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:

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

Direct Known Subclasses:

BridgeForAPCTestBench

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

This class set gathers the description of the real hardware and the tools (methods) to give access to this hardware. A new piece of hardware has to be added as a new field of this class, and the initModule method has to be modified too.

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

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

org.lsst.ccs.framework.Configurable.Environment

Field Summary

protected CanOpenADC	ai814
protected CanOpenDAC	ao412
protected CanOpenProxy	tcpProxy

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

environment, log, name, nObserverThreads, registry, tickMillis

Constructor Summary

BridgeToCanOpenHardware()

Method Summary

CanOpenADC	getAi814()
CanOpenDAC	getAo412()
CanOpenClampActuatorModule	getClampActuatorXminus()
CanOpenClampActuatorModule	getClampActuatorXplus()
CanOpenDIO	getDio8n1()
CanOpenDIO	getDio8n2()
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.
CanOpenProxy.PDOStorage	readPDOs()
Object	sendCanOpen(String command) For engineering mode, this method can be used to send Can Open commands to the Wrapper.
void	setAi814(CanOpenADC ai814)
void	setAo412(CanOpenDAC ao412)
void	setClampActuatorXminus(CanOpenClampActuatorModule actuator)
void	setClampActuatorXplus(CanOpenClampActuatorModule actuator)
void	setDio8n1(CanOpenDIO dio8n1)
void	setDio8n2(CanOpenDIO dio8n2)
void	setTcpProxy(CanOpenProxy tcpProxy)
void	shutdown()

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

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

Field Detail

tcpProxy

protected CanOpenProxy tcpProxy

ai814

protected CanOpenADC ai814

ao412

protected CanOpenDAC ao412

Constructor Detail

BridgeToCanOpenHardware

public BridgeToCanOpenHardware()

Method Detail

getTcpProxy

public CanOpenProxy getTcpProxy()

setTcpProxy

public void setTcpProxy(CanOpenProxy tcpProxy)

getAi814

public CanOpenADC getAi814()

setAi814

public void setAi814(CanOpenADC ai814)

getAo412

public CanOpenDAC getAo412()

setAo412

public void setAo412(CanOpenDAC ao412)

getDio8n1

public CanOpenDIO getDio8n1()

setDio8n1

public void setDio8n1(CanOpenDIO dio8n1)

getDio8n2

public CanOpenDIO getDio8n2()

setDio8n2

public void setDio8n2(CanOpenDIO dio8n2)

getClampActuatorXplus

public CanOpenClampActuatorModule getClampActuatorXplus()

Returns:

the actuator

setClampActuatorXplus

public void setClampActuatorXplus(CanOpenClampActuatorModule actuator)

Parameters:

actuator - the actuator to set

getClampActuatorXminus

public CanOpenClampActuatorModule getClampActuatorXminus()

Returns:

the actuator

setClampActuatorXminus

public void setClampActuatorXminus(CanOpenClampActuatorModule actuator)

Parameters:

actuator - the actuator to set

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

isHardwareReady

public boolean isHardwareReady()

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

Specified by:

isHardwareReady in interface BridgeToHardware

initModule

public void initModule()

Overrides:

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

shutdown

public void shutdown()

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 HardwareError,
                                        org.lsst.ccs.bus.BadCommandException

Specified by:

readPDOs in interface BridgeToHardware

Throws:

HardwareError

org.lsst.ccs.bus.BadCommandException