org.lsst.ccs.subsystems.fcs

Class Autochanger

java.lang.Object

org.lsst.ccs.subsystems.fcs.Autochanger

All Implemented Interfaces:

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

public class Autochanger
extends Object
implements org.lsst.ccs.framework.HardwareController, FilterHolder, AlertRaiser, org.lsst.ccs.framework.HasLifecycle

This class is used with the final hardware and prototype in which we have online clamps to hold the filter at online position. It's not used for Single Filter Test. CAMERA PROTECTION SYSTEM Signal comming from carousel : CS : Carousel stopped on socket CF0: No filter in carousel socket CF1: Filer in carousel socket CFC: Filter clamped on carousel socket Signal coming from loader : LPS: Loader at Storage position (loader is connected) LRH: Loader at Handoff position, closed but not clamped Local Protection Module Signals emitted by AC: enableRailLin1 enable master linear rail (X+) enableRailLin2 enable slave linear rails (X-) enableClamps enableLatches Sensors in AC1 and AC2 and not in PROTO : loaderPresenceSensors * lockOutSensors

Author:

virieux

Field Summary

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

alertSeparator

Constructor Summary

Constructors

Constructor and Description
Autochanger(PlutoGatewayInterface plutoGateway)

Method Summary

Modifier and Type	Method and Description
void	alignSlave() move slave truk to masterPosition.
void	checkConditionsForActioningOnlineClamps() log if actions on online clamps are allowed, throws an exception otherwise.
void	checkConditionsForClosingLatches() Check if Autochanger latches can be closed.
void	checkConditionsForOpeningLatches() Check if latches can be opened.
void	checkFilterSafetyBeforeMotion() This methods checks that filter can be moved by trucks.
void	checkLatchMotionAllowed() Check if Local Protection Module allows latches motion.
void	checkLinearRailMotionAllowed() Check if Local Protection Module allows linear rails motions.
void	checkOnlineClampMotionAllowed() Check if Local Protection Module allows online clamps motion.
void	closeClamps() close clamps in mode PROFILE_POSITION.
void	closeLatches() Close latches
StatusDataPublishedByAutoChanger	createStatusDataPublishedByAutoChanger() Creates an Object to be published on the STATUS bus.
void	decreaseCurrentMonitoring() slow down online clamps current monitoring for the 3 clamps
void	decreaseLinearRailsCurrentMonitoring() slow down online clamps current monitoring for the 3 clamps
void	dockingAtStandbyPositionWithoutFilter()
void	fastTrucksProfile() change speed and acceleration profile to fast
org.lsst.ccs.services.alert.AlertService	getAlertService() return alertService
AutochangerTwoTrucks	getAutochangerTrucks() returns trucks to be able to send commands to trucks in fcs subsystem.
int	getFilterID() If autochanger holds a filter, returns filterID, else returns 0.
String	getFilterOnTrucksName() If autochanger holds a filter, return filter name else return null.
AutochangerTwoLatches	getLatches() return latches
String	getName()
AutochangerThreeOnlineClamps	getOnlineClamps() returns onlineClamps to be able to send commands to onlineClamps in fcs subsystem.
org.lsst.ccs.Subsystem	getSubsystem()
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	grabFilterAtStandby() Close latches on filter at STANDBY.
void	homingClamps() do homing of the 3 clamps
void	homingTrucks() Do homing of both trucks controllers.
void	increaseCurrentMonitoring() speed up online clamps current monitoring for the 3 clamps
void	increaseLinearRailsCurrentMonitoring() increase current monitoring for the 2 trucks
void	initializeHardware() For end users, for tests and in engineering mode.
boolean	isAtApproachStandbyPosition()
boolean	isAtHandoff() Return true if autochanger trucks are at HANDOFF.
boolean	isAtOnline() return true if autochanger trucks are at ONLINE.
boolean	isAtStandby() Return true if autochanger trucks are at STANDBY.
boolean	isCANDevicesReady()
boolean	isCarouselHoldingFilterAtStandby() TODO when autochanger is in standalone mode this method has to answer the value of the fake carousel sensor.
boolean	isEmpty() Return true if there is no filter in the autochanger.
boolean	isFilterOnAC(int filterID)
boolean	isFilterONLINE(int filterID)
boolean	isHardwareReady()
boolean	isHoldingFilter() Return true if a filter is in trucks and latches are LOCKED.
boolean	isInitialized() Return true if plutoGateway, trucks, latches and onlineClamps are initialized.
boolean	isLinearRailMotionAllowed()
boolean	isLoaderConnected() Returns the boolean field loaderConnected.
boolean	isLoaderHoldingFilterAtHandoff() Return true if loader is connected and holding a filter.
boolean	isNotHoldingFilter() Return true if FilterHolder is NOT holding filter, false otherwise.
boolean	isSensorsInError() Return true if an error has been detected on sensors.
void	lockClamps() Locks clamps : closed with a strong pressure (high current).
void	lockFilterAtOnline() to be used in setFilter
void	moveAndClampFilterOnline()
void	moveEmptyFromStandbyToHandoff()
void	moveFilterToStandby() Move a filter to standby position step by step.
void	openClamps() Opens the 3 clamps.
void	openLatches() Open latches
void	postStart()
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	setFastAcqRateLinearRails(int rate) set a new value for the acquisition frequency of linear rail controllers current.
void	setFastAcqRateOnlineClamps(int rate) set a new value for the acquisition frequency of ONLINE clamps controllers current.
void	setFilterOnTrucksID(int filterOnTrucksID) Used for simulator only.
void	slowTrucksProfile() change speed & acceleration profile to slow
void	unlockClamps() Unlocks clamps : slows down current sent to controller in order to decrease pressure on the clamps.
void	updateFCSStateToReady() Update FCS state and FCS readyness state and publish on the status bus.
void	updateFilterOnTrucksID() update filterOnTrucksID
void	updateStateWithSensors() This method reads all the sensors and updates the trucks, latches and online clamps state.

