org.lsst.ccs.subsystems.fcs

Class CarouselClampModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

org.lsst.ccs.subsystems.fcs.common.MobileItemModule

org.lsst.ccs.subsystems.fcs.CarouselClampModule

All Implemented Interfaces:

Observer, org.lsst.ccs.framework.Configurable, org.lsst.ccs.framework.HardwareController, org.lsst.ccs.framework.SignalHandler

Direct Known Subclasses:

FilterClampXminusModule, SimuCarouselClampModule

public class CarouselClampModule
extends MobileItemModule

An abstract class which extends Module to model a clamp that holds a filter on the carousel. It implements pattern clampState. See the clampState machine diagram for a carousel clamp. Each clamp on the carousel is coupled with a sensor which detects the presence of a filter. This abstract 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 class org.lsst.ccs.framework.Module

org.lsst.ccs.framework.Module.ValueUpdate

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

org.lsst.ccs.framework.Configurable.Environment

Field Summary

Fields

Modifier and Type	Field and Description
EPOSController	actuator The actuator which controls this clamp.
protected FcsEnumerations.FilterClampState	clampState
protected int	currentToMaintainUnlocked
protected int	currentToUnlock
protected FcsEnumerations.FilterPresenceStatus	filterPresenceStatus
protected double	temperature
protected long	timeoutForReleasing
protected long	timeoutForUnlocking
protected boolean	updatingState

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

currentAction, fcslog, haltRequired, hasToWaitForEndOfAction, lock, motionCompleted, moving, stopRequired

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

environment, log, name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description

CarouselClampModule(String aName, int aTickMillis, Sensor14bits filterPresenceSensor, Sensor14bits lockSensor, Thermometer thermometer, int filterPositionValueA, int filterPositionValueB, int filterPositionValueC, int filterPositionOffset, int lockSensorValueA, int lockSensorValueB, int lockSensorValueC, int lockSensorOffset, int timeoutForUnlocking, int timeoutForReleasing, int currentToUnlock, int currentToMaintainUnlocked)

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay)
org.lsst.ccs.framework.TreeWalkerDiag	checkHardware()
FcsEnumerations.FilterClampState	computeClampState() Compute the global state of the clamp given the lock sensor and the presence filter sensor state.
EPOSController	getActuator()
FcsEnumerations.FilterClampState	getClampState() Returns the clampState of the clamp.
int	getCurrentToUnlock()
int	getFilterPositionMaxValue()
int	getFilterPositionMinValue()
int	getFilterPositionOffset()
int	getFilterPositionValueA()
int	getFilterPositionValueB()
int	getFilterPositionValueC()
Sensor14bits	getFilterPresenceSensor() For encapsulation : we want to access to filterPresenceSensor in sub-packages.
FcsEnumerations.FilterPresenceStatus	getFilterPresenceStatus()
Sensor14bits	getLockSensor()
int	getLockSensorMaxValue()
int	getLockSensorMinValue()
int	getLockSensorOffset()
int	getLockSensorValueA()
int	getLockSensorValueB()
int	getLockSensorValueC()
FcsEnumerations.LockStatus	getLockStatus()
StatusDataPublishedByClamp	getStatusData()
double	getTemperature()
Thermometer	getThermometer()
long	getTimeoutRelease()
long	getTimeoutUnlock()
void	initModule()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isFilterEngaged()
boolean	isHardwareReady()
boolean	isLocked() This methods returns true if the clamp is locked.
void	postAction(FcsEnumerations.MobileItemAction action)
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
String	release() The clamps on the carousel are locked automaticaly when the filter comes at the standby position.
void	setActuator(EPOSController actuator)
void	setFilterPositionOffset(int filterPositionOffset)
void	setFilterPositionValueA(int valueA)
void	setFilterPositionValueB(int valueB)
void	setFilterPositionValueC(int valueC)
void	setLockSensorOffset(int lockSensorOffset)
void	setLockSensorValueA(int aValue)
void	setLockSensorValueB(int aValue)
void	setLockSensorValueC(int lockSensorValueC)
void	setLockStatus(FcsEnumerations.LockStatus lockStatus)
void	setTimeoutRelease(long timeoutRelease)
void	setTimeoutUnlock(long timeoutUnlock)
void	startAction(FcsEnumerations.MobileItemAction action)
void	tick()
String	toString()
String	unlock() Unlock the clamp when a filter is locked by the clamp.
void	updateFilterPresenceStatus() Update the field lockPresenceStatus in reading the filter presence sensor.
void	updateLockStatus() Update the field lockStatus in reading the lock sensor.
void	updateStateWithSensors() This method updates the clamp clampState regarding the value returned by the filter presence sensor and the value returned by the method isLocked().
void	updateStateWithSensorsFromSDO() Deprecated.
void	updateStateWithSensorsToCheckIfActionIsCompleted()
double	updateTemperature() This methods read the thermometer, update the field temperature and returns the value sent by the thermometer;

