org.lsst.ccs.subsystems.fcs

Class LoaderClampModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.LoaderClampModule

All Implemented Interfaces:

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

public class LoaderClampModule
extends MobileItemModule

This is model for the clamps mechanism in the loader. 4 hooks are used for the clamping of the filter in the loader. This hooks are moved all together by the hooksController.

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 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

LoaderClampModule(String moduleName, int aTickMillis, LoaderHookModule hook1, LoaderHookModule hook2, LoaderHookModule hook3, LoaderHookModule hook4, long timeoutForClosingHooks, long timeoutForClosingHooksStrongly, long timeoutForOpeningHooks, long timeoutForGoingToHomePosition, int targetPositionToOpen, int targetPositionToClose, int targetPositionToCloseStrongly, int currentToClose, int currentToGoHome, Map<String,Integer> paramsForCurrentToClamp, Map<String,Integer> paramsForCurrentToGoHomePosition, int minPosition, int maxPosition, int minCurrent, int maxCurrent)

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay)
org.lsst.ccs.framework.TreeWalkerDiag	checkHardware()
String	clamp()
String	close()
int	getCurrentToClamp()
int	getCurrentToGoHome()
int	getFilterPresenceSensorValue()
LoaderHookModule	getHook1()
LoaderHookModule	getHook2()
LoaderHookModule	getHook3()
LoaderHookModule	getHook4()
FcsEnumerations.LockStatus	getLockStatus()
int	getMaxCurrent()
int	getMaxPosition()
int	getMinCurrent()
int	getMinPosition()
int	getPosition()
int	getReadCurrent()
StatusDataPublishedByLoaderClamp	getStatusData()
int	getTargetPositionToClamp()
int	getTargetPositionToClose()
int	getTargetPositionToOpen()
long	getTimeoutForClampingHooks()
long	getTimeoutForClosingHooks()
long	getTimeoutForGoingToHomePosition()
long	getTimeoutForOpeningHooks()
String	goToClampedPosition() In the initialisation phase, this close the clamp to be able to define the absolute position of the encoder.
String	goToHomePosition() In the initialisation phase, this open the clamp to be able to define the absolute position of the encoder.
void	initializeHardware() If loader is empty, go to home position otherwise go to clamped position.
void	initModule()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action) Check if the action is completed.
boolean	isAtClampedPosition()
boolean	isAtClosedPosition()
boolean	isAtHomePosition()
boolean	isAtOpenPosition()
boolean	isEmpty()
boolean	isHardwareReady()
boolean	isInError()
boolean	isInitialized()
boolean	isLocked()
boolean	isUnlocked()
String	listHooks()
String	listSensorsValues()
String	listStatus()
String	open()
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	setCurrentToClamp(int currentToClamp)
void	setCurrentToGoHome(int currentToGoHome)
void	setMaxPosition(int maxPosition)
void	setMinPosition(int minPosition)
void	setTargetPositionToClamp(int targetPositionToClamp)
void	setTargetPositionToClose(int targetPositionToClose)
void	setTargetPositionToOpen(int targetPositionToOpen)
void	setTimeoutForClampingHooks(long timeoutForClampingHooks)
void	setTimeoutForClosingHooks(long timeoutForClosingHooks)
void	setTimeoutForGoingToHomePosition(long timeoutForGoingToHomePosition)
void	setTimeoutForOpeningHooks(long timeoutForOpeningHooks)
void	startAction(FcsEnumerations.MobileItemAction action)
void	tick()
String	toString()
void	updateCurrent() Updates the field position of the carrier in reading the CPU of the controller.
void	updatePosition() Updates the position of the clamp in reading the CPU of the controller.
void	updateStateWithSensors() This methods updates the lockStatus in reading all the sensors.
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, getComponentDictionariesTree, getComponentTree, getContext, getEnvironment, getMainDictionary, getModule, getName, getNObserverThreads, getObservables, getSubsystem, getTickMillis, init, listens, percolateSignal, postStart, publishData, publishData, publishData, publishData, publishData, publishData, publishData, sendSignal, sendSignal, sendSignalWithTimeLimit, sendToReply, sendToStatus, setBeanName, setContext, setEnvironment, setName, setNObserverThreads, setObservables, setStateModularSubsystem, setStateModularSubsystem, 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, getDictionary, getParent, getParentObject, injectResources, listChildren, notifyChange, notifyChangeWithoutPreliminaryChecks, proceduralWalk, publish, publish, publish, publish, publish, publish, start, treeWalk

