org.lsst.ccs.subsystems.fcs

Class AutochangerLatch

java.lang.Object

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

org.lsst.ccs.subsystems.fcs.AutochangerLatch

All Implemented Interfaces:

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

public class AutochangerLatch
extends MobileItem
implements MovedByEPOSController, ControlledBySensors

This class is a model for the latch which lock a filter on the autochanger trucks. The ACTION methods : open and close of this class is used in ENGINEERING mode only when an operator may need to open or close only one Latch. In NORMAL mode, when we have to open or close both Latches in the same time, the class AutochangerTwoLatches is used. On the autochanger there are 2 latches : one on each side of the filter : at X+ and X-.

Author:

virieux

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
AutochangerLatch(EPOSController latchController, ComplementarySensors closeSensors, ComplementarySensors openSensors, ComplementarySensors filterEngagedSensors) Buils a AutochangerLatchModule with a controller and 3 sensors.

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay) Stop action OPEN or CLOSE
void	close() Close this latch.
StatusDataPublishedByAutochangerLatch	createStatusDataPublishedByLatch() Creates an return an object to be published on the STATUS bus.
void	endAction(FcsEnumerations.MobileItemAction action) Ending action OPEN or CLOSE
EPOSController	getController() Return latchController
int	getCurrentToClose() For simulation, return currentToClose
FcsEnumerations.LockStatus	getLockStatus() Return lockStatus.
long	getTimeoutForClosing() Return timeoutForClosing
long	getTimeoutForOpening() Return timeoutForOpening
void	init() Initialize field autochanger and latchController
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action) Return true if action is completed with success.
boolean	isClosed() Returns true if LockStatus=LOCKED Doesn't read again sensors.
boolean	isEmpty() Returns true if autochanger is empty.
boolean	isFilterEngagedInError()
boolean	isInError() Returns true if LockStatus=ERROR, this means that openSensor and closeSensor return non consistant values.
boolean	isInitialized() Returns true if latch is initialized.
boolean	isOpened() Returns true if LockStatus=UNLOCKED Doesn't read again sensors.
boolean	myDevicesReady() Returns true if autochanger CANopen hardware is connected and ready.
void	open() Open this latch.
void	postStart() Executed during INITIALIZATION phase.
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
void	startAction(FcsEnumerations.MobileItemAction action) Start Action OPEN or CLOSE
void	updateCurrent() Updates the field readCurrent of the latch in reading the CPU of the controller.
protected void	updateState() This methods updates lockStatus from the values return by the sensors.
void	updateStateAndCheckSensors() Reads sensors, updates state and checks if sensors are in error.
void	updateStateWithSensorsToCheckIfActionIsCompleted() Read sensors and update State.

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

getControllerName, 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

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

build, postBuild, postInit, postShutdown, start

Constructor Detail

AutochangerLatch

public AutochangerLatch(EPOSController latchController,
                        ComplementarySensors closeSensors,
                        ComplementarySensors openSensors,
                        ComplementarySensors filterEngagedSensors)

Buils a AutochangerLatchModule with a controller and 3 sensors.

Parameters:

latchController -

closeSensors -

openSensors -

filterEngagedSensors -

Method Detail

getController

public EPOSController getController()

Return latchController

Specified by:

getController in interface MovedByEPOSController

Returns:

isInitialized

@Command(type=QUERY,
         level=1,
         description="Returns true if latch is initialized.")
public boolean isInitialized()

Returns true if latch is initialized.

Returns:

getCurrentToClose

public int getCurrentToClose()

For simulation, return currentToClose

Returns:

getTimeoutForOpening

public long getTimeoutForOpening()

Return timeoutForOpening

Returns:

getTimeoutForClosing

public long getTimeoutForClosing()

Return timeoutForClosing

Returns:

getLockStatus

public FcsEnumerations.LockStatus getLockStatus()

Return lockStatus. Used for simulation and tests.

