org.lsst.ccs.subsystem.shutter

Class StateMachine

java.lang.Object

org.lsst.ccs.subsystem.shutter.StateMachine

All Implemented Interfaces:

org.lsst.ccs.framework.HasLifecycle, Events

public class StateMachine
extends Object
implements org.lsst.ccs.framework.HasLifecycle, Events

Owns and operates the central shutter-control state machine. Also owns, registers and updates a component state bundle based on classes PhysicalState and SoftwareState.

Subsystem components wishing to submit events to the state machine do so by calling one of the event methods in this object. Each event is accompanied by a Channel<EventReply> which the state machine uses to send event accept/reject notices back to the submitter.

Author:

tether

See Also:

PhysicalState, SoftwareState

Constructor Summary

Constructors

Constructor and Description
StateMachine() Creates the state machine, event queue and scheduler.

Method Summary

Modifier and Type	Method and Description
void	calibDone(Channel<EventReply> replyChan, CalibDone calibResults) Indicates that a Hall calibration operation has been successful.
void	calibrate(Channel<EventReply> replyChan, Calibrate calibParams) Requests a Hall calibration.
void	changeAxisEnable(Channel<EventReply> replyChan, org.lsst.ccs.subsystem.motorplatform.bus.ChangeAxisEnable req) Requests that the enable state of the given axis be changed.
void	changeBrakeState(Channel<EventReply> replyChan, Axis ax, ChangeBrakeState.State newState) Requests that the brake state on a given axis be changed.
void	clearAllFaults(Channel<EventReply> replyChan, org.lsst.ccs.subsystem.motorplatform.bus.ClearAllFaults req) Requests that fault conditions be cleared for both axes.
void	clearAxisFaults(Channel<EventReply> replyChan, org.lsst.ccs.subsystem.motorplatform.bus.ClearAxisFaults req) Requests that fault conditions be cleared for the given axis.
void	closeShutter(Channel<EventReply> replyChan) Requests that a closing of the shutter be started.
void	contactLost(Channel<EventReply> replyChan) Indicates that the subsystem can't communicate properly with the shutter PLC.
void	disable(Channel<EventReply> replyChan) Indicates that the shutter hardware protection is forbidding shutter operation.
void	disableAllAxes(Channel<EventReply> replyChan, org.lsst.ccs.subsystem.motorplatform.bus.DisableAllAxes req) Requests that both axes be disabled.
void	enable(Channel<EventReply> replyChan) Indicates that the shutter hardware protection is is allowing shutter operation.
void	enableAllAxes(Channel<EventReply> replyChan, org.lsst.ccs.subsystem.motorplatform.bus.EnableAllAxes req) Requests that both axes be enabled.
void	error(Channel<EventReply> replyChan, Error err) Indicates that the shutter tried and failed to carry out a requested operation.
Actions	getActions() Gets the Actions implementation being used by the state machine.
void	gotoCenter(Channel<EventReply> replyChan) Requests that the shutter prepare for power-down by placing both blade sets in the center position.
void	gotoProd(Channel<EventReply> replyChan) Requests that the shutter, if it's ready to do so, accept subsequent requests to take exposures.
void	homeAxis(Channel<EventReply> replyChan, org.lsst.ccs.subsystem.motorplatform.bus.HomeAxis req) Requests that the shutter perform a homing operation for the given axis.
void	ignored(Channel<EventReply> replyChan, Ignored.Reason reason) Indicates that the shutter PLC state machine has ignored an event sent to it.
void	init() Registers the shutter physical-state and software-state bundles and sets their initial values to OTHER and SYNCHRONIZING, respectively.
void	motionDone(Channel<EventReply> replyChan, MotionDonePLC profileData) Indicates that a blade set has successfully completed a motion.
void	moveAxisAbsolute(Channel<EventReply> replyChan, org.lsst.ccs.subsystem.motorplatform.bus.MoveAxisAbsolute req) Requests that the given axis be moved to a given absolute position.
void	moveAxisRelative(Channel<EventReply> replyChan, org.lsst.ccs.subsystem.motorplatform.bus.MoveAxisRelative req) Requests that an axis change its position by a certain offset.
void	openShutter(Channel<EventReply> replyChan) Requests that an opening of the shutter be started.
void	plcIsDisabled(Channel<EventReply> replyChan) Indicates that shutter controller has sent a status message in which the reported state is Enabled.
void	plcIsEnabled(Channel<EventReply> replyChan) Indicates that the shutter controller has sent a status message in which reported state is Disabled.
void	postStart() Creates the actual state machine and starts the task that manages event submission.
void	reset(Channel<EventReply> replyChan) Requests that the shutter controller stop any motion in progress and reset its state machine to one of its initial states.
void	resync(Channel<EventReply> replyChan) Triggers another attempt to synchronize states with the PLC.
void	shutdown()
void	syncTimeout(Channel<EventReply> replyChan) Indicates that after a reset the PLC has taken too long to reach one of the designated after-reset states.
void	takeExposure(Channel<EventReply> replyChan, Duration exposureTime) Requests that an exposure of the given duration be started.
void	timer(Channel<EventReply> replyChan) Indicates that an exposure in progress has run for its allotted time.
void	toggleSafetyCheck(Channel<EventReply> replyChan) Reverses the current setting of the PLC safety check flag, true->false, false->true.

