org.lsst.ccs.subsystems.fcs.singlefiltertest

Class SftAutoChanger

java.lang.Object

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

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

org.lsst.ccs.subsystems.fcs.singlefiltertest.SftAutoChanger

All Implemented Interfaces:

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

public class SftAutoChanger
extends BasicAutoChanger

This class is for the Single Filter Test autochanger. The autochanger in Single Filter Test has no flip rail and no online clamp. To move the autochanger trucks in the Single Filter Test we have 2 pneumatic cylinders each moved by an actuator : when we want the truck to be in stanby position, the standby actuator has to be ON and the standback actuator has to be OFF, when we want the truck to be in standback position, the standback actuator has to be ON and the standby actuator has to be OFF.

Author:

virieux

Field Summary

Fields

Modifier and Type	Field and Description
protected SftTruckMotor	sftTrucksMotor

Fields inherited from class org.lsst.ccs.subsystems.fcs.singlefiltertest.BasicAutoChanger

carousel, closingLatches, latchesState, openingLatches, publishedByAutoChangerOutputName, state, timeoutForClosingLatches, timeoutForOpeningLatches, truckXminus, truckXplus, 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
SftAutoChanger(SftFilterLatch latchXminus, SftFilterLatch latchXplus, Truck truckXminus, Truck truckXplus, String railsSensorsDIOName, String filterSensorsDIOName, SftTruckMotor sftTrucksMotor) Build a SftAutoChangerModule

Method Summary

Modifier and Type	Method and Description
SftTruckMotor	getSftTrucksMotor()
long	getTimeToConfortAPosition()
long	getTimeToGoToStandback()
long	getTimeToGoToStandby()
String	goToStandback() Move SFT autochanger to STANDBACK.
String	goToStandby() This methods moves the trucks from standback position to standby position.
boolean	isMoving() Return true if the MobileItemMobile is moving.
boolean	isMovingToStandback() ***********************************************************************************************
boolean	isMovingToStandby()
boolean	isNotHoldingFilter() Return true if FilterHolder is NOT holding filter, false otherwise.
String	moveFilterToStandback(Filter aFilter) Move a filter to STANDBACK position.
String	moveFilterToStandby(Filter aFilter) Move filter at STANDBY position.
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
String	toString()
void	updateStateWithSensors() Read sensors and update latches and trucks state.

Methods inherited from class org.lsst.ccs.subsystems.fcs.singlefiltertest.BasicAutoChanger

abortAction, build, checkPreConditionsForTrucksMotion, closeLatchesAtStandby, getFilterOnTrucks, getFilterOnTrucksName, getFilterSensorsDIO, getFilterSensorsDIOName, getLatchesState, getLatchXminus, getLatchXplus, getRailsSensorsDIO, getRailsSensorsDIOName, getState, getStatusData, getTrucksLocation, getTruckXminus, getTruckXplus, grabFilterAtStandby, init, isActionCompleted, isAtHandoff, isAtStandback, isAtStandby, isHoldingFilter, isHoldingFilterAtStandback, isHoldingFilterAtStandby, isOnline, isTrucksEmpty, myDevicesReady, onTruckEvent, openLatchesAtStandby, publishData, publishDataAndNotifyObservers, setFilterOnTrucks, setFilterSensorsDIOName, setRailsSensorsDIOName, setState, setTrucksEmpty, startAction, ungrabFilterAtStandby, updateLatchesStateWithSensors, updateStateWithSensorsToCheckIfActionIsCompleted, updateTrucksLocationWithSensors

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

cancelReadingSensors, checkReadyForAction, checkStopped, executeAction, getAlertService, getHaltRequired, getName, getSubsystem, 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.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

sftTrucksMotor

protected SftTruckMotor sftTrucksMotor

Constructor Detail

SftAutoChanger

public SftAutoChanger(SftFilterLatch latchXminus,
                      SftFilterLatch latchXplus,
                      Truck truckXminus,
                      Truck truckXplus,
                      String railsSensorsDIOName,
                      String filterSensorsDIOName,
                      SftTruckMotor sftTrucksMotor)

Build a SftAutoChangerModule

Parameters:

latchXminus -

latchXplus -

truckXminus -

truckXplus -

railsSensorsDIOName -

filterSensorsDIOName -

sftTrucksMotor -

Method Detail

getSftTrucksMotor

public SftTruckMotor getSftTrucksMotor()

Returns:

getTimeToConfortAPosition

public long getTimeToConfortAPosition()

getTimeToGoToStandback

public long getTimeToGoToStandback()

getTimeToGoToStandby

public long getTimeToGoToStandby()

isMovingToStandback

public boolean isMovingToStandback()

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

Specified by:

isMovingToStandback in class BasicAutoChanger

Returns:

isMovingToStandby

public boolean isMovingToStandby()

Specified by:

isMovingToStandby in class BasicAutoChanger

isMoving

public 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.

Specified by:

isMoving in class BasicAutoChanger

Returns:

true if the trucks are moving

toString

public String toString()

Overrides:

toString in class BasicAutoChanger

goToStandback

@Command(type=ACTION,
         level=1,
         description="Go to STANDBACK")
public String goToStandback()

Move SFT autochanger to STANDBACK.

Specified by:

goToStandback in class BasicAutoChanger

Returns:

Throws:

FcsHardwareException

goToStandby

@Command(type=ACTION,
         level=1,
         description="Go to STANDBY.")
public String goToStandby()

This methods moves the trucks from standback position to standby position. It first checks the preconditions for a motion of the trucks. Then it checks if the trucks are in standback position otherwise throws a RejectedCommandException. If the trucks are at standback, it first conforts the position (standbackMotor.on) then it moves the trucks to the standby position (standbackMotor.off then standbyMotor.on). The motor is stopped after the temporisation has expired. The command is completed when the position sensors at standby says the trucks are in standby.

Specified by:

goToStandby in class BasicAutoChanger

Returns:

Throws:

RejectedCommandException

FailedCommandException

FcsHardwareException

moveFilterToStandback

public String moveFilterToStandback(Filter aFilter)

Move a filter to STANDBACK position.

Specified by:

moveFilterToStandback in class BasicAutoChanger

Parameters:

aFilter -

Returns:

Throws:

FcsHardwareException

moveFilterToStandby

public String moveFilterToStandby(Filter aFilter)

Move filter at STANDBY position.

Specified by:

moveFilterToStandby in class BasicAutoChanger

Parameters:

aFilter -

Returns:

Throws:

FcsHardwareException

FailedCommandException

updateStateWithSensors

@Command(type=QUERY,
         level=1,
         description="Read sensors and update latches and trucks state")
public void updateStateWithSensors()

Read sensors and update latches and trucks state.

Specified by:

updateStateWithSensors in interface FilterHolder

Specified by:

updateStateWithSensors in class BasicAutoChanger

Throws:

FcsHardwareException

quickStopAction

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

Specified by:

quickStopAction in class MobileItem

isNotHoldingFilter

public boolean isNotHoldingFilter()

Description copied from interface: FilterHolder

Return true if FilterHolder is NOT holding filter, false otherwise. Example : latches OPENED (AF0=1) It can't be just !isHoldingFilter() because hardware can be in an intermediate state. For example, when opening or closing autochanger latches, latches go in state IN_TRAVEL. So we can have state where AF3=0 and AF2=0

Returns:

true if NOT holding filter