org.lsst.ccs.subsystems.fcs.singlefiltertest

Class BasicAutoChanger

java.lang.Object

org.lsst.ccs.subsystems.fcs.common.MobileItem

org.lsst.ccs.subsystems.fcs.singlefiltertest.BasicAutoChanger

All Implemented Interfaces:

org.lsst.ccs.framework.HardwareController, org.lsst.ccs.framework.HasLifecycle, org.lsst.ccs.framework.SignalHandler, AlertRaiser, FilterHolder, TruckMotorListener

Direct Known Subclasses:

SftAutoChanger

public abstract class BasicAutoChanger
extends MobileItem
implements FilterHolder, TruckMotorListener

An abstract changer module without a fliprail, without online clamp, and without a motor. This Module is in charge of the 2 latches which hold a filter in the autochanger. This basic autochanger is used in single filter test. It extends MobileItem for the actions which can be applied to the 2 latches : OPENLATCHES and CLOSELATCHES.

Author:

virieux

Field Summary

Fields

Modifier and Type	Field and Description
protected Carousel	carousel
protected boolean	closingLatches
protected FcsEnumerations.LockStatus	latchesState
protected boolean	openingLatches
static String	publishedByAutoChangerOutputName
protected ModuleState	state
protected long	timeoutForClosingLatches
protected long	timeoutForOpeningLatches
protected Truck	truckXminus The truck on side X-
protected Truck	truckXplus The truck on side X+
protected boolean	updatingLatches ****************************************************************************************

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

agentStateService, currentAction, FCSLOG, hasToWaitForEndOfAction, lock, name, readSensorsHandle, s, scheduler

Fields inherited from interface org.lsst.ccs.subsystems.fcs.common.AlertRaiser

alertSeparator

Constructor Summary

Constructors

Constructor and Description
BasicAutoChanger(SftFilterLatch latchXminus, SftFilterLatch latchXplus, Truck truckXminus, Truck truckXplus, String railsSensorsDIOName, String filterSensorsDIOName) Build a BasicAutoChangerModule with 2 latches, 2 trucks and 2 DIO devices.

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay) aborts action actually running.
void	build()
void	checkPreConditionsForTrucksMotion() This method checks if the preconditions are ok before a motion of the trucks can be started.
String	closeLatchesAtStandby() Close the 2 latches when the autochanger trucks are at standby position.
Filter	getFilterOnTrucks()
String	getFilterOnTrucksName()
CompactIO	getFilterSensorsDIO()
String	getFilterSensorsDIOName()
FcsEnumerations.LockStatus	getLatchesState() This method returns the latchesState if it is not been updated otherwise it waits until the end of the update.
SftFilterLatch	getLatchXminus()
SftFilterLatch	getLatchXplus()
CompactIO	getRailsSensorsDIO() ***********************************************************************************************
String	getRailsSensorsDIOName()
ModuleState	getState()
StatusDataPublishedByBasicAutoChanger	getStatusData()
FcsEnumerations.AutoChangerTrucksLocation	getTrucksLocation() This method returns the truckLocation if it is not been updated otherwise it waits until the end of the update.
Truck	getTruckXminus()
Truck	getTruckXplus()
abstract String	goToStandback()
abstract String	goToStandby()
String	grabFilterAtStandby(Filter filter) Go to STANDBY to grab filter and stay at STANDBY.
void	init() **************************************************************************************************
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isAtHandoff() This method returns true if the autochanger trucks are at HANDOFF position, false otherwise.
boolean	isAtStandback() For the single-filter-test only ?
boolean	isAtStandby() This method returns true if the autochanger trucks are at STANDBY position, false otherwise.
boolean	isHoldingFilter() Return true if the FilterHolder is holding a filter, false otherwise.
boolean	isHoldingFilterAtStandback()
boolean	isHoldingFilterAtStandby()
abstract boolean	isMoving() Return true if the MobileItemMobile is moving.
abstract boolean	isMovingToStandback()
abstract boolean	isMovingToStandby()
boolean	isOnline()
boolean	isTrucksEmpty()
abstract String	moveFilterToStandback(Filter aFilter)
abstract String	moveFilterToStandby(Filter aFilter)
boolean	myDevicesReady() Return True if all CAN open devices useful for this MobileItemMobile are ready for an action.
void	onTruckEvent()
String	openLatchesAtStandby() Open the 2 latches when the autochanger trucks are at standby position.
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	publishDataAndNotifyObservers()
void	setFilterOnTrucks(Filter filterOnTrucks)
void	setFilterSensorsDIOName(String filterSensorsDIOName)
void	setRailsSensorsDIOName(String railsSensorsDIOName)
void	setState(ModuleState state)
void	setTrucksEmpty(boolean isEmpty)
void	startAction(FcsEnumerations.MobileItemAction action) starts the action given as argument.
String	toString()
String	ungrabFilterAtStandby() Open the latches at standby position and go back empty to STANBACK position.
void	updateLatchesStateWithSensors() This methods updates the latches status in reading the sensors.
abstract void	updateStateWithSensors() This method read values sent by the sensors and update state from this new values.
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.
void	updateTrucksLocationWithSensors() This methods updates the trucks location in reading the sensors.

