org.lsst.ccs.subsystems.fcs

Class AutochangerTwoTrucks

java.lang.Object

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

org.lsst.ccs.subsystems.fcs.AutochangerTwoTrucks

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 AutochangerTwoTrucks
extends MobileItem
implements org.lsst.ccs.framework.ClearAlertHandler

This is a model for autochanger trucks. Autochanger trucks move a filter from STANDBY position to ONLINE position or HANDOFF position. ONLINE position is just in front of the focal front. STANDBY position is where an exchange can be done with the carousel. HANDOFF position is a position an exchange can be done with the loader. The trucks are moved by 2 controllers, a master and a slave. Each controller has an absolute encoder.

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

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

alertSeparator

Constructor Summary

Constructors

Constructor and Description
AutochangerTwoTrucks(AutochangerTruck truckXminus, AutochangerTruck truckXplus, EPOSControllerForLinearRail linearRailMasterController, EPOSControllerForLinearRail linearRailSlaveController) Build a new AutoChangerTrucksModule.

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay) aborts action actually running.
void	activateBrakesAndDisable() activate both brakes then disableOperation on the 2 controllers.
void	alignSlave() move slave truk to masterPosition.
void	alignSlaveAndMoveEmptyFromApproachToHandoff()
org.lsst.ccs.framework.ClearAlertHandler.ClearAlertCode	canClearAlert(org.lsst.ccs.bus.data.Alert alert, org.lsst.ccs.bus.states.AlertState alertState)
void	checkConditionsForTrucksMotion() This method sends Exceptions if the conditions for trucks motion are not filled.
void	checkDeltaPosition()
void	checkPositionSensors() This method is called at the end of actions to check that after a motion to well known position as STANDBY, HANDOFF and ONLINE, position sensors confirm the trucks position.
void	configureControllers() Configure Autochanger trucks master and slave controllers.
StatusDataPublishedByAutoChangerTrucks	createStatusDataPublishedByAutoChangerTrucks() Creates an object to be published on the status bus.
void	enableControllersAndReleaseBrake() This method is used in the startAction method.
void	endAction(FcsEnumerations.MobileItemAction action) end current action.
void	fastProfile() change speed and acceleration profile to fast
int	getApproachStandbyPosition()
int	getHandoffPosition() Return HANDOFF masterPosition.
int	getOnlinePosition() Return ONLINE position.
int	getPosition() Return actual trucks masterPosition.
int	getStandbyPosition() Return STANDBY masterPosition.
long	getTimeoutForTrucksMotion() Return the timeout for trucks motion.
void	goToHandOff() Move Autochanger trucks to the Handoff position.
void	goToOnline() Move Autochanger trucks to the Online position.
void	goToStandby() Move Autochanger trucks to the Standby position.
void	homing() Do homing of both controllers.
void	initializeControllers()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isAtHandoff() Returns the boolean field atHandoff.
boolean	isAtOnline() Returns the boolean field atOnline.
boolean	isAtStandby() Returns the boolean field atStandby.
boolean	isHomingDone() Return true if the homing of the trucks has been done.
boolean	isInitialized() Return true if both controllers are initialized and homing of trucks are done.
boolean	isPositionSensorErrorsTransient() At the end of a motion during tests, a bad positionning of the trucks in a way that both sensors send the same value can be detected as an error.
boolean	isPositionSensorsInError() Return true if TruckXminus position sensors or TruckXminus position sensors are in error.
void	moveAndClampFilterOnline()
void	moveAndClampFilterOnlineNoBreak() very dangerous : in case of an Exception : no break is activated.
void	moveFilterToStandby() Move a filter to standby position step by step.
void	moveToAbsoluteTargetPosition(int targetPosition) Move the trucks to an absolute position given as argument.
void	moveToAbsoluteTargetPositionDangerous(int targetPosition) Move the trucks to an absolute position given as argument.
void	moveToApproachOnlinePositionWithHighVelocity()
void	moveToApproachOnlinePositionWithLowVelocity()
void	moveToApproachStandbyPositionWithHighVelocity()
void	moveToApproachStandbyPositionWithLowVelocity()
void	moveToHandoffWithHighVelocity()
void	moveToStandbyWithLowVelocity()
void	moveTruckXminus(int newPos) move truckXminus (slave controller) independently of truckXplus (master controller)
boolean	myDevicesReady() Return True if all CAN open devices useful for this MobileItemMobile are ready for an action.
void	postStart()
void	publishData()
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
void	raiseProfileAcceleration() change ProfileVelocity parameter to highSpeed
void	raiseProfileDeceleration() change ProfileVelocity parameter to highSpeed
void	raiseProfileVelocity() change ProfileVelocity parameter to highSpeed
int	readPosition() For the GUI and end users for test purpose.
double	readProximitySensorDevice()
void	setNaturalPosition(int pos)
void	shutdown() This shutdowns the scheduler.
void	slowProfile() change speed & acceleration profile to slow
void	slowProfileAcceleration() change ProfileAcceleration parameter to lowAcceleration
void	slowProfileDeceleration() change ProfileAcceleration parameter to lowAcceleration
void	slowProfileVelocity() change ProfileVelocity parameter to lowSpeed
void	startAction(FcsEnumerations.MobileItemAction action) starts the action given as argument.
void	updatePosition() Updates the field position of the trucks in reading the CPU of the controller.
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, 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, start

