Carousel (LSST CCS - Subsystem FCS 5.1.2 API)

java.lang.Object
- org.lsst.ccs.subsystems.fcs.common.MobileItem
- - org.lsst.ccs.subsystems.fcs.Carousel

All Implemented Interfaces:

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

Direct Known Subclasses:

SftCarousel
```
public class Carousel
extends MobileItem
implements org.lsst.ccs.framework.HardwareController, FilterHolder, AlertRaiser
```
This is a representation of the hardware of the carousel. It receives commands from the FCSMAinModule and send back an acknowledge. It publishes data on the status bus. In engineering mode it can receive commands from the engineering console.

Author:

virieux

Field Summary

Fields
Modifier and Type	Field and Description
`protected PieceOfHardware`	`ai814`
`protected Map<String,CarouselSocket>`	`socketsMap` A map to store the sockets by their names.
`protected BridgeToHardware`	`tcpProxy`

Fields inherited from class org.lsst.ccs.subsystems.fcs.common.MobileItem
currentAction, FCSLOG, hasToWaitForEndOfAction, lock, name, readSensorsHandle, s, scheduler

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

Constructor Summary

Constructors
Constructor and Description

Carousel()

Constructors
Constructor and Description
`Carousel()`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`abortAction(FcsEnumerations.MobileItemAction action, long delay)` aborts action actually running.
`void`	`build()` * lifecycle methods ***********************************************
`void`	`changeFilterID(int filterID, int socketID)`
`void`	`checkConditionsForRotation()` Check if carousel rotation is permitted.
`void`	`checkSensorTypeIncremental()`
`int`	`computeNewPosition(int pos)`
`int`	`computeShortestRelativePosition(int d)`
`StatusDataPublishedByCarousel`	`createStatusDataPublishedByCarousel()` Create an object StatusDataPublishedByCarousel to be published on the STATUS bus.
`CarouselClamp`	`getClampXminus()` This method returns the clampX- which is at standby filterPosition.
`EPOSController`	`getClampXminusController()`
`CarouselClamp`	`getClampXplus()` This method returns the clampX+ which is at standby filterPosition.
`EPOSController`	`getClampXplusController()`
`int`	`getEncoderSign()` used by tests.
`String`	`getFilterAtStandbyName()` Returns name of filter which is in the socket at STANDBY position or NO_FILTER if there is no filter at STANDBY.
`CarouselSocket`	`getFilterSocket(int filterID)`
`int`	`getPosition()` return carousel position.
`CarouselSocket`	`getSocketAtStandby()` Return the socket HALTED at STANDBY filterPosition if there is one.
`int`	`getSocketAtStandbyID()`
`CarouselSocket`	`getSocketByName(String socketName)` Return a CarouselSocket which name is given as parameter.
`Map<String,CarouselSocket>`	`getSocketsMap()`
`int`	`getStepNB()` used by tests.
`String`	`grabFilterAtStandby(Filter filter)` This method has to be executed when a filter has just been moved on the carousel at standby filterPosition by the autochanger.
`void`	`homing()` homing of rotation controller to be done before each rotation
`void`	`initializeClampsState()` In carousel, sensors are updated from PDOs.
`boolean`	`isActionCompleted(FcsEnumerations.MobileItemAction action)`
`boolean`	`isAtHandoff()` This method returns true if the autochanger trucks are at HANDOFF position, false otherwise.
`boolean`	`isAtStandby()` Used to publish on the STATUS bus for the GUI.
`boolean`	`isAtStandby(Filter filter)` Return true if the filter given as argument is at STANDBY position.
`boolean`	`isAutochangerHoldingFilter()` This methods returns true if the autochanger is holding a filter at STANDBY position.
`boolean`	`isClampsStateInitialized()`
`boolean`	`isFilterOnCarousel(int filterID)` return true if filterID in on carousel.
`boolean`	`isHoldingFilter()` Return true if carousel is holding a filter at STANDBY position.
`boolean`	`isHoldingFilterAtStandby()`
`boolean`	`isHomingDone()`
`boolean`	`isNotHoldingFilter()` Return true if FilterHolder is NOT holding filter, false otherwise.
`boolean`	`isReadyToGrabAFilterAtStandby()` This method let us know if the carousel is ready to receive a filter at standby filterPosition : - the carousel must not rotate - an empty socketAtStandby is at standby filterPosition.
`boolean`	`isRotating()` Returns true if carousel is rotating
`boolean`	`myDevicesReady()` Return True if all CAN open devices useful for this MobileItemMobile are ready for an action.
`void`	`postStart()` Executed when all components HasLifeCycle of subsystem have been checked.
`void`	`publishData()` Publish Data on status bus for trending data base and GUIs.
`void`	`quickStopAction(FcsEnumerations.MobileItemAction action, long delay)`
`void`	`releaseClamps()` Release clamps at standby position to get ready to clamp again.
`void`	`releaseClampsContact()`
`void`	`rotateEmptySocketAtStandby()` Move an empty socket to STANDBY position.
`void`	`rotateSocketToStandby(String socketName)` Rotate carousel to move a socket which name is given as argument to STANDBY position.
`void`	`rotateToRelativePosition(int relativePosition)` A command to rotate carousel.
`void`	`startAction(FcsEnumerations.MobileItemAction action)` Starts action ROTATE_CAROUSEL_TO_ABSOLUTE_POSITION or ROTATE_CAROUSEL_TO_RELATIVE_POSITION.
`void`	`ungrabFilterAtStandby(String filterName)` This unlock clamps at STANDBY.
`void`	`unlockClamps()` Unlocks the clamps at STANDBY.
`void`	`updateClampsStateWithSensorsFromPDO()` Read the clamps state from PDO : all the clamp sensors are read at one time.
`void`	`updateCurrent()` Updates the field current in reading the CPU of the controller.
`void`	`updatePosition()` Updates the filterPosition of the carousel in reading the CPU of the controller.
`void`	`updateSocketAtStandbyState()`
`void`	`updateSocketNotAtStandby()`
`void`	`updateState()`
`void`	`updateStateWithSensors()` Read the clamps state from PDO : all the clamp sensors are read at one time.
`void`	`updateStateWithSensorsAtStandby()`
`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
abort, abort, cancelReadingSensors, checkReadyForAction, checkStopped, executeAction, getAlertService, getHaltRequired, getName, getSubsystem, isMoving, quickstop, readSensorsUntilActionIsCompleted, shutdown, signal, stop, stopActionNow, waitForEndOfAction