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

cancelReadingSensors, checkReadyForAction, checkStopped, executeAction, getAlertService, getHaltRequired, getName, getSubsystem, quickStopAction, readSensorsUntilActionIsCompleted, shutdown, signal, waitForEndOfAction

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.FilterHolder

isNotHoldingFilter

Methods inherited from interface org.lsst.ccs.framework.HardwareController

checkHardware, checkStarted

Methods inherited from interface org.lsst.ccs.subsystems.fcs.common.AlertRaiser

clearAlarm, getAlertSeparator, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseWarning, raiseWarning

Methods inherited from interface org.lsst.ccs.framework.HasLifecycle

postBuild, postInit, postShutdown, postStart, start

Field Detail

carousel

@LookupField(strategy=BYNAME)
protected Carousel carousel

truckXminus

protected Truck truckXminus

The truck on side X-

truckXplus

protected Truck truckXplus

The truck on side X+

publishedByAutoChangerOutputName

public static final String publishedByAutoChangerOutputName

See Also:

Constant Field Values

state

protected volatile ModuleState state

latchesState

protected volatile FcsEnumerations.LockStatus latchesState

updatingLatches

protected volatile boolean updatingLatches

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

closingLatches

protected volatile boolean closingLatches

openingLatches

protected volatile boolean openingLatches

timeoutForOpeningLatches

protected long timeoutForOpeningLatches

timeoutForClosingLatches

protected long timeoutForClosingLatches

Constructor Detail

BasicAutoChanger

public BasicAutoChanger(SftFilterLatch latchXminus,
                        SftFilterLatch latchXplus,
                        Truck truckXminus,
                        Truck truckXplus,
                        String railsSensorsDIOName,
                        String filterSensorsDIOName)

Build a BasicAutoChangerModule with 2 latches, 2 trucks and 2 DIO devices.

Parameters:

latchXminus -

latchXplus -

truckXminus -

truckXplus -

railsSensorsDIOName -

filterSensorsDIOName -

Method Detail

getRailsSensorsDIO

public CompactIO getRailsSensorsDIO()

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

Returns:

getFilterSensorsDIO

public CompactIO getFilterSensorsDIO()

getFilterOnTrucks

public Filter getFilterOnTrucks()

getState

public ModuleState getState()

Returns:

the state

setState

public void setState(ModuleState state)

