org.lsst.ccs.drivers.canopenjni

Class CanopenSlave

java.lang.Object

org.lsst.ccs.drivers.canopenjni.CanopenSlave

Direct Known Subclasses:

TestDirectJNI.DummySlave

public abstract class CanopenSlave
extends Object

Base abstract class for a CANopen slave device.

Author:

emarin

Field Summary

Fields

Modifier and Type	Field and Description
protected CanopenMaster	master
protected int	nodeId

Constructor Summary

Constructors

Constructor and Description
CanopenSlave(CanopenMaster master, int nodeId)

Method Summary

Modifier and Type	Method and Description
abstract int[]	getCobIds()
int	getNodeId()
abstract void	onBootup() Asynchronous reception of boot-up messages.
abstract void	onEmergencyMessage(int errCode, int errReg) Asynchronous reception of CANopen emergency messages.
protected abstract void	updateWithPDO(int cob_id, long pdoVal) Updates this node's inputs with the received pdos.

Methods inherited from class java.lang.Object

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

Field Detail

master

protected final CanopenMaster master

nodeId

protected final int nodeId

Constructor Detail

CanopenSlave

public CanopenSlave(CanopenMaster master,
                    int nodeId)

Method Detail

getNodeId

@Command
public int getNodeId()

onBootup

public abstract void onBootup()

Asynchronous reception of boot-up messages.

onEmergencyMessage

public abstract void onEmergencyMessage(int errCode,
                                        int errReg)

Asynchronous reception of CANopen emergency messages.

Parameters:

errCode - error code

errReg - error register

updateWithPDO

protected abstract void updateWithPDO(int cob_id,
                                      long pdoVal)

Updates this node's inputs with the received pdos.

Parameters:

cob_id - of the received pdo

pdoVal - content of the received pdo

getCobIds

public abstract int[] getCobIds()