org.lsst.ccs.subsystems.fcs.singlefiltertest

Class BasicAutoChangerModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.singlefiltertest.BasicAutoChangerModule

All Implemented Interfaces:

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

Direct Known Subclasses:

SftAutoChangerModule

public abstract class BasicAutoChangerModule
extends MobileItemModule
implements AutoChanger

An abstract changer module without a fliprail, without online clamp, and without a motor. This Module is in charge of the 2 latches which hold a filter in the autochanger. This basic autochanger is used in single filter test. It extends MobileItemModule for the actions which can be applied to the 2 latches : OPENLATCHES and CLOSELATCHES.

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 CarouselModule	carousel
protected boolean	closingLatches
protected FcsEnumerations.LockStatus	latchesState
protected boolean	openingLatches
static String	publishedByAutoChangerOutputName
protected ModuleState	state
protected long	timeoutForClosingLatches
protected long	timeoutForOpeningLatches
protected long	timeToWaitForCompleteClose When we close the Latches, after the numeric sensors have detected that the latches are closed, we want to wait some time to be sure that the latches are really closed.
protected long	timeToWaitForCompleteOpen When we open the Latches, after the numeric sensors have detected that the latches are opened, we want to wait some time to be sure that the latches are really opened.
protected TruckModule	truckXminus The truck on side X-
protected TruckModule	truckXplus The truck on side X+
protected boolean	updatingLatches

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
BasicAutoChangerModule(String moduleName, int aTickMillis, FilterLatchModule latchXminus, FilterLatchModule latchXplus, TruckModule truckXminus, TruckModule truckXplus, String railsSensorsDIOName, String filterSensorsDIOName)

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay)
void	checkPreConditionsForTrucksMotion() This method checks if the preconditions are ok before a motion of the trucks can be started.
void	closeLatchesAtHandoff()
String	closeLatchesAtStandby() Close the 2 latches when the autochanger trucks are at standby position.
Filter	getFilterOnTrucks()
String	getFilterOnTrucksName()
CompactIOModule	getFilterSensorsDIO()
String	getFilterSensorsDIOName()
FcsEnumerations.LockStatus	getLatchesState() This method returns the latchesState if it is not been updated otherwise it waits until the end of the update.
FilterLatchModule	getLatchXminus()
FilterLatchModule	getLatchXplus()
CompactIOModule	getRailsSensorsDIO()
String	getRailsSensorsDIOName()
ModuleState	getState()
StatusDataPublishedByBasicAutoChanger	getStatusData()
FcsEnumerations.AutoChangerTrucksLocation	getTrucksLocation() This method returns the truckLocation if it is not been updated otherwise it waits until the end of the update.
TruckModule	getTruckXminus()
TruckModule	getTruckXplus()
abstract String	goToStandback()
abstract String	goToStandby()
void	grabFilterAtHandoff(Filter aFilter)
String	grabFilterAtStandby(Filter filter)
void	initModule()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isAtHandoff()
boolean	isAtStandback() For the single-filter-test only ?
boolean	isAtStandby()
boolean	isHardwareReady()
boolean	isHoldingFilterAtStandback()
boolean	isHoldingFilterAtStandby()
abstract boolean	isMoving()
abstract boolean	isMovingToStandback()
abstract boolean	isMovingToStandby()
boolean	isOnline()
boolean	isTrucksEmpty()
abstract String	moveFilterToStandback(Filter aFilter)
abstract String	moveFilterToStandby(Filter aFilter)
void	openLatchesAtHandoff()
String	openLatchesAtStandby() Open the 2 latches when the autochanger trucks are at standby position.
void	postAction(FcsEnumerations.MobileItemAction action)
void	processUpdate(Observable source, org.lsst.ccs.framework.Module.ValueUpdate v)
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	publishDataAndNotifyObservers()
void	setFilterOnTrucks(Filter filterOnTrucks)
void	setFilterSensorsDIOName(String filterSensorsDIOName)
void	setRailsSensorsDIOName(String railsSensorsDIOName)
void	setState(ModuleState state)
void	setTimeoutForClosingLatches(long timeoutForClosingLatches)
void	setTimeoutForOpeningLatches(long timeoutForOpeningLatches)
void	setTimeToWaitForCompleteClose(long timeToWaitForCompleteClose)
void	setTimeToWaitForCompleteOpen(long timeToWaitForCompleteOpen)
void	setTrucksEmpty(boolean isEmpty)
void	startAction(FcsEnumerations.MobileItemAction action)
void	tick()
String	toString()
void	ungrabFilterAtHandoff(Filter aFilter)
String	ungrabFilterAtStandby() Open the latches at standby position and go back empty to STANBACK position.
void	updateLatchesStateWithSensors() This methods updates the latches status in reading the sensors.
abstract void	updateStateWithSensors()
void	updateStateWithSensorsToCheckIfActionIsCompleted()
void	updateTrucksLocationWithSensors() This methods updates the trucks location in reading the sensors.