Parameters:

state - the state to set

getLatchXminus

public SftFilterLatch getLatchXminus()

getLatchXplus

public SftFilterLatch getLatchXplus()

getTruckXminus

public Truck getTruckXminus()

getTruckXplus

public Truck getTruckXplus()

isTrucksEmpty

public boolean isTrucksEmpty()

setTrucksEmpty

public void setTrucksEmpty(boolean isEmpty)

setFilterOnTrucks

public void setFilterOnTrucks(Filter filterOnTrucks)

getFilterOnTrucksName

public String getFilterOnTrucksName()

getFilterSensorsDIOName

public String getFilterSensorsDIOName()

setFilterSensorsDIOName

public void setFilterSensorsDIOName(String filterSensorsDIOName)

getRailsSensorsDIOName

public String getRailsSensorsDIOName()

setRailsSensorsDIOName

public void setRailsSensorsDIOName(String railsSensorsDIOName)

isMovingToStandback

public abstract boolean isMovingToStandback()

isMovingToStandby

public abstract boolean isMovingToStandby()

init

public void init()

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

Specified by:

init in interface org.lsst.ccs.framework.HasLifecycle

build

public void build()

Specified by:

build in interface org.lsst.ccs.framework.HasLifecycle

myDevicesReady

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

Description copied from class: MobileItem

Return True if all CAN open devices useful for this MobileItemMobile are ready for an action. As an example, if this mobil item is moved by a controller and sensors are read through a sensors gateway, this method will return True when the controller and the gateway are ready to be used (booted, configured, homing done if needed).

Specified by:

myDevicesReady in class MobileItem

Returns:

onTruckEvent

public void onTruckEvent()

Specified by:

onTruckEvent in interface TruckMotorListener

getStatusData

public StatusDataPublishedByBasicAutoChanger getStatusData()

publishDataAndNotifyObservers

public void publishDataAndNotifyObservers()

publishData

public void publishData()

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

Specified by:

publishData in class MobileItem

toString

public String toString()

Overrides:

toString in class Object

isMoving

public abstract boolean isMoving()

Description copied from class: MobileItem

Return true if the MobileItemMobile is moving. That means that we are waiting for an action to be completed.

Overrides:

isMoving in class MobileItem

Returns:

true if the trucks are moving

goToStandby

public abstract String goToStandby()

goToStandback

public abstract String goToStandback()

moveFilterToStandby

public abstract String moveFilterToStandby(Filter aFilter)

moveFilterToStandback

public abstract String moveFilterToStandback(Filter aFilter)

updateStateWithSensors

public abstract void updateStateWithSensors()

Description copied from interface: FilterHolder

This method read values sent by the sensors and update state from this new values.

Specified by:

updateStateWithSensors in interface FilterHolder

checkPreConditionsForTrucksMotion

@Command(type=QUERY,
         level=1,
         description="checks if the preconditions are ok before a motion of the trucks can be started")
public void checkPreConditionsForTrucksMotion()

This method checks if the preconditions are ok before a motion of the trucks can be started. If the preconditions are not ok, it throws a RejectedCommandException. A motion of the trucks can be started : if the latches are not in error and if the truks are empty or (the trucks are loaded and the latches are Locked).

Throws:

RejectedCommandException

FcsHardwareException

grabFilterAtStandby

@Command(type=ACTION,
         level=1,
         description="Go to STANDBY to grab filter and stay at STANDBY")
public String grabFilterAtStandby(Filter filter)

Go to STANDBY to grab filter and stay at STANDBY.

Parameters:

filter -

Returns:

Throws:

FcsHardwareException

ungrabFilterAtStandby

@Command(type=ACTION,
         level=1,
         description="Ungrab filter at STANDBY and go back to HANDOFF")
public String ungrabFilterAtStandby()

Open the latches at standby position and go back empty to STANBACK position.

Returns:

Throws:

RejectedCommandException

FcsHardwareException

getLatchesState

public FcsEnumerations.LockStatus getLatchesState()

This method returns the latchesState if it is not been updated otherwise it waits until the end of the update.

