Carousel (LSST CCS - Subsystem FCS 6.0.4 API)

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

All Implemented Interfaces:

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

Direct Known Subclasses:

SimuCarousel
```
public class Carousel
extends MobileItem
implements 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 int`	`absoluteTargetPosition` an absolute target position to reach in a rotation is modified each time a rotation command has been launched.
`protected ADCInterface`	`ai814`
`protected EPOSControllerForCarousel`	`carouselController`
`protected boolean`	`clampsStateInitialized`
`protected int`	`currentToPrepareUnlock`
`int`	`fastAcceleration`
`int`	`fastDeceleration`
`int`	`fastRotationTimeout`
`int`	`fastVelocity`
`protected int`	`minLockedThreshold` Threshold that gives the 'locked' status to the clamps.
`protected int`	`position` carousel position given by carouselControl.
`protected boolean`	`powerSave`
`protected int`	`readCurrent`
`protected int`	`readVelocity`
`int`	`recoveryBackwardStep`
`int`	`recoveryForwardStep`
`int`	`recoveryLockingCurrent`
`int`	`recoveryMaxVelocity`
`protected Map<String,SensorPluggedOnTTC580>`	`sensorsMap` map of sensors attached to this device.
`int`	`slowAcceleration`
`int`	`slowDeceleration`
`int`	`slowRotationTimeout`
`int`	`slowVelocity`
`protected CarouselSocket`	`socketAtStandby`
`protected Map<String,CarouselSocket>`	`socketsMap` A map to store the sockets by their names.
`protected int`	`startPosition` startPosition is the absolute position at the begining of a rotation.
`protected BridgeToHardware`	`tcpProxy`
`protected int`	`timeToPrepareUnlock`
`long`	`timeToUpdateProtectionSystem`

Fields inherited from class org.lsst.ccs.subsystems.fcs.common.MobileItem
agentStateService, beginTime, commandDuration, currentAction, dataProviderDictionaryService, FCSLOG, hasToWaitForEndOfAction, lock, moving, name, readSensorsHandle, scheduler, subs, timeoutExceeded

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

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()`
`void`	`changeFilterID(int filterID, int socketID)`
`void`	`checkConditionsForRotation()` Check if carousel rotation is permitted.
`void`	`checkDeltaPosition()`
`void`	`checkSensorTypeIncremental()`
`StatusDataPublishedByCarousel`	`createStatusDataPublishedByCarousel()` Create an object StatusDataPublishedByCarousel to be published on the STATUS bus.
`void`	`endAction(FcsEnumerations.MobileItemAction action)` end current action.
`FcsEnumerations.FilterClampState`	`getClampsStateAtStandby()`
`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`	`getCurrentToPrepareUnlock()`
`String`	`getFilterAtStandbyName()` Returns name of filter which is in the socket at STANDBY position or NO_FILTER if there is no filter at STANDBY.
`int`	`getFilterID()`
`int`	`getFilterIDatStandby()` Returns ID of filter which is in the socket at STANDBY position or 0 if there is no filter at STANDBY.
`int`	`getFilterPresenceMinNoFilter()`
`CarouselSocket`	`getFilterSocket(int filterID)`
`int`	`getFullTurn()` used by tests.
`int`	`getLockSensorMaxLimitXminus()`
`int`	`getLockSensorMaxLimitXplus()`
`int`	`getLockSensorMinLimitXminus()`
`int`	`getLockSensorMinLimitXplus()`
`Integer`	`getMinLockedThreshold()`
`int`	`getPosition()` return carousel position.
`int`	`getRecoveryLockingCurrent()`
`int`	`getRecoveryMaxVelocity()`
`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`	`getTimeToPrepareUnlock()`
`void`	`init()`
`void`	`initializeAndCheckClampsOffset()`
`void`	`initializeClampsState()` In carousel, sensors are updated from PDOs.
`void`	`initializeHardware()` initialize carousel hardware after initialization.
`boolean`	`isActionCompleted(FcsEnumerations.MobileItemAction action)`
`boolean`	`isAtHandoff()` This method returns true if the autochanger trucks are at HANDOFF position, false otherwise.
`boolean`	`isAtOnline()` Overridden method from FilterHolder
`boolean`	`isAtStandby()` Used to publish on the STATUS bus for the GUI.
`boolean`	`isAtStandby(int filterID)` Return true if the filterID 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`	`isEmptyAtStandby()`
`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`	`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`	`isRotationAllowedByPLC()`
