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
protected static org.lsst.ccs.utilities.logging.Logger	FCSLOG
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 String	buildRsdoCommand(int nodeID, int index, int subindex) build a Can Open rsdo Command that can understand the C wrapper.
static String	buildWsdoCommand(int nodeID, int index, int subindex, int size, int data) build a Can Open wsdo Command that can understand the C wrapper.
static void	checkCommand(String command)
static void	checkPositive(int arg)
static void	checkSocketName(String name)
static short	convertToInteger16(long unsigned16) Convert a number coded on 16 bits which represents a signed number (INTEGER16) to a short.
static int	convertToInteger32(long unsigned32) Convert a number coded on 32 bits which represents a signed number (INTEGER32) to an int.
static byte	convertToInteger8(long unsigned8) Convert a number coded on 8 bits which represents a signed number (INTEGER8) to a byte.
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 boolean	finalValueReached(int stepHeight, int newCurrentValue, int finalValue) Returns true if the final value is reached.
static int	force2one(int 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 int	force2zero(int hexaVal, int bit) Computes a new hexa value given as argument in replacing bit which is at position given as argument by 0.
static int	forceBit(int val, int bit, int zeroOne) Sets the nth bit
static int	getSignedStepHeight(int initialValue, int finalValue, int increment) For online clamps.
static boolean	isValidCommandWord(String command) returns true if the command given as argument is an available CANopen command.
static void	main(String[] args)
static void	sleep(int duration, String itemName)
static int[]	toReverseBinary(int decimal) Transform an integer given in its decimal format to its binary format, reverse it and returns the reversed binary as 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

FCSLOG

protected static final org.lsst.ccs.utilities.logging.Logger FCSLOG

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 -

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 int force2zero(int 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 int force2one(int 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:

forceBit

public static int forceBit(int val,
                           int bit,
                           int zeroOne)

Sets the nth bit

Parameters:

val - the value to modifiy

bit - the bit number to set

zeroOne - if zero forces to zero. Forces to one otherwise

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 as an array of int. format.

Parameters:

decimal -

Returns:

an array of int

buildWsdoCommand

public static String buildWsdoCommand(int nodeID,
                                      int index,
                                      int subindex,
                                      int size,
                                      int 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(int nodeID,
                                      int index,
                                      int 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.

convertToInteger8

public static byte convertToInteger8(long unsigned8)

Convert a number coded on 8 bits which represents a signed number (INTEGER8) to a byte.

Parameters:

unsigned8 -

Returns:

convertToInteger16

public static short convertToInteger16(long unsigned16)

Convert a number coded on 16 bits which represents a signed number (INTEGER16) to a short. Used to interprete numbers coming from CANopen devices where we can have signed or unsigned numbers depending of which parameter we read. UNSIGNED16=0 =>INTEGER16=0 UNSIGNED16=2356 =>INTEGER16=2356 UNSIGNED16=65342 =>INTEGER16=-194 UNSIGNED16=32767 =>INTEGER16=32767 UNSIGNED16=32768 =>INTEGER16=-32768 UNSIGNED16=65535 =>INTEGER16=-1

Parameters:

unsigned16 - a long because readSDO command returns a long.

Returns:

convertToInteger32

public static int convertToInteger32(long unsigned32)

Convert a number coded on 32 bits which represents a signed number (INTEGER32) to an int.

Parameters:

unsigned32 -

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:

getSignedStepHeight

public static int getSignedStepHeight(int initialValue,
                                      int finalValue,
                                      int increment)

For online clamps.

Parameters:

initialValue -

finalValue -

increment -

Returns:

main

public static void main(String[] args)

Parameters:

args - the command line arguments

finalValueReached

public static boolean finalValueReached(int stepHeight,
                                        int newCurrentValue,
                                        int finalValue)

Returns true if the final value is reached.

Parameters:

stepHeight -

newCurrentValue -

finalValue -

Returns:

sleep

public static void sleep(int duration,
                         String itemName)

checkPositive

public static void checkPositive(int arg)