org.lsst.ccs.subsystem.shutter

Class Commands

java.lang.Object

org.lsst.ccs.Agent

org.lsst.ccs.Subsystem

org.lsst.ccs.subsystem.shutter.Commands

All Implemented Interfaces:

org.lsst.ccs.framework.HasLifecycle, org.lsst.ccs.messaging.CommandExecutor, org.lsst.ccs.ServiceLifecycle

public class Commands
extends org.lsst.ccs.Subsystem
implements org.lsst.ccs.framework.HasLifecycle

Commands subsystem component, accepts commands.

Author:

tether

Nested Class Summary

Nested classes/interfaces inherited from class org.lsst.ccs.Agent

org.lsst.ccs.Agent.RunningCommand

Field Summary

Fields inherited from class org.lsst.ccs.Agent

AGENT_HEARTBEAT_TASK, AGENT_RUNTIMEINFO_TASK, commandExecutorLock, currentAction, currentQueries, currentSignals, jvmShutdown, logBusHandler, stateService, treeComponentInitialized

Constructor Summary

Constructors

Constructor and Description
Commands()

Method Summary

Modifier and Type	Method and Description
void	calibrate()
void	changeAxisEnable(org.lsst.ccs.subsystem.motorplatform.bus.ChangeAxisEnable req)
void	changeBrakeState(String axisName, boolean brakeEngaged)
void	clearAllFaults(org.lsst.ccs.subsystem.motorplatform.bus.ClearAllFaults req)
void	clearAxisFaults(org.lsst.ccs.subsystem.motorplatform.bus.ClearAxisFaults req)
void	clearFaults()
void	closeShutter()
void	disable(String axisName)
void	disableAllAxes(org.lsst.ccs.subsystem.motorplatform.bus.DisableAllAxes req)
void	enable(String axisName)
void	enableAllAxes(org.lsst.ccs.subsystem.motorplatform.bus.EnableAllAxes req)
void	gotoCenter()
void	gotoProd()
void	home(String axisName)
void	homeAxis(org.lsst.ccs.subsystem.motorplatform.bus.HomeAxis req)
void	init() Register the raised Alerts in the init method
void	moveAxisAbsolute(org.lsst.ccs.subsystem.motorplatform.bus.MoveAxisAbsolute req)
void	moveAxisRelative(org.lsst.ccs.subsystem.motorplatform.bus.MoveAxisRelative req)
void	moveBy(String axisName, double positionChangeMm, double seconds)
void	moveTo(String axisName, double newPositionMm, double speedMmSec)
void	openShutter()
void	postInit() Sets the Agent property marking this as a motorplatform subsystem.
void	resync()
void	sendAxisStatus(org.lsst.ccs.subsystem.motorplatform.bus.SendAxisStatus cmd)
void	sendConfiguration(org.lsst.ccs.subsystem.motorplatform.bus.SendConfiguration cmd)
void	sendControllerStatus(org.lsst.ccs.subsystem.motorplatform.bus.SendControllerStatus cmd)
String	status(String axisName)
void	stopAll()
void	stopAllMotion(org.lsst.ccs.subsystem.motorplatform.bus.StopAllMotion req)
void	takeExposure(double exposureTime)
void	toggleSafetyCheck()
String	vetoTransitionToNormalMode() Veto a transition to NORMAL mode if the shutter isn't in the Closed state in Prod.

Methods inherited from class org.lsst.ccs.Subsystem

getLogHandler, getNumberCommandThreads, ping, printRunningCommands, setLogFormat, setLogHandlerLevel, setLogLevel, setStackTraceDepth

Methods inherited from class org.lsst.ccs.Agent

broadcastStatus, checkAllHardwareStopped, createHelper, executeCommandRequest, getAgentInfo, getAgentPersistenceService, getAgentService, getAgentServices, getCCSVersions, getCommandCount, getComponentConfigurationEnvironment, getComponentConfigurationEnvironmentByName, getComponentLookup, getCurrentAction, getDescription, getDistributionInfo, getEnvironmentLockService, getEnvironmentMessagingAccess, getLogger, getMessagingAccess, getName, getScheduler, getStatusBroadcastPeriod, helper, initAgent, internalCheckHardware, isConnectedToTheBuses, isInEngineeringMode, populateComponentLookup, preBuild, preInit, printComponentNodeTree, publishSubsystemDataOnStatusBus, sendAck, sendNack, sendStatusMessage, setAgentName, shutdownAgent, startAgent

