AutochangerOnlineClamp (LSST CCS - Subsystem FCS Main 5.2.4 API)

java.lang.Object
- org.lsst.ccs.subsystems.fcs.common.MobileItem
- - org.lsst.ccs.subsystems.fcs.AutochangerOnlineClamp

All Implemented Interfaces:

org.lsst.ccs.framework.HardwareController, org.lsst.ccs.framework.HasLifecycle, org.lsst.ccs.framework.SignalHandler, AlertRaiser, ControlledBySensors, MovedByEPOSController
```
public class AutochangerOnlineClamp
extends MobileItem
implements MovedByEPOSController, ControlledBySensors
```
This is a model for online clamp which holds a filter when it is at ONLINE position. The online clamps are part of the autochanger subsystem. There is 3 online clamps.

Author:

virieux

Field Summary

Fields
Modifier and Type	Field and Description
`static String`	`CURRENT_MONITOR_TASK_NAME`
`static String`	`ONLINE_CLAMP_CONFIG_CATEGORY`
`static int`	`TIMEOUT_FOR_CLOSING`
`static int`	`TIMEOUT_FOR_OPENING`

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
`AutochangerOnlineClamp(EPOSControllerForOnlineClamp controller, ComplementarySensors closeSensors, ComplementarySensors openSensors)` Builds an AutochangerOnlineClampModule with a controller, 4 sensors and 2 maps of parameters for the controller.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`abortAction(FcsEnumerations.MobileItemAction action, long delay)` What to do to abort an action.
`void`	`build()`
`void`	`checkConditionsForClosing()` Check if it's safe to closeClampInCurrentMode the clamp.
`void`	`checkConditionsForOpening()` Check if it's safe to openClampInCurrentMode the clamp.
`void`	`checkControllerWhenGoingFromEngineeringModeToNormal()`
`void`	`close()` Closes the ONLINE clamp in mode PROFILE_POSITION.
`void`	`closeClampInCurrentMode()` Closes the ONLINE clamp.
`void`	`configureController()` Configure ONLINE clamp controller.
`void`	`configureDigitalInputOfOnlineClamps()` This method is used to configure the controllers of the autochanger online clamps.
`void`	`configureDigitalOutputOfOnlineClamps()` This method is used to configure the autochanger onlineClamps EPOS controllers.
`StatusDataPublishedByAutochangerOnlineClamp`	`createStatusDataPublishedByOnlineClamp()` Creates and returns the object to be published on the STATUS bus.
`void`	`enableAndCheckControllerBeforeAction(FcsEnumerations.MobileItemAction action)` Enables controller, change mode depending on action and checkFault.
`void`	`executeCurrentRamp(int initialCurrent, int finalCurrent, int incrementCurrent, int maxTime, int waitTime)` Sends current to controller with a ramp : from initialCurrent to finalCurrent in a given number of steps (nbStep) and waits until the final value is reached.
`ComplementarySensors`	`getCloseSensors()` returns closeSensors for tests
`EPOSControllerWithBrake`	`getController()` Return ONLINE clamp controller
`String`	`getControllerName()` return controller name
`int`	`getCurrentToClamp()` For simulator
`int`	`getCurrentToOpen()` For simulator
`int`	`getFinalCurrentToClose()`
`int`	`getIncrementCurrentToClamp()`
`int`	`getIncrementCurrentToClose()`
`int`	`getIncrementCurrentToOpen()`
`int`	`getInitialCurrentToClose()`
`int`	`getMaxTimeToClose()`
`int`	`getMaxTimeToLock()`
`int`	`getMaxTimeToOpen()`
`int`	`getMaxTimeToUnlock()`
`ComplementarySensors`	`getOpenSensors()` returns openSensors for tests
`int`	`getSentCurrent()` returns last value of current sent to controller
`int`	`getTargetPositionToClose()`
`int`	`getTargetPositionToOpen()`
`int`	`getWaitTimeToClose()`
`int`	`getWaitTimeToOpen()`
`void`	`init()` * lifecycle methods ***********************************************
`boolean`	`isActionCompleted(FcsEnumerations.MobileItemAction action)`
`boolean`	`isAtPosition(int pos)` return true if position of online clamp is around pos given as argument
`boolean`	`isAtPositionClose()` return true if clamp position is around targetPositionToClose
`boolean`	`isAtPositionOpen()` return true if clamp position is around targetPositionToOpen
`boolean`	`isClosed()` Returns true if LockStatus=CLOSED.
