org.lsst.ccs.subsystems.fcs.drivers

Class BridgeToCanOpenHardware

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

org.lsst.ccs.subsystems.fcs.drivers.BridgeToCanOpenHardware

All Implemented Interfaces:

Observer, org.lsst.ccs.framework.Configurable, org.lsst.ccs.framework.SignalHandler, BridgeToHardware

Direct Known Subclasses:

BridgeForAPCTestBench, BridgeForCPPMTestBench, BridgeForLPSCTestBench, BridgeToChanger, BridgeToLoader, BridgeToSFTHardware

public abstract class BridgeToCanOpenHardware
extends org.lsst.ccs.framework.Module
implements BridgeToHardware

This class gathers the description of the real hardware and the tools (methods) to give access to this hardware. The concrete classes which extends this abstract class will have to add the fields for the pieces of hardware and to give the list of hardware in the method listHardware.

Author:

virieux

Nested Class Summary

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

org.lsst.ccs.framework.Module.ValueUpdate

Nested classes/interfaces inherited from interface org.lsst.ccs.framework.Configurable

org.lsst.ccs.framework.Configurable.Environment

Field Summary

Fields

Modifier and Type	Field and Description
protected boolean	configurationChecked
protected boolean	hardwareInitialized
protected Map<String,PieceOfHardware>	hardwareMap
protected CanOpenProxy	tcpProxy

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

environment, log, name, nObserverThreads, registry, tickMillis

Constructor Summary

Constructors

Constructor and Description
BridgeToCanOpenHardware(String aName, int aTickMillis, CanOpenProxy tcpProxy)

Method Summary

Methods

Modifier and Type	Method and Description
void	checkMatos()
CanOpenProxy	getTcpProxy()
void	initModule()
boolean	isCWrapperConnected() This method returns true if the C-Wrapper is connected to the tcp proxy.
boolean	isHardwareReady() returns true if the hardware is booted, identified and initialized.
boolean	isRealHardware()
abstract PieceOfHardware[]	listHardware() This method returns the list of hardware that this bridge will manage.
void	printChildren()
CanOpenProxy.PDOStorage	readPDOs()
Object	sendCanOpen(String command) For engineering mode, this method can be used to send Can Open commands to the Wrapper.
void	startServer()
void	startThreadReader()
String	toString()

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

alias, change, checkHardware, dropConfigurationContext, getCheckedValueFromConfiguration, getChildren, getComponentByName, getComponentDictionariesTree, getComponentTree, getContext, getDictionary, getEnvironment, getMainDictionary, getModule, getName, getNObserverThreads, getObservables, getParent, getSubsystem, getTickMillis, init, listens, newConfigurationContext, notifyChange, notifyChangeWithoutPreliminaryChecks, percolateSignal, processUpdate, publish, publish, publish, publish, publish, publish, publishData, publishData, publishData, publishData, publishData, publishData, publishData, register, sendSignal, sendSignal, sendToReply, sendToStatus, setBeanName, setContext, setEnvironment, setName, setNObserverThreads, setObservables, setStateModularSubsystem, setStateModularSubsystem, setTickMillis, shutdownCommand, shutdownNow, signal, start, startTicking, tick, 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, wait, wait, wait

Field Detail

tcpProxy

protected CanOpenProxy tcpProxy

configurationChecked

protected boolean configurationChecked

hardwareInitialized

protected boolean hardwareInitialized

hardwareMap

protected Map<String,PieceOfHardware> hardwareMap

Constructor Detail

BridgeToCanOpenHardware

public BridgeToCanOpenHardware(String aName,
                       int aTickMillis,
                       CanOpenProxy tcpProxy)

Method Detail

listHardware

public abstract PieceOfHardware[] listHardware()

This method returns the list of hardware that this bridge will manage.

Returns:

a list of PieceOfHardware exemple : public PieceOfHardware listHardware() { PieceOfHardware[] hardwareList = {clampActuatorXminus, clampActuatorXplus, ai814, ao412, dio8n1, dio8n2}; return hardwareList; }

printChildren

@Command(type=QUERY,
         level=1,
         description="print my children; for tests")
public void printChildren()

getTcpProxy

public CanOpenProxy getTcpProxy()

Specified by:

getTcpProxy in interface BridgeToHardware

startServer

public void startServer()

Specified by:

startServer in interface BridgeToHardware

startThreadReader

public void startThreadReader()

Specified by:

startThreadReader in interface BridgeToHardware

isCWrapperConnected

public boolean isCWrapperConnected()

This method returns true if the C-Wrapper is connected to the tcp proxy. The C-Wrapper has to send the tcpProxy clientName as a keyword before any communication can begin. So if the C-Wrapper doesn't send the good keyword or if it doesn't connect to the tcp proxy, this method returns false.

Specified by:

isCWrapperConnected in interface BridgeToHardware

Returns:

isHardwareReady

public boolean isHardwareReady()

returns true if the hardware is booted, identified and initialized.

Specified by:

isHardwareReady in interface BridgeToHardware

Returns:

isRealHardware

public boolean isRealHardware()

Specified by:

isRealHardware in interface BridgeToHardware

Returns:

true if this bridge is connected with real hardware, false if the hardware is simulated.

initModule

public void initModule()

Overrides:

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

checkMatos

public void checkMatos()
                throws HardwareNotDetectedException,
                       HardwareConfigurationException

Throws:

HardwareNotDetectedException

HardwareConfigurationException

sendCanOpen

public Object sendCanOpen(String command)
                   throws InterruptedException,
                          TimeoutException,
                          org.lsst.ccs.bus.BadCommandException

For engineering mode, this method can be used to send Can Open commands to the Wrapper.

Parameters:

command - A Can Open command that the Wrapper should understand.

Returns:

the response from the Wrapper

Throws:

InterruptedException

TimeoutException

org.lsst.ccs.bus.BadCommandException

readPDOs

public CanOpenProxy.PDOStorage readPDOs()
                                 throws HardwareException,
                                        org.lsst.ccs.bus.BadCommandException

Specified by:

readPDOs in interface BridgeToHardware

Throws:

HardwareException

org.lsst.ccs.bus.BadCommandException

toString

public String toString()

Overrides:

toString in class Object