org.lsst.ccs.drivers.canopenjni.rmi

Class CanOpenRMIServer

java.lang.Object

org.lsst.ccs.drivers.canopenjni.rmi.CanOpenRMIServer

All Implemented Interfaces:

Remote, CanOpenRemoteInterface

public class CanOpenRMIServer
extends Object
implements CanOpenRemoteInterface

The object passed as stub.

Author:

emarin

Constructor Summary

Constructors

Constructor and Description
CanOpenRMIServer(CanOpenInterface coi)

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()
void	init(int master, String baud, String busName, int nodeID) Initialization of the master node.
boolean	isReady()
static void	main(String[] args)
void	quit()
void	reset(int nodeId)
long	rsdo(int nodeId, int index, int subindex) Read device entry
int	scan() Sends a scan on the can bus.
void	setBootMessageListener(BootMessageRemoteListener bml)
void	setEmergencyMessageListener(EmergencyMessageRemoteListener eml)
void	setNMTStateOperational(int nodeId)
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)

Methods inherited from class java.lang.Object

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

Constructor Detail

CanOpenRMIServer

public CanOpenRMIServer(CanOpenInterface coi)

Method Detail

init

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

Description copied from interface: CanOpenRemoteInterface

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

Specified by:

init in interface CanOpenRemoteInterface

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

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

Description copied from interface: CanOpenRemoteInterface

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

Specified by:

addReceivedPDO in interface CanOpenRemoteInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

sync

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

Description copied from interface: CanOpenRemoteInterface

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 behavior is undefined.

Specified by:

sync in interface CanOpenRemoteInterface

Returns:

the PDOs.

Throws:

org.lsst.ccs.drivers.commons.DriverException

scan

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

Description copied from interface: CanOpenRemoteInterface

Sends a scan on the can bus.

Specified by:

scan in interface CanOpenRemoteInterface

Returns:

Throws:

org.lsst.ccs.drivers.commons.DriverException

info

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

Description copied from interface: CanOpenRemoteInterface

Returns the information for the given nodeID.

Specified by:

info in interface CanOpenRemoteInterface

Parameters:

nodeID - the node id

Returns:

Throws:

org.lsst.ccs.drivers.commons.DriverException

wsdo

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

Specified by:

wsdo in interface CanOpenRemoteInterface

Parameters:

nodeId - the node id

index - the index

subindex - the sub index

size - the size

data - the data

Throws:

org.lsst.ccs.drivers.commons.DriverException

rsdo

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

Description copied from interface: CanOpenRemoteInterface

Read device entry

Specified by:

rsdo in interface CanOpenRemoteInterface

Parameters:

nodeId - the node id

index - the index

subindex - the subindex

Returns:

an unsigned long. Cast to int to treat it as signed, leave to long to treat it as unsigned

Throws:

org.lsst.ccs.drivers.commons.DriverException

ssta

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

Description copied from interface: CanOpenRemoteInterface

Slave start

Specified by:

ssta in interface CanOpenRemoteInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

ssto

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

Description copied from interface: CanOpenRemoteInterface

Slave stop

Specified by:

ssto in interface CanOpenRemoteInterface

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 CanOpenRemoteInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

quit

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

Specified by:

quit in interface CanOpenRemoteInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

init

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

Specified by:

init in interface CanOpenRemoteInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

start

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

Specified by:

start in interface CanOpenRemoteInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

stop

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

Specified by:

stop in interface CanOpenRemoteInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

isReady

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

Specified by:

isReady in interface CanOpenRemoteInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

setEmergencyMessageListener

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

Specified by:

setEmergencyMessageListener in interface CanOpenRemoteInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

setBootMessageListener

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

Specified by:

setBootMessageListener in interface CanOpenRemoteInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

main

public static void main(String[] args)
                 throws Exception

Throws:

Exception

clearReceivedPDOs

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

Specified by:

clearReceivedPDOs in interface CanOpenRemoteInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

RemoteException

setSdoTimeout

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

Specified by:

setSdoTimeout in interface CanOpenRemoteInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

RemoteException

setNMTStateOperational

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

Specified by:

setNMTStateOperational in interface CanOpenRemoteInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException