org.lsst.ccs.subsystems.fcs

Class AutochangerLatchModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.AutochangerLatchModule

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 AutochangerLatchModule
extends MobileItemModule
implements MovedByEPOSController, ControlledBySensors

This class is a model for the latch which lock a filter on the autochanger trucks. The ACTION methods : open and close of this class is used in ENGINEERING mode only when an operator may need to open or close only one Latch. In NORMAL mode, when we have to open or close both Latches in the same time, the class AutochangerTwoLatches is used. On the autochanger there are 2 latches : one on each side of the filter : at X+ and X-.

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
AutochangerLatchModule(EPOSController latchController, ComplementarySensors lockSensors, ComplementarySensors unlockSensors, ComplementarySensors filterEngagedSensors) Buils a AutochangerLatchModule with a controller and 3 sensors.

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay) Stop action OPEN or CLOSE
org.lsst.ccs.framework.TreeWalkerDiag	checkHardware() Executed during INITIALIZATION phase.
void	close() Close this latch.
StatusDataPublishedByAutochangerLatch	createStatusDataPublishedByLatch() Creates an return an object to be published on the STATUS bus.
String	getControllerName() Return the name of the controller.
int	getCurrentToClose() For simulation, return currentToClose
EPOSController	getLatchController() Return latchController
FcsEnumerations.LockStatus	getLockStatus() Return lockStatus.
long	getTimeoutForClosing() Return timeoutForClosing
long	getTimeoutForOpening() Return timeoutForOpening
void	initModule() Initialize field autochanger and latchController
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action) Return true if action is completed with success.
boolean	isCANDevicesReady() Returns true if autochanger CANopen hardware is connected and ready.
boolean	isControllerInFault() Returns true if latchController is in Fault.
boolean	isEmpty() Returns true if autochanger is empty.
boolean	isInError() Returns true if LockStatus=ERROR, this means that unlockSensor and lockSensor return non consistant values.
boolean	isInitialized() Returns true if latch is initialized.
boolean	isLocked() Returns true if LockStatus=LOCKED Doesn't read again sensors.
boolean	isUnlocked() Returns true if LockStatus=UNLOCKED Doesn't read again sensors.
void	open() Open this latch.
void	postAction(FcsEnumerations.MobileItemAction action) Switch off controller after a CLOSE or OPEN action.
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)
void	setControllerInFault(boolean controllerInFault) Set controllerInFault
void	startAction(FcsEnumerations.MobileItemAction action) Start Action OPEN or CLOSE
void	updateCurrent() Updates the field readCurrent of the latch in reading the CPU of the controller.
void	updateStateAndCheckSensors() Reads sensors, updates state and checks if sensors are in error.
protected void	updateStateWithSensors(String[] hexaValues) This methods updates lockStatus from the values return by the sensors.
void	updateStateWithSensorsToCheckIfActionIsCompleted() Read sensors and update State.

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, 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, 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

Field Detail

updatingState

protected volatile boolean updatingState

Constructor Detail

AutochangerLatchModule

public AutochangerLatchModule(EPOSController latchController,
                              ComplementarySensors lockSensors,
                              ComplementarySensors unlockSensors,
                              ComplementarySensors filterEngagedSensors)

Buils a AutochangerLatchModule with a controller and 3 sensors.

Parameters:

latchController -

lockSensors -

unlockSensors -

filterEngagedSensors -

Method Detail

getControllerName

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

Description copied from interface: MovedByEPOSController

Return the name of the controller.

Specified by:

getControllerName in interface MovedByEPOSController

Returns:

getLatchController

public EPOSController getLatchController()

Return latchController

Returns:

isControllerInFault

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

Returns true if latchController is in Fault.

Specified by:

isControllerInFault in interface MovedByEPOSController

Returns:

setControllerInFault

public void setControllerInFault(boolean controllerInFault)

Set controllerInFault

Specified by:

setControllerInFault in interface MovedByEPOSController

Parameters:

controllerInFault -

isInitialized

@Command(type=QUERY,
         level=1,
         description="Returns true if latch is initialized.")
public boolean isInitialized()

Returns true if latch is initialized.

