FcsUtils (LSST CCS - Subsystem FCS Main 4.0.1 API)

java.lang.Object
- org.lsst.ccs.subsystems.fcs.utils.FcsUtils

```
public final class FcsUtils
extends Object
```
This class gathers static final variables and static methods. By example, to creates Objects for GUI and Status Bus.

Author:

virieux

Field Summary

Fields
Modifier and Type	Field and Description
`static int`	`MAX_NODE_ID` The maximum number of CANopen devices which can be on a CANbus.
`static int`	`MAX_VALUE_2BYTES` The maximum value which a number coded on 2 bytes can reach.
`static int`	`TICKMILLIS` A value for all fcs Modules tickmillis.

Constructor Summary

Constructors
Constructor and Description

FcsUtils()

Constructors
Constructor and Description
`FcsUtils()`

Method Summary

All Methods Static Methods Concrete Methods
Modifier and Type	Method and Description
`static int`	`addAngle(int angle1, int angle2)` Add 2 angles : an angle is a int which value is between -360 and +360
`static String`	`binaryToHex(String bin)`
`static String`	`buildRsdoCommand(String nodeID, String index, String subindex)` build a Can Open rsdo Command that can understand the C wrapper.
`static String`	`buildWsdoCommand(String nodeID, String index, String subindex, String size, String data)` build a Can Open wsdo Command that can understand the C wrapper.
`static void`	`checkCommand(String command)`
`static void`	`checkSocketName(String name)`
`static int`	`computeRotationShortestWay(int angle)` This method computes the shortest way for a rotation angle given as argument and returns it.
`static int`	`convertToInteger16(int unsigned16)` Change an int represented by an UNSIGNED16 to an INTEGER16.
`static StatusDataPublishedByEPOSController`	`createStatusDataPublishedByEPOSController(EPOSController ctlr)` Creates an object to be published on the STATUS bus by an EPOSController.
`static StatusDataPublishedByHardware`	`createStatusDataPublishedByHardware(PieceOfHardware device)` Creates an object to be published on the STATUS bus by a PieceOfHardware.
`static String`	`displayListParameters()` Displays the list of parameters.
`static String`	`displayListParameters(String modeInString)` Displays the list of parameters that we have to define for a given mode.
`static String`	`force2one(String hexaVal, int pos)` Transforms a numericonfigonfig value given in hexa to binary and replaconfigonfige the digit in position pos given as argument by 1.
`static String`	`force2zero(String hexaVal, int pos)` Transforms a numericonfigonfig value given in hexa to binary and replaconfigonfige the digit in position pos given as argument by 0.
`static String`	`hexToBinary(String Hex)` The String argument represents an integer in hexa.
`static boolean`	`isValidCommandWord(String command)` returns true if the command given as argument is an available CANopen command.
`static void`	`main(String[] args)`
`static String`	`replaceDigit(String twoBytesInHexa, int bitPosition, String digit)` Takes an integer represented by 2 bytes in hexa as argument, transforms is its binary representation, replaconfigonfiges the bit at position bitPosition by digit given as argument.
`static int[]`	`toReverseBinary(int decimal)` Transform an integer given in its decimal format to its binary format, reverse it and returns the reversed binary at an array of int.
`static String`	`twoBytesInHexaToBinary(String twoBytesInHexa)` The String argument represents an integer in hexa.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - MAX_VALUE_2BYTES
```
public static final int MAX_VALUE_2BYTES
```
    The maximum value which a number coded on 2 bytes can reach.
    
    See Also:
    
    Constant Field Values
  - MAX_NODE_ID
```
public static final int MAX_NODE_ID
```
    The maximum number of CANopen devices which can be on a CANbus. Also the maximum CANopen node ID a device can have.
    
    See Also:
    
    Constant Field Values
  - TICKMILLIS
```
public static final int TICKMILLIS
```
    A value for all fcs Modules tickmillis.
    
    See Also:
    
    Constant Field Values
- Constructor Detail
  - FcsUtils
```
public FcsUtils()
```
- Method Detail
  - checkSocketName
```
public static void checkSocketName(String name)
```
    Parameters:
    
    name -
  - createStatusDataPublishedByHardware
```
public static StatusDataPublishedByHardware createStatusDataPublishedByHardware(PieceOfHardware device)
```
    Creates an object to be published on the STATUS bus by a PieceOfHardware.
    
    Parameters:
    
    device -
    
    Returns:
  - createStatusDataPublishedByEPOSController
```
public static StatusDataPublishedByEPOSController createStatusDataPublishedByEPOSController(EPOSController ctlr)
```
    Creates an object to be published on the STATUS bus by an EPOSController.
    
    Parameters:
    
    ctlr -
    
    Returns:
  - binaryToHex
```
public static String binaryToHex(String bin)
```
    Parameters:
    
    bin -
    
    Returns:
  - hexToBinary
```
public static String hexToBinary(String Hex)
```
    The String argument represents an integer in hexa. This methods returns a string representation of this integer argument as an unsigned integer in base 2.
    
