org.lsst.ccs.subsystems.fcs

Class CarouselClamp

java.lang.Object

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

org.lsst.ccs.subsystems.fcs.CarouselClamp

All Implemented Interfaces:

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

public class CarouselClamp
extends MobileItem

A class to model a clamp that holds a filter on the carousel. Each clamp on the carousel is coupled with 2 sensors which detect the presence of a filter, or if the clamp is locked or unlocked. This class provides a method to lock, unlock or release the clamps, and to compute the clampState of the clamp. The clampState of the clamp is computed, updated and published on the status bus each tick of the timer.

Author:

virieux

Field Summary

Fields

Modifier and Type	Field and Description
protected FcsEnumerations.FilterClampState	clampState
protected EPOSController	controller The motor controller which controls this clamp.
protected int	currentToMaintainUnlocked
protected int	currentToUnlock
protected Integer	filterPresenceOffset
protected FcsEnumerations.FilterPresenceStatus	filterPresenceStatus
protected Integer	filterPresenceValueA if the filter presence sensor returns a value between 0 and filterPresenceValueA : the sensor is in error.
protected Integer	filterPresenceValueB if filter presence sensor returns a value between filterPresenceValueA and filterPresenceValueB : the filter is engaged and lockable.
protected Integer	filterPresenceValueC if filter presence sensor returns a value between filterPresenceValueB and filterPresenceValueC filter is not lockable.
protected Integer	lockSensorOffset
protected Integer	lockSensorValueA If the lock sensor returns a value between 0 and lockSensorValueA: the sensor is unlocked.
protected Integer	lockSensorValueB If sensor returns a value between lockSensorValueB and lockSensorValueC, the clamp is locked.
protected Integer	lockSensorValueC If sensor returns a value above lockSensorValueC, the sensor is in error.
protected long	timeoutForReleasing
protected long	timeoutForUnlocking
protected boolean	updatingState

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
CarouselClamp(SensorPluggedOnTTC580 filterPresenceSensor, SensorPluggedOnTTC580 lockSensor) Build a new CarouselClampModule with a tickMillis value:5000;

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay) aborts action actually running.
StatusDataPublishedByCarouselClamp	createStatusDataPublishedByClamp() Create an object to be published on the STATUS bus.
FcsEnumerations.FilterClampState	getClampState() Returns the clampState of the clamp.
short	getCurrentToUnlock() Returns the amount of current needed to unlock this clamp.
SensorPluggedOnTTC580	getFilterPresenceSensor() For simulation.
FcsEnumerations.FilterPresenceStatus	getFilterPresenceStatus()
int	getFilterPresenceValueA()
int	getFilterPresenceValueB()
int	getFilterPresenceValueC()
SensorPluggedOnTTC580	getLockSensor() For simulation.
int	getLockSensorValueA()
int	getLockSensorValueB()
int	getLockSensorValueC()
FcsEnumerations.LockStatus	getLockStatus()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isFilterEngaged()
boolean	isLocked() This methods returns true if the clamp is locked.
boolean	myDevicesReady() ***********************************************************************************************
void	postAction(FcsEnumerations.MobileItemAction action)
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
void	release() The clamps on the carousel are locked automaticaly when the filter comes at the standby position.
protected void	setController(EPOSController actuator) In the initialization phase, this method is used to initialize the controller.
void	setFilterPresenceValueA(Integer filterPresenceValueA)
void	setFilterPresenceValueB(Integer filterPresenceValueB)
void	setFilterPresenceValueC(Integer filterPresenceValueC)
void	setLockSensorValueA(Integer lockSensorValueA)
void	setLockSensorValueB(Integer lockSensorValueB)
void	setLockSensorValueC(Integer lockSensorValueC)
void	startAction(FcsEnumerations.MobileItemAction action) starts the action given as argument.
String	toString()
void	unlock() Unlock the clamp when a filter is locked by the clamp.
void	updateFilterPresenceStatus() update filterPresenceStatus from value returned by filterPresenceSensor
void	updateLockStatus() Update lockStatus from value returned by lockSensor.
void	updateState() Update clampState from values sent by sensors.
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.
double	updateTemperature() This methods read the thermometer, update the field temperature and returns the value sent by the thermometer;

