org.lsst.ccs.subsystems.shutter.sim

Class BladeSetSimulator

java.lang.Object

org.lsst.ccs.subsystems.shutter.sim.BladeSetSimulator

All Implemented Interfaces:

BladeSet

public final class BladeSetSimulator
extends Object
implements BladeSet

Describes one simulated blade set.

At present the simulation doesn't yet use any configuration data and so calculates only relative blade set positions for both the motor samples and the Hall transitions. The motor simulation calculates position samples at intervals of roughly 50 milliseconds.

Thread publication policy: shared, thread-safe. Instances can be accessed safely through the public interface by multiple threads.

Author:

azemoon, tether

Constructor Summary

Constructors

Constructor and Description
BladeSetSimulator(ShutterSide side, BladeSetConfiguration config, ShutterConfiguration shutterConfig, List<HallConfiguration> hallConfigs) Sets the index and initial relative position of the blade set.

Method Summary

Modifier and Type	Method and Description
double	absoluteToEncoder(double absolute) The inverse of BladeSet.encoderToAbsolute(double).
double	absoluteToRelative(double abs) Converts an absolute position along the camera X axis to a relative blade set position in the range [0.0, 1.0], where 0.0 means fully retracted (open) and 1.0 means fully extended (closed).
double	encoderToAbsolute(double encoderValue) Converts a motor position encoder value to an absolute position in mm of the leading edge of the blade set on the camera X axis.
BladeSetConfiguration	getBladeSetConfiguration() Gets the (as yet unused) blade set configuration..
double	getRelativePosition() Gets the current relative position of the edge of the blade set.
ShutterSide	getSide() Gets the side of the shutter that this object simulates.
boolean	isFullyExtended() Is the blade set fully extended? That is, is its absolute position within the shutter tolerance of the closed position?
boolean	isFullyRetracted() Is the blade set fully retracted? That is, is its absolute position within the shutter tolerance of the open position?
MovementHistory	moveToPosition(double targetPosition, double moveTimeSeconds) Performs a simulated motion of the blade set.
double	relativeToAbsolute(double rel) The inverse of BladeSet.absoluteToRelative(double).

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

BladeSetSimulator

public BladeSetSimulator(ShutterSide side,
                         BladeSetConfiguration config,
                         ShutterConfiguration shutterConfig,
                         List<HallConfiguration> hallConfigs)

Sets the index and initial relative position of the blade set. The initial position of the -X set is 0.0, that of +X set is 1.0.

Parameters:

side - the side of the shutter this blade set simulates

config - the blase-set configuration

shutterConfig - the general, side-independent shutter configuration

hallConfigs - the Hall sensor configurations

Method Detail

getBladeSetConfiguration

public BladeSetConfiguration getBladeSetConfiguration()

Gets the (as yet unused) blade set configuration..

Specified by:

getBladeSetConfiguration in interface BladeSet

Returns:

the BladeSet configuration

Throws:

UnsupportedOperationException - always

getRelativePosition

public double getRelativePosition()

Gets the current relative position of the edge of the blade set.

Specified by:

getRelativePosition in interface BladeSet

Returns:

The position.

See Also:

BladePosition

getSide

public ShutterSide getSide()

Gets the side of the shutter that this object simulates.

Specified by:

getSide in interface BladeSet

Returns:

The side..

moveToPosition

public MovementHistory moveToPosition(double targetPosition,
                                      double moveTimeSeconds)

Performs a simulated motion of the blade set.

Specified by:

moveToPosition in interface BladeSet

Parameters:

targetPosition - The desired final relative position of the blade set's edge.

moveTimeSeconds - How long the move should take.

Returns:

The movement history, which includes time-ordered lists of motor position samples and Hall transitions.

After returning the current position will be seen to be targetPosition in any thread.

encoderToAbsolute

public double encoderToAbsolute(double encoderValue)

Description copied from interface: BladeSet

Converts a motor position encoder value to an absolute position in mm of the leading edge of the blade set on the camera X axis.

Specified by:

encoderToAbsolute in interface BladeSet

Parameters:

encoderValue - the value read from the encoder.

Returns:

the absolute position in mm.

Throws:

UnsupportedOperationException

absoluteToEncoder

public double absoluteToEncoder(double absolute)

Description copied from interface: BladeSet

The inverse of BladeSet.encoderToAbsolute(double).

Specified by:

absoluteToEncoder in interface BladeSet

Parameters:

absolute - the absolute position.

Returns:

the corresponding encoder value.

Throws:

UnsupportedOperationException

absoluteToRelative

public double absoluteToRelative(double abs)

Description copied from interface: BladeSet

Converts an absolute position along the camera X axis to a relative blade set position in the range [0.0, 1.0], where 0.0 means fully retracted (open) and 1.0 means fully extended (closed). The formula used is relative = (absolute - absoluteOpen) / (absoluteClosed - absoluteOpen).

Specified by:

absoluteToRelative in interface BladeSet

Parameters:

abs - the absolute position.

Returns:

the relative position.

Throws:

UnsupportedOperationException

See Also:

BladeSetConfiguration

relativeToAbsolute

public double relativeToAbsolute(double rel)

Description copied from interface: BladeSet

The inverse of BladeSet.absoluteToRelative(double).

Specified by:

relativeToAbsolute in interface BladeSet

Parameters:

rel - the relative position.

Returns:

the absolute position.

Throws:

UnsupportedOperationException

See Also:

BladeSetConfiguration

isFullyRetracted

public boolean isFullyRetracted()

Is the blade set fully retracted? That is, is its absolute position within the shutter tolerance of the open position?

Specified by:

isFullyRetracted in interface BladeSet

Returns:

the answer.

See Also:

ShutterConfiguration, BladeSetConfiguration

isFullyExtended

public boolean isFullyExtended()

Is the blade set fully extended? That is, is its absolute position within the shutter tolerance of the closed position?

Specified by:

isFullyExtended in interface BladeSet

Returns:

the answer.

See Also:

ShutterConfiguration, BladeSetConfiguration