CarouselClamp (LSST CCS - Subsystem FCS Main 5.5.4 API)

java.lang.Object
- org.lsst.ccs.subsystems.fcs.common.MobileItem
- - org.lsst.ccs.subsystems.fcs.CarouselClamp

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, MovedByEPOSController, NamedComponent
```
public class CarouselClamp
extends MobileItem
implements MovedByEPOSController, org.lsst.ccs.framework.ClearAlertHandler
```
A class to model a clamp that holds a filter on the carousel. Each clamp on the carousel is coupled with 2 sensors which detect the presence of a filter, or if the clamp is locked or unlocked. This class provides a method to lock, unlock or release the clamps, and to compute the clampState of the clamp. The clampState of the clamp is computed, updated and published on the status bus each tick of the timer.

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
Modifier and Type	Field and Description
`protected EPOSController`	`controller` The motor controller which controls this clamp.
`protected int`	`currentToUnlock`
`protected Integer`	`filterPresenceOffset1` if filter presence sensor returns a value between 0 and filterPresenceOffset1 : sensor is in error.
`protected Integer`	`filterPresenceOffset2` if filter presence sensor returns a value between filterPresenceOffset1 and filterPresenceOffset2 : the filter is engaged and lockable.
`protected Integer`	`filterPresenceOffset3`
`protected Integer`	`filterPresenceValueB` if filter presence sensor returns a value between filterPresenceOffset2 and filterPresenceValueB filter is not lockable.
`protected Integer`	`lockSensorMaxValue` If sensor returns a value above lockSensorMaxValue, the sensor is in error.
`protected Integer`	`lockSensorOffset1` offset1 read on hyttc580 //TODO replace lockSensorValueA by lockSensorOffset1
`protected Integer`	`lockSensorValueA` If the lock sensor returns a value between lockSensorMinValue and lockSensorValueA the clamp is unlocked, If the lock sensor returns a value between lockSensorValueA and lockSensorValueB: we don't know, If the sensor returns a value between lockSensorValueB and lockSensorMaxValue: the clamp is locked.
`protected Integer`	`lockSensorValueB` If sensor returns a value between lockSensorValueB and lockSensorMaxValue, the clamp is locked.
`protected BridgeToHardware`	`tcpProxy`
`protected long`	`timeoutForReleasing`
`protected long`	`timeoutForUnlocking`

Fields inherited from class org.lsst.ccs.subsystems.fcs.common.MobileItem
agentStateService, beginTime, commandDuration, currentAction, dataProviderDictionaryService, FCSLOG, hasToWaitForEndOfAction, lock, moving, name, readSensorsHandle, scheduler, subs, timeoutExceeded

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

Constructor Summary

Constructors
Constructor and Description
`CarouselClamp(SensorPluggedOnTTC580 filterPresenceSensor, SensorPluggedOnTTC580 lockSensor)` Build a new CarouselClampModule with a tickMillis value:5000;

