org.lsst.ccs.subsystems.fcs.simulation

Class SimuEPOSControllerModule

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

org.lsst.ccs.subsystems.fcs.simulation.SimuEPOSControllerModule

All Implemented Interfaces:

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

public class SimuEPOSControllerModule
extends org.lsst.ccs.framework.Module
implements EPOSController

This class is to simulate an EPOS Controller which controls the loader hooks.

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
boolean	on

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

environment, log, name, nObserverThreads, registry, tickMillis

Constructor Summary

Constructors

Constructor and Description
SimuEPOSControllerModule(String string, int i)

Method Summary

Methods

Modifier and Type	Method and Description
String	changeMode(CanOpenEPOS.EposMode newMode) This methods changes the mode to the new mode given as an argument.
String	changeMode(String modeInString) Changes the mode to the new mode given as a String argument.
boolean	checkMotorParameters() This methods read the parameters of the motor stored in the actuator (hardware configuration)and compare with the configuration stored in the Configuration Data Base (software configuration).
void	defineAbsolutePosition(int position) Defines the actual position as the absolute position which value is given as an argument.
String	enable()
int	getReadValue()
int	getSentCurrentMaxValue()
int	getSentCurrentMinValue()
int	getSentValue()
void	initModule()
boolean	isOff()
boolean	isOn()
boolean	isTargetPositionReached(int targetPosition)
String	off()
String	on()
int	readPosition()
void	writeCurrent(int aValue) In current mode this methods send a current to the motor.
void	writeParameters(CanOpenEPOS.EposMode mode) This methods writes in the CPU of the EPOS devis the values of the parameters set for the mode.
void	writeParameters(Map<String,Integer> paramMap) Write to the CPU of the EPOS a map of parameters.
void	writeTargetPosition(int position) In PROFILE_POSITION mode this methods set the target position.

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, toString, wait, wait, wait

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

getName

Field Detail

on

public boolean on

Constructor Detail

SimuEPOSControllerModule

public SimuEPOSControllerModule(String string,
                        int i)

Method Detail

initModule

public void initModule()

Overrides:

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

changeMode

public String changeMode(String modeInString)
                  throws SDORequestException

Changes the mode to the new mode given as a String argument.

Parameters:

modeInString -

Returns:

Throws:

SDORequestException

changeMode

public String changeMode(CanOpenEPOS.EposMode newMode)
                  throws SDORequestException

Description copied from interface: EPOSController

This methods changes the mode to the new mode given as an argument. It writes the new mode in the CPU of the EPOS controller and updates the field mode.

Specified by:

changeMode in interface EPOSController

Returns:

Throws:

SDORequestException

checkMotorParameters

public boolean checkMotorParameters()
                             throws EPOSConfigurationException

Description copied from interface: EPOSController

This methods read the parameters of the motor stored in the actuator (hardware configuration)and compare with the configuration stored in the Configuration Data Base (software configuration).

Specified by:

checkMotorParameters in interface EPOSController

Returns:

true if the hardware and software configuration are the same, false otherwise.

Throws:

EPOSConfigurationException

defineAbsolutePosition

public void defineAbsolutePosition(int position)
                            throws SDORequestException,
                                   org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                   org.lsst.ccs.bus.BadCommandException

Description copied from interface: EPOSController

Defines the actual position as the absolute position which value is given as an argument.

Specified by:

defineAbsolutePosition in interface EPOSController

Throws:

SDORequestException

org.lsst.ccs.bus.ErrorInCommandExecutionException

org.lsst.ccs.bus.BadCommandException

writeParameters

public void writeParameters(CanOpenEPOS.EposMode mode)
                     throws SDORequestException,
                            org.lsst.ccs.bus.ErrorInCommandExecutionException

Description copied from interface: EPOSController

This methods writes in the CPU of the EPOS devis the values of the parameters set for the mode. Usually the values of the parameters are given by the configuration system.

Specified by:

writeParameters in interface EPOSController

Throws:

SDORequestException

org.lsst.ccs.bus.ErrorInCommandExecutionException

writeTargetPosition

public void writeTargetPosition(int position)
                         throws org.lsst.ccs.bus.BadCommandException,
                                SDORequestException

Description copied from interface: EPOSController

In PROFILE_POSITION mode this methods set the target position. This make run the motor.

Specified by:

writeTargetPosition in interface EPOSController

Parameters:

position - UNIT=mA / FORMAT=decimal the value of the current to be sent.

Throws:

org.lsst.ccs.bus.BadCommandException

SDORequestException

writeParameters

public void writeParameters(Map<String,Integer> paramMap)
                     throws SDORequestException

Description copied from interface: EPOSController

Write to the CPU of the EPOS a map of parameters.

Specified by:

writeParameters in interface EPOSController

Throws:

SDORequestException

writeCurrent

public void writeCurrent(int aValue)
                  throws org.lsst.ccs.bus.BadCommandException,
                         SDORequestException

Description copied from interface: EPOSController

In current mode this methods send a current to the motor. This make run the motor.

Specified by:

writeCurrent in interface EPOSController

Parameters:

aValue - UNIT=mA / FORMAT=decimal the value of the current to be sent.

Throws:

org.lsst.ccs.bus.BadCommandException

SDORequestException

on

public String on()
          throws SDORequestException,
                 org.lsst.ccs.bus.BadCommandException,
                 org.lsst.ccs.bus.ErrorInCommandExecutionException

Specified by:

on in interface Actuator

Throws:

SDORequestException

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

off

public String off()
           throws SDORequestException,
                  org.lsst.ccs.bus.BadCommandException

Specified by:

off in interface Actuator

Throws:

SDORequestException

org.lsst.ccs.bus.BadCommandException

isOn

public boolean isOn()

Specified by:

isOn in interface Actuator

isOff

public boolean isOff()

Specified by:

isOff in interface Actuator

getReadValue

public int getReadValue()

Specified by:

getReadValue in interface Actuator

getSentValue

public int getSentValue()

Specified by:

getSentValue in interface Actuator

getSentCurrentMinValue

public int getSentCurrentMinValue()

Specified by:

getSentCurrentMinValue in interface Actuator

getSentCurrentMaxValue

public int getSentCurrentMaxValue()

Specified by:

getSentCurrentMaxValue in interface Actuator

isTargetPositionReached

public boolean isTargetPositionReached(int targetPosition)

Specified by:

isTargetPositionReached in interface EPOSController

readPosition

public int readPosition()
                 throws SDORequestException

Specified by:

readPosition in interface EPOSController

Throws:

SDORequestException

enable

public String enable()
              throws SDORequestException

Specified by:

enable in interface EPOSController

Throws:

SDORequestException