org.lsst.ccs.subsystems.fcs

Class AutochangerOnlineClampModule

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.config.ConfigurationBulkChangeHandler, org.lsst.ccs.framework.Configurable, org.lsst.ccs.framework.HardwareController, org.lsst.ccs.framework.HasLifecycle, org.lsst.ccs.framework.SignalHandler, AlertRaiser, ControlledBySensors, MovedByEPOSController, org.lsst.ccs.UsesSubsystem

public class AutochangerOnlineClampModule
extends MobileItemModule
implements MovedByEPOSController, ControlledBySensors

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

Modifier and Type	Field and Description
protected Condition	currentRampEnded
protected boolean	hasToWaitForEndOfCurrentRamp
static String	ONLINE_CLAMP_CONFIG_CATEGORY
protected boolean	updatingState

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

currentAction, FCSLOG, hasToWaitForEndOfAction, lock, scheduler

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

name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description
AutochangerOnlineClampModule(EPOSControllerWithBrake controller, ComplementarySensors closeSensors, ComplementarySensors openSensors, int currentToClose, int currentToClamp) Builds an AutochangerOnlineClampModule with a controller, 4 sensors and 2 maps of parameters for the controller.

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay) What to do to abort an action.
void	checkConditionsForClosing() Check if it's safe to close the clamp.
void	checkConditionsForOpening() Check if it's safe to open the clamp.
org.lsst.ccs.framework.TreeWalkerDiag	checkHardware() This method is called during INITIALIZATION phase.
void	close() Closes the ONLINE clamp.
void	configureController() Configure ONLINE clamp controller.
void	configureDigitalInputOfOnlineClamps() This method is used to configure the controllers of the autochanger online clamps.
void	configureDigitalOutputOfOnlineClamps() This method is used to configure the autochanger onlineClamps EPOS controllers.
StatusDataPublishedByAutochangerOnlineClamp	createStatusDataPublishedByOnlineClamp() Creates and returns the object to be published on the STATUS bus.
void	enableAndCheckControllerBeforeAction() Enables controller, changes mode into CURRENT, Reads parameters for mode CURRENT on controller CPU.
void	executeCurrentRamp(int initialValue, int finalValue, long period) Sends current to controller with a ramp : from initialValue to finalValue in a given number of steps (nbStep) and waits until the final value is reached.
int	getAdjustedStepHeight(int initialValue, int finalValue) Returns an adjusted value of the increment in current ramp.
ComplementarySensors	getCloseSensors() returns closeSensors for tests
EPOSControllerWithBrake	getController() Return ONLINE clamp controller
String	getControllerName() return controller name
int	getCurrentToClamp() For simulator
int	getCurrentToClose() For simulator
int	getCurrentToOpen() For simulator
ComplementarySensors	getOpenSensors() returns openSensors for tests
int	getSentCurrent() returns last value of current sent to controller
void	initModule() Initialize fields autochanger, lockStatus and listens to its controller.
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isCANDevicesReady() Return true when ONLINE clamp hardware is ready.
boolean	isClosed() Returns true if LockStatus=CLOSED.
boolean	isCloseSensorsInError() Returns true if closeSensor and closeSensorC return the same value.
boolean	isControllerInFault() Returns true if controller is in fault.
boolean	isInError() Returns true if LockStatus=ERROR, this means closeSensor or openSensor is in ERROR or openSensor and closeSensor return non consistant values.
boolean	isInitialized() Returns true if clamp is initialized : hardware is ready (at least booted) and clamp controller is initialized (parameters in the controller CPU have been checked and controller has been configured).
boolean	isInTravel() Returns true if LockStatus=INTRAVEL.
boolean	isLocked() Returns true if LockStatus=LOCKED.
boolean	isOpened() Returns true if LockStatus=OPENED.
boolean	isOpenSensorsInError() Returns true if openSensor and openSensorC retun the same value.
void	lock() Locks the ONLINE clamp : sends currentToClamp to the controller with a ramp of current from currentToClose to currentToRamp.
void	open() Opens the ONLINE clamp.
void	postAction(FcsEnumerations.MobileItemAction action) What to be done after the action is completed.
void	processUpdate(Observable source, org.lsst.ccs.framework.Module.ValueUpdate v) Updates field controllerInFault when the controller notifies its observers and sends new values.
void	publishData() publishes data on the STATUS bus
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
void	sendCurrentToControllerAndSaveValue(int current) Writes current to controller and saves the current value in the ConfigurationParameter sentCurrent.
void	setControllerInFault(boolean controllerInFault) set controllerInFault
void	setSentCurrent(int sentCurrent)
void	setStepHeightAbsValue(int stepHeightAbsValue)
void	startAction(FcsEnumerations.MobileItemAction action) Start action of open or close or lock or unlock.
void	unlock() Unlocks the ONLINE clamp : sends currentToClamp to the controller with a ramp of current from currentToClamp to currentToClose.
void	updateStateAndCheckSensors() reads sensors, computes and state and raises an ALERT if sensors are in error.
void	updateStateWithSensors(String[] hexaValues) This methods updates lockStatus from the values return by the sensors.
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, checkStarted, checkStopped, executeAction, getHaltRequired, isMoving, quickstop, readSensorsUntilActionIsCompleted, shutdownNow, signal, stop, stop

