AutochangerOnlineClampModule (LSST Camera Control Software

java.lang.Object
- java.util.Observable
- - org.lsst.ccs.framework.Module
  - - org.lsst.ccs.subsystems.fcs.common.MobileItemModule
    - - org.lsst.ccs.subsystems.fcs.AutochangerOnlineClampModule

All Implemented Interfaces:

Observer, org.lsst.ccs.framework.Configurable, org.lsst.ccs.framework.HardwareController, org.lsst.ccs.framework.SignalHandler
```
public class AutochangerOnlineClampModule
extends MobileItemModule
```
This is a model for online clamp which holds a filter when it is at ONLINE position. The online clamps are part of the autochanger subsystem. There is 3 online clamps.

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 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
`AutochangerOnlineClampModule(String moduleName, int aTickMillis)`
`AutochangerOnlineClampModule(String moduleName, int aTickMillis, int currentToLock, int currentToUnlock, int currentToClamp, Map<String,Integer> paramsForCurrentToLock, Map<String,Integer> paramsForCurrentToUnlock, int holdTime, int travelTime)`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`abortAction(FcsEnumerations.MobileItemAction action, long delay)`
`void`	`configureDigitalInputOfOnlineClamps()` This method is used to configure the controllers of the autochanger online clamps.
`void`	`configureDigitalOutputOfOnlineClamps()` This methods is used to configure the autochanger onlineClamps EPOS controllers.
`int`	`getCurrentToClamp()`
`int`	`getCurrentToLock()`
`int`	`getCurrentToUnlock()`
`int`	`getHoldTime()`
`EPOSController`	`getOnlineClampController()`
`int`	`getTravelTime()`
`void`	`initializeController()`
`void`	`initModule()`
`boolean`	`isActionCompleted(FcsEnumerations.MobileItemAction action)`
`boolean`	`isHardwareReady()`
`void`	`postAction(FcsEnumerations.MobileItemAction action)`
`void`	`publishData()`
`void`	`quickStopAction(FcsEnumerations.MobileItemAction action, long delay)`
`void`	`setCurrentToClamp(int currentToClamp)`
`void`	`setCurrentToLock(int currentToLock)`
`void`	`setCurrentToUnlock(int currentToUnlock)`
`void`	`setHoldTime(int holdTime)`
`void`	`setTravelTime(int travelTime)`
`void`	`slowDownCurrent()`
`void`	`startAction(FcsEnumerations.MobileItemAction action)`
`String`	`testLock()`
`String`	`testUnlock()`
`void`	`updateStateWithSensorsToCheckIfActionIsCompleted()`

Methods inherited from class org.lsst.ccs.subsystems.fcs.common.MobileItemModule
abort, abort, checkHardware, checkStarted, checkStopped, executeAction, getHaltRequired, isMoving, quickstop, readSensorsUntilActionIsCompleted, shutdownNow, signal, stop, stop

Methods inherited from class org.lsst.ccs.framework.Module
alias, getComponentDictionariesTree, getComponentTree, getContext, getEnvironment, getMainDictionary, getModule, getName, getNObserverThreads, getObservables, getSubsystem, getTickMillis, init, listens, percolateSignal, postStart, processUpdate, publishData, publishData, publishData, publishData, publishData, publishData, publishData, sendSignal, sendSignal, sendSignalWithTimeLimit, sendToReply, sendToStatus, setBeanName, setContext, setEnvironment, setName, setNObserverThreads, setObservables, setStateModularSubsystem, setStateModularSubsystem, 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, getDictionary, getParent, getParentObject, injectResources, listChildren, notifyChange, notifyChangeWithoutPreliminaryChecks, proceduralWalk, publish, publish, publish, publish, publish, publish, start, treeWalk

