org.lsst.ccs.drivers.canopenjni

Interface CanOpenInterface

All Known Implementing Classes:

CanFestivalJNI, CanOpenCommands, CanOpenRMIClient

public interface CanOpenInterface

An interface defining interaction with the CANOpen layer

Author:

emarin

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	clearReceivedPDOs()
String	info(int nodeID) Returns the information for the given nodeID.
void	init() Deprecated. no-op
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() Deprecated. no-op
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.

Method Detail

init

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

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

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

addReceivedPDO

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

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

Parameters:

cobId -

Throws:

org.lsst.ccs.drivers.commons.DriverException

clearReceivedPDOs

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

Throws:

org.lsst.ccs.drivers.commons.DriverException

sync

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

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.

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

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

Sends a scan on the can bus.

Returns:

Throws:

org.lsst.ccs.drivers.commons.DriverException

info

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

Returns the information for the given nodeID.

Parameters:

nodeID - the node id

Returns:

Throws:

org.lsst.ccs.drivers.commons.DriverException

wsdo

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

Send a write sdo command.

Parameters:

nodeId -

index -

subindex -

size -

data -

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

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

Send a read sdo command.

Parameters:

nodeId -

index -

subindex -

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

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

Slave start

Parameters:

nodeId -

Throws:

org.lsst.ccs.drivers.commons.DriverException

ssto

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

Slave stop

Parameters:

nodeId -

Throws:

org.lsst.ccs.drivers.commons.DriverException

reset

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

Throws:

org.lsst.ccs.drivers.commons.DriverException

quit

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

Shuts down the master node.

Throws:

org.lsst.ccs.drivers.commons.DriverException

init

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

Deprecated. no-op

Throws:

org.lsst.ccs.drivers.commons.DriverException

start

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

Deprecated. no-op

Throws:

org.lsst.ccs.drivers.commons.DriverException

stop

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

Throws:

org.lsst.ccs.drivers.commons.DriverException

isReady

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

Throws:

org.lsst.ccs.drivers.commons.DriverException

setEmergencyMessageListener

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

Throws:

org.lsst.ccs.drivers.commons.DriverException

setBootMessageListener

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

Throws:

org.lsst.ccs.drivers.commons.DriverException

setSdoTimeout

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

Throws:

org.lsst.ccs.drivers.commons.DriverException

setPdoTimeout

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

Throws:

org.lsst.ccs.drivers.commons.DriverException

setNMTStateOperational

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

Throws:

org.lsst.ccs.drivers.commons.DriverException