`boolean`	`isCloseSensorsInError()` Returns true if closeSensor and closeSensorC return the same value.
`boolean`	`isHomingDone()`
`boolean`	`isInError()` Returns true if LockStatus=ERROR, this means closeSensor or openSensor is in ERROR or openSensor and closeSensor return non consistant values.
`boolean`	`isInitialized()` Returns true if clamp is initialized : hardware is ready (at least booted) and clamp controller is initialized (parameters in the controller CPU have been opened and controller has been configured).
`boolean`	`isInTravel()` Returns true if LockStatus=INTRAVEL.
`boolean`	`isLocked()` Returns true if LockStatus=LOCKED.
`boolean`	`isOpened()` Returns true if LockStatus=OPENED.
`boolean`	`isOpenSensorsInError()` Returns true if openSensor and openSensorC retun the same value.
`void`	`lock()` Locks the ONLINE clamp : sends currentToClamp to the controller with a ramp of current from currentToClose to currentToRamp.
`boolean`	`myDevicesReady()` Return true when ONLINE clamp hardware is ready.
`void`	`open()` openClampInCurrentMode clamp in mode PROFILE_POSITION condition : homing must have been done before, and latches must be closed.
`void`	`openClampInCurrentMode()` Opens the ONLINE clamp.
`void`	`openInCurrentModeAndHoming()` openClampInCurrentMode clamp in CURRENT mode and do homing.
`void`	`postStart()` This method is called during INITIALIZATION phase.
`void`	`publishData()` publishes data on the STATUS bus
`void`	`quickStopAction(FcsEnumerations.MobileItemAction action, long delay)`
`void`	`sendCurrentToControllerAndSaveValue(int current)` Writes current to controller and saves the current value in the ConfigurationParameter sentCurrent.
`void`	`setCurrentToClamp(int currentToClamp)`
`void`	`setCurrentToOpen(int currentToOpen)`
`void`	`setFinalCurrentToClose(int finalCurrentToClose)`
`void`	`setIncrementCurrentToClamp(int stepHeightAbsValue)`
`void`	`setIncrementCurrentToClose(int incrementCurrentToClose)`
`void`	`setIncrementCurrentToOpen(int incrementCurrentToOpen)`
`void`	`setInitialCurrentToClose(int initialCurrentToClose)`
`void`	`setMaxTimeToClose(int maxTimeToClose)`
`void`	`setMaxTimeToLock(int maxTimeToLock)`
`void`	`setMaxTimeToOpen(int maxTimeToOpen)`
`void`	`setMaxTimeToUnlock(int maxTimeToUnlock)`
`void`	`setSentCurrent(int sentCurrent)`
`void`	`setWaitTimeToClose(int waitTimeToClose)`
`void`	`setWaitTimeToOpen(int waitTimeToOpen)`
`void`	`startAction(FcsEnumerations.MobileItemAction action)` Start action of openClampInCurrentMode or closeClampInCurrentMode or lock or unlock.
`void`	`unlock()` Unlocks the ONLINE clamp : sends currentToClamp to the controller with a ramp of current from currentToClamp to currentToClose.
`void`	`updateCurrent()` read actual current on controller, update field current and publish it on STATUS bus.
`void`	`updatePosition()`
`void`	`updateState()` This methods updates lockStatus from the values return by the sensors.
`void`	`updateStateAndCheckSensors()` reads sensors, computes and state and raises an ALERT if sensors are in error.
`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, getName, getSubsystem, isMoving, readSensorsUntilActionIsCompleted, shutdown, signal, 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.subsystems.fcs.common.ControlledBySensors
checkSensors

Methods inherited from interface org.lsst.ccs.subsystems.fcs.common.AlertRaiser
clearAlarm, getAlertSeparator, getAlertService, getName, getSubsystem, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseWarning, raiseWarning

Methods inherited from interface org.lsst.ccs.framework.HardwareController
checkHardware, checkStarted

Methods inherited from interface org.lsst.ccs.framework.HasLifecycle
postBuild, postInit, postShutdown, start

- Field Detail
  - ONLINE_CLAMP_CONFIG_CATEGORY
```
public static final String ONLINE_CLAMP_CONFIG_CATEGORY
```
    See Also:
    
    Constant Field Values
  - CURRENT_MONITOR_TASK_NAME
```
public static final String CURRENT_MONITOR_TASK_NAME
```
    See Also:
    
