org.lsst.ccs.subsystems.fcs.simulation

Class SimuAutochangerTwoTrucks

java.lang.Object

org.lsst.ccs.subsystems.fcs.common.MobileItem

org.lsst.ccs.subsystems.fcs.AutochangerTwoTrucks

org.lsst.ccs.subsystems.fcs.simulation.SimuAutochangerTwoTrucks

All Implemented Interfaces:

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

public class SimuAutochangerTwoTrucks
extends AutochangerTwoTrucks

Author:

virieux

Nested Class Summary

Nested classes/interfaces inherited from class org.lsst.ccs.subsystems.fcs.AutochangerTwoTrucks

AutochangerTwoTrucks.ActivatedACBrakes, AutochangerTwoTrucks.ReleasedACBrakes

Field Summary

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

agentStateService, beginTime, commandDuration, currentAction, dataProviderDictionaryService, FCSLOG, hasToWaitForEndOfAction, lock, moving, name, path, readSensorsHandle, scheduler, timeoutExceeded

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

alertSeparator

Constructor Summary

Constructors

Constructor and Description
SimuAutochangerTwoTrucks(AutochangerTruck truckXminus, AutochangerTruck truckXplus, EPOSControllerForLinearRail acTruckXminusController, EPOSControllerForLinearRail acTruckXplusController)

Method Summary

Modifier and Type	Method and Description
int	findTargetOnlinePosition() Read the proximity sensors to adjust the new target online position once the preliminaryTargetPosition has been reached
void	releaseTruckTensionOnClamps() In the moveAndClampOnline process, release the tension on the clamps after they are locked by moving the trucks to a move natural position than the computed Online postion.

Methods inherited from class org.lsst.ccs.subsystems.fcs.AutochangerTwoTrucks

abortAction, activateBrakesAndDisable, alignFollower, alignFollowerAndMoveEmptyFromApproachToHandoff, alignFollowerForLoader, alignFollowerLenient, alignFollowerStrict, build, checkConditionsForTrucksMotion, checkDeltaPosition, checkPositionSensors, configureControllers, createStatusDataPublishedByAutoChangerTrucks, enableControllersAndReleaseBrake, endAction, fastProfile, getApproachOnlinePosition, getApproachStandbyPosition, getDriverSide, getHandoffPosition, getOnlinePosition, getPosition, getStandbyPosition, getTimeoutForTrucksMotion, goToHandOff, goToHandOffForLoader, goToOnline, goToStandby, homing, init, initializeControllers, isActionCompleted, isAtHandoff, isAtOnline, isAtStandby, isHomingDone, isInitialized, isPositionCorrectForExchangeWithLoader, isPositionSensorErrorsTransient, isPositionSensorsInError, moveAndClampFilterOnline, moveFilterToStandby, moveFilterToStandbyPlusDelta, moveFollowerTruck, moveToAbsoluteTargetPosition, moveToApproachOnlinePositionWithHighVelocity, moveToApproachOnlinePositionWithLowVelocity, moveToApproachStandbyPositionWithHighVelocity, moveToApproachStandbyPositionWithLowVelocity, moveToHandoffWithHighVelocity, moveToHandoffWithLowVelocity, moveToSlowMotionPositionWithHighVelocity, moveToSlowMotionPositionWithLowVelocity, moveToStandbyEmptyWithLowVelocity, moveToStandbyPlusDeltaWithLowVelocity, moveToStandbyWithLowVelocity, moveToTargetOnlinePosition, myDevicesReady, postStart, publishData, quickStopAction, raiseProfileAcceleration, raiseProfileDeceleration, raiseProfileVelocity, readPosition, readProximitySensorDevice, recoveryGoToPosition, setNaturalPosition, shutdown, slowProfile, slowProfileAcceleration, slowProfileDeceleration, slowProfileVelocity, startAction, unclampAndMoveFilterToHandoff, updatePosition, updateState, updateStateWithSensorsToCheckIfActionIsCompleted

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

cancelReadingSensors, checkReadyForAction, executeAction, getActionDurationPath, getAlertService, getHaltRequired, getName, getPath, getSubsystem, isMoving, readSensorsUntilActionIsCompleted, registerAction, 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

Constructor Detail

SimuAutochangerTwoTrucks

public SimuAutochangerTwoTrucks(AutochangerTruck truckXminus,
                                AutochangerTruck truckXplus,
                                EPOSControllerForLinearRail acTruckXminusController,
                                EPOSControllerForLinearRail acTruckXplusController)

Method Detail

findTargetOnlinePosition

public int findTargetOnlinePosition()

Description copied from class: AutochangerTwoTrucks

Read the proximity sensors to adjust the new target online position once the preliminaryTargetPosition has been reached

Overrides:

findTargetOnlinePosition in class AutochangerTwoTrucks

Returns:

newTargetPosition = new target online position

releaseTruckTensionOnClamps

public void releaseTruckTensionOnClamps()

Description copied from class: AutochangerTwoTrucks

In the moveAndClampOnline process, release the tension on the clamps after they are locked by moving the trucks to a move natural position than the computed Online postion.

Overrides:

releaseTruckTensionOnClamps in class AutochangerTwoTrucks