org.lsst.ccs.subsystems.fcs.simulation

Class SimuEPOSController

java.lang.Object

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

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

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

All Implemented Interfaces:

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

Direct Known Subclasses:

SimuAutochangerLatchController, SimuAutochangerLinearRailController, SimuAutochangerOnlineClampController, SimuCarouselClampController, SimuLoaderCarrierController, SimuLoaderClampController

public class SimuEPOSController
extends CanOpenEPOS
implements org.lsst.ccs.framework.HasLifecycle

This class is to simulate an EPOS Controller.

Author:

virieux

Field Summary

Fields

Modifier and Type	Field and Description
protected int	actualCurrent
protected int	ssiPosition
protected int	targetCurrent
protected int	targetPosition

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

current, eposState, followingError, mode, parametersOK, position, simuEnabled, statusWord, velocity

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

booted, dataProviderDictionaryService, 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
SimuEPOSController() Build a new SimuEPOSControllerModule

Method Summary

Modifier and Type	Method and Description
void	checkFault() Check if the Controller is in fault.
void	checkParameters(EPOSEnumerations.EposMode aMode) For every parameter to be defined for this mode this method compares the values in configuration with the value stored in controller CPU and throws a FcsHardwareException if these values are not equal.
void	defineAbsolutePosition(int position) Defines the actual position as the absolute position which value is given as an argument.
String	displayErrorHistory() Read error history on the device and return its String representation.
void	enable() This methods enables the controller : i.e.
void	enableAndWriteRelativePosition(int pos) Enable controller and go to relative position.
int	getErrorHistoryNB() Return the number of errors that occured on this controller.
void	goToOperationEnable()
void	goToSwitchOnDisabled()
boolean	isEnabled() Read statusWord, update eposState and returns true if the controller is in state OPERATION_ENABLE.
boolean	isParametersOK() We assum that simulated hardware'subs controller has always correct parameters.
boolean	isTargetReached() overriden for simulation
void	postStart()
void	quickStop() Send a quickStop command to the controller.
int	readCurrent() In Current Mode this methods returns the current actualy received by the motor.
int	readErrorRegister() Read Error Register on the controller (index 1001).
EPOSEnumerations.EposMode	readMode() Reads the EPOS mode in the CPU of the EPOS device, updates the field mode and returns the mode as a String.
String	readParameters(EPOSEnumerations.EposMode mode) Read all the value of parameters for a given EPOS mode and return a printed list of this values.
int	readPosition() Reads in the CPU the value of the parameter PositionActualValue and returns it in a decimal format.
long	readProfileVelocity() In PROFILE_POSITION returns the value of the parameter ProfileVelocity.
int	readSSIPosition() Read the position returned by the absolute encoder (single serial data).
int	readStatusWord() Read the status word (index=6041, subindex=0,size=2)
void	setPosition(int actualPosition)
void	stopAction() Stop action and shutdownController(shutdown) controller.
void	updateErrorHistory() read error history on the device and update error history fields : errorHistory, lastErrorCode, lastErrorName.
void	writeControlWord(int w) Write a value in the control word (index=6040, subindex=0,size=2)
void	writeCurrent(int aValue) In unsCurrent mode this methods send a unsCurrent to the motor.
void	writeParameter(EPOSEnumerations.Parameter param, int value) This method writes a parameter in the CPU of the EPOS.
void	writeParameters(EPOSEnumerations.EposMode mode) This methods writes in the CPU of the EPOS devis the values of the parameters set for the mode.
void	writeParameters(Map<String,Integer> paramMap) Write to the CPU of the EPOS a map of parameters.
void	writeTargetPosition(int position) In PROFILE_POSITION mode this methods set the target position.

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

build, changeEPOSParameter, changeMode, changeProfileVelocity, checkParameters, faultReset, getCurrent, getEposState, getFollowingError, getMode, getPosition, getStatusWord, getVelocity, init, initializeAndCheckHardware, isInError, printControlWord, publishData, readControlWord, readCurrentAverageValue, readFollowingError, readParameter, readVelocity, restoreParameters, setCurrent, setEposState, setVelocity, updateStatusWord

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

configAsHeartbeatConsumer, configAsHeartbeatProducer, createStatusDataPublishedByCanOpenDevice, displayError, displayErrorRegister, doInitializePDOs, getAlertService, getErrorHistory, getErrorRegister, getLastErrorCode, getLastErrorName, getName, getNodeID, getSerialNB, getSubsystem, getTcpProxy, isBooted, isInitialized, onEmergencyMessage, printSerialNumber, readDeviceType, readNumberOfErrors, readSDO, resetError, saveParameters, setBooted, toString, updateDeviceInfo, updateFromPDO, 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.framework.HasLifecycle