    Constant Field Values
  - TIMEOUT_FOR_CLOSING
```
public static final int TIMEOUT_FOR_CLOSING
```
    See Also:
    
    Constant Field Values
  - TIMEOUT_FOR_OPENING
```
public static final int TIMEOUT_FOR_OPENING
```
    See Also:
    
    Constant Field Values
- Constructor Detail
  - AutochangerOnlineClamp
```
public AutochangerOnlineClamp(EPOSControllerForOnlineClamp controller,
                              ComplementarySensors closeSensors,
                              ComplementarySensors openSensors)
```
    Builds an AutochangerOnlineClampModule with a controller, 4 sensors and 2 maps of parameters for the controller.
    
    Parameters:
    
    controller -
    
    closeSensors -
    
    openSensors -
- Method Detail
  - setCurrentToClamp
```
@ConfigurationParameterChanger
public void setCurrentToClamp(int currentToClamp)
```
  - setCurrentToOpen
```
@ConfigurationParameterChanger
public void setCurrentToOpen(int currentToOpen)
```
  - setInitialCurrentToClose
```
@ConfigurationParameterChanger
public void setInitialCurrentToClose(int initialCurrentToClose)
```
  - setFinalCurrentToClose
```
@ConfigurationParameterChanger
public void setFinalCurrentToClose(int finalCurrentToClose)
```
  - setSentCurrent
```
public void setSentCurrent(int sentCurrent)
```
    Parameters:
    
    sentCurrent -
  - setIncrementCurrentToClamp
```
@ConfigurationParameterChanger
public void setIncrementCurrentToClamp(int stepHeightAbsValue)
```
    Parameters:
    
    stepHeightAbsValue -
  - setIncrementCurrentToOpen
```
@ConfigurationParameterChanger
public void setIncrementCurrentToOpen(int incrementCurrentToOpen)
```
  - setIncrementCurrentToClose
```
@ConfigurationParameterChanger
public void setIncrementCurrentToClose(int incrementCurrentToClose)
```
  - setWaitTimeToClose
```
@ConfigurationParameterChanger
public void setWaitTimeToClose(int waitTimeToClose)
```
  - setWaitTimeToOpen
```
@ConfigurationParameterChanger
public void setWaitTimeToOpen(int waitTimeToOpen)
```
  - setMaxTimeToClose
```
@ConfigurationParameterChanger
public void setMaxTimeToClose(int maxTimeToClose)
```
  - setMaxTimeToOpen
```
@ConfigurationParameterChanger
public void setMaxTimeToOpen(int maxTimeToOpen)
```
  - setMaxTimeToLock
```
@ConfigurationParameterChanger
public void setMaxTimeToLock(int maxTimeToLock)
```
  - setMaxTimeToUnlock
```
@ConfigurationParameterChanger
public void setMaxTimeToUnlock(int maxTimeToUnlock)
```
  - getInitialCurrentToClose
```
public int getInitialCurrentToClose()
```
  - getFinalCurrentToClose
```
public int getFinalCurrentToClose()
```
  - getIncrementCurrentToOpen
```
public int getIncrementCurrentToOpen()
```
  - getIncrementCurrentToClamp
```
public int getIncrementCurrentToClamp()
```
  - getIncrementCurrentToClose
```
public int getIncrementCurrentToClose()
```
  - getMaxTimeToClose
```
public int getMaxTimeToClose()
```
  - getWaitTimeToClose
```
public int getWaitTimeToClose()
```
  - getMaxTimeToOpen
```
public int getMaxTimeToOpen()
```
  - getMaxTimeToLock
```
public int getMaxTimeToLock()
```
  - getMaxTimeToUnlock
```
public int getMaxTimeToUnlock()
```
  - getWaitTimeToOpen
```
public int getWaitTimeToOpen()
```
  - getSentCurrent
```
@Command(type=QUERY)
public int getSentCurrent()
```
    returns last value of current sent to controller
    
    Returns:
  - getController
```
public EPOSControllerWithBrake getController()
```
    Return ONLINE clamp controller
    
    Returns:
  - getCurrentToOpen
```
public int getCurrentToOpen()
```
    For simulator
    
    Returns:
  - getCurrentToClamp
```
public int getCurrentToClamp()
```
    For simulator
    
    Returns:
  - getCloseSensors
```
public ComplementarySensors getCloseSensors()
```
    returns closeSensors for tests
    
    Returns:
  - getTargetPositionToOpen
```
public int getTargetPositionToOpen()
```
  - getTargetPositionToClose
```
public int getTargetPositionToClose()
```
  - getOpenSensors
```
public ComplementarySensors getOpenSensors()
```
    returns openSensors for tests
    
    Returns:
  - isCloseSensorsInError
```
@Command(type=QUERY,
         level=1,
         description="Returns true if lockSensor and lockSensorC retun the same value. Doesn\'t read again sensors.")
public boolean isCloseSensorsInError()
```
    Returns true if closeSensor and closeSensorC return the same value. Doesn't read again sensors.
    
