org.lsst.ccs.subsystems.fcs.simulation

Class SimuLoaderClampController

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.SimuLoaderClampController

All Implemented Interfaces:

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

public class SimuLoaderClampController
extends SimuEPOSController

This class is to simulate an EPOS Controller which controls the loader hooks.

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, serialNB, subs, tcpProxy

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

alertSeparater

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
void	writeCurrent(int aValue) In unsCurrent mode this methods send a unsCurrent to the motor.
void	writeTargetPosition(int positionToReached) In PROFILE_POSITION mode this methods set the target position.

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, writeParameter, writeParameters, writeParameters

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

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

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

configAsHeartbeatConsumer, configAsHeartbeatProducer, createStatusDataPublishedByCanOpenDevice, displayErrorRegister, doInitializePDOs, getAlertService, getErrorHistory, getErrorRegister, getName, getNodeID, getSerialNB, getSubsystem, getTcpProxy, isBooted, isInError, isInitialized, onEmergencyMessage, readSDO, readStringSerialNumber, resetError, saveParameters, setBooted, toString, updateFromPDO, 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.framework.HasLifecycle

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

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

checkEnabled, checkTargetReached, createStatusDataPublishedByEPOSController, enableAndWriteAbsolutePosition, enableAndWriteCurrent, getErrorHistory, getErrorRegister, isInError, isInMode, readParameter, readParameters, readParameters, readPositionSensorType, startVelocity, stopPosition, stopVelocity, switchOnEnableOperation, writeParameters

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

checkBooted, checkId, checkInitialized, createStatusDataPublishedByHardware, doInitializePDOs, getName, getNodeID, getSerialNB, initializePDOs, isBooted, isInitialized, printState, raiseAlarmIfMissing, setBooted, updateFromPDO

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

Constructor Detail

SimuLoaderClampController

public SimuLoaderClampController(int nodeID,
                                 String serialNB,
                                 SimuLoaderPlutoGateway plutoGateway,
                                 Map<String,Integer> paramsForCurrent,
                                 Map<String,Integer> paramsForProfilePosition,
                                 Map<String,Integer> paramsForHoming)

Build a new SimuLoaderClampController

Parameters:

nodeID -

serialNB -

plutoGateway -

paramsForCurrent -

paramsForProfilePosition -

paramsForHoming -

Method Detail

writeCurrent

public void writeCurrent(int aValue)

Description copied from class: CanOpenEPOS

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

Specified by:

writeCurrent in interface EPOSController

Overrides:

writeCurrent in class SimuEPOSController

Parameters:

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

writeTargetPosition

public void writeTargetPosition(int positionToReached)

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 SimuEPOSController

Parameters:

positionToReached - UNIT=mA / FORMAT=decimal the value of the unsCurrent to be sent.