`boolean`	`isUnclampAllowedByPLC()`
`boolean`	`isUnclampedOnFilterAtStandby()`
`boolean`	`myDevicesReady()` Return True if all CAN open devices useful for this MobileItemMobile are ready for an action.
`void`	`persistData()`
`void`	`postStart()` Executed when all components HasLifeCycle of subsystem have been checked.
`void`	`powerSafeActivate()`
`void`	`powerSafeDisactivate()`
`void`	`publishData()` Publish Data on status bus for trending data base and GUIs.
`void`	`quickStopAction(FcsEnumerations.MobileItemAction action, long delay)`
`long`	`readLockSensorMinLocked()`
`void`	`readTemperatures()`
`void`	`recoveryLockingXminus()` This is a recovery command when storing a carousel at STANDBY : sometimes, clampXplus is LOCKED but clampXminus is not LOCKED.
`void`	`recoveryRotationBackward()`
`void`	`recoveryRotationForward()`
`void`	`recoveryRotationStraight()`
`void`	`releaseClamps()` Release clamps at standby position to get ready to clamp again.
`void`	`releaseClampsContact()`
`void`	`rotateFullTurn(int nbTurn)` Rotate carousel full turn.
`void`	`rotateSocketToStandby(String socketName)` Rotate carousel to move a socket which name is given as argument to STANDBY position.
`void`	`rotateToAbsolutePosition(int newPos)` Rotate to position newPos.
`void`	`rotateToRelativePosition(int relativePos, long timeout)` rotate carousel within a relative position given as argument.
`void`	`setControllerPositionSensorTypeEncoderSSI()`
`void`	`setFastMode()`
`void`	`setSlowMode()`
`void`	`startAction(FcsEnumerations.MobileItemAction action)` Starts action ROTATE_CAROUSEL_TO_ABSOLUTE_POSITION or ROTATE_CAROUSEL_TO_RELATIVE_POSITION.
`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 readCurrent in reading the CPU of the controller.
`void`	`updateMinLockedThreshold()` read lockSensorMinLocked on hyttc580.
`void`	`updatePosition()` Updates the filterPosition of the carousel in reading the CPU of the controller.
`void`	`updateSocketAtStandbyState()`
`void`	`updateSocketAtStandbyWithSensors()` ****************************************************************
`void`	`updateSocketNotAtStandby()`
`void`	`updateState()`
`void`	`updateStateWithSensors()` Read the clamps state from PDO : all the clamp sensors are read at one time.
`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.
`void`	`updateTemperatures()` read Temperatures on pt100.
`void`	`waitForProtectionSystemUpdate()`
`void`	`waitForStateUnclampedOnFilter(long timeout)` wait until carousel is unclamped and empty at standby

Methods inherited from class org.lsst.ccs.subsystems.fcs.common.MobileItem
cancelReadingSensors, checkReadyForAction, executeAction, getAlertService, getHaltRequired, getName, getSubsystem, isMoving, readSensorsUntilActionIsCompleted, registerAction, shutdown, signal, 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.subsystems.fcs.common.AlertRaiser
clearAlarm, getAlertSeparator, getAlertService, getSubsystem, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarmOnlyIfNew, raiseAlertOnlyEveryTenMinutes, raiseAlertOnlyEveryTenMinutes, raiseAlertOnlyIfNew, raiseWarning, raiseWarning, raiseWarning, raiseWarning, raiseWarningOnlyEveryTenMinutes, raiseWarningOnlyIfNew

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

Field Detail

position
```
protected int position
```
carousel position given by carouselControl.

absoluteTargetPosition
```
protected int absoluteTargetPosition
```
an absolute target position to reach in a rotation is modified each time a rotation command has been launched.

startPosition
```
protected int startPosition
```
startPosition is the absolute position at the begining of a rotation. used to compute estimated position during rotation : during rotation, the carousel controller is set in encoder type incremental so the position read on controller is an incremental position not an absolute position.

readVelocity
```
protected int readVelocity
```

readCurrent
```
protected int readCurrent
```

powerSave
```
protected boolean powerSave
```

slowVelocity

@ConfigurationParameter(description="velocity in slow mode [rpm]",
                        units="unitless",
                        range="0..5000",
                        category="carousel")
public volatile int slowVelocity

