org.lsst.ccs.subsystems.fcs

Class Loader

java.lang.Object

org.lsst.ccs.subsystems.fcs.Loader

All Implemented Interfaces:

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

public class Loader
extends Object
implements org.lsst.ccs.framework.HardwareController, FilterHolder, AlertRaiser, org.lsst.ccs.framework.HasLifecycle

This is the model for the loader in the Filter Exchange System. The loader is used to load a filter into the camera or to unload a filter from the camera. CAMERA PROTECTION SYSTEM signal coming from autochanger : AP2: Autochanger at HANDOFF position AF0: Autochanger latches opened AF3: Filter locked in Autochanger

Author:

virieux

Field Summary

Fields

Modifier and Type	Field and Description
protected org.lsst.ccs.services.DataProviderDictionaryService	dataProviderDictionaryService

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

alertSeparator

Constructor Summary

Constructors

Constructor and Description
Loader()

Method Summary

Modifier and Type	Method and Description
void	build()
void	checkClosedOnVoid()
void	checkConditionsForCarrierMotion(int targetPosition) Checks if the loader carrier can move.
void	checkConditionsForClampingHooks()
void	checkConditionsForOpeningHooks() Check if the clamp can be opened.
void	checkConditionsForUnclampingHooks()
void	checkConnectedOnCamera() Check if loader is connected on camera.
void	checkHaltRequired()
void	checkLoaderNotEmpty() Check if the clamp can be closed.
void	connectLoaderCANbus()
StatusDataPublishedByLoader	createStatusDataPublishedByLoader() Creates an Object to be published on the STATUS bus.
void	disconnectLoaderCANbus()
org.lsst.ccs.services.alert.AlertService	getAlertService() return alertService
LoaderCarrier	getCarrier() Returns carrier.
LoaderClamp	getClamp() Returns clamp.
int	getFilterID()
String	getName()
org.lsst.ccs.Subsystem	getSubsystem()
void	goToAbsolutePosition(int newPosition)
void	goToEngaged()
void	goToHandoff()
void	goToStorage()
void	initializeGateway()
void	initializeHardware() initialize loader hardware after initialization.
boolean	isAtHandoff() This method returns true if the autochanger trucks are at HANDOFF position, false otherwise.
boolean	isAtOnline() This method returns true if the autochanger trucks are at ONLINE position, false otherwise.
boolean	isAtStandby() This method returns true if the autochanger trucks are at STANDBY position, false otherwise.
boolean	isAtStorage()
boolean	isAutochangerHoldingFilter() Return true if the autochanger is holding the filter.
boolean	isClampedOnFilter() return true if a filter is present and hooks are closed.
boolean	isClosedOnFilter() return true if a filter is present and hooks are closed.
boolean	isConnectedOnCamera() Returns the sensor value loaderOnCamera.
boolean	isEmpty() Returns the boolean field empty.
boolean	isHoldingFilter() Return true if a filter is present and it is held by the loader clamp.
boolean	isInitialized()
boolean	isNotHoldingFilter() Return true if loader clamp is openened.
boolean	isOpened()
void	locateHardware() This command has to be executed after the initialization phase and after the checkHardware command.
void	moveEmptyToHandoffAndClose()
void	moveFilterFromHandoffToStorage() Move a filter from HANDOFF to STORAGE.
void	moveFilterFromStorageToHandoff() move a filter from Storage position or a position between ENGAGED and STORAGE to HANDOFF position.
void	openClampAndMoveEmptyToStorage() This command can be executed when loader is at Handoff with a filter.
void	postStart() Check that plutoGateway is booted and initialize plutoGateway.
String	printHardwareState() Print list of hardware with initialization information.
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	updateFCSStateToReady() Update FCS state and FCS readyness state and publish on the status bus.
void	updateStateAndCheckSensors()
void	updateStateWithSensors() This methods updates the carrier and clamp state in reading all the sensors.