Constructor Detail

AutochangerTwoTrucks

public AutochangerTwoTrucks(AutochangerTruck truckXminus,
                            AutochangerTruck truckXplus,
                            EPOSControllerForLinearRail linearRailMasterController,
                            EPOSControllerForLinearRail linearRailSlaveController)

Build a new AutoChangerTrucksModule.

Parameters:

truckXminus -

truckXplus -

linearRailMasterController -

linearRailSlaveController -

Method Detail

setNaturalPosition

@ConfigurationParameterChanger
public void setNaturalPosition(int pos)

getPosition

@Command(type=QUERY,
         level=1,
         description="Return actual trucks position (master position). Doesn\'t read again the position on the controller.")
public int getPosition()

Return actual trucks masterPosition. Doesn't read again the masterPosition on the controller.

Returns:

getHandoffPosition

@Command(type=QUERY,
         level=1,
         description="Return HANDOFF position. Doesn\'t read again the position on the controller.")
public int getHandoffPosition()

Return HANDOFF masterPosition. Doesn't read again the masterPosition on the controller.

Returns:

getStandbyPosition

@Command(type=QUERY,
         level=1,
         description="Return STANDBY position. Doesn\'t read again the position on the controller.")
public int getStandbyPosition()

Return STANDBY masterPosition. Doesn't read again the masterPosition on the controller.

Returns:

getOnlinePosition

@Command(type=QUERY,
         level=1,
         description="Return ONLINE position. Doesn\'t read again the position on the controller.")
public int getOnlinePosition()

Return ONLINE position. Doesn't read again the position on the controller.

Returns:

getApproachStandbyPosition

public int getApproachStandbyPosition()

getTimeoutForTrucksMotion

@Command(type=QUERY,
         level=1,
         description="Return timeout for trucks motion.")
public long getTimeoutForTrucksMotion()

Return the timeout for trucks motion. If trucks motion duration is greater than timeoutForTrucksMotion, an ALERT is raised.

Returns:

timeoutForTrucksMotion

isAtHandoff

@Command(type=QUERY,
         level=0,
         description="Return true if the carrier is at handoff position. This command doesn\'t read again the sensors.")
public boolean isAtHandoff()

Returns the boolean field atHandoff. If the atHandoff boolean is being updated and waits for a response from a sensor, this methods waits until update is completed. If the field atHandoff is not being updated, it returns its immediatly.