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

abort, abort, checkHardware, checkStarted, checkStopped, executeAction, getHaltRequired, quickstop, quickStopAction, 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, wait, wait, wait

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

getTrucksPosition, goToPosition, locateTrucks, moveFilterToOnline

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

carousel

protected CarouselModule carousel

truckXminus

protected TruckModule truckXminus

The truck on side X-

truckXplus

protected TruckModule truckXplus

The truck on side X+

publishedByAutoChangerOutputName

public static final String publishedByAutoChangerOutputName

See Also:

Constant Field Values

state

protected volatile ModuleState state

latchesState

protected volatile FcsEnumerations.LockStatus latchesState

updatingLatches

protected volatile boolean updatingLatches

closingLatches

protected volatile boolean closingLatches

openingLatches

protected volatile boolean openingLatches

timeoutForOpeningLatches

protected long timeoutForOpeningLatches

timeoutForClosingLatches

protected long timeoutForClosingLatches

timeToWaitForCompleteClose

protected long timeToWaitForCompleteClose

When we close the Latches, after the numeric sensors have detected that the latches are closed, we want to wait some time to be sure that the latches are really closed.

timeToWaitForCompleteOpen

protected long timeToWaitForCompleteOpen

When we open the Latches, after the numeric sensors have detected that the latches are opened, we want to wait some time to be sure that the latches are really opened.

Constructor Detail

BasicAutoChangerModule

public BasicAutoChangerModule(String moduleName,
                              int aTickMillis,
                              FilterLatchModule latchXminus,
                              FilterLatchModule latchXplus,
                              TruckModule truckXminus,
                              TruckModule truckXplus,
                              String railsSensorsDIOName,
                              String filterSensorsDIOName)

Method Detail

getRailsSensorsDIO

public CompactIOModule getRailsSensorsDIO()

getFilterSensorsDIO

public CompactIOModule getFilterSensorsDIO()

getFilterOnTrucks

public Filter getFilterOnTrucks()

Specified by:

getFilterOnTrucks in interface AutoChanger

getState

public ModuleState getState()

Returns:

the state

setState

public void setState(ModuleState state)

Parameters:

state - the state to set

getLatchXminus

public FilterLatchModule getLatchXminus()

getLatchXplus

public FilterLatchModule getLatchXplus()

getTruckXminus

public TruckModule getTruckXminus()

getTruckXplus

public TruckModule getTruckXplus()

isTrucksEmpty

public boolean isTrucksEmpty()

setTrucksEmpty

public void setTrucksEmpty(boolean isEmpty)

setFilterOnTrucks

public void setFilterOnTrucks(Filter filterOnTrucks)

getFilterOnTrucksName

public String getFilterOnTrucksName()

getFilterSensorsDIOName

public String getFilterSensorsDIOName()

setFilterSensorsDIOName

public void setFilterSensorsDIOName(String filterSensorsDIOName)

getRailsSensorsDIOName

public String getRailsSensorsDIOName()

setRailsSensorsDIOName

public void setRailsSensorsDIOName(String railsSensorsDIOName)

setTimeToWaitForCompleteClose

@ConfigChanger
public void setTimeToWaitForCompleteClose(long timeToWaitForCompleteClose)

setTimeToWaitForCompleteOpen

@ConfigChanger
public void setTimeToWaitForCompleteOpen(long timeToWaitForCompleteOpen)

setTimeoutForClosingLatches

@ConfigChanger
public void setTimeoutForClosingLatches(long timeoutForClosingLatches)

setTimeoutForOpeningLatches

@ConfigChanger
public void setTimeoutForOpeningLatches(long timeoutForOpeningLatches)

isMovingToStandback

public abstract boolean isMovingToStandback()

isMovingToStandby

public abstract boolean isMovingToStandby()

