org.lsst.ccs.subsystems.fcs

Class AutochangerThreeOnlineClamps

java.lang.Object

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

org.lsst.ccs.subsystems.fcs.AutochangerThreeOnlineClamps

All Implemented Interfaces:

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

Direct Known Subclasses:

AutochangerThreeOnlineClampsProto

public class AutochangerThreeOnlineClamps
extends MobileItem
implements ControlledBySensors

The Three Online clamps which holds a filter when it is at ONLINE position can ve viewed as a single object. It's the goal of this class to represent this object. Opening or closing the 3 clamps at ONLINE is not the same action as opening or closing online clamps one by one.

Author:

virieux

Field Summary

Fields

Modifier and Type	Field and Description
protected Autochanger	autochanger
protected AutochangerOnlineClamp[]	clampsList
protected ScheduledFuture<?>	currentRampHandle
protected int	maxTimeToCloseClampsX
protected int	maxTimeToLockAllClamps
protected int	maxTimeToOpenClampsX
protected int	maxTimeToUnlockAllClamps
protected int	minPeriod
protected AutochangerOnlineClamp	onlineClampXminus
protected AutochangerOnlineClamp	onlineClampXplus
protected AutochangerOnlineClamp	onlineClampYminus
protected int	timeoutForLockingClamps
protected int	timeoutForUnlockingClamps

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
AutochangerThreeOnlineClamps(AutochangerOnlineClamp onlineClampXminus, AutochangerOnlineClamp onlineClampXplus, AutochangerOnlineClamp onlineClampYminus) Create a AutochangerThreeOnlineClamps with 3 AutochangerOnlineClamp.

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay) What to do to abort an action.
protected void	activateBrakesAndDisableOperation() activate brakes on the 3 clamps controllers, set current to 0 and disable operation.
protected void	cancelCurrentRamp() cancels current ramp send signal to all threads waiting for currentRampEnded condition.
void	checkParametersToCloseClampsX()
void	checkParametersToOpenClampsX()
void	closeClamps() close clamps in mode PROFILE_POSITION.
FcsEnumerations.LockStatus	computeStrainGaugeLockStatus() return a lock status computed from strain read on onlineStrainGauge.
StatusDataPublishedByAutochangerThreeClamps	createStatusDataPublishedByThreeClamps() Creates an object to be published on the status bus.
protected void	doLock()
protected void	doUnlock() unlock clamps : clamps are LOCKED with a high pressure (currentToClamp previously sent to controllers) avoid an elastic return we send currentToClamp BEFORE the brakes are released.
protected void	enableAndCheckControllersBeforeAction(FcsEnumerations.MobileItemAction action) Check that the 3 controllers of the clamps are lockStatusInitialized and that parameters are correct.
void	endAction(FcsEnumerations.MobileItemAction action) What to do to end an action.
protected void	executeCurrentRampToUnlockAllClamps()
FcsEnumerations.LockStatus	getLockStatus()
void	homing() do homing of the 3 clamps
void	initializeHardware() initialize AC online clamps hardware after initialization.
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action) returns true if the action given as argument is completed.
boolean	isClosed() Returns true if LockStatus=CLOSED
boolean	isHomingDone()
boolean	isInError() Returns true if LockStatus=ERROR
boolean	isInitialized() Return true if the 3 onlineClamps hardware is lockStatusInitialized.
boolean	isLocked() Returns true if LockStatus=LOCKED
boolean	isLockStatusInitialized()
boolean	isOpened() Returns true if LockStatus=OPENED
void	lockClamps() Locks clamps : closed with a strong pressure (high current).
void	lockFilterAtOnline() to be used by setFilter
boolean	myDevicesReady() Return true if the 3 onlineClamps hardware is ready.
void	openClamps() Opens the 3 clamps.
void	postStart()
void	publishData()
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
void	setMinPeriod(int minPeriod) set a minimal value for current ramps period
void	startAction(FcsEnumerations.MobileItemAction action) starts the action given as argument.
void	testPeriodTask() test periodicTask.
void	unlockClamps() Unlocks clamps : slows down current sent to controller in order to decrease pressure on the clamps.
void	updateState() This methods updates lockStatus from the values return by the sensors.
protected void	updateStateAndCheckSensors()
void	updateStateWithSensorsToCheckIfActionIsCompleted() reads sensors, computes new lockStatus.
protected void	waitForEndOfCurrentRamp(int timeout) This method waits until the newCurrentValue ramp is completed.

