderConnectedSensors:ref("loaderConnectedSensors"),
        trucks:ref("autochangerTrucks"),
        latches:ref("latches"),
        onlineClamps:ref("onlineClamps"),
        inclinometerXminus:ref("inclinometerXminus"),
        inclinometerXplus:ref("inclinometerXplus"),
    )
    {//begin description of autochanger children
        loaderConnectedSensors (ComplementarySensors,
            sensor:ref("loaderConnectedSensor"),
            sensorC:ref("loaderConnectedSensorC"),
            )
            {//begin description of autochanger loaderConnectedSensors children
                loaderConnectedSensor ( DigitalSensor ,
                    dioName:acPlutoGatewayName, inputNumero:4, byteNumero:2)
                loaderConnectedSensorC ( DigitalSensor ,
                    dioName:acPlutoGatewayName, inputNumero:5, byteNumero:2)
            }//end description of autochanger loaderConnectedSensors children
        //**************************************************************************//
        // autochanger trucks description
        //**************************************************************************//
        autochangerTrucks (AutoChangerTwoTrucksModule, 
            truckXminus:ref("acTruckXminus"), truckXplus:ref("acTruckXplus")
        )
        {//begin description of autochanger trucks children
            acTruckXminus (AutochangerTruckModule, 
                controller:ref("linearRailMasterController"),
                handoffPositionSensors:ref("handoffPositionSensorsXminus"),
                onlinePositionSensors:ref("onlinePositionSensorsXminus"),
                standbyPositionSensors:ref("standbyPositionSensorsXminus"),
            )
            {//begin description of autochanger truckXminus children
                handoffPositionSensorsXminus ( ComplementarySensors,
                    sensor: ref("handoffPositionSensorXminus"),
                    sensorC: ref("handoffPositionSensorBXminus"),
                )
                {
                    handoffPositionSensorXminus ( DigitalSensor ,
                        dioName:acPlutoGatewayName, inputNumero:0, byteNumero:1)

                    handoffPositionSensorBXminus ( DigitalSensor ,
                        dioName:acPlutoGatewayName, inputNumero:1, byteNumero:1)
                }
                onlinePositionSensorsXminus ( ComplementarySensors,
                    sensor: ref("onlinePositionSensorXminus"),
                    sensorC: ref("onlinePositionSensorBXminus"),
                )
                {
                    onlinePositionSensorXminus ( DigitalSensor ,
                        dioName:acPlutoGatewayName, inputNumero:2, byteNumero:1)

                    onlinePositionSensorBXminus ( DigitalSensor ,
                        dioName:acPlutoGatewayName,inputNumero:3, byteNumero:1)
                }
                standbyPositionSensorsXminus ( ComplementarySensors,
                    sensor: ref("standbyPositionSensorXminus"),
                    sensorC: ref("standbyPositionSensorBXminus"),
                )
                {
                    standbyPositionSensorXminus ( DigitalSensor ,
                        dioName:acPlutoGatewayName, inputNumero:6, byteNumero:0)

