org.lsst.ccs.subsystems.fcs

Class CarouselSocket

java.lang.Object

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

org.lsst.ccs.subsystems.fcs.CarouselSocket

All Implemented Interfaces:

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

public class CarouselSocket
extends MobileItem
implements org.lsst.ccs.framework.ClearAlertHandler

This is a socket on the carousel : there is 5 sockets on a carousel. When a filter is on the carousel, it is attached at a socket. A socket has a clamp on each side : - clampX- (clampXminus) - clampX+ (clampXplus) clampX+ and clampX- are the same except for the method isLocked() See FilterClampXminusModule and FilterClampXplusModule The main job of this class CarouselSocket is to synchronize the actions on the 2 clamps. The state of the CarouselSocket is the state of the clamps when both clamps state are identical. During an action on both clamps, we want to lock the CarouselSocket so no other thread can try to access this object before the completion of action. We do that with a Lock and Condition. (see java.util.concurrent). CarouselSocket extends MobileItem because we want to lock or release the clamps when the carousel is at standby position and we want to wait until the action is completed. We know if the action is completed in reading the clamps sensors. So we use the general mechanism provided by the MobileItem.

Author:

virieux

Nested Class Summary

Nested classes/interfaces inherited from interface org.lsst.ccs.framework.ClearAlertHandler

org.lsst.ccs.framework.ClearAlertHandler.ClearAlertCode

Field Summary

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

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

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

alertSeparator

Constructor Summary

Constructors

Constructor and Description
CarouselSocket(int id, CarouselClamp clampXminus, CarouselClamp clampXplus, int standbyPosition) Build a new CarouselSocket with a tickMillis of 5000.

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay) aborts action actually running.
org.lsst.ccs.framework.ClearAlertHandler.ClearAlertCode	canClearAlert(org.lsst.ccs.bus.data.Alert alert)
StatusDataPublishedByCarouselSocket	createStatusDataPublishedByCarouselSocket() Create an object to be published on the STATUS bus by a CarouselSocket.
FcsEnumerations.FilterClampState	getClampsState() Returns the state of the clamps.
CarouselClamp	getClampXminus()
CarouselClamp	getClampXplus()
int	getFilterID()
String	getFilterName()
int	getId()
String	getName()
FcsEnumerations.SlaveModuleStatus	getSlaveModuleStatus()
int	getStandbyPosition()
void	init() *** lifecycle methods *************************************************
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isAtStandby() Return true if this socket is at STANDBY position.
boolean	isClampedOnFilter()
boolean	isEmpty()
boolean	isReadyToClamp()
boolean	isUnclampedEmpty()
boolean	isUnclampedOnFilter()
boolean	myDevicesReady() Return True if all CAN open devices useful for this MobileItemMobile are ready for an action.
void	publishData()
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
void	releaseClamps() Releases the 2 clamps of the socket.
void	setClampXminus(CarouselClamp clampXminus)
void	setClampXplus(CarouselClamp clampXplus)
void	setFilterID(int filterID)
void	shutdown() This shutdowns the scheduler.
void	startAction(FcsEnumerations.MobileItemAction action) Start action of unlocking or releasing clamps.
String	toString()
void	unlockClamps() This method unclamps the 2 clamps at standby position.
void	updateFilterID() update field filterID to be used only with whole FCS.
void	updateOffsetLockSensor(long sdo) update lock sensor offset for the 2 clamps
void	updateOffsetPresenceSensor(long sdo) update presence sensor offset for the 2 clamps
void	updateState() update state from sensors values.
void	updateStateWithSensorsToCheckIfActionIsCompleted() reads sensors or any device and updates state from sensors Tt can be also reading a position or a current on a motor controller.

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

cancelReadingSensors, checkReadyForAction, checkStopped, executeAction, getAlertService, getHaltRequired, getSubsystem, isMoving, readSensorsUntilActionIsCompleted, signal, 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.ClearAlertHandler

canClearAlert

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

checkHardware, checkStarted

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

clearAlarm, getAlertSeparator, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseWarning, raiseWarning

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

build, postBuild, postInit, postShutdown, postStart, start

Constructor Detail

CarouselSocket

public CarouselSocket(int id,
                      CarouselClamp clampXminus,
                      CarouselClamp clampXplus,
                      int standbyPosition)

Build a new CarouselSocket with a tickMillis of 5000.

