org.lsst.ccs.subsystems.fcs

Class CarouselModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.CarouselModule

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, FilterHolder, org.lsst.ccs.UsesSubsystem

Direct Known Subclasses:

SftCarouselModule

public class CarouselModule
extends MobileItemModule
implements org.lsst.ccs.framework.HardwareController, FilterHolder

This is a representation of the hardware of the carousel. It receives commands from the FCSMAinModule and send back an acknowledge. It publishes data on the status bus. In engineering mode it can receive commands from the engineering console.

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 PieceOfHardware	ai814
protected Map<String,CarouselSocket>	socketsMap A map to store the sockets by their names.

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
CarouselModule() A Constructor with a variable numbers of sockets.

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay) aborts action actually running.
void	checkConditionsForRotation() Check if carousel rotation is permitted.
org.lsst.ccs.framework.TreeWalkerDiag	checkHardware() Executed during Initialization phase by the framework.
void	checkStarted() CheckStarted is executed by completeInitialization when a first start has failed.
void	checkStopped() This method is executed during a shutdownEPOS of the subystem to prevent a shutdownEPOS when some hardware is moving.
StatusDataPublishedByCarousel	createStatusDataPublishedByCarousel() Create an object StatusDataPublishedByCarousel to be published on the STATUS bus.
String	engageBrake()
void	engageClampsContact()
CarouselClampModule	getClampXminus() This method returns the clampX- which is at standby filterPosition.
EPOSController	getClampXminusController()
CarouselClampModule	getClampXplus() This method returns the clampX+ which is at standby filterPosition.
EPOSController	getClampXplusController()
Filter	getFilterAtStandby() This methods return the filter which is in the socketAtStandby at standby filterPosition.
String	getFilterAtStandbyName() Returns name of filter which is in the socket at STANDBY position or NO_FILTER if there is no filter at STANDBY.
int	getPosition() return carousel position.
CarouselSocket	getSocketAtStandby() Return the socket HALTED at STANDBY filterPosition if there is one.
CarouselSocket	getSocketByName(String socketName) Return a CarouselSocket which name is given as parameter.
ModuleState	getState()
String	grabFilterAtStandby(Filter filter) This method has to be executed when a filter has just been moved on the carousel at standby filterPosition by the autochanger.
String	grabFilterAtStandby(String filterName) Grab a filter at STANDBY position.
void	initModule()
boolean	isAbleToMove()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isAtHandoff() This method returns true if the autochanger trucks are at HANDOFF position, false otherwise.
boolean	isAtStandby() Used to publish on the STATUS bus for the GUI.
boolean	isAtStandby(Filter filter) Return true if the filter given as argument is at STANDBY position.
boolean	isAutochangerHoldingFilter() This methods returns true if the autochanger is holding a filter at STANDBY position.
boolean	isCANDevicesReady()
boolean	isHoldingFilter() Return true if carousel is holding a filter at STANDBY position.
boolean	isHoldingFilterAtStandby()
boolean	isLocked()
boolean	isReadyToGrabAFilterAtStandby() This method let us know if the carousel is ready to receive a filter at standby filterPosition : - the carousel must not rotate - an empty socketAtStandby is at standby filterPosition.
boolean	isRotating() Returns true if carousel is rotating
void	postAction(FcsEnumerations.MobileItemAction action)
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
String	releaseBrake()
void	releaseClamps() Release clamps at standby position to get ready to clamp again.
void	releaseClampsContact()
void	rotateEmptySocketAtStandby() Move an empty socket to STANDBY position.
void	rotateSocketToStandby(String socketName) Rotate carousel to move a socket which name is given as argument to STANDBY position.
void	rotateToAbsoluteAngle(int angle) This command rotates carousel until the absolute target position is reached.
void	rotateToRelativeAngle(int angle) A command to rotate carousel.
void	setRotationTimeout(int rotationTimeout) Set a new rotationTimeout
void	setState(ModuleState state)
void	startAction(FcsEnumerations.MobileItemAction action) Starts action ROTATE_CAROUSEL_TO_ABSOLUTE_POSITION or ROTATE_CAROUSEL_TO_RELATIVE_POSITION.
void	tick() What has to be done for each tick of the timer.
String	toString()
void	ungrabFilterAtStandby(String filterName) This unlock clamps at STANDBY.
void	unlockClamps() Unlocks the clamps at STANDBY.
void	updateClampsStateWithSensors() Read the clamps state from PDO : all the clamp sensors are read at one time.
void	updateClampsStateWithSensorsFromPDO() Read the clamps state from PDO : all the clamp sensors are read at one time.
void	updateClampsStateWithSensorsFromSDO() Read the clamp sensors one by one with RSDO command
void	updateCurrent() Updates the field current in reading the CPU of the controller.
void	updatePosition() Updates the filterPosition of the carousel in reading the CPU of the controller.
void	updateStateWithSensors() This method read values sent by the sensors and update state from this new values.
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, executeAction, getHaltRequired, isMoving, quickstop, readSensorsUntilActionIsCompleted, shutdownNow, signal, stop, stop

