org.lsst.ccs.subsystems.fcs

Class AutochangerThreeOnlineClamps

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.AutochangerThreeOnlineClamps

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, org.lsst.ccs.UsesSubsystem

public class AutochangerThreeOnlineClamps
extends MobileItemModule
implements ControlledBySensors

The Three Online clamps which holds a filter when it is at ONLINE position can ve viewed as a single object. It's the goal of this class to represent this object. Opening or closing the 3 clamps at ONLINE is not the same action as opening or closing online clamps one by one.

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 Condition	currentRampEnded
protected boolean	hasToWaitForEndOfCurrentRamp
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
AutochangerThreeOnlineClamps(AutochangerOnlineClampModule onlineClampXminus, AutochangerOnlineClampModule onlineClampXplus, AutochangerOnlineClampModule onlineClampYminus) Create a AutochangerThreeOnlineClamps with 3 AutochangerOnlineClampModule.

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay) aborts action actually running.
void	closeAndLockClamps() Closes and locks the online clamps.
void	closeClamps() Closes the 3 clamps with a small pressure.
StatusDataPublishedByAutochangerThreeClamps	createStatusDataPublishedByThreeClamps() Creates an object to be published on the status bus.
FcsEnumerations.LockStatus	getLockStatus() Return lockStatus If lockStatus is being updated, wait until update completion else return immediately lockStatus.
void	initModule()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action) returns true if the action given as argument is completed.
boolean	isCANDevicesReady() Return true if the 3 onlineClamps hardware is ready.
boolean	isClosed() Returns true if LockStatus=CLOSED
boolean	isInError() Returns true if LockStatus=ERROR
boolean	isInitialized() Return true if the 3 onlineClamps hardware is initialized.
boolean	isLocked() Returns true if LockStatus=LOCKED
boolean	isOpened() Returns true if LockStatus=OPENED
void	lockClamps() Locks clamps : closed with a strong pressure (high current).
void	openClamps() Opens the 3 clamps with a small pressure.
void	postAction(FcsEnumerations.MobileItemAction action)
void	publishData()
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
void	startAction(FcsEnumerations.MobileItemAction action) starts the action given as argument.
void	unlockAndOpenClamps() Unlock and open the online clamps.
void	unlockClamps() Unlocks clamps : slows down current sent to controller in order to decrease pressure on the clamps.
void	updateStateWithSensors(String[] hexaValues) This methods updates lockStatus from the values return by the sensors.
void	updateStateWithSensorsToCheckIfActionIsCompleted() reads sensors, computes new lockStatus.

Methods inherited from class org.lsst.ccs.subsystems.fcs.common.MobileItemModule

abort, abort, checkHardware, 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.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

currentRampEnded

protected final Condition currentRampEnded

hasToWaitForEndOfCurrentRamp

protected boolean hasToWaitForEndOfCurrentRamp

Constructor Detail

AutochangerThreeOnlineClamps

public AutochangerThreeOnlineClamps(AutochangerOnlineClampModule onlineClampXminus,
                                    AutochangerOnlineClampModule onlineClampXplus,
                                    AutochangerOnlineClampModule onlineClampYminus)

Create a AutochangerThreeOnlineClamps with 3 AutochangerOnlineClampModule.

Parameters:

onlineClampXminus -

onlineClampXplus -

onlineClampYminus -

Method Detail

getLockStatus

public FcsEnumerations.LockStatus getLockStatus()

Return lockStatus If lockStatus is being updated, wait until update completion else return immediately lockStatus.