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

abort, abort, checkStarted, checkStopped, executeAction, getHaltRequired, isMoving, quickstop, readSensorsUntilActionIsCompleted, shutdownNow, signal, stop, stop

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

alias, getComponentTree, getEnvironment, getModule, getName, getNObserverThreads, getObservables, getSubsystem, getTickMillis, init, listens, percolateSignal, postStart, processUpdate, sendSignal, sendSignalWithTimeLimit, setEnvironment, setName, setNObserverThreads, setObservables, setTickMillis, startTicking, 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

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

change, getCheckedValueFromConfiguration, getChildren, getComponentByName, getFullPath, getParent, getParentObject, injectResources, listChildren, notifyChange, notifyChangeWithoutPreliminaryChecks, proceduralWalk, start, treeWalk

Field Detail

actuator

public EPOSController actuator

The actuator which controls this clamp.

clampState

protected FcsEnumerations.FilterClampState clampState

filterPresenceStatus

protected FcsEnumerations.FilterPresenceStatus filterPresenceStatus

currentToUnlock

protected int currentToUnlock

currentToMaintainUnlocked

protected int currentToMaintainUnlocked

temperature

protected double temperature

updatingState

protected volatile boolean updatingState

timeoutForUnlocking

protected long timeoutForUnlocking

timeoutForReleasing

protected long timeoutForReleasing

Constructor Detail

CarouselClampModule

public CarouselClampModule(String aName,
                           int aTickMillis,
                           Sensor14bits filterPresenceSensor,
                           Sensor14bits lockSensor,
                           Thermometer thermometer,
                           int filterPositionValueA,
                           int filterPositionValueB,
                           int filterPositionValueC,
                           int filterPositionOffset,
                           int lockSensorValueA,
                           int lockSensorValueB,
                           int lockSensorValueC,
                           int lockSensorOffset,
                           int timeoutForUnlocking,
                           int timeoutForReleasing,
                           int currentToUnlock,
                           int currentToMaintainUnlocked)

Method Detail

getActuator

public EPOSController getActuator()

Returns:

setActuator

public void setActuator(EPOSController actuator)

getCurrentToUnlock

public int getCurrentToUnlock()

setFilterPositionValueA

@ConfigChanger
public void setFilterPositionValueA(int valueA)

Parameters:

valueA - the filterPositionValueA to set

setFilterPositionValueB

@ConfigChanger
public void setFilterPositionValueB(int valueB)

Parameters:

valueB - the filterPositionValueB to set

setFilterPositionValueC

@ConfigChanger
public void setFilterPositionValueC(int valueC)

Parameters:

valueC - the filterPositionValueC to set

getLockSensorValueA

public int getLockSensorValueA()

Returns:

the lockSensorValueA

setLockSensorValueA

@ConfigChanger
public void setLockSensorValueA(int aValue)

Parameters:

aValue - the lockSensorValueA to set

getLockSensorValueB

public int getLockSensorValueB()

Returns:

the lockSensorValueB

setLockSensorValueB

@ConfigChanger
public void setLockSensorValueB(int aValue)

Parameters:

aValue - the lockSensorValueB to set

getLockSensorValueC

public int getLockSensorValueC()

setLockSensorValueC

@ConfigChanger
public void setLockSensorValueC(int lockSensorValueC)

getFilterPositionMaxValue

public int getFilterPositionMaxValue()

getFilterPositionMinValue

public int getFilterPositionMinValue()

getLockSensorMaxValue

public int getLockSensorMaxValue()

getLockSensorMinValue

public int getLockSensorMinValue()

setLockSensorOffset

@ConfigChanger
public void setLockSensorOffset(int lockSensorOffset)

getFilterPositionValueA

public int getFilterPositionValueA()

Returns:

the filterPositionValueA

getFilterPositionValueB

public int getFilterPositionValueB()

Returns:

the filterPositionValueB

getFilterPositionValueC

public int getFilterPositionValueC()

Returns:

the filterPositionValueC

getLockSensorOffset

public int getLockSensorOffset()

getFilterPositionOffset

public int getFilterPositionOffset()

setFilterPositionOffset

public void setFilterPositionOffset(int filterPositionOffset)

getFilterPresenceSensor

public Sensor14bits getFilterPresenceSensor()

For encapsulation : we want to access to filterPresenceSensor in sub-packages.

