org.lsst.ccs.subsystems.fcs

Class LoaderCarrierModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.LoaderCarrierModule

All Implemented Interfaces:

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

public class LoaderCarrierModule
extends MobileItemModule

This is a model for the carrier in the loader.

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
protected NumericSensor	handoffPositionSensor0
protected NumericSensor	handoffPositionSensor1
protected NumericSensor	storagePositionSensor0
protected NumericSensor	storagePositionSensor1
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
LoaderCarrierModule(String moduleName, int aTickMillis, int minPos, int maxPos, NumericSensor handoffPositionSensor, NumericSensor handoffPositionSensor1, NumericSensor storagePositionSensor, NumericSensor storagePositionSensor1, long timeoutForGoingToHandOff, long timeoutForGoingToStorage, int maxCurrent, int maxSpeed)

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay)
boolean	checkFilterPresence() Updates the boolean field empty and returns it.
org.lsst.ccs.framework.TreeWalkerDiag	checkHardware()
int	getCurrent()
int	getHandoffPosition()
NumericSensor	getHandoffPositionSensor0()
NumericSensor	getHandoffPositionSensor1()
int	getMaxCurrent()
int	getMaxSpeed()
int	getPosition()
int	getSpeed()
int	getSsiPosition()
StatusDataPublishedByLoaderCarrier	getStatusData()
int	getStoragePosition()
NumericSensor	getStoragePositionSensor0()
NumericSensor	getStoragePositionSensor1()
long	getTimeoutForGoingToHandOff()
long	getTimeoutForGoingToStorage()
String	goToHandOff() Move the carrier to Handoff position.
String	goToStorage() Move the carrier to storage position.
void	initializeHardware() Command for ENGINEERING mode.
void	initModule()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isAtHandoffPosition() Returns the boolean field atHandoff.
boolean	isAtStoragePosition() Returns the boolean field atStorage.
boolean	isAutochangerHoldingFilter()
boolean	isConnectedOnCamera()
boolean	isControllerInFault()
boolean	isEmpty() Returns the boolean field empty.
boolean	isHandoffSensorsInError()
boolean	isHardwareReady()
boolean	isInitialized()
boolean	isLimitSwitchDownInError()
boolean	isLimitSwitchUpInError()
boolean	isStorageSensorsInError()
void	postAction(FcsEnumerations.MobileItemAction action)
void	processUpdate(Observable source, org.lsst.ccs.framework.Module.ValueUpdate v) What to do when the Modules we observe send there new values.
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
void	setHandoffPosition(int handoffPosition)
void	setStoragePosition(int storagePosition)
void	setTimeoutForGoingToHandOff(long timeoutForGoingToHandOff)
void	setTimeoutForGoingToStorage(long timeoutForGoingToStorage)
void	startAction(FcsEnumerations.MobileItemAction action)
void	tick()
void	updateCurrent() Updates the field position of the carrier in reading the CPU of the controller.
void	updatePosition() Updates the field position of the carrier in reading the CPU of the controller.
void	updateStateWithSensors() This methods updates the carrier state in reading all the carrier sensors.
protected void	updateStateWithSensors(String[] readHexaValues) This methods updates the lockStatus from an array of hexaValues.
void	updateStateWithSensorsToCheckIfActionIsCompleted()

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, 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, toString, 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

storagePositionSensor0

protected NumericSensor storagePositionSensor0

handoffPositionSensor0

protected NumericSensor handoffPositionSensor0

storagePositionSensor1

protected NumericSensor storagePositionSensor1

handoffPositionSensor1

protected NumericSensor handoffPositionSensor1

updatingState

protected volatile boolean updatingState

Constructor Detail

LoaderCarrierModule

public LoaderCarrierModule(String moduleName,
                           int aTickMillis,
                           int minPos,
                           int maxPos,
                           NumericSensor handoffPositionSensor,
                           NumericSensor handoffPositionSensor1,
                           NumericSensor storagePositionSensor,
                           NumericSensor storagePositionSensor1,
                           long timeoutForGoingToHandOff,
                           long timeoutForGoingToStorage,
                           int maxCurrent,
                           int maxSpeed)