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, checkStopped

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, shutdown, start

Constructor Detail

Autochanger

public Autochanger(PlutoGatewayInterface plutoGateway)

Method Detail

getName

public String getName()

Specified by:

getName in interface AlertRaiser

getSubsystem

public org.lsst.ccs.Subsystem getSubsystem()

Specified by:

getSubsystem in interface AlertRaiser

getAlertService

public org.lsst.ccs.services.alert.AlertService getAlertService()

Description copied from interface: AlertRaiser

return alertService

Specified by:

getAlertService in interface AlertRaiser

Returns:

isSensorsInError

@Command(type=QUERY,
         level=1,
         description="Return true if an error has been detected on sensors.")
public boolean isSensorsInError()

Return true if an error has been detected on sensors.

Returns:

getAutochangerTrucks

public AutochangerTwoTrucks getAutochangerTrucks()

returns trucks to be able to send commands to trucks in fcs subsystem.

Returns:

trucks

getOnlineClamps

public AutochangerThreeOnlineClamps getOnlineClamps()

returns onlineClamps to be able to send commands to onlineClamps in fcs subsystem.

Returns:

onlineClamps

getLatches

public AutochangerTwoLatches getLatches()

return latches

Returns:

getFilterID

@Command(type=QUERY,
         level=0,
         description="If autochanger holds a filter, return filterID, else return 0.")
public int getFilterID()

If autochanger holds a filter, returns filterID, else returns 0.

Specified by:

getFilterID in interface FilterHolder

Returns:

setFilterOnTrucksID

public void setFilterOnTrucksID(int filterOnTrucksID)

Used for simulator only.

Parameters:

filterOnTrucksID -

isFilterOnAC

@Command(type=QUERY,
         level=1,
         description="return true if filter with filterID is on AC")
public boolean isFilterOnAC(int filterID)

Parameters:

filterID -

Returns:

return true if filter with filterID is on AC

isFilterONLINE

public boolean isFilterONLINE(int filterID)

Parameters:

filterID -

Returns:

true if filterID is on Autochanger and trucks are ONLINE and latches are closed.

getFilterOnTrucksName

@Command(type=QUERY,
         level=0,
         description="If a filter is in autochanger, return filter name else return NO_FILTER.")
public String getFilterOnTrucksName()

If autochanger holds a filter, return filter name else return null.

