org.lsst.ccs.subsystem.shutter

Class RealActions

java.lang.Object

org.lsst.ccs.subsystem.shutter.RealActions

All Implemented Interfaces:

Actions

public class RealActions
extends Object
implements Actions

An implementation of the Actions interface that forwards most actions to the StateMachine component or to the Controller component. A few actions are implemented directly, mainly those which make calls to the subsystem framework that don't affect either the state machine or the shutter PLC. Immutable.

Author:

tether

See Also:

StateMachine, Controller, Actions

Constructor Summary

Constructors

Constructor and Description
RealActions(Controller control, StateMachine machine, org.lsst.ccs.Subsystem subsys, Publisher publish, Watchdog wdog) Saves references to the components that actually implement the actions.

Method Summary

Modifier and Type	Method and Description
boolean	axisIsEnabled(ShutterSide side) Determines whether the given axis is enabled, i.e., the motor is on.
boolean	brakeIsEngaged(ShutterSide side) Determines whether the given axis has its brake engaged.
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	raiseStopCmdAlert() Raises a STOP_CMD 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 motplc) 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.

Methods inherited from class java.lang.Object

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

Constructor Detail

RealActions

public RealActions(Controller control,
                   StateMachine machine,
                   org.lsst.ccs.Subsystem subsys,
                   Publisher publish,
                   Watchdog wdog)

Saves references to the components that actually implement the actions.

Parameters:

control - A references to the Controller component.

machine - A reference to the StateMachine component.

subsys - A reference to the subsystem object.

publish - A reference to the Publisher component.

wdog - A reference to the Watchdog component.

Method Detail

axisIsEnabled

public boolean axisIsEnabled(ShutterSide side)

Description copied from interface: Actions

Determines whether the given axis is enabled, i.e., the motor is on.

Specified by:

axisIsEnabled in interface Actions

Parameters:

side - specifies the side, +X or -X, which in turn specifies the axis.

Returns:

true if and only if the specified axis is enabled.

brakeIsEngaged

public boolean brakeIsEngaged(ShutterSide side)

Description copied from interface: Actions

Determines whether the given axis has its brake engaged.

Specified by:

brakeIsEngaged in interface Actions

Parameters:

side - specifies the side, +X or -X, which in turn specifies the axis.

Returns:

true if and only if the axis brake is engaged.

cancelSyncTimer

public void cancelSyncTimer()

Description copied from interface: Actions

Cancels the sync timer if it's still running.

Specified by:

cancelSyncTimer in interface Actions

See Also:

Actions.startSyncTimer()

disableWatchdog

public void disableWatchdog()

Description copied from interface: Actions

Disables the watchdog that raises an alert if we don't get any PLC messages for a long time.

Specified by:

disableWatchdog in interface Actions

See Also:

Actions.enableWatchdog()

enableWatchdog

public void enableWatchdog()

Description copied from interface: Actions

Enables the watchdog that raises an alert if we don't get any PLC messages for a long time.

Specified by:

enableWatchdog in interface Actions

See Also:

Actions.disableWatchdog()

isBadExposureTime

public boolean isBadExposureTime(Duration exposureTime)

Description copied from interface: Actions

Determines whether the exposure time has an invalid value, for example, it's below the minimum.

Specified by:

isBadExposureTime in interface Actions

Parameters:

exposureTime - The time to check.

Returns:

true if the time is OK, else false.

lowerMotionAlert

public void lowerMotionAlert()

Description copied from interface: Actions

Sets the severity of the MOTION alert to NOMINAL.

Specified by:

lowerMotionAlert in interface Actions

lowerPLCAlert

public void lowerPLCAlert()

Description copied from interface: Actions

Sets the severity of the PLC alert to NOMINAL.

Specified by:

lowerPLCAlert in interface Actions

lowerSyncAlert

public void lowerSyncAlert()

Description copied from interface: Actions

Sets the severity of the SYNC alert to NOMINAL.

Specified by:

lowerSyncAlert in interface Actions

lowerWatchdogAlert

public void lowerWatchdogAlert()

Description copied from interface: Actions

Sets the severity of the PLC_WATCHDOG alert to NOMINAL.

