org.lsst.ccs.subsystems.fcs

Class LoaderCarrier

java.lang.Object

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

org.lsst.ccs.subsystems.fcs.LoaderCarrier

All Implemented Interfaces:

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

public class LoaderCarrier
extends MobileItem
implements MovedByEPOSController, ControlledBySensors

This is a model for the carrier in the loader.

Author:

virieux

Field Summary

Fields

Modifier and Type	Field and Description
static int	TIMEOUT_FOR_MOVING_CARRIER

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
LoaderCarrier()

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay) Aborts an action.
void	checkPositionSensors() check that position sensors confirm position at the end of a motion to absoluteTargetPosition.
StatusDataPublishedByLoaderCarrier	createStatusDataPublishedByLoaderCarrier() Creates an object to be published on the STATUS bus.
void	endAction(FcsEnumerations.MobileItemAction action) Ends an action.
EPOSController	getController()
protected int	getCurrent() returns current for tests
int	getEngagedPosition()
int	getHandoffPosition()
int	getMaxCurrent() Returns max current - Used by GUI
int	getMaxSpeed() Returns max speed - Used by GUI
int	getPosition()
int	getStoragePosition()
long	getTimeoutForGoingToHandOff() Used by GUI
long	getTimeoutForGoingToStorage() Used by GUI
void	goToAbsolutePosition(int absolutePosition) For end user.
void	goToEngaged() Move the carrier to Handoff position.
void	goToHandOff() Move the carrier to Handoff position.
void	goToStorage() Moves loader carrier to storage position.
void	homing() This command is to be used by end user in case the carrier controller has lost its position.
void	initializeController() initialize controller
void	initializeHardware() Command for ENGINEERING mode.
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action) Tests if action is completed.
boolean	isAtEngaged() Return true if carrier is at ENGAGED position.
boolean	isAtHandoff() Return true if the carrier is at HANDOFF position.
boolean	isAtStorage() Returns the boolean field atStorage.
boolean	isHandoffSensorsInError()
boolean	isInError() returns true if handoff sensors or storage sensors are in error.
boolean	isInitialized()
boolean	isStorageSensorsInError()
boolean	myDevicesReady() Returns true if loader CANopen devices are booted, identified and initialized.
void	postStart()
String	printHardwareState() Return a printed list of hardware with initialization information.
void	publishData() Publish Data on status bus for trending data base and GUIs.
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() To display position for end user.
long	readProfileVelocity() read ProfileVelocity parameter in carrierController CPU.
void	shutdown() This shutdowns the scheduler.
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 an action on the carrier.
void	updateCurrent() Read Current on controller and save value read.
void	updatePosition() Updates the field position of the carrier 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.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, init, postBuild, postInit, postShutdown, start

Field Detail

TIMEOUT_FOR_MOVING_CARRIER

public static final int TIMEOUT_FOR_MOVING_CARRIER

See Also:

Constant Field Values

Constructor Detail

LoaderCarrier

public LoaderCarrier()

Method Detail

getPosition

@Command(type=QUERY,
         level=0,
         description="Returns carrier position.")
public int getPosition()

Returns:

carrier position

getCurrent

protected int getCurrent()

returns current for tests

Returns:

getController

public EPOSController getController()

Specified by:

getController in interface MovedByEPOSController

Returns:

my controller

isInitialized

@Command(type=QUERY,
         level=1,
         description="Returns true if carrier is initialized and ready to receive commands.")
public boolean isInitialized()

Returns:

true if carrier is initialized and ready to receive commands.

getMaxSpeed

@Command(type=QUERY,
         level=1,
         description="Return the max speed in rpm/mn (format decimal).")
public int getMaxSpeed()

Returns max speed - Used by GUI

Returns:

max speed in rpm/mn (format decimal).

getMaxCurrent

@Command(type=QUERY,
         level=1,
         description="Return the max current in mA (format decimal).")
public int getMaxCurrent()

Returns max current - Used by GUI

Returns:

max current in mA (format decimal).

getHandoffPosition

@Command(type=QUERY,
         level=1,
         description="Return the handoff position in microns (format decimal).")
public int getHandoffPosition()

Returns:

handoff position in microns (format decimal).

getEngagedPosition

public int getEngagedPosition()

Returns:

getStoragePosition

@Command(type=QUERY,
         level=1,
         description="Return the storage position in microns (format decimal).")
public int getStoragePosition()

Returns:

storage position in microns (format decimal).

getTimeoutForGoingToHandOff

@Command(type=QUERY,
         level=1,
         description="Return the timeout for going to Handoff in millis (format decimal).")
public long getTimeoutForGoingToHandOff()

Used by GUI

Returns:

timeout for going to Handoff action in millis (format decimal).

getTimeoutForGoingToStorage

@Command(type=QUERY,
         level=1,
         description="Return the timeout for going to Storage in millis (format decimal).")
public long getTimeoutForGoingToStorage()

Used by GUI

Returns:

timeout for going to Storage action in millis (format decimal).

isStorageSensorsInError

@Command(type=QUERY,
         level=1,
         description="Return false if the 2 redondant position sensors at Storage are equal.")
public boolean isStorageSensorsInError()

Returns:

false if the 2 redondant position sensors at Storage are equal

isHandoffSensorsInError

@Command(type=QUERY,
         level=1,
         description="Return false if the 2 redondant position sensors at HandOff are equal.")
public boolean isHandoffSensorsInError()

isInError

public boolean isInError()

returns true if handoff sensors or storage sensors are in error.

