CanOpenDevice (LSST CCS - Subsystem FCS Main 2.1.4 API)

java.lang.Object
- java.util.Observable
- - org.lsst.ccs.framework.Module
  - - org.lsst.ccs.subsystems.fcs.drivers.CanOpenDevice

All Implemented Interfaces:

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

Direct Known Subclasses:

CanOpenADC, CanOpenDAC, CanOpenDigitaxVariator, CanOpenEPOS, CompactIOModule, SimuEPOSControllerModule
```
public class CanOpenDevice
extends org.lsst.ccs.framework.Module
implements PieceOfHardware
```
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`	`booted`
`protected BridgeToHardware`	`bridge`
`protected boolean`	`initialized`
`protected String`	`nodeID`
`protected String`	`serialNB`
`protected CanOpenProxy`	`tcpProxy`

Fields inherited from class org.lsst.ccs.framework.Module
environment, log, name, nObserverThreads, tickMillis

Constructor Summary

Constructors
Constructor and Description

CanOpenDevice(String aName, int aTickMillis, String nodeID, String serialNB)

Constructors
Constructor and Description
`CanOpenDevice(String aName, int aTickMillis, String nodeID, String serialNB)`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`String`	`displayErrorHistory()`
`String`	`displayErrorRegister()`
`String[]`	`getErrorHistoryNames()` For the GUI or to display at the console : return a list of String with the error code and the error name.
`String`	`getNodeID()`
`String`	`getSerialNB()`
`String`	`initializeAndCheckHardware()` This methods has to be overridden if there is some initialization to do for the device.
`void`	`initModule()`
`boolean`	`isBooted()`
`boolean`	`isInitialized()`
`String[]`	`readErrorHistory()` The error history holds errors that have occurred on the device and have been signalled via the emergency object.
`String`	`readErrorRegister()` At index 1001 there deviceErrorFile an error register for the device.
`int`	`readNumberOfErrors()` Extract from the Maxon Motor firmware specification : Contains the number of actual errors that are recorded in the array starting at subindex 1.
`String`	`readSDO(String index, String subindex)`
`Object`	`saveParameters()` This method saves the parameters in the controller memory.
`void`	`setBooted(boolean booted)`
`String`	`toString()`
`String`	`writeSDO(String index, String subindex, String length, String newValue)`

Methods inherited from class org.lsst.ccs.framework.Module
getComponentTree, getEnvironment, getModule, getName, getNObserverThreads, getObservables, getSubsystem, getTickMillis, init, listens, postStart, processUpdate, sendSignal, sendSignalWithTimeLimit, setEnvironment, setName, setNObserverThreads, setObservables, 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.PieceOfHardware
getName

Methods inherited from interface org.lsst.ccs.framework.Configurable
change, getCheckedValueFromConfiguration, getChildren, getComponentByName, getFullPath, getParent, getParentObject, injectResources, listChildren, notifyChange, notifyChangeWithoutPreliminaryChecks, setBulkParameter, start, submitChange, submitChanges, validateBulkChange

Field Detail

tcpProxy
```
protected CanOpenProxy tcpProxy
```

bridge
```
protected BridgeToHardware bridge
```

serialNB
```
protected final String serialNB
```

nodeID
```
protected final String nodeID
```

booted
```
protected boolean booted
```

initialized
```
protected boolean initialized
```

Constructor Detail

CanOpenDevice

public CanOpenDevice(String aName,
                     int aTickMillis,
                     String nodeID,
                     String serialNB)

Method Detail

setBooted
```
public void setBooted(boolean booted)
```
Specified by:

setBooted in interface PieceOfHardware

getSerialNB

@Command(type=QUERY,
         level=1,
         description="Returns this CANopen device\'s serial number.")
public String getSerialNB()

Specified by:: getSerialNB in interface PieceOfHardware

getNodeID

@Command(type=QUERY,
         level=1,
         description="Returns this CANopen device\'s node ID.")
public String getNodeID()

Specified by:: getNodeID in interface PieceOfHardware

isBooted
```
@Command(type=QUERY,
         level=1,
         description="Returns true if this CANopen node is booted.")
public boolean isBooted()
```
Specified by:

isBooted in interface PieceOfHardware

Returns:

true If this piece of hardware is booted and the nodeID on the hardware is the same than the one in the Configuration DB.

isInitialized
```
public boolean isInitialized()
```
Specified by:

isInitialized in interface PieceOfHardware

Returns:

true if the hardware has been initialized with success, false otherwise.

initModule
```
public void initModule()
```
Overrides:

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

initializeAndCheckHardware
```
public String initializeAndCheckHardware()
                                  throws FcsHardwareException
```
This methods has to be overridden if there is some initialization to do for the device.