slowAcceleration

@ConfigurationParameter(description="acceleration in slow mode [rpm/s]",
                        units="unitless",
                        range="0..5000",
                        category="carousel")
public volatile int slowAcceleration

slowDeceleration

@ConfigurationParameter(description="deceleration in slow mode [rpm/s]",
                        units="unitless",
                        range="0..5000",
                        category="carousel")
public volatile int slowDeceleration

slowRotationTimeout

@ConfigurationParameter(description="in milliseconds; timeout for the rotation in slow mode",
                        units="millisecond",
                        range="0..300000",
                        category="carousel")
public volatile int slowRotationTimeout

fastVelocity

@ConfigurationParameter(description="velocity in fast mode [rpm]",
                        units="unitless",
                        range="0..5000",
                        category="carousel")
public volatile int fastVelocity

fastAcceleration

@ConfigurationParameter(description="acceleration in fast mode [rpm/s]",
                        units="unitless",
                        range="0..5000",
                        category="carousel")
public volatile int fastAcceleration

fastDeceleration

@ConfigurationParameter(description="deceleration in fast mode [rpm/s]",
                        units="unitless",
                        range="0..5000",
                        category="carousel")
public volatile int fastDeceleration

fastRotationTimeout

@ConfigurationParameter(description="in milliseconds; timeout for the rotation in fast mode",
                        units="millisecond",
                        range="0..300000",
                        category="carousel")
public volatile int fastRotationTimeout

timeToUpdateProtectionSystem

@ConfigurationParameter(description="This is the time to wait until protection system changes its status after motions.",
                        units="millisecond",
                        range="0..5000",
                        category="carousel")
public volatile long timeToUpdateProtectionSystem

currentToPrepareUnlock

@ConfigurationParameter(description="for command unlock of carousel clamp : current to send to prepare unlock",
                        range="-3200..3200",
                        units="mA",
                        category="carousel")
protected volatile int currentToPrepareUnlock

timeToPrepareUnlock

@ConfigurationParameter(description="for command unlock of carousel clamp : time between little current to prepare hardware and currentToLock ",
                        range="0..500",
                        units="millisecond",
                        category="carousel")
protected volatile int timeToPrepareUnlock

recoveryLockingCurrent

@ConfigurationParameter(description="A current to be sent to clampXminus controller during locking recovery.",
                        units="mV",
                        range="0..1000",
                        category="carousel")
public volatile int recoveryLockingCurrent

recoveryMaxVelocity

@ConfigurationParameter(description="If the velocity in clampXminus controller goes over this value during locking recovery, it means that the recovery process has failed. [rpm]",
                        units="unitless",
                        range="0..100",
                        category="carousel")
public volatile int recoveryMaxVelocity

recoveryBackwardStep

@ConfigurationParameter(description="A number of steps to go back if after rotation carousel position has exceeded standbyPosition by more than maxStandbyDeltaPosition. [carousel encoder step]",
                        units="unitless",
                        range="0..2181120",
                        category="carousel")
public volatile int recoveryBackwardStep

recoveryForwardStep

@ConfigurationParameter(description="A number of steps to go back if after rotation carousel position has exceeded standbyPosition by more than maxStandbyDeltaPosition. [carousel encoder step]",
                        units="unitless",
                        range="0..2181120",
                        category="carousel")
public volatile int recoveryForwardStep