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

tick

public void tick()

Overrides:

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

processUpdate

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

Overrides:

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

getStatusData

public StatusDataPublishedByBasicAutoChanger getStatusData()

publishDataAndNotifyObservers

public void publishDataAndNotifyObservers()

publishData

public void publishData()

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

Specified by:

publishData in class MobileItemModule

toString

public String toString()

Overrides:

toString in class Object

isMoving

public abstract boolean isMoving()

Overrides:

isMoving in class MobileItemModule

Returns:

true if the trucks are moving

goToStandby

public abstract String goToStandby()
                            throws org.lsst.ccs.messaging.BadCommandException,
                                   org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                   FcsHardwareException,
                                   CanOpenException

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

CanOpenException

goToStandback

public abstract String goToStandback()
                              throws org.lsst.ccs.messaging.BadCommandException,
                                     org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                     FcsHardwareException,
                                     CanOpenException

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

CanOpenException

moveFilterToStandby

public abstract String moveFilterToStandby(Filter aFilter)
                                    throws org.lsst.ccs.messaging.BadCommandException,
                                           org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                           FcsHardwareException,
                                           CanOpenException

Specified by:

moveFilterToStandby in interface AutoChanger

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

CanOpenException

moveFilterToStandback

public abstract String moveFilterToStandback(Filter aFilter)
                                      throws org.lsst.ccs.messaging.BadCommandException,
                                             org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                             FcsHardwareException,
                                             CanOpenException

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

CanOpenException

updateStateWithSensors

public abstract void updateStateWithSensors()
                                     throws FcsHardwareException,
                                            org.lsst.ccs.messaging.ErrorInCommandExecutionException

Throws:

FcsHardwareException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

checkPreConditionsForTrucksMotion

@Command(level=1,
         description="checks if the preconditions are ok before a motion of the trucks can be started",
         type=QUERY)
public void checkPreConditionsForTrucksMotion()
                                                                                                                                                                                      throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                                                                             FcsHardwareException,
                                                                                                                                                                                             org.lsst.ccs.messaging.ErrorInCommandExecutionException

This method checks if the preconditions are ok before a motion of the trucks can be started. If the preconditions are not ok, it throws a BadCommandException. A motion of the trucks can be started : if the latches are not in error and if the truks are empty or (the trucks are loaded and the latches are Locked).

Throws:

org.lsst.ccs.messaging.BadCommandException

FcsHardwareException

org.lsst.ccs.bus.ErrorInCommandExecutionException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

grabFilterAtStandby

@Command(level=1,
         description="Go to STANDBY to grab filter and stay at STANDBY",
         type=ACTION)
public String grabFilterAtStandby(Filter filter)
                                                                                                                                            throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                                   org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                                                                                                                                   FcsHardwareException,
                                                                                                                                                   CanOpenException

Specified by:

grabFilterAtStandby in interface AutoChanger

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

CanOpenException

ungrabFilterAtStandby

@Command(level=1,
         description="Ungrab filter at STANDBY and go back to HANDOFF",
         type=ACTION)
public String ungrabFilterAtStandby()
                                                                                                                                             throws org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                                                                                                                                    org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                                    FcsHardwareException,
                                                                                                                                                    CanOpenException

Open the latches at standby position and go back empty to STANBACK position.

Specified by:

ungrabFilterAtStandby in interface AutoChanger

Returns:

Throws:

org.lsst.ccs.messaging.ErrorInCommandExecutionException

org.lsst.ccs.messaging.BadCommandException

FcsHardwareException

CanOpenException

getLatchesState

public FcsEnumerations.LockStatus getLatchesState()

This method returns the latchesState if it is not been updated otherwise it waits until the end of the update.

