org.lsst.ccs.subsystems.fcs

Class AutochangerThreeOnlineClamps

java.lang.Object

org.lsst.ccs.subsystems.fcs.common.MobileItem

org.lsst.ccs.subsystems.fcs.AutochangerThreeOnlineClamps

All Implemented Interfaces:

org.lsst.ccs.framework.HardwareController, org.lsst.ccs.framework.HasLifecycle, org.lsst.ccs.framework.SignalHandler, AlertRaiser, ControlledBySensors

public class AutochangerThreeOnlineClamps
extends MobileItem
implements ControlledBySensors

The Three Online clamps which holds a filter when it is at ONLINE position can ve viewed as a single object. It's the goal of this class to represent this object. Opening or closing the 3 clamps at ONLINE is not the same action as opening or closing online clamps one by one.

Author:

virieux

Field Summary

Fields

Modifier and Type	Field and Description
protected boolean	updatingState

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

currentAction, FCSLOG, hasToWaitForEndOfAction, lock, name, s, scheduler

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

alertSeparater

Constructor Summary

Constructors

Constructor and Description
AutochangerThreeOnlineClamps(AutochangerOnlineClamp onlineClampXminus, AutochangerOnlineClamp onlineClampXplus, AutochangerOnlineClamp onlineClampYminus) Create a AutochangerThreeOnlineClamps with 3 AutochangerOnlineClamp.

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay) aborts action actually running.
void	checkParametersToCloseClampsX()
void	checkParametersToOpenClampsX()
void	closeAndLockClamps() Closes and locks the online clamps.
void	closeClamps() Closes the 3 clamps with a small pressure.
void	closeClampsX()
StatusDataPublishedByAutochangerThreeClamps	createStatusDataPublishedByThreeClamps() Creates an object to be published on the status bus.
FcsEnumerations.LockStatus	getLockStatus() Return lockStatus If lockStatus is being updated, wait until update completion else return immediately lockStatus.
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action) returns true if the action given as argument is completed.
boolean	isClosed() Returns true if LockStatus=CLOSED
boolean	isInError() Returns true if LockStatus=ERROR
boolean	isInitialized() Return true if the 3 onlineClamps hardware is initialized.
boolean	isLocked() Returns true if LockStatus=LOCKED
boolean	isOpened() Returns true if LockStatus=OPENED
void	lockClamps() Locks clamps : closed with a strong pressure (high current).
boolean	myDevicesReady() Return true if the 3 onlineClamps hardware is ready.
void	openClamps() Opens the 3 clamps with a small pressure.
void	openClampsX()
void	postAction(FcsEnumerations.MobileItemAction action)
void	publishData()
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
void	readSensorsUntilActionCompleted(FcsEnumerations.MobileItemAction action) read sensors until action is completed.
void	setMinPeriod(int minPeriod)
void	startAction(FcsEnumerations.MobileItemAction action) starts the action given as argument.
void	testPeriodTask() test periodicTask.
void	unlockAndOpenClamps() Unlock and open the online clamps.
void	unlockClamps() Unlocks clamps : slows down current sent to controller in order to decrease pressure on the clamps.
void	updateStateWithSensors(int[] hexaValues) This methods updates lockStatus from the values return by the sensors.
void	updateStateWithSensorsToCheckIfActionIsCompleted() reads sensors, computes new lockStatus.

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

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

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.ControlledBySensors

checkSensors, getName

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

clearAlarm, getAlertService, getSubsystem, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseWarning, raiseWarning, raiseWarning, raiseWarning, raiseWarning

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

checkHardware, checkStarted

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

sendSignal, sendSignalWithTimeLimit

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

build, init, postBuild, postInit, postStart, postStop, start

Field Detail

updatingState

protected volatile boolean updatingState

Constructor Detail

AutochangerThreeOnlineClamps

public AutochangerThreeOnlineClamps(AutochangerOnlineClamp onlineClampXminus,
                                    AutochangerOnlineClamp onlineClampXplus,
                                    AutochangerOnlineClamp onlineClampYminus)

Create a AutochangerThreeOnlineClamps with 3 AutochangerOnlineClamp.

Parameters:

onlineClampXminus -

onlineClampXplus -

onlineClampYminus -

Method Detail

setMinPeriod

@ConfigurationParameterChanger
public void setMinPeriod(int minPeriod)

getLockStatus

public FcsEnumerations.LockStatus getLockStatus()

Return lockStatus If lockStatus is being updated, wait until update completion else return immediately lockStatus.

