org.lsst.ccs.subsystems.fcs

Class AutoChangerModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

org.lsst.ccs.subsystems.fcs.AutoChangerModule

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

public class AutoChangerModule
extends org.lsst.ccs.framework.Module
implements org.lsst.ccs.framework.HardwareController, FilterHolder, AlertRaiser

This class is used with the final hardware in which we have a clamp online to hold the filter at online position. It's not used for Single Filter Test but is used for testbenchCPPM.

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

name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description
AutoChangerModule(String plutoGatewayName, ComplementarySensors loaderConnectedSensors, AutoChangerTwoTrucksModule trucks, AutochangerTwoLatches latches, AutochangerThreeOnlineClamps onlineClamps, InclinometerModule inclinometerXminus, InclinometerModule inclinometerXplus) Builds new AutoChangerModule with following arguments :

Method Summary

Modifier and Type	Method and Description
void	checkConditionsForActioningOnlineClamps() log if actions on online clamps are allowed, throws an exception otherwise.
void	checkConditionsForClosingLatches() Check if Autochanger latches can be closed.
void	checkConditionsForOpeningLatches() Check if latches can be opened.
void	checkFilterSafetyBeforeMotion() This methods checks that filter can be moved by trucks.
org.lsst.ccs.framework.TreeWalkerDiag	checkHardware()
void	checkStarted()
void	checkStopped() This method is executed during a shutdown of the subystem to prevent a shutdown when some hardware is moving.
StatusDataPublishedByAutoChanger	createStatusDataPublishedByAutoChanger() Creates an Object to be published on the STATUS bus.
AutoChangerTwoTrucksModule	getAutochangerTrucks() returns autochangerTrucks to be able to send commands to trucks in fcs subsystem.
String	getFilterOnlineName() If autochanger holds a filter at ONLINE, return filter name else return null.
int	getFilterOnTrucksID() If autochanger holds a filter, returns filterID, else returns 0.
String	getFilterOnTrucksName() If autochanger holds a filter, return filter name else return null.
AutochangerThreeOnlineClamps	getOnlineClamps() returns onlineClamps to be able to send commands to onlineClamps in fcs subsystem.
void	grabFilterAtStandby() Close latches on filter at STANDBY.
void	initModule()
boolean	isAtHandoff() Return true if autochanger trucks are at HANDOFF.
boolean	isAtOnline() return true if autochanger trucks are at ONLINE.
boolean	isAtStandby() Return true if autochanger trucks are at STANDBY.
boolean	isCANDevicesReady()
boolean	isCarouselHoldingFilterAtStandby() TODO when autochanger is in standalone mode this method has to answer the value of the fake carousel sensor.
boolean	isEmpty() Return true if there is no filter in the autochanger.
boolean	isHardwareReady()
boolean	isHoldingFilter() Return true if a filter is in trucks and latches are LOCKED.
boolean	isInitialized() Return true if plutoGateway, trucks, latches and onlineClamps are initialized.
boolean	isLoaderConnected() Returns the boolean field loaderConnected.
boolean	isLoaderHoldingFilterAtHandoff() Return true if loader is connected and holding a filter.
boolean	isSensorsInError() Return true if an error has been detected on sensors.
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	saveCurrentSentToOnlineClampsControllers() Save on disk the values of current sent to online clamps controllers.
void	setFilterOnAutochanger() set filter location to AUTOCHANGER.
void	setFilterOnTrucksID(int filterOnTrucksID) Used for simulator only.
void	shutdownNow()
void	ungrabFilterAtStandby() Open the latches at standby position.
void	updateFCSStateToReady() Update FCS state and FCS readyness state and publish on the status bus.
void	updateFilterOnTrucksID() update filterOnTrucksID
void	updateStateFromPDO()
void	updateStateWithSensors() This method reads all the sensors and updates the autochangerTrucks, latches and online clamps state.

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

getNObserverThreads, getObservables, getTickMillis, init, listens, processUpdate, 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.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, printConfigurableParameters, setBulkParameter, submitChange, submitChanges, validateBulkChange

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

setParameterBulk

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

postInit, postShutdown, postStart, start

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

sendSignal, sendSignalWithTimeLimit, signal

Constructor Detail

AutoChangerModule

public AutoChangerModule(String plutoGatewayName,
                         ComplementarySensors loaderConnectedSensors,
                         AutoChangerTwoTrucksModule trucks,
                         AutochangerTwoLatches latches,
                         AutochangerThreeOnlineClamps onlineClamps,
                         InclinometerModule inclinometerXminus,
                         InclinometerModule inclinometerXplus)

Builds new AutoChangerModule with following arguments :

Parameters:

plutoGatewayName -

loaderConnectedSensors -

trucks -

latches -

onlineClamps -

inclinometerXminus -

inclinometerXplus -

Method Detail

isSensorsInError

@Command(type=QUERY,
         level=1,
         description="Return true if an error has been detected on sensors.")
public boolean isSensorsInError()

Return true if an error has been detected on sensors.