Specified by:

isInError in interface ControlledBySensors

Returns:

homing

@Command(type=ACTION,
         level=3,
         description="Homing of carrier controller. Should be done only if necessary.")
public void homing()

This command is to be used by end user in case the carrier controller has lost its position. This must not be launched automatically. Tested with success in may 2018 on prototype.

initializeController

public void initializeController()

initialize controller

postStart

public void postStart()

Specified by:

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

myDevicesReady

public boolean myDevicesReady()

Returns true if loader CANopen devices are booted, identified and initialized.

Specified by:

myDevicesReady in class MobileItem

Returns:

isAtStorage

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

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

Returns:

atStorage

isAtHandoff

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

Return true if the carrier is at HANDOFF position. This command doesn't read again the sensors but waits if sensors are beeing updated. At HANDOFF engagedSensors and handoffSensors are ON.

Returns:

atHandoff

isAtEngaged

@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 isAtEngaged()

Return true if carrier is at ENGAGED position. Wait for response if sensors are being updated otherwise returns immediatly. At ENGAGED position, engagedSensors are ON and handoffSensors are OFF.

Returns:

atHandoff

goToHandOff

@Command(type=ACTION,
         level=1,
         alias="goToHandoff",
         description="Move the carrier to Handoff position.",
         timeout=120000)
public void goToHandOff()

Move the carrier to Handoff position.

Throws:

RejectedCommandException

FailedCommandException

FcsHardwareException

goToEngaged

@Command(type=ACTION,
         level=1,
         description="Move the carrier to Engaged position.",
         timeout=120000)
public void goToEngaged()

Move the carrier to Handoff position.

Throws:

RejectedCommandException

FailedCommandException

FcsHardwareException

goToStorage

@Command(type=ACTION,
         level=1,
         description="Move the carrier to STORAGE position.",
         timeout=120000)
public void goToStorage()

Moves loader carrier to storage position.

Throws:

RejectedCommandException

FailedCommandException

FcsHardwareException

goToAbsolutePosition

@Command(type=ACTION,
         level=1,
         description="Move the carrier to absolute position given as argument (in decimal format).",
         timeout=120000)
public void goToAbsolutePosition(int absolutePosition)

For end user. Move the carrier to absolute position given as argument (in decimal format).

Parameters:

absolutePosition -

slowProfileVelocity

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

change ProfileVelocity parameter to lowSpeed

raiseProfileVelocity

@Command(type=ACTION,
         level=1,
         description="change ProfileVelocity parameter 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

readProfileVelocity

@Command(type=ACTION,
         level=1,
         description="read ProfileVelocity parameter in carrierController CPU")
public long readProfileVelocity()

read ProfileVelocity parameter in carrierController CPU. just for end user facility

Returns:

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Tests if action is completed. During motion of the carrier, this methods tests if the desired position has been reached. If yes, it returns true, else false.

Specified by:

isActionCompleted in class MobileItem

Parameters:

action - to be tested

Returns:

true if required position has been reached

updatePosition

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

Updates the field position of the carrier in reading the CPU of the controller.

Throws:

FcsHardwareException

updateCurrent

public void updateCurrent()

Description copied from interface: MovedByEPOSController

Read Current on controller and save value read.

Specified by:

updateCurrent in interface MovedByEPOSController

readPosition

@Command(type=QUERY,
         level=1,
         description="To update and display position for end user.Updates carrier position in reading controller and returns it.")
public int readPosition()

To display position for end user. Updates carrier position in reading controller and returns it.

Returns:

position

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

startAction

public void startAction(FcsEnumerations.MobileItemAction action)

Starts an action on the carrier. On the loader carrier, the action in normal mode are motion of the carrier to go to STORAGE position or HANDOFF position. In engineering mode, the end user can move the carrier to a given absolute position.

Specified by:

startAction in class MobileItem

Parameters:

action - to be started

abortAction

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

Aborts an action.

Specified by:

abortAction in class MobileItem

Parameters:

action -

delay -

endAction

public void endAction(FcsEnumerations.MobileItemAction action)

Ends an action.

Specified by:

endAction in class MobileItem

Parameters:

action -

quickStopAction

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

Specified by:

quickStopAction in class MobileItem

checkPositionSensors

public void checkPositionSensors()

check that position sensors confirm position at the end of a motion to absoluteTargetPosition.

initializeHardware

@Command(type=ACTION,
         level=1,
         description="Check if hardware is ready to be started.")
public void initializeHardware()

Command for ENGINEERING mode. Not used during INITIALIZATION. Check that carrier controller is initialized. Read sensors and update state. Read carrier position on controller. If position sensors and position read on carrier controller give inconsistent information throw a FcsHardwareException.

Throws:

FcsHardwareException

printHardwareState

@Command(type=ACTION,
         level=1,
         description="Return a printed list of hardware with initialization information.")
public String printHardwareState()

Return a printed list of hardware with initialization information. For debug purpose.

Returns:

createStatusDataPublishedByLoaderCarrier

public StatusDataPublishedByLoaderCarrier createStatusDataPublishedByLoaderCarrier()

Creates an object to be published on the STATUS bus.

Returns:

publishData

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

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