Returns:

isLoaderConnected

@Command(type=QUERY,
         level=0,
         description="Return true if the loader is connected to the camera. This command doesn\'t read again the sensors.")
public boolean isLoaderConnected()

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

Returns:

atHandoff

isCarouselHoldingFilterAtStandby

@Command(type=QUERY,
         level=0,
         description="Return true if the carousel is holding the filter at STANDBY position.")
public boolean isCarouselHoldingFilterAtStandby()

TODO when autochanger is in standalone mode this method has to answer the value of the fake carousel sensor.

Returns:

Throws:

FcsHardwareException

isLoaderHoldingFilterAtHandoff

@Command(type=QUERY,
         level=0,
         description="Return true if loader is connected and holding a filter. This command doesn\'t read again the sensors.")
public boolean isLoaderHoldingFilterAtHandoff()

Return true if loader is connected and holding a filter. This command doesn't read again the sensors.

Returns:

Throws:

FcsHardwareException

isCANDevicesReady

@Command(type=QUERY,
         level=0,
         description="Return true if all autochanger CANopen devices are booted, identified and initialized.")
public boolean isCANDevicesReady()

Returns:

true if all autochanger hardware is initialized and bridge is hardwareReady.

isHardwareReady

@Command(type=QUERY,
         level=0,
         description="Return true if all autochanger CANopen devices are booted, identified and initialized and homing of the controllers is done.")
public boolean isHardwareReady()

Returns:

if all autochanger CANopen devices are booted, identified and nitialized and homing of the controllers is done.

isInitialized

@Command(type=QUERY,
         level=0,
         description="Return true if all autochanger hardware is initialized.")
public boolean isInitialized()

Return true if plutoGateway, trucks, latches and onlineClamps are initialized.

Returns:

isLinearRailMotionAllowed

public boolean isLinearRailMotionAllowed()

postStart

public void postStart()

Specified by:

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

initializeHardware

@Command(type=QUERY,
         level=1,
         description="For end users, for tests and in engineering mode. This command can be used to recover after a missing hardware during fcs startup. For example, when fcs was started before hardware power up. Check all hardware and publish data.",
         timeout=5000)
public void initializeHardware()

For end users, for tests and in engineering mode. This command can be used to recover after a missing hardware during fcs startup. For example when fcs was started before hardware power up. Check all hardware and publish data.

checkLinearRailMotionAllowed

@Command(type=QUERY,
         level=1,
         description="Check if Local Protection Module allows linear rails motion.")
public void checkLinearRailMotionAllowed()

Check if Local Protection Module allows linear rails motions.

checkLatchMotionAllowed

@Command(type=QUERY,
         level=1,
         description="Check if Local Protection Module allows latches motion.")
public void checkLatchMotionAllowed()

Check if Local Protection Module allows latches motion.

checkOnlineClampMotionAllowed

@Command(type=QUERY,
         level=1,
         description="Check if Local Protection Module allows online clamps motion.")
public void checkOnlineClampMotionAllowed()

Check if Local Protection Module allows online clamps motion.

checkConditionsForOpeningLatches

@Command(type=QUERY,
         level=1,
         description="Check if the latches can be opened.")
public void checkConditionsForOpeningLatches()

Check if latches can be opened. If latches can't be openened because the conditions for opening are not filled, this command throws a RejectedCommandException. If latches are in error, it throws a FcsHardwareException.

Throws:

FcsHardwareException

checkConditionsForClosingLatches

@Command(type=QUERY,
         level=1,
         description="Check if Autochanger latches can be closed.")
public void checkConditionsForClosingLatches()

Check if Autochanger latches can be closed.

