org.lsst.ccs.drivers.parker
Class AcrComm

java.lang.Object
  org.lsst.ccs.drivers.parker.AcrComm

public final class AcrComm
extends Object

Routines for communicating with a Parker (ACR) motor controller

Author:

Owen Saxton

Nested Class Summary

class

AcrComm.Exception Inner exception class for laundering non-runtime exceptions

Field Summary

static int	ACO_ECHO_COMMAND
static int	ACO_GET_RESPONSE
static int	ACO_SHOW_PROMPT
static int	ACR_SYS_PTR
static int	ACT_CONV_FP32
static int	ACT_CONV_FP64
static int	ACT_CONV_INT
static int	ACTL_TORQ_PRM
static int	ACV_$A
static int	ACV_$V
static int	ACV_DA
static int	ACV_DV
static int	ACV_LA
static int	ACV_LV
static int	ACV_SA
static int	ACV_SV
static int	BUS_VOLT_PRM
static int	CAL_SYNC_BIT
static int	CAP_CMPL_BIT
static int	CAP_POSN_PRM
static int	CMDD_CURR_PRM
static int	CMDD_TORQ_PRM
static int	DGAIN_PRM
static int	DRIVE_TEMP_PRM
static int	ENAB_NEOT_BIT
static int	ENAB_NSLM_BIT
static int	ENAB_PEOT_BIT
static int	ENAB_PSLM_BIT
static int	ENC_POSN_PRM
static int	HOME_BKUP_BIT
static int	HOME_FAIL_BIT
static int	HOME_FND_BIT
static int	HOME_NEDG_BIT
static int	HOME_NFNL_BIT
static int	ICM_FALL_1ST
static int	ICM_FALL_2ND
static int	ICM_FALL_3RD
static int	ICM_FALL_4TH
static int	ICM_RISE_1ST
static int	ICM_RISE_2ND
static int	ICM_RISE_3RD
static int	ICM_RISE_4TH
static int	IGAIN_PRM
static int	INP_LINE_PRM
static int	INPUT4_BIT
static int	INVT_HOME_BIT
static int	INVT_NEOT_BIT
static int	INVT_PEOT_BIT
static int	JOG_ACC_PRM
static int	JOG_ACTV_BIT
static int	JOG_DEC_PRM
static int	JOG_JRK_PRM
static int	JOG_VEL_PRM
static int	KILL_MOTN_BIT
static int	KILL_MOVE_BIT
static int	LINE_NUM_BIT
static int	MOVE_SYNC_BIT
static int	NEG_EOT_BIT
static int	NEG_SLM_BIT
static int	NEG_TLM_PRM
static int	OUTPUT33_BIT
static int	PGAIN_PRM
static int	POS_EOT_BIT
static int	POS_SLM_BIT
static int	POS_TLM_PRM
static int	POSN_ERR_BIT
static int	PPU_PRM
static int	PRIM_AXIS_PRM
static int	SAMP_ACTV_BIT
static int	SAMP_ARM_BIT
static int	SAMP_MODE_BIT
static int	SAMP_PERD_PRM
static int	SYS_CLOCK_PRM
static int	TEMP_FLT_PRM
static int	TEMP_INT_PRM

Constructor Summary

AcrComm(String node)

AcrComm(String node, boolean logging)

AcrComm(String node, boolean logging, org.lsst.ccs.utilities.sa.Output iOut)
Main constructor

AcrComm(String node, org.lsst.ccs.utilities.sa.Output iOut)

