Simulation activity in CCS

Objectives

The simulation activity in CCS must provide software tools to test CCS code before the mechanical subsystems exist.

Current status

A first simulator has been created for the FCS. It has been designed to be reused by other subsystems if needed.

The principes is to build a simulator from modular mechanical items which can be :

• mobil mechanical item
• engine
• latch

Some constraints can be defined between this mechanical items. For example :

• a latch can lock a mobil mechanical item
• an engine can move a mobil mechanical item

A modular simulator is described in a XML file.

Use Cases for a Filter Changer modular simulator

See the attached files below for the complete description of the use cases.

We have defined 4 use cases :

• Move carousel to position X
• Stop carousel
• Lock latch
• Unlock latch

How to interface a modular simulator with CCS

To interface a modular simulator with the CCS code, we have to define a simulation modular subsystem in the CCS. This simulation subsystem is composed of a single module. See below the FCS simulator as an example.

The simulation subsystem is in the package : ccs/simulation. Its single module is the SimuDriverModule. The SimuDriverModule class extends the ccs/localbus/Module class.

Description of the SimuDriverModule class

See javadoc for more details.

Here are the main methods to implement in the SimuDriverModule class:

• Overwritten methods from the super Class Module
  • initModule : after the Module initialization, we want to initialize the modular simulator from its XML file.
  • tick : what we do for each tick of the timer : notify observers, publish on the log bus the new values of the data we update.

• One method for each command we want CCS send to our simulator module (See more details in Use cases below)
  • Move : move carousel in the position given as a parameter
  • Stop : stop carousel
  • Lock : lock the latch given as a parameter
  • Unlock : unlock the latch given as a parameter

• Getter and setter methods

FCS simulator USER GUIDE

We have defined a very simple FCS simulator with an engine, a latch (latchA) and a carousel. We can drive this simulator from the CCS as we do with any other subsystem.

First, download and compile the current code

Follow the instructions in CCS code short description.

Then, test the simulator :

You have to open 3 windows.

1. window 1: run the jmsserver :

Read the instructions in CCS code short description.

2. window 2: run the simulation sub-system :

cd LSSTDIR/trunk/CameraControl/
      ./run-subsys conf/test-simulator.xml

The file test-simulator.xml contains the description of our simulation subsystem. It is very simple as our simulator is very simple :

<?xml version="1.0" encoding="UTF-8"?>
<modules name="test-simu">

<module name="FCS-Simulator" class="org.lsst.ccs.simulation.SimuDriverModule">
     <property name="simulatorConfigFile" value="conf/modularSimulator-toto.xml"/>

</module>

</modules>

The 3 important things in this file are :

• the name of the modular subsystem : test-simu

You have to know it to be able to "talk" with it from the TestConsole.

• the name of the module which is the interface with the simulator : FCS-Simulator

You have to know it to be able to "talk" with it from the TestConsole.

• the name of the XML file where is described our modular simulator : conf/modularSimulator-toto.xml

3. window 3: run a Test Console to send commands to the Simulation sub-system :

    cd LSSTDIR/trunk/CameraControl/
      ./run-module org.lsst.ccs.test.TestConsole

TestConsole is a BusMaster. You are now ready to send commands to the Simulation subsystem. For example, type in the TestConsole:

      invoke test-simu/FCS-Simulator move 15.00
      invoke test-simu/FCS-Simulator move 350.00
      invoke test-simu/FCS-Simulator lock latchA
      invoke test-simu/FCS-Simulator move 25.00    
      invoke test-simu/FCS-Simulator unlock latchA  
      invoke test-simu/FCS-Simulator move 25.00
      
      
      

and read what happens in the window 2.