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.framework.HardwareController
checkHardware, checkStarted, checkStopped

Methods inherited from interface org.lsst.ccs.subsystems.fcs.common.AlertRaiser
clearAlarm, getAlertService, getName, getSubsystem, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseWarning, raiseWarning

Methods inherited from interface org.lsst.ccs.framework.SignalHandler
sendSignal, sendSignalWithTimeLimit

Methods inherited from interface org.lsst.ccs.framework.HasLifecycle
init, postBuild, postInit, postShutdown, start

- Field Detail
  - ai814
```
@LookupField(strategy=BYNAME)
protected PieceOfHardware ai814
```
  - socketsMap
```
@LookupField(strategy=CHILDREN)
protected final Map<String,CarouselSocket> socketsMap
```
    A map to store the sockets by their names. The key of this map is the socket name. This map is built by Toolkit during INITIALISATION.
  - tcpProxy
```
@LookupField(strategy=BYNAME)
protected BridgeToHardware tcpProxy
```
- Constructor Detail
  - Carousel
```
public Carousel()
```
- Method Detail
  - build
```
public void build()
```
    *** lifecycle methods *************************************************
    
    Specified by:
    
    build in interface org.lsst.ccs.framework.HasLifecycle
  - isClampsStateInitialized
```
@Command(description="Return true if clamp state is initialized for all clamps.")
public boolean isClampsStateInitialized()
```
    Returns:
    
    true if clamp state is initialized for all clamps
  - isHomingDone
```
@Command(type=QUERY,
         level=0,
         description="Return true if carouselController homing is done.")
public boolean isHomingDone()
```
  - getStepNB
```
public int getStepNB()
```
    used by tests.
    
    Returns:
  - getEncoderSign
```
public int getEncoderSign()
```
    used by tests.
    
    Returns:
  - getSocketsMap
```
public Map<String,CarouselSocket> getSocketsMap()
```
  - getSocketByName
```
public CarouselSocket getSocketByName(String socketName)
```
    Return a CarouselSocket which name is given as parameter.
    
    Parameters:
    
    socketName -
    
    Returns:
  - getPosition
```
@Command(type=QUERY,
         level=0,
         description="Return carousel position.",
         alias="printPosition")
public int getPosition()
```
    return carousel position.
    
    Returns:
  - getClampXminusController
```
public EPOSController getClampXminusController()
```
    Returns:
    
    the clampXminusController
  - getClampXplusController
```
public EPOSController getClampXplusController()
```
    Returns:
    
    the clampXminusController
  - getClampXminus
```
public CarouselClamp getClampXminus()
```
    This method returns the clampX- which is at standby filterPosition. It can returns null if there is no socketAtStandby halted at standby filterPosition.
    