Method Detail

getPosition

public int getPosition()

getSsiPosition

public int getSsiPosition()

getSpeed

public int getSpeed()

getCurrent

public int getCurrent()

isControllerInFault

@Command(type=QUERY,
         level=1,
         description="Returns true if carrierController is in Fault.")
public boolean isControllerInFault()

isInitialized

@Command(type=QUERY,
         level=1,
         description="Returns true if carrier is initialized and ready to receive commands.")
public boolean isInitialized()

getMaxSpeed

@Command(type=QUERY,
         level=1,
         description="Return the max speed in rpm/mn (format decimal).")
public int getMaxSpeed()

Returns:

max speed in rpm/mn (format decimal).

getMaxCurrent

@Command(type=QUERY,
         level=1,
         description="Return the max current in mA (format decimal).")
public int getMaxCurrent()

Returns:

max current in mA (format decimal).

getHandoffPosition

@Command(type=QUERY,
         level=1,
         description="Return the handoff position in microns (format decimal).")
public int getHandoffPosition()

Returns:

handoff position in microns (format decimal).

getStoragePosition

@Command(type=QUERY,
         level=1,
         description="Return the storage position in microns (format decimal).")
public int getStoragePosition()

Returns:

storage position in microns (format decimal).

getStoragePositionSensor0

public NumericSensor getStoragePositionSensor0()

getHandoffPositionSensor0

public NumericSensor getHandoffPositionSensor0()

getStoragePositionSensor1

public NumericSensor getStoragePositionSensor1()

getHandoffPositionSensor1

public NumericSensor getHandoffPositionSensor1()

getTimeoutForGoingToHandOff

@Command(type=QUERY,
         level=1,
         description="Return the timeout for going to Handoff in millis (format decimal).")
public long getTimeoutForGoingToHandOff()

Returns:

timeout for going to Handoff action in millis (format decimal).

getTimeoutForGoingToStorage

@Command(type=QUERY,
         level=1,
         description="Return the timeout for going to Storage in millis (format decimal).")
public long getTimeoutForGoingToStorage()

Returns:

timeout for going to Storage action in millis (format decimal).

isStorageSensorsInError

@Command(type=QUERY,
         level=1,
         description="Return false if the 2 redondant position sensors at Storage are equal.")
public boolean isStorageSensorsInError()

isHandoffSensorsInError

@Command(type=QUERY,
         level=1,
         description="Return false if the 2 redondant position sensors at HandOff are equal.")
public boolean isHandoffSensorsInError()

isLimitSwitchDownInError

public boolean isLimitSwitchDownInError()

isLimitSwitchUpInError

public boolean isLimitSwitchUpInError()

setHandoffPosition

@ConfigChanger
public void setHandoffPosition(int handoffPosition)

Parameters:

handoffPosition -

setStoragePosition

@ConfigChanger
public void setStoragePosition(int storagePosition)

Parameters:

storagePosition -

setTimeoutForGoingToHandOff

@ConfigChanger
public void setTimeoutForGoingToHandOff(long timeoutForGoingToHandOff)

setTimeoutForGoingToStorage

@ConfigChanger
public void setTimeoutForGoingToStorage(long timeoutForGoingToStorage)

initModule

public void initModule()

Overrides:

initModule in class MobileItemModule

tick

public void tick()

Overrides:

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

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

isHardwareReady

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

Specified by:

isHardwareReady in class MobileItemModule

checkFilterPresence

@Command(type=QUERY,
         level=0,
         description="Read the sensors and return true if a filter is in the loader.")
public boolean checkFilterPresence()
                                                                                                                                                          throws FcsHardwareException

Updates the boolean field empty and returns it.

Returns:

empty

Throws:

FcsHardwareException

isEmpty

@Command(type=QUERY,
         level=0,
         description="Return true if there is no filter in the loader. This command doesn\'t read again the sensors.")
public boolean isEmpty()

Returns the boolean field empty. If the empty boolean is being updated and waits for a response from a sensor, this methods waits until empty is updated. If the field empty is not being updated, it returns immediatly the field empty.

