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

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

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

Nested Class Summary

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

org.lsst.ccs.framework.ClearAlertHandler.ClearAlertCode

Field Summary

Fields

Modifier and Type	Field and Description
protected EPOSController	controller The motor controller which controls this clamp.
protected int	currentToMaintainUnlocked
protected int	currentToUnlock
protected Integer	filterPresenceOffset1 if filter presence sensor returns a value between 0 and filterPresenceOffset1 : sensor is in error.
protected Integer	filterPresenceOffset2 if filter presence sensor returns a value between filterPresenceOffset1 and filterPresenceOffset2 : the filter is engaged and lockable.
protected Integer	filterPresenceOffset3
protected Integer	filterPresenceValueB if filter presence sensor returns a value between filterPresenceOffset2 and filterPresenceValueB filter is not lockable.
protected Integer	lockSensorMaxValue If sensor returns a value above lockSensorMaxValue, the sensor is in error.
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 lockSensorMaxValue, the clamp is locked.
protected long	timeoutForReleasing
protected long	timeoutForUnlocking
protected int	timeToPrepareUnlock

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

agentStateService, beginTime, commandDuration, currentAction, dataProviderDictionaryService, FCSLOG, hasToWaitForEndOfAction, lock, name, readSensorsHandle, scheduler, subs, timeoutExceeded

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

alertSeparator

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.
void	build()
org.lsst.ccs.framework.ClearAlertHandler.ClearAlertCode	canClearAlert(org.lsst.ccs.bus.data.Alert alert, org.lsst.ccs.bus.states.AlertState alertState) to be able to clear alerts
void	checkAndUpdateOffset2(int newOffset2) compare offset2 value given as argument with persisted value.
void	checkIsAtStandby()
StatusDataPublishedByCarouselClamp	createStatusDataPublishedByClamp() Create an object to be published on the STATUS bus.
void	endAction(FcsEnumerations.MobileItemAction action) end current action.
FcsEnumerations.FilterClampState	getClampState() Returns the clampState of the clamp.
short	getCurrentToUnlock() Returns the amount of current needed to unlock this clamp.
int	getFilterPresenceOffset1()
int	getFilterPresenceOffset2()
Integer	getFilterPresenceOffset3()
SensorPluggedOnTTC580	getFilterPresenceSensor() For simulation.
FcsEnumerations.FilterPresenceStatus	getFilterPresenceStatus()
int	getFilterPresenceValueB()
SensorPluggedOnTTC580	getLockSensor() For simulation.
int	getLockSensorMaxValue()
int	getLockSensorValueA()
int	getLockSensorValueB()
FcsEnumerations.LockStatus	getLockStatus()
void	init() *** lifecycle methods *************************************************
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isAtStandby()
boolean	isFilterEngaged()
boolean	isLocked() This methods returns true if the clamp is locked.
boolean	isReleased() Check if controller has been disabled.
boolean	isXminus()
boolean	myDevicesReady() *
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.
void	setAtStandby(boolean atStandby)
protected void	setController(EPOSController actuator) In the initialization phase, this method is used to initialize the controller.
void	setFilterPresenceOffset1(Integer value)
void	setFilterPresenceOffset2(Integer value)
void	setFilterPresenceValueB(Integer filterPresenceValue)
void	setLockSensorMaxValue(Integer maxValue)
void	setLockSensorValueA(Integer lockSensorValueA) for tests
void	setLockSensorValueB(Integer lockSensorValueB) for tests
void	startAction(FcsEnumerations.MobileItemAction action) starts the action given as argument.
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

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.framework.HardwareController

checkHardware

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

postBuild, postInit, postShutdown, postStart, start

Field Detail

controller

protected EPOSController controller

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

currentToUnlock

@ConfigurationParameter
protected int currentToUnlock

currentToMaintainUnlocked

@ConfigurationParameter
protected int currentToMaintainUnlocked

timeToPrepareUnlock

@ConfigurationParameter(description="for command unlock : time between little current to prepare hardware and currentToLock ")
protected int timeToPrepareUnlock

lockSensorValueA

@ConfigurationParameter
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 lockSensorMaxValue: the clamp is locked. If the sensor returns a value greater than lockSensorMaxValue the sensor is in ERROR. This value is read on hyttc580 when fcs starts.

