org.lsst.ccs.subsystems.fcs

Class CarouselClampModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.CarouselClampModule

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 CarouselClampModule
extends MobileItemModule

A class which extends Module to model a clamp that holds a filter on the carousel. Each clamp on the carousel is coupled with a sensors which detect the presence of a filter, or if the clamp is locked or unlocked. This class provides a method to lock, unlock or release the clamps, and to compute the clampState of the clamp. The clampState of the clamp is computed, updated and published on the status bus each tick of the timer.

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 FcsEnumerations.FilterClampState	clampState
protected EPOSController	controller The motor controller which controls this clamp.
protected int	currentToMaintainUnlocked
protected int	currentToUnlock
protected FcsEnumerations.FilterPresenceStatus	filterPresenceStatus
protected double	temperature
protected long	timeoutForReleasing
protected long	timeoutForUnlocking
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
CarouselClampModule(Sensor14bits filterPresenceSensor, Sensor14bits lockSensor, Thermometer thermometer) Build a new CarouselClampModule with a tickMillis value:5000;

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay) aborts action actually running.
org.lsst.ccs.framework.TreeWalkerDiag	checkHardware()
void	computeClampState() Compute the global state of the clamp given the lock sensor and the presence filter sensor state.
StatusDataPublishedByCarouselClamp	createStatusDataPublishedByClamp() Create an object to be published on the STATUS bus.
FcsEnumerations.FilterClampState	getClampState() Returns the clampState of the clamp.
int	getCurrentToUnlock() Returns the amount of current needed to unlock this clamp.
Sensor14bits	getFilterPresenceSensor() For encapsulation : we want to access to filterPresenceSensor in sub-packages.
FcsEnumerations.FilterPresenceStatus	getFilterPresenceStatus()
int	getFilterPresenceValueA()
int	getFilterPresenceValueB()
int	getFilterPresenceValueC()
Sensor14bits	getLockSensor()
int	getLockSensorValueA()
int	getLockSensorValueB()
int	getLockSensorValueC()
FcsEnumerations.LockStatus	getLockStatus()
void	initModule() ***********************************************************************************************
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isCANDevicesReady()
boolean	isFilterEngaged()
boolean	isLocked() This methods returns true if the clamp is locked.
void	postAction(FcsEnumerations.MobileItemAction action)
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
void	release() The clamps on the carousel are locked automaticaly when the filter comes at the standby position.
protected void	setController(EPOSController actuator) In the initialization phase, this method is used to initialize the controller.
void	startAction(FcsEnumerations.MobileItemAction action) starts the action given as argument.
String	toString()
void	unlock() Unlock the clamp when a filter is locked by the clamp.
void	updateStateWithSensors() This method updates the clamp clampState regarding the value returned by the filter presence sensor and the value returned by the method isLocked().
void	updateStateWithSensorsFromSDO() Deprecated.
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.
double	updateTemperature() This methods read the thermometer, update the field temperature and returns the value sent by the thermometer;

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, 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

Field Detail

controller

protected EPOSController controller

The motor controller which controls this clamp. This is initialized in the initModule method of CarouselSocket.

clampState

protected FcsEnumerations.FilterClampState clampState

filterPresenceStatus

protected FcsEnumerations.FilterPresenceStatus filterPresenceStatus

temperature

protected double temperature

updatingState

protected volatile boolean updatingState

currentToUnlock

@ConfigurationParameter
protected int currentToUnlock

currentToMaintainUnlocked

@ConfigurationParameter
protected int currentToMaintainUnlocked

timeoutForUnlocking

@ConfigurationParameter(range="0..10000")
protected long timeoutForUnlocking

timeoutForReleasing

@ConfigurationParameter(range="0..10000")
protected long timeoutForReleasing

Constructor Detail

CarouselClampModule

public CarouselClampModule(Sensor14bits filterPresenceSensor,
                           Sensor14bits lockSensor,
                           Thermometer thermometer)

Build a new CarouselClampModule with a tickMillis value:5000;

Parameters:

filterPresenceSensor -

lockSensor -

thermometer -

Method Detail

getCurrentToUnlock

public int getCurrentToUnlock()

Returns the amount of current needed to unlock this clamp. This is defined in the ConfigurationSystem.