Method Summary

void	clearBit(int bnum) Clear a bit in the controller
void	drain() Drain the input from the controller sockets
int	getBit(int bnum) Get a bit from the controller
float	getFloatParm(int pnum) Get a float parameter from the controller
int	getFloatParmAsInt(int pnum) Get a float parameter from the controller as integer
int	getIntParm(int pnum) Get an integer parameter from the controller
int	getParmAddr(int pnum) Get a parameter address from the controller
int	getParmAsInt(int pnum) Get a parameter (int or float) from the controller as int
String	getPrompt() Get the stored prompt
int	getStream() Get the stored connection stream number
int	getUserParms(int pnum, double[] value, int count) Get user parameters (doubles) from the controller
int	getVarAddr(int pnum, int vcode) Get a program variable base address from the controller
int	getVarCount(int pnum, int type, int array) Get a program variable count from the controller
int	getVars(int pnum, int index, int count, double[] value) Get double program variable values from the controller
int	getVars(int pnum, int index, int count, float[] value) Get float (single) program variable values from the controller
int	getVars(int pnum, int index, int count, int[] value) Get integer (long) program variable values from the controller
int	getVars(int pnum, int array, int index, int count, double[] value) Get double program array variable values from the controller
int	getVars(int pnum, int array, int index, int count, float[] value) Get float (single) program array variable values from the controller
int	getVars(int pnum, int array, int index, int count, int[] value) Get integer (long) program array variable values from the controller
int	getVars(int pnum, int array, int index, int count, String[] value) Get string program array variable values from the controller
int	getVars(int pnum, int index, int count, String[] value) Get string program variable values from the controller
void	logClose() Stop logging commands
void	logOpen(String name) Start logging commands
void	peek(int addr, int type, int[] value, int count) Get values from controller memory
int	peekVars(int pnum, int type, int index, int count, int[] value) Get numeric program variable values from the controller as integers
int	peekVars(int pnum, int type, int array, int index, int count, int[] value) Get numeric program array variable values from the controller as integers
void	poke(int addr, int type, int[] value, int count) Set values into controller memory
int	rcveAsc(int optn) Receive and process ASCII data from the controller
int	rcveBin(byte[] buff, int leng) Receive binary data from the controller
void	sendBin(byte[] cmnd) Send binary command to the controller
void	sendFile(String fName, int optns) Read a file and send it to the controller
int	sendStr(String cmnd, int optn) Send a string to the controller and receive reply
void	setBit(int bnum) Set a bit in the controller
void	setFloatParm(int pnum, float value) Set a float parameter into the controller
void	setIntParm(int pnum, int value) Set an integer parameter into the controller
int	setUserParms(int pnum, double[] value, int count) Set user parameters (doubles) into the controller