Specified by:

lowerWatchdogAlert in interface Actions

makePartialContact

public boolean makePartialContact()

Description copied from interface: Actions

Makes a link to the shutter controller, just enough to sent rest messages and receive shutter status messages.

Specified by:

makePartialContact in interface Actions

Returns:

true if the operation succeeded, else false.

makeFullContact

public boolean makeFullContact()

Description copied from interface: Actions

Widens the link to the shutter controller, allowing the full exchange of all message types.

Specified by:

makeFullContact in interface Actions

Returns:

true if the operation succeeded, else false.

publishEnableStatus

public void publishEnableStatus(boolean isEnabled)

Description copied from interface: Actions

Record when we enter or leave the Enabled state.

Specified by:

publishEnableStatus in interface Actions

Parameters:

isEnabled - True if entering, false if exiting.

setPhysicalState

public void setPhysicalState(PhysicalState newState)

Description copied from interface: Actions

Sets the physical shutter custom state that appears in the subsystem's state bundle.

Specified by:

setPhysicalState in interface Actions

Parameters:

newState - The new state value.

setSoftwareState

public void setSoftwareState(SoftwareState newState)

Description copied from interface: Actions

Sets the CCS software custom state that appears in the subsystem's state bundle.

Specified by:

setSoftwareState in interface Actions

Parameters:

newState - The new state value.

raisePLCAlert

public void raisePLCAlert(Error err)

Description copied from interface: Actions

Raises a PLC alert with severity ALARM.

Specified by:

raisePLCAlert in interface Actions

Parameters:

err - The error message received from the PLC.

raiseSyncAlert

public void raiseSyncAlert()

Description copied from interface: Actions

Raises a SYNC alert with severity ALARM.

Specified by:

raiseSyncAlert in interface Actions

raiseStopCmdAlert

public void raiseStopCmdAlert()

Description copied from interface: Actions

Raises a STOP_CMD alert with severity ALARM.

Specified by:

raiseStopCmdAlert in interface Actions

readyForCalibration

public boolean readyForCalibration()

Description copied from interface: Actions

Determines if the shutter is ready for calibration. Both axes must be enabled, have the brakes released and be homed.

Specified by:

readyForCalibration in interface Actions

Returns:

true if the conditions are met, else false.

resetPLC

public void resetPLC()

Description copied from interface: Actions

Sends a reset() event to the PLC.

Specified by:

resetPLC in interface Actions

relay

public void relay(MsgToPLC eventMsg)

Description copied from interface: Actions

Relays an event to the PLC via the given message instance.

Specified by:

relay in interface Actions

saveCalib

public void saveCalib(CalibDone cal)

Description copied from interface: Actions

Saves the calibration data to a filesystem on the CCS network.

Specified by:

saveCalib in interface Actions

sendProfile

public void sendProfile(MotionDonePLC motplc)

Description copied from interface: Actions

Sends the motion profile out on the CCS status bus.

Specified by:

sendProfile in interface Actions

startFirstCentering

public void startFirstCentering()

Description copied from interface: Actions

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.

Specified by:

startFirstCentering in interface Actions

See Also:

Actions.startSecondCentering()

startSecondCentering

public void startSecondCentering()

Description copied from interface: Actions

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().

Specified by:

startSecondCentering in interface Actions

See Also:

Actions.startFirstCentering()

shutterIsReady

public String shutterIsReady()

Description copied from interface: Actions

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.

Specified by:

shutterIsReady in interface Actions

Returns:

null if the shutter is ready, else a string detailing all the reasons why it isn't.

startSyncTimer

public void startSyncTimer()

Description copied from interface: Actions

Starts a timer which will generate a syncYimeout() when it expires.

Specified by:

startSyncTimer in interface Actions

See Also:

Actions.cancelSyncTimer()

terminateContact

public void terminateContact()

Description copied from interface: Actions

Close any connection we may have to the shutter controller and stop decoding any messages we have already received.

Specified by:

terminateContact in interface Actions