org.lsst.ccs.subsystems.fcs

Class LoaderClamp

java.lang.Object

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

org.lsst.ccs.subsystems.fcs.LoaderClamp

All Implemented Interfaces:

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

public class LoaderClamp
extends MobileItem
implements MovedByEPOSController, ControlledBySensors

This is model for the clamps mechanism in the loader. 4 hooks are used for the clamping of the filter in the loader. This hooks are moved all together by the hooksController. Raises alert : - CAN_BUS_TIMEOUT in updateStateWithSensorsToCheckIfActionIsCompleted

Author:

virieux

Field Summary

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

agentStateService, beginTime, commandDuration, currentAction, dataProviderDictionaryService, 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
LoaderClamp(LoaderHook hook1, LoaderHook hook2, LoaderHook hook3, LoaderHook hook4, ForceSensor forceSensor0, ForceSensor forceSensor1) Build a new LoaderClampModule with 4 hooks and the parameters to configure the EPOS controller in mode CURRENT and in mode HOMING.

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay) aborts action actually running.
void	build()
void	checkClamped()
void	checkClosed()
void	checkInitialized() Check if clamp controller is initialized.
void	checkUnclamped()
void	clamp() Clamps hooks.
void	close() Closes clamp in order to hold the filter.
StatusDataPublishedByLoaderClamp	createStatusDataPublishedByLoaderClamp() Creates and returns the object to be published on the STATUS bus by the LoaderClamp.
void	endAction(FcsEnumerations.MobileItemAction action) end current action.
EPOSController	getController()
int	getCurrentToClamp()
int	getCurrentToOpen()
FcsEnumerations.LockStatus	getLockStatus()
int	getPosition() Return position for end user.
int	getRelativePositionToClose()
int	getRelativePositionToUnclamp()
void	init()
void	initializeController()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action) Check if the action is completed.
boolean	isClamped() Returns true if LockStatus=CLAMPED
boolean	isClosed() Returns true if LockStatus=CLOSED
boolean	isHomingDone() Returns true if loader clamp is homingDone.
boolean	isInError() Returns true if clamp LockStatus is in ERROR or LockStatus is UNKNOWN.
boolean	isOpened() Returns true if LockStatus=OPENED
boolean	myDevicesReady() Returns true if loader CANopen devices are booted, identified and homingDone.
void	open() Open clamp in order to release filter and do a homing.
void	postStart()
String	printHardwareState() Return a printed list of hardware with initialization information.
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
int	readPosition() To display position for end user.
void	recoveryClamp() Recovery command to be executed to clamp a filter between STORAGE and ENGAGED.
void	recoveryUnclamp() unclamp Loader clamp.
void	shutdown() This shutdowns the scheduler.
void	startAction(FcsEnumerations.MobileItemAction action) starts the action given as argument.
String	toString()
void	unclamp() unclamp Loader clamp.
void	updateCurrent() Updates the field readCurrent of the clamp in reading the CPU of the controller.
void	updatePosition() Updates the position of the clamp in reading the CPU of the controller.
void	updateStateAndCheckSensors() reads sensors, computes and state and raises an ALERT if sensors are in error.
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.

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

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

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, 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.ControlledBySensors

checkSensors

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

clearAlarm, getAlertSeparator, getAlertService, getSubsystem, 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

Constructor Detail

LoaderClamp

public LoaderClamp(LoaderHook hook1,
                   LoaderHook hook2,
                   LoaderHook hook3,
                   LoaderHook hook4,
                   ForceSensor forceSensor0,
                   ForceSensor forceSensor1)

Build a new LoaderClampModule with 4 hooks and the parameters to configure the EPOS controller in mode CURRENT and in mode HOMING.

Parameters:

hook1 -

hook2 -

hook3 -

hook4 -

forceSensor0 -

forceSensor1 -

Method Detail

build

public void build()

Specified by:

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

init

public void init()

Specified by:

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

getController

public EPOSController getController()

Specified by:

getController in interface MovedByEPOSController

Returns:

my controller

getRelativePositionToClose

public int getRelativePositionToClose()

getRelativePositionToUnclamp

public int getRelativePositionToUnclamp()

getCurrentToClamp

public int getCurrentToClamp()

getCurrentToOpen

public int getCurrentToOpen()

getPosition

@Command(type=QUERY,
         level=1,
         description="Display position for end user.Do not read again controller.")
public int getPosition()

Return position for end user. Do not read again controller.

Returns:

position

isHomingDone

@Command(type=QUERY,
         level=1,
         description="Returns true if homing of loader clamp has been done.")
public boolean isHomingDone()

Returns true if loader clamp is homingDone.

Returns:

getLockStatus

public FcsEnumerations.LockStatus getLockStatus()

Returns:

lockStatus

isClosed

@Command(type=QUERY,
         level=1,
         description="Returns true if CLOSED")
public boolean isClosed()

Returns true if LockStatus=CLOSED

Returns:

isOpened

@Command(type=QUERY,
         level=1,
         description="Returns true if OPENED")
public boolean isOpened()

Returns true if LockStatus=OPENED

Returns:

isClamped

@Command(type=QUERY,
         level=1,
         description="Returns true if CLAMPED")
public boolean isClamped()

Returns true if LockStatus=CLAMPED

Returns:

isInError

@Command(type=QUERY,
         level=1,
         description="Returns true if in ERROR or UNKNOWN.")
public boolean isInError()

Returns true if clamp LockStatus is in ERROR or LockStatus is UNKNOWN. That means that one hook is in ERROR status or one or more of the 4 hooks has a different LockStatus than the other.