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.framework.HasLifecycle

build, postBuild, postInit, postShutdown, start

Constructor Detail

StateMachine

public StateMachine()

Creates the state machine, event queue and scheduler. No tasks are started.

Method Detail

init

public void init()

Registers the shutter physical-state and software-state bundles and sets their initial values to OTHER and SYNCHRONIZING, respectively.

Specified by:

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

See Also:

PhysicalState

postStart

public void postStart()

Creates the actual state machine and starts the task that manages event submission. Decides based on the CCS run mode whether the implementation of Actions used by the state machine is for real or simulated hardware.

Specified by:

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

getActions

public Actions getActions()

Gets the Actions implementation being used by the state machine.

Returns:

The actions.

shutdown

public void shutdown()

Specified by:

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

contactLost

public void contactLost(Channel<EventReply> replyChan)
                 throws InterruptedException

Description copied from interface: Events

Indicates that the subsystem can't communicate properly with the shutter PLC.

Specified by:

contactLost in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

plcIsEnabled

public void plcIsEnabled(Channel<EventReply> replyChan)
                  throws InterruptedException

Description copied from interface: Events

Indicates that the shutter controller has sent a status message in which reported state is Disabled. This event is ignored save when synchronizing the subsystem state and the PLC state. At other times we rely on explicit enable() and disable() event messages sent from the controller.

Specified by:

plcIsEnabled in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

plcIsDisabled

public void plcIsDisabled(Channel<EventReply> replyChan)
                   throws InterruptedException

Description copied from interface: Events

Indicates that shutter controller has sent a status message in which the reported state is Enabled. At other times we rely on explicit enable() and disable() event messages sent from the controller.

Specified by:

plcIsDisabled in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

resync

public void resync(Channel<EventReply> replyChan)
            throws InterruptedException

Description copied from interface: Events

Triggers another attempt to synchronize states with the PLC.

Specified by:

resync in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

syncTimeout

public void syncTimeout(Channel<EventReply> replyChan)
                 throws InterruptedException

Description copied from interface: Events

Indicates that after a reset the PLC has taken too long to reach one of the designated after-reset states.

Specified by:

syncTimeout in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

enable

public void enable(Channel<EventReply> replyChan)
            throws InterruptedException

Description copied from interface: Events

Indicates that the shutter hardware protection is is allowing shutter operation.

Specified by:

enable in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

disable

public void disable(Channel<EventReply> replyChan)
             throws InterruptedException

Description copied from interface: Events

Indicates that the shutter hardware protection is forbidding shutter operation.

