org.lsst.ccs.subsystems.fcs

Class Carousel

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

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.
AcceleroInterface	accelerobf
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.
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, path, readSensorsHandle, scheduler, subs, timeoutExceeded

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

alertSeparator

Constructor Summary

Constructors

Constructor and Description
Carousel()

Method Summary

Modifier and Type	Method and Description
void	abortAction(FcsEnumerations.MobileItemAction action, long delay) aborts action actually running.
protected boolean	areBrakesAllowingRotation()
boolean	areBrakesDisabledFromAI814() A carousel brake is disabled if it is equipped and live (not NO_SENSOR) and in state NOBRAKE.
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.
StatusDataPublishedByCarouselBrakes	createStatusDataPublishedByCarouselBrakes() Create an object StatusDataPublishedByCarouselBrakes 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()
int	getMaxClampsOffsetDelta()
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.
void	interlockShutterDisable()
void	interlockShutterEnable()
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	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	isStatusBrakesActivated()
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	powerSaveActivate()
void	powerSaveDisactivate()
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	quickStopAction(FcsEnumerations.MobileItemAction action, long delay)
void	readBrakesAndMotorTemperatures()
long	readLockSensorMinLocked()
long	readMeanClampsTemperature()
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	updateBrakesStatus()
void	updateClampsStateWithSensorsFromPDO() Read the clamps state from PDO : all the clamp sensors are read at one time.
protected void	updateHoldingBrakesState()
void	updateMinLockedThreshold() read lockSensorMinLocked on hyttc580.
void	updatePosition() Updates the filterPosition of the carousel in reading the CPU of the controller.
void	updateSocketAtStandbyReadSensorsNoPublication() ****************************************************************
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, getActionDurationPath, getAlertService, getHaltRequired, getName, getPath, 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, 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.

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="mA",
                        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

accelerobf

@LookupField(strategy=TREE,
             pathFilter=".*\\/accelerobf")
public AcceleroInterface accelerobf

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="canbus0")
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()

getMaxClampsOffsetDelta

public int getMaxClampsOffsetDelta()

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)

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

createStatusDataPublishedByCarouselBrakes

public StatusDataPublishedByCarouselBrakes createStatusDataPublishedByCarouselBrakes()

Create an object StatusDataPublishedByCarouselBrakes 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:

isStatusBrakesActivated

@Command(type=QUERY,
         level=1,
         description="PLC value for carousel brakes activated")
public boolean isStatusBrakesActivated()

Returns:

true if hyttc580 says that brakes are activated.

areBrakesDisabledFromAI814

@Command(type=QUERY,
         level=1,
         description="NOBRAKE signal on all 3 AI814 sensors")
public boolean areBrakesDisabledFromAI814()

A carousel brake is disabled if it is equipped and live (not NO_SENSOR) and in state NOBRAKE. In the carousel-PROTO, brake in bay N and brake in bay X are not equipped.

Returns:

areBrakesAllowingRotation

protected boolean areBrakesAllowingRotation()

Returns:

true is brakes are allowing rotation.

updateBrakesStatus

@Command(type=ACTION,
         level=1,
         description="Update brakes status from all sensors")
public void updateBrakesStatus()

updateHoldingBrakesState

protected void updateHoldingBrakesState()

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

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 carousel clamps offset1 and offset2 in reading hyttc580 and launch an ALARM if values read and different from previous values. The new values are saved in persistence file.")
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 mobile 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).Explanation : If the carousel  socket selected for a filter exchange between the Autochanger and the carousel has a too large offset with the StandBy position, the operation will be stopped/forbidden . To overcome this issue , the carousel socket should be aligned with the StandBy position using a dedicated  recovery  rotation command.  The recoveryRotationBackward command will try to align the carousel socket to the StandBy position by going backward in respect of the previous move , and re-doing the rotation to StandBy but taking into account that an offset (to compensate the play in the brakes) should be added . This method should be the most precise and always work, but it is slow ( ~ 7s ). It is recommended to use it when the \u201cStraight\u201d recovery didn\u2019t work or in case of large unbalance filter configuration (= when loading/unloading  filter in the camera).")
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).Explanation: If the carousel  socket selected for a filter exchange between the Autochanger and the carousel has a too large offset with the StandBy position, the operation will be stopped/forbidden. To overcome this issue, the carousel socket should be aligned with the StandBy position using a dedicated  recovery  rotation command.  The recoveryRotationForward command will try to align the carousel socket to the StandBy position by going forward in respect of the previous move, and rotating back to StandBy location. The filter unbalance weight should have then no impact on the precision of the rotation. This recovery method is not the preferred one, as it is slow (~7s) and less precise than the other recovery methods.")
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).Explanation : If the carousel  socket selected for a filter exchange between the Autochanger and the carousel has a too large offset with its StandBy position, the operation will be stopped/forbidden . To overcome this issue , the carousel socket should be aligned with the StandBy position using a dedicated  recovery  rotation command.  The recoveryRotationStraight command will try to align the carousel socket to the StandBy position by doing a simple \u201cstraight\u201d rotation of the measured miss-alignement quantity. This is the fastest method (~3s ) and should work in  most of the cases , in particular if the camera is not horizontal and the filter weight unbalance small.")
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

updateSocketAtStandbyReadSensorsNoPublication

public void updateSocketAtStandbyReadSensorsNoPublication()

****************************************************************

updateSocketAtStandbyState

public void updateSocketAtStandbyState()

updateSocketAtStandbyWithSensors

@Command(type=QUERY,
         level=1,
         description="Update socket at standby state from hyttc580 data.",
         timeout=2000)
public void updateSocketAtStandbyWithSensors()

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.

readBrakesAndMotorTemperatures

@Command(type=QUERY,
         level=1,
         description="Read on pt100 the temperatures",
         timeout=2000)
public void readBrakesAndMotorTemperatures()

readMeanClampsTemperature

@Command(type=QUERY,
         level=1,
         description="Read on hyttc580 the mean temperature for all the clamps",
         timeout=2000)
public long readMeanClampsTemperature()

powerSaveActivate

@Command(type=ACTION,
         level=1,
         description="Activate POWER SAVE mode.",
         alias="activatePowerSave")
public void powerSaveActivate()

powerSaveDisactivate

@Command(type=ACTION,
         level=1,
         description="Disactivate POWER SAVE mode.")
public void powerSaveDisactivate()

interlockShutterDisable

@Command(type=ACTION,
         level=3,
         description="Disable interlock shutter. Do it only if you understand what you are doing.")
public void interlockShutterDisable()

interlockShutterEnable

@Command(type=ACTION,
         level=3,
         description="Enable interlock shutter. Do it only if you understand what you are doing.")
public void interlockShutterEnable()