Returns:

lockStatus

isClosed

@Command(type=QUERY,
         level=1,
         description="Returns true if LOCKED. Doesn\'t read again sensors.",
         alias="isClosed")
public boolean isClosed()

Returns true if LockStatus=LOCKED Doesn't read again sensors.

Returns:

isOpened

@Command(type=QUERY,
         level=1,
         description="Returns true if UNLOCKED. Doesn\'t read again sensors.",
         alias="isOpen")
public boolean isOpened()

Returns true if LockStatus=UNLOCKED Doesn't read again sensors.

Returns:

isInError

@Command(type=QUERY,
         level=1,
         description="Returns true if in ERROR, this means that openSensor and closeSensor return non consistant values. Doesn\'t read again sensors.")
public boolean isInError()

Returns true if LockStatus=ERROR, this means that openSensor and closeSensor return non consistant values. Doesn't read again sensors.

Specified by:

isInError in interface ControlledBySensors

Returns:

isEmpty

@Command(type=QUERY,
         level=1,
         description="Returns true if autochanger is empty. Doesn\'t read again sensors.")
public boolean isEmpty()

Returns true if autochanger is empty.

Returns:

isFilterEngagedInError

public boolean isFilterEngagedInError()

init

public void init()

Initialize field autochanger and latchController

Specified by:

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

postStart

public void postStart()

Executed during INITIALIZATION phase. Initialize and check latchController.

Specified by:

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

updateState

protected void updateState()

This methods updates lockStatus from the values return by the sensors.

updateCurrent

@Command(type=QUERY,
         level=1,
         description="Update latch current in reading controller.")
public void updateCurrent()

Updates the field readCurrent of the latch in reading the CPU of the controller. This method is used in the simulator mainly.

Specified by:

updateCurrent in interface MovedByEPOSController

Throws:

FcsHardwareException

myDevicesReady

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

Returns true if autochanger CANopen hardware is connected and ready.

Specified by:

myDevicesReady in class MobileItem

Returns:

close

@Command(type=ACTION,
         level=1,
         description="Close latch.")
public void close()

Close this latch.

Throws:

FcsHardwareException

RejectedCommandException

open

@Command(type=ACTION,
         level=1,
         description="Open latch.")
public void open()

Open this latch.

Throws:

FcsHardwareException

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Return true if action is completed with success.

Specified by:

isActionCompleted in class MobileItem

Parameters:

action -

Returns:

updateStateAndCheckSensors

public void updateStateAndCheckSensors()

Reads sensors, updates state and checks if sensors are in error. If sensors are in error, raises an ALERT.

updateStateWithSensorsToCheckIfActionIsCompleted

public void updateStateWithSensorsToCheckIfActionIsCompleted()

Read sensors and update State. Used during an action.

Specified by:

updateStateWithSensorsToCheckIfActionIsCompleted in class MobileItem

startAction

public void startAction(FcsEnumerations.MobileItemAction action)

Start Action OPEN or CLOSE

Specified by:

startAction in class MobileItem

Parameters:

action -

Throws:

FcsHardwareException

abortAction

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

Stop action OPEN or CLOSE

Specified by:

abortAction in class MobileItem

Parameters:

action -

delay -

Throws:

FcsHardwareException

endAction

public void endAction(FcsEnumerations.MobileItemAction action)

Ending action OPEN or CLOSE

Specified by:

endAction in class MobileItem

Parameters:

action -

Throws:

FcsHardwareException

quickStopAction

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

Specified by:

quickStopAction in class MobileItem

Parameters:

action -

delay -

Throws:

FcsHardwareException

createStatusDataPublishedByLatch

public StatusDataPublishedByAutochangerLatch createStatusDataPublishedByLatch()

Creates an return an object to be published on the STATUS bus.

Returns:

publishData

@Command(type=QUERY,
         level=1,
         description="Publish Data on the Status Bus.")
public void publishData()

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

Specified by:

publishData in interface MovedByEPOSController

Specified by:

publishData in class MobileItem