    Returns:
  - getClampXplus
```
public CarouselClamp getClampXplus()
```
    This method returns the clampX+ which is at standby filterPosition. It can returns null if there is no socketAtStandby halted at standby filterPosition.
    
    Returns:
  - isAtStandby
```
@Command(type=QUERY,
         level=0,
         description="Return true if a socket is HALTED at STANDBY position, false otherwise.")
public boolean isAtStandby()
```
    Used to publish on the STATUS bus for the GUI. Returns
    
    Specified by:
    
    isAtStandby in interface FilterHolder
    
    Returns:
    
    true if a socket is HALTED at STANDBY filterPosition, false otherwise.
  - getSocketAtStandby
```
public CarouselSocket getSocketAtStandby()
```
    Return the socket HALTED at STANDBY filterPosition if there is one. Otherwise return null.
    
    Returns:
  - getSocketAtStandbyID
```
public int getSocketAtStandbyID()
```
  - getFilterAtStandbyName
```
@Command(type=QUERY,
         level=0,
         description="Returns name of filter at STANDBY position  or NO_FILTER if there is no filter at STANDBY.")
public String getFilterAtStandbyName()
```
    Returns name of filter which is in the socket at STANDBY position or NO_FILTER if there is no filter at STANDBY.
    
    Returns:
  - isFilterOnCarousel
```
public boolean isFilterOnCarousel(int filterID)
```
    return true if filterID in on carousel.
    
    Parameters:
    
    filterID -
    
    Returns:
  - changeFilterID
```
@Command(description="To change filterID on socket which ID is given as argument.")
public void changeFilterID(int filterID,
                                                                                                               int socketID)
```
  - isAutochangerHoldingFilter
```
@Command(type=QUERY,
         level=0,
         description="Return true if Autochanger is holding filter at STANDBY.")
public boolean isAutochangerHoldingFilter()
```
    This methods returns true if the autochanger is holding a filter at STANDBY position.
    
    Returns:
    
    Throws:
    
    FcsHardwareException
  - postStart
```
public void postStart()
```
    Executed when all components HasLifeCycle of subsystem have been checked.
    
    Specified by:
    
    postStart in interface org.lsst.ccs.framework.HasLifecycle
  - homing
```
@Command(type=ACTION,
         level=1,
         description="CarouselHoming")
public void homing()
```
    homing of rotation controller to be done before each rotation
  - checkSensorTypeIncremental
```
public void checkSensorTypeIncremental()
```
  - publishData
```
public void publishData()
```
    Publish Data on status bus for trending data base and GUIs.
    
    Specified by:
    
    publishData in class MobileItem
  - createStatusDataPublishedByCarousel
```
public StatusDataPublishedByCarousel createStatusDataPublishedByCarousel()
```
    Create an object StatusDataPublishedByCarousel to be published on the STATUS bus.
    
    Returns:
    
    status
  - isReadyToGrabAFilterAtStandby
```
@Command(type=QUERY,
         level=1,
         description="Returns true if Carousel is stopped and no filter is at STANDBY position")
public boolean isReadyToGrabAFilterAtStandby()
```
    This method let us know if the carousel is ready to receive a filter at standby filterPosition : - the carousel must not rotate - an empty socketAtStandby is at standby filterPosition.
    
    Returns:
    
    true if the filterPosition of the carousel matches the filterPosition when one of its sockets is at standby filterPosition and this socketAtStandby is empty. false
    
    Throws:
    
    FcsHardwareException
  - isHoldingFilterAtStandby
```
@Command(type=QUERY,
         level=1,
         description="Returns true if a filter is clamped at STANDBY position")
public boolean isHoldingFilterAtStandby()
```
    Returns:
    
    true if a filter is clamped at STANDBY position and carousel is stopped
  - isRotating
```
@Command(type=QUERY,
         level=1,
         description="Returns true if carousel is rotating.")
public boolean isRotating()
```
    Returns true if carousel is rotating
    
    Returns:
  - updatePosition
```
@Command(type=ACTION,
         level=1,
         description="Update carousel position in reading controller.")
public void updatePosition()
```
    Updates the filterPosition of the carousel in reading the CPU of the controller.
    
    Throws:
    
    SDORequestException
  - updateCurrent
```
@Command(type=QUERY,
         level=1,
         description="Update field current in reading controller.")
public void updateCurrent()
```
    Updates the field current in reading the CPU of the controller.
    