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`abortAction(FcsEnumerations.MobileItemAction action, long delay)` aborts action actually running.
`void`	`build()`
`org.lsst.ccs.framework.ClearAlertHandler.ClearAlertCode`	`canClearAlert(org.lsst.ccs.bus.data.Alert alert, org.lsst.ccs.bus.states.AlertState alertState)` to be able to clear alerts
`void`	`checkAndUpdateOffset1(int newOffset1)` compare offset1 value given as argument with persisted value.
`void`	`checkAndUpdateOffset2(int newOffset2)` compare offset2 value given as argument with persisted value.
`StatusDataPublishedByCarouselClamp`	`createStatusDataPublishedByClamp()` Create an object to be published on the STATUS bus.
`void`	`endAction(FcsEnumerations.MobileItemAction action)` end current action.
`FcsEnumerations.FilterClampState`	`getClampState()` Returns the clampState of the clamp.
`EPOSController`	`getController()`
`short`	`getCurrentToUnlock()` Returns the amount of current needed to unlock this clamp.
`int`	`getFilterPresenceOffset1()`
`int`	`getFilterPresenceOffset2()`
`Integer`	`getFilterPresenceOffset3()`
`SensorPluggedOnTTC580`	`getFilterPresenceSensor()` For simulation.
`FcsEnumerations.FilterPresenceStatus`	`getFilterPresenceStatus()`
`int`	`getFilterPresenceValueB()`
`SensorPluggedOnTTC580`	`getLockSensor()` For simulation.
`int`	`getLockSensorMaxValue()`
`int`	`getLockSensorMinValue()` for simulation
`int`	`getLockSensorValueA()`
`int`	`getLockSensorValueB()`
`FcsEnumerations.LockStatus`	`getLockStatus()`
`ArrayList<String>`	`getSensorErrorCounter()`
`void`	`init()` * lifecycle methods ***********************************************
`boolean`	`isActionCompleted(FcsEnumerations.MobileItemAction action)`
`boolean`	`isFilterEngaged()`
`boolean`	`isLocked()` This methods returns true if the clamp is locked.
`boolean`	`isReleased()` Check if controller has been disabled.
`boolean`	`isXminus()`
`boolean`	`myDevicesReady()` *
`void`	`postStart()`
`void`	`publishData()` Publish Data on status bus for trending data base and GUIs.
`void`	`quickStopAction(FcsEnumerations.MobileItemAction action, long delay)`
`void`	`recoveryLocking()` To recover locking when clampXplus is LOCKED and not clampXminus.
`void`	`release()` The clamps on the carousel are locked automaticaly when the filter comes at the standby position.
`protected void`	`setController(EPOSController actuator)` In the initialization phase, this method is used to initialize the controller.
`void`	`setFilterPresenceOffset1(Integer value)`
`void`	`setFilterPresenceOffset2(Integer value)`
`void`	`setFilterPresenceValueB(Integer filterPresenceValue)`
`void`	`setLockSensorMaxValue(Integer maxValue)`
`void`	`setLockSensorValueA(Integer lockSensorValueA)` for tests
`void`	`setLockSensorValueB(Integer lockSensorValueB)` for tests
`void`	`startAction(FcsEnumerations.MobileItemAction action)` starts the action given as argument.
`void`	`unlock()` Unlock the clamp when a filter is locked by the clamp.
`void`	`updateCurrent()` Read Current on controller and save value read.
`void`	`updateFilterPresenceStatus()` update filterPresenceStatus from value returned by filterPresenceSensor
`void`	`updateLockStatus()` Update lockStatus from value returned by lockSensor.
`void`	`updateState()` Update clampState from values sent by sensors.
`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.
`double`	`updateTemperature()` This methods read the thermometer, update the field temperature and returns the value sent by the thermometer;
`void`	`updateVelocity()`

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.MovedByEPOSController
getControllerName, monitorCurrent

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, raiseAlarmOnlyIfNew, raiseAlertOnlyEveryTenMinutes, raiseAlertOnlyEveryTenMinutes, raiseAlertOnlyIfNew, raiseWarning, raiseWarning, raiseWarningOnlyEveryTenMinutes, raiseWarningOnlyIfNew

Methods inherited from interface org.lsst.ccs.framework.HasLifecycle
postBuild, postInit, postShutdown, start