- Constructor Detail
  - AutochangerOnlineClampModule
```
public AutochangerOnlineClampModule(String moduleName,
                                    int aTickMillis)
```
  - AutochangerOnlineClampModule
```
public AutochangerOnlineClampModule(String moduleName,
                                    int aTickMillis,
                                    int currentToLock,
                                    int currentToUnlock,
                                    int currentToClamp,
                                    Map<String,Integer> paramsForCurrentToLock,
                                    Map<String,Integer> paramsForCurrentToUnlock,
                                    int holdTime,
                                    int travelTime)
```
- Method Detail
  - getCurrentToLock
```
public int getCurrentToLock()
```
  - setCurrentToLock
```
@ConfigChanger
public void setCurrentToLock(int currentToLock)
```
  - getCurrentToUnlock
```
public int getCurrentToUnlock()
```
  - setCurrentToUnlock
```
@ConfigChanger
public void setCurrentToUnlock(int currentToUnlock)
```
  - getCurrentToClamp
```
public int getCurrentToClamp()
```
  - setCurrentToClamp
```
@ConfigChanger
public void setCurrentToClamp(int currentToClamp)
```
  - getHoldTime
```
public int getHoldTime()
```
  - setHoldTime
```
@ConfigChanger
public void setHoldTime(int holdTime)
```
  - getTravelTime
```
public int getTravelTime()
```
  - setTravelTime
```
@ConfigChanger
public void setTravelTime(int travelTime)
```
  - getOnlineClampController
```
public EPOSController getOnlineClampController()
```
  - initModule
```
public void initModule()
```
    Overrides:
    
    initModule in class org.lsst.ccs.framework.Module
  - isHardwareReady
```
@Command(type=QUERY,
         level=1,
         description="Returns true if hardware is connected and ready.")
public boolean isHardwareReady()
```
    Specified by:
    
    isHardwareReady in class MobileItemModule
  - initializeController
```
public void initializeController()
                          throws SDORequestException,
                                 org.lsst.ccs.HardwareException
```
    Throws:
    
    SDORequestException
    
    org.lsst.ccs.HardwareException
  - isActionCompleted
```
public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)
```
    Specified by:
    
    isActionCompleted in class MobileItemModule
  - updateStateWithSensorsToCheckIfActionIsCompleted
```
public void updateStateWithSensorsToCheckIfActionIsCompleted()
                                                      throws Exception
```
    Specified by:
    
    updateStateWithSensorsToCheckIfActionIsCompleted in class MobileItemModule
    
    Throws:
    
    Exception
  - startAction
```
public void startAction(FcsEnumerations.MobileItemAction action)
                 throws org.lsst.ccs.bus.BadCommandException,
                        org.lsst.ccs.bus.ErrorInCommandExecutionException,
                        FcsHardwareException
```
    Specified by:
    
    startAction in class MobileItemModule
    
    Throws:
    
    org.lsst.ccs.bus.BadCommandException
    
    org.lsst.ccs.bus.ErrorInCommandExecutionException
    
    FcsHardwareException
  - testLock
```
@Command(type=ACTION,
         level=1,
         description="Lock online clamp for CPPM test bench.")
public String testLock()
                                                                                                                       throws SDORequestException,
                                                                                                                              ShortResponseToSDORequestException,
                                                                                                                              org.lsst.ccs.bus.BadCommandException,
                                                                                                                              org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                                                                                                              InterruptedException,
                                                                                                                              FcsHardwareException
```
    Throws:
    
    SDORequestException
    
    ShortResponseToSDORequestException
    
    org.lsst.ccs.bus.BadCommandException
    
    org.lsst.ccs.bus.ErrorInCommandExecutionException
    
    InterruptedException
    
    FcsHardwareException
  - testUnlock
```
@Command(type=ACTION,
         level=1,
         description="Unlock online clamp for CPPM test bench.")
public String testUnlock()
                                                                                                                           throws SDORequestException,
                                                                                                                                  org.lsst.ccs.bus.BadCommandException,
                                                                                                                                  ShortResponseToSDORequestException,
                                                                                                                                  org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                                                                                                                  InterruptedException,
                                                                                                                                  FcsHardwareException
```
    Throws:
    