Returns:

the filterPresenceSensor

getLockSensor

public Sensor14bits getLockSensor()

Returns:

the lockSensor

getThermometer

public Thermometer getThermometer()

getLockStatus

public FcsEnumerations.LockStatus getLockStatus()

Returns:

the lockStatus

setLockStatus

public void setLockStatus(FcsEnumerations.LockStatus lockStatus)

Parameters:

lockStatus - the lockStatus to set

getFilterPresenceStatus

public FcsEnumerations.FilterPresenceStatus getFilterPresenceStatus()

getTemperature

public double getTemperature()

getTimeoutRelease

public long getTimeoutRelease()

setTimeoutRelease

@ConfigChanger
public void setTimeoutRelease(long timeoutRelease)

getTimeoutUnlock

public long getTimeoutUnlock()

setTimeoutUnlock

@ConfigChanger
public void setTimeoutUnlock(long timeoutUnlock)

initModule

public void initModule()

Overrides:

initModule in class MobileItemModule

isHardwareReady

@Command(type=QUERY,
         level=1,
         description="Returns true if hardware is connected and ready.")
public boolean isHardwareReady()

Specified by:

isHardwareReady in class MobileItemModule

checkHardware

public org.lsst.ccs.framework.TreeWalkerDiag checkHardware()
                                                    throws org.lsst.ccs.HardwareException

Specified by:

checkHardware in interface org.lsst.ccs.framework.HardwareController

Overrides:

checkHardware in class MobileItemModule

Throws:

org.lsst.ccs.HardwareException

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(level=1,
         description="Returns true if the clamp is locked",
         type=QUERY)
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(level=1,
         description="Returns true if filter is engaged on the clamp : filter presence sensors sees it ",
         type=QUERY)
public boolean isFilterEngaged()

Returns:

true if filter is engaged on the clamp

updateFilterPresenceStatus

public void updateFilterPresenceStatus()
                                throws FcsHardwareException

Update the field lockPresenceStatus in reading the filter presence sensor.

Throws:

FcsHardwareException

updateLockStatus

public void updateLockStatus()
                      throws FcsHardwareException

Update the field lockStatus in reading the lock sensor.

Throws:

FcsHardwareException

updateStateWithSensorsFromSDO

@Deprecated
public void updateStateWithSensorsFromSDO()
                                               throws FcsHardwareException

Deprecated.

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

updateStateWithSensors

@Command(level=1,
         description="Read clamp sensors and update clampState",
         type=QUERY,
         alias="updState")
public void updateStateWithSensors()
                                                                                                                                                               throws FcsHardwareException,
                                                                                                                                                                      org.lsst.ccs.messaging.BadCommandException

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

org.lsst.ccs.messaging.BadCommandException

publishData

public void publishData()

Publish Data on status bus for trending data base and GUIs.

Specified by:

publishData in class MobileItemModule

computeClampState

public FcsEnumerations.FilterClampState computeClampState()

Compute the global state of the clamp given the lock sensor and the presence filter sensor state. This has to be overriden for the clamp X-.

Returns:

clamp state

tick

public void tick()

Overrides:

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

getStatusData

public StatusDataPublishedByClamp getStatusData()

release

@Command(level=3,
         description="Release clamp in order to get ready to clamp a filter again",
         type=ACTION)
public String release()
                                                                                                                                           throws FcsHardwareException,
                                                                                                                                                  org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                                  org.lsst.ccs.messaging.ErrorInCommandExecutionException

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.

Returns:

Throws:

FcsHardwareException

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

unlock

@Command(level=3,
         description="Unlock the clamp",
         type=ACTION)
public String unlock()
                                                                                               throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                      org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                                                                                      FcsHardwareException

Unlock the clamp when a filter is locked by the clamp. This is used only in engineering mode.

Returns:

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

startAction

public void startAction(FcsEnumerations.MobileItemAction action)
                 throws SDORequestException,
                        org.lsst.ccs.messaging.BadCommandException,
                        org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                        FcsHardwareException

Specified by:

startAction in class MobileItemModule

Throws:

SDORequestException

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Specified by:

isActionCompleted in class MobileItemModule

postAction

public void postAction(FcsEnumerations.MobileItemAction action)

Specified by:

postAction in class MobileItemModule

updateStateWithSensorsToCheckIfActionIsCompleted

public void updateStateWithSensorsToCheckIfActionIsCompleted()
                                                      throws FcsHardwareException,
                                                             org.lsst.ccs.messaging.BadCommandException

Specified by:

updateStateWithSensorsToCheckIfActionIsCompleted in class MobileItemModule

Throws:

FcsHardwareException

org.lsst.ccs.messaging.BadCommandException

updateTemperature

public double updateTemperature()
                         throws FcsHardwareException

This methods read the thermometer, update the field temperature and returns the value sent by the thermometer;

Returns:

Throws:

FcsHardwareException

toString

public String toString()

Overrides:

toString in class Object

abortAction

public void abortAction(FcsEnumerations.MobileItemAction action,
                        long delay)
                 throws org.lsst.ccs.messaging.BadCommandException,
                        org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                        FcsHardwareException

Specified by:

abortAction in class MobileItemModule

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

quickStopAction

public void quickStopAction(FcsEnumerations.MobileItemAction action,
                            long delay)
                     throws org.lsst.ccs.messaging.BadCommandException,
                            org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                            FcsHardwareException

Specified by:

quickStopAction in class MobileItemModule

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException