org.lsst.ccs.subsystems.fcs.simulation

Class SimuAutochangerLinearRailController

java.lang.Object

org.lsst.ccs.subsystems.fcs.drivers.CanOpenDevice

org.lsst.ccs.subsystems.fcs.drivers.CanOpenEPOS

org.lsst.ccs.subsystems.fcs.simulation.SimuEPOSController

org.lsst.ccs.subsystems.fcs.simulation.SimuAutochangerLinearRailController

All Implemented Interfaces:

org.lsst.ccs.framework.HasLifecycle, AlertRaiser, EPOSController, EPOSControllerForLinearRail, EPOSControllerWithBrake, PieceOfHardware, EmergencyMessageListener

public class SimuAutochangerLinearRailController
extends SimuEPOSController
implements EPOSControllerForLinearRail

To simulate a controller which moves autochanger trucks along its linear rails.

Author:

virieux

Field Summary

Fields inherited from class org.lsst.ccs.subsystems.fcs.simulation.SimuEPOSController

actualCurrent, position, ssiPosition, targetCurrent, targetPosition

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

enabledToPublish, mode, parametersOK

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

booted, errorHistory, errorRegister, inError, initialized, name, nodeID, s, serialNB, tcpProxy

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

alertSeparater

Constructor Summary

Constructors

Constructor and Description
SimuAutochangerLinearRailController(int nodeID, String serialNB, SimuAutochangerPlutoGateway plutoGateway, Map<String,Integer> paramsForCurrent, Map<String,Integer> paramsForProfilePosition, Map<String,Integer> paramsForHoming, int encoderRibbonMinValue) Build a new SimuAutochangerLinearRailController

Method Summary

Modifier and Type	Method and Description
void	activateBrake()
void	activateBrakeAndDisable()
void	configureDigitalInputOfLinearRails()
void	configureDigitalOutputOfLinearRails()
void	doReleaseBrake()
void	enableAndReleaseBrake()
int	getEncoderRibbonMinValue()
void	homing()
void	init()
boolean	isBrakeActivated()
boolean	isHomingDone()
void	setSsiPosition(int ssiPosition)
void	writeTargetPosition(int positionToReached) Simulates a command writeTargetPosition : the position given as argument is the position to be reached.

Methods inherited from class org.lsst.ccs.subsystems.fcs.simulation.SimuEPOSController

checkCurrent, checkFault, checkParameters, defineAbsolutePosition, disable, displayErrorHistory, enable, enableAndWriteRelativePosition, isEnabled, isParametersOK, isTargetReached, quickStop, readCurrent, readErrorHistory, readErrorRegister, readMode, readNumberOfErrors, readParameters, readPosition, readProfileVelocity, readSSIPosition, setPosition, stopAction, writeControlWord, writeCurrent, writeParameter, writeParameters, writeParameters

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

changeEPOSParameter, changeMode, checkParameters, faultReset, getMode, initializeAndCheckHardware, isEnabledToPublish, publishData, readControlWord, readCurrentAverageValue, readParameter, readParameterInHexa, readParameterInHexa, readStatusWord, readVelocity, restoreParameters, setEnabledToPublish, writeTargetVelocity

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

configAsHeartbeatConsumer, configAsHeartbeatProducer, createStatusDataPublishedByCanOpenDevice, displayErrorRegister, getAlertService, getErrorHistory, getErrorRegister, getName, getNodeID, getSerialNB, getSubsystem, getTcpProxy, isBooted, isInError, isInitialized, onEmergencyMessage, readSDO, readStringSerialNumber, resetError, saveParameters, setBooted, toString, writeSDO

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

changeMode, checkCurrent, checkEnabled, checkFault, checkParameters, checkTargetReached, createStatusDataPublishedByEPOSController, defineAbsolutePosition, disable, displayErrorHistory, enable, enableAndWriteAbsolutePosition, enableAndWriteCurrent, enableAndWriteRelativePosition, getErrorHistory, getErrorRegister, getMode, isEnabled, isEnabledToPublish, isInError, isInMode, isParametersOK, isTargetReached, quickStop, readCurrent, readMode, readNumberOfErrors, readParameter, readParameter, readParameters, readParameters, readParameters, readPosition, readPositionSensorType, readProfileVelocity, readSSIPosition, readStatusWord, readVelocity, setEnabledToPublish, startVelocity, stopAction, stopPosition, stopVelocity, switchOnEnableOperation, writeControlWord, writeCurrent, writeParameter, writeParameters, writeParameters, writeParameters, writeTargetVelocity

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

checkBooted, checkId, checkInitialized, createStatusDataPublishedByHardware, getName, getNodeID, getSerialNB, initializeAndCheckHardware, isBooted, isInitialized, printState, publishData, raiseAlarmIfMissing, setBooted

Methods inherited from interface org.lsst.ccs.subsystems.fcs.drivers.EmergencyMessageListener

onEmergencyMessage, onFault, onFaultReset

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

clearAlarm, getAlertService, getSubsystem, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseWarning, raiseWarning, raiseWarning, raiseWarning, raiseWarning

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

build, postBuild, postInit, postStart, postStop, shutdownNow, start, stop

Constructor Detail

SimuAutochangerLinearRailController

public SimuAutochangerLinearRailController(int nodeID,
                                           String serialNB,
                                           SimuAutochangerPlutoGateway plutoGateway,
                                           Map<String,Integer> paramsForCurrent,
                                           Map<String,Integer> paramsForProfilePosition,
                                           Map<String,Integer> paramsForHoming,
                                           int encoderRibbonMinValue)

Build a new SimuAutochangerLinearRailController

Parameters:

nodeID -

serialNB -

plutoGateway -

paramsForCurrent -

paramsForProfilePosition -

paramsForHoming -

encoderRibbonMinValue -

Method Detail

setSsiPosition

public void setSsiPosition(int ssiPosition)

getEncoderRibbonMinValue

public int getEncoderRibbonMinValue()

init

public void init()

Specified by:

init in interface org.lsst.ccs.framework.HasLifecycle

writeTargetPosition

public void writeTargetPosition(int positionToReached)

Simulates a command writeTargetPosition : the position given as argument is the position to be reached. This method updates position incremently to simulate a real trucks with a motor controller.

Specified by:

writeTargetPosition in interface EPOSController

Overrides:

writeTargetPosition in class SimuEPOSController

Parameters:

positionToReached -

configureDigitalInputOfLinearRails

public void configureDigitalInputOfLinearRails()

Specified by:

configureDigitalInputOfLinearRails in interface EPOSControllerForLinearRail

configureDigitalOutputOfLinearRails

public void configureDigitalOutputOfLinearRails()

Specified by:

configureDigitalOutputOfLinearRails in interface EPOSControllerForLinearRail

homing

public void homing()

Specified by:

homing in interface EPOSControllerForLinearRail

isHomingDone

public boolean isHomingDone()

Specified by:

isHomingDone in interface EPOSControllerForLinearRail

activateBrakeAndDisable

public void activateBrakeAndDisable()

Specified by:

activateBrakeAndDisable in interface EPOSControllerWithBrake

enableAndReleaseBrake

public void enableAndReleaseBrake()

Specified by:

enableAndReleaseBrake in interface EPOSControllerWithBrake

doReleaseBrake

public void doReleaseBrake()

Specified by:

doReleaseBrake in interface EPOSControllerWithBrake

isBrakeActivated

public boolean isBrakeActivated()

Specified by:

isBrakeActivated in interface EPOSControllerWithBrake

activateBrake

public void activateBrake()

Specified by:

activateBrake in interface EPOSControllerWithBrake