Methods inherited from class java.lang.Object

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

Field Detail

ACR_SYS_PTR

public static final int ACR_SYS_PTR

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Constant Field Values

ACO_GET_RESPONSE

public static final int ACO_GET_RESPONSE

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Constant Field Values

ACO_ECHO_COMMAND

public static final int ACO_ECHO_COMMAND

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Constant Field Values

ACO_SHOW_PROMPT

public static final int ACO_SHOW_PROMPT

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ACT_CONV_INT

public static final int ACT_CONV_INT

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ACT_CONV_FP64

public static final int ACT_CONV_FP64

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ACT_CONV_FP32

public static final int ACT_CONV_FP32

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ACV_DV

public static final int ACV_DV

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ACV_DA

public static final int ACV_DA

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ACV_SV

public static final int ACV_SV

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ACV_SA

public static final int ACV_SA

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ACV_LV

public static final int ACV_LV

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ACV_LA

public static final int ACV_LA

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ACV_$V

public static final int ACV_$V

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ACV_$A

public static final int ACV_$A

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INP_LINE_PRM

public static final int INP_LINE_PRM

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Constant Field Values

PRIM_AXIS_PRM

public static final int PRIM_AXIS_PRM

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Constant Field Values

ENC_POSN_PRM

public static final int ENC_POSN_PRM

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Constant Field Values

SAMP_PERD_PRM

public static final int SAMP_PERD_PRM

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SYS_CLOCK_PRM

public static final int SYS_CLOCK_PRM

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Constant Field Values

CAP_POSN_PRM

public static final int CAP_POSN_PRM

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Constant Field Values

PGAIN_PRM

public static final int PGAIN_PRM

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IGAIN_PRM

public static final int IGAIN_PRM

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DGAIN_PRM

public static final int DGAIN_PRM

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POS_TLM_PRM

public static final int POS_TLM_PRM

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NEG_TLM_PRM

public static final int NEG_TLM_PRM

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JOG_VEL_PRM

public static final int JOG_VEL_PRM

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JOG_ACC_PRM

public static final int JOG_ACC_PRM

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JOG_DEC_PRM

public static final int JOG_DEC_PRM

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JOG_JRK_PRM

public static final int JOG_JRK_PRM

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PPU_PRM

public static final int PPU_PRM

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CMDD_CURR_PRM

public static final int CMDD_CURR_PRM

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CMDD_TORQ_PRM

public static final int CMDD_TORQ_PRM

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ACTL_TORQ_PRM

public static final int ACTL_TORQ_PRM

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DRIVE_TEMP_PRM

public static final int DRIVE_TEMP_PRM

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BUS_VOLT_PRM

public static final int BUS_VOLT_PRM

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TEMP_INT_PRM

public static final int TEMP_INT_PRM

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TEMP_FLT_PRM

public static final int TEMP_FLT_PRM

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INPUT4_BIT

public static final int INPUT4_BIT

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OUTPUT33_BIT

public static final int OUTPUT33_BIT

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SAMP_ARM_BIT

public static final int SAMP_ARM_BIT

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SAMP_ACTV_BIT

public static final int SAMP_ACTV_BIT

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SAMP_MODE_BIT

public static final int SAMP_MODE_BIT

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MOVE_SYNC_BIT

public static final int MOVE_SYNC_BIT

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Constant Field Values

CAL_SYNC_BIT

public static final int CAL_SYNC_BIT

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KILL_MOVE_BIT

public static final int KILL_MOVE_BIT

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CAP_CMPL_BIT

public static final int CAP_CMPL_BIT

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JOG_ACTV_BIT

public static final int JOG_ACTV_BIT

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LINE_NUM_BIT

public static final int LINE_NUM_BIT

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KILL_MOTN_BIT

public static final int KILL_MOTN_BIT

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POSN_ERR_BIT

public static final int POSN_ERR_BIT

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POS_EOT_BIT

public static final int POS_EOT_BIT

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NEG_EOT_BIT

public static final int NEG_EOT_BIT

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POS_SLM_BIT

public static final int POS_SLM_BIT

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NEG_SLM_BIT

public static final int NEG_SLM_BIT

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HOME_FND_BIT

public static final int HOME_FND_BIT

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HOME_FAIL_BIT

public static final int HOME_FAIL_BIT

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INVT_PEOT_BIT

public static final int INVT_PEOT_BIT

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INVT_NEOT_BIT

public static final int INVT_NEOT_BIT

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INVT_HOME_BIT

public static final int INVT_HOME_BIT

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ENAB_PEOT_BIT

public static final int ENAB_PEOT_BIT

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ENAB_NEOT_BIT

public static final int ENAB_NEOT_BIT

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ENAB_PSLM_BIT

public static final int ENAB_PSLM_BIT

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ENAB_NSLM_BIT

public static final int ENAB_NSLM_BIT

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HOME_BKUP_BIT

public static final int HOME_BKUP_BIT

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HOME_NEDG_BIT

public static final int HOME_NEDG_BIT

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HOME_NFNL_BIT

public static final int HOME_NFNL_BIT

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ICM_RISE_1ST

public static final int ICM_RISE_1ST

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ICM_FALL_1ST

public static final int ICM_FALL_1ST

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ICM_RISE_2ND

public static final int ICM_RISE_2ND

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ICM_FALL_2ND

public static final int ICM_FALL_2ND

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ICM_RISE_3RD

public static final int ICM_RISE_3RD

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ICM_FALL_3RD

public static final int ICM_FALL_3RD

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ICM_RISE_4TH

public static final int ICM_RISE_4TH

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ICM_FALL_4TH

public static final int ICM_FALL_4TH

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Constructor Detail

AcrComm

public AcrComm(String node,
               boolean logging,
               org.lsst.ccs.utilities.sa.Output iOut)