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

getNObserverThreads, getObservables, getTickMillis, init, listens, processUpdate, sendSignal, sendSignalWithTimeLimit, 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.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

ai814

protected PieceOfHardware ai814

socketsMap

protected Map<String,CarouselSocket> socketsMap

A map to store the sockets by their names. The key of this map is the socket name.

Constructor Detail

CarouselModule

public CarouselModule()

A Constructor with a variable numbers of sockets. In single-filter-test carousel has only 1 socket. In Filter Exchanger final product and prototype, carousel has 5 sockets.

Method Detail

setRotationTimeout

public void setRotationTimeout(int rotationTimeout)

Set a new rotationTimeout

Parameters:

rotationTimeout -

getSocketByName

public CarouselSocket getSocketByName(String socketName)

Return a CarouselSocket which name is given as parameter.

Parameters:

socketName -

Returns:

getPosition

@Command(type=QUERY,
         level=0,
         description="Return carousel position.",
         alias="printPosition")
public int getPosition()

return carousel position.

Returns:

getState

public ModuleState getState()

setState

public void setState(ModuleState state)

getClampXminusController

public EPOSController getClampXminusController()

Returns:

the clampXminusController

getClampXplusController

public EPOSController getClampXplusController()

Returns:

the clampXminusController

getClampXminus

public CarouselClampModule getClampXminus()

This method returns the clampX- which is at standby filterPosition. It can returns null if there is no socketAtStandby halted at standby filterPosition.

Returns:

getClampXplus

public CarouselClampModule getClampXplus()

This method returns the clampX+ which is at standby filterPosition. It can returns null if there is no socketAtStandby halted at standby filterPosition.

Returns:

isAtStandby

@Command(type=QUERY,
         level=0,
         description="Return true if a socket is HALTED at STANDBY position, false otherwise.")
public boolean isAtStandby()

Used to publish on the STATUS bus for the GUI. Returns

Specified by:

isAtStandby in interface FilterHolder

Returns:

true if a socket is HALTED at STANDBY filterPosition, false otherwise.

getSocketAtStandby

public CarouselSocket getSocketAtStandby()

Return the socket HALTED at STANDBY filterPosition if there is one. Otherwise return null.

Returns:

getFilterAtStandby

public Filter getFilterAtStandby()

This methods return the filter which is in the socketAtStandby at standby filterPosition. When there is no filter at standby filterPosition it returns null.

Returns:

filter at standby filterPosition or null if there is no filter at standby filterPosition.

getFilterAtStandbyName

@Command(type=QUERY,
         level=0,
         description="Returns name of filter at STANDBY position  or NO_FILTER if there is no filter at STANDBY.")
public String getFilterAtStandbyName()

Returns name of filter which is in the socket at STANDBY position or NO_FILTER if there is no filter at STANDBY.

Returns:

isAutochangerHoldingFilter

@Command(type=QUERY,
         level=0,
         description="Return true if Autochanger is holding filter at STANDBY.")
public boolean isAutochangerHoldingFilter()

This methods returns true if the autochanger is holding a filter at STANDBY position.

Returns:

Throws:

FcsHardwareException

initModule

public void initModule()

Overrides:

initModule in class MobileItemModule

checkHardware

public org.lsst.ccs.framework.TreeWalkerDiag checkHardware()
                                                    throws org.lsst.ccs.HardwareException

Executed during Initialization phase by the framework.

