org.lsst.ccs.subsystems.fcs

Class AutochangerTwoLatches

java.lang.Object

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

org.lsst.ccs.subsystems.fcs.AutochangerTwoLatches

All Implemented Interfaces:

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

public class AutochangerTwoLatches
extends MobileItem

This class represents a model for the 2 Latches of the autochanger. The Latches hold a filter on the trucks. There is one latch on each side of the filter. Because the ACTION open (or close) for 2 latches is different from opening (or closing) one Latch, then the other one, it's more convenient to have a class to represent 2 Latches at a time.

Author:

virieux

Field Summary

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

agentStateService, commandDuration, currentAction, FCSLOG, hasToWaitForEndOfAction, lock, name, readSensorsHandle, scheduler, subs

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

alertSeparator

Constructor Summary

Constructors

Constructor and Description
AutochangerTwoLatches(AutochangerLatch latchXminus, AutochangerLatch latchXplus) Build an Object AutochangerTwoLatches from 2 AutochangerLatch.

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay) aborts action actually running.
void	close() Close latches
StatusDataPublishedByAutochangerTwoLatches	createStatusDataPublishedByTwoLatches() Creates an object to be published on the STATUS bus by AutochangerTwoLatches.
void	endAction(FcsEnumerations.MobileItemAction action) end current action.
FcsEnumerations.FilterPresenceStatus	getFilterPresenceStatus() return filterPresenceStatus
FcsEnumerations.LockStatus	getLockStatus()
long	getTimeoutForClosing() Return the max time for closing in millisecond.
long	getTimeoutForOpening() Return the max time for opening.
void	initializeHardware() initialize AC latches hardware after initialization.
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isClosed() Return if both latches are CLOSED.
boolean	isEmpty() Returns true if there is no filter is latches.
boolean	isFilterEngagedInError()
boolean	isHoldingFilter() Return true if autochanger is holding a filter.
boolean	isInError() Returns true if one of the latches is in ERROR state.
boolean	isInitialized() Returns true if the 2 latches controllers are initialized.
boolean	isOpened() Return if both latches are OPENED.
boolean	myDevicesReady() Return True if all CAN open devices useful for this MobileItemMobile are ready for an action.
void	open() Open the 2 latches.
void	publishData()
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
void	startAction(FcsEnumerations.MobileItemAction action) starts the action given as argument.
void	updateState() Update lockStatus from latchXminus state and latchXplus state.
void	updateStateAndCheckSensors() Checks 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.

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

build, init, postBuild, postInit, postShutdown, postStart, start

Constructor Detail

AutochangerTwoLatches

public AutochangerTwoLatches(AutochangerLatch latchXminus,
                             AutochangerLatch latchXplus)

Build an Object AutochangerTwoLatches from 2 AutochangerLatch.

Parameters:

latchXminus -

latchXplus -

Method Detail

isInitialized

@Command(type=QUERY,
         level=1,
         description="Returns true if the 2 latches are initialized.")
public boolean isInitialized()

Returns true if the 2 latches controllers are initialized.

Returns:

getFilterPresenceStatus

@Command(type=QUERY,
         level=0,
         description="return filterPresenceStatus")
public FcsEnumerations.FilterPresenceStatus getFilterPresenceStatus()

return filterPresenceStatus

Returns:

getLockStatus

public FcsEnumerations.LockStatus getLockStatus()

getTimeoutForClosing

@Command(type=QUERY,
         level=1,
         description="Return the max time for closing in millisecond.")
public long getTimeoutForClosing()

Return the max time for closing in millisecond.

Returns:

getTimeoutForOpening

@Command(type=QUERY,
         level=1,
         description="Return the max time for opening in millisecond.")
public long getTimeoutForOpening()

Return the max time for opening.

Returns:

isClosed

@Command(type=QUERY,
         level=1,
         description="Returns true if both latches are CLOSED.")
public boolean isClosed()

Return if both latches are CLOSED.

Returns:

isOpened

@Command(type=QUERY,
         level=1,
         description="Returns true if both latches are OPENED.")
public boolean isOpened()

Return if both latches are OPENED.

Returns:

isInError

@Command(type=QUERY,
         level=1,
         description="Returns true if one of the latches is in ERROR state.")
public boolean isInError()

Returns true if one of the latches is in ERROR state. Doesn't read again sensors.

Returns:

isEmpty

@Command(type=QUERY,
         level=1,
         description="Returns true if there is no filter is latches.")
public boolean isEmpty()

Returns true if there is no filter is latches. Doesn't read again sensors.

Returns:

isFilterEngagedInError

public boolean isFilterEngagedInError()

isHoldingFilter

@Command(type=QUERY,
         level=1,
         description="Return true if autochanger is holding a filter.")
public boolean isHoldingFilter()

Return true if autochanger is holding a filter. A filter is ENGAGED and latches are CLOSED. Does not read again sensors values.

Returns:

myDevicesReady

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:

updateStateAndCheckSensors

public void updateStateAndCheckSensors()

Checks sensors.

Throws:

FcsHardwareException - if some latch sensors are in error or if latches state is not equal on both side of the filter.

FcsHardwareException

updateState

public void updateState()

Update lockStatus from latchXminus state and latchXplus state.

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

close

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

Close latches

Throws:

FcsHardwareException

open

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

Open the 2 latches.

Throws:

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

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

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Specified by:

isActionCompleted in class MobileItem

initializeHardware

@Command(type=QUERY,
         level=1,
         description="Initialize AC latches hardware after initialization. To be executed if during boot process some hardware is missing.")
public void initializeHardware()

initialize AC latches hardware after initialization. to be executed if during boot process some hardware is missing.

createStatusDataPublishedByTwoLatches

public StatusDataPublishedByAutochangerTwoLatches createStatusDataPublishedByTwoLatches()

Creates an object to be published on the STATUS bus by AutochangerTwoLatches.

Returns:

publishData

public void publishData()

Specified by:

publishData in class MobileItem