org.lsst.ccs.subsystems.fcs.simulation

Class SimuEPOSControllerModule

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

All Implemented Interfaces:

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

Direct Known Subclasses:

SimuAutochangerLatchController, SimuAutochangerLinearRailController, SimuAutochangerOnlineClampController, SimuCarouselClampController, SimuCarouselController, SimuLoaderCarrierController, SimuLoaderClampController, SimuOnlineClampController

public abstract class SimuEPOSControllerModule
extends CanOpenDevice
implements EPOSController

This class is to simulate an EPOS Controller.

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 int	actualCurrent
protected EPOSEnumerations.EposMode	mode
protected int	position
protected int	ssiPosition
protected int	targetCurrent
protected int	targetPosition
protected boolean	turnedOff

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

booted, bridge, initialized, nodeID, serialNB, tcpProxy

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

environment, log, name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description
SimuEPOSControllerModule(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	activateBrake()
String	changeMode(EPOSEnumerations.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.
void	checkFault()
void	checkParameters(EPOSEnumerations.EposMode aMode)
void	checkParameters(String modeInString) For every parameter to be defined for this mode this method compares the values in configuration with the value stored in controller CPU and throws a HardwareException if these values are not equal.
boolean	checkTargetReached()
void	defineAbsolutePosition(int position) Defines the actual position as the absolute position which value is given as an argument.
void	disable()
String	displayErrorHistory()
String	enable()
void	faultReset()
String[]	getErrorHistory()
String	getErrorRegister()
int	getMaxCurrent()
int	getMaxPosition()
int	getMaxSpeed()
int	getMinCurrent()
int	getMinPosition()
String	getModeInString()
Map<String,Integer>	getParamsForCurrent()
Map<String,Integer>	getParamsForHoming()
Map<String,Integer>	getParamsForProfilePosition()
StatusDataPublishedByEPOSController	getStatusData()
String	initializeAndCheckHardware() This methods is called during INITIALIZATION phase.
boolean	isEnabled()
boolean	isEnabledToPublish()
boolean	isInError()
boolean	isParametersOK() We assum that simulated hardware's controller has always correct parameters.
boolean	isTargetPositionReached(int targetPosition)
boolean	isTurnedOff()
String	off()
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	quickStop()
int	readCurrent()
EPOSEnumerations.EposMode	readMode()
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	readParameters(EPOSEnumerations.EposMode mode)
int	readPosition()
int	readProfileVelocity()
int	readSSIPosition() Read the position returned by the absolute encoder (single serial data).
void	releaseBrake()
void	setActualCurrent(int actualCurrent)
void	setPosition(int actualPosition)
String	shutdown()
void	switchOnEnableOperation()
void	writeControlWord(String f)
void	writeCurrent(int aValue) In current mode this methods send a current to the motor.
String	writeParameterInHexa(EPOSEnumerations.Parameter parameter, String string)
void	writeParameters(EPOSEnumerations.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.subsystems.fcs.drivers.CanOpenDevice

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

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, getNodeID, getSerialNB, isBooted, isInitialized, setBooted

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

turnedOff

protected boolean turnedOff

mode

protected EPOSEnumerations.EposMode mode

targetPosition

protected int targetPosition

position

protected int position

ssiPosition

protected int ssiPosition

targetCurrent

protected int targetCurrent

actualCurrent

protected int actualCurrent

Constructor Detail

SimuEPOSControllerModule

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

Method Detail

setPosition

@Command(type=ACTION,
         level=1,
         description="For simulator only : Update position with a position given as argument.")
public void setPosition(int actualPosition)

setActualCurrent

public void setActualCurrent(int actualCurrent)

isEnabledToPublish

public boolean isEnabledToPublish()

Specified by:

isEnabledToPublish in interface EPOSController

isTurnedOff

public boolean isTurnedOff()

Specified by:

isTurnedOff in interface EPOSController

getParamsForHoming

public Map<String,Integer> getParamsForHoming()

Specified by:

getParamsForHoming in interface EPOSController

getParamsForProfilePosition

public Map<String,Integer> getParamsForProfilePosition()

