org.lsst.ccs.subsystems.fcs

Class FcsMainModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

org.lsst.ccs.subsystems.fcs.MainModule

org.lsst.ccs.subsystems.fcs.FcsMainModule

All Implemented Interfaces:

Observer, org.lsst.ccs.config.ConfigurationBulkChangeHandler, org.lsst.ccs.framework.Configurable, org.lsst.ccs.framework.HasLifecycle, org.lsst.ccs.framework.SignalHandler, AlertRaiser, FilterLocator, org.lsst.ccs.UsesSubsystem

public class FcsMainModule
extends MainModule
implements FilterLocator

The main module in FCS. Commands can be sent to the FcsMainModule from the CCS Master Control Module (MCM) in normal operation mode or from a Console (org.lsst.ccs.subsystem.console.TestConsole).

Example of commands that can be sent to the FcsMainModule :
Console> invoke fcs-test MoveFilterToOnline filtername

The main goals of the FcsMainModule is :

• Receive commands from MCM for the whole subsystem.
• Execute commands received from MCM in invoking methods on the Carousel Module on the Autochanger Module and on Loader Module.
• Handle the logic of the whole subsystem.
• Publish on the status bus the status of the whole subsystem.

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.MainModule

bridge, haltRequired, stopRequired

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

name, nObserverThreads, tickMillis

Fields inherited from interface org.lsst.ccs.subsystems.fcs.FilterLocator

FILTER_CONFIG_CATEGORY

Constructor Summary

Constructors

Constructor and Description
FcsMainModule(BridgeToHardware bridge, BridgeToHardware bridgeToLoader, FilterManager filterMg, CarouselModule carousel, AutoChangerModule autochanger, LoaderModule loader) Build a FcsMainModule

Method Summary

Modifier and Type	Method and Description
void	changeState(String state) just for mcm testing
void	checkAutochangerTrucksLocation() Check where are the autochanger trucks.
void	checkFilterName(String aName) Check if a filter name given by an end user at the console is a valid Filter Name.
void	connectLoader() Connect the loader hardware.
void	disconnectLoader() Disconnect the loader hardware.
CarouselModule	getCarousel() Return the carousel Module of this filter locater.
Filter	getFilterByName(String filterName) This methods returns the filter which has for name the String given as argument.
FilterManager	getFilterManager() Return the filter manager of this filter locater.
String	getOnlineFilterName() Return the name of the filter which is at ONLINE.
void	initModule() In the initialisation, we want to do some software initialization, and some hardware initialization.
boolean	isChangerConnected() Return true if the changer is connected.
boolean	isChangerReady() Return true if the hardware of the changer is ready.
boolean	isLoaderConnected() Return true if the loader is connected.
boolean	isLoaderReady() Return true if the hardware of the loader is ready.
List<String>	listLoaderHardwareNames() For Whole FCS GUI.
void	loadFilter(Filter aFilter) Load a filter from the loader to the camera.
void	postStart() This happens when the hardware has been initialized.
String	printFilterONLINEName() For end user.
void	setFilter(String letter) Move a filter to ONLINE position.
void	shutdownNow()
String	toString()
void	unloadFilter(Filter aFilter) Unload a filter from the camera to the loader.
void	updateFCSState() Updates the FCS state and FCS readyness state and publishes on the status bus.
void	updateStateWithSensors() Update state in reading sensors for all components of Filter Changer : carousel, autochanger and loader.

Methods inherited from class org.lsst.ccs.subsystems.fcs.MainModule

controlRealHardware, getFilterNames, isCANDevicesReady, isHaltRequired, isStopRequired, listHardwareNames, signal

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.FilterLocator

checkFiltersLocation, saveFilterLocation

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, printConfigurableParameters, setBulkParameter, start, submitChange, submitChanges, validateBulkChange

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

setParameterBulk

Constructor Detail

FcsMainModule

public FcsMainModule(BridgeToHardware bridge,
                     BridgeToHardware bridgeToLoader,
                     FilterManager filterMg,
                     CarouselModule carousel,
                     AutoChangerModule autochanger,
                     LoaderModule loader)

Build a FcsMainModule

Parameters:

bridge -

bridgeToLoader -

filterMg -

carousel -

autochanger -

loader -

Method Detail

getCarousel

public CarouselModule getCarousel()

Description copied from interface: FilterLocator

Return the carousel Module of this filter locater.

Specified by:

getCarousel in interface FilterLocator

Returns:

getFilterManager

public FilterManager getFilterManager()

Description copied from interface: FilterLocator

Return the filter manager of this filter locater.

Specified by:

getFilterManager in interface FilterLocator

Returns:

updateFCSState

public void updateFCSState()

Description copied from class: MainModule

Updates the FCS state and FCS readyness state and publishes on the status bus. Checks that hardware is ready to be operated and moved. This means that : - all CAN open devices are booted, identified and initialized, - homing has been done on the controllers. This updates the FCS state and FCS readyness state and publishes on the status bus. This has to be overriden if there is other initializations to do on the hardware like homing.

Overrides:

updateFCSState in class MainModule

getOnlineFilterName

public String getOnlineFilterName()

Return the name of the filter which is at ONLINE. Return null if no filter is at ONLINE.