    Throws:
    
    SDORequestException
  - updateClampsStateWithSensorsFromPDO
```
public void updateClampsStateWithSensorsFromPDO()
```
    Read the clamps state from PDO : all the clamp sensors are read at one time.
    
    Throws:
    
    FcsHardwareException
  - initializeClampsState
```
@Command(type=QUERY,
         level=1,
         description="Update clamps state in sending 5 sync.")
public void initializeClampsState()
                                                                                                                                 throws org.lsst.ccs.drivers.commons.DriverException
```
    In carousel, sensors are updated from PDOs. PDOs are received 2 by 2 : 0x180 + ttc580 nodeID for clamp at standby. (ttc580'sock pdo1) 0x280 + ttc580 nodeID for a clamp not at standby. (ttc580'sock pdo2) PDO2 contains socketID not at STANDBY in turns. Exemple : if socket1 is at STANDBY - first sync returns pdo1 with socket1 values and pdo2 with socket2 values - second sync returns pdo1 with socket1 values and pdo2 with socket3 values - third sync returns pdo1 with socket1 values and pdo2 with socket4 values - fourth sync returns pdo1 with socket1 values and pdo2 with socket5 values socketID is coded in each PDO. After FCS start we need to send 4 sync to know all clamps state.
    
    Throws:
    
    org.lsst.ccs.drivers.commons.DriverException
  - getFilterSocket
```
public CarouselSocket getFilterSocket(int filterID)
```
    Parameters:
    
    filterID -
    
    Returns:
    
    null if filter is not on carousel, else return socket where filter is stored.
  - grabFilterAtStandby
```
public String grabFilterAtStandby(Filter filter)
```
    This method has to be executed when a filter has just been moved on the carousel at standby filterPosition by the autochanger. It updates the carousel socket at standby or throw an exception. This method tests if the clamps are Locked on a filter at standby filterPosition The clamps Locks automaticaly, and the filter presence sensor tells us if the filter is here or not. If the clamps are Locked on a filter at standby filterPosition, this method updates the socketAtStandby at standby filterPosition : it puts the filter on the socketAtStandby.
    
    Parameters:
    
    filter -
    
    Returns:
    
    Throws:
    
    FcsHardwareException
  - ungrabFilterAtStandby
```
public void ungrabFilterAtStandby(String filterName)
```
    This unlock clamps at STANDBY.
    
    Parameters:
    
    filterName -
    
    Throws:
    
    FcsHardwareException
  - releaseClamps
```
@Command(type=ACTION,
         level=1,
         description="Release clamps at standby position to get ready to clamp again")
public void releaseClamps()
```
    Release clamps at standby position to get ready to clamp again.
  - unlockClamps
```
@Command(type=ACTION,
         level=3,
         description="Unlock the clamps at STANDBY.")
public void unlockClamps()
```
    Unlocks the clamps at STANDBY.
    
    Throws:
    
    FcsHardwareException
    
    FailedCommandException
    
    RejectedCommandException
  - isAtStandby
```
public boolean isAtStandby(Filter filter)
```
    Return true if the filter given as argument is at STANDBY position.
    
    Parameters:
    