Field Detail

updatingState

protected volatile boolean updatingState

Constructor Detail

LoaderClampModule

public LoaderClampModule(String moduleName,
                         int aTickMillis,
                         LoaderHookModule hook1,
                         LoaderHookModule hook2,
                         LoaderHookModule hook3,
                         LoaderHookModule hook4,
                         long timeoutForClosingHooks,
                         long timeoutForClosingHooksStrongly,
                         long timeoutForOpeningHooks,
                         long timeoutForGoingToHomePosition,
                         int targetPositionToOpen,
                         int targetPositionToClose,
                         int targetPositionToCloseStrongly,
                         int currentToClose,
                         int currentToGoHome,
                         Map<String,Integer> paramsForCurrentToClamp,
                         Map<String,Integer> paramsForCurrentToGoHomePosition,
                         int minPosition,
                         int maxPosition,
                         int minCurrent,
                         int maxCurrent)

Method Detail

getFilterPresenceSensorValue

public int getFilterPresenceSensorValue()

getHook1

public LoaderHookModule getHook1()

getHook2

public LoaderHookModule getHook2()

getHook3

public LoaderHookModule getHook3()

getHook4

public LoaderHookModule getHook4()

getPosition

public int getPosition()

getMinPosition

public int getMinPosition()

getMaxPosition

public int getMaxPosition()

getMinCurrent

public int getMinCurrent()

getMaxCurrent

public int getMaxCurrent()

getTargetPositionToOpen

public int getTargetPositionToOpen()

getTargetPositionToClose

public int getTargetPositionToClose()

getTargetPositionToClamp

public int getTargetPositionToClamp()

getCurrentToClamp

public int getCurrentToClamp()

getCurrentToGoHome

public int getCurrentToGoHome()

getReadCurrent

public int getReadCurrent()

getTimeoutForClosingHooks

@ConfigChanger
public long getTimeoutForClosingHooks()

getTimeoutForClampingHooks

public long getTimeoutForClampingHooks()

getTimeoutForOpeningHooks

public long getTimeoutForOpeningHooks()

getTimeoutForGoingToHomePosition

@ConfigChanger
public long getTimeoutForGoingToHomePosition()

isInitialized

@Command(type=QUERY,
         level=1,
         description="Returns true if hook is initialized.")
public boolean isInitialized()

setTimeoutForClosingHooks

@ConfigChanger
public void setTimeoutForClosingHooks(long timeoutForClosingHooks)

setTimeoutForClampingHooks

@ConfigChanger
public void setTimeoutForClampingHooks(long timeoutForClampingHooks)

setTimeoutForOpeningHooks

@ConfigChanger
public void setTimeoutForOpeningHooks(long timeoutForOpeningHooks)

setTimeoutForGoingToHomePosition

@ConfigChanger
public void setTimeoutForGoingToHomePosition(long timeoutForGoingToHomePosition)

setMinPosition

@ConfigChanger
public void setMinPosition(int minPosition)

setMaxPosition

@ConfigChanger
public void setMaxPosition(int maxPosition)

setTargetPositionToOpen

@ConfigChanger
public void setTargetPositionToOpen(int targetPositionToOpen)

setTargetPositionToClose

@ConfigChanger
public void setTargetPositionToClose(int targetPositionToClose)

setTargetPositionToClamp

@ConfigChanger
public void setTargetPositionToClamp(int targetPositionToClamp)

setCurrentToClamp

@ConfigChanger
public void setCurrentToClamp(int currentToClamp)

setCurrentToGoHome

@ConfigChanger
public void setCurrentToGoHome(int currentToGoHome)

getLockStatus

public FcsEnumerations.LockStatus getLockStatus()

isLocked

@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=LOCKED")
public boolean isLocked()

isUnlocked

@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=UNLOCKED")
public boolean isUnlocked()

isInError

@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=UNLOCKED")
public boolean isInError()

isEmpty

@Command(type=QUERY,
         level=1,
         description="Returns true if loader is empty.")
public boolean isEmpty()

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

initModule

public void initModule()

Overrides:

