org.lsst.ccs.subsystems.fcs

Class CarouselClamp

java.lang.Object

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

org.lsst.ccs.subsystems.fcs.CarouselClamp

All Implemented Interfaces:

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

public class CarouselClamp
extends MobileItem
implements MovedByEPOSController

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

Field Summary

Fields

Modifier and Type	Field and Description
protected EPOSController	controller The motor controller which controls this clamp.
protected int	currentToUnlock
protected Integer	filterPresenceMinLimit 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 Deprecated.
protected Integer	lockSensorOffset1 If lockSensor returns a value between lockSensorMinLimit and lockSensorOffset1 the clamp is unlocked, If lockSensor returns a value between lockSensorOffset1 and carousel.getLockSensorMinLocked(): we don't know, If the sensor returns a value between carousel.getLockSensorMinLocked() 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, path, readSensorsHandle, scheduler, subs, timeoutExceeded

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

alertSeparator

Constructor Summary

Constructors

Constructor and Description
CarouselClamp()

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay) aborts action actually running.
void	build()
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.
void	checkVelocity()
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	getFilterPresenceMinLimit()
int	getFilterPresenceOffset2() For simulation
SensorPluggedOnTTC580	getFilterPresenceSensor() For simulation.
FcsEnumerations.FilterPresenceStatus	getFilterPresenceStatus()
SensorPluggedOnTTC580	getLockSensor() For simulation.
int	getLockSensorMaxLimit()
int	getLockSensorMinLimit()
int	getLockSensorOffset1()
FcsEnumerations.LockStatus	getLockStatus()
ArrayList<String>	getSensorErrorCounter()
void	init() *** lifecycle methods *************************************************
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isAvailable()
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 automatically when the filter comes at the standby position.
void	setAvailable(boolean available)
protected void	setController(EPOSController actuator) In the initialization phase, this method is used to initialize the controller.
void	setFilterPresenceOffset2(Integer value)
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	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.
void	updateVelocity()

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

cancelReadingSensors, checkReadyForAction, executeAction, getActionDurationPath, getAlertService, getHaltRequired, getName, getPath, getSubsystem, isMoving, readSensorsUntilActionIsCompleted, registerAction, 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

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

clearAlarm, getAlertSeparator, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarmOnlyIfNew, raiseAlertOnlyEveryTenMinutes, raiseAlertOnlyEveryTenMinutes, raiseAlertOnlyIfNew, raiseWarning, raiseWarning, raiseWarning, raiseWarning, raiseWarningOnlyEveryTenMinutes, raiseWarningOnlyIfNew

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

postBuild, postInit, postShutdown, start

Field Detail

tcpProxy

@LookupField(strategy=TREE,
             pathFilter="canbus0")
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

lockSensorOffset1

@Persist
protected volatile Integer lockSensorOffset1

If lockSensor returns a value between lockSensorMinLimit and lockSensorOffset1 the clamp is unlocked, If lockSensor returns a value between lockSensorOffset1 and carousel.getLockSensorMinLocked(): we don't know, If the sensor returns a value between carousel.getLockSensorMinLocked() and lockSensorMaxValue: the clamp is locked. If the sensor returns a value greater than lockSensorMaxValue the sensor is in ERROR. offset1 is given by the electronic card inside each clamp offset1 is read on hyttc580 in Carousel.initializeAndCheckClampsOffset offset1 is persisted and read at each startup.

filterPresenceMinLimit

protected Integer filterPresenceMinLimit

if filter presence sensor returns a value between 0 and filterPresenceOffset1 : sensor is in error. filterPresenceOffset1 has same value for all clamps.

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

@Deprecated
 @ConfigurationParameter(description="an offset for tests after carousel has been transported",
                        range="0..1000",
                        units="mV",
                        category="carousel")
protected volatile Integer filterPresenceOffset3

Deprecated.

timeoutForUnlocking

@ConfigurationParameter(range="0..10000",
                        units="millisecond",
                        category="carousel")
protected volatile long timeoutForUnlocking

timeoutForReleasing

@ConfigurationParameter(range="0..10000",
                        units="millisecond",
                        category="carousel")
protected volatile long timeoutForReleasing

Constructor Detail

CarouselClamp

public CarouselClamp()

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 -

getLockSensorOffset1

public int getLockSensorOffset1()

Returns:

the lockSensorOffset1 for simulation

getLockSensorMaxLimit

public int getLockSensorMaxLimit()

getLockSensorMinLimit

public int getLockSensorMinLimit()

getFilterPresenceMinLimit

public int getFilterPresenceMinLimit()

Returns:

the filterPresenceOffset1

getFilterPresenceOffset2

public int getFilterPresenceOffset2()

For simulation

Returns:

the filterPresenceOffset2

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

setFilterPresenceOffset2

public void setFilterPresenceOffset2(Integer value)

isAvailable

public boolean isAvailable()

setAvailable

public void setAvailable(boolean available)

init

public void init()

*** lifecycle methods *************************************************

Specified by:

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

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 automatically when the filter comes at the standby position. To be able to lock automatically 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

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

checkVelocity

public void checkVelocity()

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

updateVelocity

public void updateVelocity()

postStart

public void postStart()

Specified by:

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