org.lsst.ccs.subsystem.shutter

Class StateMachine

java.lang.Object

org.lsst.ccs.subsystem.shutter.StateMachine

All Implemented Interfaces:

org.lsst.ccs.framework.HasLifecycle, Events

public class StateMachine
extends Object
implements org.lsst.ccs.framework.HasLifecycle, Events

Component that owns and operates the shutter-control state machine. It also owns, registers and updates a component state bundle based on class PhysicalState.

Used by commands in the Main component which call the event methods implemented here. Those methods place runnables on a queue for later execution. The runnables use instances of FutureReply to send event accept/reject notices back to Main. This component owns the queue and the task that reads from it and calls the state machine.

Used by the Controller component which reads messages from the shutter PLC task and calls the appropriate event methods of this component, which also queue the events but with a higher priority then events from Main. Keeping up to date with state changes in the PLC is considered of higher priority than carrying out operator/script commands. There's a possibility of command "starvation" here that isn't protected against.

Author:

tether

See Also:

Main, Controller, PhysicalState, TopContext

Constructor Summary

Constructors

Constructor and Description
StateMachine() Creates the state machine implementation and the priority queue.

Method Summary

Modifier and Type	Method and Description
EventReply	calibDone(CalibDone calibResults) Indicates that a Hall calibration operation has been successful.
EventReply	calibrate(Calibrate calibParams) Requests a Hall calibration.
EventReply	changeAxisEnable(org.lsst.ccs.subsystem.motorplatform.bus.ChangeAxisEnable req) Requests that the enable state of the given axis be changed.
EventReply	changeBrakeState(Axis ax, ChangeBrakeState.State newState) Requests that the brake state on a given axis be changed.
EventReply	clearAllFaults(org.lsst.ccs.subsystem.motorplatform.bus.ClearAllFaults req) Requests that fault conditions be cleared for both axes.
EventReply	clearAxisFaults(org.lsst.ccs.subsystem.motorplatform.bus.ClearAxisFaults req) Requests that fault conditions be cleared for the given axis.
EventReply	closeShutter() Requests that a closing of the shutter be started.
EventReply	contactLost() Indicates that the subsystem can't communicate properly with the shutter PLC.
EventReply	disable() Indicates that the shutter hardware protection is forbidding shutter operation.
EventReply	disableAllAxes(org.lsst.ccs.subsystem.motorplatform.bus.DisableAllAxes req) Requests that both axes be disabled.
EventReply	enable() Indicates that the shutter hardware protection is is allowing shutter operation.
EventReply	enableAllAxes(org.lsst.ccs.subsystem.motorplatform.bus.EnableAllAxes req) Requests that both axes be enabled.
EventReply	error() Indicates that the shutter tried and failed to carry out a requested operation.
Actions	getActions() Gets the set of actions used by the internal state machine.
EventReply	gotoCenter() Requests that the shutter prepare for power-down by placing both blade sets in the center position.
EventReply	gotoProd() Requests that the shutter, if it's ready to do so, accept subsequent requests to take exposures.
EventReply	ignored(Ignored.Reason reason) Indicates that the shutter PLC state machine has ignored an event sent to it.
void	init() Registers the shutter physical-state bundle and sets its initial value to OTHER.
EventReply	motionDone(MotionDonePLC profileData) Indicates that a blade set has successfully completed a motion.
EventReply	moveAxisAbsolute(org.lsst.ccs.subsystem.motorplatform.bus.MoveAxisAbsolute req) Requests that the given axis be moved to a given absolute position.
EventReply	moveAxisRelative(org.lsst.ccs.subsystem.motorplatform.bus.MoveAxisRelative req) Requests that an axis change its position by a certain offset.
EventReply	openShutter() Requests that an opening of the shutter be started.
EventReply	plcIsDisabled() Indicates that shutter controller has sent a status message in which the reported state is Enabled.
EventReply	plcIsEnabled() Indicates that the shutter controller has sent a status message in which reported state is Disabled.
void	postStart() Starts the shutter-control state machine along with a task for feeding it events from the queue.
EventReply	reset() Requests that the shutter controller stop any motion in progress and reset its state machine to its initial state.
EventReply	resync() Triggers another attempt to synchronize states with the PLC.
void	shutdown()
EventReply	syncTimeout() Indicates that after a reset the PLC has taken too long to reach one of the designated after-reset states.
EventReply	takeExposure(Duration exposureTime) Requests that an exposure of the given duration be started.
EventReply	timer() Indicates that an exposure in progress has run for its allotted time.