Specified by:

disable in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

motionDone

public void motionDone(Channel<EventReply> replyChan,
                       MotionDonePLC profileData)
                throws InterruptedException

Description copied from interface: Events

Indicates that a blade set has successfully completed a motion.

Specified by:

motionDone in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

profileData - The motion profile.

Throws:

InterruptedException - if inter-task communication is interrupted.

calibrate

public void calibrate(Channel<EventReply> replyChan,
                      Calibrate calibParams)
               throws InterruptedException

Description copied from interface: Events

Requests a Hall calibration.

Specified by:

calibrate in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

calibParams - The calibration parameters. If null the event is rejected.

Throws:

InterruptedException - if inter-task communication is interrupted.

toggleSafetyCheck

public void toggleSafetyCheck(Channel<EventReply> replyChan)
                       throws InterruptedException

Description copied from interface: Events

Reverses the current setting of the PLC safety check flag, true->false, false->true. Note that the flag will be reset to true after any motion completes or after a general reset. Any motion that takes place with the flag set to false is limited in speed to at most 1 mm/sec.

Specified by:

toggleSafetyCheck in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

calibDone

public void calibDone(Channel<EventReply> replyChan,
                      CalibDone calibResults)
               throws InterruptedException

Description copied from interface: Events

Indicates that a Hall calibration operation has been successful.

Specified by:

calibDone in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

calibResults - The results of the calibration.

Throws:

InterruptedException - if inter-task communication is interrupted.

error

public void error(Channel<EventReply> replyChan,
                  Error err)
           throws InterruptedException

Description copied from interface: Events

Indicates that the shutter tried and failed to carry out a requested operation.

Specified by:

error in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

err - The error message received from the shutter.

Throws:

InterruptedException - if inter-task communication is interrupted.

reset

public void reset(Channel<EventReply> replyChan)
           throws InterruptedException

Description copied from interface: Events

Requests that the shutter controller stop any motion in progress and reset its state machine to one of its initial states.

Specified by:

reset in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

takeExposure

public void takeExposure(Channel<EventReply> replyChan,
                         Duration exposureTime)
                  throws InterruptedException

Description copied from interface: Events

Requests that an exposure of the given duration be started.

Specified by:

takeExposure in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

exposureTime - The length of the exposure. If null or too short a duration the event is rejected.

Throws:

InterruptedException - if inter-task communication is interrupted.

openShutter

public void openShutter(Channel<EventReply> replyChan)
                 throws InterruptedException

Description copied from interface: Events

Requests that an opening of the shutter be started. Rejected if the shutter is not closed.

Specified by:

openShutter in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

timer

public void timer(Channel<EventReply> replyChan)
           throws InterruptedException

Description copied from interface: Events

Indicates that an exposure in progress has run for its allotted time.

Specified by:

timer in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

closeShutter

public void closeShutter(Channel<EventReply> replyChan)
                  throws InterruptedException

Description copied from interface: Events

Requests that a closing of the shutter be started. Rejected if the shutter is not open.

Specified by:

closeShutter in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

ignored

public void ignored(Channel<EventReply> replyChan,
                    Ignored.Reason reason)
             throws InterruptedException

Description copied from interface: Events

Indicates that the shutter PLC state machine has ignored an event sent to it.

Specified by:

ignored in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

reason - The reason why the event was rejected.

Throws:

InterruptedException - if inter-task communication is interrupted.

gotoProd

public void gotoProd(Channel<EventReply> replyChan)
              throws InterruptedException

Description copied from interface: Events

Requests that the shutter, if it's ready to do so, accept subsequent requests to take exposures.

Specified by:

gotoProd in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

gotoCenter

public void gotoCenter(Channel<EventReply> replyChan)
                throws InterruptedException

Description copied from interface: Events

Requests that the shutter prepare for power-down by placing both blade sets in the center position.

