org.lsst.ccs.subsystems.fcs

Class LoaderClampModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.LoaderClampModule

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 LoaderClampModule
extends MobileItemModule
implements MovedByEPOSController, ControlledBySensors

This is model for the clamps mechanism in the loader. 4 hooks are used for the clamping of the filter in the loader. This hooks are moved all together by the hooksController. Raises alert : - CAN_BUS_TIMEOUT in updateStateWithSensorsToCheckIfActionIsCompleted

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
LoaderClampModule(LoaderHookModule hook1, LoaderHookModule hook2, LoaderHookModule hook3, LoaderHookModule hook4, ForceSensor forceSensor0, ForceSensor forceSensor1, DigitalSensor clampedStatusSensor) Build a new LoaderClampModule with 4 hooks and the parameters to configure the EPOS controller in mode CURRENT and in mode HOMING.

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	checkHardwareStateAndDoHomingIfPossible() If loader is empty, go to home position otherwise do nothing.
void	checkInitialized() Check if clamp controller is initialized.
void	clamp() Clamps hooks.
void	close() Closes clamp in order to hold the filter.
StatusDataPublishedByLoaderClamp	createStatusDataPublishedByLoaderClamp() Creates and returns the object to be published on the STATUS bus by the LoaderClampModule.
String	getControllerName() Returns controller name.
int	getCurrentToClamp()
int	getCurrentToOpen()
FcsEnumerations.LockStatus	getLockStatus()
int	getPosition() Return position for end user.
int	getRelativePositionToClose()
int	getRelativePositionToUnclamp()
int	getTargetPositionToClamp()
int	getTargetPositionToOpen()
void	initModule()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action) Check if the action is completed.
boolean	isCANDevicesReady() Returns true if loader CANopen devices are booted, identified and homingDone.
boolean	isClamped() Returns true if LockStatus=CLAMPED
boolean	isClosed() Returns true if LockStatus=CLOSED
boolean	isControllerInFault() Return true if the controller is in fault (an EmergencyMessage has been previously received.)
boolean	isHomingDone() Returns true if loader clamp is homingDone.
boolean	isInError() Returns true if clamp LockStatus is in ERROR or LockStatus is UNKNOWN.
boolean	isOpened() Returns true if LockStatus=OPENED
boolean	isUnderLoad()
void	open() Open clamp in order to release filter.
void	postAction(FcsEnumerations.MobileItemAction action)
String	printHardwareState() Return a printed list of hardware with initialization information.
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)
int	readPosition() To display position for end user.
void	setControllerInFault(boolean controllerInFault)
void	startAction(FcsEnumerations.MobileItemAction action) starts the action given as argument.
void	unclamp() unclamp Loader clamp.
void	updateCurrent() Updates the field readCurrent of the clamp in reading the CPU of the controller.
void	updatePosition() Updates the position of the clamp in reading the CPU of the controller.
void	updateStateAndCheckSensors() reads sensors, computes and state and raises an ALERT if sensors are in error.
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, 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

LoaderClampModule

public LoaderClampModule(LoaderHookModule hook1,
                         LoaderHookModule hook2,
                         LoaderHookModule hook3,
                         LoaderHookModule hook4,
                         ForceSensor forceSensor0,
                         ForceSensor forceSensor1,
                         DigitalSensor clampedStatusSensor)

Build a new LoaderClampModule with 4 hooks and the parameters to configure the EPOS controller in mode CURRENT and in mode HOMING.

Parameters:

hook1 -

hook2 -

hook3 -

hook4 -

forceSensor0 -

forceSensor1 -

clampedStatusSensor -

Method Detail

getControllerName

public String getControllerName()

Returns controller name.

Specified by:

getControllerName in interface MovedByEPOSController

Returns:

isControllerInFault

public boolean isControllerInFault()

Description copied from interface: MovedByEPOSController

Return true if the controller is in fault (an EmergencyMessage has been previously received.)

Specified by:

isControllerInFault in interface MovedByEPOSController

Returns:

setControllerInFault

public void setControllerInFault(boolean controllerInFault)

Specified by:

setControllerInFault in interface MovedByEPOSController

getTargetPositionToOpen

public int getTargetPositionToOpen()

getRelativePositionToClose

public int getRelativePositionToClose()

getRelativePositionToUnclamp

public int getRelativePositionToUnclamp()

getTargetPositionToClamp

public int getTargetPositionToClamp()

getCurrentToClamp

public int getCurrentToClamp()

getCurrentToOpen

public int getCurrentToOpen()

getPosition

@Command(type=QUERY,
         level=1,
         description="Display position for end user.Do not read again controller.")
public int getPosition()

Return position for end user. Do not read again controller.

