org.lsst.ccs.subsystems.fcs.utils

Class FcsUtils

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()

Method Summary

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 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 bit) Transforms a numericonfigonfig value given in hexa to binary and replaconfigonfige the digit in position bit given as argument by 1.
static String	force2zero(String hexaVal, int bit) Computes a new hexa value given as argument in replacing bit which is at position 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 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 -

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

force2zero

public static String force2zero(String hexaVal,
                                int bit)

Computes a new hexa value given as argument in replacing bit which is at position given as argument by 0.

Parameters:

hexaVal - value to transform

bit - bit numero to be replaced

Returns:

new hexa value

Throws:

IllegalArgumentException - if bit <0 or bit >15

force2one

public static String force2one(String hexaVal,
                               int bit)

Transforms a numericonfigonfig value given in hexa to binary and replaconfigonfige the digit in position bit given as argument by 1.

Parameters:

hexaVal -

bit -

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