Specified by:

getParamsForProfilePosition in interface EPOSController

getParamsForCurrent

public Map<String,Integer> getParamsForCurrent()

Specified by:

getParamsForCurrent in interface EPOSController

isInError

public boolean isInError()

Specified by:

isInError in interface EPOSController

getErrorRegister

public String getErrorRegister()

Specified by:

getErrorRegister in interface EPOSController

getErrorHistory

public String[] getErrorHistory()

Specified by:

getErrorHistory in interface EPOSController

getModeInString

public String getModeInString()

Specified by:

getModeInString in interface EPOSController

isParametersOK

public boolean isParametersOK()

We assum that simulated hardware's controller has always correct parameters.

Specified by:

isParametersOK in interface EPOSController

Returns:

initializeAndCheckHardware

public String initializeAndCheckHardware()
                                  throws FcsHardwareException

This methods is called during INITIALIZATION phase. We want to publish data in order for the controllers GUIs to be refreshed.

Specified by:

initializeAndCheckHardware in interface PieceOfHardware

Overrides:

initializeAndCheckHardware in class CanOpenDevice

Returns:

a message

Throws:

FcsHardwareException

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(EPOSEnumerations.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

defineAbsolutePosition

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

org.lsst.ccs.messaging.BadCommandException

disable

public void disable()
             throws SDORequestException,
                    ShortResponseToSDORequestException

Specified by:

disable in interface EPOSController

Throws:

SDORequestException

ShortResponseToSDORequestException

writeParameters

public void writeParameters(EPOSEnumerations.EposMode mode)
                     throws SDORequestException,
                            org.lsst.ccs.messaging.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.messaging.ErrorInCommandExecutionException

writeParameterInHexa

public String writeParameterInHexa(EPOSEnumerations.Parameter parameter,
                                   String string)
                            throws SDORequestException

Specified by:

writeParameterInHexa in interface EPOSController

Throws:

SDORequestException

writeTargetPosition

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

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.messaging.BadCommandException

SDORequestException

FcsHardwareException

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.messaging.BadCommandException,
                         SDORequestException,
                         FcsHardwareException

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.messaging.BadCommandException

SDORequestException

EPOSConfigurationException

FcsHardwareException

off

public String off()
           throws org.lsst.ccs.messaging.BadCommandException,
                  org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                  FcsHardwareException

Specified by:

off in interface EPOSController

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

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

readSSIPosition

public int readSSIPosition()
                    throws SDORequestException,
                           ShortResponseToSDORequestException

Read the position returned by the absolute encoder (single serial data).

Specified by:

readSSIPosition in interface EPOSController

Returns:

Throws:

SDORequestException

ShortResponseToSDORequestException

enable

public String enable()
              throws SDORequestException

Specified by:

enable in interface EPOSController

Throws:

SDORequestException

readCurrent

public int readCurrent()
                throws org.lsst.ccs.messaging.BadCommandException,
                       SDORequestException

Specified by:

readCurrent in interface EPOSController

Throws:

org.lsst.ccs.messaging.BadCommandException

SDORequestException

readMode

public EPOSEnumerations.EposMode readMode()
                                   throws SDORequestException

Specified by:

readMode in interface EPOSController

Throws:

SDORequestException

getMaxCurrent

public int getMaxCurrent()

Specified by:

getMaxCurrent in interface EPOSController

getMinCurrent

public int getMinCurrent()

Specified by:

getMinCurrent in interface EPOSController

getMaxSpeed

public int getMaxSpeed()

Specified by:

getMaxSpeed in interface EPOSController

getMaxPosition

public int getMaxPosition()

Specified by:

getMaxPosition in interface EPOSController

getMinPosition

public int getMinPosition()

Specified by:

getMinPosition in interface EPOSController

quickStop

public void quickStop()
               throws SDORequestException

Specified by:

quickStop in interface EPOSController

Throws:

SDORequestException

readNumberOfErrors

public int readNumberOfErrors()
                       throws SDORequestException,
                              ShortResponseToSDORequestException

