org.lsst.ccs.subsystems.fcs

Class FcsMain

java.lang.Object

org.lsst.ccs.subsystems.fcs.MainModule

org.lsst.ccs.subsystems.fcs.FcsMain

All Implemented Interfaces:

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

public class FcsMain
extends MainModule

The main module in FCS. Commands can be sent to the FcsMain from the CCS Master Control Module (MCM) in normal operation mode or from a Console (org.lsst.ccs.subsystem.console.TestConsole).

Example of commands that can be sent to the FcsMain :
Console> invoke fcs-test MoveFilterToOnline filtername

The main goals of the FcsMain is :

• Receive commands from MCM for the whole subsystem.
• Execute commands received from MCM in invoking methods on the Carousel Module on the Autochanger Module and on Loader Module.
• Handle the logic of the whole subsystem.
• Publish on the status bus the status of the whole subsystem.

Author:

virieux

Field Summary

Fields inherited from class org.lsst.ccs.subsystems.fcs.MainModule

bridge, haltRequired, name, stopRequired, subs

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

alertSeparator

Constructor Summary

Constructors

Constructor and Description
FcsMain(BridgeToHardware bridge, BridgeToHardware bridgeToLoader) Build a FcsMainModule

Method Summary

Modifier and Type	Method and Description
boolean	autochangerNotInTravel()
boolean	carouselHoldingFilterOrReadyToGrab()
boolean	carouselReadyToClampAtStandby()
void	changeState(String state) just for mcm testing
void	checkControllers()
void	checkFilterName(String aName) Check if a filter name given by an end user at the console is a valid Filter Name.
void	connectLoader() Connect the loader hardware.
void	disconnectLoader() Disconnect the loader hardware.
void	disengageFilterFromCarousel()
boolean	filterAtOnlineMustBeLocked()
boolean	filterAtStandbyMustBeHeld()
void	forceFilterReadinessStateToReady()
Filter	getFilterByName(String filterName) This methods returns the filter which has for name the String given as argument.
String	getOnlineFilterName() Return the name of the filter which is at ONLINE.
void	init()
void	initializeHardware() initialize hardware after initialization.
boolean	isChangerConnected() Return true if the changer is connected.
boolean	isChangerReady() Return true if the hardware of the changer is ready.
boolean	isFilterInCamera(int filterID)
boolean	isLoaderConnected() Return true if the loader is connected.
boolean	isLoaderReady() Return true if the hardware of the loader is ready.
boolean	latchesOpenOrClosed()
List<String>	listLoaderHardwareNames() For Whole FCS GUI.
void	loadFilter(int filterID) Load a filter from the loader to the camera.
boolean	onlineClampsOpenOrLocked()
void	postStart()
String	printFilterONLINEName() For end user.
void	publishData() for GUI
void	setFilter(int filterID) move filter to online.
void	setFilterWithSafety(int filterID) move filter to online.
void	storeFilterOnCarousel()
void	unloadFilter(int filterID) Unload a filter from the camera to the loader.
void	updateFCSStateToReady() Updates the FCS state and FCS readyness state and publishes on the status bus.
void	updateStateWithSensors() Update state in reading sensors for all components of Filter Changer : carousel, autochanger and loader.

Methods inherited from class org.lsst.ccs.subsystems.fcs.MainModule

allDevicesBooted, getAlertService, getFilterNames, getFilterReadinessState, getName, getSubsystem, isHaltRequired, isInState, isStopRequired, listHardwareNames, postShutdown, signal, updateAgentState

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.AlertRaiser

clearAlarm, getAlertSeparator, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseWarning, raiseWarning

Methods inherited from interface org.lsst.ccs.framework.HasLifecycle

build, postBuild, postInit, shutdown, start

Constructor Detail

FcsMain

public FcsMain(BridgeToHardware bridge,
               BridgeToHardware bridgeToLoader)

Build a FcsMainModule

Parameters:

bridge -

bridgeToLoader -

Method Detail

init

public void init()

updateFCSStateToReady

public void updateFCSStateToReady()

Description copied from class: MainModule

Updates the FCS state and FCS readyness state and publishes on the status bus. Checks that hardware is ready to be operated and moved. This means that : - all CAN open devices are booted, identified and initialized, - homing has been done on the controllers. This updates the FCS state and FCS readyness state and publishes on the status bus. This has to be overriden if there is other initializations to do on the hardware like homing.

Overrides:

updateFCSStateToReady in class MainModule

forceFilterReadinessStateToReady

@Command(type=ACTION,
         level=3,
         description="Sets the filters state to READY even if some sensors are still missing in autochanger.")
public void forceFilterReadinessStateToReady()

getOnlineFilterName

public String getOnlineFilterName()

Return the name of the filter which is at ONLINE. Return null if no filter is at ONLINE.

Returns:

printFilterONLINEName

@Command(type=QUERY,
         level=0,
         description="Returns the name of the filter which is at ONLINE.")
public String printFilterONLINEName()

For end user. Return the name of the filter which is at ONLINE. Return null if no filter is at ONLINE.

Returns:

getFilterByName

@Command(type=QUERY,
         level=0,
         description="returns the filter which has for name the String given as argument.")
public Filter getFilterByName(String filterName)

This methods returns the filter which has for name the String given as argument.

Parameters:

filterName -

Returns:

isChangerConnected

@Command(type=QUERY,
         level=0,
         description="Return true if the changer is connected.")
public boolean isChangerConnected()

Return true if the changer is connected.

