org.lsst.ccs.subsystems.fcs

Class AutochangerTruck

java.lang.Object

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

org.lsst.ccs.subsystems.fcs.AutochangerTruck

All Implemented Interfaces:

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

public class AutochangerTruck
extends MobileItem
implements MovedByEPOSController, org.lsst.ccs.framework.HasLifecycle

A model for an autochanger truck. The goal of this class is to factorise the code which reads AC truck sensors. On the Autochanger there are 2 trucks : one on each side : truckXminus and truckXplus.

Author:

virieux

Field Summary

Fields

Modifier and Type	Field and Description
static String	CURRENT_MONITOR_TASK_NAME

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

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

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

alertSeparater

Constructor Summary

Constructors

Constructor and Description
AutochangerTruck(EPOSControllerWithBrake controller, ComplementarySensors handoffPositionSensors, ComplementarySensors onlinePositionSensors, ComplementarySensors standbyPositionSensors) Builds a AutochangerTruckModule with 3 couple of complementary sensors to detect position of the truck at ONLINE, HANDOFF and STANDBY position.

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay) aborts action actually running.
void	build()
StatusDataPublishedByAutochangerTruck	createStatusDataPublishedByAutoChangerTruck() Creates an object to be published on the status bus.
String	getControllerName() Return the name of the controller.
int	getPosition() Return truck position enregistred in field position.
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isAtHandoff()
boolean	isAtOnline()
boolean	isAtStandby()
boolean	isHandoffSensorsInError() Return false if the 2 redondant position sensors at Handoff are equal.
boolean	isOnlineSensorsInError() Return false if the 2 redondant position sensors at Online are equal.
boolean	isPositionSensorsInError() Return true if position sensors are in error.
boolean	isStandbySensorsInError() Return false if the 2 redondant position sensors at Standby are equal.
void	moveToAbsoluteTargetPosition(int targetPosition)
boolean	myDevicesReady() Return True if all CAN open devices useful for this MobileItemMobile are ready for an action.
void	postAction(FcsEnumerations.MobileItemAction action)
void	publishData() publishes data on the STATUS bus
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
void	startAction(FcsEnumerations.MobileItemAction action) starts the action given as argument.
void	updateCurrent() read actual current on controller, update field current and publish it on STATUS bus.
void	updatePosition() Updates the field position of the truck in reading the CPU of the controller.
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.subsystems.fcs.common.MobileItem

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

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.MovedByEPOSController

monitorCurrent

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

init, postBuild, postInit, postStart, postStop, shutdownNow, start, stop

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

Field Detail

CURRENT_MONITOR_TASK_NAME

public static final String CURRENT_MONITOR_TASK_NAME

See Also:

Constant Field Values

Constructor Detail

AutochangerTruck

public AutochangerTruck(EPOSControllerWithBrake controller,
                        ComplementarySensors handoffPositionSensors,
                        ComplementarySensors onlinePositionSensors,
                        ComplementarySensors standbyPositionSensors)

Builds a AutochangerTruckModule with 3 couple of complementary sensors to detect position of the truck at ONLINE, HANDOFF and STANDBY position.

Parameters:

controller -

handoffPositionSensors -

onlinePositionSensors -

standbyPositionSensors -

Method Detail

build

public void build()

Specified by:

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

isAtHandoff

@Command(type=QUERY,
         level=1,
         description="Return true if truck is at HANDOFF position.")
public boolean isAtHandoff()

Returns:

true if truck is at HANDOFF position.

isAtOnline

@Command(type=QUERY,
         level=1,
         description="Return true if truck is at ONLINE position.")
public boolean isAtOnline()

Returns:

true if truck is at ONLINE position.

isAtStandby

@Command(type=QUERY,
         level=1,
         description="Return true if truck is at STANDBY position.")
public boolean isAtStandby()

Returns:

true if truck is at STANDBY position.

isStandbySensorsInError

@Command(type=QUERY,
         level=1,
         description="Return false if the 2 redondant position sensors at Standby are equal. Doesn\'t read again sensors.")
public boolean isStandbySensorsInError()

Return false if the 2 redondant position sensors at Standby are equal. Doesn't read again sensors.

Returns:

isHandoffSensorsInError

@Command(type=QUERY,
         level=1,
         description="Return false if the 2 redondant position sensors at Handoff are equal.Doesn\'t read again sensors.")
public boolean isHandoffSensorsInError()

Return false if the 2 redondant position sensors at Handoff are equal. Doesn't read again sensors.

Returns:

isOnlineSensorsInError

@Command(type=QUERY,
         level=1,
         description="Return false if the 2 redondant position sensors at Online are equal.Doesn\'t read again sensors.")
public boolean isOnlineSensorsInError()

Return false if the 2 redondant position sensors at Online are equal. Doesn't read again sensors.

Returns:

isPositionSensorsInError

@Command(type=QUERY,
         level=1,
         description="Return true if position sensors are in error.Doesn\'t read again sensors.")
public boolean isPositionSensorsInError()

Return true if position sensors are in error.

Returns:

getPosition

@Command(type=QUERY,
         level=1,
         description="return truck position.")
public int getPosition()

Return truck position enregistred in field position.

Returns:

getControllerName

@Command(type=QUERY,
         level=1,
         description="return controller name.")
public String getControllerName()

Description copied from interface: MovedByEPOSController

Return the name of the controller.

Specified by:

getControllerName in interface MovedByEPOSController

Returns:

controller name.

updatePosition

@Command(type=QUERY,
         level=1,
         description="Update truck position in reading controller.")
public void updatePosition()

Updates the field position of the truck in reading the CPU of the controller.

updateCurrent

public void updateCurrent()

read actual current on controller, update field current and publish it on STATUS bus.

Specified by:

updateCurrent in interface MovedByEPOSController

createStatusDataPublishedByAutoChangerTruck

public StatusDataPublishedByAutochangerTruck createStatusDataPublishedByAutoChangerTruck()

Creates an object to be published on the status bus.

Returns:

publishData

public void publishData()

Description copied from interface: MovedByEPOSController

publishes data on the STATUS bus

Specified by:

publishData in interface MovedByEPOSController

Specified by:

publishData in class MobileItem

moveToAbsoluteTargetPosition

public void moveToAbsoluteTargetPosition(int targetPosition)

myDevicesReady

public boolean myDevicesReady()

Description copied from class: MobileItem

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).

Specified by:

myDevicesReady in class MobileItem

Returns:

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Specified by:

isActionCompleted in class MobileItem

updateStateWithSensorsToCheckIfActionIsCompleted

public void updateStateWithSensorsToCheckIfActionIsCompleted()

Description copied from class: MobileItem

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.

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