Returns:

getCurrentToClose

public int getCurrentToClose()

For simulation, return currentToClose

Returns:

getTimeoutForOpening

public long getTimeoutForOpening()

Return timeoutForOpening

Returns:

getTimeoutForClosing

public long getTimeoutForClosing()

Return timeoutForClosing

Returns:

getLockStatus

public FcsEnumerations.LockStatus getLockStatus()

Return lockStatus. If another thread is updating lockStatus it waits untils update is completed and then returns lockStatus. Otherwise it returns lockStatus immediately.

Returns:

isLocked

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

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

Returns:

isUnlocked

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

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

Returns:

isInError

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

Returns true if LockStatus=ERROR, this means that unlockSensor and lockSensor return non consistant values. Doesn't read again sensors.

Specified by:

isInError in interface ControlledBySensors

Returns:

isEmpty

@Command(type=QUERY,
         level=1,
         description="Returns true if autochanger is empty. Doesn\'t read again sensors.")
public boolean isEmpty()

Returns true if autochanger is empty.

Returns:

initModule

public void initModule()

Initialize field autochanger and latchController

Overrides:

initModule in class MobileItemModule

checkHardware

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

Executed during INITIALIZATION phase. Initialize and check latchController.

Specified by:

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

Overrides:

checkHardware in class MobileItemModule

Returns:

Throws:

org.lsst.ccs.HardwareException

updateStateWithSensors

protected 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 -

updateCurrent

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

Updates the field readCurrent of the latch in reading the CPU of the controller. This method is used in the simulator mainly.

Throws:

FcsHardwareException

isCANDevicesReady

@Command(type=QUERY,
         level=1,
         description="Returns true if autochanger CANopen hardware is connected and ready.")
public boolean isCANDevicesReady()

Returns true if autochanger CANopen hardware is connected and ready.

Specified by:

isCANDevicesReady in class MobileItemModule

Returns:

close

@Command(type=ACTION,
         level=1,
         description="Close latch.")
public void close()

Close this latch.

Throws:

FcsHardwareException

RejectedCommandException

open

@Command(type=ACTION,
         level=1,
         description="Open latch.")
public void open()

Open this latch.

Throws:

FcsHardwareException

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Return true if action is completed with success.

Specified by:

isActionCompleted in class MobileItemModule

Parameters:

action -

Returns:

updateStateAndCheckSensors

public void updateStateAndCheckSensors()

Reads sensors, updates state and checks if sensors are in error. If sensors are in error, raises an ALERT.

updateStateWithSensorsToCheckIfActionIsCompleted

public void updateStateWithSensorsToCheckIfActionIsCompleted()

Read sensors and update State. Used during an action.

Specified by:

updateStateWithSensorsToCheckIfActionIsCompleted in class MobileItemModule

startAction

public void startAction(FcsEnumerations.MobileItemAction action)

Start Action OPEN or CLOSE

Specified by:

startAction in class MobileItemModule

Parameters:

action -

Throws:

FcsHardwareException

abortAction

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

Stop action OPEN or CLOSE

Specified by:

abortAction in class MobileItemModule

Parameters:

action -

delay -

Throws:

FcsHardwareException

quickStopAction

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

Specified by:

quickStopAction in class MobileItemModule

Parameters:

action -

delay -

Throws:

FcsHardwareException

postAction

public void postAction(FcsEnumerations.MobileItemAction action)

Switch off controller after a CLOSE or OPEN action.

Specified by:

postAction in class MobileItemModule

Parameters:

action -

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 -

createStatusDataPublishedByLatch

public StatusDataPublishedByAutochangerLatch createStatusDataPublishedByLatch()

Creates an return an object to be published on the STATUS bus.

Returns:

publishData

@Command(type=QUERY,
         level=1,
         description="Publish Data on the Status Bus.")
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