Returns:

isLoaderConnected

@Command(type=QUERY,
         level=0,
         description="Return true if the loader is connected.")
public boolean isLoaderConnected()

Return true if the loader is connected.

Returns:

isChangerReady

@Command(type=QUERY,
         level=0,
         description="Return true if the hardware of the changer is ready.")
public boolean isChangerReady()

Return true if the hardware of the changer is ready.

Returns:

isLoaderReady

@Command(type=QUERY,
         level=0,
         description="Return true if the hardware of the loader is ready.")
public boolean isLoaderReady()

Return true if the hardware of the loader is ready.

Returns:

disconnectLoader

@Command(type=ACTION,
         level=1,
         description="Disconnect the loader hardware.")
public void disconnectLoader()

Disconnect the loader hardware.

connectLoader

@Command(type=ACTION,
         level=1,
         description="Connect the loader hardware.")
public void connectLoader()

Connect the loader hardware.

checkFilterName

public void checkFilterName(String aName)

Check if a filter name given by an end user at the console is a valid Filter Name. Delegate to filterManager.

Parameters:

aName -

listLoaderHardwareNames

@Command(type=QUERY,
         level=1,
         description="Return the list of LOADER CANopen hardware that this subsystem manages.")
public List<String> listLoaderHardwareNames()

For Whole FCS GUI. Has to be overriden in FcsMain.

Overrides:

listLoaderHardwareNames in class MainModule

Returns:

isFilterInCamera

public boolean isFilterInCamera(int filterID)

storeFilterOnCarousel

@Command(type=ACTION,
         level=1,
         description="Store the filter in the carousel and move the empty autochanger to HANDOFF position.",
         autoAck=false,
         timeout=60000)
public void storeFilterOnCarousel()

disengageFilterFromCarousel

@Command(type=ACTION,
         level=1,
         autoAck=false,
         description="Unclamp filter from carousel, move autochanger to approachStandby position and release the carousel clamps",
         timeout=15000)
public void disengageFilterFromCarousel()

autochangerNotInTravel

public boolean autochangerNotInTravel()

latchesOpenOrClosed

public boolean latchesOpenOrClosed()

onlineClampsOpenOrLocked

public boolean onlineClampsOpenOrLocked()

filterAtOnlineMustBeLocked

public boolean filterAtOnlineMustBeLocked()

filterAtStandbyMustBeHeld

public boolean filterAtStandbyMustBeHeld()

carouselHoldingFilterOrReadyToGrab

public boolean carouselHoldingFilterOrReadyToGrab()

carouselReadyToClampAtStandby

public boolean carouselReadyToClampAtStandby()

setFilter

@Command(type=ACTION,
         level=0,
         description="Move filter to ONLINE position.",
         timeout=180000,
         autoAck=false)
public void setFilter(int filterID)

move filter to online. command to be executed by mcm. can be executed only when FilterReadinessState is READY, loader not connected, no controller is error, carousel stopped at STANDBY, autochanger stopped at STANDBY, ONLINE or HANDOFF, no sensors in error, if a filter is on AC at HANDOFF or ONLINE => carousel socket at STANDBY must be READY_TO_CLAMP && autochanger latches have to be CLOSED, if a filter is on AC at STANDBY => carousel or autochanger must hold the filter, if a filter is on AC at ONLINE => online clamps must be LOCKED.

Parameters:

filterID - of the filter to move

setFilterWithSafety

@Command(type=ACTION,
         level=0,
         description="Select filter and move to HANDOFF position without going to ONLINE.",
         timeout=180000,
         autoAck=false)
public void setFilterWithSafety(int filterID)

move filter to online. command to be executed by mcm. can be executed only when FilterReadinessState is READY, loader not connected, no controller is error, carousel stopped at STANDBY, autochanger stopped at STANDBY, ONLINE or HANDOFF, no sensors in error, if a filter is on AC at HANDOFF or ONLINE => carousel socket at STANDBY must be READY_TO_CLAMP && autochanger latches have to be CLOSED, if a filter is on AC at STANDBY => carousel or autochanger must hold the filter, if a filter is on AC at ONLINE => online clamps must be LOCKED.

Parameters:

filterID - of the filter to move

changeState

@Command(type=ACTION,
         level=3,
         description="change subsystem state.")
public void changeState(String state)

just for mcm testing

Parameters:

state -

loadFilter

public void loadFilter(int filterID)

Load a filter from the loader to the camera. At the end of this operation the filter is grabbed on the autochanger at Handoff position.

Parameters:

filterID -

Throws:

FcsHardwareException

unloadFilter

public void unloadFilter(int filterID)

Unload a filter from the camera to the loader. The camera has to be at horizontal position. The filter has to be on Carousel at STANDBY. The trucks of the autochanger have to be empty at STANDOFF position.

Parameters:

filterID -

Throws:

FcsHardwareException

RejectedCommandException

checkControllers

@Command(type=QUERY,
         level=0,
         description="check if controllers are in fault")
public void checkControllers()

updateStateWithSensors

public void updateStateWithSensors()

Update state in reading sensors for all components of Filter Changer : carousel, autochanger and loader. Read also AC trucks and ONLINE clamps position.

Specified by:

updateStateWithSensors in class MainModule

Throws:

FcsHardwareException

initializeHardware

public void initializeHardware()

Description copied from class: MainModule

initialize hardware after initialization. to be executed if during boot process some hardware is missing. this method had to be overriden in subclasses.

Specified by:

initializeHardware in class MainModule

publishData

public void publishData()

Description copied from class: MainModule

for GUI

Overrides:

publishData in class MainModule

postStart

public void postStart()