    Returns:
  - isOpenSensorsInError
```
@Command(type=QUERY,
         level=1,
         description="Returns true if unlockSensor and unlockSensorC retun the same value. Doesn\'t read again sensors.")
public boolean isOpenSensorsInError()
```
    Returns true if openSensor and openSensorC retun the same value. Doesn't read again sensors.
    
    Returns:
  - isInError
```
@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=ERROR, this means that closeSensor or openSensor is in ERROR or thatopenSensor and closeSensor return non consistant values. Doesn\'t read again sensors.")
public boolean isInError()
```
    Returns true if LockStatus=ERROR, this means closeSensor or openSensor is in ERROR or openSensor and closeSensor return non consistant values. Doesn't read again sensors.
    
    Specified by:
    
    isInError in interface ControlledBySensors
    
    Returns:
  - isClosed
```
@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=CLOSED. Doesn\'t read again sensors.")
public boolean isClosed()
```
    Returns true if LockStatus=CLOSED. Doesn't read again sensors.
    
    Returns:
  - isHomingDone
```
@Command(type=QUERY,
         level=1,
         description="Returns true if homing of controller has been done.")
public boolean isHomingDone()
```
    Returns:
    
    true if homing of controller has been done.
  - isLocked
```
@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=LOCKED. Doesn\'t read again sensors.")
public boolean isLocked()
```
    Returns true if LockStatus=LOCKED. Doesn't read again sensors.
    
    Returns:
  - isOpened
```
@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=OPENED. Doesn\'t read again sensors.")
public boolean isOpened()
```
    Returns true if LockStatus=OPENED. Doesn't read again sensors.
    
    Returns:
  - isInTravel
```
@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=INTRAVEL. Doesn\'t read again sensors.")
public boolean isInTravel()
```
    Returns true if LockStatus=INTRAVEL. Doesn't read again sensors.
    
    Returns:
  - getControllerName
```
@Command(type=QUERY,
         level=1,
         description="Returns controller name.")
public String getControllerName()
```
    return controller name
    
    Specified by:
    
    getControllerName in interface MovedByEPOSController
    
    Returns:
  - isInitialized
```
@Command(type=QUERY,
         level=1,
         description="Returns true if clamp is initialized : controller is booted, parameters in the controller CPU have been opened and controller is configured.")
public boolean isInitialized()
```
    Returns true if clamp is initialized : hardware is ready (at least booted) and clamp controller is initialized (parameters in the controller CPU have been opened and controller has been configured).
    
    Returns:
  - init
```
public void init()
```
    *** lifecycle methods *************************************************
    
    Specified by:
    
    init in interface org.lsst.ccs.framework.HasLifecycle
  - build
```
public void build()
```
    Specified by:
    
    build in interface org.lsst.ccs.framework.HasLifecycle
  - myDevicesReady
```
@Command(type=QUERY,
         level=1,
         description="Returns true if controller is initialized and configured.")
public boolean myDevicesReady()
```
    Return true when ONLINE clamp hardware is ready. That is when controller is initialized and configured.
    
    Specified by:
    
    myDevicesReady in class MobileItem
    
    Returns:
  - checkConditionsForOpening
```
@Command(type=QUERY,
         level=1,
         description="Check if the onlineClamp can be locked.")
public void checkConditionsForOpening()
```
    Check if it's safe to openClampInCurrentMode the clamp.
    
    Throws:
    
    FcsHardwareException
  - checkConditionsForClosing
```
@Command(type=QUERY,
         level=1,
         description="Check if the onlineClamp can be locked.")
public void checkConditionsForClosing()
```
    Check if it's safe to closeClampInCurrentMode the clamp.
    
    Throws:
    
    FcsHardwareException
  - postStart
```
public void postStart()
```
    This method is called during INITIALIZATION phase. It configures the controller for the digital inputs and outputs. It changes it to CURRENT mode if it's not in this mode and it writes in the CPU of the controller the values of configuration for CURRENT mode parameters.
    