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, postShutdown, postStart, shutdown, start

Methods inherited from interface org.lsst.ccs.ServiceLifecycle

afterInit, afterStart, preShutdown, preStart

Constructor Detail

Commands

public Commands()

Method Detail

init

public void init()

Register the raised Alerts in the init method

Specified by:

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

postInit

public void postInit()

Sets the Agent property marking this as a motorplatform subsystem. Must be done before we connect to the buses.

Specified by:

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

vetoTransitionToNormalMode

public String vetoTransitionToNormalMode()

Veto a transition to NORMAL mode if the shutter isn't in the Closed state in Prod.

Overrides:

vetoTransitionToNormalMode in class org.lsst.ccs.Agent

Returns:

null if the transition is accepted, otherwise a string detailing why the transition was rejected.

resync

@Command(autoAck=false,
         level=0,
         type=ACTION,
         description="Try again to sync with the shutter controller.",
         timeout=30)
public void resync()
                                                                                                                                                                        throws InterruptedException

Throws:

InterruptedException

calibrate

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="Start a calibration.",
         timeout=30)
public void calibrate()
                                                                                                                                                 throws InterruptedException

Throws:

InterruptedException

toggleSafetyCheck

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="Toggle the PLC safety check flag.",
         timeout=30)
public void toggleSafetyCheck()
                                                                                                                                                                      throws InterruptedException

Throws:

InterruptedException

takeExposure

@Command(autoAck=false,
         level=0,
         type=ACTION,
         description="Take an exposure for a given number of seconds.",
         timeout=30)
public void takeExposure(double exposureTime)
                                                                                                                                                                               throws InterruptedException

Throws:

InterruptedException

openShutter

@Command(autoAck=false,
         level=0,
         type=ACTION,
         description="Open the shutter.",
         timeout=30)
public void openShutter()
                                                                                                                                                throws InterruptedException

Throws:

InterruptedException

closeShutter

@Command(autoAck=false,
         level=0,
         type=ACTION,
         description="Close the shutter, aborting any exposure.",
         timeout=30)
public void closeShutter()
                                                                                                                                                                         throws InterruptedException

Throws:

InterruptedException

changeBrakeState

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="Change the brake state on an axis.",
         timeout=30)
public void changeBrakeState(String axisName,
                                                                                                                                                                             boolean brakeEngaged)
                                                                                                                                                                      throws InterruptedException

Throws:

InterruptedException

gotoCenter

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="Center the blades (power-off prep).",
         timeout=30)
public void gotoCenter()
                                                                                                                                                                 throws InterruptedException

Throws:

InterruptedException

gotoProd

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="Enter the Prod state.",
         timeout=30)
public void gotoProd()
                                                                                                                                                 throws InterruptedException

Throws:

InterruptedException

homeAxis

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Scripting) Start an axis homing.",
         timeout=30)
public void homeAxis(org.lsst.ccs.subsystem.motorplatform.bus.HomeAxis req)
                                                                                                                                                             throws InterruptedException

Throws:

InterruptedException

moveAxisAbsolute

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Scripting) Start a move to absolute position.",
         timeout=30)
public void moveAxisAbsolute(org.lsst.ccs.subsystem.motorplatform.bus.MoveAxisAbsolute req)
                                                                                                                                                                                  throws InterruptedException

Throws:

InterruptedException

moveAxisRelative

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Scripting) Start a position change.",
         timeout=30)
public void moveAxisRelative(org.lsst.ccs.subsystem.motorplatform.bus.MoveAxisRelative req)
                                                                                                                                                                        throws InterruptedException

Throws:

InterruptedException

clearAllFaults

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Scripting) Clear faults on both axes.",
         timeout=30)
public void clearAllFaults(org.lsst.ccs.subsystem.motorplatform.bus.ClearAllFaults req)
                                                                                                                                                                        throws InterruptedException