Specified by:

isInError in interface ControlledBySensors

Returns:

true if clamp LockStatus is in ERROR or LockStatus is UNKNOWN.

myDevicesReady

public boolean myDevicesReady()

Returns true if loader CANopen devices are booted, identified and homingDone.

Specified by:

myDevicesReady in class MobileItem

Returns:

postStart

public void postStart()

Specified by:

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

initializeController

public void initializeController()

checkInitialized

public void checkInitialized()

Check if clamp controller is initialized.

Throws:

RejectedCommandException - if clamp is not homingDone

checkClamped

public void checkClamped()

checkUnclamped

public void checkUnclamped()

checkClosed

public void checkClosed()

open

@Command(type=ACTION,
         level=1,
         description="Open loader hooks and do homing with method Current Threshold Negative Speed.",
         timeout=60000)
public void open()

Open clamp in order to release filter and do a homing.

Throws:

RejectedCommandException

FailedCommandException

FcsHardwareException

close

@Command(type=ACTION,
         level=1,
         description="Close loader hooks. Do a homing BEFORE the close action when at HANDOFF and AC holding filter.",
         timeout=60000)
public void close()

Closes clamp in order to hold the filter. This action closes softly the clamp on the filter. The filter can't fall although it is not tight fermely. When the clamp is closed, the filter is held by loader so autochanger can open its latches and move trucks back without the filter. Closing hooks consists in setting controller mode to PROFILE_POSITION, and going to relative position absolutePositionToClose.

clamp

@Command(type=ACTION,
         level=1,
         description="Clamp to hold tightly a filter.",
         timeout=60000)
public void clamp()

Clamps hooks. When clamp is clamped, the filter is held tightly and carrier can go to STORAGE position safely. Clamping consists in setting controller in mode CURRENT and send currentToClamp to controller.

Throws:

RejectedCommandException

FailedCommandException

FcsHardwareException

recoveryClamp

@Command(type=ACTION,
         level=1,
         description="Clamp to hold tightly a filter. Command to be executed to clamp a filter when carrier is between ENGAGED and STORAGE. Loader clamp must be CLOSED and not OVER_CLAMPED.",
         timeout=60000)
public void recoveryClamp()

Recovery command to be executed to clamp a filter between STORAGE and ENGAGED. Don't use this command in high level commands used in NORMAL mode.

unclamp

@Command(type=ACTION,
         level=1,
         description="Unclamp filter and return to CLOSED position.",
         timeout=60000)
public void unclamp()

unclamp Loader clamp. At the end of this action, hooks are still CLOSED, but doesn't hold tightly filter. the homing of the clamp is not required before unclamp because unclamp is a relative motion.

recoveryUnclamp

@Command(type=ACTION,
         level=1,
         description="Unclamp filter and go to CLOSED position and forceStatus = UNCLAMPED. Command to be used only for recovery when carrier is between ENGAGED and STORAGE.",
         timeout=60000)
public void recoveryUnclamp()

unclamp Loader clamp. At the end of this action, hooks are still CLOSED, but doesn't hold tightly filter. the homing of the clamp is not required before unclamp because unclamp is a relative motion.

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Check if the action is completed. This method is called after updateStateWithSensorsToCheckIfActionIsCompleted where the different new values of current or position or sensors values have been updated.

Specified by:

isActionCompleted in class MobileItem

Parameters:

action -

Returns:

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

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)

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

updateStateAndCheckSensors

public void updateStateAndCheckSensors()

reads sensors, computes and state and raises an ALERT if sensors are in error.

updateCurrent

@Command(type=QUERY,
         level=1,
         description="Update clamp current in reading controller.")
public void updateCurrent()

Updates the field readCurrent of the clamp in reading the CPU of the controller.

Throws:

FcsHardwareException

updatePosition

@Command(type=QUERY,
         level=1,
         description="Update clamp position in reading controller.")
public void updatePosition()

Updates the position of the clamp in reading the CPU of the controller.

Throws:

FcsHardwareException

readPosition

@Command(type=QUERY,
         level=1,
         description="To update and display position for end user.Updates loader clamp position in reading controller and returns it.")
public int readPosition()

To display position for end user. Updates carrier position in reading controller and returns it.

Returns:

position

printHardwareState

@Command(type=QUERY,
         level=1,
         description="Return a printed list of hardware with initialization information.")
public String printHardwareState()

Return a printed list of hardware with initialization information. For debug purpose.

Returns:

toString

@Command(type=QUERY,
         level=1,
         description="List and display clamp info.")
public String toString()

Overrides:

toString in class Object

createStatusDataPublishedByLoaderClamp

public StatusDataPublishedByLoaderClamp createStatusDataPublishedByLoaderClamp()

Creates and returns the object to be published on the STATUS bus by the LoaderClamp.

Returns:

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

shutdown

public void shutdown()

Description copied from class: MobileItem

This shutdowns the scheduler. This is executed during CLOSING phase when the MobileItemMobile is stopped. cf checkStopped

Specified by:

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

Overrides:

shutdown in class MobileItem