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

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

checkEposMode, checkHomingDone, checkState, checkTargetReached, convertEPOSValue, createStatusDataPublishedByEPOSController, defineHomingCurrentThresholdNegativeSpeed, definePositionFromNegativeLimitSwitch, disableOperation, disableVoltage, enableAndWriteAbsolutePosition, enableAndWriteCurrent, getErrorRegister, getLastErrorCode, getLastErrorName, isFault, isInMode, isInState, isOperationEnabled, isQuickstop, isReadyToSwitchOn, isSwitchedOn, isSwitchOnDisabled, printStatusWordInBinary, readControllerStructure, readHomingMethod, readParameter, readParameters, readParameters, readPositionSensorType, shutdownController, stopPosition, stopVelocity, switchOnEnableOperation, updateEposState, updateEposState, updatePositionFromSDO, 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, raiseWarningIfMissing, readDeviceType, setBooted, updateDeviceInfo, 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, getAlertSeparator, getAlertService, getSubsystem, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarmOnlyIfNew, raiseAlertOnlyEveryTenMinutes, raiseAlertOnlyEveryTenMinutes, raiseAlertOnlyIfNew, raiseWarning, raiseWarning, raiseWarning, raiseWarning, raiseWarningOnlyEveryTenMinutes, raiseWarningOnlyIfNew

Field Detail

targetPosition

protected int targetPosition

ssiPosition

protected int ssiPosition

targetCurrent

protected int targetCurrent

actualCurrent

protected int actualCurrent

Constructor Detail

SimuEPOSController

public SimuEPOSController()

Build a new SimuEPOSControllerModule

Method Detail

setPosition

@Command(type=ACTION,
         level=1,
         description="For simulator only : Update position with a position given as argument.")
public void setPosition(int actualPosition)

Specified by:

setPosition in interface EPOSController

Overrides:

setPosition in class CanOpenEPOS

isTargetReached

public boolean isTargetReached()

overriden for simulation

Specified by:

isTargetReached in interface EPOSController

Returns:

enable

public void enable()

Description copied from interface: EPOSController

This methods enables the controller : i.e. this makes it able to receive commands. This is the transition command from SWITCH_ON_DISABLED to OPERATION_ENABLE. It does : shutdownController, then switchOnEnableOperation.

Specified by:

enable in interface EPOSController

goToOperationEnable

public void goToOperationEnable()

Specified by:

goToOperationEnable in interface EPOSController

goToSwitchOnDisabled

public void goToSwitchOnDisabled()

Specified by:

goToSwitchOnDisabled in interface EPOSController

isEnabled

public boolean isEnabled()

Description copied from interface: EPOSController

Read statusWord, update eposState and returns true if the controller is in state OPERATION_ENABLE.

Specified by:

isEnabled in interface EPOSController

Returns:

isParametersOK

public boolean isParametersOK()

We assum that simulated hardware'subs controller has always correct parameters.

Specified by:

isParametersOK in interface EPOSController

Overrides:

isParametersOK in class CanOpenEPOS

Returns:

defineAbsolutePosition

public void defineAbsolutePosition(int position)

Description copied from interface: EPOSController

Defines the actual position as the absolute position which value is given as an argument. Writes value 35 to set the Homing method as Actual (See EPOS documentation)

Specified by:

defineAbsolutePosition in interface EPOSController

writeParameters

public void writeParameters(EPOSEnumerations.EposMode mode)

Description copied from class: CanOpenEPOS

This methods writes in the CPU of the EPOS devis the values of the parameters set for the mode. Usually the values of the parameters are given by the configuration system.

Specified by:

writeParameters in interface EPOSController

Overrides:

writeParameters in class CanOpenEPOS

writeParameter

public void writeParameter(EPOSEnumerations.Parameter param,
                           int value)

Description copied from class: CanOpenEPOS

This method writes a parameter in the CPU of the EPOS. For end user at the console

Specified by:

writeParameter in interface EPOSController

Overrides:

writeParameter in class CanOpenEPOS

value - in decimal

writeTargetPosition

public void writeTargetPosition(int position)

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 CanOpenEPOS

Parameters:

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

writeParameters

public void writeParameters(Map<String,Integer> paramMap)

Description copied from interface: EPOSController

Write to the CPU of the EPOS a map of parameters.