Returns:

atHandoff

isAtOnline

@Command(type=QUERY,
         level=0,
         description="Return true if the carrier is at ONLINE position. This command doesn\'t read again the sensors.")
public boolean isAtOnline()

Returns the boolean field atOnline. If the atOnline boolean is being updated and waits for a response from a sensor, this methods waits until update is completed. If the field atOnline is not being updated, it returns its immediatly.

Returns:

atHandoff

isAtStandby

@Command(type=QUERY,
         level=0,
         description="Return true if the carrier is at STANDBY position. This command doesn\'t read again the sensors.")
public boolean isAtStandby()

Returns the boolean field atStandby. If the atHandoff boolean is being updated and waits for a response from a sensor, this methods waits until update is completed. If the field atStandby is not being updated, it returns its immediatly..

Returns:

atStandby

isHomingDone

@Command(type=QUERY,
         level=0,
         description="Return true if the homing of the trucks has been done.")
public boolean isHomingDone()

Return true if the homing of the trucks has been done.

Returns:

isPositionSensorsInError

@Command(type=QUERY,
         level=0,
         description="Return true if TruckXminus position sensors or TruckXminus position sensors are in error.")
public boolean isPositionSensorsInError()

Return true if TruckXminus position sensors or TruckXminus position sensors are in error. Or position sensors are non consistant.

Returns:

isPositionSensorErrorsTransient

public boolean isPositionSensorErrorsTransient()

At the end of a motion during tests, a bad positionning of the trucks in a way that both sensors send the same value can be detected as an error. In this case we don't raise an ALARM but a WARNING.

Returns:

true if position sensors error is transient

postStart

public void postStart()

Specified by:

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

initializeControllers

public void initializeControllers()

configureControllers

@Command(type=ACTION,
         level=1,
         description="Configure Autochanger trucks master and slave controllers.",
         alias="initControllers")
public void configureControllers()

Configure Autochanger trucks master and slave controllers.

Throws:

FcsHardwareException

isInitialized

@Command(type=QUERY,
         level=0,
         description="Return true if both controllers are initialized and homing of trucks are done.")
public boolean isInitialized()

Return true if both controllers are initialized and homing of trucks are done.

Returns:

checkConditionsForTrucksMotion

@Command(type=QUERY,
         level=1,
         description="Check if the motion of trucks are allowed.")
public void checkConditionsForTrucksMotion()

This method sends Exceptions if the conditions for trucks motion are not filled. Autochanger trucks motion is allowed if : - controllers are initialized - homing is done - trucks are empty OR (loaded with a filter but latches are closed AND carousel or loader doesn't hold filter)

Throws:

FcsHardwareException

RejectedCommandException

goToHandOff

@Command(type=ACTION,
         level=1,
         description="Move Autochanger trucks to the Handoff position.",
         alias="goToHandoff")
public void goToHandOff()

Move Autochanger trucks to the Handoff position. If Autochanger trucks are already at HANDOFF position, it does nothing.

Throws:

RejectedCommandException

FcsHardwareException

goToOnline

@Command(type=ACTION,
         level=1,
         description="Move Autochanger trucks to the Online position.")
public void goToOnline()

Move Autochanger trucks to the Online position. If Autochanger trucks are already at ONLINE position, it does nothing.

Throws:

FcsHardwareException

goToStandby

@Command(type=ACTION,
         level=1,
         description="Move Autochanger trucks to the Standby position.")
public void goToStandby()

Move Autochanger trucks to the Standby position. If Autochanger trucks are already at STANDBY position, it does nothing.