    Specified by:
    
    postStart in interface org.lsst.ccs.framework.HasLifecycle
  - enableAndCheckControllerBeforeAction
```
@Command(type=QUERY,
         level=1,
         description="Read in the CPU of the controller parameters for mode CURRENT.If a parameter has a different value than in configuration, throws an exception.")
public void enableAndCheckControllerBeforeAction(FcsEnumerations.MobileItemAction action)
```
    Enables controller, change mode depending on action and checkFault.
    
    Parameters:
    
    action -
    
    Throws:
    
    FcsHardwareException
  - checkControllerWhenGoingFromEngineeringModeToNormal
```
public void checkControllerWhenGoingFromEngineeringModeToNormal()
```
  - configureController
```
@Command(type=ACTION,
         level=1,
         description="Configure controller.")
public void configureController()
```
    Configure ONLINE clamp controller.
    
    Throws:
    
    FcsHardwareException
  - updateCurrent
```
public void updateCurrent()
```
    read actual current on controller, update field current and publish it on STATUS bus.
    
    Specified by:
    
    updateCurrent in interface MovedByEPOSController
  - updatePosition
```
public void updatePosition()
```
  - updateStateAndCheckSensors
```
public void updateStateAndCheckSensors()
```
    reads sensors, computes and state and raises an ALERT if sensors are in error.
  - updateState
```
@Command(type=ACTION,
         level=1,
         description="Update state from sensors values.")
public void updateState()
```
    This methods updates lockStatus from the values return by the sensors.
  - 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
  - isActionCompleted
```
public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)
```
    Specified by:
    
    isActionCompleted in class MobileItem
  - isAtPositionClose
```
public boolean isAtPositionClose()
```
    return true if clamp position is around targetPositionToClose
    
    Returns:
  - isAtPositionOpen
```
public boolean isAtPositionOpen()
```
    return true if clamp position is around targetPositionToOpen
    
    Returns:
  - isAtPosition
```
public boolean isAtPosition(int pos)
```
    return true if position of online clamp is around pos given as argument
    
    Parameters:
    
    pos -
    
    Returns:
  - closeClampInCurrentMode
```
@Command(type=ACTION,
         level=1,
         description="Closes the ONLINE clamp.",
         timeout=15000)
public void closeClampInCurrentMode()
```
    Closes the ONLINE clamp.
  - close
```
@Command(type=ACTION,
         level=1,
         description="Closes the ONLINE clamp in mode PROFILE_POSITION.",
         timeout=15000)
public void close()
```
    Closes the ONLINE clamp in mode PROFILE_POSITION.
  - openClampInCurrentMode
```
@Command(type=ACTION,
         level=1,
         description="Opens the ONLINE clamp.",
         timeout=15000)
public void openClampInCurrentMode()
```
    Opens the ONLINE clamp.
  - open
```
@Command(type=ACTION,
         level=1,
         description="Opens the ONLINE clamp in PROFILE_POSITION.",
         timeout=15000)
public void open()
```
    openClampInCurrentMode clamp in mode PROFILE_POSITION condition : homing must have been done before, and latches must be closed. for FINAL products AC1 and AC2.
  - openInCurrentModeAndHoming
```
@Command(type=ACTION,
         level=1,
         description="open clamp in CURRENT mode and do homing")
public void openInCurrentModeAndHoming()
```
    openClampInCurrentMode clamp in CURRENT mode and do homing.
  - lock
```
@Command(type=ACTION,
         level=1,
         description="Locks the ONLINE clamp : sends currentToClamp to the controller with a ramp of currentfrom currentToClose to currentToRamp.",
         timeout=15000)
public void lock()
```
    Locks the ONLINE clamp : sends currentToClamp to the controller with a ramp of current from currentToClose to currentToRamp. The clamp has to be CLOSED before this action. At the end of this action, the clamp is LOCKED.
  - unlock
```
@Command(type=ACTION,
         level=1,
         description="Unlocks the ONLINE clamp : sends currentToClamp to the controller  with a ramp of current from currentToClamp to currentToClose.",
         timeout=15000)
public void unlock()
```
    Unlocks the ONLINE clamp : sends currentToClamp to the controller with a ramp of current from currentToClamp to currentToClose. The clamp has to be LOCKED before this action. At the end of this action, the clamp is CLOSED. The goal if this action is to slow down the pressure exerted by the clamp on the filter. If we decrease too quickly the pressure the clamp could be ejected out by elastic return.
  - startAction
```
public void startAction(FcsEnumerations.MobileItemAction action)
```
    Start action of openClampInCurrentMode or closeClampInCurrentMode or lock or unlock.
    