Specified by:

gotoCenter in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

moveAxisAbsolute

public void moveAxisAbsolute(Channel<EventReply> replyChan,
                             org.lsst.ccs.subsystem.motorplatform.bus.MoveAxisAbsolute req)
                      throws InterruptedException

Description copied from interface: Events

Requests that the given axis be moved to a given absolute position.

Specified by:

moveAxisAbsolute in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

req - Contains the request parameters. If null then the event is rejected.

Throws:

InterruptedException - if inter-task communication is interrupted.

moveAxisRelative

public void moveAxisRelative(Channel<EventReply> replyChan,
                             org.lsst.ccs.subsystem.motorplatform.bus.MoveAxisRelative req)
                      throws InterruptedException

Description copied from interface: Events

Requests that an axis change its position by a certain offset.

Specified by:

moveAxisRelative in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

req - Contains the request parameters. If null then event is rejected.

Throws:

InterruptedException - if inter-task communication is interrupted.

clearAllFaults

public void clearAllFaults(Channel<EventReply> replyChan,
                           org.lsst.ccs.subsystem.motorplatform.bus.ClearAllFaults req)
                    throws InterruptedException

Description copied from interface: Events

Requests that fault conditions be cleared for both axes.

Specified by:

clearAllFaults in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

req - Contains the request parameters. If null then the event is rejected.

Throws:

InterruptedException - if inter-task communication is interrupted.

changeAxisEnable

public void changeAxisEnable(Channel<EventReply> replyChan,
                             org.lsst.ccs.subsystem.motorplatform.bus.ChangeAxisEnable req)
                      throws InterruptedException

Description copied from interface: Events

Requests that the enable state of the given axis be changed.

Specified by:

changeAxisEnable in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

req - Contains the request parameters. If null then the event is rejected.

Throws:

InterruptedException - if inter-task communication is interrupted.

changeBrakeState

public void changeBrakeState(Channel<EventReply> replyChan,
                             Axis ax,
                             ChangeBrakeState.State newState)
                      throws InterruptedException

Description copied from interface: Events

Requests that the brake state on a given axis be changed.

Specified by:

changeBrakeState in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

ax - The PLC task axis to affect.

newState - The desired brake state.

Throws:

InterruptedException - if inter-task communication is interrupted.

clearAxisFaults

public void clearAxisFaults(Channel<EventReply> replyChan,
                            org.lsst.ccs.subsystem.motorplatform.bus.ClearAxisFaults req)
                     throws InterruptedException

Description copied from interface: Events

Requests that fault conditions be cleared for the given axis.

Specified by:

clearAxisFaults in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

req - Contains the request parameters. If null then the event is rejected.

Throws:

InterruptedException - if inter-task communication is interrupted.

enableAllAxes

public void enableAllAxes(Channel<EventReply> replyChan,
                          org.lsst.ccs.subsystem.motorplatform.bus.EnableAllAxes req)
                   throws InterruptedException

Description copied from interface: Events

Requests that both axes be enabled.

Specified by:

enableAllAxes in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

req - Contains the request parameters. If null then event is rejected.

Throws:

InterruptedException - if inter-task communication is interrupted.

disableAllAxes

public void disableAllAxes(Channel<EventReply> replyChan,
                           org.lsst.ccs.subsystem.motorplatform.bus.DisableAllAxes req)
                    throws InterruptedException

Description copied from interface: Events

Requests that both axes be disabled.

Specified by:

disableAllAxes in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

req - Contains the request parameters. If null then the event is rejected.

Throws:

InterruptedException - if inter-task communication is interrupted.

homeAxis

public void homeAxis(Channel<EventReply> replyChan,
                     org.lsst.ccs.subsystem.motorplatform.bus.HomeAxis req)
              throws InterruptedException

Description copied from interface: Events

Requests that the shutter perform a homing operation for the given axis.

Specified by:

homeAxis in interface Events

Parameters:

replyChan - The channel used to deliver the event reply.

req - Contains the request parameters. If null then the event is rejected.

Throws:

InterruptedException - if inter-task communication is interrupted.