org.lsst.ccs.subsystems.fcs.drivers

Class LoaderCanOpenProxy

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

org.lsst.ccs.subsystems.fcs.drivers.CanOpenProxy

org.lsst.ccs.subsystems.fcs.drivers.LoaderCanOpenProxy

All Implemented Interfaces:

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

public class LoaderCanOpenProxy
extends CanOpenProxy

The tcp server for the loader when we want to connect or disconnect loader hardware. So this tcp proxy won't start during initialisation phase.

Author:

virieux

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
protected static class	FcsTcpProxy.ClientContext

Nested classes/interfaces inherited from class org.lsst.ccs.subsystems.fcs.drivers.CanOpenProxy

CanOpenProxy.PDOStorage

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 FcsTcpProxy.ClientContext	clientContext
protected boolean	stopping
protected boolean	tcpServerStarted

Fields inherited from class org.lsst.ccs.subsystems.fcs.drivers.CanOpenProxy

bootedNodesMap, hardwareList

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

environment, log, name, nObserverThreads, registry, tickMillis

Constructor Summary

Constructors

Constructor and Description
LoaderCanOpenProxy(String aName, int aTickMillis, int portNumber, String aClientName, int expectedNodesNB, long hardwareBootTimeout)

Method Summary

Methods

Modifier and Type	Method and Description
Object	call(String clientName, String command) This methods send a command to the tcp client.
void	connectHardware()
void	disconnectHardware() This methods stops the CWrapper client, and the TCP server.
boolean	isReady(String clientName)
boolean	isTcpServerStarted()
void	start() We don't want the tcp server to be started during INITIALISATION phase.
void	startServer() Starts the server tcp on the port portNumber.
void	startThreadReader() Starts a thread which read on the tcp socket, waiting for messages coming from tcp proxy.
void	stopServer() Stops the tcp server.

Methods inherited from class org.lsst.ccs.subsystems.fcs.drivers.CanOpenProxy

checkCanOpenNodeConfiguration, checkCanOpenNodes, configAsHeartbeatConsumer, configAsHeartbeatProducer, configAsHeartbeatProducer, getBootedNodesMap, getBootedNodesNB, getDetectedNodeForSerialNumber, getExpectedNodesNB, getHardwareBootTimeout, getMyClientName, getNodes, getPdoStorage, identifieHardware, initializeHardware, initModule, isBooted, isBooted, isHardwareIdentified, isHardwareInitialized, isHardwareReady, isNodeIdBootedAndOK, listHardware, listNodes, readPDOs, readSDO, readSDO, sendCanOpen, setExpectedNodesNB, setHardwareBootTimeout, setHardwareBootTimeout, tick, toString, writeSDO, writeSDO

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, 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, wait, wait, wait

Field Detail

stopping

protected volatile boolean stopping

tcpServerStarted

protected volatile boolean tcpServerStarted

clientContext

protected FcsTcpProxy.ClientContext clientContext

Constructor Detail

LoaderCanOpenProxy

public LoaderCanOpenProxy(String aName,
                  int aTickMillis,
                  int portNumber,
                  String aClientName,
                  int expectedNodesNB,
                  long hardwareBootTimeout)

Method Detail

start

public void start()

We don't want the tcp server to be started during INITIALISATION phase.

disconnectHardware

public void disconnectHardware()

This methods stops the CWrapper client, and the TCP server.

Overrides:

disconnectHardware in class CanOpenProxy

connectHardware

public void connectHardware()

Overrides:

connectHardware in class CanOpenProxy

isTcpServerStarted

public boolean isTcpServerStarted()

startServer

@Command(type=ACTION,
         level=1,
         description="Starts the tcp server.")
public void startServer()

Starts the server tcp on the port portNumber. And waits for a client connection.

startThreadReader

@Command(type=ACTION,
         level=1,
         description="Starts to listen to the tcp client.")
public void startThreadReader()

Starts a thread which read on the tcp socket, waiting for messages coming from tcp proxy. If the message has a known token (already registred in commandDispenser) it is a response to a can open command that we had sent to the proxy. If the token of the message is null, that means that is's an unsynchronous message coming from the can open stack and transmitted directly from the tcp proxy. That can be : - a boot message : "boot,nodeID" - an emergency message : "emcy,80+NodeID"

stopServer

public void stopServer()

Stops the tcp server.

isReady

public boolean isReady(String clientName)

call

public Object call(String clientName,
          String command)
            throws TimeoutException,
                   CWrapperNotConnected

This methods send a command to the tcp client. The command is a String and can be understood by the client. Example for a Can Open command : rsdo,1,1018,0 The command is stored in the command dispenser with a token and command corelation. When the response comes back from the proxy we can retrieve it from the dispenser with the call token.

Parameters:

clientName -

command -

Returns:

result of the call or null if the call failed

Throws:

TimeoutException

CWrapperNotConnected