org.lsst.ccs.subsystems.fcs

Class AutochangerTruck

java.lang.Object

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

org.lsst.ccs.subsystems.fcs.AutochangerTruck

All Implemented Interfaces:

org.lsst.ccs.framework.HardwareController, org.lsst.ccs.framework.HasLifecycle, org.lsst.ccs.framework.SignalHandler, AlertRaiser, MovedByEPOSController, org.lsst.ccs.UsesSubsystem

public class AutochangerTruck
extends MobileItemModule
implements MovedByEPOSController, org.lsst.ccs.framework.HasLifecycle

A model for an autochanger truck. The goal of this class is to factorise the code which reads AC truck sensors. On the Autochanger there are 2 trucks : one on each side : truckXminus and truckXplus.

Author:

virieux

Field Summary

Fields

Modifier and Type	Field and Description
static String	CURRENT_MONITOR_TASK_NAME
protected Lock	lock
protected String	name
protected org.lsst.ccs.Subsystem	s
protected boolean	updatingState

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

currentAction, FCSLOG, hasToWaitForEndOfAction, scheduler

Fields inherited from interface org.lsst.ccs.subsystems.fcs.common.AlertRaiser

alertSeparater

Constructor Summary

Constructors

Constructor and Description
AutochangerTruck(EPOSControllerWithBrake controller, ComplementarySensors handoffPositionSensors, ComplementarySensors onlinePositionSensors, ComplementarySensors standbyPositionSensors) Builds a AutochangerTruckModule with 3 couple of complementary sensors to detect position of the truck at ONLINE, HANDOFF and STANDBY position.

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay) aborts action actually running.
StatusDataPublishedByAutochangerTruck	createStatusDataPublishedByAutoChangerTruck() Creates an object to be published on the status bus.
void	decreaseCurrentMonitoringSpeed()
String	getControllerName() Return the name of the controller.
int	getPosition() Return truck position enregistred in field position.
void	increaseCurrentMonitoringSpeed() ***********************************************************************
void	init()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isAtHandoff()
boolean	isAtOnline()
boolean	isAtStandby()
boolean	isControllerInFault() Return true if controller is in fault.
boolean	isHandoffSensorsInError() Return false if the 2 redondant position sensors at Handoff are equal.
boolean	isOnlineSensorsInError() Return false if the 2 redondant position sensors at Online are equal.
boolean	isPositionSensorsInError() Return true if position sensors are in error.
boolean	isStandbySensorsInError() Return false if the 2 redondant position sensors at Standby are equal.
void	moveToAbsoluteTargetPosition(int targetPosition)
boolean	myDevicesReady() Return True if all CAN open devices useful for this MobileItemMobile are ready for an action.
void	postAction(FcsEnumerations.MobileItemAction action)
void	publishData() publishes data on the STATUS bus
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
void	startAction(FcsEnumerations.MobileItemAction action) starts the action given as argument.
void	updateCurrent() read actual current on controller, update field current and publish it on STATUS bus.
void	updatePosition() Updates the field position of the truck in reading the CPU of the controller.
protected void	updateStateWithSensors(int[] readHexaValues) This methods updates the lockStatus from an array of hexaValues.
void	updateStateWithSensorsToCheckIfActionIsCompleted() reads sensors or any device and updates state from sensors it can be also reading a position or a current on a motor controller.

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

abort, abort, checkReadyForAction, checkStopped, executeAction, getHaltRequired, isMoving, quickstop, readSensorsUntilActionIsCompleted, shutdownNow, signal, stop, stop

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.subsystems.fcs.common.MovedByEPOSController

monitorCurrent

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

postInit, postShutdown, postStart, shutdownNow, start

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

checkHardware, checkStarted

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

raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseWarning, raiseWarning, raiseWarning, raiseWarning, raiseWarning

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

sendSignal, sendSignalWithTimeLimit

Methods inherited from interface org.lsst.ccs.UsesSubsystem

getComponentConfigurationEnvironment, getComponentLookup, getName, getSubsystem

Field Detail

name

@LookupName
protected String name

s

@LookupField(strategy=TOP)
protected org.lsst.ccs.Subsystem s

CURRENT_MONITOR_TASK_NAME

public static final String CURRENT_MONITOR_TASK_NAME

See Also:

Constant Field Values

lock

protected final Lock lock

updatingState

protected volatile boolean updatingState

Constructor Detail

AutochangerTruck

public AutochangerTruck(EPOSControllerWithBrake controller,
                        ComplementarySensors handoffPositionSensors,
                        ComplementarySensors onlinePositionSensors,
                        ComplementarySensors standbyPositionSensors)

Builds a AutochangerTruckModule with 3 couple of complementary sensors to detect position of the truck at ONLINE, HANDOFF and STANDBY position.

