org.lsst.ccs.drivers.canopenjni

Class SocketCanOpen

java.lang.Object

org.lsst.ccs.drivers.canopenjni.SocketCanOpen

All Implemented Interfaces:

CanOpenInterface

public class SocketCanOpen
extends Object
implements CanOpenInterface

Field Summary

Fields

Modifier and Type	Field and Description
static org.lsst.ccs.utilities.logging.Logger	log

Constructor Summary

Constructors

Constructor and Description
SocketCanOpen()

Method Summary

Modifier and Type	Method and Description
void	addReceivedPDO(int cobId) Configures the pdo with the given cob_id for reception on the master node.
void	addSlave(int s)
void	addSlaves(int[] s)
void	clearReceivedPDOs()
Instant	getLastBeat(int id)
int	getLastState(int id)
int	getNodeId()
Set<Integer>	getRegisteredPDOs()
String	info(int nodeID) Returns the information for the given nodeID.
void	init()
void	init(int master, String baud, String busName, int nodeID) Initialization of the master node.
boolean	isReady()
void	quit() Shuts down the master node.
void	reset(int nodeId)
long	rsdo(int nodeId, int index, int subindex) Send a read sdo command.
int	scan() Sends a scan on the can bus.
void	setBootMessageListener(BootMessageListener bml)
void	setEmergencyMessageListener(EmergencyMessageListener eml)
void	setNMTStateOperational(int nodeId)
void	setPdoTimeout(long to)
void	setSdoTimeout(long to)
void	ssta(int nodeId) Slave start
void	ssto(int nodeId) Slave stop
void	start()
void	stop()
PDOData	sync() Sends a sync message on the canbus and synchronously waits for the received pdo configured in the master to be received.
void	wsdo(int nodeId, int index, int subindex, int size, long data) Send a write sdo command.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

log

public static final org.lsst.ccs.utilities.logging.Logger log

Constructor Detail

SocketCanOpen

public SocketCanOpen()

Method Detail

addSlave

public void addSlave(int s)

Specified by:

addSlave in interface CanOpenInterface

addSlaves

public void addSlaves(int[] s)

Specified by:

addSlaves in interface CanOpenInterface

getLastBeat

public Instant getLastBeat(int id)

Specified by:

getLastBeat in interface CanOpenInterface

getLastState

public int getLastState(int id)

Specified by:

getLastState in interface CanOpenInterface

getRegisteredPDOs

public Set<Integer> getRegisteredPDOs()

Specified by:

getRegisteredPDOs in interface CanOpenInterface

addReceivedPDO

public void addReceivedPDO(int cobId)
                    throws org.lsst.ccs.drivers.commons.DriverException

Description copied from interface: CanOpenInterface

Configures the pdo with the given cob_id for reception on the master node.

Specified by:

addReceivedPDO in interface CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

clearReceivedPDOs

public void clearReceivedPDOs()
                       throws org.lsst.ccs.drivers.commons.DriverException

Specified by:

clearReceivedPDOs in interface CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

getNodeId

public int getNodeId()

Specified by:

getNodeId in interface CanOpenInterface

info

public String info(int nodeID)
            throws org.lsst.ccs.drivers.commons.DriverException

Description copied from interface: CanOpenInterface

Returns the information for the given nodeID.

Specified by:

info in interface CanOpenInterface

Parameters:

nodeID - the node id

Returns:

Throws:

org.lsst.ccs.drivers.commons.DriverException

init

public void init(int master,
                 String baud,
                 String busName,
                 int nodeID)
          throws org.lsst.ccs.drivers.commons.DriverException

Description copied from interface: CanOpenInterface

Initialization of the master node. This command has to be issued first for the subsequent one to be successful.

Specified by:

init in interface CanOpenInterface

Parameters:

master - 1 for master, 0 for slave.

baud - "125K","1M",...

busName - the bus name (0 for can0, 1 for can1)

nodeID - the nodeID

Throws:

org.lsst.ccs.drivers.commons.DriverException

init

public void init()
          throws org.lsst.ccs.drivers.commons.DriverException

Specified by:

init in interface CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

isReady

public boolean isReady()
                throws org.lsst.ccs.drivers.commons.DriverException

Specified by:

isReady in interface CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

quit

public void quit()
          throws org.lsst.ccs.drivers.commons.DriverException

Description copied from interface: CanOpenInterface

Shuts down the master node.

