org.lsst.ccs.drivers.canopenjni.rmi

Interface CanOpenRemoteInterface

All Superinterfaces:

Remote

All Known Implementing Classes:

CanOpenRMIServer

public interface CanOpenRemoteInterface
extends Remote

Has to be in sync with CanOpenInterface. TO-DO : is there a better way ?

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()
void	init(int master, String baud, String busName, int nodeID) Initialization of the master node.
boolean	isReady()
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)

Method Detail

init

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

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:

RemoteException

org.lsst.ccs.drivers.commons.DriverException

addReceivedPDO

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

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

Parameters:

cobId -

Throws:

RemoteException

org.lsst.ccs.drivers.commons.DriverException

clearReceivedPDOs

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

Throws:

org.lsst.ccs.drivers.commons.DriverException

RemoteException

sync

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

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.

Returns:

the PDOs.

Throws:

org.lsst.ccs.drivers.commons.DriverException

RemoteException

scan

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

Sends a scan on the can bus.

Returns:

Throws:

RemoteException

org.lsst.ccs.drivers.commons.DriverException

info

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

Returns the information for the given nodeID.

Parameters:

nodeID - the node id

Returns:

Throws:

org.lsst.ccs.drivers.commons.DriverException

RemoteException

wsdo

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

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

RemoteException

rsdo

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

Read device entry

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

RemoteException

ssta

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

Slave start

Parameters:

nodeId -

Throws:

org.lsst.ccs.drivers.commons.DriverException

RemoteException

ssto

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

Slave stop

Parameters:

nodeId -

Throws:

org.lsst.ccs.drivers.commons.DriverException

RemoteException

reset

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

Throws:

org.lsst.ccs.drivers.commons.DriverException

RemoteException

quit

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

Throws:

org.lsst.ccs.drivers.commons.DriverException

RemoteException

init

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

Throws:

org.lsst.ccs.drivers.commons.DriverException

RemoteException

start

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

Throws:

org.lsst.ccs.drivers.commons.DriverException

RemoteException

stop

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

Throws:

org.lsst.ccs.drivers.commons.DriverException

RemoteException

isReady

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

Throws:

org.lsst.ccs.drivers.commons.DriverException

RemoteException

setEmergencyMessageListener

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

Throws:

org.lsst.ccs.drivers.commons.DriverException

RemoteException

setBootMessageListener

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

Throws:

org.lsst.ccs.drivers.commons.DriverException

RemoteException

setSdoTimeout

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

Throws:

org.lsst.ccs.drivers.commons.DriverException

RemoteException

setNMTStateOperational

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

Throws:

org.lsst.ccs.drivers.commons.DriverException