Returns:

the trucksLocation

isHoldingFilterAtStandby

@Command(level=1,
         description="Return true if the trucks are at STANDBY position and hold a filter",
         type=QUERY)
public boolean isHoldingFilterAtStandby()

Returns:

true if the trucks are at standby position and hold a filter.

isHoldingFilterAtStandback

@Command(type=QUERY,
         level=1,
         description="Return true if the trucks are at STANDBACK position and hold a filter")
public boolean isHoldingFilterAtStandback()

Returns:

true if the trucks are at standback position and hold the filter.

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

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

updateStateWithSensorsToCheckIfActionIsCompleted

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

Specified by:

updateStateWithSensorsToCheckIfActionIsCompleted in class MobileItemModule

Throws:

FcsHardwareException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

openLatchesAtStandby

@Command(level=1,
         description="Open the 2 latches when the autochanger trucks are at standby position",
         type=ACTION,
         alias="openLatches")
public String openLatchesAtStandby()
                                                                                                                                                                                                 throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                                                                                        org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                                                                                                                                                                                        FcsHardwareException

Open the 2 latches when the autochanger trucks are at standby position.

Specified by:

openLatchesAtStandby in interface AutoChanger

Returns:

a message for the end user

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

closeLatchesAtStandby

@Command(level=1,
         description="Close the 2 latches when the autochanger trucks are at standby position",
         type=ACTION,
         alias="closeLatches")
public String closeLatchesAtStandby()
                                                                                                                                                                                                    throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                                                                                           org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                                                                                                                                                                                           FcsHardwareException

Close the 2 latches when the autochanger trucks are at standby position.

Specified by:

closeLatchesAtStandby in interface AutoChanger

Returns:

a message for the end user

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

updateLatchesStateWithSensors

public void updateLatchesStateWithSensors()
                                   throws FcsHardwareException,
                                          org.lsst.ccs.messaging.ErrorInCommandExecutionException

This methods updates the latches status in reading the sensors.

Throws:

FcsHardwareException

org.lsst.ccs.bus.ErrorInCommandExecutionException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

getTrucksLocation

public FcsEnumerations.AutoChangerTrucksLocation getTrucksLocation()

This method returns the truckLocation if it is not been updated otherwise it waits until the end of the update.

Returns:

the trucksLocation

isAtStandby

@Command(level=1,
         description="Return true if the trucks are at STANDBY position",
         type=QUERY)
public boolean isAtStandby()

Specified by:

isAtStandby in interface AutoChanger

Returns:

true if the trucks are at standby position, otherwise false

isAtStandback

@Command(level=1,
         description="Return true if the trucks are at STANDBACK position",
         type=QUERY)
public boolean isAtStandback()

For the single-filter-test only ?

Returns:

true if the trucks are at standback position, otherwise false

isAtHandoff

@Command(level=1,
         description="Return true if the trucks are at HANDOFF position",
         type=QUERY)
public boolean isAtHandoff()

Returns:

true if the trucks are at standback position, otherwise false

isOnline

@Command(level=1,
         description="Return true if the trucks are at ONLINE position",
         type=QUERY)
public boolean isOnline()

Returns:

true if the trucks are at standback position, otherwise false

updateTrucksLocationWithSensors

public void updateTrucksLocationWithSensors()
                                     throws org.lsst.ccs.messaging.ErrorInCommandExecutionException

This methods updates the trucks location in reading the sensors.

Throws:

org.lsst.ccs.bus.ErrorInCommandExecutionException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

grabFilterAtHandoff

public void grabFilterAtHandoff(Filter aFilter)

ungrabFilterAtHandoff

public void ungrabFilterAtHandoff(Filter aFilter)

openLatchesAtHandoff

@Command(level=1,
         description="Open the 2 latches when the autochanger trucks are at HANDOFF position",
         type=ACTION,
         alias="openLatchesHO")
public void openLatchesAtHandoff()

closeLatchesAtHandoff

@Command(level=1,
         description="Close the 2 latches when the autochanger trucks are at HANDOFF position",
         type=ACTION,
         alias="closeLatchesHO")
public void closeLatchesAtHandoff()