- Field Detail
  - tcpProxy
```
@LookupField(strategy=TREE,
             pathFilter="tcpProxy")
protected BridgeToHardware tcpProxy
```
  - controller
```
protected EPOSController controller
```
    The motor controller which controls this clamp. This is initialized in the initModule method of CarouselSocket.
  - currentToUnlock
```
@ConfigurationParameter(description="value of current to send to controller to unlock carousel clamp",
                        range="-6000..6000",
                        units="mA",
                        category="carousel")
protected volatile int currentToUnlock
```
  - lockSensorValueA
```
@ConfigurationParameter(description="If sensor returns a value between lockSensorMinValue and lockSensorValueA clamp is unlocked.",
                        range="0..12000",
                        units="mV",
                        category="carousel")
protected volatile Integer lockSensorValueA
```
    If the lock sensor returns a value between lockSensorMinValue and lockSensorValueA the clamp is unlocked, If the lock sensor returns a value between lockSensorValueA and lockSensorValueB: we don't know, If the sensor returns a value between lockSensorValueB and lockSensorMaxValue: the clamp is locked. If the sensor returns a value greater than lockSensorMaxValue the sensor is in ERROR. This value is read on hyttc580 when fcs starts.
  - lockSensorOffset1
```
@Persist
protected volatile Integer lockSensorOffset1
```
    offset1 read on hyttc580 //TODO replace lockSensorValueA by lockSensorOffset1
  - lockSensorValueB
```
@ConfigurationParameter(description="If sensor returns a value between lockSensorValueB and lockSensorMaxValue, clamp is locked",
                        range="0..12000",
                        units="mV",
                        category="carousel")
protected volatile Integer lockSensorValueB
```
    If sensor returns a value between lockSensorValueB and lockSensorMaxValue, the clamp is locked.
  - lockSensorMaxValue
```
@ConfigurationParameter(description="If sensor returns a value above lockSensorMaxValue, the sensor is in error.",
                        range="0..12000",
                        units="mV",
                        category="carousel")
protected volatile Integer lockSensorMaxValue
```
    If sensor returns a value above lockSensorMaxValue, the sensor is in error.
  - filterPresenceOffset1
```
protected Integer filterPresenceOffset1
```
    if filter presence sensor returns a value between 0 and filterPresenceOffset1 : sensor is in error. The value of filterPresenceOffset1 is read on httc580 when fcs starts and it is persisted. If the new value read is different from the last value read it may means that the clamp has been replaced.
  - filterPresenceOffset2
```
@Persist
protected volatile Integer filterPresenceOffset2
```
    if filter presence sensor returns a value between filterPresenceOffset1 and filterPresenceOffset2 : the filter is engaged and lockable. This value is read on hyttc580 when fcs starts. It is persisted. If the new value read is different from the precedent value, it means that the clamp has been replaced, and an ALERT must be launched.
  - filterPresenceOffset3
```
@ConfigurationParameter(description="an offset for tests after carousel has been transported",
                        range="0..1000",
                        units="mV",
                        category="carousel")
protected volatile Integer filterPresenceOffset3
```
  - filterPresenceValueB
```
@ConfigurationParameter(range="0..12000",
                        units="mV",
                        category="carousel")
protected volatile Integer filterPresenceValueB
```
    if filter presence sensor returns a value between filterPresenceOffset2 and filterPresenceValueB filter is not lockable. And if the value is greater than * filterPresenceMaxValue, there's no filter.
  - timeoutForUnlocking
```
@ConfigurationParameter(range="0..10000",
                        units="milliseconds",
                        category="carousel")
protected volatile long timeoutForUnlocking
```
  - timeoutForReleasing
```
@ConfigurationParameter(range="0..10000",
                        units="milliseconds",
                        category="carousel")
protected volatile long timeoutForReleasing
```
- Constructor Detail
  - CarouselClamp
```
public CarouselClamp(SensorPluggedOnTTC580 filterPresenceSensor,
                     SensorPluggedOnTTC580 lockSensor)
```
    Build a new CarouselClampModule with a tickMillis value:5000;
    
    Parameters:
    
    filterPresenceSensor -
    
    lockSensor -
- Method Detail
  - build
```
public void build()
```
    Specified by:
    
    build in interface org.lsst.ccs.framework.HasLifecycle
  - getCurrentToUnlock
```
public short getCurrentToUnlock()
```
    Returns the amount of current needed to unlock this clamp. This is defined in the ConfigurationSystem.
    
    Returns:
  - getSensorErrorCounter
```
public ArrayList<String> getSensorErrorCounter()
```
    Returns:
    
    a list of error messages when updating sensors
  - setController
```
protected void setController(EPOSController actuator)
```
    In the initialization phase, this method is used to initialize the controller. cf initModule in CarouselSocket
    
    Parameters:
    
    actuator -
  - getLockSensorValueA
```
public int getLockSensorValueA()
```
    Returns:
    
    the lockSensorValueA for simulation
  - getLockSensorValueB
```
public int getLockSensorValueB()
```
    Returns:
    
    the lockSensorValueB
  - getLockSensorMaxValue
```
public int getLockSensorMaxValue()
```
  - getLockSensorMinValue
```
public int getLockSensorMinValue()
```
    for simulation
    
    Returns:
  - getFilterPresenceOffset1
```
public int getFilterPresenceOffset1()
```
    Returns:
    
    the filterPresenceOffset1
  - getFilterPresenceOffset2
```
public int getFilterPresenceOffset2()
```
    Returns:
    
    the filterPresenceOffset2
  - getFilterPresenceValueB
```
public int getFilterPresenceValueB()
```
    Returns:
    
    the filterPresenceValueB
  - getFilterPresenceOffset3
```
public Integer getFilterPresenceOffset3()
```
  - getFilterPresenceSensor
```
public SensorPluggedOnTTC580 getFilterPresenceSensor()
```
    For simulation.
    