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, checkStopped

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

clearAlarm, getAlertSeparator, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarmOnlyIfNew, raiseAlertOnlyEveryTenMinutes, raiseAlertOnlyEveryTenMinutes, raiseAlertOnlyIfNew, raiseWarning, raiseWarning, raiseWarningOnlyEveryTenMinutes, raiseWarningOnlyIfNew

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

init, postBuild, postInit, postShutdown, shutdown, start

Field Detail

dataProviderDictionaryService

@LookupField(strategy=TREE)
protected org.lsst.ccs.services.DataProviderDictionaryService dataProviderDictionaryService

Constructor Detail

Loader

public Loader()

Method Detail

getAlertService

public org.lsst.ccs.services.alert.AlertService getAlertService()

Description copied from interface: AlertRaiser

return alertService

Specified by:

getAlertService in interface AlertRaiser

Returns:

getName

public String getName()

Specified by:

getName in interface AlertRaiser

getSubsystem

public org.lsst.ccs.Subsystem getSubsystem()

Specified by:

getSubsystem in interface AlertRaiser

getCarrier

public LoaderCarrier getCarrier()

Returns carrier.

Returns:

carrier

getClamp

public LoaderClamp getClamp()

Returns clamp.

Returns:

build

public void build()

Specified by:

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

isInitialized

@Command(type=QUERY,
         level=0,
         description="Return true if hardware (controllers and plutoGateway) is correctly initializedand homing of the controllers is done.")
public boolean isInitialized()

Returns:

true if hardware (controllers and plutoGateway) is correctly initialized and checkHardwareStateAndDoHomingIfPossible of the controllers is done.

isEmpty

@Command(type=QUERY,
         level=0,
         description="Return true if there is no filter in the loader. This command doesn\'t read again the sensors.")
public boolean isEmpty()

Returns the boolean field empty. If the empty boolean is being updated and waits for a response from a sensor, this methods waits until empty is updated. If the field empty is not being updated, it returns immediatly the field empty.

Returns:

empty

isConnectedOnCamera

@Command(type=QUERY,
         level=0,
         description="Return true if the loader is connected on the camera. This command doesn\'t read again the sensors.")
public boolean isConnectedOnCamera()

Returns the sensor value loaderOnCamera.

Returns:

connectedToCamera

isAutochangerHoldingFilter

@Command(type=QUERY,
         level=0,
         description="Return true if the autochanger is holding the filter. This command doesn\'t read again the sensors.")
public boolean isAutochangerHoldingFilter()

Return true if the autochanger is holding the filter. This command doesn't read again the sensors.

Returns:

Throws:

FcsHardwareException

isHoldingFilter

@Command(type=QUERY,
         level=0,
         description="Return true if a filter is present and it is held by the loader clamp.")
public boolean isHoldingFilter()

Return true if a filter is present and it is held by the loader clamp.

Specified by:

isHoldingFilter in interface FilterHolder

Returns:

Throws:

FcsHardwareException

isClampedOnFilter

public boolean isClampedOnFilter()

return true if a filter is present and hooks are closed.

Returns:

isClosedOnFilter

public boolean isClosedOnFilter()

return true if a filter is present and hooks are closed.

Returns:

isOpened

public boolean isOpened()

isNotHoldingFilter

@Command(type=QUERY,
         level=0,
         description="Return true if loader clamp is openened.")
public boolean isNotHoldingFilter()

Return true if loader clamp is openened.

Specified by:

isNotHoldingFilter in interface FilterHolder

Returns:

Throws:

FcsHardwareException

locateHardware

@Command(type=ACTION,
         level=1,
         description="Attention ! this commands does the homing of the controllers and might move hardware. Initialize loader hardware.",
         alias="homing")
public void locateHardware()

This command has to be executed after the initialization phase and after the checkHardware command. It can't be automaticaly executed during initialization phase because it's not compliant with the CCS requirement which says that the initialization of the subsystem can't make move hardware.

checkClosedOnVoid

public void checkClosedOnVoid()

checkHaltRequired

public void checkHaltRequired()

initializeHardware

@Command(type=QUERY,
         level=1,
         description="Initialize loader hardware after initialization. To be executed if during boot process some hardware is missing.")
public void initializeHardware()

initialize loader hardware after initialization. to be executed if during boot process some hardware is missing.

postStart

public void postStart()

Check that plutoGateway is booted and initialize plutoGateway. Read sensors and update clamp's lockStatus.

Specified by:

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

initializeGateway

public void initializeGateway()

checkConnectedOnCamera

public void checkConnectedOnCamera()

Check if loader is connected on camera.

Throws:

RejectedCommandException - if not connected on camera

checkConditionsForCarrierMotion

@Command(type=QUERY,
         level=1,
         description="Check if the carrier can move.")
public void checkConditionsForCarrierMotion(int targetPosition)

Checks if the loader carrier can move.

