org.lsst.ccs.subsystems.fcs.drivers

Class CanOpenDevice

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.config.ConfigurationBulkChangeHandler, org.lsst.ccs.framework.Configurable, org.lsst.ccs.framework.HasLifecycle, org.lsst.ccs.framework.SignalHandler, AlertRaiser, PieceOfHardware, org.lsst.ccs.UsesSubsystem

Direct Known Subclasses:

CanOpenADC, CanOpenDAC, CanOpenEPOS, CompactIOModule, PlutoGatewayModule

public class CanOpenDevice
extends org.lsst.ccs.framework.Module
implements PieceOfHardware, AlertRaiser

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 String[]	errorHistory
protected String	errorRegister
protected boolean	inError
protected boolean	initialized
protected String	nodeID
protected String	serialNB
protected CanOpenProxy	tcpProxy

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

name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description
CanOpenDevice(String nodeID, String serialNB) Create a new CanOpenDevice with a node ID and a serial number.

Method Summary

Modifier and Type	Method and Description
String	configAsHeartbeatConsumer(int nodeID, int producerNodeID, int heartbeatTime) Configure a node as a hearbeat consumer.
String	configAsHeartbeatProducer(int nodeID, int heartbeatTime) Command to be used by the end users.
String	configAsHeartbeatProducer(String nodeID, String heartbeatTime) Configure a node as a hearbeat producer.
StatusDataPublishedByCanOpenDevice	createStatusDataPublishedByCanOpenDevice() Creates an object to be published on the STATUS bus by a CanOpenDevice.
String	displayErrorHistory()
String	displayErrorRegister()
String[]	getErrorHistory() For the GUI
String	getErrorRegister() For the GUI
String	getNodeID()
String	getSerialNB()
CanOpenProxy	getTcpProxy() Return tcpProxy
void	initializeAndCheckHardware() This methods has to be overridden if there is some initialization to do for the device.
void	initModule()
boolean	isBooted() Returns true if this CANopen node is booted.
boolean	isInError() For the GUI
boolean	isInitialized() Returns true if this CANopen node is initialized.
void	processUpdate(Observable source, org.lsst.ccs.framework.Module.ValueUpdate v) What to do when the Modules we observe send there new values.
void	publishData() Publish Data on status bus for trending data base and GUIs.
String[]	readErrorHistory() The error history holds errors that have occurred on the device and have been signalled via the emergency object.
String[]	readErrorHistoryNames() For the GUI or to display at the console : return a list of String with the error code and the error name.
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) Sends a readSDO request to the CANopen device.
protected void	resetError()
void	saveParameters() This method saves the parameters in the controller memory.
String	toString()
void	writeSDO(String index, String subindex, String size, String newValue) Sends a writeSDO request to the CANopen device.

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

getNObserverThreads, getObservables, getTickMillis, init, listens, sendSignal, sendSignalWithTimeLimit, 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

checkBooted, checkInitialized, createStatusDataPublishedByHardware, printState

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

raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseWarning, raiseWarning, raiseWarning, raiseWarning

Methods inherited from interface org.lsst.ccs.UsesSubsystem

getComponentConfigurationEnvironment, getComponentLookup, getName, getSubsystem

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

change, dropSubmittedChanges, getChildren, getComponentByName, getEnvironment, getParent, getParentObject, getSubmittedChanges, isParameterConfigurable, postStart, printConfigurableParameters, setBulkParameter, start, submitChange, submitChanges, validateBulkChange

Methods inherited from interface org.lsst.ccs.config.ConfigurationBulkChangeHandler

setParameterBulk

Field Detail

serialNB

@ConfigurationParameter(isFinal=true,
                        description="serial number of this CANOpen device")
protected String serialNB

nodeID

@ConfigurationParameter(isFinal=true,
                        description="CANOpen node ID of this CANOpen device")
protected String nodeID

tcpProxy

protected CanOpenProxy tcpProxy

initialized

protected boolean initialized

inError

protected boolean inError

errorHistory

protected String[] errorHistory

errorRegister

protected String errorRegister

Constructor Detail

CanOpenDevice

public CanOpenDevice(String nodeID,
                     String serialNB)

Create a new CanOpenDevice with a node ID and a serial number.

