org.lsst.ccs.subsystems.fcs.common

Class MobileItem

java.lang.Object

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

All Implemented Interfaces:

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

Direct Known Subclasses:

AutochangerLatch, AutochangerOnlineClamp, AutochangerOnlineClampProto, AutochangerTwoTrucks, Carousel, CarouselClamp, CarouselSocket, LoaderCarrier, LoaderClamp

public abstract class MobileItem
extends Object
implements NamedComponent, 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.

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
static Logger	FCSLOG
protected boolean	hasToWaitForEndOfAction
protected Lock	lock
protected boolean	moving
protected String	name
protected String	path
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()

Method Summary

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.
void	checkReadyForAction()
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.
String	getActionDurationPath(String actionName) return the publication path for an action duration to be used to register and publish data.
org.lsst.ccs.services.alert.AlertService	getAlertService() return alertService
AtomicBoolean	getHaltRequired()
String	getName()
String	getPath()
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	registerAction(FcsEnumerations.MobileItemAction action) To be used in build method by children to register actions.
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.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

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

Field Detail

FCSLOG

public static final Logger FCSLOG

name

@LookupName
protected String name

path

@LookupPath
protected String path

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

moving

protected volatile boolean moving

lock

protected final Lock lock

readSensorsHandle

protected ScheduledFuture<?> readSensorsHandle

scheduler

protected final ScheduledThreadPoolExecutor scheduler

Constructor Detail

MobileItem

public MobileItem()

Method Detail

registerAction

public void registerAction(FcsEnumerations.MobileItemAction action)

To be used in build method by children to register actions.

Parameters:

action -

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 NamedComponent

getPath

public String getPath()

Specified by:

getPath in interface NamedComponent

getActionDurationPath

public String getActionDurationPath(String actionName)

return the publication path for an action duration to be used to register and publish data.

Parameters:

actionName -

Returns:

publication path.

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

public 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: