org.lsst.ccs.subsystems.fcs

Class AutochangerTruckModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.AutochangerTruckModule

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, MovedByEPOSController, org.lsst.ccs.UsesSubsystem

public class AutochangerTruckModule
extends MobileItemModule
implements MovedByEPOSController

A model for an autochanger truck. The goal of this class is to factorise the code which reads AC truck sensors. On the Autochanger there are 2 trucks : one on each side : truckXminus and 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

Modifier and Type	Field and Description
protected Lock	lock
protected boolean	updatingState

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

currentAction, FCSLOG, hasToWaitForEndOfAction, scheduler

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

name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description
AutochangerTruckModule(EPOSControllerWithBrake controller, ComplementarySensors handoffPositionSensors, ComplementarySensors onlinePositionSensors, ComplementarySensors standbyPositionSensors) Builds a AutochangerTruckModule with 3 couple of complementary sensors to detect position of the truck at ONLINE, HANDOFF and STANDBY position.

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay) aborts action actually running.
StatusDataPublishedByAutochangerTruck	createStatusDataPublishedByAutoChangerTruck() Creates an object to be published on the status bus.
String	getControllerName() Return the name of the controller.
int	getPosition() Return truck position enregistred in field position.
void	initModule()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isAtHandoff()
boolean	isAtOnline()
boolean	isAtStandby()
boolean	isCANDevicesReady()
boolean	isControllerInFault() Return true if controller is in fault.
boolean	isHandoffSensorsInError() Return false if the 2 redondant position sensors at Handoff are equal.
boolean	isOnlineSensorsInError() Return false if the 2 redondant position sensors at Online are equal.
boolean	isPositionSensorsInError() Return true if position sensors are in error.
boolean	isStandbySensorsInError() Return false if the 2 redondant position sensors at Standby are equal.
void	moveToAbsoluteTargetPosition(int targetPosition)
void	postAction(FcsEnumerations.MobileItemAction 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() publishes data on the STATUS bus
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
void	setControllerInFault(boolean controllerInFault)
void	startAction(FcsEnumerations.MobileItemAction action) starts the action given as argument.
void	updatePosition() Updates the field position of the truck 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, 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, 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.UsesSubsystem

getComponentConfigurationEnvironment, getComponentLookup, getName, getSubsystem

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.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

lock

protected final Lock lock

updatingState

protected volatile boolean updatingState

Constructor Detail

AutochangerTruckModule

public AutochangerTruckModule(EPOSControllerWithBrake controller,
                              ComplementarySensors handoffPositionSensors,
                              ComplementarySensors onlinePositionSensors,
                              ComplementarySensors standbyPositionSensors)

Builds a AutochangerTruckModule with 3 couple of complementary sensors to detect position of the truck at ONLINE, HANDOFF and STANDBY position.

Parameters:

controller -

handoffPositionSensors -

onlinePositionSensors -

standbyPositionSensors -

Method Detail

initModule

public void initModule()

Overrides:

initModule in class MobileItemModule

isAtHandoff

@Command(type=QUERY,
         level=1,
         description="Return true if truck is at HANDOFF position.")
public boolean isAtHandoff()

Returns:

true if truck is at HANDOFF position.

isAtOnline

@Command(type=QUERY,
         level=1,
         description="Return true if truck is at ONLINE position.")
public boolean isAtOnline()

Returns:

true if truck is at ONLINE position.

isAtStandby

@Command(type=QUERY,
         level=1,
         description="Return true if truck is at STANDBY position.")
public boolean isAtStandby()

Returns:

true if truck is at STANDBY position.

isStandbySensorsInError

@Command(type=QUERY,
         level=1,
         description="Return false if the 2 redondant position sensors at Standby are equal. Doesn\'t read again sensors.")
public boolean isStandbySensorsInError()

Return false if the 2 redondant position sensors at Standby are equal. Doesn't read again sensors.

Returns:

isHandoffSensorsInError

@Command(type=QUERY,
         level=1,
         description="Return false if the 2 redondant position sensors at Handoff are equal.Doesn\'t read again sensors.")
public boolean isHandoffSensorsInError()

Return false if the 2 redondant position sensors at Handoff are equal. Doesn't read again sensors.

Returns:

isOnlineSensorsInError

@Command(type=QUERY,
         level=1,
         description="Return false if the 2 redondant position sensors at Online are equal.Doesn\'t read again sensors.")
public boolean isOnlineSensorsInError()

Return false if the 2 redondant position sensors at Online are equal. Doesn't read again sensors.

Returns:

isPositionSensorsInError

@Command(type=QUERY,
         level=1,
         description="Return true if position sensors are in error.Doesn\'t read again sensors.")
public boolean isPositionSensorsInError()

Return true if position sensors are in error.

Returns:

getPosition

@Command(type=QUERY,
         level=1,
         description="return truck position.")
public int getPosition()

Return truck position enregistred in field position.

Returns:

getControllerName

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

Description copied from interface: MovedByEPOSController

Return the name of the controller.

Specified by:

getControllerName in interface MovedByEPOSController

Returns:

controller name.

isControllerInFault

@Command(type=QUERY,
         level=1,
         description="Return true if the controller is in fault.")
public boolean isControllerInFault()

Return true if controller is in fault.

Specified by:

isControllerInFault in interface MovedByEPOSController

Returns:

setControllerInFault

public void setControllerInFault(boolean controllerInFault)

Specified by:

setControllerInFault in interface MovedByEPOSController

updatePosition

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

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

updateStateWithSensors

protected void updateStateWithSensors(String[] readHexaValues)

This methods updates the lockStatus from an array of hexaValues.

Parameters:

readHexaValues -

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 -

createStatusDataPublishedByAutoChangerTruck

public StatusDataPublishedByAutochangerTruck createStatusDataPublishedByAutoChangerTruck()

Creates an object to be published on the status bus.

Returns:

publishData

public void publishData()

Description copied from interface: MovedByEPOSController

publishes data on the STATUS bus

Specified by:

publishData in interface MovedByEPOSController

Specified by:

publishData in class MobileItemModule

moveToAbsoluteTargetPosition

public void moveToAbsoluteTargetPosition(int targetPosition)

isCANDevicesReady

public boolean isCANDevicesReady()

Specified by:

isCANDevicesReady in class MobileItemModule

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

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