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, postInit, postShutdown, start

Constructor Detail

StateMachine

public StateMachine()

Creates the state machine implementation and the priority queue. The state machine is not started.

Method Detail

init

public void init()

Registers the shutter physical-state bundle and sets its initial value to OTHER.

Specified by:

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

See Also:

PhysicalState

postStart

public void postStart()

Starts the shutter-control state machine along with a task for feeding it events from the queue.

Specified by:

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

getActions

public Actions getActions()

Gets the set of actions used by the internal state machine.

Returns:

The actions.

shutdown

public void shutdown()

Specified by:

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

contactLost

public EventReply contactLost()

Description copied from interface: Events

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

Specified by:

contactLost in interface Events

Returns:

An EventReply instance which tells whether an event was accepted or rejected

plcIsEnabled

public EventReply plcIsEnabled()

Description copied from interface: Events

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.

Specified by:

plcIsEnabled in interface Events

Returns:

An EventReply instance which tells whether an event was accepted or rejected

plcIsDisabled

public EventReply plcIsDisabled()

Description copied from interface: Events

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.

Specified by:

plcIsDisabled in interface Events

Returns:

An EventReply instance which tells whether an event was accepted or rejected

resync

public EventReply resync()

Description copied from interface: Events

Triggers another attempt to synchronize states with the PLC.

Specified by:

resync in interface Events

Returns:

An EventReply instance which tells whether an event was accepted or rejected

syncTimeout

public EventReply syncTimeout()

Description copied from interface: Events

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

Specified by:

syncTimeout in interface Events

Returns:

An EventReply instance which tells whether an event was accepted or rejected

enable

public EventReply enable()

Description copied from interface: Events

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

Specified by:

enable in interface Events

Returns:

An EventReply instance which tells whether an event was accepted or rejected

disable

public EventReply disable()

Description copied from interface: Events

Indicates that the shutter hardware protection is forbidding shutter operation.

Specified by:

disable in interface Events

Returns:

An EventReply instance which tells whether an event was accepted or rejected

motionDone

public EventReply motionDone(MotionDonePLC profileData)

Description copied from interface: Events

Indicates that a blade set has successfully completed a motion.

Specified by:

motionDone in interface Events

Parameters:

profileData - The motion profile.

Returns:

An EventReply instance which tells whether an event was accepted or rejected

calibrate

public EventReply calibrate(Calibrate calibParams)

Description copied from interface: Events

Requests a Hall calibration.

Specified by:

calibrate in interface Events

Parameters:

calibParams - The calibration parameters. If null the event is rejected.

Returns:

An EventReply instance which tells whether an event was accepted or rejected

calibDone

public EventReply calibDone(CalibDone calibResults)

Description copied from interface: Events

Indicates that a Hall calibration operation has been successful.

Specified by:

calibDone in interface Events

Parameters:

calibResults - The results of the calibration.

Returns:

An EventReply instance which tells whether an event was accepted or rejected

error

public EventReply error()

Description copied from interface: Events

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

Specified by:

error in interface Events

Returns:

An EventReply instance which tells whether an event was accepted or rejected

reset

public EventReply reset()

Description copied from interface: Events

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

Specified by:

reset in interface Events

takeExposure

public EventReply takeExposure(Duration exposureTime)

Description copied from interface: Events

Requests that an exposure of the given duration be started.

Specified by:

takeExposure in interface Events

Parameters:

exposureTime - The length of the exposure. If null or too short a duration the event is rejected.

