org.lsst.ccs.subsystem.shutter.statemachine

Interface Events

All Known Implementing Classes:

StateMachine

public interface Events

The set of all events that are recognized by the state machine used by the CCS subsystem to control the camera shutter. An event may cause actions to be performed and may also trigger a state transition. An void instance is sent by each event method indicating acceptance or rejection. Events are the inputs to the state machine.

Author:

tether

See Also:

void

Method Summary

Modifier and Type	Method and Description
void	brakePowerChange(Channel<EventReply> chan, boolean powerIsOn) Indicates that the 24V dirty power for the brakes has been lost or regained.
void	brakePowerLoss(Channel<EventReply> chan) Indicates that we've just lost power to the brakes.
void	calibDone(Channel<EventReply> chan, CalibDone calibResults) Indicates that a Hall calibration operation has been successful.
void	calibrate(Channel<EventReply> chan, Calibrate calibParams) Requests a Hall calibration.
void	changeAxisEnable(Channel<EventReply> chan, org.lsst.ccs.subsystem.motorplatform.bus.ChangeAxisEnable req) Requests that the enable state of the given axis be changed.
void	changeBrakeState(Channel<EventReply> chan, Axis ax, ChangeBrakeState.State newState) Requests that the brake state on a given axis be changed.
void	clearAllFaults(Channel<EventReply> chan, org.lsst.ccs.subsystem.motorplatform.bus.ClearAllFaults req) Requests that fault conditions be cleared for both axes.
void	clearAxisFaults(Channel<EventReply> chan, org.lsst.ccs.subsystem.motorplatform.bus.ClearAxisFaults req) Requests that fault conditions be cleared for the given axis.
void	closeShutter(Channel<EventReply> chan) Requests that a closing of the shutter be started.
void	contactLost(Channel<EventReply> chan) Indicates that the subsystem can't communicate properly with the shutter PLC.
void	disable(Channel<EventReply> chan) Indicates that the shutter hardware protection is forbidding shutter operation.
void	disableAllAxes(Channel<EventReply> chan, org.lsst.ccs.subsystem.motorplatform.bus.DisableAllAxes req) Requests that both axes be disabled.
void	enable(Channel<EventReply> chan) Indicates that the shutter hardware protection is is allowing shutter operation.
void	enableAllAxes(Channel<EventReply> chan, org.lsst.ccs.subsystem.motorplatform.bus.EnableAllAxes req) Requests that both axes be enabled.
void	error(Channel<EventReply> chan, Error err) Indicates that the shutter tried and failed to carry out a requested operation.
void	gotoCenter(Channel<EventReply> chan) Requests that the shutter prepare for power-down by placing both blade sets in the center position.
void	gotoProd(Channel<EventReply> chan) Requests that the shutter, if it's ready to do so, accept subsequent requests to take exposures.
void	homeAxis(Channel<EventReply> chan, org.lsst.ccs.subsystem.motorplatform.bus.HomeAxis req) Requests that the shutter perform a homing operation for the given axis.
void	ignored(Channel<EventReply> chan, Ignored.Reason reason) Indicates that the shutter PLC state machine has ignored an event sent to it.
void	motionDone(Channel<EventReply> chan, MotionDonePLC profileData) Indicates that a blade set has successfully completed a motion.
void	moveAxisAbsolute(Channel<EventReply> chan, org.lsst.ccs.subsystem.motorplatform.bus.MoveAxisAbsolute req) Requests that the given axis be moved to a given absolute position.
void	moveAxisRelative(Channel<EventReply> chan, org.lsst.ccs.subsystem.motorplatform.bus.MoveAxisRelative req) Requests that an axis change its position by a certain offset.
void	openShutter(Channel<EventReply> chan) Requests that an opening of the shutter be started.
void	plcIsDisabled(Channel<EventReply> chan) Indicates that shutter controller has sent a status message in which the reported state is Enabled.
void	plcIsEnabled(Channel<EventReply> chan) Indicates that the shutter controller has sent a status message in which reported state is Disabled.
void	reset(Channel<EventReply> chan) 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> chan) Triggers another attempt to synchronize states with the PLC.
void	syncTimeout(Channel<EventReply> chan) Indicates that after a reset the PLC has taken too long to reach one of the designated after-reset states.
void	takeExposure(Channel<EventReply> chan, Duration exposureTime) Requests that an exposure of the given duration be started.
void	timer(Channel<EventReply> chan) Indicates that an exposure in progress has run for its allotted time.
void	toggleSafetyCheck(Channel<EventReply> chan) Reverses the current setting of the PLC safety check flag, true->false, false->true.

