org.lsst.ccs.subsystems.fcs.common

Class MobileItemModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

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

Direct Known Subclasses:

AutochangerLatchModule, AutochangerOnlineClampModule, AutochangerThreeOnlineClamps, AutochangerTruckModule, AutochangerTwoLatches, AutoChangerTwoTrucksModule, BasicAutoChangerModule, CarouselClampModule, CarouselModule, CarouselSocket, LoaderCarrierModule, LoaderClampModule, SftFilterLatchModule

public abstract class MobileItemModule
extends org.lsst.ccs.framework.Module
implements org.lsst.ccs.framework.HardwareController, AlertRaiser

This represents a Mechanical Item which can be moved by a motor. Generaly we want to execute an action on this mechanical item : - start the action, - read sensors to know if the action is completed, - wait for the end of the action. This module provides a general way to start an action and wait until the action is completed. It factorises some code that otherwise would have to be duplicated in each Module that needs such fonctionnalities. This class raises alerts : - FCS005 in halt, quickStop

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 FcsEnumerations.MobileItemAction	currentAction
protected static org.lsst.ccs.utilities.logging.Logger	FCSLOG
protected boolean	hasToWaitForEndOfAction
protected Lock	lock
protected ScheduledThreadPoolExecutor	scheduler

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

name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description
MobileItemModule() Build a new MobileItemModule with a tickmillis value of 1000.
MobileItemModule(int tickMillis) Build a new MobileItemModule with a tickmillis value given as argument.

Method Summary

Modifier and Type	Method and Description
void	abort()
void	abort(long delay) just to avoid taping "sendSignal HALT"
abstract void	abortAction(FcsEnumerations.MobileItemAction action, long delay) aborts action actually running.
org.lsst.ccs.framework.TreeWalkerDiag	checkHardware()
void	checkStarted()
void	checkStopped()
protected void	executeAction(FcsEnumerations.MobileItemAction action, long timeoutForAction) This executes an action which moves the MobileItem and waits for the end od this action.
AtomicBoolean	getHaltRequired()
void	initModule()
abstract boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
abstract boolean	isCANDevicesReady()
boolean	isMoving() Return true if the MobileItemMobile is moving.
abstract void	postAction(FcsEnumerations.MobileItemAction action)
abstract void	publishData()
void	quickstop() just to avoid taping "sendSignal STOP"
abstract void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
void	readSensorsUntilActionIsCompleted(FcsEnumerations.MobileItemAction action, long beginTime, long timeout) Start reading the sensors at a fixed rate (scheduler.scheduleAtFixedRate) until the action is completed or we received a halt signal or the timeout for this action is past.
void	shutdownNow() This shutdowns the scheduler.
org.lsst.ccs.framework.TreeWalkerDiag	signal(org.lsst.ccs.framework.Signal signal)
abstract void	startAction(FcsEnumerations.MobileItemAction action) starts the action given as argument.
void	stop() just to avoid taping "sendSignal STOP"
void	stop(long delay) just to avoid taping "sendSignal STOP"
abstract 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.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, 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

Field Detail

FCSLOG

protected static final org.lsst.ccs.utilities.logging.Logger FCSLOG

hasToWaitForEndOfAction

protected volatile boolean hasToWaitForEndOfAction

currentAction

protected volatile FcsEnumerations.MobileItemAction currentAction

lock

protected final Lock lock

scheduler

protected final ScheduledThreadPoolExecutor scheduler

Constructor Detail

MobileItemModule

public MobileItemModule()

Build a new MobileItemModule with a tickmillis value of 1000. Initializes haltRequired and stopRequired.

MobileItemModule

public MobileItemModule(int tickMillis)

Build a new MobileItemModule with a tickmillis value given as argument.

Parameters:

tickMillis -

Method Detail

isMoving

public boolean isMoving()

Return true if the MobileItemMobile is moving. That means that we are waiting for an action to be completed.

Returns:

getHaltRequired

public AtomicBoolean getHaltRequired()

initModule

public void initModule()

Overrides:

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

isCANDevicesReady

public abstract boolean isCANDevicesReady()

isActionCompleted

public abstract boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

updateStateWithSensorsToCheckIfActionIsCompleted

public abstract 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. It's abstract because it'up to the sub-classes to know what to do.

startAction

public abstract void startAction(FcsEnumerations.MobileItemAction action)

starts the action given as argument. It has to be specified in sub-classes. Usually it consist in sending a command to a controller : give a value of current or give a target position.

Parameters:

action -

abortAction

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

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.

Parameters:

action -

delay -

quickStopAction

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

postAction

public abstract void postAction(FcsEnumerations.MobileItemAction action)

publishData

public abstract void publishData()

executeAction

protected void executeAction(FcsEnumerations.MobileItemAction action,
                             long timeoutForAction)

This executes an action which moves the MobileItem and waits for the end od this action. The MobileItemAction is an ENUM from the fcs.bus package.

Parameters:

action, - timeout

timeoutForAction -

Throws:

FailedCommandException - if the action can't be completed

FcsHardwareException

readSensorsUntilActionIsCompleted

public void readSensorsUntilActionIsCompleted(FcsEnumerations.MobileItemAction action,
                                              long beginTime,
                                              long timeout)

Start reading the sensors at a fixed rate (scheduler.scheduleAtFixedRate) until the action is completed or we received a halt signal or the timeout for this action is past.

Parameters:

action -

beginTime -

timeout -

abort

@Command(type=SIGNAL,
         level=1,
         description="Abort the running action within a delay.")
public void abort(long delay)

just to avoid taping "sendSignal HALT"

Parameters:

delay -

abort

@Command(type=SIGNAL,
         level=1,
         description="Abort the running action.")
public void abort()

stop

@Command(type=SIGNAL,
         level=1,
         description="Stop the running action with a quickstop.")
public void stop(long delay)

just to avoid taping "sendSignal STOP"

Parameters:

delay -

stop

@Command(type=SIGNAL,
         level=1,
         description="Stop the running action with a quickstop.")
public void stop()

just to avoid taping "sendSignal STOP"

quickstop

@Command(type=SIGNAL,
         level=1,
         description="Stop the running action with a quickstop.")
public void quickstop()

just to avoid taping "sendSignal STOP"

shutdownNow

public void shutdownNow()

This shutdowns the scheduler. This is executed during CLOSING phase when the MobileItemMobile is stopped. cf checkStopped

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

signal

public org.lsst.ccs.framework.TreeWalkerDiag signal(org.lsst.ccs.framework.Signal signal)

Specified by:

signal in interface org.lsst.ccs.framework.SignalHandler

Overrides:

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

checkHardware

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

Specified by:

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

Throws:

org.lsst.ccs.HardwareException

checkStarted

public void checkStarted()
                  throws org.lsst.ccs.HardwareException

Specified by:

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

Throws:

org.lsst.ccs.HardwareException

checkStopped

public void checkStopped()
                  throws org.lsst.ccs.HardwareException

Specified by:

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

Throws:

org.lsst.ccs.HardwareException