org.lsst.ccs.subsystems.fcs

Class AutoChangerTwoTrucksModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.AutoChangerTwoTrucksModule

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, org.lsst.ccs.UsesSubsystem

public class AutoChangerTwoTrucksModule
extends MobileItemModule

This is a model for the autochanger trucks. The autochanger trucks move a filter from STANDBY masterPosition to ONLINE masterPosition or HANDOFF masterPosition. The ONLINE masterPosition is just in front of the focal front. The STANDBY masterPosition is near the carousel. The HANDOFF masterPosition is a masterPosition when the loader can hold a filter. The trucks are moved by 2 controllers, a master and a slave. Each controller has an absolute encoder. MASTER CONTROLLER FOR truckXminus SLAVE CONTROLLER FOR truckXplus

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.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
AutoChangerTwoTrucksModule(AutochangerTruckModule truckXminus, AutochangerTruckModule truckXplus) Build a new AutoChangerTrucksModule.

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay) aborts action actually running.
void	alignSlave() move slave truk to masterPosition.
void	checkConditionsForTrucksMotion() This method sends Exceptions if the conditions for trucks motion are not filled.
void	checkDeltaPosition()
org.lsst.ccs.framework.TreeWalkerDiag	checkHardware() This method is called by method checkHardware in AutoChangerModule during INITIALIZATION phase.
void	checkPositionSensors() This method is called in the postAction method to check that after a motion to well known position as STANDBY, HANDOFF and ONLINE, position sensors confirm the trucks position.
void	configureControllers() Configure Autochanger trucks master and slave controllers.
StatusDataPublishedByAutoChangerTrucks	createStatusDataPublishedByAutoChangerTrucks() Creates an object to be published on the status bus.
void	enableControllersAndReleaseBrake() This method is used in the startAction method.
int	getHandoffPosition() Return HANDOFF masterPosition.
int	getOnlinePosition() Return ONLINE masterPosition.
int	getPosition() Return actual trucks masterPosition.
int	getStandbyPosition() Return STANDBY masterPosition.
long	getTimeoutForTrucksMotion() Return the timeout for trucks motion.
void	goToHandOff() Move Autochanger trucks to the Handoff masterPosition.
void	goToOnline() Move Autochanger trucks to the Online masterPosition.
void	goToStandby() Move Autochanger trucks to the Standby masterPosition.
void	homing() Do homing of both controllers.
void	initModule()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isAtHandoff() Returns the boolean field atHandoff.
boolean	isAtOnline() Returns the boolean field atOnline.
boolean	isAtStandby() Returns the boolean field atStandby.
boolean	isCANDevicesReady()
boolean	isHomingDone() Return true if the homing of the trucks has been done.
boolean	isInitialized() Return true if both controllers are initialized and homing of trucks are done.
boolean	isPositionSensorsInError() Return true if TruckXminus position sensors or TruckXminus position sensors are in error.
void	moveToAbsoluteTargetPosition(int targetPosition) Move the trucks to an absolute masterPosition given as argument.
void	moveToRelativeTargetPosition(int relativePosition) Deprecated.
void	postAction(FcsEnumerations.MobileItemAction action)
void	publishData()
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
int	readPosition() For the GUI and end users for test purpose.
void	releaseBrakeMaster() release brake on master controller.
void	releaseBrakeSlave() release brake on slave controller.
void	startAction(FcsEnumerations.MobileItemAction action) starts the action given as argument.
void	updatePosition() Updates the field masterPosition of the carrier in reading the CPU of the controller.
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, 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

Constructor Detail

AutoChangerTwoTrucksModule

public AutoChangerTwoTrucksModule(AutochangerTruckModule truckXminus,
                                  AutochangerTruckModule truckXplus)

Build a new AutoChangerTrucksModule.

