MobileItem (LSST CCS - Subsystem FCS 5.4.4 API)

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

All Implemented Interfaces:

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

Direct Known Subclasses:

AutochangerLatch, AutochangerOnlineClamp, AutochangerOnlineClampProto, AutochangerThreeOnlineClamps, AutochangerTwoLatches, AutochangerTwoTrucks, Carousel, CarouselClamp, CarouselSocket, LoaderCarrier, LoaderClamp
```
public abstract class MobileItem
extends Object
implements org.lsst.ccs.framework.HardwareController, AlertRaiser, org.lsst.ccs.framework.SignalHandler, org.lsst.ccs.framework.HasLifecycle
```
This represents a Mechanical Item which can be moved by a motor. Generaly we want to execute an action on this mechanical item: - start the action, - read sensors to know if the action is completed, - wait for the end of the action This module provides a general way to start an action and wait until the action is completed. It factorises some code that otherwise would have to be duplicated in each Module that needs such fonctionnalities. This class raises alerts : - FCS005 in halt, quickStop

Author:

virieux

Field Summary

Fields
Modifier and Type	Field and Description
`protected org.lsst.ccs.services.AgentStateService`	`agentStateService`
`protected long`	`beginTime`
`protected long`	`commandDuration`
`protected FcsEnumerations.MobileItemAction`	`currentAction`
`protected org.lsst.ccs.services.DataProviderDictionaryService`	`dataProviderDictionaryService`
`protected static Logger`	`FCSLOG`
`protected boolean`	`hasToWaitForEndOfAction`
`protected Lock`	`lock`
`protected String`	`name`
`protected ScheduledFuture<?>`	`readSensorsHandle`
`protected ScheduledThreadPoolExecutor`	`scheduler`
`protected org.lsst.ccs.Subsystem`	`subs`
`protected boolean`	`timeoutExceeded`

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

Constructor Summary

Constructors
Constructor and Description

MobileItem()

Constructors
Constructor and Description
`MobileItem()`

Method Summary

All Methods Instance Methods Abstract Methods Concrete Methods
Modifier and Type	Method and Description
`abstract void`	`abortAction(FcsEnumerations.MobileItemAction action, long delay)` aborts action actually running.
`protected void`	`cancelReadingSensors()` This stops the thread reading sensors.
`protected void`	`checkReadyForAction()`
`void`	`checkStopped()`
`abstract void`	`endAction(FcsEnumerations.MobileItemAction action)` end current action.
`protected void`	`executeAction(FcsEnumerations.MobileItemAction action, long timeoutForAction)` This executes an action which moves the MobileItem and waits for the end od this action.
`org.lsst.ccs.services.alert.AlertService`	`getAlertService()` return alertService
`AtomicBoolean`	`getHaltRequired()`
`String`	`getName()`
`org.lsst.ccs.Subsystem`	`getSubsystem()`
`abstract boolean`	`isActionCompleted(FcsEnumerations.MobileItemAction action)`
`boolean`	`isMoving()` Return true if the MobileItemMobile is moving.
`abstract boolean`	`myDevicesReady()` Return True if all CAN open devices useful for this MobileItemMobile are ready for an action.
`abstract void`	`publishData()`
`abstract void`	`quickStopAction(FcsEnumerations.MobileItemAction action, long delay)`
`void`	`readSensorsUntilActionIsCompleted(FcsEnumerations.MobileItemAction action, long timeout)` Start reading the sensors at a fixed rate (scheduler.scheduleAtFixedRate) until the action is completed or we received a halt signal or the timeout for this action is past.
`void`	`shutdown()` This shutdowns the scheduler.
`org.lsst.ccs.framework.TreeWalkerDiag`	`signal(org.lsst.ccs.framework.Signal signal)`
`abstract void`	`startAction(FcsEnumerations.MobileItemAction action)` starts the action given as argument.
`abstract 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.
`protected void`	`waitForEndOfAction(FcsEnumerations.MobileItemAction action)` This method waits until the action is completed.

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

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

- Field Detail
  - FCSLOG
```
protected static final Logger FCSLOG
```
  - name
```
@LookupName
protected String name
```
  - subs
```
@LookupField(strategy=TOP)
protected org.lsst.ccs.Subsystem subs
```
  - agentStateService
```
@LookupField(strategy=TREE)
protected org.lsst.ccs.services.AgentStateService agentStateService
```
  - dataProviderDictionaryService
```
@LookupField(strategy=TREE)
protected org.lsst.ccs.services.DataProviderDictionaryService dataProviderDictionaryService
```
  - hasToWaitForEndOfAction
```
protected volatile boolean hasToWaitForEndOfAction
```
  - currentAction
```
protected volatile FcsEnumerations.MobileItemAction currentAction
```
  - commandDuration
```
protected long commandDuration
```
  - beginTime
```
protected long beginTime
```
  - timeoutExceeded
```
protected boolean timeoutExceeded
```
  - lock
```
protected final Lock lock
```
  - readSensorsHandle
```
protected ScheduledFuture<?> readSensorsHandle
```
  - scheduler
```
protected final ScheduledThreadPoolExecutor scheduler
```
- Constructor Detail
  - MobileItem
```
public MobileItem()
```
- 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
  - isMoving
```
public boolean isMoving()
```
    Return true if the MobileItemMobile is moving. That means that we are waiting for an action to be completed.
    