Main constructor

AcrComm

public AcrComm(String node)

AcrComm

public AcrComm(String node,
               boolean logging)

AcrComm

public AcrComm(String node,
               org.lsst.ccs.utilities.sa.Output iOut)

Method Detail

getPrompt

public String getPrompt()

Get the stored prompt

getStream

public int getStream()

Get the stored connection stream number

sendFile

public void sendFile(String fName,
                     int optns)

Read a file and send it to the controller

sendStr

public int sendStr(String cmnd,
                   int optn)

Send a string to the controller and receive reply

rcveAsc

public int rcveAsc(int optn)

Receive and process ASCII data from the controller

sendBin

public void sendBin(byte[] cmnd)

Send binary command to the controller

rcveBin

public int rcveBin(byte[] buff,
                   int leng)

Receive binary data from the controller

getParmAsInt

public int getParmAsInt(int pnum)

Get a parameter (int or float) from the controller as int

getIntParm

public int getIntParm(int pnum)

Get an integer parameter from the controller

setIntParm

public void setIntParm(int pnum,
                       int value)

Set an integer parameter into the controller

getFloatParmAsInt

public int getFloatParmAsInt(int pnum)

Get a float parameter from the controller as integer

getFloatParm

public float getFloatParm(int pnum)

Get a float parameter from the controller

setFloatParm

public void setFloatParm(int pnum,
                         float value)

Set a float parameter into the controller

getUserParms

public int getUserParms(int pnum,
                        double[] value,
                        int count)

Get user parameters (doubles) from the controller

setUserParms

public int setUserParms(int pnum,
                        double[] value,
                        int count)

Set user parameters (doubles) into the controller

getParmAddr

public int getParmAddr(int pnum)

Get a parameter address from the controller

getVarAddr

public int getVarAddr(int pnum,
                      int vcode)

Get a program variable base address from the controller

getVarCount

public int getVarCount(int pnum,
                       int type,
                       int array)

Get a program variable count from the controller

peekVars

public int peekVars(int pnum,
                    int type,
                    int index,
                    int count,
                    int[] value)

Get numeric program variable values from the controller as integers

peekVars

public int peekVars(int pnum,
                    int type,
                    int array,
                    int index,
                    int count,
                    int[] value)

Get numeric program array variable values from the controller as integers

getVars

public int getVars(int pnum,
                   int index,
                   int count,
                   int[] value)

Get integer (long) program variable values from the controller

getVars

public int getVars(int pnum,
                   int array,
                   int index,
                   int count,
                   int[] value)

Get integer (long) program array variable values from the controller

getVars

public int getVars(int pnum,
                   int index,
                   int count,
                   float[] value)

Get float (single) program variable values from the controller

getVars

public int getVars(int pnum,
                   int array,
                   int index,
                   int count,
                   float[] value)

Get float (single) program array variable values from the controller

getVars

public int getVars(int pnum,
                   int index,
                   int count,
                   double[] value)

Get double program variable values from the controller

getVars

public int getVars(int pnum,
                   int array,
                   int index,
                   int count,
                   double[] value)

Get double program array variable values from the controller

getVars

public int getVars(int pnum,
                   int index,
                   int count,
                   String[] value)

Get string program variable values from the controller

getVars

public int getVars(int pnum,
                   int array,
                   int index,
                   int count,
                   String[] value)

Get string program array variable values from the controller

getBit

public int getBit(int bnum)

Get a bit from the controller

setBit

public void setBit(int bnum)

Set a bit in the controller

clearBit

public void clearBit(int bnum)

Clear a bit in the controller

peek

public void peek(int addr,
                 int type,
                 int[] value,
                 int count)

Get values from controller memory

poke

public void poke(int addr,
                 int type,
                 int[] value,
                 int count)

Set values into controller memory

drain

public void drain()

Drain the input from the controller sockets

logOpen

public void logOpen(String name)

Start logging commands

logClose

public void logClose()

Stop logging commands