org.lsst.ccs.subsystems.fcs

Class LoaderCarrierModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.LoaderCarrierModule

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 LoaderCarrierModule
extends MobileItemModule
implements MovedByEPOSController, ControlledBySensors

This is a model for the carrier in the loader.

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, hasToWaitForEndOfAction, lock, scheduler

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

name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description
LoaderCarrierModule(RedondantSensors handoffSensors, RedondantSensors storageSensors) Buils a LoaderCarrierModule with 2 couples of redondants sensors to detect carrier position.

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay) Aborts an action.
org.lsst.ccs.framework.TreeWalkerDiag	checkHardware()
StatusDataPublishedByLoaderCarrier	createStatusDataPublishedByLoaderCarrier() Creates an object to be published on the STATUS bus.
String	getControllerName() Return the name of the controller.
protected int	getCurrent() returns current for tests
int	getHandoffPosition()
int	getMaxCurrent() Returns max current - Used by GUI
int	getMaxSpeed() Returns max speed - Used by GUI
int	getPosition()
int	getStoragePosition()
long	getTimeoutForGoingToHandOff() Used by GUI
long	getTimeoutForGoingToStorage() Used by GUI
void	goToAbsolutePosition(int absolutePosition) For end user.
void	goToHandOff() Move the carrier to Handoff position.
void	goToStorage() Moves loader carrier to storage position.
void	initializeHardware() Command for ENGINEERING mode.
void	initModule()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action) Tests if action is completed.
boolean	isAtHandoffPosition() Returns the boolean field atHandoff.
boolean	isAtStoragePosition() Returns the boolean field atStorage.
boolean	isCANDevicesReady() Returns true if loader CANopen devices are booted, identified and initialized.
boolean	isControllerInFault() Returns true if carrierController is in Fault.
boolean	isHandoffSensorsInError()
boolean	isInError() returns true if handoff sensors or storage sensors are in error.
boolean	isInitialized()
boolean	isStorageSensorsInError()
void	postAction(FcsEnumerations.MobileItemAction action) Puts controller off after an action and tests if the result of the action is correct.
String	printHardwareState() Return a printed list of hardware with initialization information.
void	processEmergencyMessage(EmergencyMessage msg) What to do when we received an Emergency message from controller with an errorCode;
void	processFaultReset() What to do when a faultReset has been done on the controller.
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() Publish Data on status bus for trending data base and GUIs.
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
int	readPosition() To display position for end user.
void	setControllerInFault(boolean controllerInFault)
void	startAction(FcsEnumerations.MobileItemAction action) Starts an action on the carrier.
void	updatePosition() Updates the field position of the carrier in reading the CPU of the controller.
protected void	updateStateWithSensors(String[] 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, 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

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

updatingState

protected volatile boolean updatingState

Constructor Detail

LoaderCarrierModule

public LoaderCarrierModule(RedondantSensors handoffSensors,
                           RedondantSensors storageSensors)

Buils a LoaderCarrierModule with 2 couples of redondants sensors to detect carrier position.

Parameters:

handoffSensors -

storageSensors -

Method Detail

getPosition

@Command(type=QUERY,
         level=0,
         description="Returns carrier position.")
public int getPosition()

Returns:

carrier position

getCurrent

protected int getCurrent()

returns current for tests

Returns:

isControllerInFault

@Command(type=QUERY,
         level=1,
         description="Returns true if carrierController is in Fault.")
public boolean isControllerInFault()

Returns true if carrierController is in Fault.

Specified by:

isControllerInFault in interface MovedByEPOSController

Returns:

getControllerName

public String getControllerName()

Description copied from interface: MovedByEPOSController

Return the name of the controller.

Specified by:

getControllerName in interface MovedByEPOSController

Returns:

controllerName

setControllerInFault

public void setControllerInFault(boolean controllerInFault)

Specified by:

setControllerInFault in interface MovedByEPOSController

isInitialized

@Command(type=QUERY,
         level=1,
         description="Returns true if carrier is initialized and ready to receive commands.")
public boolean isInitialized()

Returns:

true if carrier is initialized and ready to receive commands.

getMaxSpeed

@Command(type=QUERY,
         level=1,
         description="Return the max speed in rpm/mn (format decimal).")
public int getMaxSpeed()

Returns max speed - Used by GUI

Returns:

max speed in rpm/mn (format decimal).

getMaxCurrent

@Command(type=QUERY,
         level=1,
         description="Return the max current in mA (format decimal).")
public int getMaxCurrent()

Returns max current - Used by GUI

Returns:

max current in mA (format decimal).

getHandoffPosition

@Command(type=QUERY,
         level=1,
         description="Return the handoff position in microns (format decimal).")
public int getHandoffPosition()

Returns:

handoff position in microns (format decimal).

getStoragePosition

@Command(type=QUERY,
         level=1,
         description="Return the storage position in microns (format decimal).")
public int getStoragePosition()

Returns:

storage position in microns (format decimal).

getTimeoutForGoingToHandOff

@Command(type=QUERY,
         level=1,
         description="Return the timeout for going to Handoff in millis (format decimal).")
public long getTimeoutForGoingToHandOff()

Used by GUI

Returns:

timeout for going to Handoff action in millis (format decimal).

getTimeoutForGoingToStorage

@Command(type=QUERY,
         level=1,
         description="Return the timeout for going to Storage in millis (format decimal).")
public long getTimeoutForGoingToStorage()

Used by GUI

Returns:

timeout for going to Storage action in millis (format decimal).

isStorageSensorsInError

@Command(type=QUERY,
         level=1,
         description="Return false if the 2 redondant position sensors at Storage are equal.")
public boolean isStorageSensorsInError()

Returns:

false if the 2 redondant position sensors at Storage are equal

isHandoffSensorsInError

@Command(type=QUERY,
         level=1,
         description="Return false if the 2 redondant position sensors at HandOff are equal.")
public boolean isHandoffSensorsInError()

isInError

public boolean isInError()

returns true if handoff sensors or storage sensors are in error.