Specified by:

writeParameters in interface EPOSController

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 CanOpenEPOS

Parameters:

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

stopAction

public void stopAction()

Description copied from interface: EPOSController

Stop action and shutdownController(shutdown) controller.

Specified by:

stopAction in interface EPOSController

readPosition

public int readPosition()

Description copied from interface: EPOSController

Reads in the CPU the value of the parameter PositionActualValue and returns it in a decimal format.

Specified by:

readPosition in interface EPOSController

Returns:

value in decimal format

readSSIPosition

public int readSSIPosition()

Read the position returned by the absolute encoder (single serial data).

Specified by:

readSSIPosition in interface EPOSController

Returns:

Throws:

SDORequestException

readCurrent

public int readCurrent()

Description copied from class: CanOpenEPOS

In Current Mode this methods returns the current actualy received by the motor.

Specified by:

readCurrent in interface EPOSController

Overrides:

readCurrent in class CanOpenEPOS

Returns:

the unsCurrent UNIT=mA / FORMAT=decimal

readMode

public EPOSEnumerations.EposMode readMode()

Description copied from class: CanOpenEPOS

Reads the EPOS mode in the CPU of the EPOS device, updates the field mode and returns the mode as a String.

Specified by:

readMode in interface EPOSController

Overrides:

readMode in class CanOpenEPOS

Returns:

mode

readStatusWord

public int readStatusWord()

Description copied from class: CanOpenEPOS

Read the status word (index=6041, subindex=0,size=2)

Specified by:

readStatusWord in interface EPOSController

Overrides:

readStatusWord in class CanOpenEPOS

Returns:

value in hexa

quickStop

public void quickStop()

Description copied from interface: EPOSController

Send a quickStop command to the controller. see EPOS2_Application_Notes_Collection_En.pdf §8 page 8-104

Specified by:

quickStop in interface EPOSController

getErrorHistoryNB

public int getErrorHistoryNB()

Description copied from interface: EPOSController

Return the number of errors that occured on this controller.

Specified by:

getErrorHistoryNB in interface EPOSController

Overrides:

getErrorHistoryNB in class CanOpenDevice

Returns:

readErrorRegister

public int readErrorRegister()

Description copied from class: CanOpenDevice

Read Error Register on the controller (index 1001).

Overrides:

readErrorRegister in class CanOpenDevice

Returns:

error code

updateErrorHistory

public void updateErrorHistory()

Description copied from class: CanOpenDevice

read error history on the device and update error history fields : errorHistory, lastErrorCode, lastErrorName. Error history holds errors that have occurred on the device.

Overrides:

updateErrorHistory in class CanOpenDevice

displayErrorHistory

public String displayErrorHistory()

Description copied from class: CanOpenDevice

Read error history on the device and return its String representation.

Specified by:

displayErrorHistory in interface EPOSController

Overrides:

displayErrorHistory in class CanOpenDevice

Returns:

checkFault

@Command(type=QUERY,
         level=1,
         description="Check if the Controller is in fault.")
public void checkFault()

Description copied from class: CanOpenEPOS

Check if the Controller is in fault.

Specified by:

checkFault in interface EPOSController

Overrides:

checkFault in class CanOpenEPOS

readProfileVelocity

public long readProfileVelocity()

Description copied from interface: EPOSController

In PROFILE_POSITION returns the value of the parameter ProfileVelocity.

Specified by:

readProfileVelocity in interface EPOSController

Returns:

readParameters

public String readParameters(EPOSEnumerations.EposMode mode)

Description copied from interface: EPOSController

Read all the value of parameters for a given EPOS mode and return a printed list of this values.

Specified by:

readParameters in interface EPOSController

Returns:

checkParameters

public void checkParameters(EPOSEnumerations.EposMode aMode)

Description copied from class: CanOpenEPOS

For every parameter to be defined for this mode this method compares the values in configuration with the value stored in controller CPU and throws a FcsHardwareException if these values are not equal. values stored in the controller CPU.

Specified by:

checkParameters in interface EPOSController

Overrides:

checkParameters in class CanOpenEPOS

writeControlWord

public void writeControlWord(int w)

Description copied from class: CanOpenEPOS

Write a value in the control word (index=6040, subindex=0,size=2)

Specified by:

writeControlWord in interface EPOSController

Overrides:

writeControlWord in class CanOpenEPOS

enableAndWriteRelativePosition

@Command(type=ACTION,
         level=3,
         description="Enable controller and go to relative position. Doesn\'t check condition. DANGER !!!! ")
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

postStart

public void postStart()

Specified by:

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