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

getNObserverThreads, getObservables, getTickMillis, init, listens, sendSignal, sendSignalWithTimeLimit, 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.subsystems.fcs.common.MovedByEPOSController

processEmergencyMessage, processFaultReset, updateControllerInFault

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

checkSensors

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

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

Methods inherited from interface org.lsst.ccs.UsesSubsystem

getComponentConfigurationEnvironment, getComponentLookup, getName, getSubsystem

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

change, dropSubmittedChanges, getChildren, getComponentByName, getEnvironment, getParent, getParentObject, getSubmittedChanges, isParameterConfigurable, postStart, printConfigurableParameters, setBulkParameter, start, submitChange, submitChanges, validateBulkChange

Methods inherited from interface org.lsst.ccs.config.ConfigurationBulkChangeHandler

setParameterBulk

Field Detail

ONLINE_CLAMP_CONFIG_CATEGORY

public static final String ONLINE_CLAMP_CONFIG_CATEGORY

See Also:

Constant Field Values

updatingState

protected volatile boolean updatingState

currentRampEnded

protected final Condition currentRampEnded

hasToWaitForEndOfCurrentRamp

protected boolean hasToWaitForEndOfCurrentRamp

Constructor Detail

AutochangerOnlineClampModule

public AutochangerOnlineClampModule(EPOSControllerWithBrake controller,
                                    ComplementarySensors closeSensors,
                                    ComplementarySensors openSensors,
                                    int currentToClose,
                                    int currentToClamp)

Builds an AutochangerOnlineClampModule with a controller, 4 sensors and 2 maps of parameters for the controller.

Parameters:

controller -

closeSensors -

openSensors -

currentToClose -

currentToClamp -

Method Detail

setSentCurrent

@ConfigurationParameterChanger
public void setSentCurrent(int sentCurrent)

Parameters:

sentCurrent -

setStepHeightAbsValue

@ConfigurationParameterChanger
public void setStepHeightAbsValue(int stepHeightAbsValue)

Parameters:

stepHeightAbsValue -

getAdjustedStepHeight

public int getAdjustedStepHeight(int initialValue,
                                 int finalValue)

Returns an adjusted value of the increment in current ramp.

Parameters:

initialValue -

finalValue -

Returns:

getSentCurrent

public int getSentCurrent()

returns last value of current sent to controller

Returns:

getController

public EPOSControllerWithBrake getController()

Return ONLINE clamp controller

Returns:

getCurrentToClose

public int getCurrentToClose()

For simulator

Returns:

getCurrentToOpen

public int getCurrentToOpen()

For simulator

Returns:

getCurrentToClamp

public int getCurrentToClamp()

For simulator

Returns:

getCloseSensors

public ComplementarySensors getCloseSensors()

returns closeSensors for tests

Returns:

getOpenSensors

public ComplementarySensors getOpenSensors()

returns openSensors for tests

Returns:

isCloseSensorsInError

@Command(type=QUERY,
         level=1,
         description="Returns true if lockSensor and lockSensorC retun the same value. Doesn\'t read again sensors.")
public boolean isCloseSensorsInError()

Returns true if closeSensor and closeSensorC return the same value. Doesn't read again sensors.

Returns:

isOpenSensorsInError

@Command(type=QUERY,
         level=1,
         description="Returns true if unlockSensor and unlockSensorC retun the same value. Doesn\'t read again sensors.")
public boolean isOpenSensorsInError()

Returns true if openSensor and openSensorC retun the same value. Doesn't read again sensors.