Specified by:

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

Overrides:

checkHardware in class MobileItemModule

Returns:

Throws:

org.lsst.ccs.HardwareException

checkStarted

public void checkStarted()
                  throws org.lsst.ccs.HardwareException

CheckStarted is executed by completeInitialization when a first start has failed. Because end user could have changed many things, we have to check again that all is correct.

Specified by:

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

Overrides:

checkStarted in class MobileItemModule

Throws:

org.lsst.ccs.HardwareException

checkStopped

public void checkStopped()
                  throws org.lsst.ccs.HardwareException

This method is executed during a shutdownEPOS of the subystem to prevent a shutdownEPOS when some hardware is moving. Nothing to do here because all the moving hardware of the loader is represented by the class MobilItemModule where the method checkStopped is implemented.

Specified by:

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

Overrides:

checkStopped in class MobileItemModule

Throws:

org.lsst.ccs.HardwareException

publishData

public void publishData()

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

Specified by:

publishData in class MobileItemModule

createStatusDataPublishedByCarousel

public StatusDataPublishedByCarousel createStatusDataPublishedByCarousel()

Create an object StatusDataPublishedByCarousel to be published on the STATUS bus.

Returns:

status

toString

public String toString()

Overrides:

toString in class Object

isReadyToGrabAFilterAtStandby

@Command(type=QUERY,
         level=1,
         description="Returns true if Carousel is stopped and no filter is at STANDBY position")
public boolean isReadyToGrabAFilterAtStandby()

This method let us know if the carousel is ready to receive a filter at standby filterPosition : - the carousel must not rotate - an empty socketAtStandby is at standby filterPosition.

Returns:

true if the filterPosition of the carousel matches the filterPosition when one of its sockets is at standby filterPosition and this socketAtStandby is empty. false

Throws:

FcsHardwareException

isHoldingFilterAtStandby

@Command(type=QUERY,
         level=1,
         description="Returns true if a filter is clamped at STANDBY position")
public boolean isHoldingFilterAtStandby()

Returns:

true if a filter is clamped at STANDBY position and carousel is stopped

isRotating

@Command(type=QUERY,
         level=1,
         description="Returns true if carousel is rotating.")
public boolean isRotating()

Returns true if carousel is rotating

Returns:

isAbleToMove

@Command(type=QUERY,
         level=1,
         description="Returns true if the brake is released")
public boolean isAbleToMove()

Returns:

true if the brake is released

isLocked

public boolean isLocked()

engageBrake

@Command(type=ACTION,
         level=1,
         description="Engage the carousel brake to stop the rotation")
public String engageBrake()

releaseBrake

@Command(type=ACTION,
         level=1,
         description="Release the carousel brake")
public String releaseBrake()

updatePosition

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

Updates the filterPosition of the carousel in reading the CPU of the controller.

Throws:

SDORequestException

updateCurrent

@Command(type=QUERY,
         level=1,
         description="Update field current in reading controller.")
public void updateCurrent()

Updates the field current in reading the CPU of the controller.

Throws:

SDORequestException

updateClampsStateWithSensorsFromSDO

public void updateClampsStateWithSensorsFromSDO()

Read the clamp sensors one by one with RSDO command

Throws:

FcsHardwareException

updateClampsStateWithSensorsFromPDO

public void updateClampsStateWithSensorsFromPDO()

Read the clamps state from PDO : all the clamp sensors are read at one time.

Throws:

FcsHardwareException

updateClampsStateWithSensors

@Command(type=QUERY,
         level=1,
         description="Read clamps sensors and update clamps state")
public void updateClampsStateWithSensors()

Read the clamps state from PDO : all the clamp sensors are read at one time. Tested with success on single-filter-test in April 2013

Throws:

FcsHardwareException

tick

public void tick()

What has to be done for each tick of the timer. We have to publish on the status bus to refresh the GUI.

Overrides:

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

grabFilterAtStandby

public String grabFilterAtStandby(String filterName)

Grab a filter at STANDBY position.

Parameters:

filterName -

Returns:

Throws:

FcsHardwareException

grabFilterAtStandby

public String grabFilterAtStandby(Filter filter)

This method has to be executed when a filter has just been moved on the carousel at standby filterPosition by the autochanger. It updates the carousel socket at standby or throw an exception. This method tests if the clamps are Locked on a filter at standby filterPosition The clamps Locks automaticaly, and the filter presence sensor tells us if the filter is here or not. If the clamps are Locked on a filter at standby filterPosition, this method updates the socketAtStandby at standby filterPosition : it puts the filter on the socketAtStandby.

