org.lsst.ccs.drivers.canopenjni

Class CanFestivalJNI

java.lang.Object

org.lsst.ccs.drivers.canopenjni.CanFestivalJNI

All Implemented Interfaces:

CanOpenInterface

public class CanFestivalJNI
extends Object
implements CanOpenInterface

Author:

emarin

Constructor Summary

Constructors

Constructor and Description
CanFestivalJNI()

Method Summary

Modifier and Type	Method and Description
void	addReceivedPDO(int cobId) Enables reception of the PDO identified by cob_id at the specified index.
void	clearCallBack(int nodeId, int rw) to be used in case of sdoTimeout.
void	clearReceivedPDOs() Reset all RxPDOs previously added.
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) Slave reset
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 aPDOTimeout) set a timeout in milliseconds for PDO : after a sync, canfestival returns DATA after this timeout.
void	setSdoTimeout(long sdoTimeout)
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

Constructor Detail

CanFestivalJNI

public CanFestivalJNI()

Method Detail

addReceivedPDO

public void addReceivedPDO(int cobId)

Enables reception of the PDO identified by cob_id at the specified index.

Specified by:

addReceivedPDO in interface CanOpenInterface

Parameters:

cobId -

clearReceivedPDOs

public void clearReceivedPDOs()

Reset all RxPDOs previously added.

Specified by:

clearReceivedPDOs in interface CanOpenInterface

init

@Command
public void init(int master,
                          String baud,
                          String busName,
                          int nodeID)

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

baud - "125K" or 1M

busName - 0 or 1

nodeID - the master nodeId : 8

setEmergencyMessageListener

public void setEmergencyMessageListener(EmergencyMessageListener eml)

Specified by:

setEmergencyMessageListener in interface CanOpenInterface

setBootMessageListener

public void setBootMessageListener(BootMessageListener bml)

Specified by:

setBootMessageListener in interface CanOpenInterface

sync

@Command
public PDOData sync()
                      throws org.lsst.ccs.drivers.commons.DriverException,
                             org.lsst.ccs.drivers.commons.DriverTimeoutException,
                             ConcurrentCallException

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

scan

@Command
public int scan()

Description copied from interface: CanOpenInterface

Sends a scan on the can bus.

Specified by:

scan in interface CanOpenInterface

Returns:

info

@Command
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

wsdo

@Command
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

rsdo

@Command
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

ssta

public void ssta(int nodeId)

Slave start

Specified by:

ssta in interface CanOpenInterface

Parameters:

nodeId -

ssto

public void ssto(int nodeId)

Slave stop

Specified by:

ssto in interface CanOpenInterface

Parameters:

nodeId -

reset

public void reset(int nodeId)

Slave reset

Specified by:

reset in interface CanOpenInterface

Parameters:

nodeId -

quit

public void quit()

Description copied from interface: CanOpenInterface

Shuts down the master node.

Specified by:

quit in interface CanOpenInterface

init

public void init()

Specified by:

init in interface CanOpenInterface

start

public void start()

Specified by:

start in interface CanOpenInterface

stop

public void stop()

Specified by:

stop in interface CanOpenInterface

isReady

public boolean isReady()

Specified by:

isReady in interface CanOpenInterface

setSdoTimeout

public void setSdoTimeout(long sdoTimeout)

Specified by:

setSdoTimeout in interface CanOpenInterface

setPdoTimeout

public void setPdoTimeout(long aPDOTimeout)

set a timeout in milliseconds for PDO : after a sync, canfestival returns DATA after this timeout.

Specified by:

setPdoTimeout in interface CanOpenInterface

Parameters:

aPDOTimeout - in milliseconds

clearCallBack

@Command
public void clearCallBack(int nodeId,
                                   int rw)

to be used in case of sdoTimeout. Native call is not reentrant. * Clears the callback for the specified nodeId.

Parameters:

nodeId - the node id to reset the callbacks for. 0 to reset the pdo callback.

rw -

setNMTStateOperational

@Command
public void setNMTStateOperational(int nodeId)

Specified by:

setNMTStateOperational in interface CanOpenInterface