Returns:

An EventReply instance which tells whether an event was accepted or rejected

openShutter

public EventReply openShutter()

Description copied from interface: Events

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

Specified by:

openShutter in interface Events

Returns:

An EventReply instance which tells whether an event was accepted or rejected

timer

public EventReply timer()

Description copied from interface: Events

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

Specified by:

timer in interface Events

Returns:

An EventReply instance which tells whether an event was accepted or rejected

closeShutter

public EventReply closeShutter()

Description copied from interface: Events

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

Specified by:

closeShutter in interface Events

Returns:

An EventReply instance which tells whether an event was accepted or rejected

ignored

public EventReply ignored(Ignored.Reason reason)

Description copied from interface: Events

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

Specified by:

ignored in interface Events

Parameters:

reason - The reason why the event was rejected.

Returns:

An EventReply instance which tells whether an event was accepted or rejected

gotoProd

public EventReply gotoProd()

Description copied from interface: Events

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

Specified by:

gotoProd in interface Events

Returns:

An EventReply instance which tells whether an event was accepted or rejected

gotoCenter

public EventReply gotoCenter()

Description copied from interface: Events

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

Specified by:

gotoCenter in interface Events

Returns:

An EventReply instance which tells whether an event was accepted or rejected

moveAxisAbsolute

public EventReply moveAxisAbsolute(org.lsst.ccs.subsystem.motorplatform.bus.MoveAxisAbsolute req)

Description copied from interface: Events

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

Specified by:

moveAxisAbsolute in interface Events

Parameters:

req - Contains the request parameters. If null then the event is rejected.

Returns:

An EventReply instance which tells whether an event was accepted or rejected

moveAxisRelative

public EventReply moveAxisRelative(org.lsst.ccs.subsystem.motorplatform.bus.MoveAxisRelative req)

Description copied from interface: Events

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

Specified by:

moveAxisRelative in interface Events

Parameters:

req - Contains the request parameters. If null then event is rejected.

Returns:

An EventReply instance which tells whether an event was accepted or rejected

clearAllFaults

public EventReply clearAllFaults(org.lsst.ccs.subsystem.motorplatform.bus.ClearAllFaults req)

Description copied from interface: Events

Requests that fault conditions be cleared for both axes.

Specified by:

clearAllFaults in interface Events

Parameters:

req - Contains the request parameters. If null then the event is rejected.

Returns:

An EventReply instance which tells whether an event was accepted or rejected

changeAxisEnable

public EventReply changeAxisEnable(org.lsst.ccs.subsystem.motorplatform.bus.ChangeAxisEnable req)

Description copied from interface: Events

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

Specified by:

changeAxisEnable in interface Events

Parameters:

req - Contains the request parameters. If null then the event is rejected.

Returns:

An EventReply instance which tells whether an event was accepted or rejected

changeBrakeState

public EventReply changeBrakeState(Axis ax,
                                   ChangeBrakeState.State newState)

Description copied from interface: Events

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

Specified by:

changeBrakeState in interface Events

Parameters:

ax - The PLC task axis to affect.

newState - The desired brake state.

Returns:

An EventReply instance which tells whether an event was accepted or rejected

clearAxisFaults

public EventReply clearAxisFaults(org.lsst.ccs.subsystem.motorplatform.bus.ClearAxisFaults req)

Description copied from interface: Events

Requests that fault conditions be cleared for the given axis.

Specified by:

clearAxisFaults in interface Events

Parameters:

req - Contains the request parameters. If null then the event is rejected.

Returns:

An EventReply instance which tells whether an event was accepted or rejected

enableAllAxes

public EventReply enableAllAxes(org.lsst.ccs.subsystem.motorplatform.bus.EnableAllAxes req)

Description copied from interface: Events

Requests that both axes be enabled.

Specified by:

enableAllAxes in interface Events

Parameters:

req - Contains the request parameters. If null then event is rejected.

Returns:

An EventReply instance which tells whether an event was accepted or rejected

disableAllAxes

public EventReply disableAllAxes(org.lsst.ccs.subsystem.motorplatform.bus.DisableAllAxes req)

Description copied from interface: Events

Requests that both axes be disabled.

Specified by:

disableAllAxes in interface Events

Parameters:

req - Contains the request parameters. If null then the event is rejected.

Returns:

An EventReply instance which tells whether an event was accepted or rejected