    Returns:
  - getHaltRequired
```
public AtomicBoolean getHaltRequired()
```
  - cancelReadingSensors
```
protected void cancelReadingSensors()
```
    This stops the thread reading sensors.
  - myDevicesReady
```
public abstract boolean myDevicesReady()
```
    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).
    
    Returns:
  - isActionCompleted
```
public abstract boolean isActionCompleted(FcsEnumerations.MobileItemAction action)
```
  - updateStateWithSensorsToCheckIfActionIsCompleted
```
public abstract 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. It's abstract because it'up to the sub-classes to know what to do.
  - startAction
```
public abstract void startAction(FcsEnumerations.MobileItemAction action)
```
    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.
    
    Parameters:
    
    action -
  - abortAction
```
public abstract void abortAction(FcsEnumerations.MobileItemAction action,
                                 long delay)
```
    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.
    
    Parameters:
    
    action -
    
    delay -
  - endAction
```
public abstract void endAction(FcsEnumerations.MobileItemAction action)
```
    end current action. This command is executed systematically at the end of any action in the `finally` clause of executeAction(). It has to be specified in sub-classes. It should leave the controller in a safe state for the hardware. Must not be waiting for a lock or a condition otherwise executeAction could never complete.
    
    Parameters:
    
    action -
  - quickStopAction
```
public abstract void quickStopAction(FcsEnumerations.MobileItemAction action,
                                     long delay)
```
  - publishData
```
public abstract void publishData()
```
  - checkReadyForAction
```
protected void checkReadyForAction()
```
  - executeAction
```
protected void executeAction(FcsEnumerations.MobileItemAction action,
                             long timeoutForAction)
```
    This executes an action which moves the MobileItem and waits for the end od this action. The MobileItemAction is an ENUM from the fcs.bus package.
    
    Parameters:
    
    action, - timeout
    
    timeoutForAction -
    
    Throws:
    
    FailedCommandException - if the action can't be completed
    
    FcsHardwareException
  - readSensorsUntilActionIsCompleted
```
public void readSensorsUntilActionIsCompleted(FcsEnumerations.MobileItemAction action,
                                              long timeout)
```
    Start reading the sensors at a fixed rate (scheduler.scheduleAtFixedRate) until the action is completed or we received a halt signal or the timeout for this action is past.
    
    Parameters:
    
    action -
    
    timeout -
  - waitForEndOfAction
```
protected void waitForEndOfAction(FcsEnumerations.MobileItemAction action)
```
    This method waits until the action is completed. This methods is called by executeAction and has already acquired the lock.
    
    Parameters:
    
    action -
  - shutdown
```
public void shutdown()
```
    This shutdowns the scheduler. This is executed during CLOSING phase when the MobileItemMobile is stopped. cf checkStopped
    
    Specified by:
    
    shutdown in interface org.lsst.ccs.framework.HasLifecycle
  - signal
```
public org.lsst.ccs.framework.TreeWalkerDiag signal(org.lsst.ccs.framework.Signal signal)
```
    Specified by:
    
    signal in interface org.lsst.ccs.framework.SignalHandler
    
    Parameters:
    
    signal -
    
    Returns:
  - checkStopped
```
public void checkStopped()
                  throws org.lsst.ccs.HardwareException
```
    Specified by:
    
    checkStopped in interface org.lsst.ccs.framework.HardwareController
    
    Throws:
    
    org.lsst.ccs.HardwareException

Class MobileItem

Field Summary

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

Constructor Summary

Method Summary

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.HasLifecycle

Field Detail

FCSLOG

name

subs

agentStateService

dataProviderDictionaryService

hasToWaitForEndOfAction

currentAction

commandDuration

beginTime

timeoutExceeded

lock

readSensorsHandle

scheduler

Constructor Detail

MobileItem

Method Detail

getAlertService

getName

getSubsystem

isMoving

getHaltRequired

cancelReadingSensors

myDevicesReady

isActionCompleted

updateStateWithSensorsToCheckIfActionIsCompleted

startAction

abortAction

endAction

quickStopAction

publishData

checkReadyForAction

executeAction

readSensorsUntilActionIsCompleted

waitForEndOfAction

shutdown

signal

checkStopped