Actions (LSST CCS - Shutter Main 4.7 API)

All Known Implementing Classes:

RealActions, SimulatedActions
```
public interface Actions
```
The set of basic actions that the state machine can perform on its environment. An action may be directed at the CCS subsystem framework, at components in the subsystem build tree or at the shutter controller. Actions are the outputs of the state machine.

Author:

tether

Method Summary

All Methods Instance Methods Abstract Methods
Modifier and Type	Method and Description
`void`	`cancelSyncTimer()` Cancels the sync timer if it's still running.
`void`	`disableWatchdog()` Disables the watchdog that raises an alert if we don't get any PLC messages for a long time.
`void`	`enableWatchdog()` Enables the watchdog that raises an alert if we don't get any PLC messages for a long time.
`boolean`	`isBadExposureTime(Duration exposureTime)` Determines whether the exposure time has an invalid value, for example, it's below the minimum.
`void`	`lowerMotionAlert()` Sets the severity of the MOTION alert to NOMINAL.
`void`	`lowerPLCAlert()` Sets the severity of the PLC alert to NOMINAL.
`void`	`lowerSyncAlert()` Sets the severity of the SYNC alert to NOMINAL.
`void`	`lowerWatchdogAlert()` Sets the severity of the PLC_WATCHDOG alert to NOMINAL.
`boolean`	`makeFullContact()` Widens the link to the shutter controller, allowing the full exchange of all message types.
`boolean`	`makePartialContact()` Makes a link to the shutter controller, just enough to sent rest messages and receive shutter status messages.
`void`	`publishEnableStatus(boolean isEnabled)` Record when we enter or leave the `Enabled` state.
`void`	`raisePLCAlert(Error err)` Raises a PLC alert with severity ALARM.
`void`	`raiseSyncAlert()` Raises a SYNC alert with severity ALARM.
`boolean`	`readyForCalibration()` Determines if the shutter is ready for calibration.
`void`	`relay(MsgToPLC eventMsg)` Relays an event to the PLC via the given message instance.
`void`	`resetPLC()` Sends a reset() event to the PLC.
`void`	`saveCalib(CalibDone cal)` Saves the calibration data to a filesystem on the CCS network.
`void`	`sendProfile(MotionDonePLC mot)` Sends the motion profile out on the CCS status bus.
`void`	`setPhysicalState(PhysicalState newState)` Sets the physical shutter custom state that appears in the subsystem's state bundle.
`void`	`setSoftwareState(SoftwareState newState)` Sets the CCS software custom state that appears in the subsystem's state bundle.
`String`	`shutterIsReady()` Determines if the shutter is ready for production data-taking.
`void`	`startFirstCentering()` Sends an event to the PLC that will start it moving one of the blade sets to its center position.
`void`	`startSecondCentering()` Sends an event to the PLC that will start it moving the second blade set to be centered, which is the one that wasn't moved by `startFirstCentering()`.
`void`	`startSyncTimer()` Starts a timer which will generate a `syncYimeout()` when it expires.
`void`	`terminateContact()` Close any connection we may have to the shutter controller and stop decoding any messages we have already received.

- Method Detail
  - cancelSyncTimer
```
void cancelSyncTimer()
```
    Cancels the sync timer if it's still running.
    
    See Also:
    
    startSyncTimer()
  - disableWatchdog
```
void disableWatchdog()
```
    Disables the watchdog that raises an alert if we don't get any PLC messages for a long time.
    
    See Also:
    
    enableWatchdog()
  - enableWatchdog
```
void enableWatchdog()
```
    Enables the watchdog that raises an alert if we don't get any PLC messages for a long time.
    
    See Also:
    
    disableWatchdog()
  - isBadExposureTime
```
boolean isBadExposureTime(Duration exposureTime)
```
    Determines whether the exposure time has an invalid value, for example, it's below the minimum.
    
    Parameters:
    
    exposureTime - The time to check.
    
