org.lsst.ccs.subsystems.fcs
Class CarouselModule

java.lang.Object
  java.util.Observable
      org.lsst.ccs.framework.Module
          org.lsst.ccs.subsystems.fcs.CarouselModule

All Implemented Interfaces:

java.io.Serializable, java.util.Observer, Carousel

Direct Known Subclasses:

SftCarouselModule

public class CarouselModule
extends org.lsst.ccs.framework.Module
implements Carousel

This is a representation of the hardware of the carousel. It receives commands from the FCSMAinModule and send back an anknowledge. It publishes data on the status bus. In engineering mode it can receive commands from the engineering console. It has a latch, an engine which are connected to real or simulated hardware.

Author:

virieux

See Also:

Serialized Form

Nested Class Summary

Nested classes/interfaces inherited from class org.lsst.ccs.framework.Module

org.lsst.ccs.framework.Module.ValueUpdate

Field Summary

protected int	nbSockets
static java.lang.String	publishedByCarouselOutputName

Fields inherited from class org.lsst.ccs.framework.Module

log, name, nObserverThreads, registry, tickMillis

Constructor Summary

CarouselModule()

Method Summary

static double	addAngle(double angle1, double angle2) Add 2 angles : an angle is a double which value is between -360 and +360
Motor	getCarouselMotor()
Actuator	getClampsActuator()
Filter	getFilterAtStandby()
java.lang.String	getFilterInStandbyName()
double	getFilterPosition(Filter filter)
Latch	getLatch()
int	getNbSockets()
double	getPosition()
CarouselSocket	getSocketAtStandby()
int	getSocketNumber(Filter filter)
CarouselSocket[]	getSockets()
double	getStandbyPositionForFilter(Filter filter)
ModuleState	getState()
StatusDataPublishedByCarousel	getStatusData()
java.lang.String	grabbeFilterAtStandby(Filter filter)
java.lang.String	grabbeFilterAtStandby(java.lang.Object filterName)
void	initModule()
void	initPublishedData()
boolean	isAbleToMove()
boolean	isLocked()
boolean	isOnStandby(Filter filter)
boolean	isReadyToGrabbeAFilterAtStandby() This method let us know if the carousel is ready to receive a filter at standby position : - the carousel must not rotate - an empty socket is at standby position.
boolean	isRotating()
java.lang.String	lock()
protected java.lang.String	moveFilterToStandby(Filter filter) This method rotates the carousel to put the given filter in front of the autochanger (standby position).
void	printSockets() Print for every socket on carousel, the name of the filter it contains.
void	processUpdate(java.util.Observable source, org.lsst.ccs.framework.Module.ValueUpdate v) What to do when the Modules we observe send there new values : we notify our own observers
java.lang.String	releaseClamps()
void	removeFilterFromCarousel(Filter filter)
java.lang.String	rotate(double angle) Rotates carousel for an angle given as a parameter.
void	setCarouselMotor(Motor engine)
void	setClampsActuator(Actuator clampsActuator)
void	setLatch(Latch latch)
void	setNbSockets(int nbSockets)
void	setSockets(CarouselSocket[] sockets)
void	setState(ModuleState state)
java.lang.String	stop()
void	tick() What has to be done for each tick of the timer.
java.lang.String	toString()
void	ungrabbeFilterAtStandby(Filter filter)
java.lang.String	unlock()
java.lang.String	unlockClamps()

Methods inherited from class org.lsst.ccs.framework.Module

getContext, getModule, getName, getNObserverThreads, getObservables, getSubsystem, getTickMillis, init, listens, publishData, publishData, publishData, publishData, sendToReply, sendToStatus, setBeanName, setContext, setName, setNObserverThreads, setObservables, setStateModularSubsystem, setStateModularSubsystem, setTickMillis, start, update

Methods inherited from class java.util.Observable

addObserver, clearChanged, countObservers, deleteObserver, deleteObservers, hasChanged, notifyObservers, notifyObservers, setChanged

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

nbSockets

protected int nbSockets

publishedByCarouselOutputName

public static java.lang.String publishedByCarouselOutputName

Constructor Detail

CarouselModule

public CarouselModule()

Method Detail

initModule

public void initModule()

Overrides:

initModule in class org.lsst.ccs.framework.Module

initPublishedData

public void initPublishedData()

getStatusData

public StatusDataPublishedByCarousel getStatusData()

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

processUpdate

public void processUpdate(java.util.Observable source,
                          org.lsst.ccs.framework.Module.ValueUpdate v)

What to do when the Modules we observe send there new values : we notify our own observers

Overrides:

processUpdate in class org.lsst.ccs.framework.Module

getPosition

public double getPosition()

Specified by:

getPosition in interface Carousel

getSocketAtStandby

public CarouselSocket getSocketAtStandby()

Specified by:

getSocketAtStandby in interface Carousel

getFilterAtStandby

public Filter getFilterAtStandby()

getFilterInStandbyName

public java.lang.String getFilterInStandbyName()

isReadyToGrabbeAFilterAtStandby

public boolean isReadyToGrabbeAFilterAtStandby()
                                        throws HardwareErrorDetectedException

This method let us know if the carousel is ready to receive a filter at standby position : - the carousel must not rotate - an empty socket is at standby position.

