org.lsst.ccs.subsystems.fcs.simulation

Class SimuCarouselController

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.SimuCarouselController

All Implemented Interfaces:

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

public class SimuCarouselController
extends SimuEPOSController
implements EPOSControllerForCarousel

To simulate the controller which rotates carousel.

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
SimuCarouselController(int nodeID, String serialNB, Map<String,Integer> paramsForCurrent, Map<String,Integer> paramsForProfilePosition, Map<String,Integer> paramsForHoming) Build a new SimuCarouselController

Method Summary

Modifier and Type	Method and Description
void	enableAndWriteRelativePosition(int pos) Enable controller and go to relative position.
void	init()
void	setSsiPosition(int ssiPosition) To initialize a simulated ssiPosition.
void	writeTargetPosition(int relativePosition) This methods does nothing but save the relativePosition given as argument.

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

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

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

changeEPOSParameter, changeMode, changeProfileVelocity, checkParameters, faultReset, getMode, initializeAndCheckHardware, isEnabledToPublish, printControlWord, printStatusWord, publishData, readControlWord, readCurrentAverageValue, readParameter, 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, printSerialNumber, readSDO, 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.subsystems.fcs.common.EPOSControllerForCarousel

checkHomingDone, defineAbsolutePosition, setPositionSensorTypeEncoderSSI, setPositionSensorTypeSinusIncrementalEncoder

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

changeMode, changeProfileVelocity, checkCurrent, checkEnabled, checkFault, checkParameters, checkTargetReached, convertEPOSValue, createStatusDataPublishedByEPOSController, definePositionFromNegativeLimitSwitch, disable, disableVoltage, displayErrorHistory, enable, enableAndWriteAbsolutePosition, enableAndWriteCurrent, getErrorHistory, getErrorRegister, getMode, isEnabled, isEnabledToPublish, isInError, isInMode, isParametersOK, isTargetReached, quickStop, readControlWord, 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, doInitializePDOs, getName, getNodeID, getSerialNB, initializeAndCheckHardware, initializePDOs, isBooted, isInitialized, printState, publishData, 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, raiseWarning, raiseWarning

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

build, postBuild, postInit, postShutdown, postStart, shutdown, start

Constructor Detail

SimuCarouselController

public SimuCarouselController(int nodeID,
                              String serialNB,
                              Map<String,Integer> paramsForCurrent,
                              Map<String,Integer> paramsForProfilePosition,
                              Map<String,Integer> paramsForHoming)

Build a new SimuCarouselController

Parameters:

nodeID -

serialNB -

paramsForCurrent -

paramsForProfilePosition -

paramsForHoming -

Method Detail

setSsiPosition

public void setSsiPosition(int ssiPosition)

To initialize a simulated ssiPosition.

Parameters:

ssiPosition -

init

public void init()

Specified by:

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

enableAndWriteRelativePosition

public void enableAndWriteRelativePosition(int pos)

Description copied from interface: EPOSController

Enable controller and go to relative position. Doesn't check condition. DANGER !!!!

Specified by:

enableAndWriteRelativePosition in interface EPOSController

Overrides:

enableAndWriteRelativePosition in class SimuEPOSController

writeTargetPosition

@Command(type=ACTION,
         level=1,
         description="In PROFILE_POSITION mode this methods set the target position.")
public void writeTargetPosition(int relativePosition)
                                                                                                                                                        throws FcsHardwareException

This methods does nothing but save the relativePosition given as argument.

Specified by:

writeTargetPosition in interface EPOSController

Overrides:

writeTargetPosition in class SimuEPOSController

Parameters:

relativePosition -

Throws:

FcsHardwareException

SDORequestException