Throws:

RejectedCommandException

FcsHardwareException

moveToAbsoluteTargetPosition

@Command(type=ACTION,
         level=1,
         description="Move Autochanger trucks to the absolute position given as argument. At the end of motion : doesn\'t align slave then activate brakes and disable controllers.",
         alias="mobeABSPos",
         timeout=20000)
public void moveToAbsoluteTargetPosition(int targetPosition)

Move the trucks to an absolute position given as argument. Doesn't align slave at the end of motion. At the end of

Parameters:

targetPosition -

Throws:

RejectedCommandException

FcsHardwareException

moveToAbsoluteTargetPositionDangerous

@Command(type=ACTION,
         level=3,
         description="Move Autochanger trucks to the absolute position given as argument. At the end of motion : doesn\'t align slave then activate brakes and disable controllers VERY DANGEROUS COMMAND. Only for tests with prototype.",
         timeout=20000)
public void moveToAbsoluteTargetPositionDangerous(int targetPosition)

Move the trucks to an absolute position given as argument. Doesn't align slave at the end of motion. Just for tests on prototype. Doesn't check condition for trucks motion.

Parameters:

targetPosition -

Throws:

RejectedCommandException

FcsHardwareException

moveAndClampFilterOnline

@Command(type=ACTION,
         level=2,
         description="goToOnline with filter then adjust position then close and finally lock clamps",
         autoAck=false,
         timeout=20000)
public void moveAndClampFilterOnline()

moveFilterToStandby

@Command(type=ACTION,
         level=2,
         description="move filter to approachPosition with high speed and move to STANDBY with lowSpeed.",
         autoAck=false,
         timeout=30000)
public void moveFilterToStandby()

Move a filter to standby position step by step. A first step with a high speed to the approachStandbyPosition. a second step to standby position with low speed.

moveToApproachStandbyPositionWithLowVelocity

@Command(type=ACTION)
public void moveToApproachStandbyPositionWithLowVelocity()

moveToApproachOnlinePositionWithLowVelocity

@Command(type=ACTION)
public void moveToApproachOnlinePositionWithLowVelocity()

alignSlaveAndMoveEmptyFromApproachToHandoff

@Command(type=ACTION)
public void alignSlaveAndMoveEmptyFromApproachToHandoff()

moveToApproachStandbyPositionWithHighVelocity

@Command(type=ACTION)
public void moveToApproachStandbyPositionWithHighVelocity()

moveToApproachOnlinePositionWithHighVelocity

@Command(type=ACTION)
public void moveToApproachOnlinePositionWithHighVelocity()

moveToStandbyWithLowVelocity

@Command(type=ACTION)
public void moveToStandbyWithLowVelocity()

moveToHandoffWithHighVelocity

@Command(type=ACTION)
public void moveToHandoffWithHighVelocity()

moveAndClampFilterOnlineNoBreak

public void moveAndClampFilterOnlineNoBreak()

very dangerous : in case of an Exception : no break is activated.

activateBrakesAndDisable

@Command(type=ACTION,
         level=1,
         description="Activate brakes and disable the 2 controllers.")
public void activateBrakesAndDisable()

activate both brakes then disableOperation on the 2 controllers. For end user.

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

enableControllersAndReleaseBrake

@Command(type=ACTION,
         level=1,
         description="Enable and release brake for the 2 controllers.")
public void enableControllersAndReleaseBrake()

This method is used in the startAction method. It is was has to be done before moving the trucks.

alignSlave

@Command(type=ACTION,
         level=1,
         description="Align slave controller position to master controller position.",
         timeout=20000)
public void alignSlave()

move slave truk to masterPosition. When moving along the rails with slave controller in MASTER_ENCODER mode, at the end of motion there is a small misalignement. This consists in : setting slaveController mode to PROFILE_POSITION, go to absolute masterPosition pos, and then set slaveController mode back to MASTER_ENCODER mode.

moveTruckXminus

@Command(type=QUERY,
         level=3,
         description="Move truckXminus (slave controller) independently of truckXplus (master controller). To be used with final products AC1 and AC2.Don\'t use with prototype.")
public void moveTruckXminus(int newPos)

move truckXminus (slave controller) independently of truckXplus (master controller)

Parameters:

newPos -

checkPositionSensors

public void checkPositionSensors()

This method is called at the end of actions to check that after a motion to well known position as STANDBY, HANDOFF and ONLINE, position sensors confirm the trucks position. Otherwise it throws a FailedCommandException.