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

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 -

isAtHomePosition

@Command(type=QUERY,
         level=1,
         description="Returns true if hook is open and at home position")
public boolean isAtHomePosition()
                                                                                                                                          throws SDORequestException

Throws:

SDORequestException

isAtClampedPosition

@Command(type=QUERY,
         level=1,
         description="Returns true if hook is closed and at clamped position")
public boolean isAtClampedPosition()
                                                                                                                                                  throws SDORequestException

Throws:

SDORequestException

isAtClosedPosition

@Command(type=QUERY,
         level=1,
         description="Returns true if hook is at closed position.")
public boolean isAtClosedPosition()
                                                                                                                                      throws SDORequestException

Throws:

SDORequestException

isAtOpenPosition

@Command(type=QUERY,
         level=1,
         description="Returns true if hook is at open position.")
public boolean isAtOpenPosition()
                                                                                                                                  throws SDORequestException

Throws:

SDORequestException

initializeHardware

@Command(type=ACTION,
         level=1,
         description="If loader is empty, go to home position otherwise go to clamped position.",
         alias="homing")
public void initializeHardware()
                                                                                                                                                                                           throws org.lsst.ccs.bus.BadCommandException,
                                                                                                                                                                                                  org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                                                                                                                                                                                  FcsHardwareException

If loader is empty, go to home position otherwise go to clamped position.

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

FcsHardwareException

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

tick

public void tick()

Overrides:

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

goToClampedPosition

@Command(type=ACTION,
         level=1,
         description="Go to clamped position to intialize hardware.")
public String goToClampedPosition()
                                                                                                                                         throws org.lsst.ccs.bus.BadCommandException,
                                                                                                                                                org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                                                                                                                                FcsHardwareException

In the initialisation phase, this close the clamp to be able to define the absolute position of the encoder.

Returns:

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

FcsHardwareException

goToHomePosition

@Command(type=ACTION,
         level=1,
         description="Go to home position to initialize hardware.")
public String goToHomePosition()
                                                                                                                                    throws org.lsst.ccs.bus.BadCommandException,
                                                                                                                                           org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                                                                                                                           FcsHardwareException

In the initialisation phase, this open the clamp to be able to define the absolute position of the encoder. September 2014 : this command is also used to open the clamp.

Returns:

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

FcsHardwareException

close

@Command(type=ACTION,
         level=1,
         description="Close clamp.")
public String close()
                                                                                          throws org.lsst.ccs.bus.BadCommandException,
                                                                                                 org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                                                                                 FcsHardwareException

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

FcsHardwareException

clamp

@Command(type=ACTION,
         level=1,
         description="Clamp clamp.")
public String clamp()
                                                                                          throws org.lsst.ccs.bus.BadCommandException,
                                                                                                 org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                                                                                 FcsHardwareException

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

FcsHardwareException

open

@Command(type=ACTION,
         level=1,
         description="Open clamp.")
public String open()
                                                                                        throws org.lsst.ccs.bus.BadCommandException,
                                                                                               org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                                                                               FcsHardwareException

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

FcsHardwareException

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Check if the action is completed. This method is called after updateStateWithSensorsToCheckIfActionIsCompleted where the different new values of current or position or sensors values have been updated.

Specified by:

isActionCompleted in class MobileItemModule

Parameters:

action -

Returns:

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

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

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

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

updateStateWithSensors

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

This methods updates the lockStatus in reading all the sensors.

Throws:

FcsHardwareException

updateCurrent

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

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

Throws:

org.lsst.ccs.bus.BadCommandException

SDORequestException

updatePosition

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

Updates the position of the clamp in reading the CPU of the controller.

Throws:

SDORequestException

listHooks

@Command(type=QUERY,
         level=1,
         description="List and display clamp info.")
public String listHooks()

listSensorsValues

@Command(type=QUERY,
         level=1,
         description="List and display clamp sensors values.")
public String listSensorsValues()

listStatus

@Command(type=QUERY,
         level=1,
         description="List and display clamp sensors values.")
public String listStatus()

toString

@Command(type=QUERY,
         level=1,
         description="List and display clamp info.")
public String toString()

Overrides:

toString in class Object

getStatusData

public StatusDataPublishedByLoaderClamp getStatusData()

publishData

public void publishData()

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

Specified by:

publishData in class MobileItemModule