    Returns:
    
    the filterPresenceSensor
  - getLockSensor
```
public SensorPluggedOnTTC580 getLockSensor()
```
    For simulation.
    
    Returns:
    
    the lockSensor
  - getLockStatus
```
@Command(type=QUERY,
         level=1,
         description="return the lockStatus")
public FcsEnumerations.LockStatus getLockStatus()
```
    Returns:
    
    the lockStatus
  - getFilterPresenceStatus
```
@Command(type=QUERY,
         level=1,
         description="return filterPresenceStatus")
public FcsEnumerations.FilterPresenceStatus getFilterPresenceStatus()
```
    Returns:
    
    filterPresenceStatus
  - setLockSensorValueA
```
public void setLockSensorValueA(Integer lockSensorValueA)
```
    for tests
    
    Parameters:
    
    lockSensorValueA -
  - setLockSensorValueB
```
public void setLockSensorValueB(Integer lockSensorValueB)
```
    for tests
    
    Parameters:
    
    lockSensorValueB -
  - setLockSensorMaxValue
```
public void setLockSensorMaxValue(Integer maxValue)
```
  - setFilterPresenceOffset1
```
public void setFilterPresenceOffset1(Integer value)
```
  - setFilterPresenceOffset2
```
public void setFilterPresenceOffset2(Integer value)
```
  - setFilterPresenceValueB
```
public void setFilterPresenceValueB(Integer filterPresenceValue)
```
  - init
```
public void init()
```
    *** lifecycle methods *************************************************
    
    Specified by:
    
    init in interface org.lsst.ccs.framework.HasLifecycle
  - canClearAlert
```
public org.lsst.ccs.framework.ClearAlertHandler.ClearAlertCode canClearAlert(org.lsst.ccs.bus.data.Alert alert,
                                                                             org.lsst.ccs.bus.states.AlertState alertState)
```
    to be able to clear alerts
    
    Specified by:
    
    canClearAlert in interface org.lsst.ccs.framework.ClearAlertHandler
    
    Parameters:
    
    alert -
    
    alertState -
    
    Returns:
  - myDevicesReady
```
@Command(type=QUERY,
         level=1,
         description="Returns true if CANopen hardware is connected and ready.")
public boolean myDevicesReady()
```
    *
    
    Specified by:
    
    myDevicesReady in class MobileItem
    
    Returns:
  - getClampState
```
public FcsEnumerations.FilterClampState getClampState()
```
    Returns the clampState of the clamp. If the clampState is being updated and waiting for a response from a sensor, this methods waits until the clampState is updated. If the clampState is not being updated, it returns immediatly the clampState.
    
    Returns:
    
    clampState
  - isLocked
```
@Command(type=QUERY,
         level=1,
         description="Returns true if the clamp is locked")
public boolean isLocked()
```
    This methods returns true if the clamp is locked. In the simulator, it is overriden.
    
    Returns:
    
    true if the clamp is locked
  - isFilterEngaged
```
@Command(type=QUERY,
         level=1,
         description="Returns true if filter is engaged on the clamp : filter presence sensors sees it ")
public boolean isFilterEngaged()
```
    Returns:
    
    true if filter is engaged on the clamp
  - checkAndUpdateOffset1
```
public void checkAndUpdateOffset1(int newOffset1)
```
    compare offset1 value given as argument with persisted value.
    
    Parameters:
    
    newOffset1 -
  - checkAndUpdateOffset2
```
public void checkAndUpdateOffset2(int newOffset2)
```
    compare offset2 value given as argument with persisted value.
    
    Parameters:
    
    newOffset2 -
  - isXminus
```
public boolean isXminus()
```
    Returns:
    
    true if this clamp is clampXminus.
  - updateFilterPresenceStatus
```
public void updateFilterPresenceStatus()
```
    update filterPresenceStatus from value returned by filterPresenceSensor
  - updateLockStatus
```
public void updateLockStatus()
```
    Update lockStatus from value returned by lockSensor.
    
    Throws:
    
    FcsHardwareException
  - updateState
```
public void updateState()
```
    Update clampState from values sent by sensors. This method updates the clamp clampState regarding the value returned by the filter presence sensor and the value returned by the method isLocked(). When the update is completed, it sends a signal to threads waiting to get the new value of clampState.
    