Description copied from class: CanOpenDevice

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

Specified by:

readNumberOfErrors in interface EPOSController

Overrides:

readNumberOfErrors in class CanOpenDevice

Throws:

SDORequestException

ShortResponseToSDORequestException

displayErrorHistory

public String displayErrorHistory()
                           throws SDORequestException,
                                  ShortResponseToSDORequestException

Specified by:

displayErrorHistory in interface EPOSController

Overrides:

displayErrorHistory in class CanOpenDevice

Throws:

SDORequestException

ShortResponseToSDORequestException

checkFault

@Command(type=QUERY,
         level=1,
         description="Check if the Controller is in fault.")
public void checkFault()
                                                                                                                    throws SDORequestException,
                                                                                                                           ShortResponseToSDORequestException,
                                                                                                                           FcsHardwareException

Specified by:

checkFault in interface EPOSController

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

faultReset

@Command(type=ACTION,
         level=1,
         description="Clear faults on the controller.")
public void faultReset()
                                                                                                                throws SDORequestException

Throws:

SDORequestException

readProfileVelocity

public int readProfileVelocity()
                        throws SDORequestException,
                               ShortResponseToSDORequestException

Specified by:

readProfileVelocity in interface EPOSController

Throws:

SDORequestException

ShortResponseToSDORequestException

readParameters

public String readParameters(EPOSEnumerations.EposMode mode)
                      throws SDORequestException,
                             ShortResponseToSDORequestException

Specified by:

readParameters in interface EPOSController

Throws:

SDORequestException

ShortResponseToSDORequestException

checkParameters

public void checkParameters(String modeInString)
                     throws org.lsst.ccs.HardwareException,
                            SDORequestException,
                            ShortResponseToSDORequestException

Description copied from interface: EPOSController

For every parameter to be defined for this mode this method compares the values in configuration with the value stored in controller CPU and throws a HardwareException if these values are not equal. values stored in the controller CPU.

Specified by:

checkParameters in interface EPOSController

Throws:

org.lsst.ccs.HardwareException

SDORequestException

ShortResponseToSDORequestException

checkParameters

public void checkParameters(EPOSEnumerations.EposMode aMode)
                     throws org.lsst.ccs.HardwareException,
                            SDORequestException,
                            ShortResponseToSDORequestException

Specified by:

checkParameters in interface EPOSController

Throws:

org.lsst.ccs.HardwareException

SDORequestException

ShortResponseToSDORequestException

writeControlWord

public void writeControlWord(String f)
                      throws SDORequestException

Specified by:

writeControlWord in interface EPOSController

Throws:

SDORequestException

shutdown

public String shutdown()
                throws SDORequestException

Specified by:

shutdown in interface EPOSController

Throws:

SDORequestException

isEnabled

public boolean isEnabled()
                  throws SDORequestException

Specified by:

isEnabled in interface EPOSController

Throws:

SDORequestException

checkTargetReached

public boolean checkTargetReached()
                           throws SDORequestException,
                                  ShortResponseToSDORequestException

Specified by:

checkTargetReached in interface EPOSController

Throws:

SDORequestException

ShortResponseToSDORequestException

releaseBrake

public void releaseBrake()
                  throws SDORequestException,
                         ShortResponseToSDORequestException

Specified by:

releaseBrake in interface EPOSController

Throws:

SDORequestException

ShortResponseToSDORequestException

switchOnEnableOperation

public void switchOnEnableOperation()
                             throws SDORequestException

Specified by:

switchOnEnableOperation in interface EPOSController

Throws:

SDORequestException

activateBrake

public void activateBrake()
                   throws SDORequestException,
                          ShortResponseToSDORequestException

Specified by:

activateBrake in interface EPOSController

Throws:

SDORequestException

ShortResponseToSDORequestException

getStatusData

public StatusDataPublishedByEPOSController getStatusData()

publishData

@Command(type=QUERY,
         level=1,
         alias="refreshGUI",
         description="Publish data for the controller on the status bus.")
public void publishData()

Publish Data on status bus for trending data base and GUIs.