Returns:

printFilterONLINEName

@Command(type=QUERY,
         level=0,
         description="Returns the name of the filter which is at ONLINE.")
public String printFilterONLINEName()

For end user. Return the name of the filter which is at ONLINE. Return null if no filter is at ONLINE.

Returns:

getFilterByName

@Command(type=QUERY,
         level=0,
         description="returns the filter which has for name the String given as argument.")
public Filter getFilterByName(String filterName)

This methods returns the filter which has for name the String given as argument.

Parameters:

filterName -

Returns:

initModule

public void initModule()

In the initialisation, we want to do some software initialization, and some hardware initialization. We publish the initial data for each piece of hardware : carousel and autochanger.

Overrides:

initModule in class MainModule

isChangerConnected

@Command(type=QUERY,
         level=0,
         description="Return true if the changer is connected.")
public boolean isChangerConnected()

Return true if the changer is connected.

Returns:

isLoaderConnected

@Command(type=QUERY,
         level=0,
         description="Return true if the loader is connected.")
public boolean isLoaderConnected()

Return true if the loader is connected.

Returns:

isChangerReady

@Command(type=QUERY,
         level=0,
         description="Return true if the hardware of the changer is ready.")
public boolean isChangerReady()

Return true if the hardware of the changer is ready.

Returns:

isLoaderReady

@Command(type=QUERY,
         level=0,
         description="Return true if the hardware of the loader is ready.")
public boolean isLoaderReady()

Return true if the hardware of the loader is ready.

Returns:

disconnectLoader

@Command(type=ACTION,
         level=0,
         description="Disconnect the loader hardware.")
public void disconnectLoader()

Disconnect the loader hardware.

connectLoader

@Command(type=ACTION,
         level=0,
         description="Connect the loader hardware.")
public void connectLoader()
                                                                                                                throws org.lsst.ccs.HardwareException

Connect the loader hardware.

Throws:

org.lsst.ccs.HardwareException

checkFilterName

public void checkFilterName(String aName)

Check if a filter name given by an end user at the console is a valid Filter Name. Delegate to filterManager.

Parameters:

aName -

checkAutochangerTrucksLocation

public void checkAutochangerTrucksLocation()

Check where are the autochanger trucks. If a filter is at ONLINE position update state and publishes.

listLoaderHardwareNames

@Command(type=QUERY,
         level=1,
         description="Return the list of LOADER CANopen hardware that this subsystem manages.")
public List<String> listLoaderHardwareNames()

For Whole FCS GUI. Has to be overriden in FcsMainModule.

Overrides:

listLoaderHardwareNames in class MainModule

Returns:

toString

public String toString()

Overrides:

toString in class Object

setFilter

@Command(type=ACTION,
         level=0,
         description="Move filter to ONLINE position.",
         alias="setFilterONLINE",
         timeout=60)
public void setFilter(String letter)

Move a filter to ONLINE position. The filter must be in the camera. It can be on the carousel or on the autochanger. It envolves the carousel Module and the autochanger Module. If the filter we want to move is on the autochanger, the autochanger has to move it to ONLINE position. If the filter is on the carousel, and the autochanger truck is loaded with another filter, the autochanger has to move back the other filter on the carousel at standby position. If the filter is on the carousel and the autochanger is empty, we have to rotate the carousel in order to put the required filter at standby position, then the autochanger grabbes the filter on the carousel and moves it to ONLINE position.

Parameters:

letter - name of the filter to move

Throws:

FcsHardwareException

changeState

@Command(type=ACTION,
         level=0,
         description="change subsystem state.")
public void changeState(String state)

just for mcm testing

Parameters:

state -

loadFilter

public void loadFilter(Filter aFilter)
                throws org.lsst.ccs.HardwareException

Load a filter from the loader to the camera. At the end of this operation the filter is grabbed on the autochanger at Handoff position.

Parameters:

aFilter -

Throws:

FcsHardwareException

org.lsst.ccs.HardwareException

unloadFilter

public void unloadFilter(Filter aFilter)
                  throws org.lsst.ccs.HardwareException

Unload a filter from the camera to the loader. The camera has to be at horizontal position. The filter has to be on Carousel at STANDBY. The trucks of the autochanger have to be empty at STANDOFF position.

Parameters:

aFilter -

Throws:

FcsHardwareException

org.lsst.ccs.HardwareException

RejectedCommandException

updateStateWithSensors

public void updateStateWithSensors()

Update state in reading sensors for all components of Filter Changer : carousel, autochanger and loader.

Overrides:

updateStateWithSensors in class MainModule

Throws:

FcsHardwareException

postStart

public void postStart()

Description copied from class: MainModule

This happens when the hardware has been initialized. (after completeInitialization). It starts the ticking in super.postStart().

Specified by:

postStart in interface org.lsst.ccs.framework.Configurable

Specified by:

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

Overrides:

postStart in class MainModule

shutdownNow

public void shutdownNow()

Specified by:

shutdownNow in interface org.lsst.ccs.framework.Configurable

Specified by:

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

Overrides:

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