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, 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, stop

Field Detail

controller

protected EPOSController controller

The motor controller which controls this clamp. This is initialized in the initModule method of CarouselSocket.

clampState

protected FcsEnumerations.FilterClampState clampState

filterPresenceStatus

protected FcsEnumerations.FilterPresenceStatus filterPresenceStatus

updatingState

protected volatile boolean updatingState

currentToUnlock

@ConfigurationParameter
protected int currentToUnlock

currentToMaintainUnlocked

@ConfigurationParameter
protected int currentToMaintainUnlocked

lockSensorValueA

@ConfigurationParameter(range="0..32768")
protected Integer lockSensorValueA

If the lock sensor returns a value between 0 and lockSensorValueA: the sensor is unlocked. If the lock sensor returns a value between lockSensorValueA and lockSensorValueB: we don't know. If the sensor returns a value between lockSensorValueB and ValueC: the clamp is locked. If the sensor returns a value greater than valueC the sensor is in ERROR.

lockSensorValueB

@ConfigurationParameter(range="0..32768")
protected Integer lockSensorValueB

If sensor returns a value between lockSensorValueB and lockSensorValueC, the clamp is locked.

lockSensorValueC

@ConfigurationParameter(range="0..32768")
protected Integer lockSensorValueC

If sensor returns a value above lockSensorValueC, the sensor is in error.

lockSensorOffset

@ConfigurationParameter(range="0..32768")
protected Integer lockSensorOffset

filterPresenceValueA

@ConfigurationParameter(range="0..32768")
protected Integer filterPresenceValueA

if the filter presence sensor returns a value between 0 and filterPresenceValueA : the sensor is in error.

filterPresenceValueB

@ConfigurationParameter(range="0..32768")
protected Integer filterPresenceValueB

if filter presence sensor returns a value between filterPresenceValueA and filterPresenceValueB : the filter is engaged and lockable.

filterPresenceValueC

@ConfigurationParameter(range="0..32768")
protected Integer filterPresenceValueC

if filter presence sensor returns a value between filterPresenceValueB and filterPresenceValueC filter is not lockable. And if the value is greater than valueC, there's no filter.

filterPresenceOffset

@ConfigurationParameter(range="0..32768")
protected Integer filterPresenceOffset

timeoutForUnlocking

@ConfigurationParameter(range="0..10000")
protected long timeoutForUnlocking

timeoutForReleasing

@ConfigurationParameter(range="0..10000")
protected long timeoutForReleasing

Constructor Detail

CarouselClamp

public CarouselClamp(SensorPluggedOnTTC580 filterPresenceSensor,
                     SensorPluggedOnTTC580 lockSensor)

Build a new CarouselClampModule with a tickMillis value:5000;

Parameters:

filterPresenceSensor -

lockSensor -

Method Detail

getCurrentToUnlock

public short getCurrentToUnlock()

Returns the amount of current needed to unlock this clamp. This is defined in the ConfigurationSystem.

Returns:

setController

protected void setController(EPOSController actuator)

In the initialization phase, this method is used to initialize the controller. cf initModule in CarouselSocket

Parameters:

actuator -

getLockSensorValueA

public int getLockSensorValueA()

Returns:

the lockSensorValueA for simulation

getLockSensorValueB

public int getLockSensorValueB()

Returns:

the lockSensorValueB

getLockSensorValueC

public int getLockSensorValueC()

getFilterPresenceValueA

public int getFilterPresenceValueA()

Returns:

the filterPresenceValueA

getFilterPresenceValueB

public int getFilterPresenceValueB()

Returns:

the filterPresenceValueB

getFilterPresenceValueC

public int getFilterPresenceValueC()

Returns:

the filterPresenceValueC

getFilterPresenceSensor

public SensorPluggedOnTTC580 getFilterPresenceSensor()

For simulation.

Returns:

the filterPresenceSensor

getLockSensor

public SensorPluggedOnTTC580 getLockSensor()

For simulation.

