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.drivers.CanOpenEPOS

org.lsst.ccs.subsystems.fcs.simulation.SimuEPOSControllerModule

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, EPOSController, PieceOfHardware, org.lsst.ccs.UsesSubsystem

Direct Known Subclasses:

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

public class SimuEPOSControllerModule
extends CanOpenEPOS

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 int	position
protected int	ssiPosition
protected int	targetCurrent
protected int	targetPosition

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

enabledToPublish, mode, parametersOK, turnedOff

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

errorHistory, errorRegister, inError, initialized, nodeID, serialNB, tcpProxy

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

name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description
SimuEPOSControllerModule(String nodeID, String serialNB, Map<String,Integer> paramsForCurrent, Map<String,Integer> paramsForProfilePosition, Map<String,Integer> paramsForHoming) Build a new SimuEPOSControllerModule

Method Summary

Modifier and Type	Method and Description
void	activateBrake()
protected void	checkCurrentValue(int aValue) Checks a current value typed by a user at the console.
void	checkFault() Check if the Controller is in fault.
void	checkParameters(EPOSEnumerations.EposMode aMode) 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.
void	defineAbsolutePosition(int position) Defines the actual position as the absolute position which value is given as an argument.
void	disable() shutdowns controller
String	displayErrorHistory() Return a printed list of errors that occured on this controller.
void	enable() This methods enables the controller : i.e.
void	enableAndWriteRelativePosition(int pos)
boolean	isBooted() Returns true if this CANopen node is booted.
boolean	isEnabled() Returns true if the controller is enabled.
boolean	isParametersOK() We assum that simulated hardware's controller has always correct parameters.
void	off() Turn off controller.
void	quickStop() Send a quickStop command to the controller.
int	readCurrent() In Current Mode this methods returns the current actualy received by the motor.
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.
EPOSEnumerations.EposMode	readMode() Reads the EPOS mode in the CPU of the EPOS device, updates the field mode and returns the mode as a String.
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) Read all the value of parameters for a given EPOS mode and return a printed list of this values.
int	readPosition() Reads in the CPU the value of the parameter PositionActualValue and returns it in a decimal format.
int	readProfileVelocity() In PROFILE_POSITION returns the value of the parameter ProfileVelocity.
int	readSSIPosition() Read the position returned by the absolute encoder (single serial data).
void	releaseBrake()
void	setPosition(int actualPosition)
void	shutdownEPOS() Shutdown the controller.
void	writeControlWord(String f) Write a value in hexa in the control world (index=6040, subindex=0,size=2)
void	writeCurrent(int aValue) In current mode this methods send a current to the motor.
void	writeParameter(EPOSEnumerations.Parameter param, int value) Set the parameter given as argument with the decimal value given as argument and write it in the controller CPU.
void	writeParameterInHexa(EPOSEnumerations.Parameter parameter, String string) Set the parameter given as argument with the hexadecimal value given as argument and write it in the controller CPU.
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.CanOpenEPOS

activateCurrentMode, activateHomingMode, activateProfilePositionMode, changeEPOSParameter, changeMode, checkParameters, checkTargetReached, enableAndWriteCurrent, faultReset, getMode, initializeAndCheckHardware, isEnabledToPublish, isInMode, isTargetReached, isTurnedOff, publishData, readControlWord, readCurrentAverageValue, readParameter, readParameter, readParameterInHexa, readParameterInHexa, readParameters, readParameters, readStatusWord, restoreParameters, stopCurrent, switchOnEnableOperation, writeParameter, writeParameterInHexa, writeParameters

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

configAsHeartbeatConsumer, configAsHeartbeatProducer, configAsHeartbeatProducer, createStatusDataPublishedByCanOpenDevice, displayErrorRegister, getErrorHistory, getErrorRegister, getNodeID, getSerialNB, getTcpProxy, initModule, isInError, isInitialized, processUpdate, readErrorHistoryNames, readSDO, resetError, saveParameters, toString, writeSDO

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.EPOSController

createStatusDataPublishedByEPOSController, enableAndWriteAbsolutePosition, getErrorHistory, getErrorRegister, isInError