    Throws:
    
    FcsHardwareException
  - 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
  - createStatusDataPublishedByClamp
```
public StatusDataPublishedByCarouselClamp createStatusDataPublishedByClamp()
```
    Create an object to be published on the STATUS bus.
    
    Returns:
  - release
```
@Command(level=3,
         type=ACTION,
         description="Release clamp in order to get ready to clamp a filter again")
public void release()
```
    The clamps on the carousel are locked automaticaly when the filter comes at the standby position. To be able to lock automaticaly again, it has to be released after each time it has been unlocked.
    
    Throws:
    
    FcsHardwareException
    
    RejectedCommandException
  - isReleased
```
@Command(level=3,
         type=ACTION,
         description="Check if controller has been disabled. For end user.")
public boolean isReleased()
```
    Check if controller has been disabled. For end user. Not to be used in other commands because it read StatusWord by SDO.
    
    Returns:
    
    true if controller is not enabled.
  - unlock
```
@Command(type=ACTION,
         level=3,
         description="Unlock the clamp")
public void unlock()
```
    Unlock the clamp when a filter is locked by the clamp. This is used only in engineering mode.
    
    Throws:
    
    RejectedCommandException
    
    FailedCommandException
    
    FcsHardwareException
  - recoveryLocking
```
public void recoveryLocking()
```
    To recover locking when clampXplus is LOCKED and not clampXminus.
  - 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
  - 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
  - updateTemperature
```
public double updateTemperature()
```
    This methods read the thermometer, update the field temperature and returns the value sent by the thermometer;
    
    Returns:
    
    Throws:
    
    FcsHardwareException
  - 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
  - getController
```
public EPOSController getController()
```
    Specified by:
    
    getController in interface MovedByEPOSController
    
    Returns:
    
    my controller
  - updateCurrent
```
public void updateCurrent()
```
    Description copied from interface: MovedByEPOSController
    
    Read Current on controller and save value read.
    
    Specified by:
    
    updateCurrent in interface MovedByEPOSController
  - updateVelocity
```
public void updateVelocity()
```
  - postStart
```
public void postStart()
```
    Specified by:
    
    postStart in interface org.lsst.ccs.framework.HasLifecycle

Class CarouselClamp

Nested Class Summary

Nested classes/interfaces inherited from interface org.lsst.ccs.framework.ClearAlertHandler

Field Summary

Fields inherited from class org.lsst.ccs.subsystems.fcs.common.MobileItem

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

Constructor Summary

Method Summary

Methods inherited from class org.lsst.ccs.subsystems.fcs.common.MobileItem

Methods inherited from class java.lang.Object

Methods inherited from interface org.lsst.ccs.subsystems.fcs.common.MovedByEPOSController

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

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

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

Field Detail

tcpProxy

controller

currentToUnlock

lockSensorValueA

lockSensorOffset1

lockSensorValueB

lockSensorMaxValue

filterPresenceOffset1

filterPresenceOffset2

filterPresenceOffset3

filterPresenceValueB

timeoutForUnlocking

timeoutForReleasing

Constructor Detail

CarouselClamp

Method Detail

build

getCurrentToUnlock

getSensorErrorCounter

setController

getLockSensorValueA

getLockSensorValueB

getLockSensorMaxValue

getLockSensorMinValue

getFilterPresenceOffset1

getFilterPresenceOffset2

getFilterPresenceValueB

getFilterPresenceOffset3

getFilterPresenceSensor

getLockSensor

getLockStatus

getFilterPresenceStatus

setLockSensorValueA

setLockSensorValueB

setLockSensorMaxValue

setFilterPresenceOffset1

setFilterPresenceOffset2

setFilterPresenceValueB

init

canClearAlert

myDevicesReady

getClampState

isLocked

isFilterEngaged

checkAndUpdateOffset1

checkAndUpdateOffset2

isXminus

updateFilterPresenceStatus

updateLockStatus

updateState

publishData

createStatusDataPublishedByClamp

release

isReleased

unlock

recoveryLocking

startAction

isActionCompleted

updateStateWithSensorsToCheckIfActionIsCompleted

updateTemperature

abortAction

endAction

quickStopAction

getController

updateCurrent