Throws:

FcsHardwareException

checkConditionsForActioningOnlineClamps

@Command(type=QUERY,
         level=0,
         description="log if actions on online clamps are allowed,throws an exception otherwise.")
public void checkConditionsForActioningOnlineClamps()

log if actions on online clamps are allowed, throws an exception otherwise.

checkFilterSafetyBeforeMotion

@Command(type=QUERY,
         level=1,
         description="Check if its safe for filters to move autochanger trucks.")
public void checkFilterSafetyBeforeMotion()

This methods checks that filter can be moved by trucks. Returns immediately if autochanger trucks are empty. Throws RejectedCommandException if a filter is in trucks AND held both by autochanger and (loader or carousel).

Throws:

FcsHardwareException

RejectedCommandException

updateStateWithSensors

@Command(type=QUERY,
         level=1,
         description="Update clamp state in reading sensors.")
public void updateStateWithSensors()

This method reads all the sensors and updates the trucks, latches and online clamps state.

Specified by:

updateStateWithSensors in interface FilterHolder

Throws:

FcsHardwareException

updateFilterOnTrucksID

@Command(type=QUERY,
         level=1,
         description="update filterOnTrucksID.")
public void updateFilterOnTrucksID()

update filterOnTrucksID

updateFCSStateToReady

@Command(type=ACTION,
         level=1,
         description="Update FCS state and FCS readyness state and publishes on the status bus.")
public void updateFCSStateToReady()

Update FCS state and FCS readyness state and publish on the status bus. Check that Autochanger hardware is ready to be operated and moved. This means that : - all CAN open devices are booted, identified and initialized, - initialization has been done on the controllers.

isHoldingFilter

@Command(type=QUERY,
         level=1,
         description="Return true if a filter is in trucks and latches are CLOSED.")
public boolean isHoldingFilter()

Return true if a filter is in trucks and latches are LOCKED.

Specified by:

isHoldingFilter in interface FilterHolder

Returns:

isNotHoldingFilter

public boolean isNotHoldingFilter()

Description copied from interface: FilterHolder

Return true if FilterHolder is NOT holding filter, false otherwise. Example : latches OPENED (AF0=1) It can't be just !isHoldingFilter() because hardware can be in an intermediate state. For example, when opening or closing autochanger latches, latches go in state IN_TRAVEL. So we can have state where AF3=0 and AF2=0

Specified by:

isNotHoldingFilter in interface FilterHolder

Returns:

true if NOT holding filter

isAtHandoff

@Command(type=QUERY,
         level=0,
         description="Return true if autochanger trucks are at HANDOFF. This command doesn\'t read again the sensors.")
public boolean isAtHandoff()

Return true if autochanger trucks are at HANDOFF. This command doesn't read again the sensors.

Specified by:

isAtHandoff in interface FilterHolder

Returns:

isAtStandby

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

Return true if autochanger trucks are at STANDBY. This command doesn't read again the sensors.

Specified by:

isAtStandby in interface FilterHolder

Returns:

isAtOnline

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

return true if autochanger trucks are at ONLINE.

Specified by:

isAtOnline in interface FilterHolder

Returns:

isAtApproachStandbyPosition

@Command(type=QUERY,
         level=0,
         description="Return true if autochanger trucks position is around approachStandbyPosition. This command doesn\'t read again the sensors.")
public boolean isAtApproachStandbyPosition()

goToHandOff

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

moveAndClampFilterOnline

@Command(type=ACTION,
         level=1,
         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=1,
         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.

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.

slowTrucksProfile

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

change speed & acceleration profile to slow

fastTrucksProfile

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

change speed and acceleration profile to fast

homingTrucks

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

Do homing of both trucks controllers.

