org.lsst.ccs.subsystems.fcs.drivers

Class CanOpenEPOSCarousel

java.lang.Object

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

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

org.lsst.ccs.subsystems.fcs.drivers.CanOpenEPOSCarousel

All Implemented Interfaces:

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

Direct Known Subclasses:

SimuCarouselController

public class CanOpenEPOSCarousel
extends CanOpenEPOS
implements EPOSControllerForCarousel

Author:

virieux

Nested Class Summary

Nested classes/interfaces inherited from interface org.lsst.ccs.framework.ClearAlertHandler

org.lsst.ccs.framework.ClearAlertHandler.ClearAlertCode

Field Summary

Fields

Modifier and Type	Field and Description
protected int	cobid1 define cobid to be able to read values from PDO data.
protected int	cobid2

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

current, enabledToPublish, followingError, mode, parametersOK, position, statusWord, velocity

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

booted, errorHistory, errorRegister, inError, initialized, lastErrorCode, lastErrorName, name, nodeID, serialNB, subs, tcpProxy

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

alertSeparator

Constructor Summary

Constructors

Constructor and Description
CanOpenEPOSCarousel(int nodeID, String serialNB)

Method Summary

Modifier and Type	Method and Description
void	doInitializePDOs() Do nothing if this device doesn't send PDOs except log for debug purpose.
static int	extractCurrentAverage(long pdo)
static int	extractFollowingError(long pdo)
static int	extractPosition(long pdo)
static int	extractStatusWord(long pdo)
static int	extractVelocity(long pdo)
int	getCobid1() for simulation only
int	getCobid2() for simulation only
long	getPdo1() for simulation
long	getPdo2() for simulation
String	printValuesUpdatedByPDOs() For tests and debug
void	setPdo1(long pdo1) set a pdo1 for simulation
void	setPdo2(long pdo2) set a pdo2 for simulation
void	updateFromPDO(org.lsst.ccs.drivers.canopenjni.PDOData pdo) process PDOData to retrieve data from this device.

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

changeEPOSParameter, changeMode, changeProfileVelocity, checkFault, checkParameters, checkParameters, faultReset, getCurrent, getFollowingError, getMode, getPosition, getVelocity, initializeAndCheckHardware, isEnabledToPublish, isParametersOK, printControlWord, publishData, readControlWord, readCurrent, readCurrentAverageValue, readFollowingError, readMode, readParameter, readStatusWord, readVelocity, restoreParameters, setEnabledToPublish, writeControlWord, writeCurrent, writeParameter, writeParameters, writeTargetPosition, writeTargetVelocity

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

configAsHeartbeatConsumer, configAsHeartbeatProducer, createStatusDataPublishedByCanOpenDevice, displayError, displayErrorHistory, displayErrorRegister, getAlertService, getErrorHistory, getErrorHistoryNB, getErrorRegister, getLastErrorCode, getLastErrorName, getName, getNodeID, getSerialNB, getSubsystem, getTcpProxy, isBooted, isInError, isInitialized, onEmergencyMessage, printSerialNumber, readErrorRegister, readNumberOfErrors, readSDO, resetError, saveParameters, setBooted, toString, updateErrorHistory, writeSDO, writeTransmissionTypeToDevice

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

defineAbsolutePosition, setPositionSensorTypeEncoderSSI, setPositionSensorTypeSinusIncrementalEncoder

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

canClearAlert, changeMode, changeProfileVelocity, checkEnabled, checkFault, checkHomingDone, checkParameters, checkTargetReached, convertEPOSValue, createStatusDataPublishedByEPOSController, definePositionFromNegativeLimitSwitch, disableOperation, disableVoltage, displayErrorHistory, enable, enableAndWriteAbsolutePosition, enableAndWriteCurrent, enableAndWriteRelativePosition, getCurrent, getErrorHistoryNB, getErrorRegister, getLastErrorCode, getLastErrorName, getMode, getPosition, getVelocity, isEnabled, isEnabledToPublish, isInError, isInMode, isParametersOK, isTargetReached, printStatusWordInBinary, quickStop, readControlWord, readCurrent, readCurrentAverageValue, readFollowingError, readMode, readParameter, readParameter, readParameters, readParameters, readParameters, readPosition, readPositionSensorType, readProfileVelocity, readSSIPosition, readStatusWord, readVelocity, setEnabledToPublish, shutdownController, stopAction, stopPosition, stopVelocity, switchOn, switchOnEnableOperation, writeControlWord, writeCurrent, writeParameter, writeParameters, writeParameters, writeParameters, writeTargetPosition, writeTargetVelocity

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

checkBooted, checkId, checkInitialized, createStatusDataPublishedByHardware, getName, getNodeID, getSerialNB, initializeAndCheckHardware, initializePDOs, 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, getAlertSeparator, getAlertService, getSubsystem, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseWarning, raiseWarning

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

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

Field Detail

cobid1

protected int cobid1

define cobid to be able to read values from PDO data.

cobid2

protected int cobid2

Constructor Detail

CanOpenEPOSCarousel

public CanOpenEPOSCarousel(int nodeID,
                           String serialNB)

Method Detail

setPdo1

public void setPdo1(long pdo1)

set a pdo1 for simulation

Parameters:

pdo1 -

setPdo2

public void setPdo2(long pdo2)

set a pdo2 for simulation

Parameters:

pdo2 -

getPdo1

public long getPdo1()

for simulation

Returns:

pdo1

getPdo2

public long getPdo2()

for simulation

Returns:

pdo2

getCobid1

public int getCobid1()

for simulation only

Returns:

cobid1

getCobid2

public int getCobid2()

for simulation only

Returns:

cobid2

doInitializePDOs

public void doInitializePDOs()
                      throws org.lsst.ccs.drivers.commons.DriverException

Description copied from class: CanOpenDevice

Do nothing if this device doesn't send PDOs except log for debug purpose. To be overriden if this device sends PDOS.

Specified by:

doInitializePDOs in interface PieceOfHardware

Overrides:

doInitializePDOs in class CanOpenDevice

Throws:

org.lsst.ccs.drivers.commons.DriverException

updateFromPDO

public void updateFromPDO(org.lsst.ccs.drivers.canopenjni.PDOData pdo)

process PDOData to retrieve data from this device.

Specified by:

updateFromPDO in interface PieceOfHardware

Overrides:

updateFromPDO in class CanOpenDevice

Parameters:

pdo -

extractStatusWord

public static int extractStatusWord(long pdo)

Parameters:

pdo -

Returns:

statusWord from pdo

extractCurrentAverage

public static int extractCurrentAverage(long pdo)

Parameters:

pdo -

Returns:

current from pdo

extractPosition

public static int extractPosition(long pdo)

Parameters:

pdo -

Returns:

current from pdo

extractFollowingError

public static int extractFollowingError(long pdo)

Parameters:

pdo -

Returns:

following from pdo

extractVelocity

public static int extractVelocity(long pdo)

Parameters:

pdo -

Returns:

velocity from pdo

printValuesUpdatedByPDOs

@Command(type=QUERY,
         level=1,
         description="print values updated by PDOs to debug and test")
public String printValuesUpdatedByPDOs()

For tests and debug

Returns:

values updated by PDOs