    Returns:
    
    true if the time is OK, else false.
  - lowerMotionAlert
```
void lowerMotionAlert()
```
    Sets the severity of the MOTION alert to NOMINAL.
  - lowerPLCAlert
```
void lowerPLCAlert()
```
    Sets the severity of the PLC alert to NOMINAL.
  - lowerSyncAlert
```
void lowerSyncAlert()
```
    Sets the severity of the SYNC alert to NOMINAL.
  - lowerWatchdogAlert
```
void lowerWatchdogAlert()
```
    Sets the severity of the PLC_WATCHDOG alert to NOMINAL.
  - makePartialContact
```
boolean makePartialContact()
```
    Makes a link to the shutter controller, just enough to sent rest messages and receive shutter status messages.
    
    Returns:
    
    true if the operation succeeded, else false.
  - makeFullContact
```
boolean makeFullContact()
```
    Widens the link to the shutter controller, allowing the full exchange of all message types.
    
    Returns:
    
    true if the operation succeeded, else false.
  - publishEnableStatus
```
void publishEnableStatus(boolean isEnabled)
```
    Record when we enter or leave the Enabled state.
    
    Parameters:
    
    isEnabled - True if entering, false if exiting.
  - setPhysicalState
```
void setPhysicalState(PhysicalState newState)
```
    Sets the physical shutter custom state that appears in the subsystem's state bundle.
    
    Parameters:
    
    newState - The new state value.
  - setSoftwareState
```
void setSoftwareState(SoftwareState newState)
```
    Sets the CCS software custom state that appears in the subsystem's state bundle.
    
    Parameters:
    
    newState - The new state value.
  - raisePLCAlert
```
void raisePLCAlert(Error err)
```
    Raises a PLC alert with severity ALARM.
    
    Parameters:
    
    err - The error message received from the PLC.
  - raiseSyncAlert
```
void raiseSyncAlert()
```
    Raises a SYNC alert with severity ALARM.
  - readyForCalibration
```
boolean readyForCalibration()
```
    Determines if the shutter is ready for calibration. Both axes must be enabled, have the brakes released and be homed.
    
    Returns:
    
    true if the conditions are met, else false.
  - resetPLC
```
void resetPLC()
```
    Sends a reset() event to the PLC.
  - relay
```
void relay(MsgToPLC eventMsg)
```
    Relays an event to the PLC via the given message instance.
  - saveCalib
```
void saveCalib(CalibDone cal)
```
    Saves the calibration data to a filesystem on the CCS network.
  - sendProfile
```
void sendProfile(MotionDonePLC mot)
```
    Sends the motion profile out on the CCS status bus.
  - startFirstCentering
```
void startFirstCentering()
```
    Sends an event to the PLC that will start it moving one of the blade sets to its center position. The CCS subsystem chooses which blade set to move in order to avoid collision.
    
    See Also:
    
    startSecondCentering()
  - startSecondCentering
```
void startSecondCentering()
```
    Sends an event to the PLC that will start it moving the second blade set to be centered, which is the one that wasn't moved by startFirstCentering().
    
    See Also:
    
    startFirstCentering()
  - shutterIsReady
```
String shutterIsReady()
```
    Determines if the shutter is ready for production data-taking. It has to be closed with both axes enabled, homed and having the brake released.
    
    Returns:
    
    null if the shutter is ready, else a string detailing all the reasons why it isn't.
  - startSyncTimer
```
void startSyncTimer()
```
    Starts a timer which will generate a syncYimeout() when it expires.
    
    See Also:
    
    cancelSyncTimer()
  - terminateContact
```
void terminateContact()
```
    Close any connection we may have to the shutter controller and stop decoding any messages we have already received.

Interface Actions

Method Summary

Method Detail

cancelSyncTimer

disableWatchdog

enableWatchdog

isBadExposureTime

lowerMotionAlert

lowerPLCAlert

lowerSyncAlert

lowerWatchdogAlert

makePartialContact

makeFullContact

publishEnableStatus

setPhysicalState

setSoftwareState

raisePLCAlert

raiseSyncAlert

readyForCalibration

resetPLC

relay

saveCalib

sendProfile

startFirstCentering

startSecondCentering

shutterIsReady

startSyncTimer

terminateContact