Parameters:

nodeID -

serialNB -

Method Detail

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()

Returns true if this CANopen node is booted.

Specified by:

isBooted in interface PieceOfHardware

Returns:

isInitialized

@Command(type=QUERY,
         level=1,
         description="Returns true if this CANopen node is initialized.")
public boolean isInitialized()

Returns true if this CANopen node is initialized.

Specified by:

isInitialized in interface PieceOfHardware

Returns:

getTcpProxy

public CanOpenProxy getTcpProxy()

Return tcpProxy

Returns:

getErrorHistory

public String[] getErrorHistory()

For the GUI

Returns:

a list of Errors - can be empty

getErrorRegister

public String getErrorRegister()

For the GUI

Returns:

isInError

public boolean isInError()

For the GUI

Returns:

initModule

public void initModule()

Overrides:

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

processUpdate

public void processUpdate(Observable source,
                          org.lsst.ccs.framework.Module.ValueUpdate v)

What to do when the Modules we observe send there new values. A CanOpenDevice listens to its tcpProxy to get the emergency message.

Overrides:

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

Parameters:

source -

v -

resetError

protected void resetError()

initializeAndCheckHardware

public void initializeAndCheckHardware()

This methods has to be overridden if there is some initialization to do for the device.

Specified by:

initializeAndCheckHardware in interface PieceOfHardware

writeSDO

@Command(type=ACTION,
         level=3,
         description="Write on the Can Open Device with a command wsdo. All the values are in hexadecimal format. To write new data value in decimal format, please use command writeSDO of tcpProxy.")
public void writeSDO(String index,
                                                                                                                                                                                                                                                                     String subindex,
                                                                                                                                                                                                                                                                     String size,
                                                                                                                                                                                                                                                                     String newValue)

Sends a writeSDO request to the CANopen device. All the arguments of this method take values in hexadecimal format.

Parameters:

index -

subindex -

size -

newValue -

Throws:

FcsHardwareException

readSDO

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

Sends a readSDO request to the CANopen device. All the arguments of this method take values in hexadecimal format.

Parameters:

index -

subindex -

Returns:

Throws:

FcsHardwareException

readErrorRegister

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

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

displayErrorRegister

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

readErrorHistory

public String[] readErrorHistory()

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

displayErrorHistory

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

readNumberOfErrors

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

readErrorHistoryNames

public String[] readErrorHistoryNames()
                               throws 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 void saveParameters()

This method saves the parameters in the controller memory.

Throws:

SDORequestException

configAsHeartbeatProducer

@Command(type=ACTION,
         level=3,
         description="Configure a CANopen device as a heartbeat producer.")
public String configAsHeartbeatProducer(String nodeID,
                                                                                                                                                            String heartbeatTime)

Configure a node as a hearbeat producer. Every heartbeatTime milliseconds this node will produce a message like: 0x700+nodeID: 05 - 1340268404.980000

Parameters:

nodeID - node ID in hexa

heartbeatTime - FORMAT=hexa UNIT=milliseconds

Returns:

error code returned by writeSDO

Throws:

SDORequestException

configAsHeartbeatProducer

public String configAsHeartbeatProducer(int nodeID,
                                        int heartbeatTime)

Command to be used by the end users. Configure a node as a heartbeat producer. Parameters given in decimal format.

Parameters:

nodeID - FORMAT=decimal

heartbeatTime - FORMAT=decimal UNIT=milliseconds

Returns:

Throws:

FcsHardwareException

configAsHeartbeatConsumer

public String configAsHeartbeatConsumer(int nodeID,
                                        int producerNodeID,
                                        int heartbeatTime)

Configure a node as a hearbeat consumer. Every heartbeatTime milliseconds this node will produce a message like: 0x700+nodeID: 05 - 1340268404.980000

Parameters:

nodeID - node ID in decimal

producerNodeID -

heartbeatTime - FORMAT=decimal UNIT=milliseconds

Returns:

Throws:

SDORequestException

toString

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

Overrides:

toString in class Object

createStatusDataPublishedByCanOpenDevice

public StatusDataPublishedByCanOpenDevice createStatusDataPublishedByCanOpenDevice()

Creates an object to be published on the STATUS bus by a CanOpenDevice.

Returns:

publishData

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

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

Specified by:

publishData in interface PieceOfHardware