                    standbyPositionSensorBXminus ( DigitalSensor ,
                        dioName:acPlutoGatewayName, inputNumero:7, byteNumero:0)
                }
            }//end description of autochanger acTruckXminus children
            acTruckXplus (AutochangerTruckModule, 
                controller:ref("linearRailSlaveController"),
                handoffPositionSensors:ref("handoffPositionSensorsXplus"),
                onlinePositionSensors:ref("onlinePositionSensorsXplus"),
                standbyPositionSensors:ref("standbyPositionSensorsXplus"),
            )
            {//begin description of autochanger truckXplus children
                handoffPositionSensorsXplus (ComplementarySensors,
                    sensor: ref("handoffPositionSensorXplus"),
                    sensorC: ref("handoffPositionSensorBXplus"),
                )
                {
                    handoffPositionSensorXplus ( DigitalSensor ,
                        dioName:acPlutoGatewayName, inputNumero: 0, byteNumero:9)                                    
                    handoffPositionSensorBXplus ( DigitalSensor ,
                        dioName:acPlutoGatewayName, inputNumero:1, byteNumero:9)
                }
                onlinePositionSensorsXplus (ComplementarySensors,
                    sensor: ref("onlinePositionSensorXplus"),
                    sensorC: ref("onlinePositionSensorBXplus"),
                )
                {
                    onlinePositionSensorXplus ( DigitalSensor ,
                        dioName:acPlutoGatewayName, inputNumero:2, byteNumero:9)
                    onlinePositionSensorBXplus ( DigitalSensor ,
                        dioName:acPlutoGatewayName, inputNumero:3, byteNumero:9)
                }
                standbyPositionSensorsXplus (ComplementarySensors,
                    sensor: ref("standbyPositionSensorXplus"),
                    sensorC: ref("standbyPositionSensorBXplus"),
                )
                {
                    standbyPositionSensorXplus( DigitalSensor ,
                        dioName:acPlutoGatewayName, inputNumero:6, byteNumero:8)
                    standbyPositionSensorBXplus ( DigitalSensor ,
                        dioName:acPlutoGatewayName, inputNumero:7, byteNumero:8)
                }
            }//end description of autochanger acTruckXplus children
            
        }//end description of autochanger trucks children            
        //**************************************************************************//
        // end of autochanger trucks description
        //**************************************************************************//
        
        //**************************************************************************//
        // autochanger latches description
        //**************************************************************************//
        latches (AutochangerTwoLatches, latchXminus:ref("latchXminus"), latchXplus:ref("latchXplus"))
        {//begin description of autochanger latches children
            //*************************************//
            // autochanger latchXminus description
            //*************************************//
            latchXminus (AutochangerLatchModule,
                latchController:ref("latchXminusController"),
                lockSensors:ref("lockSensorsLatchXminus"),
                unlockSensors:ref("unlockSensorsLatchXminus"),
                filterEngagedSensors:ref("filterEngagedSensorsLatchXminus"),
            )
            {//begin description of autochanger latchXminus children
                lockSensorsLatchXminus ( ComplementarySensors,
                    sensor:ref("lockSensorLatchXminus"),
                    sensorC:ref("lockSensorBLatchXminus")
                )
                {//begin description of autochanger lockSensorslatchXminus children
                    lockSensorLatchXminus ( DigitalSensor,
                        dioName:acPlutoGatewayName, inputNumero:2, byteNumero:0)
                    lockSensorBLatchXminus ( DigitalSensor,
                        dioName:acPlutoGatewayName, inputNumero:3, byteNumero:0)
                }//end description of autochanger lockSensorslatchXminus children
                
                unlockSensorsLatchXminus ( ComplementarySensors,
                    sensor:ref("unlockSensorLatchXminus"),
                    sensorC:ref("unlockSensorBLatchXminus")
                )     
                {//begin description of autochanger unlockSensorslatchXminus children
                    unlockSensorLatchXminus ( DigitalSensor,
                        dioName:acPlutoGatewayName, inputNumero:0, byteNumero:0)
                    unlockSensorBLatchXminus ( DigitalSensor,
                        dioName:acPlutoGatewayName, inputNumero:1, byteNumero:0)
                }//end description of autochanger unlockSensorslatchXminus children

                filterEngagedSensorsLatchXminus ( ComplementarySensors,
                    sensor:ref("filterEngagedSensorLatchXminus"),
                    sensorC:ref("filterEngagedSensorBLatchXminus")
                )
                {//begin description of autochanger filterEngagedSensorslatchXminus children
                    filterEngagedSensorLatchXminus ( DigitalSensor,
                        dioName:acPlutoGatewayName, inputNumero:4, byteNumero:0)
                    filterEngagedSensorBLatchXminus ( DigitalSensor,
                        dioName:acPlutoGatewayName, inputNumero:5, byteNumero:0)
                }//end description of autochanger filterEngagedSensorslatchXminus children

