org.lsst.ccs.subsystems.fcs.drivers

Class CanOpenPlutoGateway

java.lang.Object

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

org.lsst.ccs.subsystems.fcs.drivers.PlutoGateway

org.lsst.ccs.subsystems.fcs.drivers.CanOpenPlutoGateway

All Implemented Interfaces:

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

public class CanOpenPlutoGateway
extends PlutoGateway

A class to represent the CANopen pluto gateway which is a device where we can read sensors. Used for the autochanger and the loader sensors. There is 2 devices plutoGateway : one for the autochanger, another one for the loader.

Author:

virieux

Field Summary

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

readValues, sensorsMap

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

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

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

alertSeparator

Constructor Summary

Constructors

Constructor and Description
CanOpenPlutoGateway()

Method Summary

Modifier and Type	Method and Description
void	configurePlutoGateway() Configures the gateway.
void	init()
void	initializeAndCheckHardware() This methods has to be overridden if there is some initialization to do for the device.
int[]	readNewValues() return an array of 16 values read on the device.
void	writeTransmissionType(int transmissionType) Write a transmission type in the CPU of the pluto gateway.

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

build, createStatusDataPublishedByPlutoGatewayModule, listMySensorsNames, publishData, toString, updateValues

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

configAsHeartbeatConsumer, configAsHeartbeatProducer, createStatusDataPublishedByCanOpenDevice, displayError, displayErrorHistory, displayErrorRegister, doInitializePDOs, getAlertService, getErrorHistory, getErrorHistoryNB, getErrorRegister, getLastErrorCode, getLastErrorName, getName, getNodeID, getPath, getSerialNB, getSubsystem, getTcpProxy, isBooted, isInError, isInitialized, onEmergencyMessage, printSerialNumber, readDeviceType, readErrorRegister, readNumberOfErrors, readSDO, resetError, saveParameters, setBooted, updateDeviceInfo, updateErrorHistory, 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.subsystems.fcs.common.PlutoGatewayInterface

getName

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

checkBooted, checkId, checkInitialized, createStatusDataPublishedByHardware, doInitializePDOs, getNodeID, getPath, 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

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

postBuild, postInit, postShutdown, postStart, shutdown, start

Constructor Detail

CanOpenPlutoGateway

public CanOpenPlutoGateway()

Method Detail

init

public void init()

Specified by:

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

Overrides:

init in class PlutoGateway

initializeAndCheckHardware

@Command(type=ACTION,
         level=1,
         description="Initialize the Gateway.")
public void initializeAndCheckHardware()

Description copied from class: CanOpenDevice

This methods has to be overridden if there is some initialization to do for the device.

Specified by:

initializeAndCheckHardware in interface PieceOfHardware

Overrides:

initializeAndCheckHardware in class CanOpenDevice

configurePlutoGateway

@Command(type=ACTION,
         level=1,
         description="Configures this gateway for subsystem needs. If gateway\'s name contains loader it executes configureLoaderPlutoGatewayelse it executes configureAutochangerPlutoGateway.")
public void configurePlutoGateway()

Configures the gateway. Configuration depends on specific needs for each subsystems. This methods switches to the right configuration in reading the name of the gateway.

writeTransmissionType

public void writeTransmissionType(int transmissionType)

Write a transmission type in the CPU of the pluto gateway.

Parameters:

transmissionType -

Throws:

FcsHardwareException

FailedCommandException

readNewValues

@Command(type=QUERY,
         level=1,
         description="Return values read on the device.")
public int[] readNewValues()

return an array of 16 values read on the device. It reads 16 PDO (rsdo) with index from 0x6000 to 0x6003, and subindex from 1 to 4.

Returns:

readValues