org.lsst.ccs.subsystems.fcs.singlefiltertest

Class SftFilterLatch

java.lang.Object

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

org.lsst.ccs.subsystems.fcs.singlefiltertest.SftFilterLatch

All Implemented Interfaces:

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

public class SftFilterLatch
extends MobileItem

This is a model for a latch. A latch is what holds a filter in the trucks of the autochanger. There is 2 latches : one on each side of the filter. The state of the latches are monitoring by digital sensors : one sensor to know if a filter is in the latch or not and 2 status sensors to know if the latch is EngageBrakeed or ReleaseBrakeed. If the 2 status sensors are inconsistent, the latch is in error. This class is used in single-filter-test. For the final product the class AutochangerLatchModule is used.

Author:

virieux

Field Summary

Fields

Modifier and Type	Field and Description
protected DigitalSensor	filterPresenceSensor
protected LatchActuator	latchActuator
protected DigitalSensor	lockSensor
protected DigitalSensor	unlockSensor
protected boolean	updatingState This is used when we update the latch state with the values returned by the sensors.

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
SftFilterLatch(CompactIO filterSensorsDIO, DigitalSensor lockSensor, DigitalSensor unlockSensor, DigitalSensor filterPresenceSensor, LatchActuator latchActuator) Build a new SftFilterLatchModule

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay) aborts action actually running.
String	close() Close the latch : turn on the actuator, read the sensors and wait until the latch is closed.
StatusDataPublishedByAutochangerLatch	createStatusDataPublishedByLatch() This methods is used in the single-filter-test.
DigitalSensor	getFilterPresenceSensor()
LatchActuator	getLatchActuator()
DigitalSensor	getLockSensor()
FcsEnumerations.LockStatus	getLockStatus()
FcsEnumerations.FilterPresenceStatus	getPresenceStatus() Return the filter presence status.
long	getTimeoutForClosing()
long	getTimeoutForOpening()
DigitalSensor	getUnlockSensor()
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isControllerInFault()
boolean	isLocked()
boolean	myDevicesReady() Returns true if hardware is connected and ready.
String	open() Open the latch if the carousel is holding the filter.
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
void	setLockStatus(FcsEnumerations.LockStatus lockStatus)
void	startAction(FcsEnumerations.MobileItemAction action) starts the action given as argument.
String	toString()
void	updateState(int value) Update Latch State.
void	updateStateWithSensors() Reads latch sensors and updates latch state.
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.MobileItem

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

build, init, postBuild, postInit, postShutdown, postStart, start

Field Detail

latchActuator

protected final LatchActuator latchActuator

filterPresenceSensor

protected DigitalSensor filterPresenceSensor

lockSensor

protected DigitalSensor lockSensor

unlockSensor

protected DigitalSensor unlockSensor

updatingState

protected volatile boolean updatingState

This is used when we update the latch state with the values returned by the sensors.

Constructor Detail

SftFilterLatch

public SftFilterLatch(CompactIO filterSensorsDIO,
                      DigitalSensor lockSensor,
                      DigitalSensor unlockSensor,
                      DigitalSensor filterPresenceSensor,
                      LatchActuator latchActuator)

Build a new SftFilterLatchModule

Parameters:

filterSensorsDIO -

lockSensor -

unlockSensor -

filterPresenceSensor -

latchActuator -

Method Detail

getTimeoutForClosing

public long getTimeoutForClosing()

getTimeoutForOpening

public long getTimeoutForOpening()

getFilterPresenceSensor

public DigitalSensor getFilterPresenceSensor()

getLatchActuator

public LatchActuator getLatchActuator()

getLockSensor

public DigitalSensor getLockSensor()

getUnlockSensor

public DigitalSensor getUnlockSensor()

isControllerInFault

public boolean isControllerInFault()

myDevicesReady

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

Returns true if hardware is connected and ready.

Specified by:

myDevicesReady in class MobileItem

Returns:

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Specified by:

isActionCompleted 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

updateStateWithSensors

@Command(type=QUERY,
         level=1,
         description="Reads latch sensors and updates latch state")
public void updateStateWithSensors()

Reads latch sensors and updates latch state.

Throws:

FcsHardwareException

startAction

public void startAction(FcsEnumerations.MobileItemAction action)
                 throws FcsHardwareException

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

Throws:

FcsHardwareException

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

getLockStatus

public FcsEnumerations.LockStatus getLockStatus()

setLockStatus

public void setLockStatus(FcsEnumerations.LockStatus lockStatus)

getPresenceStatus

public FcsEnumerations.FilterPresenceStatus getPresenceStatus()

Return the filter presence status. Wait if the state is beeing updated.

Returns:

open

@Command(type=ACTION,
         level=3,
         description="Open latch")
public String open()

Open the latch if the carousel is holding the filter.

Returns:

Throws:

RejectedCommandException

FcsHardwareException

close

@Command(type=ACTION,
         level=3,
         description="Close latch")
public String close()

Close the latch : turn on the actuator, read the sensors and wait until the latch is closed. If the latch is not closed during the delai : timeoutForClosing throws an Exception.

Returns:

Throws:

FcsHardwareException

isLocked

@Command(type=QUERY,
         level=1,
         description="Return true if the latch is closed")
public boolean isLocked()

Returns:

true if the latch is closed.

updateState

public void updateState(int value)

Update Latch State.

Parameters:

value -

createStatusDataPublishedByLatch

public StatusDataPublishedByAutochangerLatch createStatusDataPublishedByLatch()

This methods is used in the single-filter-test.

Returns:

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

quickStopAction

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

Specified by:

quickStopAction in class MobileItem