            }//end description of autochanger latchXminus children
            //**********************************************//
            // end of autochanger latchXminus description   //
            //**********************************************//
            //*************************************//
            // autochanger latchXplus description
            //*************************************//
            latchXplus (AutochangerLatchModule,
                latchController:ref("latchXplusController"),
                lockSensors:ref("lockSensorsLatchXplus"),
                unlockSensors:ref("unlockSensorsLatchXplus"),
                filterEngagedSensors:ref("filterEngagedSensorsLatchXplus"),
            )
            {//begin description of autochanger latchXplus children
                lockSensorsLatchXplus ( ComplementarySensors,
                    sensor:ref("lockSensorLatchXplus"),
                    sensorC:ref("lockSensorBLatchXplus")
                )
                {//begin description of autochanger lockSensorslatchXplus children
                    lockSensorLatchXplus ( DigitalSensor,
                        dioName:acPlutoGatewayName, inputNumero:2, byteNumero:8)
                    lockSensorBLatchXplus ( DigitalSensor,
                        dioName:acPlutoGatewayName, inputNumero:3, byteNumero:8)
                }//end description of autochanger lockSensorslatchXplus children
                
                unlockSensorsLatchXplus ( ComplementarySensors,
                    sensor:ref("unlockSensorLatchXplus"),
                    sensorC:ref("unlockSensorBLatchXplus")
                )     
                {//begin description of autochanger unlockSensorslatchXplus children
                    unlockSensorLatchXplus ( DigitalSensor,
                        dioName:acPlutoGatewayName, inputNumero:0, byteNumero:8)
                    unlockSensorBLatchXplus ( DigitalSensor,
                        dioName:acPlutoGatewayName, inputNumero:1, byteNumero:8)
                }//end description of autochanger unlockSensorslatchXplus children

                filterEngagedSensorsLatchXplus ( ComplementarySensors,
                    sensor:ref("filterEngagedSensorLatchXplus"),
                    sensorC:ref("filterEngagedSensorBLatchXplus")
                )
                {//begin description of autochanger filterEngagedSensorslatchXplus children
                    filterEngagedSensorLatchXplus ( DigitalSensor,
                        dioName:acPlutoGatewayName, inputNumero:4, byteNumero:8)
                    filterEngagedSensorBLatchXplus ( DigitalSensor,
                        dioName:acPlutoGatewayName, inputNumero:5, byteNumero:8)
                }//end description of autochanger filterEngagedSensorslatchXplus children

            }//end description of autochanger latchXplus children
            //**********************************************//
            // end of autochanger latchXplus description   //
            //**********************************************//
        }//end description of autochanger latches children
        //*****************************************************************************//
        // end of autochanger latches description
        //*****************************************************************************//
        
        //**************************************************************************//
        //**************************************************************************//
        // autochanger onlineClamps description
        //**************************************************************************//
        //**************************************************************************//
        onlineClamps (AutochangerThreeOnlineClamps, 
            onlineClampXminus:ref("onlineClampXminus"), 
            onlineClampXplus:ref("onlineClampXplus"), 
            onlineClampYminus:ref("onlineClampYminus")) 
        {//begin description of autochanger onlineClamps children
            
            onlineClampXminus(AutochangerOnlineClampModule ,
                controller:ref("onlineClampXminusController"),
                closeSensors:ref("onlineClampXminusCloseSensors"),
                openSensors:ref("onlineClampXminusOpenSensors"),
                currentToClose:-350,
                currentToClamp:-3000,
            )
            {//begin description of autochanger onlineClampXminus children
                onlineClampXminusCloseSensors ( ComplementarySensors,
                    sensor:ref("onlineClampXminusCloseSensor"),
                    sensorC:ref("onlineClampXminusCloseSensorC")
                    )
                    {//begin description of autochanger onlineClampXminusCloseSensors children
                        onlineClampXminusCloseSensor ( DigitalSensor,
                            dioName:acPlutoGatewayName, inputNumero:6, byteNumero:1)
                        onlineClampXminusCloseSensorC ( DigitalSensor,
                            dioName:acPlutoGatewayName, inputNumero:7, byteNumero:1)
                    }//end description of autochanger onlineClampXminusCloseSensors children
                
                onlineClampXminusOpenSensors ( ComplementarySensors,
                    sensor: ref("onlineClampXminusOpenSensor"),
                    sensorC: ref("onlineClampXminusOpenSensorC")
                    )
                    {
                        onlineClampXminusOpenSensor ( DigitalSensor,
                            dioName:acPlutoGatewayName, inputNumero: 4, byteNumero: 1)
                        onlineClampXminusOpenSensorC ( DigitalSensor,
                            dioName:acPlutoGatewayName, inputNumero: 5, byteNumero: 1)  
                    }
                    