Returns:

isInError

@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=ERROR, this means that closeSensor or openSensor is in ERROR or thatopenSensor and closeSensor return non consistant values. Doesn\'t read again sensors.")
public boolean isInError()

Returns true if LockStatus=ERROR, this means closeSensor or openSensor is in ERROR or openSensor and closeSensor return non consistant values. Doesn't read again sensors.

Specified by:

isInError in interface ControlledBySensors

Returns:

isClosed

@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=CLOSED. Doesn\'t read again sensors.")
public boolean isClosed()

Returns true if LockStatus=CLOSED. Doesn't read again sensors.

Returns:

isLocked

@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=LOCKED. Doesn\'t read again sensors.")
public boolean isLocked()

Returns true if LockStatus=LOCKED. Doesn't read again sensors.

Returns:

isOpened

@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=OPENED. Doesn\'t read again sensors.")
public boolean isOpened()

Returns true if LockStatus=OPENED. Doesn't read again sensors.

Returns:

isInTravel

@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=INTRAVEL. Doesn\'t read again sensors.")
public boolean isInTravel()

Returns true if LockStatus=INTRAVEL. Doesn't read again sensors.

Returns:

isControllerInFault

@Command(type=QUERY,
         level=1,
         description="Returns true if controller is in fault. Doesn\'t read controller CPU.")
public boolean isControllerInFault()

Returns true if controller is in fault. Doesn't read controller CPU.

Specified by:

isControllerInFault in interface MovedByEPOSController

Returns:

setControllerInFault

public void setControllerInFault(boolean controllerInFault)

set controllerInFault

Specified by:

setControllerInFault in interface MovedByEPOSController

Parameters:

controllerInFault -

getControllerName

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

return controller name

Specified by:

getControllerName in interface MovedByEPOSController

Returns:

isInitialized

@Command(type=QUERY,
         level=1,
         description="Returns true if clamp is initialized : controller is booted, parameters in the controller CPU have been checked and controller is configured.")
public boolean isInitialized()

Returns true if clamp is initialized : hardware is ready (at least booted) and clamp controller is initialized (parameters in the controller CPU have been checked and controller has been configured).

Returns:

initModule

public void initModule()

Initialize fields autochanger, lockStatus and listens to its controller.

Overrides:

initModule in class MobileItemModule

isCANDevicesReady

@Command(type=QUERY,
         level=1,
         description="Returns true if controller is initialized and configured.")
public boolean isCANDevicesReady()

Return true when ONLINE clamp hardware is ready. That is when controller is initialized and configured.

Specified by:

isCANDevicesReady in class MobileItemModule

Returns:

checkConditionsForOpening

@Command(type=QUERY,
         level=1,
         description="Check if the onlineClamp can be locked.")
public void checkConditionsForOpening()

Check if it's safe to open the clamp.

Throws:

FcsHardwareException

checkConditionsForClosing

@Command(type=QUERY,
         level=1,
         description="Check if the onlineClamp can be locked.")
public void checkConditionsForClosing()

Check if it's safe to close the clamp.

Throws:

FcsHardwareException

checkHardware

@Command(type=QUERY,
         level=1,
         description="Initialize controller and check parameters.")
public org.lsst.ccs.framework.TreeWalkerDiag checkHardware()
                                                                                                                                                               throws org.lsst.ccs.HardwareException

This method is called during INITIALIZATION phase. It configures the controller for the digital inputs and outputs. It changes it to CURRENT mode if it's not in this mode and it writes in the CPU of the controller the values of configuration for CURRENT mode parameters.

Specified by:

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

Overrides:

checkHardware in class MobileItemModule

Returns:

Throws:

org.lsst.ccs.HardwareException

enableAndCheckControllerBeforeAction

@Command(type=QUERY,
         level=1,
         description="Read in the CPU of the controller parameters for mode CURRENT.If a parameter has a different value than in configuration, throws an exception.")
public void enableAndCheckControllerBeforeAction()

Enables controller, changes mode into CURRENT, Reads parameters for mode CURRENT on controller CPU. If a parameter has a different value than in configuration, throws an exception.