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

checkBooted, checkInitialized, createStatusDataPublishedByHardware, getNodeID, getSerialNB, isInitialized, printState

Methods inherited from interface org.lsst.ccs.UsesSubsystem

getComponentConfigurationEnvironment, getComponentLookup, getName, getSubsystem

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.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

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 nodeID,
                                String serialNB,
                                Map<String,Integer> paramsForCurrent,
                                Map<String,Integer> paramsForProfilePosition,
                                Map<String,Integer> paramsForHoming)

Build a new SimuEPOSControllerModule

Parameters:

nodeID -

serialNB -

paramsForCurrent -

paramsForProfilePosition -

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)

isParametersOK

public boolean isParametersOK()

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

Specified by:

isParametersOK in interface EPOSController

Overrides:

isParametersOK in class CanOpenEPOS

Returns:

enableAndWriteRelativePosition

public void enableAndWriteRelativePosition(int pos)

defineAbsolutePosition

public void defineAbsolutePosition(int position)

Description copied from class: CanOpenEPOS

Defines the actual position as the absolute position which value is given as an argument. Writes value 35 in hexa to set the Homing method as Actual (See EPOS documentation)

Specified by:

defineAbsolutePosition in interface EPOSController

Overrides:

defineAbsolutePosition in class CanOpenEPOS

disable

public void disable()

Description copied from class: CanOpenEPOS

shutdowns controller

Specified by:

disable in interface EPOSController

Overrides:

disable in class CanOpenEPOS

writeParameters

public void writeParameters(EPOSEnumerations.EposMode mode)

Description copied from class: CanOpenEPOS

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

Overrides:

writeParameters in class CanOpenEPOS

writeParameterInHexa

public void writeParameterInHexa(EPOSEnumerations.Parameter parameter,
                                 String string)

Description copied from class: CanOpenEPOS

Set the parameter given as argument with the hexadecimal value given as argument and write it in the controller CPU.

Specified by:

writeParameterInHexa in interface EPOSController

Overrides:

writeParameterInHexa in class CanOpenEPOS

string - HEXADECIMAL format of the new value.

writeParameter

public void writeParameter(EPOSEnumerations.Parameter param,
                           int value)

Description copied from class: CanOpenEPOS

Set the parameter given as argument with the decimal value given as argument and write it in the controller CPU.

Specified by:

writeParameter in interface EPOSController

Overrides:

writeParameter in class CanOpenEPOS

Parameters:

param - parameter to be set

value - decimal value

writeTargetPosition

public void writeTargetPosition(int position)

Description copied from class: CanOpenEPOS

In PROFILE_POSITION mode this methods set the target position. This make run the motor.

Specified by:

writeTargetPosition in interface EPOSController

Overrides:

writeTargetPosition in class CanOpenEPOS

Parameters:

position - UNIT=mA / FORMAT=decimal the value of the current to be sent.

writeParameters

public void writeParameters(Map<String,Integer> paramMap)

Description copied from class: CanOpenEPOS

Write to the CPU of the EPOS a map of parameters.

Specified by:

writeParameters in interface EPOSController

Overrides:

writeParameters in class CanOpenEPOS

writeCurrent

public void writeCurrent(int aValue)

Description copied from class: CanOpenEPOS

In current mode this methods send a current to the motor. This make run the motor.

Specified by:

writeCurrent in interface EPOSController

Overrides:

writeCurrent in class CanOpenEPOS

Parameters:

aValue - UNIT=mA / FORMAT=decimal the value of the current to be sent.

off

public void off()

Description copied from interface: EPOSController

Turn off controller.

Specified by:

off in interface EPOSController

Overrides:

off in class CanOpenEPOS

readPosition

public int readPosition()

Description copied from class: CanOpenEPOS

Reads in the CPU the value of the parameter PositionActualValue and returns it in a decimal format.

Specified by:

readPosition in interface EPOSController

Overrides:

readPosition in class CanOpenEPOS

Returns:

value in decimal format

readSSIPosition

public int readSSIPosition()

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

Specified by:

readSSIPosition in interface EPOSController

Overrides:

readSSIPosition in class CanOpenEPOS

Returns:

Throws:

SDORequestException

ShortResponseToSDORequestException

enable

public void enable()

Description copied from class: CanOpenEPOS

This methods enables the controller : i.e. this makes it able to receive commands.