Returns:

position

isHomingDone

@Command(type=QUERY,
         level=1,
         description="Returns true if homing of loader clamp has been done.")
public boolean isHomingDone()

Returns true if loader clamp is homingDone.

Returns:

getLockStatus

public FcsEnumerations.LockStatus getLockStatus()

Returns:

lockStatus

isClosed

@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=CLOSED")
public boolean isClosed()

Returns true if LockStatus=CLOSED

Returns:

isOpened

@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=OPENED")
public boolean isOpened()

Returns true if LockStatus=OPENED

Returns:

isClamped

@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=CLAMPED")
public boolean isClamped()

Returns true if LockStatus=CLAMPED

Returns:

isInError

@Command(type=QUERY,
         level=1,
         description="Returns true if LockStatus=ERROR or UNKNOWN.")
public boolean isInError()

Returns true if clamp LockStatus is in ERROR or LockStatus is UNKNOWN. That means that one hook is in ERROR status or one or more of the 4 hooks has a different LockStatus than the other.

Specified by:

isInError in interface ControlledBySensors

Returns:

true if clamp LockStatus is in ERROR or LockStatus is UNKNOWN.

isUnderLoad

public boolean isUnderLoad()

isCANDevicesReady

public boolean isCANDevicesReady()

Returns true if loader CANopen devices are booted, identified and homingDone.

Specified by:

isCANDevicesReady in class MobileItemModule

Returns:

initModule

public void initModule()

Overrides:

initModule in class MobileItemModule

checkHardwareStateAndDoHomingIfPossible

@Command(type=ACTION,
         level=1,
         description="Attention : this commands moves the clamp to do the homing of the controller. If loader is empty, go to home position otherwise do nothing.")
public void checkHardwareStateAndDoHomingIfPossible()

If loader is empty, go to home position otherwise do nothing. ATTENTION : this command moves the clamp.

Throws:

FcsHardwareException

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

checkInitialized

public void checkInitialized()

Check if clamp controller is initialized.

Throws:

RejectedCommandException - if clamp is not homingDone

open

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

Open clamp in order to release filter.

Throws:

RejectedCommandException

FailedCommandException

FcsHardwareException

close

@Command(type=ACTION,
         level=1,
         description="Closes clamp.",
         timeout=60000)
public void close()

Closes clamp in order to hold the filter. This action closes softly the clamp on the filter. The filter can't fall although it is not tight fermely. When the clamp is closed, the filter is held by loader so autochanger can open its latches and move trucks back without the filter. Closing hooks consists in setting controller mode to PROFILE_POSITION, and going to relative position relativePositionToClose.

clamp

@Command(type=ACTION,
         level=1,
         description="Clamp to hold tightly a filter.")
public void clamp()

Clamps hooks. When clamp is clamped, the filter is held tightly and carrier can go to STORAGE position safely. Clamping consists in setting controller in mode CURRENT and send currentToClamp to controller.

Throws:

RejectedCommandException

FailedCommandException

FcsHardwareException

unclamp

@Command(type=ACTION,
         level=1,
         description="Unclamp filter and return to CLOSED position.")
public void unclamp()

unclamp Loader clamp. At the end of this action, hooks are still CLOSED, but doesn't hold tightly filter.

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Check if the action is completed. This method is called after updateStateWithSensorsToCheckIfActionIsCompleted where the different new values of current or position or sensors values have been updated.

Specified by:

isActionCompleted in class MobileItemModule

Parameters:

action -

Returns:

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

updateStateAndCheckSensors

public void updateStateAndCheckSensors()

reads sensors, computes and state and raises an ALERT if sensors are in error.

updateCurrent

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

Updates the field readCurrent of the clamp in reading the CPU of the controller.

Throws:

FcsHardwareException

updatePosition

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

Updates the position of the clamp in reading the CPU of the controller.

Throws:

FcsHardwareException

readPosition

@Command(type=QUERY,
         level=1,
         description="To update and display position for end user.Updates loader clamp position in reading controller and returns it.")
public int readPosition()

To display position for end user. Updates carrier position in reading controller and returns it.

Returns:

position

printHardwareState

@Command(type=ACTION,
         level=1,
         description="Return a printed list of hardware with initialization information.")
public String printHardwareState()

Return a printed list of hardware with initialization information. For debug purpose.

Returns:

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 -

createStatusDataPublishedByLoaderClamp

public StatusDataPublishedByLoaderClamp createStatusDataPublishedByLoaderClamp()

Creates and returns the object to be published on the STATUS bus by the LoaderClampModule.

Returns:

publishData

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