    Specified by:
    
    startAction in class MobileItem
    
    Parameters:
    
    action -
    
    Throws:
    
    FcsHardwareException
  - sendCurrentToControllerAndSaveValue
```
@Command(type=ACTION,
         description="sent current to control and save this value")
public void sendCurrentToControllerAndSaveValue(int current)
```
    Writes current to controller and saves the current value in the ConfigurationParameter sentCurrent. The goal of saving the value is to be able to restart next time and know which value of current has been sent to controller. To know this value of current is important because the pressure exerted on the filter by the online clamps depends on the value of this current. Higher is the current value, higher is the pressure. And the process of opening or closing of a online clamp depends on this previous sent current value.
    
    Parameters:
    
    current - to send to controller
  - abortAction
```
public void abortAction(FcsEnumerations.MobileItemAction action,
                        long delay)
```
    What to do to abort an action.
    
    Specified by:
    
    abortAction in class MobileItem
    
    Parameters:
    
    action -
    
    delay -
    
    Throws:
    
    FcsHardwareException
  - configureDigitalInputOfOnlineClamps
```
@Command(type=ACTION,
         level=1,
         description="To configure the online clamps controllers.")
public void configureDigitalInputOfOnlineClamps()
```
    This method is used to configure the controllers of the autochanger online clamps. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital Inputs activated for OnlineClamps controllers are: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ QuickStop Input=01 Mask=Enabled Polarity=HighActive HE_Sensor General_A Input=02 Mask=Enabled Polarity=HighActive HE_Sensor General_B Input=03 Mask=Enabled Polarity=HighActive Check Brake Status ******************************************** 1 - Configure the Digital Input Functionnality index 0x2070 sindex input_ID Functionnality tab Value = 15 General Purpose A Value = 14 General Purpose B Value = 13 General Purpose C Value = 12 General Purpose D Value = 11 General Purpose E Value = 10 General Purpose F Value = 9 General Purpose G Value = 8 General Purpose H Value = 7 General Purpose I Value = 6 General Purpose J Value = 5 QuickStop Value = 4 Drive enable Value = 3 Position marker Value = 2 Home switch Value = 1 Positive Limit switch Value = 0 Negative Limit switch *************************************************************** 2 - Configure the Digital Input Polarity index 0x2071 subindex 0x03 Value = 0 High Active Value = 1 Low Active **************************************************************** 3 - Configure the Digital Input Mask index 0x2071 subindex 0x02 Value = 0 Functionnality state will not be displayed Value = 1 Functionnality state will be displayed Digital Input Functionnality tab value Bit_15 General Purpose A 1 Bit_14 General Purpose B 1 Bit_13 General Purpose C 0 Bit_12 General Purpose D 0 Bit_11 General Purpose E 0 Bit_10 General Purpose F 0 Bit_9 General Purpose G 0 Bit_8 General Purpose H 0 Bit_7 General Purpose I 0 Bit_6 General Purpose J 0 Bit_5 QuickStop 1 Bit_4 Drive enable 0 Bit_3 Position marker 0 Bit_2 Home switch 0 Bit_1 Positive Limit switch 0 Bit_0 Negative Limit switch 0 ********************************************************************* 4 - Configure the Digital Input Execution Mask index 0x2071 subindex 0x04 Digital Input Excecution Mask Value Bit_15 to Bit_6 reserved 0 Bit_5 QuickStop 1 Bit_4 Drive enable 1 Bit_3 Position marker 0 Bit_2 Home switch 0 Bit_1 Positive Limit switch 0 Bit_0 Negative Limit switch 0 **********************************************************************
  - configureDigitalOutputOfOnlineClamps
```
@Command(type=ACTION,
         level=1,
         description="To configure the online clamps controllers.")
public void configureDigitalOutputOfOnlineClamps()
```
    This method is used to configure the autochanger onlineClamps EPOS controllers. Digital Outputs activated for OnlineClamps controller are: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Ready/Fault Output=01 Mask=Enabled Polarity=HighActive General_A Output=0 Mask=Enabled Polarity=HighActive ******************************************* 1 - Configure the Digital Output Functionnality index 0x2079 subindex input_ID Functionnality tab : Value = 15 General Purpose Out_A Value = 14 General Purpose Out_B Value = 13 General Purpose Out_C Value = 12 General Purpose Out_D Value = 11 General Purpose Out_E Value = 10..8 not used Value = 7..3 reserved Value = 2 Holding Brake Value = 1 Position compare Value = 0 Ready/Fault ******************************************************************************** 2 - Configure the Digital Output Functionnality Mask index 0x2078 subindex 0x02 Value = 0 functionnality not activatd Value = 1 functionnality activated ******************************************************************************** Digital Output Functionnality Mask Value Bit_15 General Purpose Out_A 1 Bit_14 General Purpose Out_B 0 Bit_13 General Purpose Out_C 0 Bit_12 General Purpose Out_D 0 Bit_11 General Purpose Out_E 0 Bit_10 General Purpose Out_F 0 Bit_9 General Purpose Out_G 0 Bit_8 General Purpose Out_H 0 Bit_7..3 reserved 0 Bit_2 Holding Brake 0 (read only) Bit_1 Position Compare (read only) Bit_0 Ready/Fault (read only) ******************************************************************************** 3 - Configure the Digital Output Functionnality Polarity index 0x2078 subindex 0x03 Value = 0 associated output not change => HighActive Value = 1 associated output inverted => LowActive ********************************************************************************
    