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.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

autochanger

@LookupField(strategy=TREE)
protected Autochanger autochanger

onlineClampXminus

protected final AutochangerOnlineClamp onlineClampXminus

onlineClampXplus

protected final AutochangerOnlineClamp onlineClampXplus

onlineClampYminus

protected final AutochangerOnlineClamp onlineClampYminus

clampsList

protected final AutochangerOnlineClamp[] clampsList

currentRampHandle

protected ScheduledFuture<?> currentRampHandle

timeoutForLockingClamps

@ConfigurationParameter(description="timeout in milliseconds : if closing the clamps last more than this amount of time, then the subsystem goes in ERROR.")
protected int timeoutForLockingClamps

timeoutForUnlockingClamps

@ConfigurationParameter(description="timeout in milliseconds : if unlocking the clamps last more than this amount of time, then the subsystem goes in ERROR.")
protected int timeoutForUnlockingClamps

maxTimeToLockAllClamps

@ConfigurationParameter(description="maximum time in milliseconds to lock the 3 clamps")
protected int maxTimeToLockAllClamps

maxTimeToUnlockAllClamps

@ConfigurationParameter(description="maximum time in milliseconds to unlock the 3 clamps")
protected int maxTimeToUnlockAllClamps

maxTimeToOpenClampsX

@ConfigurationParameter(description="maximum time in milliseconds to open the 3 clamps")
protected int maxTimeToOpenClampsX

maxTimeToCloseClampsX

@ConfigurationParameter(description="maximum time in milliseconds to close the 3 clamps")
protected int maxTimeToCloseClampsX

minPeriod

@ConfigurationParameter(description="minimal period for current ramps. should be > 50")
protected int minPeriod

Constructor Detail

AutochangerThreeOnlineClamps

public AutochangerThreeOnlineClamps(AutochangerOnlineClamp onlineClampXminus,
                                    AutochangerOnlineClamp onlineClampXplus,
                                    AutochangerOnlineClamp onlineClampYminus)

Create a AutochangerThreeOnlineClamps with 3 AutochangerOnlineClamp.

Parameters:

onlineClampXminus -

onlineClampXplus -

onlineClampYminus -

Method Detail

isLockStatusInitialized

@Command(type=QUERY,
         level=0,
         description="Returns true if lockStatus has been first initialized from strain.")
public boolean isLockStatusInitialized()

isHomingDone

@Command(type=QUERY,
         level=0,
         description="Returns true if homing has been done for the 3 ONLINE clamp controllers.")
public boolean isHomingDone()

Returns:

true if homing has been done for the 3 controllers of clamps.

setMinPeriod

@ConfigurationParameterChanger
public void setMinPeriod(int minPeriod)

set a minimal value for current ramps period

Parameters:

minPeriod -

getLockStatus

public FcsEnumerations.LockStatus getLockStatus()

Returns:

lockStatus

isLocked

@Command(type=QUERY,
         level=0,
         description="Returns true if the 3 clamps are LOCKED.")
public boolean isLocked()

Returns true if LockStatus=LOCKED

Returns:

isClosed

@Command(type=QUERY,
         level=0,
         description="Returns true if the 3 clamps are CLOSED.")
public boolean isClosed()

Returns true if LockStatus=CLOSED

Returns:

isOpened

@Command(type=QUERY,
         level=0,
         description="Returns true if the 3 clamps are OPENED.")
public boolean isOpened()

Returns true if LockStatus=OPENED

Returns:

isInError

@Command(type=QUERY,
         level=0,
         description="Returns true if one of the clamp is in error.")
public boolean isInError()

Returns true if LockStatus=ERROR

Specified by:

isInError in interface ControlledBySensors

Returns:

isInitialized

@Command(type=QUERY,
         level=0,
         description="Return true if the 3 onlineClamps hardware is ready : controllers ready, controllers parameters checked and controllers configured.")
public boolean isInitialized()

Return true if the 3 onlineClamps hardware is lockStatusInitialized.