Returns:

empty

isAtStoragePosition

@Command(type=QUERY,
         level=0,
         description="Return true if the carrier is at storage position. This command doesn\'t read again the sensors.")
public boolean isAtStoragePosition()

Returns the boolean field atStorage. If the atStorage boolean is being updated and waits for a response from a sensor, this methods waits until atStorage is updated. If the field atStorage is not being updated, it returns immediatly the field atStorage.

Returns:

atStorage

isAtHandoffPosition

@Command(type=QUERY,
         level=0,
         description="Return true if the carrier is at HANDOFF position. This command doesn\'t read again the sensors.")
public boolean isAtHandoffPosition()

Returns the boolean field atHandoff. If the atHandoff boolean is being updated and waits for a response from a sensor, this methods waits until atHandoff is updated. If the field atHandoff is not being updated, it returns immediatly the field atHandoff.

Returns:

atHandoff

isConnectedOnCamera

@Command(type=QUERY,
         level=0,
         description="Return true if the loader is connected on the camera. This command doesn\'t read again the sensors.")
public boolean isConnectedOnCamera()

Returns:

true if loader is connected on camera

isAutochangerHoldingFilter

@Command(type=QUERY,
         level=0,
         description="Return true if the autochanger is holding the filter. This command doesn\'t read again the sensors.")
public boolean isAutochangerHoldingFilter()

goToHandOff

@Command(type=ACTION,
         level=1,
         alias="goToHandoff",
         description="Move the carrier to Handoff position.")
public String goToHandOff()
                                                                                                                                                       throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                                              org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                                                                                                                                              FcsHardwareException

Move the carrier to Handoff position.

Returns:

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

goToStorage

@Command(type=ACTION,
         level=1,
         description="Move the carrier to Storage position.")
public String goToStorage()
                                                                                                                         throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                                                                                                                FcsHardwareException

Move the carrier to storage position.

Returns:

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Specified by:

isActionCompleted in class MobileItemModule

updatePosition

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

Updates the field position of the carrier in reading the CPU of the controller.

Throws:

SDORequestException

updateCurrent

@Command(type=QUERY,
         level=1,
         description="Update carrier current in reading controller.")
public void updateCurrent()
                                                                                                                                throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                       SDORequestException

Updates the field position of the carrier in reading the CPU of the controller.

Throws:

org.lsst.ccs.messaging.BadCommandException

SDORequestException

updateStateWithSensorsToCheckIfActionIsCompleted

public void updateStateWithSensorsToCheckIfActionIsCompleted()
                                                      throws Exception

Specified by:

updateStateWithSensorsToCheckIfActionIsCompleted in class MobileItemModule

Throws:

Exception

updateStateWithSensors

@Command(type=ACTION,
         level=1,
         description="Update clamp state in reading sensors.")
public void updateStateWithSensors()
                                                                                                                                   throws FcsHardwareException

This methods updates the carrier state in reading all the carrier sensors.

Throws:

FcsHardwareException

updateStateWithSensors

protected void updateStateWithSensors(String[] readHexaValues)
                               throws FcsHardwareException

This methods updates the lockStatus from an array of hexaValues.

Parameters:

readHexaValues -

Throws:

FcsHardwareException

startAction

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

Specified by:

startAction in class MobileItemModule

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

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

postAction

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

Specified by:

postAction in class MobileItemModule

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

initializeHardware

@Command(type=ACTION,
         level=1,
         description="Check if hardware is ready to be started.")
public void initializeHardware()
                                                                                                                                  throws FcsHardwareException

Command for ENGINEERING mode. Not used during INITIALIZATION.

Throws:

FcsHardwareException

getStatusData

public StatusDataPublishedByLoaderCarrier getStatusData()

processUpdate

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

What to do when the Modules we observe send there new values.

Overrides:

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

Parameters:

source -

v -

publishData

public void publishData()

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

Specified by:

publishData in class MobileItemModule