Returns:

setController

protected void setController(EPOSController actuator)

In the initialization phase, this method is used to initialize the controller. cf initModule in CarouselSocket

Parameters:

actuator -

getLockSensorValueA

public int getLockSensorValueA()

Returns:

the lockSensorValueA

getLockSensorValueB

public int getLockSensorValueB()

Returns:

the lockSensorValueB

getLockSensorValueC

public int getLockSensorValueC()

getFilterPresenceValueA

public int getFilterPresenceValueA()

Returns:

the filterPresenceValueA

getFilterPresenceValueB

public int getFilterPresenceValueB()

Returns:

the filterPresenceValueB

getFilterPresenceValueC

public int getFilterPresenceValueC()

Returns:

the filterPresenceValueC

getFilterPresenceSensor

public Sensor14bits getFilterPresenceSensor()

For encapsulation : we want to access to filterPresenceSensor in sub-packages.

Returns:

the filterPresenceSensor

getLockSensor

public Sensor14bits getLockSensor()

Returns:

the lockSensor

getLockStatus

@Command(type=QUERY,
         level=1,
         description="return the lockStatus")
public FcsEnumerations.LockStatus getLockStatus()

Returns:

the lockStatus

getFilterPresenceStatus

@Command(type=QUERY,
         level=1,
         description="return filterPresenceStatus")
public FcsEnumerations.FilterPresenceStatus getFilterPresenceStatus()

Returns:

filterPresenceStatus

initModule

public void initModule()

***********************************************************************************************

Overrides:

initModule in class MobileItemModule

isCANDevicesReady

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

Specified by:

isCANDevicesReady in class MobileItemModule

checkHardware

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

Specified by:

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

Overrides:

checkHardware in class MobileItemModule

Throws:

org.lsst.ccs.HardwareException

getClampState

public FcsEnumerations.FilterClampState getClampState()

Returns the clampState of the clamp. If the clampState is being updated and waiting for a response from a sensor, this methods waits until the clampState is updated. If the clampState is not being updated, it returns immediatly the clampState.

Returns:

clampState

isLocked

@Command(type=QUERY,
         level=1,
         description="Returns true if the clamp is locked")
public boolean isLocked()

This methods returns true if the clamp is locked. In the simulator, it is overriden.

Returns:

true if the clamp is locked

isFilterEngaged

@Command(type=QUERY,
         level=1,
         description="Returns true if filter is engaged on the clamp : filter presence sensors sees it ")
public boolean isFilterEngaged()

Returns:

true if filter is engaged on the clamp

updateStateWithSensorsFromSDO

@Deprecated
public void updateStateWithSensorsFromSDO()

Deprecated.

This method updates the clamp clampState regarding the value returned by the filter presence sensor and the value returned by the method isLocked(). When the update is completed, it sends a signal to threads waiting to get the new value of clampState.

Throws:

FcsHardwareException

updateStateWithSensors

@Command(type=QUERY,
         level=1,
         alias="updateState",
         description="Read clamp sensors and update clampState")
public void updateStateWithSensors()

This method updates the clamp clampState regarding the value returned by the filter presence sensor and the value returned by the method isLocked(). When the update is completed, it sends a signal to threads waiting to get the new value of clampState.

Throws:

FcsHardwareException

publishData

public void publishData()

Publish Data on status bus for trending data base and GUIs.

Specified by:

publishData in class MobileItemModule

createStatusDataPublishedByClamp

public StatusDataPublishedByCarouselClamp createStatusDataPublishedByClamp()

Create an object to be published on the STATUS bus.

Returns:

computeClampState

public void computeClampState()

Compute the global state of the clamp given the lock sensor and the presence filter sensor state. This has to be overriden for the clamp X-.

release

@Command(level=3,
         type=ACTION,
         description="Release clamp in order to get ready to clamp a filter again")
public void release()

The clamps on the carousel are locked automaticaly when the filter comes at the standby position. To be able to lock automaticaly again, it has to be released after each time it has been unlocked.

Throws:

FcsHardwareException

RejectedCommandException

unlock

@Command(type=ACTION,
         level=3,
         description="Unlock the clamp")
public void unlock()

Unlock the clamp when a filter is locked by the clamp. This is used only in engineering mode.

Throws:

RejectedCommandException

FailedCommandException

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

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Specified by:

isActionCompleted in class MobileItemModule

postAction

public void postAction(FcsEnumerations.MobileItemAction action)

Specified by:

postAction 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

updateTemperature

public double updateTemperature()

This methods read the thermometer, update the field temperature and returns the value sent by the thermometer;

Returns:

Throws:

FcsHardwareException

toString

@Command(type=QUERY,
         level=3,
         description="display configuration values for this clamp.")
public String toString()

Overrides:

toString in class Object

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