TopContext (LSST CCS - Shutter Subsystem (Pom) 4.5 API)

java.lang.Object
- org.lsst.ccs.subsystem.shutter.statemachine.TopContext

```
public final class TopContext
extends Object
```
The top-level context for the state machine. Thread-safe.

Author:

tether

Constructor Summary

Constructors
Constructor and Description

TopContext(Actions actions)
Saves the action implementations for this context.

Constructors
Constructor and Description
`TopContext(Actions actions)` Saves the action implementations for this context.

Method Summary

All Methods Instance Methods Concrete Methods Default Methods
Modifier and Type	Method and Description
`default EventReply`	`calibDone(CalibDone cal)` Indicates that a Hall calibration operation has been successful.
`default EventReply`	`calibrate(Calibrate cal)` Requests a Hall calibration.
`default EventReply`	`changeAxisEnable(org.lsst.ccs.subsystem.motorplatform.bus.ChangeAxisEnable req)` Requests that the enable state of the given axis be changed.
`default EventReply`	`changeBrakeState(Axis ax, ChangeBrakeState.State newState)` Requests that the brake state on a given axis be changed.
`default EventReply`	`clearAllFaults(org.lsst.ccs.subsystem.motorplatform.bus.ClearAllFaults req)` Requests that fault conditions be cleared for both axes.
`default EventReply`	`clearAxisFaults(org.lsst.ccs.subsystem.motorplatform.bus.ClearAxisFaults req)` Requests that fault conditions be cleared for the given axis.
`default EventReply`	`closeShutter()` Requests that a closing of the shutter be started.
`default EventReply`	`contactLost()` Indicates that the subsystem can't communicate properly with the shutter PLC.
`default EventReply`	`disable()` Indicates that the shutter hardware protection is forbidding shutter operation.
`default EventReply`	`disableAllAxes(org.lsst.ccs.subsystem.motorplatform.bus.DisableAllAxes req)` Requests that both axes be disabled.
`default EventReply`	`enable()` Indicates that the shutter hardware protection is is allowing shutter operation.
`default EventReply`	`enableAllAxes(org.lsst.ccs.subsystem.motorplatform.bus.EnableAllAxes req)` Requests that both axes be enabled.
`default EventReply`	`error()` Indicates that the shutter tried and failed to carry out a requested operation.
`void`	`finish()` Cleans up a context that's not in active use.
`Actions`	`getActions()` Obtains the set of action implementations owned by this context.
`String`	`getName()` Gets the name of this context.
`org.lsst.ccs.subsystem.shutter.statemachine.State<C>`	`getState()` Gets the current state of this context.
`default EventReply`	`gotoCenter()` Requests that the shutter prepare for power-down by placing both blade sets in the center position.
`default EventReply`	`gotoProd()` Requests that the shutter, if it's ready to do so, accept subsequent requests to take exposures.
`default EventReply`	`ignored(Ignored.Reason reason)` Indicates that the shutter PLC state machine has ignored an event sent to it.
`void`	`init()`
`void`	`makeTransition(org.lsst.ccs.subsystem.shutter.statemachine.State<C> newState, Runnable action)` Performs a state transition, calling the appropriate exit and entry methods while running the transition action in between.
`default EventReply`	`motionDone(MotionDonePLC mot)` Indicates that a blade set has successfully completed a motion.
`default EventReply`	`moveAxisAbsolute(org.lsst.ccs.subsystem.motorplatform.bus.MoveAxisAbsolute req)` Requests that the given axis be moved to a given absolute position.
`default EventReply`	`moveAxisRelative(org.lsst.ccs.subsystem.motorplatform.bus.MoveAxisRelative req)` Requests that an axis change its position by a certain offset.
`default EventReply`	`openShutter()` Requests that an opening of the shutter be started.
`default EventReply`	`plcIsDisabled()` Indicates that shutter controller has sent a status message in which the reported state is Enabled.
`default EventReply`	`plcIsEnabled()` Indicates that the shutter controller has sent a status message in which reported state is Disabled.
`default EventReply`	`reset()` Requests that the shutter controller stop any motion in progress and reset its state machine to its initial state.
`default EventReply`	`resync()` Triggers another attempt to synchronize states with the PLC.
`default EventReply`	`syncTimeout()` Indicates that after a reset the PLC has taken too long to reach one of the designated after-reset states.
`default EventReply`	`takeExposure(Duration exposureTime)` Requests that an exposure of the given duration be started.
`default 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

- Constructor Detail
  - TopContext
```
public TopContext(Actions actions)
```
    Saves the action implementations for this context.
    
    Parameters:
    
    actions - The action implementations.
    
    Throws:
    
    NullPointerException - if the actions ref is null.
- Method Detail
  - init
```
public void init()
```
  - getState
```
public final org.lsst.ccs.subsystem.shutter.statemachine.State<C> getState()
```
    Gets the current state of this context.
    
    Returns:
    
    The current state.
  - getName
```
public String getName()
```
    Gets the name of this context.
    
    Returns:
    
    the name string.
  - makeTransition
```
public final void makeTransition(org.lsst.ccs.subsystem.shutter.statemachine.State<C> newState,
                                 Runnable action)
```
    Performs a state transition, calling the appropriate exit and entry methods while running the transition action in between.
    
    Parameters:
    
    newState - the next value for the current state.
    
    action - The action, possibly null, associated with the transition.
    
    Throws:
    
    NullPointerException - if newState is null.
  - getActions
```
public final Actions getActions()
```
    Obtains the set of action implementations owned by this context.
    
    Returns:
  - finish
```
public void finish()
```
    Cleans up a context that's not in active use. For example, resets the state to null.
  - 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
  - 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
  - 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 mot)
```
    Description copied from interface: Events
    
    Indicates that a blade set has successfully completed a motion.
    
    Specified by:
    
    motionDone in interface Events
    
    Parameters:
    
    mot - The motion profile.
    
    Returns:
    
    An EventReply instance which tells whether an event was accepted or rejected
  - calibrate
```
public EventReply calibrate(Calibrate cal)
```
    Description copied from interface: Events
    
    Requests a Hall calibration.
    
    Specified by:
    
    calibrate in interface Events
    
    Parameters:
    
    cal - 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 cal)
```
    Description copied from interface: Events
    
    Indicates that a Hall calibration operation has been successful.
    
    Specified by:
    
    calibDone in interface Events
    
    Parameters:
    
    cal - 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
  - 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

Class TopContext

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

TopContext

Method Detail

init

getState

getName

makeTransition

getActions

finish

contactLost

ignored

plcIsEnabled

plcIsDisabled

resync

syncTimeout

enable

disable

motionDone

calibrate

calibDone

error

reset

takeExposure

openShutter

timer

closeShutter

gotoProd

gotoCenter

moveAxisAbsolute

moveAxisRelative

clearAllFaults

changeAxisEnable

changeBrakeState

clearAxisFaults

enableAllAxes

disableAllAxes