            }//end of  description of autochanger onlineClampXminus children
            
            onlineClampXplus(AutochangerOnlineClampModule ,
                controller:ref("onlineClampXplusController"),
                closeSensors:ref("onlineClampXplusCloseSensors"),
                openSensors:ref("onlineClampXplusOpenSensors"),
                currentToClose:300,
                currentToClamp:3000,
            )
            {//begin description of autochanger onlineClampXplus children
                
                onlineClampXplusCloseSensors ( ComplementarySensors,
                    sensor: ref("onlineClampXplusCloseSensor"),
                    sensorC: ref("onlineClampXplusCloseSensorC"),
                    )
                    {
                        onlineClampXplusCloseSensor ( DigitalSensor,
                            dioName:acPlutoGatewayName, inputNumero: 6, byteNumero: 9)
                        onlineClampXplusCloseSensorC ( DigitalSensor,
                            dioName:acPlutoGatewayName, inputNumero: 7, byteNumero: 9)
                    }
                
                onlineClampXplusOpenSensors ( ComplementarySensors,
                    sensor: ref("onlineClampXplusOpenSensor"),
                    sensorC: ref("onlineClampXplusOpenSensorC"),
                    )
                    {
                        onlineClampXplusOpenSensor ( DigitalSensor,
                            dioName:acPlutoGatewayName,inputNumero: 4, byteNumero: 9)
                        onlineClampXplusOpenSensorC ( DigitalSensor,
                            dioName:acPlutoGatewayName, inputNumero: 5, byteNumero: 9)
                    }
            }//end of  description of autochanger onlineClampXplus children
            
            onlineClampYminus(AutochangerOnlineClampModule ,
                controller:ref("onlineClampYminusController"),
                closeSensors:ref("onlineClampYminusCloseSensors"),
                openSensors:ref("onlineClampYminusOpenSensors"),
                currentToClose:-450,
                currentToClamp:-3000,
            )
            {//begin description of autochanger onlineClampYminus children
                onlineClampYminusCloseSensors ( ComplementarySensors,
                    sensor: ref("onlineClampYminusCloseSensor"),
                    sensorC: ref("onlineClampYminusCloseSensorC"),
                    )
                    {
                        onlineClampYminusCloseSensor ( DigitalSensor,
                            dioName:acPlutoGatewayName, inputNumero: 2, byteNumero: 2)
                        onlineClampYminusCloseSensorC ( DigitalSensor,
                            dioName:acPlutoGatewayName, inputNumero: 3, byteNumero: 2)
                    }
                onlineClampYminusOpenSensors ( ComplementarySensors,
                    sensor: ref("onlineClampYminusOpenSensor"),
                    sensorC: ref("onlineClampYminusOpenSensorC"),
                    )
                    {
                        onlineClampYminusOpenSensor ( DigitalSensor,
                            dioName:acPlutoGatewayName, inputNumero: 0, byteNumero: 2)
                        onlineClampYminusOpenSensorC ( DigitalSensor,
                            dioName:acPlutoGatewayName, inputNumero: 1, byteNumero: 2)
                    }
            }//end of  description of autochanger onlineClampYminus children
        }//end of  description of autochanger onlineClamps children
        //**************************************************************************//
        // end of autochanger onlineClamps description
        //**************************************************************************//
        inclinometerXminus (InclinometerModule, plutoGatewayName: acPlutoGatewayName, byteNumero: 6)
        inclinometerXplus (InclinometerModule, plutoGatewayName: acPlutoGatewayName, byteNumero: 12)
    }//end description of autochanger children
    //*****************************************************************************//
    //*****************************************************************************//
    // end of autochanger description
    //*****************************************************************************//
    //*****************************************************************************//
    
}    // main