    SDORequestException
    
    org.lsst.ccs.bus.BadCommandException
    
    ShortResponseToSDORequestException
    
    org.lsst.ccs.bus.ErrorInCommandExecutionException
    
    InterruptedException
    
    FcsHardwareException
  - abortAction
```
public void abortAction(FcsEnumerations.MobileItemAction action,
                        long delay)
                 throws org.lsst.ccs.bus.BadCommandException,
                        org.lsst.ccs.bus.ErrorInCommandExecutionException,
                        FcsHardwareException
```
    Specified by:
    
    abortAction in class MobileItemModule
    
    Throws:
    
    org.lsst.ccs.bus.BadCommandException
    
    org.lsst.ccs.bus.ErrorInCommandExecutionException
    
    FcsHardwareException
  - postAction
```
public void postAction(FcsEnumerations.MobileItemAction action)
                throws org.lsst.ccs.bus.BadCommandException,
                       org.lsst.ccs.bus.ErrorInCommandExecutionException,
                       FcsHardwareException
```
    Specified by:
    
    postAction in class MobileItemModule
    
    Throws:
    
    org.lsst.ccs.bus.BadCommandException
    
    org.lsst.ccs.bus.ErrorInCommandExecutionException
    
    FcsHardwareException
  - slowDownCurrent
```
public void slowDownCurrent()
                     throws org.lsst.ccs.bus.BadCommandException,
                            SDORequestException,
                            ShortResponseToSDORequestException,
                            FcsHardwareException
```
    Throws:
    
    org.lsst.ccs.bus.BadCommandException
    
    SDORequestException
    
    ShortResponseToSDORequestException
    
    FcsHardwareException
  - configureDigitalInputOfOnlineClamps
```
@Command(type=ACTION,
         level=1,
         description="To configure the online clamps controllers.")
public void configureDigitalInputOfOnlineClamps()
                                                                                                                                                     throws SDORequestException
```
    This method is used to configure the controllers of the autochanger online clamps. * ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital Inputs activated for OnlineClamps controllers are: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ QuickStop Input=01 Mask=Enabled Polarity=HighActive HE_Sensor General_A Input=02 Mask=Enabled Polarity=HighActive HE_Sensor\ General_B Input=03 Mask=Enabled Polarity=HighActive Check Brake Status 1 - Configure the Digital Input Functionnality index 0x2070 sindex input_ID Functionnality tab Value = 15 General Purpose A Value = 14 General Purpose B Value = 13 General Purpose C Value = 12 General Purpose D Value = 11 General Purpose E Value = 10 General Purpose F Value = 9 General Purpose G Value = 8 General Purpose H Value = 7 General Purpose I Value = 6 General Purpose J Value = 5 QuickStop Value = 4 Drive enable Value = 3 Position marker Value = 2 Home switch Value = 1 Positive Limit switch Value = 0 Negative Limit switch msg = 'Set DigIn_1 Quick Stop,wsdo,%s,2070,01,02,0005\n' % (str(cobID)) self.com_hal.executeOperation(client,msg) msg = 'Set DigIn_2 General_A,wsdo,%s,2070,02,02,8000\n' % (str(cobID)) self.com_hal.executeOperation(client,msg) msg = 'Set DigIn_3 Genral_B,wsdo,%s,2070,02,02,4000\n' % (str(cobID)) self.com_hal.executeOperation(client,msg) 2 - Configure the Digital Input Polarity index 0x2071 subindex 0x03 Value = 0 High Active Value = 1 Low Active 3 - Configure the Digital Input Mask index 0x2071 subindex 0x02 Value = 0 Functionnality state will not be displayed Value = 1 Functionnality state will be displayed * Digital Input Functionnality tab value Bit_15 General Purpose A 1 Bit_14 General Purpose B 1 Bit_13 General Purpose C 0 Bit_12 General Purpose D 0 Bit_11 General Purpose E 0 Bit_10 General Purpose F 0 Bit_9 General Purpose G 0 Bit_8 General Purpose H 0 Bit_7 General Purpose I 0 Bit_6 General Purpose J 0 Bit_5 QuickStop 1 Bit_4 Drive enable 0 Bit_3 Position marker 0 Bit_2 Home switch 0 Bit_1 Positive Limit switch 0 Bit_0 Negative Limit switch 0 4 - Configure the Digital Input Execution Mask index 0x2071 subindex 0x04 Digital Input Excecution Mask Value Bit_15 to Bit_6 reserved 0 Bit_5 QuickStop 1 Bit_4 Drive enable 1 Bit_3 Position marker 0 Bit_2 Home switch 0 Bit_1 Positive Limit switch 0 Bit_0 Negative Limit switch 0 **********************************************************************
    