Returns:

isLocked

@Command(type=QUERY,
         level=1,
         description="Returns true if the 3 clamps are LOCKED.")
public boolean isLocked()

Returns true if LockStatus=LOCKED

Returns:

isClosed

@Command(type=QUERY,
         level=1,
         description="Returns true if the 3 clamps are CLOSED.")
public boolean isClosed()

Returns true if LockStatus=CLOSED

Returns:

isOpened

@Command(type=QUERY,
         level=1,
         description="Returns true if the 3 clamps are OPENED.")
public boolean isOpened()

Returns true if LockStatus=OPENED

Returns:

isInError

@Command(type=QUERY,
         level=1,
         description="Returns true if one of the clamp is in error.")
public boolean isInError()

Returns true if LockStatus=ERROR

Specified by:

isInError in interface ControlledBySensors

Returns:

isInitialized

@Command(type=QUERY,
         level=0,
         description="Return true if the 3 onlineClamps hardware is ready : controllers ready, controllers parameters checked and controllers configured.")
public boolean isInitialized()

Return true if the 3 onlineClamps hardware is initialized.

Returns:

closeAndLockClamps

@Command(type=ACTION,
         level=0,
         description="Closes and locks the online clamps.",
         timeout=15000)
public void closeAndLockClamps()

Closes and locks the online clamps. This command first release brakes, sends currentToClose to the 3 clamps controllers and then increases progressively current until currentToClamp is reached for every clamps controllers. state before this action : OPENED or CLOSED (if CLOSED, nothing has to be done) state after this action : LOCKED

Throws:

FcsHardwareException

unlockAndOpenClamps

@Command(type=ACTION,
         level=0,
         description="Unlock and open the online clamps.",
         timeout=15000)
public void unlockAndOpenClamps()

Unlock and open the online clamps. initial state = LOCKED final state = OPENED This action is not

Throws:

FcsHardwareException

testPeriodTask

public void testPeriodTask()

test periodicTask.

closeClamps

@Command(type=ACTION,
         level=1,
         description="Close the 3 online clamps.",
         timeout=15000)
public void closeClamps()

Closes the 3 clamps with a small pressure. initial state = OPENED final state = CLOSED

closeClampsX

@Command(type=ACTION,
         description="close clamps X",
         timeout=15000)
public void closeClampsX()

openClamps

@Command(type=ACTION,
         level=1,
         description="Opens the 3 online clamps with a small pressure.",
         timeout=15000)
public void openClamps()

Opens the 3 clamps with a small pressure. initial state = CLOSED final state = OPENED

openClampsX

@Command(type=ACTION,
         description="open softly clampX",
         timeout=15000)
public void openClampsX()

lockClamps

@Command(type=ACTION,
         level=1,
         description="Locks clamps : closed with a strong pressure (high current).",
         timeout=15000)
public void lockClamps()

Locks clamps : closed with a strong pressure (high current). The clamps have to be CLOSED. At the end of this action, the clamps are CLOSED but a strong pressure to hold safely the clamps.

unlockClamps

@Command(type=ACTION,
         level=1,
         description="unlocks clamps : decreases current in controller to decrease pressure.",
         timeout=15000)
public void unlockClamps()

Unlocks clamps : slows down current sent to controller in order to decrease pressure on the clamps. The clamps have to be LOCKED. At the end of this action, the clamps are CLOSED with a small pressure of the clamp hardware on the filter frame.

myDevicesReady

@Command(type=QUERY,
         level=0,
         description="Return true if the 3 onlineClamps hardware is ready.")
public boolean myDevicesReady()

Return true if the 3 onlineClamps hardware is ready.

Specified by:

myDevicesReady in class MobileItem

Returns:

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

returns true if the action given as argument is completed. The completion of action has been confirmed by sensors.

Specified by:

isActionCompleted in class MobileItem

Parameters:

action -

Returns:

updateStateWithSensorsToCheckIfActionIsCompleted

public void updateStateWithSensorsToCheckIfActionIsCompleted()

reads sensors, computes new lockStatus. used in MobileItem to check that action started in startAction is completed.

Specified by:

updateStateWithSensorsToCheckIfActionIsCompleted in class MobileItem

startAction

public void startAction(FcsEnumerations.MobileItemAction action)

Description copied from class: MobileItem

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.

Specified by:

startAction in class MobileItem

abortAction

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

Description copied from class: MobileItem

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 MobileItem

quickStopAction

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

Specified by:

quickStopAction in class MobileItem

postAction

public void postAction(FcsEnumerations.MobileItemAction action)

Specified by:

postAction in class MobileItem

createStatusDataPublishedByThreeClamps

public StatusDataPublishedByAutochangerThreeClamps createStatusDataPublishedByThreeClamps()

Creates an object to be published on the status bus.

Returns:

publishData

public void publishData()

Specified by:

publishData in class MobileItem

updateStateWithSensors

@Command(type=ACTION,
         level=1,
         description="Update state in reading sensors.")
public void updateStateWithSensors(int[] hexaValues)

This methods updates lockStatus from the values return by the sensors. This values are given in an array of hexa values as arguments of the method.

Parameters:

hexaValues -

checkParametersToOpenClampsX

@Command(type=QUERY)
public void checkParametersToOpenClampsX()

checkParametersToCloseClampsX

@Command(type=QUERY)
public void checkParametersToCloseClampsX()

readSensorsUntilActionCompleted

public void readSensorsUntilActionCompleted(FcsEnumerations.MobileItemAction action)

read sensors until action is completed.

Parameters:

action -