Throws:

InterruptedException

changeAxisEnable

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Scripting) Enable/disable axis.",
         timeout=30)
public void changeAxisEnable(org.lsst.ccs.subsystem.motorplatform.bus.ChangeAxisEnable req)
                                                                                                                                                                    throws InterruptedException

Throws:

InterruptedException

clearAxisFaults

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Scripting) Clear faults for one axis.",
         timeout=30)
public void clearAxisFaults(org.lsst.ccs.subsystem.motorplatform.bus.ClearAxisFaults req)
                                                                                                                                                                         throws InterruptedException

Throws:

InterruptedException

enableAllAxes

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Scripting) Enable both axes.",
         timeout=30)
public void enableAllAxes(org.lsst.ccs.subsystem.motorplatform.bus.EnableAllAxes req)
                                                                                                                                                              throws InterruptedException

Throws:

InterruptedException

disableAllAxes

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Scripting) Disable both axes.",
         timeout=30)
public void disableAllAxes(org.lsst.ccs.subsystem.motorplatform.bus.DisableAllAxes req)
                                                                                                                                                                throws InterruptedException

Throws:

InterruptedException

stopAllMotion

@Command(autoAck=false,
         level=0,
         type=ACTION,
         description="(Scripting) Emergency stop motion.",
         timeout=30)
public void stopAllMotion(org.lsst.ccs.subsystem.motorplatform.bus.StopAllMotion req)
                                                                                                                                                                   throws InterruptedException

Throws:

InterruptedException

sendControllerStatus

@Command(level=0,
         type=QUERY,
         description="(Scripting) Publish controller status ASAP.",
         timeout=30)
public void sendControllerStatus(org.lsst.ccs.subsystem.motorplatform.bus.SendControllerStatus cmd)

sendConfiguration

@Command(level=0,
         type=QUERY,
         description="(Scripting) Publish controller configuration ASAP.",
         timeout=30)
public void sendConfiguration(org.lsst.ccs.subsystem.motorplatform.bus.SendConfiguration cmd)

sendAxisStatus

@Command(level=0,
         type=QUERY,
         description="(Scripting) Publish axis status ASAP.",
         timeout=30)
public void sendAxisStatus(org.lsst.ccs.subsystem.motorplatform.bus.SendAxisStatus cmd)

clearFaults

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Console) Clear faults on both axes.",
         timeout=30)
public void clearFaults()
                                                                                                                                                                   throws InterruptedException

Throws:

InterruptedException

stopAll

@Command(autoAck=false,
         level=0,
         type=ACTION,
         description="(Console) Emergeny stop motion.",
         timeout=30)
public void stopAll()
                                                                                                                                                          throws InterruptedException

Throws:

InterruptedException

enable

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Console) Enable an axis.",
         timeout=30)
public void enable(String axisName)
                                                                                                                                                   throws InterruptedException

Throws:

InterruptedException

disable

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Console) Disable an axis.",
         timeout=30)
public void disable(String axisName)
                                                                                                                                                     throws InterruptedException

Throws:

InterruptedException

home

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Console) Start an axis homing.",
         timeout=30)
public void home(String axisName)
                                                                                                                                                       throws InterruptedException

Throws:

InterruptedException

moveTo

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Console) Start a move to an absolute position.",
         timeout=30)
public void moveTo(String axisName,
                                                                                                                                                                                double newPositionMm,
                                                                                                                                                                                double speedMmSec)
                                                                                                                                                                         throws InterruptedException

Throws:

InterruptedException

moveBy

@Command(autoAck=false,
         level=1,
         type=ACTION,
         description="(Console) Start a position change.",
         timeout=30)
public void moveBy(String axisName,
                                                                                                                                                                   double positionChangeMm,
                                                                                                                                                                   double seconds)
                                                                                                                                                            throws InterruptedException

Throws:

InterruptedException

status

@Command(level=0,
         type=QUERY,
         description="(Console) Show status info for an axis.",
         timeout=30)
public String status(String axisName)