Specified by:

isInError in interface ControlledBySensors

Returns:

initModule

public void initModule()

Overrides:

initModule in class MobileItemModule

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

isCANDevicesReady

public boolean isCANDevicesReady()

Returns true if loader CANopen devices are booted, identified and initialized.

Specified by:

isCANDevicesReady in class MobileItemModule

Returns:

isAtStoragePosition

@Command(type=QUERY,
         level=0,
         description="Return true if the carrier is at storage position. This command doesn\'t read again the sensors.")
public boolean isAtStoragePosition()

Returns the boolean field atStorage. If the atStorage boolean is being updated and waits for a response from a sensor, this methods waits until atStorage is updated. If the field atStorage is not being updated, it returns immediatly the field atStorage.

Returns:

atStorage

isAtHandoffPosition

@Command(type=QUERY,
         level=0,
         description="Return true if the carrier is at HANDOFF position. This command doesn\'t read again the sensors.")
public boolean isAtHandoffPosition()

Returns the boolean field atHandoff. If the atHandoff boolean is being updated and waits for a response from a sensor, this methods waits until atHandoff is updated. If the field atHandoff is not being updated, it returns immediatly the field atHandoff.

Returns:

atHandoff

goToHandOff

@Command(type=ACTION,
         level=1,
         alias="goToHandoff",
         description="Move the carrier to Handoff position.")
public void goToHandOff()

Move the carrier to Handoff position.

Throws:

RejectedCommandException

FailedCommandException

FcsHardwareException

goToStorage

@Command(type=ACTION,
         level=1,
         description="Move the carrier to STORAGE position.")
public void goToStorage()

Moves loader carrier to storage position.

Throws:

RejectedCommandException

FailedCommandException

FcsHardwareException

goToAbsolutePosition

@Command(type=ACTION,
         level=1,
         description="Move the carrier to absolute position given as argument (in decimal format).")
public void goToAbsolutePosition(int absolutePosition)

For end user. Move the carrier to absolute position given as argument (in decimal format).

Parameters:

absolutePosition -

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Tests if action is completed. During motion of the carrier, this methods tests if the desired position has been reached. If yes, it returns true, else false.

Specified by:

isActionCompleted in class MobileItemModule

Parameters:

action - to be tested

Returns:

true if required position has been reached

updatePosition

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

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

Throws:

FcsHardwareException

readPosition

@Command(type=QUERY,
         level=1,
         description="To update and display position for end user.Updates carrier position in reading controller and returns it.")
public int readPosition()

To display position for end user. Updates carrier position in reading controller and returns it.

Returns:

position

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

updateStateWithSensors

protected void updateStateWithSensors(String[] readHexaValues)

This methods updates the lockStatus from an array of hexaValues.

Parameters:

readHexaValues -

Throws:

FcsHardwareException

startAction

public void startAction(FcsEnumerations.MobileItemAction action)

Starts an action on the carrier. On the loader carrier, the action in normal mode are motion of the carrier to go to STORAGE position or HANDOFF position. In engineering mode, the end user can move the carrier to a given absolute position.

Specified by:

startAction in class MobileItemModule

Parameters:

action - to be started

abortAction

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

Aborts an action.

Specified by:

abortAction in class MobileItemModule

Parameters:

action -

delay -

quickStopAction

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

Specified by:

quickStopAction in class MobileItemModule

postAction

public void postAction(FcsEnumerations.MobileItemAction action)

Puts controller off after an action and tests if the result of the action is correct. The result of the action is correct if the position given by the controller is confirmed by the position sensors.

Specified by:

postAction in class MobileItemModule

Parameters:

action -

initializeHardware

@Command(type=ACTION,
         level=1,
         description="Check if hardware is ready to be started.")
public void initializeHardware()

Command for ENGINEERING mode. Not used during INITIALIZATION. Check that carrier controller is initialized. Read sensors and update state. Read carrier position on controller. If position sensors and position read on carrier controller give inconsistent information throw a FcsHardwareException.

Throws:

FcsHardwareException

printHardwareState

@Command(type=ACTION,
         level=1,
         description="Return a printed list of hardware with initialization information.")
public String printHardwareState()

Return a printed list of hardware with initialization information. For debug purpose.

Returns:

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 -

processEmergencyMessage

public void processEmergencyMessage(EmergencyMessage msg)

What to do when we received an Emergency message from controller with an errorCode;

Specified by:

processEmergencyMessage in interface MovedByEPOSController

Parameters:

msg -

processFaultReset

public void processFaultReset()

Description copied from interface: MovedByEPOSController

What to do when a faultReset has been done on the controller.

Specified by:

processFaultReset in interface MovedByEPOSController

createStatusDataPublishedByLoaderCarrier

public StatusDataPublishedByLoaderCarrier createStatusDataPublishedByLoaderCarrier()

Creates an object to be published on the STATUS bus.

Returns:

publishData

public void publishData()

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

Specified by:

publishData in interface MovedByEPOSController

Specified by:

publishData in class MobileItemModule