org.lsst.ccs.subsystems.fcs.common

Class MobileItem

java.lang.Object

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

All Implemented Interfaces:

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

Direct Known Subclasses:

AutochangerLatch, AutochangerOnlineClamp, AutochangerThreeOnlineClamps, AutochangerTruck, AutochangerTwoLatches, AutochangerTwoTrucks, BasicAutoChanger, Carousel, CarouselClamp, CarouselSocket, LoaderCarrier, LoaderClamp, SftFilterLatch

public abstract class MobileItem
extends Object
implements org.lsst.ccs.framework.HardwareController, AlertRaiser, org.lsst.ccs.framework.SignalHandler, org.lsst.ccs.framework.HasLifecycle

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

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 String	name
protected org.lsst.ccs.Subsystem	s
protected ScheduledThreadPoolExecutor	scheduler

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

alertSeparater

Constructor Summary

Constructors

Constructor and Description
MobileItem()

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.
protected void	checkReadyForAction()
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.
org.lsst.ccs.AlertService	getAlertService() return alertService
AtomicBoolean	getHaltRequired()
String	getName()
org.lsst.ccs.Subsystem	getSubsystem()
abstract boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isMoving() Return true if the MobileItemMobile is moving.
abstract boolean	myDevicesReady() Return True if all CAN open devices useful for this MobileItemMobile are ready for an action.
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 java.lang.Object

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

clearAlarm, 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.framework.HasLifecycle

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

Field Detail

FCSLOG

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

name

@LookupName
protected String name

s

@LookupField(strategy=TOP)
protected org.lsst.ccs.Subsystem s

hasToWaitForEndOfAction

protected volatile boolean hasToWaitForEndOfAction

currentAction

protected volatile FcsEnumerations.MobileItemAction currentAction

lock

protected final Lock lock

scheduler

protected final ScheduledThreadPoolExecutor scheduler

Constructor Detail

MobileItem

public MobileItem()

Method Detail

getAlertService

public org.lsst.ccs.AlertService getAlertService()

Description copied from interface: AlertRaiser

return alertService

Specified by:

getAlertService in interface AlertRaiser

Returns:

getName

public String getName()

Specified by:

getName in interface AlertRaiser

getSubsystem

public org.lsst.ccs.Subsystem getSubsystem()

Specified by:

getSubsystem in interface AlertRaiser

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()

myDevicesReady

public abstract boolean myDevicesReady()

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).

Returns:

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()

checkReadyForAction

protected void checkReadyForAction()

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"

Specified by:

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

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.HasLifecycle

signal

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

Specified by:

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

checkStopped

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

Specified by:

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

Throws:

org.lsst.ccs.HardwareException