org.lsst.ccs.subsystems.fcs.simulation
Class SimulatedMotor

java.lang.Object
  java.util.Observable
      org.lsst.ccs.framework.Module
          org.lsst.ccs.subsystems.fcs.simulation.SimulatedMotor

All Implemented Interfaces:

Serializable, Observer, Motor

Direct Known Subclasses:

SimuCarouselMotor

public abstract class SimulatedMotor
extends org.lsst.ccs.framework.Module
implements Motor

Author:

virieux

See Also:

Serialized Form

Nested Class Summary

Nested classes/interfaces inherited from class org.lsst.ccs.framework.Module

org.lsst.ccs.framework.Module.ValueUpdate

Field Summary

Fields inherited from class org.lsst.ccs.framework.Module

configMethods, log, name, nObserverThreads, registry, tickMillis

Constructor Summary

SimulatedMotor()
This constructor is here only for unit tests.

Method Summary

EngineState	getEngineState()
double	getMaximalPosition()
double	getMaximalVelocity()
double	getMinimalPosition()
double	getNominalVelocity()
double	getPeriod()
double	getPosition()
double	getRequiredPosition()
String	getSerialNumber()
long	getStateChangeTime()
void	incrementPosition(double inc) To be overrided in each subclasses.
void	initModule()
void	move(double displacement)
void	move(double displacement, RunningWay theRunningWay) This method sends a command go to the simulated motor.
void	setEngineState(EngineState engineState)
void	setMaximalPosition(double p)
void	setMaximalVelocity(double maximalVelocity)
void	setMinimalPosition(double p)
void	setNominalVelocity(double nominalVelocity)
void	setPeriod(double d)
void	setPosition(double position)
void	setRequiredPosition(double requiredPosition)
void	setSerialNumber(String serialNumber)
void	setStateChangeTime(long currentTimeMillis)
void	stop()
void	tick() What has to be done for each tick of the timer.

Methods inherited from class org.lsst.ccs.framework.Module

change, checkHardware, dropConfigurationContext, getCheckedValueFromConfiguration, getContext, getModule, getName, getNObserverThreads, getObservables, getSubsystem, getTickMillis, init, listens, newConfigurationContext, notifyChange, notifyChangeWithoutPreliminaryChecks, processUpdate, publishData, publishData, publishData, publishData, register, register, sendToReply, sendToStatus, setBeanName, setContext, setName, setNObserverThreads, setObservables, setStateModularSubsystem, setStateModularSubsystem, setTickMillis, shutdownCommand, shutdownNow, start, startTicking, update

Methods inherited from class java.util.Observable

addObserver, clearChanged, countObservers, deleteObserver, deleteObservers, hasChanged, notifyObservers, notifyObservers, setChanged

Methods inherited from class java.lang.Object

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

Methods inherited from interface org.lsst.ccs.subsystems.fcs.common.Motor

getName

Constructor Detail

SimulatedMotor

public SimulatedMotor()

This constructor is here only for unit tests. The actual values come from the xml config file for FCS or it is initialized by the Module which uses this motor.

Method Detail

getEngineState

public EngineState getEngineState()

Specified by:

getEngineState in interface Motor

getMaximalVelocity

public double getMaximalVelocity()

Specified by:

getMaximalVelocity in interface Motor

getNominalVelocity

public double getNominalVelocity()

Specified by:

getNominalVelocity in interface Motor

getPeriod

public double getPeriod()

Specified by:

getPeriod in interface Motor

getPosition

public double getPosition()

Specified by:

getPosition in interface Motor

getRequiredPosition

public double getRequiredPosition()

Specified by:

getRequiredPosition in interface Motor

getSerialNumber

public String getSerialNumber()

Specified by:

getSerialNumber in interface Motor

getStateChangeTime

public long getStateChangeTime()

Specified by:

getStateChangeTime in interface Motor

setEngineState

public void setEngineState(EngineState engineState)

Specified by:

setEngineState in interface Motor

setMaximalVelocity

public void setMaximalVelocity(double maximalVelocity)

Specified by:

setMaximalVelocity in interface Motor

setNominalVelocity

public void setNominalVelocity(double nominalVelocity)

Specified by:

setNominalVelocity in interface Motor

setPeriod

public void setPeriod(double d)

Specified by:

setPeriod in interface Motor

setPosition

public void setPosition(double position)

Parameters:

position - the position to set

setRequiredPosition

public void setRequiredPosition(double requiredPosition)

Specified by:

setRequiredPosition in interface Motor

setSerialNumber

public void setSerialNumber(String serialNumber)

Specified by:

setSerialNumber in interface Motor

setStateChangeTime

public void setStateChangeTime(long currentTimeMillis)

Specified by:

setStateChangeTime in interface Motor

getMaximalPosition

public double getMaximalPosition()

Specified by:

getMaximalPosition in interface Motor

getMinimalPosition

public double getMinimalPosition()

Specified by:

getMinimalPosition in interface Motor

setMaximalPosition

public void setMaximalPosition(double p)

Specified by:

setMaximalPosition in interface Motor

setMinimalPosition

public void setMinimalPosition(double p)

Specified by:

setMinimalPosition in interface Motor

stop

public void stop()

Specified by:

stop in interface Motor

initModule

public void initModule()

Overrides:

initModule in class org.lsst.ccs.framework.Module

move

public void move(double displacement)

Specified by:

move in interface Motor

move

public void move(double displacement,
                 RunningWay theRunningWay)

This method sends a command go to the simulated motor. It computes the needed period for the displacement. Displacement has to be positive.

Specified by:

move in interface Motor

tick

public void tick()

What has to be done for each tick of the timer. We have to compute the time since the last tick and incremente the position.

Overrides:

tick in class org.lsst.ccs.framework.Module

incrementPosition

public void incrementPosition(double inc)

To be overrided in each subclasses. Increments the position of the mobil mechanical item which is moved by this simulated motor.

Specified by:

incrementPosition in interface Motor

Parameters:

inc -