org.lsst.ccs.subsystems.fcs.drivers

Class CanOpenEPOSAutochangerLatch

java.lang.Object

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

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

org.lsst.ccs.subsystems.fcs.drivers.CanOpenEPOSAutochangerLatch

All Implemented Interfaces:

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

public class CanOpenEPOSAutochangerLatch
extends CanOpenEPOS

Field Summary

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

averageCurrent, controlWord, current, eposState, followingError, hasEncoder, mode, parametersOK, position, profileAcceleration, profileDeceleration, profileVelocity, simuEnabled, statusWord, velocity

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
CanOpenEPOSAutochangerLatch()

Method Summary

Modifier and Type	Method and Description
void	doInitializePDOs() Do nothing if this device doesn't send PDOs except log for debug purpose.
int	getCobid1()
long	getPdo1()
void	setCobid1(int cobid)
void	setPdo1(long pdo)
void	updateFromPDO(org.lsst.ccs.drivers.canopenjni.PDOData pdo) Do nothing if this device doesn't send PDOs except log for debug purpose.

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

build, changeEPOSParameter, changeMode, checkFault, checkParameters, checkParameters, faultReset, getAverageCurrent, getCurrent, getEposState, getFollowingError, getMode, getPosition, getProfileAcceleration, getProfileDeceleration, getProfileVelocity, getStatusWord, getVelocity, init, initializeAndCheckHardware, isInError, isParametersOK, printControlWord, printPDOConfiguration, publishData, publishDataDuringMotion, readControlWord, readCurrent, readCurrentAverageValue, readFollowingError, readMode, readParameter, readStatusWord, readVelocity, restoreParameters, setCurrent, setEposState, setPosition, setProfileAcceleration, setProfileDeceleration, setProfileVelocity, setVelocity, updateStatusWord, writeControlWord, writeCurrent, writeParameter, writeParameters, writeTargetPosition

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, getPath, getSerialNB, getSubsystem, getTcpProxy, isBooted, isInitialized, onEmergencyMessage, printSerialNumber, readDeviceType, readErrorRegister, readNumberOfErrors, readSDO, resetError, saveParameters, setBooted, toString, updateDeviceInfo, 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.EPOSController

changeProfileAcceleration, changeProfileDeceleration, changeProfileVelocity, checkEposMode, checkHomingDone, checkState, checkTargetReached, convertEPOSValue, createStatusDataPublishedByEPOSController, createStatusDataPublishedDuringMotionNoEncoder, createStatusDataPublishedDuringMotionWithEncoder, defineAbsolutePosition, defineHomingCurrentThresholdNegativeSpeed, definePositionFromNegativeLimitSwitch, disableOperation, disableVoltage, displayErrorHistory, enable, enableAndWriteAbsolutePosition, enableAndWriteCurrent, enableAndWriteRelativePosition, getErrorHistoryNB, getErrorRegister, getLastErrorCode, getLastErrorName, goToOperationEnable, goToSwitchOnDisabled, isEnabled, isFault, isHomingAttained, isInMode, isInState, isOperationEnabled, isQuickstop, isReadyToSwitchOn, isSwitchedOn, isSwitchOnDisabled, isTargetReached, printStatusWordInBinary, quickStop, readControllerStructure, readHomingMethod, readParameter, readParameters, readParametersForMode, readPosition, readPositionSensorType, readProfileAcceleration, readProfileDeceleration, readProfileVelocity, readSSIPosition, shutdownController, stopAction, stopPosition, stopVelocity, switchOnEnableOperation, updateDataDuringMotionFromSDO, updateEposState, updateEposState, updatePositionFromSDO, writeControlWord, writeParameters, writeParameters

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

checkBooted, checkId, checkInitialized, createStatusDataPublishedByHardware, getName, getNodeID, getPath, getSerialNB, initializePDOs, isBooted, isInitialized, printState, raiseAlarmIfMissing, raiseWarningIfMissing, readDeviceType, setBooted, updateDeviceInfo

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

CanOpenEPOSAutochangerLatch

public CanOpenEPOSAutochangerLatch()

Method Detail

getCobid1

public int getCobid1()

Returns:

the cobid

setCobid1

public void setCobid1(int cobid)

Parameters:

cobid - the cobid to set

getPdo1

public long getPdo1()

Returns:

the pdo1

setPdo1

public void setPdo1(long pdo)

Parameters:

pdo - the pdo1 to set

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 overridden 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)

Description copied from class: CanOpenDevice

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

Specified by:

updateFromPDO in interface PieceOfHardware

Overrides:

updateFromPDO in class CanOpenDevice