Parameters:

truckXminus -

truckXplus -

Method Detail

getPosition

@Command(type=QUERY,
         level=1,
         description="Return actual trucks position (master position). Doesn\'t read again the position on the controller.")
public int getPosition()

Return actual trucks masterPosition. Doesn't read again the masterPosition on the controller.

Returns:

getHandoffPosition

@Command(type=QUERY,
         level=1,
         description="Return HANDOFF position. Doesn\'t read again the position on the controller.")
public int getHandoffPosition()

Return HANDOFF masterPosition. Doesn't read again the masterPosition on the controller.

Returns:

getStandbyPosition

@Command(type=QUERY,
         level=1,
         description="Return STANDBY position. Doesn\'t read again the position on the controller.")
public int getStandbyPosition()

Return STANDBY masterPosition. Doesn't read again the masterPosition on the controller.

Returns:

getOnlinePosition

@Command(type=QUERY,
         level=1,
         description="Return ONLINE position. Doesn\'t read again the position on the controller.")
public int getOnlinePosition()

Return ONLINE masterPosition. Doesn't read again the masterPosition on the controller.

Returns:

getTimeoutForTrucksMotion

@Command(type=QUERY,
         level=1,
         description="Return timeout for trucks motion.")
public long getTimeoutForTrucksMotion()

Return the timeout for trucks motion. If trucks motion duration is greater than timeoutForTrucksMotion, an ALERT is raised.

Returns:

timeoutForTrucksMotion

isAtHandoff

@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 isAtHandoff()

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

Returns:

atHandoff

isAtOnline

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

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

Returns:

atHandoff

isAtStandby

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

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

Returns:

atStandby

isHomingDone

@Command(type=QUERY,
         level=0,
         description="Return true if the homing of the trucks has been done.")
public boolean isHomingDone()

Return true if the homing of the trucks has been done.

Returns:

isPositionSensorsInError

@Command(type=QUERY,
         level=0,
         description="Return true if TruckXminus position sensors or TruckXminus position sensors are in error.")
public boolean isPositionSensorsInError()

Return true if TruckXminus position sensors or TruckXminus position sensors are in error. Or position sensors are non consistant.

Returns:

initModule

public void initModule()

Overrides:

initModule in class MobileItemModule

checkHardware

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

This method is called by method checkHardware in AutoChangerModule during INITIALIZATION phase.

Specified by:

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

Overrides:

checkHardware in class MobileItemModule

Returns:

Throws:

org.lsst.ccs.HardwareException

configureControllers

@Command(type=ACTION,
         level=1,
         description="Configure Autochanger trucks master and slave controllers.",
         alias="initControllers")
public void configureControllers()

Configure Autochanger trucks master and slave controllers.

Throws:

FcsHardwareException

isInitialized

@Command(type=QUERY,
         level=0,
         description="Return true if both controllers are initialized and homing of trucks are done.")
public boolean isInitialized()

Return true if both controllers are initialized and homing of trucks are done.

Returns:

checkConditionsForTrucksMotion

@Command(type=QUERY,
         level=1,
         description="Check if the motion of trucks are allowed.")
public void checkConditionsForTrucksMotion()

This method sends Exceptions if the conditions for trucks motion are not filled. Autochanger trucks motion is allowed if : - controllers are initialized - homing is done - trucks are empty OR (loaded with a filter but latches are closed AND carousel or loader doesn't hold filter)

Throws:

FcsHardwareException

RejectedCommandException

goToHandOff

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

Move Autochanger trucks to the Handoff masterPosition. If Autochanger trucks are already at HANDOFF masterPosition, it does nothing.

Throws:

RejectedCommandException

FcsHardwareException

goToOnline

@Command(type=ACTION,
         level=1,
         description="Move Autochanger trucks to the Online position.")
public void goToOnline()

Move Autochanger trucks to the Online masterPosition. If Autochanger trucks are already at ONLINE masterPosition, it does nothing.