Throws:

FcsHardwareException

homing

@Command(type=ACTION,
         level=1,
         description="Do homing for both  controllers.")
public void homing()

Do homing of both controllers.

Throws:

RejectedCommandException

FcsHardwareException

updatePosition

@Command(type=QUERY,
         level=1,
         description="Update trucks position in reading controller.")
public void updatePosition()

Updates the field position of the trucks in reading the CPU of the controller. ********************************************************************* MASTER CONTROLLER FOR truckXminus SLAVE CONTROLLER FOR truckXplus *********************************************************************

Throws:

FcsHardwareException

checkDeltaPosition

@Command(type=QUERY,
         level=1,
         description="Read position on controllers then compute difference and throw exceptionif difference is > 1000.")
public void checkDeltaPosition()

readPosition

@Command(type=QUERY,
         level=0,
         description="Update trucks position in reading controller and return position.")
public int readPosition()

For the GUI and end users for test purpose. Update positon in reading the master controller and returns the value read.

Returns:

trucks masterPosition

Throws:

RejectedCommandException

FcsHardwareException

readProximitySensorDevice

@Command(type=QUERY,
         level=0,
         description="Return a voltage in mV which represents a distance between between filterand filter beam.")
public double readProximitySensorDevice()

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:

true if both controllers are initialized and homing of trucks are done.

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

slowProfile

@Command(type=ACTION,
         level=1,
         description="change ProfileVelocity parameter to lowSpeed and slowProfileAcceleration and slowProfileDeceleration")
public void slowProfile()

change speed & acceleration profile to slow

fastProfile

@Command(type=ACTION,
         level=1,
         description="change ProfileVelocity and ProfileAcceleration and ProfileDeceleration parameters to highSpeed")
public void fastProfile()

change speed and acceleration profile to fast

slowProfileVelocity

@Command(type=ACTION,
         level=1,
         description="change ProfileVelocity parameter to lowSpeed and slowProfileAcceleration and slowProfileDeceleration")
public void slowProfileVelocity()

change ProfileVelocity parameter to lowSpeed

raiseProfileVelocity

@Command(type=ACTION,
         level=1,
         description="change ProfileVelocity and ProfileAcceleration and ProfileDeceleration parameters to highSpeed")
public void raiseProfileVelocity()

change ProfileVelocity parameter to highSpeed

raiseProfileAcceleration

@Command(type=ACTION,
         level=1,
         description="change ProfileAcceleration parameter to highAcceleration")
public void raiseProfileAcceleration()

change ProfileVelocity parameter to highSpeed

slowProfileAcceleration

@Command(type=ACTION,
         level=1,
         description="change ProfileAcceleration parameter to lowAcceleration")
public void slowProfileAcceleration()

change ProfileAcceleration parameter to lowAcceleration

raiseProfileDeceleration

@Command(type=ACTION,
         level=1,
         description="change ProfileAcceleration parameter to highAcceleration")
public void raiseProfileDeceleration()

change ProfileVelocity parameter to highSpeed

slowProfileDeceleration

@Command(type=ACTION,
         level=1,
         description="change ProfileAcceleration parameter to lowAcceleration")
public void slowProfileDeceleration()

change ProfileAcceleration parameter to lowAcceleration

canClearAlert

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

Specified by:

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

createStatusDataPublishedByAutoChangerTrucks

public StatusDataPublishedByAutoChangerTrucks createStatusDataPublishedByAutoChangerTrucks()

Creates an object to be published on the status bus.

Returns:

publishData

public void publishData()

Specified by:

publishData in class MobileItem

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