    Throws:
    
    SDORequestException
  - configureDigitalOutputOfOnlineClamps
```
@Command(type=ACTION,
         level=1,
         description="To configure the online clamps controllers.")
public void configureDigitalOutputOfOnlineClamps()
                                                                                                                                                      throws SDORequestException
```
    This methods is used to configure the autochanger onlineClamps EPOS controllers. * ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Digital Outputs activated for OnlineClamps controller are: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Ready/Fault Output=01 Mask=Enabled Polarity=HighActive General_A Output=04 Mask=Enabled Polarity=HighActive 1 - Configure the Digital Output Functionnality index 0x2079 subindex input_ID Functionnality tab Value = 15 General Purpose Out_A Value = 14 General Purpose Out_B Value = 13 General Purpose Out_C Value = 12 General Purpose Out_D Value = 11 General Purpose Out_E Value = 10..8 not used Value = 7..3 reserved Value = 2 Holding Brake Value = 1 Position compare Value = 0 Ready/Fault 2 - Configure the Digital Output Functionnality Mask index 0x2078 subindex 0x02 Value = 0 functionnality not activatd Value = 1 functionnality activated Digital Output Functionnality Mask Value Bit_15 General Purpose Out_A 1 Bit_14 General Purpose Out_B 0 Bit_13 General Purpose Out_C 0 Bit_12 General Purpose Out_D 0 Bit_11 General Purpose Out_E 0 Bit_10 General Purpose Out_F 0 Bit_9 General Purpose Out_G 0 Bit_8 General Purpose Out_H 0 Bit_7 reserved 0 Bit_6 reserved 0 Bit_5 reserved 0 Bit_4 reserved 0 Bit_3 reserved 0 Bit_2 Holding Brake 0 3 - Configure the Digital Output Functionnality Polarity index 0x2078 subindex 0x03 Value = 0 associated output not change => HighActive Value = 1 associated output inverted => LowActive
    
    Throws:
    
    SDORequestException
  - publishData
```
public void publishData()
```
    Specified by:
    
    publishData in class MobileItemModule
  - quickStopAction
```
public void quickStopAction(FcsEnumerations.MobileItemAction action,
                            long delay)
                     throws org.lsst.ccs.bus.BadCommandException,
                            org.lsst.ccs.bus.ErrorInCommandExecutionException,
                            FcsHardwareException
```
    Specified by:
    
    quickStopAction in class MobileItemModule
    
    Throws:
    
    org.lsst.ccs.bus.BadCommandException
    
    org.lsst.ccs.bus.ErrorInCommandExecutionException
    
    FcsHardwareException

Class AutochangerOnlineClampModule

Nested Class Summary

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

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

Field Summary

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

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

Constructor Summary

Method Summary

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

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

Methods inherited from class java.util.Observable

Methods inherited from class java.lang.Object

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

Constructor Detail

AutochangerOnlineClampModule

AutochangerOnlineClampModule

Method Detail

getCurrentToLock

setCurrentToLock

getCurrentToUnlock

setCurrentToUnlock

getCurrentToClamp

setCurrentToClamp

getHoldTime

setHoldTime

getTravelTime

setTravelTime

getOnlineClampController

initModule

isHardwareReady

initializeController

isActionCompleted

updateStateWithSensorsToCheckIfActionIsCompleted

startAction

testLock

testUnlock

abortAction

postAction

slowDownCurrent

configureDigitalInputOfOnlineClamps

configureDigitalOutputOfOnlineClamps

publishData

quickStopAction