Parameters:

id -

clampXminus -

clampXplus -

standbyPosition -

Method Detail

getId

public int getId()

getName

public String getName()

Specified by:

getName in interface AlertRaiser

Overrides:

getName in class MobileItem

getClampXminus

public CarouselClamp getClampXminus()

setClampXminus

public void setClampXminus(CarouselClamp clampXminus)

getClampXplus

public CarouselClamp getClampXplus()

setClampXplus

public void setClampXplus(CarouselClamp clampXplus)

getFilterID

public int getFilterID()

getFilterName

public String getFilterName()

Returns:

NO_FILTER if no filter at standby or filter name

setFilterID

public void setFilterID(int filterID)

getStandbyPosition

public int getStandbyPosition()

getSlaveModuleStatus

@Command
public FcsEnumerations.SlaveModuleStatus getSlaveModuleStatus()

isAtStandby

@Command(type=QUERY,
         level=1,
         description="Returns true if this socket is at STANDBY position on the carousel.")
public boolean isAtStandby()

Return true if this socket is at STANDBY position.

Returns:

init

public void init()

*** lifecycle methods *************************************************

Specified by:

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

myDevicesReady

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

getClampsState

@Command(type=QUERY,
         level=0,
         description="Return clamps state - doesn\'t read again sensors.")
public FcsEnumerations.FilterClampState getClampsState()

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

Returns:

state

updateState

@Command
public void updateState()

update state from sensors values.

updateFilterID

public void updateFilterID()

update field filterID to be used only with whole FCS. In standalone mode, filters can't be removed neither loaded into carousel so filterID never changes.

updateOffsetPresenceSensor

public void updateOffsetPresenceSensor(long sdo)

update presence sensor offset for the 2 clamps

Parameters:

sdo -

updateOffsetLockSensor

public void updateOffsetLockSensor(long sdo)

update lock sensor offset for the 2 clamps

Parameters:

sdo -

isEmpty

@Command(type=QUERY,
         level=0,
         description="Returns true if there is no filter in the socket.")
public boolean isEmpty()

isClampedOnFilter

@Command(type=QUERY,
         level=0,
         description="Returns true if there is a filter in the socket and the clampsare LOCKED.")
public boolean isClampedOnFilter()

isUnclampedOnFilter

@Command(type=QUERY,
         level=0,
         description="Returns true if there is a filter in the socket and the clampsare UNLOCKED.")
public boolean isUnclampedOnFilter()

isUnclampedEmpty

@Command(type=QUERY,
         level=0,
         description="Returns true if there is NO filter in the socket and the clampsare UNLOCKED.")
public boolean isUnclampedEmpty()

isReadyToClamp

@Command(type=QUERY,
         level=0,
         description="Returns true if this socket is ready to clamp a filter.")
public boolean isReadyToClamp()

releaseClamps

@Command(type=ACTION,
         level=1,
         description="Release the 2 clamps of this socket if the socket is at STANDBY position.")
public void releaseClamps()

Releases the 2 clamps of the socket.

Throws:

FcsHardwareException

unlockClamps

@Command(type=ACTION,
         level=1,
         description="Unlock the 2 clamps of this socket if the socket is at STANDBY position.")
public void unlockClamps()

This method unclamps the 2 clamps at standby position.

Throws:

FcsHardwareException

toString

@Command(type=QUERY,
         level=1,
         description="Returns a String representation of a CarouselSocket.")
public String toString()

Overrides:

toString in class Object

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 Tt 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)

Start action of unlocking or releasing clamps.

Specified by:

startAction in class MobileItem

Parameters:

action -

Throws:

FcsHardwareException

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. Must not be waiting for a lock or a condition otherwise executeAction could never complete.

Specified by:

abortAction in class MobileItem

publishData

public void publishData()

Specified by:

publishData in class MobileItem

createStatusDataPublishedByCarouselSocket

public StatusDataPublishedByCarouselSocket createStatusDataPublishedByCarouselSocket()

Create an object to be published on the STATUS bus by a CarouselSocket.

Returns:

quickStopAction

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

Specified by:

quickStopAction in class MobileItem

canClearAlert

public org.lsst.ccs.framework.ClearAlertHandler.ClearAlertCode canClearAlert(org.lsst.ccs.bus.data.Alert alert)

Specified by:

canClearAlert in interface org.lsst.ccs.framework.ClearAlertHandler

shutdown

public void shutdown()

Description copied from class: MobileItem

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

Specified by:

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

Overrides:

shutdown in class MobileItem