lockSensorValueB

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

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

lockSensorMaxValue

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

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

filterPresenceOffset1

protected Integer filterPresenceOffset1

if filter presence sensor returns a value between 0 and filterPresenceOffset1 : sensor is in error. The value of filterPresenceOffset1 is read on httc580 when fcs starts and it is persisted. If the new value read is different from the last value read it may means that the clamp has been replaced.

filterPresenceOffset2

@Persist
protected Integer filterPresenceOffset2

if filter presence sensor returns a value between filterPresenceOffset1 and filterPresenceOffset2 : the filter is engaged and lockable. This value is read on hyttc580 when fcs starts. It is persisted. If the new value read is different from the precedent value, it means that the clamp has been replaced, and an ALERT must be launched.

filterPresenceOffset3

@ConfigurationParameter(description="an offset for tests after carousel has been transported")
protected Integer filterPresenceOffset3

filterPresenceValueB

@ConfigurationParameter(range="0..12000")
protected Integer filterPresenceValueB

if filter presence sensor returns a value between filterPresenceOffset2 and filterPresenceValueB filter is not lockable. And if the value is greater than * filterPresenceMaxValue, there's no filter.

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

build

public void build()

Specified by:

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

isAtStandby

public boolean isAtStandby()

setAtStandby

public void setAtStandby(boolean atStandby)

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

getLockSensorMaxValue

public int getLockSensorMaxValue()

getFilterPresenceOffset1

public int getFilterPresenceOffset1()

Returns:

the filterPresenceOffset1

getFilterPresenceOffset2

public int getFilterPresenceOffset2()

Returns:

the filterPresenceOffset2

getFilterPresenceValueB

public int getFilterPresenceValueB()

Returns:

the filterPresenceValueB

getFilterPresenceOffset3

public Integer getFilterPresenceOffset3()

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

public void setLockSensorValueA(Integer lockSensorValueA)

for tests

Parameters:

lockSensorValueA -

setLockSensorValueB

public void setLockSensorValueB(Integer lockSensorValueB)

for tests

Parameters:

lockSensorValueB -

setLockSensorMaxValue

public void setLockSensorMaxValue(Integer maxValue)

setFilterPresenceOffset1

public void setFilterPresenceOffset1(Integer value)

setFilterPresenceOffset2

public void setFilterPresenceOffset2(Integer value)

setFilterPresenceValueB

public void setFilterPresenceValueB(Integer filterPresenceValue)

init

public void init()

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

Specified by:

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

canClearAlert

public org.lsst.ccs.framework.ClearAlertHandler.ClearAlertCode canClearAlert(org.lsst.ccs.bus.data.Alert alert,
                                                                             org.lsst.ccs.bus.states.AlertState alertState)

to be able to clear alerts

Specified by:

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

Parameters:

alert -

alertState -

Returns:

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

checkAndUpdateOffset2

public void checkAndUpdateOffset2(int newOffset2)

compare offset2 value given as argument with persisted value.

Parameters:

newOffset2 -

isXminus

public boolean isXminus()

Returns:

true if this clamp is clampXminus.

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

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

isReleased

@Command(level=3,
         type=ACTION,
         description="Check if controller has been disabled.")
public boolean isReleased()

Check if controller has been disabled.

Returns:

true if controller is not enabled.

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

checkIsAtStandby

public void checkIsAtStandby()

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

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

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

endAction

public void endAction(FcsEnumerations.MobileItemAction action)

Description copied from class: MobileItem

end current action. This command is executed systematically at the end of any action in the `finally` clause of executeAction(). It has to be specified in sub-classes. It should leave the controller in a safe state for the hardware. Must not be waiting for a lock or a condition otherwise executeAction could never complete.

Specified by:

endAction in class MobileItem

quickStopAction

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

Specified by:

quickStopAction in class MobileItem