org.lsst.ccs.subsystem.shutter.statemachine

Interface Actions

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

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 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

axisIsEnabled

boolean axisIsEnabled(ShutterSide side)

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

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

boolean brakeIsEngaged(ShutterSide side)

Determines whether the given axis has its brake engaged.

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

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.

raiseStopCmdAlert

void raiseStopCmdAlert()

Raises a STOP_CMD 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.