Parameters:

targetPosition -

Throws:

FcsHardwareException

FailedCommandException

checkConditionsForOpeningHooks

@Command(type=QUERY,
         level=1,
         description="Check if the clamp can be opened.")
public void checkConditionsForOpeningHooks()

Check if the clamp can be opened.

Throws:

FcsHardwareException

checkConditionsForClampingHooks

public void checkConditionsForClampingHooks()

checkConditionsForUnclampingHooks

public void checkConditionsForUnclampingHooks()

checkLoaderNotEmpty

@Command(type=QUERY,
         level=1,
         description="Check if the clamp can be closed.")
public void checkLoaderNotEmpty()

Check if the clamp can be closed. Clamp can be close if sensors are not in error and a filter is in the loader.

Throws:

FcsHardwareException

updateStateAndCheckSensors

public void updateStateAndCheckSensors()

updateStateWithSensors

@Command(type=ACTION,
         level=1,
         description="Update clamp state in reading sensors.")
public void updateStateWithSensors()

This methods updates the carrier and clamp state in reading all the sensors.

Specified by:

updateStateWithSensors in interface FilterHolder

Throws:

FcsHardwareException

updateFCSStateToReady

@Command(type=ACTION,
         level=1,
         description="Update FCS state and FCS readyness state and publishes on the status bus.")
public void updateFCSStateToReady()

Update FCS state and FCS readyness state and publish on the status bus. Check that Loader hardware is ready to be operated and moved. This means that : - all CAN open devices are booted, identified and initialized, - checkHardwareStateAndDoHomingIfPossible has been done on the controllers.

disconnectLoaderCANbus

public void disconnectLoaderCANbus()

connectLoaderCANbus

public void connectLoaderCANbus()

goToStorage

public void goToStorage()

goToHandoff

public void goToHandoff()

goToEngaged

public void goToEngaged()

goToAbsolutePosition

public void goToAbsolutePosition(int newPosition)

moveFilterFromStorageToHandoff

@Command(type=ACTION,
         level=1,
         description="Move a filter from STORAGE to HANDOFF. This command executes sequence of actions :\n- check initial conditions (a filter is at STORAGE) \n- move carrier to ENGAGED with high speed\n- unclamp filter \n- move slowly filter to HANDOFF. ",
         timeout=120000)
public void moveFilterFromStorageToHandoff()

move a filter from Storage position or a position between ENGAGED and STORAGE to HANDOFF position. This command executes sequence of actions : - check initial conditions (a filter, at STORAGE) - move carrier to ENGAGED - unclamp filter (not open, just unclamp to release constraint on filter) - move slowly filter to HANDOFF.

moveFilterFromHandoffToStorage

@Command(type=ACTION,
         level=1,
         description="Move a filter from HANDOFF to STORAGE : move filter slowly to ENGAGEDthen clamp and move filter to STORAGE with high speed.",
         timeout=120000)
public void moveFilterFromHandoffToStorage()

Move a filter from HANDOFF to STORAGE. - checks initial conditions : a filter is at HANDOFF, autochanger holding the filter (latches CLOSED), clamp is CLOSED - move filter slowly to ENGAGED - clamp - move filter to STORAGE with high speed.

openClampAndMoveEmptyToStorage

@Command(type=ACTION,
         level=1,
         description="open clamp and move empty from HANDOFF to STORAGE Position at high speed.",
         timeout=120000)
public void openClampAndMoveEmptyToStorage()

This command can be executed when loader is at Handoff with a filter. The autochanger must hold the filter.

moveEmptyToHandoffAndClose

@Command(type=ACTION,
         level=1,
         description="move empty from Storage to Handoff at high speed and then close clamp.",
         timeout=120000)
public void moveEmptyToHandoffAndClose()

createStatusDataPublishedByLoader

public StatusDataPublishedByLoader createStatusDataPublishedByLoader()

Creates an Object to be published on the STATUS bus.

publishData

public void publishData()

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

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:

isAtStandby

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:

isAtOnline

public boolean isAtOnline()

Description copied from interface: FilterHolder

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

Specified by:

isAtOnline in interface FilterHolder

Returns:

isAtStorage

public boolean isAtStorage()

printHardwareState

@Command(type=QUERY,
         level=1,
         description="Print list of hardware with initialization information.")
public String printHardwareState()

Print list of hardware with initialization information.

Returns:

getFilterID

public int getFilterID()

Specified by:

getFilterID in interface FilterHolder