org.lsst.ccs.subsystems.fcs.common

Class MobileItemModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

All Implemented Interfaces:

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

Direct Known Subclasses:

AutochangerLatchModule, AutochangerOnlineClampModule, AutochangerThreeOnlineClamps, AutoChangerTrucksModule, AutochangerTwoLatches, BasicAutoChangerModule, CarouselClampModule, CarouselSocket, FilterLatchModule, LoaderCarrierModule, LoaderClampModule, Scale1ProtoPivotingFrame

public abstract class MobileItemModule
extends org.lsst.ccs.framework.Module
implements org.lsst.ccs.framework.HardwareController

This represents a Mechanical Item which can be moved by a motor. Generaly we want to execute an action on this mechanical item : - start the action, - read sensors to know if the action is completed, - wait for the end of the action. This module provides a general way to start an action and wait until the action is completed. It factorises some code that otherwise would have to be duplicated in each Module that needs such fonctionnalities.

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 FcsEnumerations.MobileItemAction	currentAction
protected static Logger	fcslog
protected AtomicBoolean	haltRequired
protected boolean	hasToWaitForEndOfAction
protected Lock	lock
protected Condition	motionCompleted
protected boolean	moving
protected AtomicBoolean	stopRequired

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

environment, log, name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description
MobileItemModule(String moduleName, int aTickMillis)

Method Summary

Modifier and Type	Method and Description
void	abort()
void	abort(long delay) just to avoid taping "sendSignal HALT"
abstract void	abortAction(FcsEnumerations.MobileItemAction action, long delay)
org.lsst.ccs.framework.TreeWalkerDiag	checkHardware()
void	checkStarted()
void	checkStopped()
protected String	executeAction(FcsEnumerations.MobileItemAction action, long timeoutForAction) This executes an action which moves the MobileItem and waits for the end od this action.
AtomicBoolean	getHaltRequired()
void	initModule()
abstract boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
abstract boolean	isHardwareReady()
boolean	isMoving()
abstract void	postAction(FcsEnumerations.MobileItemAction action)
abstract void	publishData()
void	quickstop() just to avoid taping "sendSignal STOP"
abstract void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
void	readSensorsUntilActionIsCompleted(FcsEnumerations.MobileItemAction action, long beginTime, long timeout) Start reading the sensors at a fixed rate (scheduler.scheduleAtFixedRate) until the action is completed or we received a halt signal or the timeout for this action is past.
void	shutdownNow() This shutdowns the scheduler.
org.lsst.ccs.framework.TreeWalkerDiag	signal(org.lsst.ccs.framework.Signal signal)
abstract void	startAction(FcsEnumerations.MobileItemAction action)
void	stop() just to avoid taping "sendSignal STOP"
void	stop(long delay) just to avoid taping "sendSignal STOP"
abstract void	updateStateWithSensorsToCheckIfActionIsCompleted()

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, tick, 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

fcslog

protected static final Logger fcslog

hasToWaitForEndOfAction

protected volatile boolean hasToWaitForEndOfAction

currentAction

protected volatile FcsEnumerations.MobileItemAction currentAction

moving

protected volatile boolean moving

lock

protected final Lock lock

motionCompleted

protected final Condition motionCompleted

haltRequired

protected AtomicBoolean haltRequired

stopRequired

protected AtomicBoolean stopRequired

Constructor Detail

MobileItemModule

public MobileItemModule(String moduleName,
                        int aTickMillis)

Method Detail

isMoving

public boolean isMoving()

getHaltRequired

public AtomicBoolean getHaltRequired()

initModule

public void initModule()

Overrides:

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

isHardwareReady

public abstract boolean isHardwareReady()

isActionCompleted

public abstract boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

updateStateWithSensorsToCheckIfActionIsCompleted

public abstract void updateStateWithSensorsToCheckIfActionIsCompleted()
                                                               throws Exception

Throws:

Exception

startAction

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

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

abortAction

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

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

quickStopAction

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

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

postAction

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

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

publishData

public abstract void publishData()

executeAction

protected String executeAction(FcsEnumerations.MobileItemAction action,
                               long timeoutForAction)
                        throws org.lsst.ccs.messaging.BadCommandException,
                               org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                               FcsHardwareException

This executes an action which moves the MobileItem and waits for the end od this action. The MobileItemAction is an ENUM from the fcs.bus package.

Parameters:

action, - timeout

timeoutForAction -

Returns:

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException - if the action can't be completed

FcsHardwareException

readSensorsUntilActionIsCompleted

public void readSensorsUntilActionIsCompleted(FcsEnumerations.MobileItemAction action,
                                              long beginTime,
                                              long timeout)

Start reading the sensors at a fixed rate (scheduler.scheduleAtFixedRate) until the action is completed or we received a halt signal or the timeout for this action is past.

Parameters:

action -

beginTime -

timeout -

abort

@Command(type=ABORT,
         level=1,
         description="Abort the running action within a delay.")
public void abort(long delay)
                                                                                                                   throws org.lsst.ccs.messaging.BadCommandException

just to avoid taping "sendSignal HALT"

Parameters:

delay -

Throws:

org.lsst.ccs.messaging.BadCommandException

abort

@Command(type=ABORT,
         level=1,
         description="Abort the running action.")
public void abort()
                                                                                                    throws org.lsst.ccs.messaging.BadCommandException

Throws:

org.lsst.ccs.messaging.BadCommandException

stop

@Command(type=ABORT,
         level=1,
         description="Stop the running action with a quickstop.")
public void stop(long delay)
                                                                                                                   throws org.lsst.ccs.messaging.BadCommandException

just to avoid taping "sendSignal STOP"

Parameters:

delay -

Throws:

org.lsst.ccs.messaging.BadCommandException

stop

@Command(type=ABORT,
         level=1,
         description="Stop the running action with a quickstop.")
public void stop()
                                                                                                                   throws org.lsst.ccs.messaging.BadCommandException

just to avoid taping "sendSignal STOP"

Throws:

org.lsst.ccs.messaging.BadCommandException

quickstop

@Command(type=ABORT,
         level=1,
         description="Stop the running action with a quickstop.")
public void quickstop()
                                                                                                                        throws org.lsst.ccs.messaging.BadCommandException

just to avoid taping "sendSignal STOP"

Throws:

org.lsst.ccs.messaging.BadCommandException

shutdownNow

public void shutdownNow()

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

Specified by:

shutdownNow in interface org.lsst.ccs.framework.Configurable

Overrides:

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

signal

public org.lsst.ccs.framework.TreeWalkerDiag signal(org.lsst.ccs.framework.Signal signal)

Specified by:

signal in interface org.lsst.ccs.framework.SignalHandler

Overrides:

signal 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

Throws:

org.lsst.ccs.HardwareException

checkStarted

public void checkStarted()
                  throws org.lsst.ccs.HardwareException

Specified by:

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

Throws:

org.lsst.ccs.HardwareException

checkStopped

public void checkStopped()
                  throws org.lsst.ccs.HardwareException

Specified by:

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

Throws:

org.lsst.ccs.HardwareException