carouselController

@LookupField(strategy=TREE,
             pathFilter=".*\\/carouselController")
protected EPOSControllerForCarousel carouselController

ai814

@LookupField(strategy=TREE,
             pathFilter=".*\\/ai814")
protected ADCInterface 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.

sensorsMap

@LookupField(strategy=TREE)
protected Map<String,SensorPluggedOnTTC580> sensorsMap

map of sensors attached to this device.

tcpProxy

@LookupField(strategy=SIBLINGS,
             pathFilter="tcpProxy")
protected BridgeToHardware tcpProxy

clampsStateInitialized

protected boolean clampsStateInitialized

socketAtStandby

protected CarouselSocket socketAtStandby

minLockedThreshold
```
protected volatile int minLockedThreshold
```
Threshold that gives the 'locked' status to the clamps. The values of the Baumer sensors, which are used to determine the locking status of the carousel clamps, depend strongly on ambient temperature. The TTC580 processes temperature sensor values from the TTC30 modules and uses this information to correct the threshold that gives the 'locked' status to the clamps. This value (in mV) is read through the CAN bus from an SDO, by sending a read request at index 0x6404, subindex 5.

Constructor Detail
- Carousel
```
public Carousel()
```

Method Detail
- build
```
public void build()
```
  Specified by:
  
  build in interface org.lsst.ccs.framework.HasLifecycle
- init
```
public void init()
```
  Specified by:
  
  init in interface org.lsst.ccs.framework.HasLifecycle
- isRotationAllowedByPLC
```
public boolean isRotationAllowedByPLC()
```
  Returns:
  
  true if rotation is allowed by PLC.
- isUnclampAllowedByPLC
```
public boolean isUnclampAllowedByPLC()
```
  Returns:
  
  true if rotation is allowed by PLC.
- isClampsStateInitialized
```
@Command(type=QUERY,
         level=0,
         description="Return true if clamp state is initialized for all clamps.")
public boolean isClampsStateInitialized()
```
  Returns:
  
  true if clamp state is initialized for all clamps
- getCurrentToPrepareUnlock
```
public int getCurrentToPrepareUnlock()
```
- getTimeToPrepareUnlock
```
public int getTimeToPrepareUnlock()
```
- getMinLockedThreshold
```
public Integer getMinLockedThreshold()
```
- getLockSensorMinLimitXminus
```
public int getLockSensorMinLimitXminus()
```
- getLockSensorMinLimitXplus
```
public int getLockSensorMinLimitXplus()
```
- getLockSensorMaxLimitXminus
```
public int getLockSensorMaxLimitXminus()
```
- getLockSensorMaxLimitXplus
```
public int getLockSensorMaxLimitXplus()
```
- getFilterPresenceMinNoFilter
```
public int getFilterPresenceMinNoFilter()
```
- getRecoveryLockingCurrent
```
public int getRecoveryLockingCurrent()
```
- getRecoveryMaxVelocity
```
public int getRecoveryMaxVelocity()
```
- getFullTurn
```
public int getFullTurn()
```
  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
```
@Command(type=QUERY,
         level=0,
         description="return ID of socket at STANDBY, 0 if carousel is not stopped at STANDBY")
public int getSocketAtStandbyID()
```
  Returns:
  
  ID of socket at STANDBY
- getFilterAtStandbyName
```
@Command(type=QUERY,
         level=0,
         description="Returns name of filter at STANDBY position  or NO_FILTER if carousel is not at STANDBY or 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:
- getFilterIDatStandby
```
@Command(type=QUERY,
         level=0,
         description="Returns id of filter at STANDBY position  or 0 if there is no filter at STANDBY.")
public int getFilterIDatStandby()
```
  Returns ID of filter which is in the socket at STANDBY position or 0 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(type=ACTION,
         level=1,
         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
- initializeHardware
```
@Command(type=QUERY,
         level=1,
         description="Initialize carousel hardware after initialization. To be executed if during boot process some hardware is missing.")
public void initializeHardware()
```
  initialize carousel hardware after initialization. to be executed if during boot process some hardware is missing.
- postStart
```
public void postStart()
```
  Executed when all components HasLifeCycle of subsystem have been checked.
  