    Parameters:
    
    Hex -
    
    Returns:
    
    the binary form of this integer with 8 digits examples : HexToBinary(4) returns 00000100 HexToBinary(AA) returns 10101010 HexToBinary(FF) returns 11111111
  - twoBytesInHexaToBinary
```
public static String twoBytesInHexaToBinary(String twoBytesInHexa)
```
    The String argument represents an integer in hexa. This methods returns a string representation of this integer argument as an unsigned integer in base 2.
    
    Parameters:
    
    twoBytesInHexa -
    
    Returns:
    
    the binary form of this integer with 16 digits examples : twoBytesInHexaToBinary("4") returns 0000000000000100 twoBytesInHexaToBinary("AA") returns 0000000010101010 twoBytesInHexaToBinary("FFFF") returns 1111111111111111
  - replaceDigit
```
public static String replaceDigit(String twoBytesInHexa,
                                  int bitPosition,
                                  String digit)
```
    Takes an integer represented by 2 bytes in hexa as argument, transforms is its binary representation, replaconfigonfiges the bit at position bitPosition by digit given as argument. and returns the new hexa value.
    
    Parameters:
    
    twoBytesInHexa -
    
    bitPosition -
    
    digit -
    
    Returns:
  - force2zero
```
public static String force2zero(String hexaVal,
                                int pos)
```
    Transforms a numericonfigonfig value given in hexa to binary and replaconfigonfige the digit in position pos given as argument by 0.
    
    Parameters:
    
    hexaVal -
    
    pos -
    
    Returns:
  - force2one
```
public static String force2one(String hexaVal,
                               int pos)
```
    Transforms a numericonfigonfig value given in hexa to binary and replaconfigonfige the digit in position pos given as argument by 1.
    
    Parameters:
    
    hexaVal -
    
    pos -
    
    Returns:
  - toReverseBinary
```
public static int[] toReverseBinary(int decimal)
```
    Transform an integer given in its decimal format to its binary format, reverse it and returns the reversed binary at an array of int. format.
    
    Parameters:
    
    decimal -
    
    Returns:
    
    an array of int
  - buildWsdoCommand
```
public static String buildWsdoCommand(String nodeID,
                                      String index,
                                      String subindex,
                                      String size,
                                      String data)
```
    build a Can Open wsdo Command that can understand the C wrapper. exemple : wsdo,2,6411,01,2,3000
    
    Parameters:
    
    nodeID -
    
    index -
    
    subindex -
    
    size -
    
    data -
    
    Returns:
  - buildRsdoCommand
```
public static String buildRsdoCommand(String nodeID,
                                      String index,
                                      String subindex)
```
    build a Can Open rsdo Command that can understand the C wrapper. exemple : rsdo,1,1018,0
    
    Parameters:
    
    nodeID -
    
    index -
    
    subindex -
    
    Returns:
  - isValidCommandWord
```
public static boolean isValidCommandWord(String command)
```
    returns true if the command given as argument is an available CANopen command.
    
    Parameters:
    
    command -
    
    Returns:
  - checkCommand
```
public static void checkCommand(String command)
```
    Parameters:
    
    command -
    
    Throws:
    
    IllegalArgumentException - if command is not a valid command.
  - convertToInteger16
```
public static int convertToInteger16(int unsigned16)
```
    Change an int represented by an UNSIGNED16 to an INTEGER16. UNSIGNED16=0 =>INTEGER16=0 UNSIGNED16=2356 =>INTEGER16=2356 UNSIGNED16=65342 =>INTEGER16=-193 UNSIGNED16=32767 =>INTEGER16=32767 UNSIGNED16=32768 =>INTEGER16=-32767 UNSIGNED16=65535 =>INTEGER16=0 UNSIGNED16=-400 =>INTEGER16=-400
    
    Parameters:
    
    unsigned16 -
    
    Returns:
  - displayListParameters
```
public static String displayListParameters(String modeInString)
```
    Displays the list of parameters that we have to define for a given mode.
    
    Parameters:
    
    modeInString -
    
    Returns:
  - displayListParameters
```
public static String displayListParameters()
```
    Displays the list of parameters.
    
    Returns:
  - addAngle
```
public static int addAngle(int angle1,
                           int angle2)
```
    Add 2 angles : an angle is a int which value is between -360 and +360
    
    Parameters:
    
    angle1 -
    
    angle2 -
    
    Returns:
    
    result of the angles addition. Always >= 0 and always < 360
  - computeRotationShortestWay
```
public static int computeRotationShortestWay(int angle)
```
    This method computes the shortest way for a rotation angle given as argument and returns it.
    
    Parameters:
    
    angle -
    
    Returns:
  - main
```
public static void main(String[] args)
```
    Parameters:
    
    args - the command line arguments

Class FcsUtils

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

MAX_VALUE_2BYTES

MAX_NODE_ID

TICKMILLIS

Constructor Detail

FcsUtils

Method Detail

checkSocketName

createStatusDataPublishedByHardware

createStatusDataPublishedByEPOSController

binaryToHex

hexToBinary

twoBytesInHexaToBinary

replaceDigit

force2zero

force2one

toReverseBinary

buildWsdoCommand

buildRsdoCommand

isValidCommandWord

checkCommand

convertToInteger16

displayListParameters

displayListParameters

addAngle

computeRotationShortestWay

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