Throws:

FcsHardwareException

configureController

@Command(type=ACTION,
         level=1,
         description="Configure controller.")
public void configureController()
                                                                                                               throws org.lsst.ccs.HardwareException

Configure ONLINE clamp controller.

Throws:

org.lsst.ccs.HardwareException

FcsHardwareException

updateStateAndCheckSensors

public void updateStateAndCheckSensors()

reads sensors, computes and state and raises an ALERT if sensors are in error.

updateStateWithSensors

@Command(type=ACTION,
         level=1,
         description="Update state in reading sensors.")
public void updateStateWithSensors(String[] hexaValues)

This methods updates lockStatus from the values return by the sensors. This values are given in an array of hexa values as arguments of the method.

Parameters:

hexaValues -

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

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Specified by:

isActionCompleted in class MobileItemModule

close

@Command(type=ACTION,
         level=1,
         description="Closes the ONLINE clamp.",
         timeout=10000)
public void close()

Closes the ONLINE clamp.

open

@Command(type=ACTION,
         level=1,
         description="Opens the ONLINE clamp.",
         timeout=10000)
public void open()

Opens the ONLINE clamp.

lock

@Command(type=ACTION,
         level=1,
         description="Locks the ONLINE clamp : sends currentToClamp to the controller with a ramp of currentfrom currentToClose to currentToRamp.",
         timeout=10000)
public void lock()

Locks the ONLINE clamp : sends currentToClamp to the controller with a ramp of current from currentToClose to currentToRamp. The clamp has to be CLOSED before this action. At the end of this action, the clamp is LOCKED.

unlock

@Command(type=ACTION,
         level=1,
         description="Unlocks the ONLINE clamp : sends currentToClamp to the controller  with a ramp of current from currentToClamp to currentToClose.",
         timeout=10000)
public void unlock()

Unlocks the ONLINE clamp : sends currentToClamp to the controller with a ramp of current from currentToClamp to currentToClose. The clamp has to be LOCKED before this action. At the end of this action, the clamp is CLOSED. The goal if this action is to slow down the pressure exerted by the clamp on the filter. If we decrease too quickly the pressure the clamp could be ejected out by elastic return.

startAction

public void startAction(FcsEnumerations.MobileItemAction action)

Start action of open or close or lock or unlock.

Specified by:

startAction in class MobileItemModule

Parameters:

action -

Throws:

FcsHardwareException

sendCurrentToControllerAndSaveValue

public void sendCurrentToControllerAndSaveValue(int current)

Writes current to controller and saves the current value in the ConfigurationParameter sentCurrent.

Parameters:

current - to send to controller

abortAction

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

What to do to abort an action.

Specified by:

abortAction in class MobileItemModule

Parameters:

action -

delay -

Throws:

FcsHardwareException

postAction

public void postAction(FcsEnumerations.MobileItemAction action)

What to be done after the action is completed.

Specified by:

postAction in class MobileItemModule

Parameters:

action -

Throws:

FcsHardwareException

configureDigitalInputOfOnlineClamps

@Command(type=ACTION,
         level=1,
         description="To configure the online clamps controllers.")
public void configureDigitalInputOfOnlineClamps()

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

configureDigitalOutputOfOnlineClamps

@Command(type=ACTION,
         level=1,
         description="To configure the online clamps controllers.")
public void configureDigitalOutputOfOnlineClamps()

This method 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_12General 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 (read only) Bit_1 Position Compare (read only) Bit_0 Ready/Fault (read only) ******************************************************************************** 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:

FcsHardwareException

processUpdate

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

Updates field controllerInFault when the controller notifies its observers and sends new values. This class observes its controller to publish data when its controller is in fault or after a faultReset. Needed to update the GUI.

Overrides:

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

Parameters:

source -

v -

createStatusDataPublishedByOnlineClamp

public StatusDataPublishedByAutochangerOnlineClamp createStatusDataPublishedByOnlineClamp()

Creates and returns the 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

quickStopAction

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

Specified by:

quickStopAction in class MobileItemModule

executeCurrentRamp

public void executeCurrentRamp(int initialValue,
                               int finalValue,
                               long period)

Sends current to controller with a ramp : from initialValue to finalValue in a given number of steps (nbStep) and waits until the final value is reached. It uses method writeCurrentRamp which uses a scheduler.

Parameters:

initialValue - first value to be sent to controller

finalValue - last value to send to controller

period - of time to wait between 2 writes to the controller.