    Throws:
    
    FcsHardwareException
  - createStatusDataPublishedByOnlineClamp
```
public StatusDataPublishedByAutochangerOnlineClamp createStatusDataPublishedByOnlineClamp()
```
    Creates and returns the 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
  - quickStopAction
```
public void quickStopAction(FcsEnumerations.MobileItemAction action,
                            long delay)
```
    Specified by:
    
    quickStopAction in class MobileItem
  - executeCurrentRamp
```
public void executeCurrentRamp(int initialCurrent,
                               int finalCurrent,
                               int incrementCurrent,
                               int maxTime,
                               int waitTime)
```
    Sends current to controller with a ramp : from initialCurrent to finalCurrent in a given number of steps (nbStep) and waits until the final value is reached. It uses method writeCurrentRamp which uses a scheduler.
    
    Parameters:
    
    initialCurrent - first value to be sent to controller
    
    finalCurrent - last value to send to controller
    
    incrementCurrent -
    
    maxTime -
    
    waitTime - time to wait after sending initialCurrent to controller.

Class AutochangerOnlineClamp

Field Summary

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

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

Constructor Summary

Method Summary

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

Methods inherited from class java.lang.Object

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

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

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

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

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

Field Detail

ONLINE_CLAMP_CONFIG_CATEGORY

CURRENT_MONITOR_TASK_NAME

TIMEOUT_FOR_CLOSING

TIMEOUT_FOR_OPENING

Constructor Detail

AutochangerOnlineClamp

Method Detail

setCurrentToClamp

setCurrentToOpen

setInitialCurrentToClose

setFinalCurrentToClose

setSentCurrent

setIncrementCurrentToClamp

setIncrementCurrentToOpen

setIncrementCurrentToClose

setWaitTimeToClose

setWaitTimeToOpen

setMaxTimeToClose

setMaxTimeToOpen

setMaxTimeToLock

setMaxTimeToUnlock

getInitialCurrentToClose

getFinalCurrentToClose

getIncrementCurrentToOpen

getIncrementCurrentToClamp

getIncrementCurrentToClose

getMaxTimeToClose

getWaitTimeToClose

getMaxTimeToOpen

getMaxTimeToLock

getMaxTimeToUnlock

getWaitTimeToOpen

getSentCurrent

getController

getCurrentToOpen

getCurrentToClamp

getCloseSensors

getTargetPositionToOpen

getTargetPositionToClose

getOpenSensors

isCloseSensorsInError

isOpenSensorsInError

isInError

isClosed

isHomingDone

isLocked

isOpened

isInTravel

getControllerName

isInitialized

init

build

myDevicesReady

checkConditionsForOpening

checkConditionsForClosing

postStart

enableAndCheckControllerBeforeAction

checkControllerWhenGoingFromEngineeringModeToNormal

configureController

updateCurrent

updatePosition

updateStateAndCheckSensors

updateState

updateStateWithSensorsToCheckIfActionIsCompleted

isActionCompleted

isAtPositionClose