    filter -
    
    Returns:
  - releaseClampsContact
```
public void releaseClampsContact()
```
  - myDevicesReady
```
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:
  - checkConditionsForRotation
```
@Command(type=QUERY,
         level=1,
         description="Check if carousel rotation is permitted.")
public void checkConditionsForRotation()
```
    Check if carousel rotation is permitted.
    
    Throws:
    
    FcsHardwareException
    
    RejectedCommandException - (RuntimeException)
  - rotateToRelativePosition
```
@Command(type=ACTION,
         level=1,
         description="Rotate carousel to a relative position.",
         timeout=60000)
public void rotateToRelativePosition(int relativePosition)
```
    A command to rotate carousel.
    
    Parameters:
    
    relativePosition -
    
    Throws:
    
    FcsHardwareException
  - rotateSocketToStandby
```
@Command(type=ACTION,
         level=1,
         description="Move a socket which name is given as argument to STANDBY position.",
         alias="moveSocketToStandby",
         timeout=50000)
public void rotateSocketToStandby(String socketName)
```
    Rotate carousel to move a socket which name is given as argument to STANDBY position. This methods computes the shortest way to go to STANDBY position.
    
    Parameters:
    
    socketName -
    
    Throws:
    
    FcsHardwareException
  - rotateEmptySocketAtStandby
```
public void rotateEmptySocketAtStandby()
```
    Move an empty socket to STANDBY position. The socket moved is the first empty one in the socketsMap.
    
    Throws:
    
    FcsHardwareException
  - 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
  - startAction
```
public void startAction(FcsEnumerations.MobileItemAction action)
```
    Starts action ROTATE_CAROUSEL_TO_ABSOLUTE_POSITION or ROTATE_CAROUSEL_TO_RELATIVE_POSITION. This : - enable controller, - make controller go to required position previously written in field absoluteTargetPosition or relativeTargetPosition, - writeControlWord "3F" or "7F" on controller depending if we want to go to a relative position or to an absolute position.
    
    Specified by:
    
    startAction in class MobileItem
    
    Parameters:
    
    action -
  - 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.
    
    Specified by:
    
    abortAction in class MobileItem
  - quickStopAction
```
public void quickStopAction(FcsEnumerations.MobileItemAction action,
                            long delay)
```
    Specified by:
    
    quickStopAction in class MobileItem
  - computeNewPosition
```
@Command(type=ACTION,
         level=1,
         description="compute new position to take in account tours which can have been runned")
public int computeNewPosition(int pos)
```
    Parameters:
    
    pos -
    
    Returns:
  - computeShortestRelativePosition
```
@Command(type=ACTION,
         level=1,
         description="Compute relative position to find the shortest way to run carousel.")
public int computeShortestRelativePosition(int d)
```
  - isHoldingFilter
```
public boolean isHoldingFilter()
```
    Return true if carousel is holding a filter at STANDBY position.
    
    Specified by:
    
    isHoldingFilter in interface FilterHolder
    
    Returns:
    
    Throws:
    
    FcsHardwareException
  - 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
    
    Specified by:
    
    isNotHoldingFilter in interface FilterHolder
    
    Returns:
    
    true if NOT holding filter
  - isAtHandoff
```
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:
  - updateStateWithSensors
```
@Command(type=QUERY,
         level=1,
         description="Read sensors and update state",
         timeout=2000)
public void updateStateWithSensors()
```
    Read the clamps state from PDO : all the clamp sensors are read at one time. Tested with success on single-filter-test in April 2013
    
    Specified by:
    
    updateStateWithSensors in interface FilterHolder
    
    Throws:
    
    FcsHardwareException
  - updateStateWithSensorsAtStandby
```
@Command(type=QUERY,
         level=1,
         description="Update socket at standby state from hyttc580 data.",
         timeout=2000)
public void updateStateWithSensorsAtStandby()
```
  - updateSocketAtStandbyState
```
public void updateSocketAtStandbyState()
```
  - updateState
```
@Command(type=QUERY,
         level=1,
         description="Update state from hyttc580 data.",
         timeout=2000)
public void updateState()
                                                                                                                                        throws org.lsst.ccs.drivers.commons.DriverException
```
    Throws:
    
    org.lsst.ccs.drivers.commons.DriverException
  - updateSocketNotAtStandby
```
public void updateSocketNotAtStandby()
```

Class Carousel

Field Summary

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

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

Constructor Summary

Method Summary

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

Methods inherited from class java.lang.Object

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

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

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

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

Field Detail

ai814

socketsMap

tcpProxy

Constructor Detail

Carousel

Method Detail

build

isClampsStateInitialized

isHomingDone

getStepNB

getEncoderSign

getSocketsMap

getSocketByName

getPosition

getClampXminusController

getClampXplusController

getClampXminus

getClampXplus

isAtStandby

getSocketAtStandby

getSocketAtStandbyID

getFilterAtStandbyName

isFilterOnCarousel

changeFilterID

isAutochangerHoldingFilter

postStart

homing

checkSensorTypeIncremental

publishData

createStatusDataPublishedByCarousel

isReadyToGrabAFilterAtStandby

isHoldingFilterAtStandby

isRotating

updatePosition

updateCurrent

updateClampsStateWithSensorsFromPDO

initializeClampsState

getFilterSocket

grabFilterAtStandby

ungrabFilterAtStandby

releaseClamps

unlockClamps

isAtStandby

releaseClampsContact

myDevicesReady

checkConditionsForRotation

rotateToRelativePosition

rotateSocketToStandby

rotateEmptySocketAtStandby

isActionCompleted

updateStateWithSensorsToCheckIfActionIsCompleted

startAction

abortAction

quickStopAction

computeNewPosition

computeShortestRelativePosition

isHoldingFilter

isNotHoldingFilter

isAtHandoff

updateStateWithSensors

updateStateWithSensorsAtStandby

updateSocketAtStandbyState

updateState

updateSocketNotAtStandby