Returns:

true if the position of the carousel matches the position when one of its sockets is at standby position and this socket is empty. false

Throws:

HardwareErrorDetectedException

isRotating

public boolean isRotating()

isAbleToMove

public boolean isAbleToMove()

Specified by:

isAbleToMove in interface Carousel

isLocked

public boolean isLocked()

stop

public java.lang.String stop()

Specified by:

stop in interface Carousel

lock

public java.lang.String lock()

Specified by:

lock in interface Carousel

unlock

public java.lang.String unlock()

Specified by:

unlock in interface Carousel

rotate

public java.lang.String rotate(double angle)
                        throws java.lang.IllegalArgumentException,
                               org.lsst.ccs.bus.BadCommandException

Rotates carousel for an angle given as a parameter. This method can be launched by the user from the TestConsole. It checks the value of the rotation angle entered by the user, converts it in a double, and send the result of the method rotate(double angle).

Specified by:

rotate in interface Carousel

Parameters:

angleEntered - : rotation angle The rotation angle can be positive or negative. It must be a double and have a value between -360.0 and 360.0

Returns:

the result of the command rotate(double angle)

Throws:

IllegalArgumentException, - BadCommandException

java.lang.IllegalArgumentException

org.lsst.ccs.bus.BadCommandException

tick

public void tick()

What has to be done for each tick of the timer. We have to notify our observers we have changed and give them the new values of the update data.

Overrides:

tick in class org.lsst.ccs.framework.Module

removeFilterFromCarousel

public void removeFilterFromCarousel(Filter filter)
                              throws org.lsst.ccs.bus.BadCommandException,
                                     HardwareErrorDetectedException,
                                     org.lsst.ccs.bus.ErrorInCommandExecutionException

Throws:

org.lsst.ccs.bus.BadCommandException

HardwareErrorDetectedException

org.lsst.ccs.bus.ErrorInCommandExecutionException

getFilterPosition

public double getFilterPosition(Filter filter)

getStandbyPositionForFilter

public double getStandbyPositionForFilter(Filter filter)

getSocketNumber

public int getSocketNumber(Filter filter)

Parameters:

filter -

Returns:

the position of the filter in the sockets array I'm not sure this method is useful actually. Only used is FcsMainModule in method printFilters.

moveFilterToStandby

protected java.lang.String moveFilterToStandby(Filter filter)
                                        throws java.lang.InterruptedException,
                                               org.lsst.ccs.bus.BadCommandException

This method rotates the carousel to put the given filter in front of the autochanger (standby position). This method can't be launched by the user from the console. It computes the shortest way for the carousel. So the running way can be positive or negative. This could be more complicated if the carousel was not able to rotate more than TBD turns in one way.

Throws:

org.lsst.ccs.bus.BadCommandException

java.lang.InterruptedException

printSockets

public void printSockets()

Print for every socket on carousel, the name of the filter it contains.

grabbeFilterAtStandby

public java.lang.String grabbeFilterAtStandby(java.lang.Object filterName)
                                       throws org.lsst.ccs.bus.BadCommandException,
                                              org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                              HardwareErrorDetectedException

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareErrorDetectedException

grabbeFilterAtStandby

public java.lang.String grabbeFilterAtStandby(Filter filter)
                                       throws org.lsst.ccs.bus.BadCommandException,
                                              org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                              HardwareErrorDetectedException

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareErrorDetectedException

ungrabbeFilterAtStandby

public void ungrabbeFilterAtStandby(Filter filter)
                             throws org.lsst.ccs.bus.BadCommandException,
                                    org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                    HardwareErrorDetectedException

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

HardwareErrorDetectedException

releaseClamps

public java.lang.String releaseClamps()
                               throws org.lsst.ccs.bus.BadCommandException,
                                      org.lsst.ccs.bus.ErrorInCommandExecutionException

Specified by:

releaseClamps in interface Carousel

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

unlockClamps

public java.lang.String unlockClamps()
                              throws org.lsst.ccs.bus.BadCommandException,
                                     org.lsst.ccs.bus.ErrorInCommandExecutionException

Specified by:

unlockClamps in interface Carousel

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

isOnStandby

public boolean isOnStandby(Filter filter)

addAngle

public static double addAngle(double angle1,
                              double angle2)

Add 2 angles : an angle is a double which value is between -360 and +360

Parameters:

angle1 -

angle2 -

Returns:

result of the angles addition. Always > 0

getSockets

public CarouselSocket[] getSockets()

setSockets

public void setSockets(CarouselSocket[] sockets)

getCarouselMotor

public Motor getCarouselMotor()

setCarouselMotor

public void setCarouselMotor(Motor engine)

getLatch

public Latch getLatch()

setLatch

public void setLatch(Latch latch)

getState

public ModuleState getState()

setState

public void setState(ModuleState state)

getNbSockets

public int getNbSockets()

Returns:

the nbSockets

setNbSockets

public void setNbSockets(int nbSockets)

Parameters:

nbSockets - the nbSockets to set

getClampsActuator

public Actuator getClampsActuator()

Returns:

the clampsActuator

setClampsActuator

public void setClampsActuator(Actuator clampsActuator)

Parameters:

clampsActuator - the clampsActuator to set