Specified by:

enable in interface EPOSController

Overrides:

enable in class CanOpenEPOS

readCurrent

public int readCurrent()

Description copied from class: CanOpenEPOS

In Current Mode this methods returns the current actualy received by the motor.

Specified by:

readCurrent in interface EPOSController

Overrides:

readCurrent in class CanOpenEPOS

Returns:

the current UNIT=mA / FORMAT=decimal

readMode

public EPOSEnumerations.EposMode readMode()

Description copied from class: CanOpenEPOS

Reads the EPOS mode in the CPU of the EPOS device, updates the field mode and returns the mode as a String.

Specified by:

readMode in interface EPOSController

Overrides:

readMode in class CanOpenEPOS

Returns:

quickStop

public void quickStop()

Description copied from interface: EPOSController

Send a quickStop command to the controller.

Specified by:

quickStop in interface EPOSController

Overrides:

quickStop in class CanOpenEPOS

readNumberOfErrors

public int readNumberOfErrors()

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

Returns:

readErrorRegister

public String readErrorRegister()

Description copied from class: CanOpenDevice

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

Overrides:

readErrorRegister in class CanOpenDevice

Returns:

error code in Hexa

readErrorHistory

public String[] readErrorHistory()

Description copied from class: CanOpenDevice

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.

Overrides:

readErrorHistory in class CanOpenDevice

Returns:

errors : a list of device error code

displayErrorHistory

public String displayErrorHistory()

Description copied from interface: EPOSController

Return a printed list of errors that occured on this controller.

Specified by:

displayErrorHistory in interface EPOSController

Overrides:

displayErrorHistory in class CanOpenDevice

Returns:

checkFault

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

Description copied from class: CanOpenEPOS

Check if the Controller is in fault.

Specified by:

checkFault in interface EPOSController

Overrides:

checkFault in class CanOpenEPOS

isBooted

@Command(type=QUERY,
         level=1,
         description="Returns always true in simulation.")
public boolean isBooted()

Returns true if this CANopen node is booted.

Specified by:

isBooted in interface PieceOfHardware

Overrides:

isBooted in class CanOpenDevice

Returns:

readProfileVelocity

public int readProfileVelocity()

Description copied from class: CanOpenEPOS

In PROFILE_POSITION returns the value of the parameter ProfileVelocity.

Specified by:

readProfileVelocity in interface EPOSController

Overrides:

readProfileVelocity in class CanOpenEPOS

Returns:

readParameters

public String readParameters(EPOSEnumerations.EposMode mode)

Description copied from interface: EPOSController

Read all the value of parameters for a given EPOS mode and return a printed list of this values.

Specified by:

readParameters in interface EPOSController

Overrides:

readParameters in class CanOpenEPOS

Returns:

checkParameters

public void checkParameters(EPOSEnumerations.EposMode aMode)

Description copied from class: CanOpenEPOS

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

Overrides:

checkParameters in class CanOpenEPOS

checkCurrentValue

protected void checkCurrentValue(int aValue)

Description copied from class: CanOpenEPOS

Checks a current value typed by a user at the console.

Overrides:

checkCurrentValue in class CanOpenEPOS

writeControlWord

public void writeControlWord(String f)

Description copied from class: CanOpenEPOS

Write a value in hexa in the control world (index=6040, subindex=0,size=2)

Specified by:

writeControlWord in interface EPOSController

Overrides:

writeControlWord in class CanOpenEPOS

Parameters:

f - in hexa

shutdownEPOS

public void shutdownEPOS()

Description copied from class: CanOpenEPOS

Shutdown the controller.

Specified by:

shutdownEPOS in interface EPOSController

Overrides:

shutdownEPOS in class CanOpenEPOS

isEnabled

public boolean isEnabled()

Description copied from class: CanOpenEPOS

Returns true if the controller is enabled.

Specified by:

isEnabled in interface EPOSController

Overrides:

isEnabled in class CanOpenEPOS

Returns:

releaseBrake

public void releaseBrake()

activateBrake

public void activateBrake()