setFilter#

Command description#

The command setFilter command moves a filter to ONLINE position.
The filter is selected through its ID.

Synopsis#

setFilter <filter_id>

where <filter_id> is the id of the filter to move ONLINE.

Example#

If we want to put filter G ONLINE, as id of filter G is 3 :

setFilter 3

If another filter is on autochanger trucks, it stores this filter on the carousel, then moves empty autochanger trucks to HANDOFF position. Then it rotates the carousel in order to put the required filter at STANDBY position. Then autochanger trucks move to STANDBY, latches are closed. Carousel unlocks the clamps. And eventualy autochanger trucks moves the required filter to ONLINE.

Conditions to execute setFilter command#

Command setFilter is available only for whole subsystem fcs, when carousel and autochanger are on the same CANbus.

To be able to execute setFilter commands, all the following conditions must be respected :

the filter id given as argument must exist, and the required filter must be on the camera, on autochanger or on carousel.
loader is not connected
all the CAN open devices for subsystems carousel and autochanger must be present on the CANbus and responding
no motor controller is in default mode
carousel is stopped at STANDBY position and there is no error on the clamps sensors
autochanger trucks are stopped at position : ONLINE, HANDOFF or STANDBY
there is no error on trucks position sensors, latches, online clamps and inclinometers.
if a filter is on autochanger trucks at HANDOFF or ONLINE, the carousel socket at STANDBY position must be empty and in state : READY_TO_CLAMP, the autochanger latches must be CLOSED
if a filter it on autochanger trucks at STANDBY position, the carousel or the autochanger must hold the filter : latches must be in state CLOSED or carousel clamps must be CLAMPEDONFILTER
if a filter is at ONLINE, the online clamps must be in state LOCKED
When command setFilter is launched, all these conditions above are checked.

If one of this conditions is not respected, the FCS FilterReadinessState is set to NOT_READY and the command setFilter is rejected.

Condition non respected	Action to perform	FCS command	Expected result	FCS command to check result
loader is connected	loader must be disconnected			loader/isConnectedOnCamera response: FALSE
error on sensors	See hardware recovery procedure	human intervention is required to change or repair sensors in error	sensors are no more in error
a CAN open device is not powered on or does no respond on CAN bus	check and repair CANbus cable, electric power	initializeHardware	FilterReadinessState should be READY	fcs/getFilterReadinessState response: READY
a motor controller is in fault	send a command to the controller to reset the fault	controller/faultReset	the controller is no more in fault	controller/checkFault
carousel is not stopped at `STANDBY`	rotate carousel in order to put it at `STANDBY` position	carousel/rotateSocketToStandby	carousel should be stopped at `STANDBY`	carousel/isAtStandby response: true
a filter is on autochanger trucks and trucks are in state `IN_TRAVEL` AND the filter on autochanger is the one we want to put at `ONLINE`, AND the filter is free to move	move filter to `ONLINE`	autochanger/moveAndClampFilterOnline	filter is at `ONLINE`	autochanger/isAtOnline response: TRUE
a filter is on autochanger trucks and trucks are in state `IN_TRAVEL` AND the filter on autochanger is the NOT the one we want to put at `ONLINE` AND carousel socket at `STANDBY` is empty	store filter on carousel	storeCurrentFilterOnCarousel	filter is on carousel at `STANDBY`	carousel/isAtStandby response: TRUE
The Filter is on Auto Changer at Stand-By position AND The filter is locked on the Carousel clamps One of the latches or the two latches are in TRAVEL	close the Latches	autochanger/closeLatches	latches are closed	latches/isClosed response: true

Commands useful for setFilter recovery#

setFilter command is a sequence of lower level commands.
Each of this lower level commands can be launched individualy.

setFilter sub-commands sequence#

Seq #	Target component	Command name
1	fcs	storeFilterOnCarousel
2	carousel	rotateSocketToStandby arg : socket name
3	autochanger	grabFilterAtStandby
4	fcs	disengageFilterFromCarousel
5	autochanger	moveAndClampFilterOnline

Subsystems state during sequence#

Autochanger states#

Command name	Initial State	Final State
storeFilterOnCarousel	old filter at `HANDOFF` onlineClamps `OPEN` or old filter at `ONLINE` onlineClamps `LOCKED`	empty at `HANDOFF` onlineClamps `OPEN`
rotateSocketToStandby arg : socket name	empty at `HANDOFF`	empty at `HANDOFF`
grabFilterAtStandby	empty at `HANDOFF` latches `OPEN`	new filter at `STANDBY` latches `CLOSED`
disengageFilterFromCarousel	new filter at `STANDBY` latches `CLOSED`	new filter at `approachStandbyPosition`
moveAndClampFilterOnline	new filter at `approachStandbyPosition`	new filter at `ONLINE` onlineClamps `LOCKED`

Carousel states#

Command name	Initial State	Final State
storeFilterOnCarousel	empty socket at `STANDBY` clamps `READYTOCLAMP`	old filter at `STANDBY` clamps `CLAMPEDONFILTER`
rotateSocketToStandby arg : socket name	old filter at `STANDBY` clamps `CLAMPEDONFILTER`	new filter is at `STANDBY` clamps `CLAMPEDONFILTER`
grabFilterAtStandby	new filter at `STANDBY` clamps `CLAMPEDONFILTER`	new filter at `STANDBY` clamps `CLAMPEDONFILTER`
disengageFilterFromCarousel	new filter at `STANDBY` clamps `CLAMPEDONFILTER`	empty socket at `STANDBY` clamps `READYTOCLAMP`
moveAndClampFilterOnline	empty socket at `STANDBY` clamps `READYTOCLAMP`	empty socket at `STANDBY` clamps `READYTOCLAMP`