Returns:

getAutochangerTrucks

public AutoChangerTwoTrucksModule getAutochangerTrucks()

returns autochangerTrucks to be able to send commands to trucks in fcs subsystem.

Returns:

autochangerTrucks

getOnlineClamps

public AutochangerThreeOnlineClamps getOnlineClamps()

returns onlineClamps to be able to send commands to onlineClamps in fcs subsystem.

Returns:

onlineClamps

getFilterOnTrucksID

@Command(type=QUERY,
         level=0,
         description="If autochanger holds a filter, return filterID, else return 0.")
public int getFilterOnTrucksID()

If autochanger holds a filter, returns filterID, else returns 0.

Returns:

setFilterOnTrucksID

public void setFilterOnTrucksID(int filterOnTrucksID)

Used for simulator only.

Parameters:

filterOnTrucksID -

setFilterOnAutochanger

public void setFilterOnAutochanger()

set filter location to AUTOCHANGER.

getFilterOnTrucksName

@Command(type=QUERY,
         level=0,
         description="If autochanger holds a filter, return filter name else return null.")
public String getFilterOnTrucksName()

If autochanger holds a filter, return filter name else return null.

Returns:

getFilterOnlineName

@Command(type=QUERY,
         level=0,
         description="If autochanger holds a filter at ONLINE, return filter name else return null.")
public String getFilterOnlineName()

If autochanger holds a filter at ONLINE, return filter name else return null.

Returns:

isLoaderConnected

@Command(type=QUERY,
         level=0,
         description="Return true if the loader is connected to the camera. This command doesn\'t read again the sensors.")
public boolean isLoaderConnected()

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

Returns:

atHandoff

isCarouselHoldingFilterAtStandby

@Command(type=QUERY,
         level=0,
         description="Return true if the carousel is holding the filter at STANDBY position.")
public boolean isCarouselHoldingFilterAtStandby()

TODO when autochanger is in standalone mode this method has to answer the value of the fake carousel sensor.

Returns:

Throws:

FcsHardwareException

isLoaderHoldingFilterAtHandoff

@Command(type=QUERY,
         level=0,
         description="Return true if loader is connected and holding a filter. This command doesn\'t read again the sensors.")
public boolean isLoaderHoldingFilterAtHandoff()

Return true if loader is connected and holding a filter. This command doesn't read again the sensors.

Returns:

Throws:

FcsHardwareException

initModule

public void initModule()

Overrides:

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

isCANDevicesReady

@Command(type=QUERY,
         level=0,
         description="Return true if all autochanger CANopen devices are booted, identified and initialized.")
public boolean isCANDevicesReady()

Returns:

true if all autochanger hardware is initialized and bridge is hardwareReady.

isHardwareReady

@Command(type=QUERY,
         level=0,
         description="Return true if all autochanger CANopen devices are booted, identified and initialized and homing of the controllers is done.")
public boolean isHardwareReady()

Returns:

if all autochanger CANopen devices are booted, identified and nitialized and homing of the controllers is done.

isInitialized

@Command(type=QUERY,
         level=0,
         description="Return true if all autochanger hardware is initialized.")
public boolean isInitialized()

Return true if plutoGateway, trucks, latches and onlineClamps are initialized.

Returns:

checkHardware

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

Specified by:

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

Throws:

org.lsst.ccs.HardwareException

checkStarted

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

Specified by:

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

Throws:

org.lsst.ccs.HardwareException

checkStopped

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

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

Specified by:

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

Throws:

org.lsst.ccs.HardwareException

checkConditionsForOpeningLatches

@Command(type=QUERY,
         level=1,
         description="Check if the latches can be opened.")
public void checkConditionsForOpeningLatches()

Check if latches can be opened. If latches can't be openened because the conditions for opening are not filled, this command throws a RejectedCommandException. If latches are in error, it throws a FcsHardwareException.

Throws:

FcsHardwareException

checkConditionsForClosingLatches

@Command(type=QUERY,
         level=1,
         description="Check if Autochanger latches can be closed.")
public void checkConditionsForClosingLatches()

Check if Autochanger latches can be closed.