Returns:

the lockSensor

getLockStatus

@Command(type=QUERY,
         level=1,
         description="return the lockStatus")
public FcsEnumerations.LockStatus getLockStatus()

Returns:

the lockStatus

getFilterPresenceStatus

@Command(type=QUERY,
         level=1,
         description="return filterPresenceStatus")
public FcsEnumerations.FilterPresenceStatus getFilterPresenceStatus()

Returns:

filterPresenceStatus

setLockSensorValueA

@ConfigurationParameterChanger
public void setLockSensorValueA(Integer lockSensorValueA)

setLockSensorValueB

@ConfigurationParameterChanger
public void setLockSensorValueB(Integer lockSensorValueB)

setLockSensorValueC

@ConfigurationParameterChanger
public void setLockSensorValueC(Integer lockSensorValueC)

setFilterPresenceValueA

@ConfigurationParameterChanger
public void setFilterPresenceValueA(Integer filterPresenceValueA)

setFilterPresenceValueB

@ConfigurationParameterChanger
public void setFilterPresenceValueB(Integer filterPresenceValueB)

setFilterPresenceValueC

@ConfigurationParameterChanger
public void setFilterPresenceValueC(Integer filterPresenceValueC)

myDevicesReady

@Command(type=QUERY,
         level=1,
         description="Returns true if CANopen hardware is connected and ready.")
public boolean myDevicesReady()

***********************************************************************************************

Specified by:

myDevicesReady in class MobileItem

Returns:

getClampState

public FcsEnumerations.FilterClampState getClampState()

Returns the clampState of the clamp. If the clampState is being updated and waiting for a response from a sensor, this methods waits until the clampState is updated. If the clampState is not being updated, it returns immediatly the clampState.

Returns:

clampState

isLocked

@Command(type=QUERY,
         level=1,
         description="Returns true if the clamp is locked")
public boolean isLocked()

This methods returns true if the clamp is locked. In the simulator, it is overriden.

Returns:

true if the clamp is locked

isFilterEngaged

@Command(type=QUERY,
         level=1,
         description="Returns true if filter is engaged on the clamp : filter presence sensors sees it ")
public boolean isFilterEngaged()

Returns:

true if filter is engaged on the clamp

updateFilterPresenceStatus

public void updateFilterPresenceStatus()

update filterPresenceStatus from value returned by filterPresenceSensor

updateLockStatus

public void updateLockStatus()

Update lockStatus from value returned by lockSensor.

Throws:

FcsHardwareException

updateState

@Command(type=QUERY,
         description=" update Clamp State.")
public void updateState()

Update clampState from values sent by sensors. This method updates the clamp clampState regarding the value returned by the filter presence sensor and the value returned by the method isLocked(). When the update is completed, it sends a signal to threads waiting to get the new value of clampState.

Throws:

FcsHardwareException

publishData

public void publishData()

Publish Data on status bus for trending data base and GUIs.

Specified by:

publishData in class MobileItem

createStatusDataPublishedByClamp

public StatusDataPublishedByCarouselClamp createStatusDataPublishedByClamp()

Create an object to be published on the STATUS bus.

Returns:

release

@Command(level=3,
         type=ACTION,
         description="Release clamp in order to get ready to clamp a filter again")
public void release()

The clamps on the carousel are locked automaticaly when the filter comes at the standby position. To be able to lock automaticaly again, it has to be released after each time it has been unlocked.

Throws:

FcsHardwareException

RejectedCommandException

unlock

@Command(type=ACTION,
         level=3,
         description="Unlock the clamp")
public void unlock()

Unlock the clamp when a filter is locked by the clamp. This is used only in engineering mode.

Throws:

RejectedCommandException

FailedCommandException

FcsHardwareException

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

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Specified by:

isActionCompleted in class MobileItem

postAction

public void postAction(FcsEnumerations.MobileItemAction action)

Specified by:

postAction 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

updateTemperature

public double updateTemperature()

This methods read the thermometer, update the field temperature and returns the value sent by the thermometer;

Returns:

Throws:

FcsHardwareException

toString

@Command(type=QUERY,
         level=3,
         description="display configuration values for this clamp.")
public String toString()

Overrides:

toString in class Object

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