  Specified by:
  
  postStart in interface org.lsst.ccs.framework.HasLifecycle
- setControllerPositionSensorTypeEncoderSSI
```
@Command(type=ACTION,
         level=3,
         description="Disable carousel controller, set the position sensor to TypeEncoderSSI, and check that the ssi position is correct.")
public void setControllerPositionSensorTypeEncoderSSI()
```
- setSlowMode
```
@Command(type=ACTION,
         level=1,
         description="slow down profile velocity, acceleration and deceleration in carousel controller.")
public void setSlowMode()
```
- setFastMode
```
@Command(type=ACTION,
         level=1,
         description="raise profile velocity, acceleration and deceleration in carousel controller.")
public void setFastMode()
```
- waitForProtectionSystemUpdate
```
public void waitForProtectionSystemUpdate()
```
- waitForStateUnclampedOnFilter
```
public void waitForStateUnclampedOnFilter(long timeout)
```
  wait until carousel is unclamped and empty at standby
  
  Parameters:
  
  timeout - after this delay don't wait anymore.
- checkSensorTypeIncremental
```
public void checkSensorTypeIncremental()
```
- persistData
```
@Command(type=QUERY,
         level=1,
         description="save persist file to store which filter is in socket and clamps offsets")
public void persistData()
```
- 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 false if carousel controller is SWITCH_ON_DISABLED.")
public boolean isRotating()
```
  Returns true if carousel is rotating
  
  Returns:
- updatePosition
```
@Command(type=ACTION,
         level=1,
         description="Set position sensor type SSI and update carousel position in reading controller.")
public void updatePosition()
```
  Updates the filterPosition of the carousel in reading the CPU of the controller. Used at startup and by end user for debug.
  
  Throws:
  
  SDORequestException
- updateCurrent
```
@Command(type=QUERY,
         level=1,
         description="Update field current in reading controller.")
public void updateCurrent()
```
  Updates the field readCurrent 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()
```
  In carousel, sensors are updated from PDOs. PDOs are received 2 by 2 : 0x180 + ttc580 nodeID for clamp at standby. (ttc580 pdo1) 0x280 + ttc580 nodeID for a clamp not at standby. (ttc580 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.
- initializeAndCheckClampsOffset
```
@Command(type=QUERY,
         level=1,
         description="Update clamp offsets.")
public void initializeAndCheckClampsOffset()
```
- getFilterSocket
```
public CarouselSocket getFilterSocket(int filterID)
```
  Parameters:
  
  filterID -
  
  Returns:
  
  null if filter is not on carousel, else return socket where filter is stored.
- 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
- recoveryLockingXminus
```
@Command(type=ACTION,
         level=1,
         description="Lock clampXminus when clampXplus is already locked.")
public void recoveryLockingXminus()
```
  This is a recovery command when storing a carousel at STANDBY : sometimes, clampXplus is LOCKED but clampXminus is not LOCKED. This command sends a little current in clampXminus controller to complete the locking.
- isAtStandby
```
public boolean isAtStandby(int filterID)
```
  Return true if the filterID given as argument is at STANDBY position.
  
  Parameters:
  
  filterID -
  
  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)
- rotateToAbsolutePosition
```
@Command(type=ACTION,
         level=1,
         description="Rotate carousel to a new absolute position.",
         timeout=60000)
public void rotateToAbsolutePosition(int newPos)
```
  Rotate to position newPos. Condition LPM to rotate : AP2 & AP3. This command doesn't do homing but : 1) set sensor type SSI encoder and read position given by SSI encoder : positionAbsolue 2) compute diffPos == the diff between newPos and positionAbsolue 3) set sensor type incremental 4)set absoluteTargetPosition to diffPos. 5) Then rotate to absoluteTargetPosition % fullTurn.
  
  Parameters:
  
  newPos -
- rotateToRelativePosition
```
@Command(type=ACTION,
         level=1,
         description="Rotate carousel to a relative position.",
         timeout=60000)
public void rotateToRelativePosition(int relativePos,
                                                                                                                                                                     long timeout)
```
  rotate carousel within a relative position given as argument. If carousel is at initial position initPos, if the argument given to this method is relativePos, at the end of the motion, carousel position should be initPos + relativePos.
  
  Parameters:
  
  relativePos - relative position.
  
  timeout -
- 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
- checkDeltaPosition
```
public void checkDeltaPosition()
```
- rotateFullTurn
```
@Command(type=ACTION,
         level=1,
         description="Rotate carousel full turn. A number of turns can be given as argument.")
public void rotateFullTurn(int nbTurn)
```
  Rotate carousel full turn. A number of turns can be given as argument. This turns carousel in relative position.
  
  Parameters:
  
  nbTurn - number of turns to rotate
- recoveryRotationBackward
```
@Command(type=ACTION,
         level=1,
         description="To be executed when at the end of rotation, carousel positionexceeded position by more than standbyPosition + deltaPositionMax (value around 200).")
public void recoveryRotationBackward()
```
- recoveryRotationForward
```
@Command(type=ACTION,
         level=1,
         description="To be executed when at the end of rotation, carousel positionexceeded position by more than standbyPosition + deltaPositionMax (value around 200).")
public void recoveryRotationForward()
```
- recoveryRotationStraight
```
@Command(type=ACTION,
         level=1,
         description="To be executed when at the end of rotation, carousel positionexceeded position by more than standbyPosition + deltaPositionMax (value around 200).")
public void recoveryRotationStraight()
```
- 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. Must not be waiting for a lock or a condition otherwise executeAction could never complete.
  