Method Detail

brakePowerChange

void brakePowerChange(Channel<EventReply> chan,
                      boolean powerIsOn)
               throws InterruptedException

Indicates that the 24V dirty power for the brakes has been lost or regained.

Parameters:

chan - The channel used to deliver the event reply.

powerIsOn - True if and only if the power is known to be on. Otherwise the power is either known to be off or not known to be on or off.

Throws:

InterruptedException - if inter-task communication is interrupted.

brakePowerLoss

void brakePowerLoss(Channel<EventReply> chan)
             throws InterruptedException

Indicates that we've just lost power to the brakes. The default behavior is to ignore this event except for states in which motion is taking place.

Parameters:

chan - The channel used to deliver the event reply.

Throws:

InterruptedException

contactLost

void contactLost(Channel<EventReply> chan)
          throws InterruptedException

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

Parameters:

chan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

plcIsEnabled

void plcIsEnabled(Channel<EventReply> chan)
           throws InterruptedException

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.

Parameters:

chan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

plcIsDisabled

void plcIsDisabled(Channel<EventReply> chan)
            throws InterruptedException

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.

Parameters:

chan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

resync

void resync(Channel<EventReply> chan)
     throws InterruptedException

Triggers another attempt to synchronize states with the PLC.

Parameters:

chan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

syncTimeout

void syncTimeout(Channel<EventReply> chan)
          throws InterruptedException

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

Parameters:

chan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

enable

void enable(Channel<EventReply> chan)
     throws InterruptedException

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

Parameters:

chan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

disable

void disable(Channel<EventReply> chan)
      throws InterruptedException

Indicates that the shutter hardware protection is forbidding shutter operation.

Parameters:

chan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

motionDone

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

Indicates that a blade set has successfully completed a motion.

Parameters:

chan - The channel used to deliver the event reply.

profileData - The motion profile.

Throws:

InterruptedException - if inter-task communication is interrupted.

calibrate

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

Requests a Hall calibration.

Parameters:

chan - 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

void toggleSafetyCheck(Channel<EventReply> chan)
                throws InterruptedException

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.

Parameters:

chan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

calibDone

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

Indicates that a Hall calibration operation has been successful.

Parameters:

chan - The channel used to deliver the event reply.

calibResults - The results of the calibration.

Throws:

InterruptedException - if inter-task communication is interrupted.

error

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

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

Parameters:

chan - 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

void reset(Channel<EventReply> chan)
    throws InterruptedException

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

Parameters:

chan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

takeExposure

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

Requests that an exposure of the given duration be started.

Parameters:

chan - 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

void openShutter(Channel<EventReply> chan)
          throws InterruptedException

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

Parameters:

chan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

timer

void timer(Channel<EventReply> chan)
    throws InterruptedException

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

Parameters:

chan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

closeShutter

void closeShutter(Channel<EventReply> chan)
           throws InterruptedException

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

Parameters:

chan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

ignored

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

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

Parameters:

chan - 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

void gotoProd(Channel<EventReply> chan)
       throws InterruptedException

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

Parameters:

chan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

homeAxis

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

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

Parameters:

chan - 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.

gotoCenter

void gotoCenter(Channel<EventReply> chan)
         throws InterruptedException

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

Parameters:

chan - The channel used to deliver the event reply.

Throws:

InterruptedException - if inter-task communication is interrupted.

moveAxisAbsolute

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

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

Parameters:

chan - 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

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

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

Parameters:

chan - 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

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

Requests that fault conditions be cleared for both axes.

Parameters:

chan - 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

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

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

Parameters:

chan - 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

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

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

Parameters:

chan - 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

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

Requests that fault conditions be cleared for the given axis.

Parameters:

chan - 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

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

Requests that both axes be enabled.

Parameters:

chan - 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

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

Requests that both axes be disabled.

Parameters:

chan - 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.