Returns:

isLocked

@Command(type=QUERY,
         level=1,
         description="Returns true if the 3 clamps are LOCKED.")
public boolean isLocked()

Returns true if LockStatus=LOCKED

Returns:

isClosed

@Command(type=QUERY,
         level=1,
         description="Returns true if the 3 clamps are CLOSED.")
public boolean isClosed()

Returns true if LockStatus=CLOSED

Returns:

isOpened

@Command(type=QUERY,
         level=1,
         description="Returns true if the 3 clamps are OPENED.")
public boolean isOpened()

Returns true if LockStatus=OPENED

Returns:

isInError

@Command(type=QUERY,
         level=1,
         description="Returns true if one of the clamp is in error.")
public boolean isInError()

Returns true if LockStatus=ERROR

Specified by:

isInError in interface ControlledBySensors

Returns:

initModule

public void initModule()

Overrides:

initModule in class MobileItemModule

isInitialized

@Command(type=QUERY,
         level=0,
         description="Return true if the 3 onlineClamps hardware is ready : controllers ready, controllers parameters checked and controllers configured.")
public boolean isInitialized()

Return true if the 3 onlineClamps hardware is initialized.

Returns:

closeAndLockClamps

@Command(type=ACTION,
         level=0,
         description="Closes and locks the online clamps.")
public void closeAndLockClamps()

Closes and locks the online clamps. This command first release brakes, sends currentToClose to the 3 clamps controllers and then increases progressively current until currentToClamp is reached for every clamps controllers. state before this action : OPENED or CLOSED (if CLOSED, nothing has to be done) state after this action : LOCKED

Throws:

FcsHardwareException

unlockAndOpenClamps

@Command(type=ACTION,
         level=0,
         description="Unlock and open the online clamps.")
public void unlockAndOpenClamps()

Unlock and open the online clamps. initial state = LOCKED final state = OPENED This action is not

Throws:

FcsHardwareException

closeClamps

@Command(type=ACTION,
         level=1,
         description="Close the 3 online clamps.")
public void closeClamps()

Closes the 3 clamps with a small pressure. initial state = OPENED final state = CLOSED

openClamps

@Command(type=ACTION,
         level=1,
         description="Opens the 3 online clamps with a small pressure.")
public void openClamps()

Opens the 3 clamps with a small pressure. initial state = CLOSED final state = OPENED

lockClamps

@Command(type=ACTION,
         level=1,
         description="Locks clamps : closed with a strong pressure (high current).")
public void lockClamps()

Locks clamps : closed with a strong pressure (high current). The clamps have to be CLOSED. At the end of this action, the clamps are CLOSED but a strong pressure to hold safely the clamps.

unlockClamps

@Command(type=ACTION,
         level=1,
         description="unlocks clamps : decreases current in controller to decrease pressure.")
public void unlockClamps()

Unlocks clamps : slows down current sent to controller in order to decrease pressure on the clamps. The clamps have to be LOCKED. At the end of this action, the clamps are CLOSED with a small pressure of the clamp hardware on the filter frame.

isCANDevicesReady

@Command(type=QUERY,
         level=0,
         description="Return true if the 3 onlineClamps hardware is ready.")
public boolean isCANDevicesReady()

Return true if the 3 onlineClamps hardware is ready.

Specified by:

isCANDevicesReady in class MobileItemModule

Returns:

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

returns true if the action given as argument is completed. The completion of action has been confirmed by sensors.

Specified by:

isActionCompleted in class MobileItemModule

Parameters:

action -

Returns:

updateStateWithSensorsToCheckIfActionIsCompleted

public void updateStateWithSensorsToCheckIfActionIsCompleted()

reads sensors, computes new lockStatus. used in MobileItemModule to check that action started in startAction is completed.

Specified by:

updateStateWithSensorsToCheckIfActionIsCompleted in class MobileItemModule

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

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

createStatusDataPublishedByThreeClamps

public StatusDataPublishedByAutochangerThreeClamps createStatusDataPublishedByThreeClamps()

Creates an object to be published on the status bus.

Returns:

publishData

public void publishData()

Specified by:

publishData in class MobileItemModule

updateStateWithSensors

@Command(type=ACTION,
         level=1,
         description="Update state in reading sensors.")
public 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 -