org.lsst.ccs.subsystems.fcs.simulation

Class SimuCarousel

java.lang.Object

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

org.lsst.ccs.subsystems.fcs.Carousel

org.lsst.ccs.subsystems.fcs.simulation.SimuCarousel

All Implemented Interfaces:

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

public class SimuCarousel
extends Carousel

Author:

virieux

Field Summary

Fields inherited from class org.lsst.ccs.subsystems.fcs.Carousel

absoluteTargetPosition, accelerobf, ai814, carouselController, clampsStateInitialized, currentToPrepareUnlock, fastAcceleration, fastDeceleration, fastRotationTimeout, fastVelocity, minLockedThreshold, position, recoveryBackwardStep, recoveryForwardStep, recoveryLockingCurrent, recoveryMaxVelocity, sensorsMap, slowAcceleration, slowDeceleration, slowRotationTimeout, slowVelocity, socketAtStandby, socketsMap, startPosition, tcpProxy, timeToPrepareUnlock, timeToUpdateProtectionSystem

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

agentStateService, beginTime, commandDuration, currentAction, dataProviderDictionaryService, 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
SimuCarousel()

Method Summary

Modifier and Type	Method and Description
protected boolean	areBrakesAllowingRotation()
short	getSocketAtStandbyID(int carouselPosition) return 0 if no socket is at standby when carousel is at position carouselPosition return socket ID if a socket is at standby when carousel is at position carouselPosition
void	initializeAndCheckClampsOffset()
void	initializeClampsState() Initialize clamps state for simulation : nothing to be done except initialization of clampsStateInitialized because this method is called each time carousel is rotated.
boolean	isActionCompleted(FcsEnumerations.MobileItemAction action)
boolean	isRotationAllowedByPLC()
boolean	isUnclampAllowedByPLC()
void	postStart() Executed when all components HasLifeCycle of subsystem have been checked.
void	releaseClamps() Release clamps at standby position to get ready to clamp again.
void	simulateCarouselPosition(int pos)
void	updateState()
void	updateStateWithSensors() Read the clamps state from PDO : all the clamp sensors are read at one time.

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

abortAction, allSocketsAwake, areBrakesDisabledFromAI814, build, changeFilterID, checkConditionsForRotation, checkDeltaPosition, checkSensorTypeIncremental, createStatusDataPublishedByCarousel, createStatusDataPublishedByCarouselBrakes, endAction, getClampsStateAtStandby, getClampXminus, getClampXminusController, getClampXplus, getClampXplusController, getCurrentToPrepareUnlock, getFilterAtStandbyName, getFilterID, getFilterIDatStandby, getFilterPresenceMinNoFilter, getFilterSocket, getFullTurn, getLockSensorMaxLimitXminus, getLockSensorMaxLimitXplus, getLockSensorMinLimitXminus, getLockSensorMinLimitXplus, getMaxClampsOffsetDelta, getMinLockedThreshold, getPosition, getRecoveryLockingCurrent, getRecoveryMaxVelocity, getSocketAtStandby, getSocketAtStandbyID, getSocketByName, getSocketsMap, getTimeToPrepareUnlock, init, initializeHardware, interlockShutterDisable, interlockShutterEnable, isAtHandoff, isAtOnline, isAtStandby, isAtStandby, isAwake, isClampsStateInitialized, isEmptyAtStandby, isFilterOnCarousel, isHoldingFilter, isHoldingFilterAtStandby, isNotHoldingFilter, isPowerSaveActivated, isPowerSaveAllowed, isReadyToGrabAFilterAtStandby, isRotating, isSocketAtStandbyAwake, isStatusBrakesActivated, isUnclampedOnFilterAtStandby, myDevicesReady, powerOn, powerSave, powerWakeupTest, publishData, quickStopAction, readBrakesAndMotorTemperatures, readLockSensorMinLocked, readMeanClampsTemperature, recoveryLockingXminus, recoveryRotationBackward, recoveryRotationForward, recoveryRotationStraight, rotateFullTurn, rotateSocketToStandby, rotateToAbsolutePosition, rotateToRelativePosition, setControllerPositionSensorTypeEncoderSSI, setFastMode, setPowerSaveAllowed, setSlowMode, startAction, unlockClamps, updateBrakesStatus, updateClampsStateWithSensorsFromPDO, updateHoldingBrakesState, updateMinLockedThreshold, updatePosition, updateSocketAtStandbyReadSensorsNoPublication, updateSocketAtStandbyState, updateSocketAtStandbyWithSensors, updateSocketNotAtStandby, updateStateWithSensorsToCheckIfActionIsCompleted, updateTemperatures, waitForProtectionSystemUpdate, waitForStateUnclampedOnFilter, waitUntilCarouselIsAwake

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

Constructor Detail

SimuCarousel

public SimuCarousel()

Method Detail

postStart

public void postStart()

Description copied from class: Carousel

Executed when all components HasLifeCycle of subsystem have been checked.

Specified by:

postStart in interface org.lsst.ccs.framework.HasLifecycle

Overrides:

postStart in class Carousel

isActionCompleted

public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)

Overrides:

isActionCompleted in class Carousel

isRotationAllowedByPLC

public boolean isRotationAllowedByPLC()

Overrides:

isRotationAllowedByPLC in class Carousel

Returns:

true if rotation is allowed by PLC.

isUnclampAllowedByPLC

public boolean isUnclampAllowedByPLC()

Overrides:

isUnclampAllowedByPLC in class Carousel

Returns:

true if rotation is allowed by PLC.

initializeClampsState

public void initializeClampsState()

Initialize clamps state for simulation : nothing to be done except initialization of clampsStateInitialized because this method is called each time carousel is rotated. For simulation the initialization of clamps state is done in method postStart of SimuTTC580.

Overrides:

initializeClampsState in class Carousel

initializeAndCheckClampsOffset

public void initializeAndCheckClampsOffset()

Overrides:

initializeAndCheckClampsOffset in class Carousel

updateState

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

Overrides:

updateState in class Carousel

updateStateWithSensors

public void updateStateWithSensors()

Description copied from class: Carousel

Read the clamps state from PDO : all the clamp sensors are read at one time.

Specified by:

updateStateWithSensors in interface FilterHolder

Overrides:

updateStateWithSensors in class Carousel

simulateCarouselPosition

public void simulateCarouselPosition(int pos)

getSocketAtStandbyID

public short getSocketAtStandbyID(int carouselPosition)

return 0 if no socket is at standby when carousel is at position carouselPosition return socket ID if a socket is at standby when carousel is at position carouselPosition

Parameters:

carouselPosition - carousel position

Returns:

socketID from socket which

releaseClamps

public void releaseClamps()

Description copied from class: Carousel

Release clamps at standby position to get ready to clamp again.

Overrides:

releaseClamps in class Carousel

areBrakesAllowingRotation

protected boolean areBrakesAllowingRotation()

Overrides:

areBrakesAllowingRotation in class Carousel

Returns:

true is brakes are allowing rotation.