Returns:

the trucksLocation

isHoldingFilter

public boolean isHoldingFilter()

Description copied from interface: FilterHolder

Return true if the FilterHolder is holding a filter, false otherwise. Example : latches CLOSED on filter (AF3=1)

Specified by:

isHoldingFilter in interface FilterHolder

Returns:

true if holding filter

isHoldingFilterAtStandby

@Command(type=QUERY,
         level=0,
         description="Return true if the trucks are at STANDBY position and hold a filter")
public boolean isHoldingFilterAtStandby()

Returns:

true if the trucks are at standby position and hold a filter.

isHoldingFilterAtStandback

@Command(type=QUERY,
         level=0,
         description="Return true if the trucks are at STANDBACK position and hold a filter")
public boolean isHoldingFilterAtStandback()

Returns:

true if the trucks are at standback position and hold the filter.

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Specified by:

isActionCompleted in class MobileItem

startAction

public void startAction(FcsEnumerations.MobileItemAction action)

Description copied from class: MobileItem

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 MobileItem

abortAction

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

Description copied from class: MobileItem

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. Must not be waiting for a lock or a condition otherwise executeAction could never complete.

Specified by:

abortAction in class MobileItem

updateStateWithSensorsToCheckIfActionIsCompleted

public void updateStateWithSensorsToCheckIfActionIsCompleted()

Description copied from class: MobileItem

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 MobileItem

openLatchesAtStandby

@Command(type=ACTION,
         level=1,
         description="Open the 2 latches when the autochanger trucks are at standby position",
         alias="openLatches")
public String openLatchesAtStandby()
                                                                                                                                                                                                 throws FcsHardwareException

Open the 2 latches when the autochanger trucks are at standby position.

Returns:

a message for the end user

Throws:

RejectedCommandException

FcsHardwareException

closeLatchesAtStandby

@Command(type=ACTION,
         level=1,
         description="Close the 2 latches when the autochanger trucks are at standby position",
         alias="closeLatches")
public String closeLatchesAtStandby()

Close the 2 latches when the autochanger trucks are at standby position.

Returns:

a message for the end user

Throws:

RejectedCommandException

FcsHardwareException

updateLatchesStateWithSensors

public void updateLatchesStateWithSensors()

This methods updates the latches status in reading the sensors.

Throws:

FcsHardwareException

getTrucksLocation

public FcsEnumerations.AutoChangerTrucksLocation getTrucksLocation()

This method returns the truckLocation if it is not been updated otherwise it waits until the end of the update.

Returns:

the trucksLocation

isAtStandby

@Command(type=QUERY,
         level=1,
         description="Return true if the trucks are at STANDBY position")
public boolean isAtStandby()

Description copied from interface: FilterHolder

This method returns true if the autochanger trucks are at STANDBY position, false otherwise.

Specified by:

isAtStandby in interface FilterHolder

Returns:

true if the trucks are at standby position, otherwise false

isAtStandback

@Command(type=QUERY,
         level=1,
         description="Return true if the trucks are at STANDBACK position")
public boolean isAtStandback()

For the single-filter-test only ?

Returns:

true if the trucks are at standback position, otherwise false

isAtHandoff

@Command(type=QUERY,
         level=1,
         description="Return true if the trucks are at HANDOFF position")
public boolean isAtHandoff()

Description copied from interface: FilterHolder

This method returns true if the autochanger trucks are at HANDOFF position, false otherwise.

Specified by:

isAtHandoff in interface FilterHolder

Returns:

true if the trucks are at standback position, otherwise false

isOnline

@Command(type=QUERY,
         level=1,
         description="Return true if the trucks are at ONLINE position")
public boolean isOnline()

Returns:

true if the trucks are at standback position, otherwise false

updateTrucksLocationWithSensors

public void updateTrucksLocationWithSensors()

This methods updates the trucks location in reading the sensors.

Throws:

FcsHardwareException