Specified by:

quit in interface CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

reset

public void reset(int nodeId)
           throws org.lsst.ccs.drivers.commons.DriverException

Specified by:

reset in interface CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

scan

public int scan()
         throws org.lsst.ccs.drivers.commons.DriverException

Description copied from interface: CanOpenInterface

Sends a scan on the can bus.

Specified by:

scan in interface CanOpenInterface

Returns:

Throws:

org.lsst.ccs.drivers.commons.DriverException

setBootMessageListener

public void setBootMessageListener(BootMessageListener bml)
                            throws org.lsst.ccs.drivers.commons.DriverException

Specified by:

setBootMessageListener in interface CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

setEmergencyMessageListener

public void setEmergencyMessageListener(EmergencyMessageListener eml)
                                 throws org.lsst.ccs.drivers.commons.DriverException

Specified by:

setEmergencyMessageListener in interface CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

setNMTStateOperational

public void setNMTStateOperational(int nodeId)
                            throws org.lsst.ccs.drivers.commons.DriverException

Specified by:

setNMTStateOperational in interface CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

setPdoTimeout

public void setPdoTimeout(long to)
                   throws org.lsst.ccs.drivers.commons.DriverException

Specified by:

setPdoTimeout in interface CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

setSdoTimeout

public void setSdoTimeout(long to)
                   throws org.lsst.ccs.drivers.commons.DriverException

Specified by:

setSdoTimeout in interface CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

ssta

public void ssta(int nodeId)
          throws org.lsst.ccs.drivers.commons.DriverException

Description copied from interface: CanOpenInterface

Slave start

Specified by:

ssta in interface CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

ssto

public void ssto(int nodeId)
          throws org.lsst.ccs.drivers.commons.DriverException

Description copied from interface: CanOpenInterface

Slave stop

Specified by:

ssto in interface CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

start

public void start()
           throws org.lsst.ccs.drivers.commons.DriverException

Specified by:

start in interface CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

stop

public void stop()
          throws org.lsst.ccs.drivers.commons.DriverException

Specified by:

stop in interface CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

sync

public PDOData sync()
             throws org.lsst.ccs.drivers.commons.DriverException

Description copied from interface: CanOpenInterface

Sends a sync message on the canbus and synchronously waits for the received pdo configured in the master to be received. For it to work, all received pdos configured on the master node must have a transmission type equal to Ox1, otherwise the behaviour is undefined.

Specified by:

sync in interface CanOpenInterface

Returns:

The PDOs

Throws:

org.lsst.ccs.drivers.commons.DriverException - in case of a failure accessing the hardware, or if the hardware returns an error

org.lsst.ccs.drivers.commons.DriverTimeoutException - if the hardware doesn't respond within the specified timeout

ConcurrentCallException - if a sync command is running and hasn't completed yet

rsdo

public long rsdo(int nodeId,
                 int index,
                 int subindex)
          throws org.lsst.ccs.drivers.commons.DriverException,
                 org.lsst.ccs.drivers.commons.DriverTimeoutException,
                 ConcurrentCallException

Description copied from interface: CanOpenInterface

Send a read sdo command.

Specified by:

rsdo in interface CanOpenInterface

Returns:

Throws:

org.lsst.ccs.drivers.commons.DriverException - in case of a failure accessing the hardware, or if the hardware returns an error

org.lsst.ccs.drivers.commons.DriverTimeoutException - if the hardware doesn't respond within the specified timeout

ConcurrentCallException - if a write sdo / read sdo command was sent on the same node and hasn't completed yet

wsdo

public void wsdo(int nodeId,
                 int index,
                 int subindex,
                 int size,
                 long data)
          throws org.lsst.ccs.drivers.commons.DriverException,
                 org.lsst.ccs.drivers.commons.DriverTimeoutException,
                 ConcurrentCallException

Description copied from interface: CanOpenInterface

Send a write sdo command.

Specified by:

wsdo in interface CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException - in case of a failure accessing the hardware, or if the hardware returns an error

org.lsst.ccs.drivers.commons.DriverTimeoutException - if the hardware doesn't respond within the specified timeout

ConcurrentCallException - if a write sdo / read sdo command was sent on the same node and hasn't completed yet