org.lsst.ccs.subsystems.fcs.simulation

Class SimuLoaderClampController

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

org.lsst.ccs.subsystems.fcs.drivers.CanOpenDevice

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

org.lsst.ccs.subsystems.fcs.simulation.SimuLoaderClampController

All Implemented Interfaces:

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

public class SimuLoaderClampController
extends SimuEPOSControllerModule

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 inherited from class org.lsst.ccs.subsystems.fcs.simulation.SimuEPOSControllerModule

enabled, enabledToPublish, on

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

fcslog

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

environment, log, name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description
SimuLoaderClampController(String aName, int aTickMillis, String nodeID, String serialNB, Map<String,Integer> paramsForCurrent, Map<String,Integer> paramsForProfilePosition, Map<String,Integer> paramsForHoming)

Method Summary

Modifier and Type	Method and Description
void	initModule()
void	writeCurrent(int aValue) In current mode this methods send a current to the motor.
void	writeTargetPosition(int positionToReached) In PROFILE_POSITION mode this methods set the target position.

Methods inherited from class org.lsst.ccs.subsystems.fcs.simulation.SimuEPOSControllerModule

activateBrake, changeMode, changeMode, checkFault, checkMotorParameters, checkParameters, checkParameters, checkTargetReached, defineAbsolutePosition, displayErrorHistory, enable, faultReset, getErrorHistory, getErrorRegister, getMaxCurrent, getMaxPosition, getMaxSpeed, getMinCurrent, getMinPosition, getModeInString, getParamsForCurrent, getParamsForHoming, getParamsForProfilePosition, getReadActualCurrent, getSentCurrentMaxValue, getSentCurrentMinValue, getSentCurrentValue, getStatusData, initializeHardware, isEnabled, isEnabledToPublish, isInError, isOff, isOn, isTargetPositionReached, off, on, publishData, quickStop, readCurrent, readMode, readNumberOfErrors, readParameters, readPosition, readProfileVelocity, readSSIPosition, releaseBrake, setActualCurrent, setOn, setPosition, shutdown, switchOnEnableOperation, writeControlWord, writeParameterInHexa, writeParameters, writeParameters

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

displayErrorRegister, getErrorHistoryNames, getNodeID, getSerialNB, isBooted, isInitialized, readErrorHistory, readErrorRegister, readSDO, saveParameters, setBooted, toString, writeSDO

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

alias, getComponentDictionariesTree, getComponentTree, getContext, getEnvironment, getMainDictionary, getModule, getName, getNObserverThreads, getObservables, getSubsystem, getTickMillis, init, listens, percolateSignal, postStart, processUpdate, publishData, publishData, publishData, publishData, publishData, publishData, publishData, sendSignal, sendSignal, sendSignalWithTimeLimit, sendToReply, sendToStatus, setBeanName, setContext, setEnvironment, setName, setNObserverThreads, setObservables, setStateModularSubsystem, setStateModularSubsystem, setTickMillis, shutdownNow, signal, 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

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

getName

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

getName, getNodeID, getSerialNB, isBooted, isInitialized, setBooted

Methods inherited from interface org.lsst.ccs.framework.Configurable

change, getCheckedValueFromConfiguration, getChildren, getComponentByName, getDictionary, getParent, getParentObject, injectResources, listChildren, notifyChange, notifyChangeWithoutPreliminaryChecks, proceduralWalk, publish, publish, publish, publish, publish, publish, start, treeWalk

Constructor Detail

SimuLoaderClampController

public SimuLoaderClampController(String aName,
                                 int aTickMillis,
                                 String nodeID,
                                 String serialNB,
                                 Map<String,Integer> paramsForCurrent,
                                 Map<String,Integer> paramsForProfilePosition,
                                 Map<String,Integer> paramsForHoming)

Method Detail

initModule

public void initModule()

Overrides:

initModule in class CanOpenDevice

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

Overrides:

writeCurrent in class SimuEPOSControllerModule

Parameters:

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

Throws:

org.lsst.ccs.bus.BadCommandException

SDORequestException

writeTargetPosition

public void writeTargetPosition(int positionToReached)
                         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

Overrides:

writeTargetPosition in class SimuEPOSControllerModule

Parameters:

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

Throws:

org.lsst.ccs.bus.BadCommandException

SDORequestException