Throws:

RejectedCommandException

FcsHardwareException

dockingAtStandbyPositionWithoutFilter

@Command(type=ACTION,
         level=1,
         description="move to approach position with high velocity then move to STANDBY with low velocity")
public void dockingAtStandbyPositionWithoutFilter()

openLatches

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

Open latches

Throws:

FcsHardwareException

closeLatches

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

Close latches

Throws:

FcsHardwareException

openClamps

@Command(type=ACTION,
         level=1,
         description="Opens the 3 online clamps in mode PROFILE_POSITION.",
         timeout=6000)
public void openClamps()

Opens the 3 clamps. initial state = CLOSED final state = OPENED. For final pruducts AC1 and AC2. For prototype see openClampsInCurrentMode.

closeClamps

@Command(type=ACTION,
         level=1,
         description=" close clamps in mode PROFILE_POSITION for AC1 and AC2",
         timeout=6000)
public void closeClamps()

close clamps in mode PROFILE_POSITION. for AC1 and AC2

lockClamps

@Command(type=ACTION,
         level=1,
         description="Locks clamps : closed with a strong pressure (high current).",
         timeout=6000)
public void lockClamps()

Locks clamps : closed with a strong pressure (high current). The clamps have to be CLOSED. At the end of this action, the clamps are CLOSED but a strong pressure to hold safely the clamps.

unlockClamps

@Command(type=ACTION,
         level=1,
         description="unlocks clamps : decreases current in controller to decrease pressure.",
         timeout=6000)
public void unlockClamps()

Unlocks clamps : slows down current sent to controller in order to decrease pressure on the clamps. The clamps have to be LOCKED. At the end of this action, the clamps are CLOSED with a small pressure of the clamp hardware on the filter frame.

homingClamps

@Command(type=ACTION,
         level=1,
         description="do homing of the 3 ONLINE clamps : open in CURRENT mode and homing of controller",
         timeout=6000)
public void homingClamps()

do homing of the 3 clamps

isEmpty

@Command(type=QUERY,
         level=0,
         description="Return true if there is no filter in the autochanger. This command doesn\'t read again the sensors.")
public boolean isEmpty()

Return true if there is no filter in the autochanger. This command doesn't read again the sensors.

Returns:

grabFilterAtStandby

@Command(type=ACTION,
         level=1,
         alias="grabFilter",
         description="Go to STANDBY to grab filter and stay at STANDBY.")
public void grabFilterAtStandby()

Close latches on filter at STANDBY. Identify filter at STANDBY in reading identifier ID. Update filter location.

Throws:

RejectedCommandException - if autochanger trucks are not at STANDBY.

moveEmptyFromStandbyToHandoff

@Command(type=ACTION,
         level=1,
         description="open latches then go to approachStandbyPosition with low speed and move to HANDOFF with highSpeed.",
         timeout=20000,
         autoAck=false)
public void moveEmptyFromStandbyToHandoff()

setFastAcqRateLinearRails

@Command(type=QUERY,
         level=1,
         description="set a new value for the acquisition frequency of linear rail controllers current in milliseconds.")
public void setFastAcqRateLinearRails(int rate)

set a new value for the acquisition frequency of linear rail controllers current.

Parameters:

rate -

setFastAcqRateOnlineClamps

@Command(type=QUERY,
         level=1,
         description="set a new value for the acquisition frequency of ONLINE clamps controllers current, in milliseconds.")
public void setFastAcqRateOnlineClamps(int rate)

set a new value for the acquisition frequency of ONLINE clamps controllers current.

Parameters:

rate -

increaseCurrentMonitoring

@Command(type=QUERY,
         level=1,
         description="speed up online clamps current monitoring for the 3 clamps")
public void increaseCurrentMonitoring()

speed up online clamps current monitoring for the 3 clamps

decreaseCurrentMonitoring

@Command(type=QUERY,
         level=1,
         description="slow down online clamps current monitoring for the 3 clamps")
public void decreaseCurrentMonitoring()

slow down online clamps current monitoring for the 3 clamps

increaseLinearRailsCurrentMonitoring

public void increaseLinearRailsCurrentMonitoring()

increase current monitoring for the 2 trucks

decreaseLinearRailsCurrentMonitoring

public void decreaseLinearRailsCurrentMonitoring()

slow down online clamps current monitoring for the 3 clamps

createStatusDataPublishedByAutoChanger

public StatusDataPublishedByAutoChanger createStatusDataPublishedByAutoChanger()

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.

lockFilterAtOnline

public void lockFilterAtOnline()

to be used in setFilter