Specified by:

initializeAndCheckHardware in interface PieceOfHardware

Returns:

a message

Throws:

FcsHardwareException

writeSDO

@Command(type=ACTION,
         level=3,
         description="Write on the Can Open Device with a command wsdo.")
public String writeSDO(String index,
                                                                                                                                         String subindex,
                                                                                                                                         String length,
                                                                                                                                         String newValue)
                                                                                                                                  throws SDORequestException,
                                                                                                                                         FcsHardwareException

Throws:: SDORequestException; FcsHardwareException

readSDO

@Command(type=QUERY,
         level=3,
         description="Reads the Can Open Device with a command rsdo.")
public String readSDO(String index,
                                                                                                                                    String subindex)
                                                                                                                             throws SDORequestException,
                                                                                                                                    ShortResponseToSDORequestException,
                                                                                                                                    FcsHardwareException

Throws:: SDORequestException; ShortResponseToSDORequestException; FcsHardwareException

readErrorRegister

@Command(type=QUERY,
         level=3,
         description="Reads Error Register on the controller - in hexa (index 1001).")
public String readErrorRegister()
                                                                                                                                                       throws SDORequestException,
                                                                                                                                                              ShortResponseToSDORequestException,
                                                                                                                                                              FcsHardwareException

At index 1001 there deviceErrorFile an error register for the device. The device maps internal errors in this byte.

Returns:: error code in Hexa
Throws:: SDORequestException; ShortResponseToSDORequestException; FcsHardwareException

displayErrorRegister

@Command(type=QUERY,
         level=3,
         description="Display Error Register on the controller (index 1001).")
public String displayErrorRegister()
                                                                                                                                                  throws SDORequestException,
                                                                                                                                                         ShortResponseToSDORequestException,
                                                                                                                                                         FcsHardwareException

Throws:: SDORequestException; ShortResponseToSDORequestException; FcsHardwareException

readErrorHistory
```
public String[] readErrorHistory()
                          throws SDORequestException,
                                 ShortResponseToSDORequestException,
                                 FcsHardwareException
```
The error history holds errors that have occurred on the device and have been signalled via the emergency object. This methods reads the Maxon Motor Error History and returns an array of error code.

Returns:

errors : a list of device error code

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

displayErrorHistory

@Command(type=QUERY,
         level=1,
         description="Display Error Register on the controller (index 1001).")
public String displayErrorHistory()
                                                                                                                                                 throws SDORequestException,
                                                                                                                                                        ShortResponseToSDORequestException,
                                                                                                                                                        FcsHardwareException

Throws:: SDORequestException; ShortResponseToSDORequestException; FcsHardwareException

readNumberOfErrors

@Command(type=QUERY,
         level=1,
         description="Read and returns the number of errors registred in the Error History.")
public int readNumberOfErrors()
                                                                                                                                                            throws SDORequestException,
                                                                                                                                                                   ShortResponseToSDORequestException,
                                                                                                                                                                   FcsHardwareException

Extract from the Maxon Motor firmware specification : Contains the number of actual errors that are recorded in the array starting at subindex 1. Writing a “0” deletes the error history (empties the array). Values higher then “0” (zero) are not allowed to write." Read and returns the number of errors registred in the Error History

Returns:
Throws:: SDORequestException; ShortResponseToSDORequestException; FcsHardwareException

getErrorHistoryNames

public String[] getErrorHistoryNames()
                              throws SDORequestException,
                                     ShortResponseToSDORequestException,
                                     FcsHardwareException

For the GUI or to display at the console : return a list of String with the error code and the error name.

Returns:
Throws:: SDORequestException; ShortResponseToSDORequestException; FcsHardwareException

saveParameters

@Command(type=ACTION,
         level=3,
         description="This method saves the parameters in the controller memory.")
public Object saveParameters()
                                                                                                                                                 throws SDORequestException,
                                                                                                                                                        FcsHardwareException

This method saves the parameters in the controller memory.

Returns:
Throws:: SDORequestException; FcsHardwareException

toString

@Command(type=QUERY,
         level=1,
         description="Print CANopen device.")
public String toString()

Overrides:: toString in class Object

Class CanOpenDevice

Nested Class Summary

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

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

Field Summary

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

Constructor Summary

Method Summary

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

Methods inherited from class java.util.Observable

Methods inherited from class java.lang.Object

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

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

Field Detail

tcpProxy

bridge

serialNB

nodeID

booted

initialized