  Specified by:
  
  abortAction in class MobileItem
- endAction
```
public void endAction(FcsEnumerations.MobileItemAction action)
```
  Description copied from class: MobileItem
  
  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.
  
  Specified by:
  
  endAction in class MobileItem
- quickStopAction
```
public void quickStopAction(FcsEnumerations.MobileItemAction action,
                            long delay)
```
  Specified by:
  
  quickStopAction in class MobileItem
- 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:
- getFilterID
```
@Command(type=QUERY,
         level=1,
         description="Return the ID of filter at STANDBY")
public int getFilterID()
```
  Specified by:
  
  getFilterID in interface FilterHolder
- 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.
  
  Specified by:
  
  updateStateWithSensors in interface FilterHolder
  
  Throws:
  
  FcsHardwareException
- updateMinLockedThreshold
```
public void updateMinLockedThreshold()
```
  read lockSensorMinLocked on hyttc580. * don't read more than one time by minute.
- readLockSensorMinLocked
```
public long readLockSensorMinLocked()
```
- isAtOnline
```
public boolean isAtOnline()
```
  Overridden method from FilterHolder
  
  Specified by:
  
  isAtOnline in interface FilterHolder
  
  Returns:
  
  false
- updateSocketAtStandbyWithSensors
```
@Command(type=QUERY,
         level=1,
         description="Update socket at standby state from hyttc580 data.",
         timeout=2000)
public void updateSocketAtStandbyWithSensors()
```
  ****************************************************************
- updateSocketAtStandbyState
```
public void updateSocketAtStandbyState()
```
- updateState
```
@Command(type=QUERY,
         level=1,
         description="Update state from hyttc580 data.",
         timeout=2000)
public void updateState()
```
- updateSocketNotAtStandby
```
public void updateSocketNotAtStandby()
```
- getClampsStateAtStandby
```
public FcsEnumerations.FilterClampState getClampsStateAtStandby()
```
- isEmptyAtStandby
```
public boolean isEmptyAtStandby()
```
- isUnclampedOnFilterAtStandby
```
public boolean isUnclampedOnFilterAtStandby()
```
- updateTemperatures
```
public void updateTemperatures()
```
  read Temperatures on pt100. don't read more than one time by minute.
- readTemperatures
```
@Command(type=QUERY,
         level=1,
         description="Read on pt100 the temperatures",
         timeout=2000)
public void readTemperatures()
```
- powerSafeActivate
```
@Command(type=ACTION,
         level=1,
         description="Activate POWER SAFE mode.",
         alias="activatePowerSafe")
public void powerSafeActivate()
```
- powerSafeDisactivate
```
@Command(type=ACTION,
         level=1,
         description="Disactivate POWER SAFE mode.")
public void powerSafeDisactivate()
```

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.subsystems.fcs.common.AlertRaiser

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

Field Detail

position

absoluteTargetPosition

startPosition

readVelocity

readCurrent

powerSave

slowVelocity

slowAcceleration

slowDeceleration

slowRotationTimeout

fastVelocity

fastAcceleration

fastDeceleration

fastRotationTimeout

timeToUpdateProtectionSystem

currentToPrepareUnlock

timeToPrepareUnlock

recoveryLockingCurrent

recoveryMaxVelocity

recoveryBackwardStep

recoveryForwardStep

carouselController

ai814

socketsMap

sensorsMap

tcpProxy

clampsStateInitialized

socketAtStandby

minLockedThreshold

Constructor Detail

Carousel

Method Detail

build

init

isRotationAllowedByPLC

isUnclampAllowedByPLC

isClampsStateInitialized

getCurrentToPrepareUnlock

getTimeToPrepareUnlock

getMinLockedThreshold

getLockSensorMinLimitXminus

getLockSensorMinLimitXplus

getLockSensorMaxLimitXminus

getLockSensorMaxLimitXplus

getFilterPresenceMinNoFilter

getRecoveryLockingCurrent

getRecoveryMaxVelocity

getFullTurn

getSocketsMap

getSocketByName

getPosition

getClampXminusController

getClampXplusController

getClampXminus

getClampXplus

isAtStandby

getSocketAtStandby

getSocketAtStandbyID

getFilterAtStandbyName

getFilterIDatStandby

isFilterOnCarousel

changeFilterID

isAutochangerHoldingFilter

initializeHardware

postStart

setControllerPositionSensorTypeEncoderSSI

setSlowMode

setFastMode

waitForProtectionSystemUpdate