org.lsst.ccs.subsystems.fcs.simulation

Class SimuBridgeForCPPMTestBench

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

org.lsst.ccs.subsystems.fcs.drivers.BridgeToCanOpenHardware

org.lsst.ccs.subsystems.fcs.simulation.SimuBridgeForCPPMTestBench

All Implemented Interfaces:

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

public class SimuBridgeForCPPMTestBench
extends BridgeToCanOpenHardware

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.drivers.BridgeToCanOpenHardware

configurationChecked, hardwareInitialized, hardwareMap, tcpProxy

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

environment, log, name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description
SimuBridgeForCPPMTestBench(String aName, int aTickMillis, SimuCanOpenProxy tcpProxy, SimuPlutoGateway plutoGateway, SimuEPOSControllerModule latchController, SimuEPOSControllerModule linearRailMasterController, SimuEPOSControllerModule linearRailSlaveController, SimuEPOSControllerModule onlineClampController)

Method Summary

Modifier and Type	Method and Description
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.
boolean	isRealHardware() This methods has to be overridden in a simulation context.
PDOStorage	readPDOs()
String	toString()

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

getTcpProxy, initModule, listHardware, printChildren, sendCanOpen, startServer, startThreadReader

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.framework.Configurable

change, getCheckedValueFromConfiguration, getChildren, getComponentByName, getFullPath, getParent, getParentObject, injectResources, listChildren, notifyChange, notifyChangeWithoutPreliminaryChecks, setBulkParameter, start, submitChange, submitChanges, validateBulkChange

Constructor Detail

SimuBridgeForCPPMTestBench

public SimuBridgeForCPPMTestBench(String aName,
                                  int aTickMillis,
                                  SimuCanOpenProxy tcpProxy,
                                  SimuPlutoGateway plutoGateway,
                                  SimuEPOSControllerModule latchController,
                                  SimuEPOSControllerModule linearRailMasterController,
                                  SimuEPOSControllerModule linearRailSlaveController,
                                  SimuEPOSControllerModule onlineClampController)

Method Detail

isRealHardware

public boolean isRealHardware()

Description copied from class: BridgeToCanOpenHardware

This methods has to be overridden in a simulation context.

Specified by:

isRealHardware in interface BridgeToHardware

Overrides:

isRealHardware in class BridgeToCanOpenHardware

Returns:

true if this bridge is connected with real hardware, false if the hardware is simulated.

isCWrapperConnected

public boolean isCWrapperConnected()

Description copied from class: BridgeToCanOpenHardware

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

Overrides:

isCWrapperConnected in class BridgeToCanOpenHardware

Returns:

isHardwareReady

public boolean isHardwareReady()

Description copied from class: BridgeToCanOpenHardware

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

Specified by:

isHardwareReady in interface BridgeToHardware

Overrides:

isHardwareReady in class BridgeToCanOpenHardware

Returns:

true if the hardware is booted, identified.

readPDOs

public PDOStorage readPDOs()
                    throws FcsHardwareException,
                           org.lsst.ccs.messaging.BadCommandException

Specified by:

readPDOs in interface BridgeToHardware

Overrides:

readPDOs in class BridgeToCanOpenHardware

Throws:

FcsHardwareException

org.lsst.ccs.messaging.BadCommandException

toString

public String toString()

Overrides:

toString in class BridgeToCanOpenHardware