Parameters:

controller -

handoffPositionSensors -

onlinePositionSensors -

standbyPositionSensors -

Method Detail

init

public void init()

Specified by:

init in interface org.lsst.ccs.framework.HasLifecycle

increaseCurrentMonitoringSpeed

public void increaseCurrentMonitoringSpeed()

***********************************************************************

decreaseCurrentMonitoringSpeed

public void decreaseCurrentMonitoringSpeed()

isAtHandoff

@Command(type=QUERY,
         level=1,
         description="Return true if truck is at HANDOFF position.")
public boolean isAtHandoff()

Returns:

true if truck is at HANDOFF position.

isAtOnline

@Command(type=QUERY,
         level=1,
         description="Return true if truck is at ONLINE position.")
public boolean isAtOnline()

Returns:

true if truck is at ONLINE position.

isAtStandby

@Command(type=QUERY,
         level=1,
         description="Return true if truck is at STANDBY position.")
public boolean isAtStandby()

Returns:

true if truck is at STANDBY position.

isStandbySensorsInError

@Command(type=QUERY,
         level=1,
         description="Return false if the 2 redondant position sensors at Standby are equal. Doesn\'t read again sensors.")
public boolean isStandbySensorsInError()

Return false if the 2 redondant position sensors at Standby are equal. Doesn't read again sensors.

Returns:

isHandoffSensorsInError

@Command(type=QUERY,
         level=1,
         description="Return false if the 2 redondant position sensors at Handoff are equal.Doesn\'t read again sensors.")
public boolean isHandoffSensorsInError()

Return false if the 2 redondant position sensors at Handoff are equal. Doesn't read again sensors.

Returns:

isOnlineSensorsInError

@Command(type=QUERY,
         level=1,
         description="Return false if the 2 redondant position sensors at Online are equal.Doesn\'t read again sensors.")
public boolean isOnlineSensorsInError()

Return false if the 2 redondant position sensors at Online are equal. Doesn't read again sensors.

Returns:

isPositionSensorsInError

@Command(type=QUERY,
         level=1,
         description="Return true if position sensors are in error.Doesn\'t read again sensors.")
public boolean isPositionSensorsInError()

Return true if position sensors are in error.

Returns:

getPosition

@Command(type=QUERY,
         level=1,
         description="return truck position.")
public int getPosition()

Return truck position enregistred in field position.

Returns:

getControllerName

@Command(type=QUERY,
         level=1,
         description="return controller name.")
public String getControllerName()

Description copied from interface: MovedByEPOSController

Return the name of the controller.

Specified by:

getControllerName in interface MovedByEPOSController

Returns:

controller name.

isControllerInFault

@Command(type=QUERY,
         level=1,
         description="Return true if the controller is in fault.")
public boolean isControllerInFault()

Return true if controller is in fault.

Specified by:

isControllerInFault in interface MovedByEPOSController

Returns:

updatePosition

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

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

updateCurrent

public void updateCurrent()

read actual current on controller, update field current and publish it on STATUS bus.

Specified by:

updateCurrent in interface MovedByEPOSController

updateStateWithSensors

protected void updateStateWithSensors(int[] readHexaValues)

This methods updates the lockStatus from an array of hexaValues.

Parameters:

readHexaValues -

Throws:

FcsHardwareException

createStatusDataPublishedByAutoChangerTruck

public StatusDataPublishedByAutochangerTruck createStatusDataPublishedByAutoChangerTruck()

Creates an object to be published on the status bus.

Returns:

publishData

public void publishData()

Description copied from interface: MovedByEPOSController

publishes data on the STATUS bus

Specified by:

publishData in interface MovedByEPOSController

Specified by:

publishData in class MobileItemModule

moveToAbsoluteTargetPosition

public void moveToAbsoluteTargetPosition(int targetPosition)

myDevicesReady

public boolean myDevicesReady()

Description copied from class: MobileItemModule

Return True if all CAN open devices useful for this MobileItemMobile are ready for an action. As an example, if this mobil item is moved by a controller and sensors are read through a sensors gateway, this method will return True when the controller and the gateway are ready to be used (booted, configured, homing done if needed).

Specified by:

myDevicesReady in class MobileItemModule

Returns:

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Specified by:

isActionCompleted in class MobileItemModule

updateStateWithSensorsToCheckIfActionIsCompleted

public void updateStateWithSensorsToCheckIfActionIsCompleted()

Description copied from class: MobileItemModule

reads sensors or any device and updates state from sensors it can be also reading a position or a current on a motor controller. It's abstract because it'up to the sub-classes to know what to do.

Specified by:

updateStateWithSensorsToCheckIfActionIsCompleted in class MobileItemModule

startAction

public void startAction(FcsEnumerations.MobileItemAction action)

Description copied from class: MobileItemModule

starts the action given as argument. It has to be specified in sub-classes. Usually it consist in sending a command to a controller : give a value of current or give a target position.

Specified by:

startAction in class MobileItemModule

abortAction

public void abortAction(FcsEnumerations.MobileItemAction action,
                        long delay)

Description copied from class: MobileItemModule

aborts action actually running. It has to be specified in sub-classes. It can be : write a zero value of current or send a stop command to a controller.

Specified by:

abortAction in class MobileItemModule

quickStopAction

public void quickStopAction(FcsEnumerations.MobileItemAction action,
                            long delay)

Specified by:

quickStopAction in class MobileItemModule

postAction

public void postAction(FcsEnumerations.MobileItemAction action)

Specified by:

postAction in class MobileItemModule