Throws:

FcsHardwareException

goToStandby

@Command(type=ACTION,
         level=1,
         description="Move Autochanger trucks to the Standby position.")
public void goToStandby()

Move Autochanger trucks to the Standby masterPosition. If Autochanger trucks are already at STANDBY masterPosition, it does nothing.

Throws:

RejectedCommandException

FcsHardwareException

moveToAbsoluteTargetPosition

@Command(type=ACTION,
         level=1,
         description="Move Autochanger trucks to the absolute position given as argument.",
         alias="mobeABSPos",
         timeout=20000)
public void moveToAbsoluteTargetPosition(int targetPosition)

Move the trucks to an absolute masterPosition given as argument.

Parameters:

targetPosition -

Throws:

RejectedCommandException

FcsHardwareException

moveToRelativeTargetPosition

@Deprecated
public void moveToRelativeTargetPosition(int relativePosition)

Deprecated.

Move the trucks to a relative masterPosition given as argument.

Parameters:

relativePosition -

Throws:

RejectedCommandException

FcsHardwareException

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

enableControllersAndReleaseBrake

@Command(type=ACTION,
         level=1,
         description="Enable and release brake for the 2 controllers.")
public void enableControllersAndReleaseBrake()

This method is used in the startAction method. It is was has to be done before moving the trucks.

alignSlave

@Command(type=ACTION,
         level=1,
         description="Align slave controller position to master controller position.")
public void alignSlave()

move slave truk to masterPosition. When moving along the rails with slave controller in MASTER_ENCODER mode, at the end of motion there is a small misalignement. This consists in : setting slaveController mode to PROFILE_POSITION, go to absolute masterPosition pos, and then set slaveController mode back to MASTER_ENCODER mode.

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

checkPositionSensors

public void checkPositionSensors()

This method is called in the postAction method to check that after a motion to well known position as STANDBY, HANDOFF and ONLINE, position sensors confirm the trucks position. Otherwise it throws a FailedCommandException.

Throws:

FcsHardwareException

homing

@Command(type=ACTION,
         level=1,
         description="Do homing for both  controllers.")
public void homing()

Do homing of both controllers.

Throws:

RejectedCommandException

FcsHardwareException

updatePosition

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

Updates the field masterPosition of the carrier in reading the CPU of the controller. MASTER CONTROLLER FOR truckXminus SLAVE CONTROLLER FOR truckXplus

Throws:

FcsHardwareException

checkDeltaPosition

@Command(type=QUERY,
         level=1,
         description="Read position on controllers, compute difference and throw exceptionif difference is > 1000.")
public void checkDeltaPosition()

readPosition

@Command(type=QUERY,
         level=1,
         description="Update trucks position in reading controller and return position.")
public int readPosition()

For the GUI and end users for test purpose. Update positon in reading the master controller and returns the value read.

Returns:

trucks masterPosition

Throws:

RejectedCommandException

FcsHardwareException

isCANDevicesReady

public boolean isCANDevicesReady()

Specified by:

isCANDevicesReady in class MobileItemModule

Returns:

true if both controllers are initialized and homing of trucks are done.

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

releaseBrakeSlave

@Command(type=ACTION,
         level=3,
         description="Release slave controller brake.")
public void releaseBrakeSlave()

release brake on slave controller. This command is forbidden if slave is in MASTER_ENCODER mode and master is disabled because in this case, releasing slave could lead to a filter fall.

releaseBrakeMaster

@Command(type=ACTION,
         level=3,
         description="Release master controller brake.")
public void releaseBrakeMaster()

release brake on master controller. This command is forbidden if slave is in MASTER_ENCODER mode and master is disabled because in this case, releasing slave could lead to a filter fall.

createStatusDataPublishedByAutoChangerTrucks

public StatusDataPublishedByAutoChangerTrucks createStatusDataPublishedByAutoChangerTrucks()

Creates an object to be published on the status bus.

Returns:

publishData

public void publishData()

Specified by:

publishData in class MobileItemModule