Returns:

enableAndCheckControllersBeforeAction

protected void enableAndCheckControllersBeforeAction(FcsEnumerations.MobileItemAction action)

Check that the 3 controllers of the clamps are lockStatusInitialized and that parameters are correct.

Parameters:

action -

homing

@Command(type=ACTION,
         level=2,
         description="do homing of the 3 ONLINE clamps : open in CURRENT mode and homing of controller",
         timeout=6000)
public void homing()

do homing of the 3 clamps

testPeriodTask

public void testPeriodTask()

test periodicTask.

closeClamps

public void closeClamps()

close clamps in mode PROFILE_POSITION. for AC1 and AC2

openClamps

public void openClamps()

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

lockClamps

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

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.

lockFilterAtOnline

public void lockFilterAtOnline()

to be used by setFilter

myDevicesReady

@Command(type=QUERY,
         level=0,
         description="Return true if the 3 onlineClamps hardware is ready.")
public boolean myDevicesReady()

Return true if the 3 onlineClamps hardware is ready.

Specified by:

myDevicesReady in class MobileItem

Returns:

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

returns true if the action given as argument is completed. The completion of action has been confirmed by sensors.

Specified by:

isActionCompleted in class MobileItem

Parameters:

action -

Returns:

updateStateWithSensorsToCheckIfActionIsCompleted

public void updateStateWithSensorsToCheckIfActionIsCompleted()

reads sensors, computes new lockStatus. used in MobileItem to check that action started in startAction is completed.

Specified by:

updateStateWithSensorsToCheckIfActionIsCompleted in class MobileItem

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)

What to do to abort an action.

Specified by:

abortAction in class MobileItem

Parameters:

action -

delay -

Throws:

FcsHardwareException

endAction

public void endAction(FcsEnumerations.MobileItemAction action)

What to do to end an action.

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

activateBrakesAndDisableOperation

protected void activateBrakesAndDisableOperation()

activate brakes on the 3 clamps controllers, set current to 0 and disable operation.

doLock

protected void doLock()

doUnlock

protected void doUnlock()

unlock clamps : clamps are LOCKED with a high pressure (currentToClamp previously sent to controllers) avoid an elastic return we send currentToClamp BEFORE the brakes are released.

createStatusDataPublishedByThreeClamps

public StatusDataPublishedByAutochangerThreeClamps createStatusDataPublishedByThreeClamps()

Creates an object to be published on the status bus.

Returns:

publishData

public void publishData()

Specified by:

publishData in class MobileItem

updateStateAndCheckSensors

protected void updateStateAndCheckSensors()

updateState

@Command(type=ACTION,
         level=1,
         description="Update state from sensors values.")
public void updateState()

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

computeStrainGaugeLockStatus

@Command(type=QUERY,
         level=1,
         description="Return a lock status computed from the normalizedStrain value")
public FcsEnumerations.LockStatus computeStrainGaugeLockStatus()

return a lock status computed from strain read on onlineStrainGauge.

Returns:

executeCurrentRampToUnlockAllClamps

protected void executeCurrentRampToUnlockAllClamps()

cancelCurrentRamp

protected void cancelCurrentRamp()

cancels current ramp send signal to all threads waiting for currentRampEnded condition.

waitForEndOfCurrentRamp

protected void waitForEndOfCurrentRamp(int timeout)

This method waits until the newCurrentValue ramp is completed.

checkParametersToOpenClampsX

public void checkParametersToOpenClampsX()

checkParametersToCloseClampsX

public void checkParametersToCloseClampsX()

initializeHardware

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

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

postStart

public void postStart()

Specified by:

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