Parameters:

filter -

Returns:

Throws:

FcsHardwareException

ungrabFilterAtStandby

public void ungrabFilterAtStandby(String filterName)

This unlock clamps at STANDBY.

Parameters:

filterName -

Throws:

FcsHardwareException

releaseClamps

@Command(type=ACTION,
         level=1,
         description="Release clamps at standby position to get ready to clamp again")
public void releaseClamps()

Release clamps at standby position to get ready to clamp again.

unlockClamps

@Command(type=ACTION,
         level=3,
         description="Unlock the clamps at STANDBY.")
public void unlockClamps()

Unlocks the clamps at STANDBY.

Throws:

FcsHardwareException

FailedCommandException

RejectedCommandException

isAtStandby

public boolean isAtStandby(Filter filter)

Return true if the filter given as argument is at STANDBY position.

Parameters:

filter -

Returns:

releaseClampsContact

public void releaseClampsContact()

engageClampsContact

public void engageClampsContact()

isCANDevicesReady

public boolean isCANDevicesReady()

Specified by:

isCANDevicesReady in class MobileItemModule

checkConditionsForRotation

@Command(type=QUERY,
         level=1,
         description="Check if carousel rotation is permitted.")
public void checkConditionsForRotation()

Check if carousel rotation is permitted.

Throws:

FcsHardwareException

RejectedCommandException - (RuntimeException)

rotateToAbsoluteAngle

@Command(type=ACTION,
         level=1,
         description="Rotate carousel to an absolute angle.")
public void rotateToAbsoluteAngle(@Argument(name="angle",description="Angle to reach in degrees")
                                                                                                                                        int angle)

This command rotates carousel until the absolute target position is reached. It doesn't compute the shortest way.

Parameters:

angle -

Throws:

FcsHardwareException

rotateToRelativeAngle

@Command(type=ACTION,
         level=1,
         description="Rotate carousel for an angle.")
public void rotateToRelativeAngle(@Argument(name="angle",description="Relative angle to reach in degrees. Can be positive or negative.")
                                                                                                                                int angle)

A command to rotate carousel. Angle of rotation is given as argument and is relative to actual position. If initial position is 10, rotateToRelativeAngle(20) will rotate carousel until position is 30. If initial position is 10, rotateToRelativeAngle(-20) will rotate carousel until position is 350. carousel can rotate in both ways (clockwise or not). This command computes the shortest rotation to be done to reach the final goal.

Parameters:

angle -

Throws:

FcsHardwareException

rotateSocketToStandby

@Command(type=ACTION,
         level=1,
         description="Move a socket which name is given as argument to STANDBY position.",
         alias="moveSocketToStandby")
public void rotateSocketToStandby(String socketName)

Rotate carousel to move a socket which name is given as argument to STANDBY position. This methods computes the shortest way to go to STANDBY position.

Parameters:

socketName -

Throws:

FcsHardwareException

rotateEmptySocketAtStandby

public void rotateEmptySocketAtStandby()

Move an empty socket to STANDBY position. The socket moved is the first empty one in the socketsMap.

Throws:

FcsHardwareException

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)

Starts action ROTATE_CAROUSEL_TO_ABSOLUTE_POSITION or ROTATE_CAROUSEL_TO_RELATIVE_POSITION. This : - enable controller, - make controller go to required position previously written in field absoluteTargetPosition or relativeTargetPosition, - writeControlWord "3F" or "7F" on controller depending if we want to go to a relative position or to an absolute position.

Specified by:

startAction in class MobileItemModule

Parameters:

action -

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

isHoldingFilter

public boolean isHoldingFilter()

Return true if carousel is holding a filter at STANDBY position.

Specified by:

isHoldingFilter in interface FilterHolder

Returns:

Throws:

FcsHardwareException

isAtHandoff

public boolean isAtHandoff()

Description copied from interface: FilterHolder

This method returns true if the autochanger trucks are at HANDOFF position, false otherwise.

Specified by:

isAtHandoff in interface FilterHolder

Returns:

updateStateWithSensors

public void updateStateWithSensors()

Description copied from interface: FilterHolder

This method read values sent by the sensors and update state from this new values.

Specified by:

updateStateWithSensors in interface FilterHolder