Throws:

FcsHardwareException

checkConditionsForActioningOnlineClamps

@Command(type=QUERY,
         description="log if actions on online clamps are allowed,throws an exception otherwise.")
public void checkConditionsForActioningOnlineClamps()

log if actions on online clamps are allowed, throws an exception otherwise.

checkFilterSafetyBeforeMotion

@Command(type=QUERY,
         level=1,
         description="Check if its safe for filters to move autochanger trucks.")
public void checkFilterSafetyBeforeMotion()

This methods checks that filter can be moved by trucks. Returns immediately if autochanger trucks are empty. Throws RejectedCommandException if a filter is in trucks AND held both by autochanger and (loader or carousel).

Throws:

FcsHardwareException

RejectedCommandException

isHoldingFilter

@Command(type=QUERY,
         level=1,
         description="Return true if a filter is in trucks and latches are LOCKED.")
public boolean isHoldingFilter()

Return true if a filter is in trucks and latches are LOCKED.

Specified by:

isHoldingFilter in interface FilterHolder

Returns:

updateStateWithSensors

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

This method reads all the sensors and updates the autochangerTrucks, latches and online clamps state.

Specified by:

updateStateWithSensors in interface FilterHolder

Throws:

FcsHardwareException

updateFilterOnTrucksID

@Command(type=QUERY,
         level=1,
         description="Update clamp state in reading sensors.")
public void updateFilterOnTrucksID()

update filterOnTrucksID

updateStateFromPDO

public void updateStateFromPDO()

updateFCSStateToReady

@Command(type=ACTION,
         level=1,
         description="Update FCS state and FCS readyness state and publishes on the status bus.")
public void updateFCSStateToReady()

Update FCS state and FCS readyness state and publish on the status bus. Check that Autochanger hardware is ready to be operated and moved. This means that : - all CAN open devices are booted, identified and initialized, - initialization has been done on the controllers.

isAtHandoff

@Command(type=QUERY,
         level=0,
         description="Return true if autochanger trucks are at HANDOFF. This command doesn\'t read again the sensors.")
public boolean isAtHandoff()

Return true if autochanger trucks are at HANDOFF. This command doesn't read again the sensors.

Specified by:

isAtHandoff in interface FilterHolder

Returns:

isAtStandby

@Command(type=QUERY,
         level=0,
         description="Return true if autochanger trucks are at STANDBY. This command doesn\'t read again the sensors.")
public boolean isAtStandby()

Return true if autochanger trucks are at STANDBY. This command doesn't read again the sensors.

Specified by:

isAtStandby in interface FilterHolder

Returns:

isAtOnline

@Command(type=QUERY,
         description="Return true if autochanger trucks are at ONLINE. This command doesn\'t read again the sensors.")
public boolean isAtOnline()

return true if autochanger trucks are at ONLINE.

Returns:

isEmpty

@Command(type=QUERY,
         level=0,
         description="Return true if there is no filter in the autochanger. This command doesn\'t read again the sensors.")
public boolean isEmpty()

Return true if there is no filter in the autochanger. This command doesn't read again the sensors.

Returns:

grabFilterAtStandby

@Command(type=ACTION,
         level=1,
         alias="grabFilter",
         description="Go to STANDBY to grab filter and stay at STANDBY.")
public void grabFilterAtStandby()

Close latches on filter at STANDBY. Identify filter at STANDBY in reading identifier ID. Update filter location.

Throws:

RejectedCommandException - if autochanger trucks are not at STANDBY.

ungrabFilterAtStandby

@Command(type=ACTION,
         level=1,
         description="Ungrab filter at STANDBY")
public void ungrabFilterAtStandby()

Open the latches at standby position. position.

Throws:

RejectedCommandException

FcsHardwareException

createStatusDataPublishedByAutoChanger

public StatusDataPublishedByAutoChanger createStatusDataPublishedByAutoChanger()

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.

saveCurrentSentToOnlineClampsControllers

public void saveCurrentSentToOnlineClampsControllers()

Save on disk the values of current sent to online clamps controllers. This command has to be executed before shutting down the subsystem to store current values sent to controllers. The goal is to be able to restart next time and know which value of current has been sent to controller. To know this value of current is important because the pressure exerted on the filter by the online clamps depends on the value of this current. Higher is the current value, higher is the pressure. And the process of opening or closing of a online clamp depends on this previous sent current value.

shutdownNow

public void shutdownNow()

Specified by:

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

Overrides:

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