org.lsst.ccs.subsystems.fcs.drivers

Class CanOpenDevice

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

All Implemented Interfaces:

Observer, org.lsst.ccs.framework.Configurable, org.lsst.ccs.framework.SignalHandler, PieceOfHardware

Direct Known Subclasses:

CanOpenADC, CanOpenDAC, CanOpenDigitaxVariator, CanOpenEPOS, SimuEPOSControllerModule

public class CanOpenDevice
extends org.lsst.ccs.framework.Module
implements PieceOfHardware

Author:

virieux

Nested Class Summary

Nested classes/interfaces inherited from class org.lsst.ccs.framework.Module

org.lsst.ccs.framework.Module.ValueUpdate

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

org.lsst.ccs.framework.Configurable.Environment

Field Summary

Fields

Modifier and Type	Field and Description
protected static Logger	fcslog

Fields inherited from class org.lsst.ccs.framework.Module

environment, log, name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description
CanOpenDevice(String aName, int aTickMillis, String nodeID, String serialNB)

Method Summary

Modifier and Type	Method and Description
String	displayErrorHistory()
String	displayErrorRegister()
String[]	getErrorHistoryNames() For the GUI or to display at the console : return a list of String with the error code and the error name.
String	getNodeID()
String	getSerialNB()
String	initializeAndCheckHardware() This methods has to be overridden if there is some initialization to do for the device.
void	initModule()
boolean	isBooted()
boolean	isInitialized()
String[]	readErrorHistory() The error history holds errors that have occurred on the device and have been signalled via the emergency object.
String	readErrorRegister() At index 1001 there deviceErrorFile an error register for the device.
int	readNumberOfErrors() Extract from the Maxon Motor firmware specification : Contains the number of actual errors that are recorded in the array starting at subindex 1.
String	readSDO(String index, String subindex)
Object	saveParameters() This method saves the parameters in the controller memory.
void	setBooted(boolean booted)
String	toString()
String	writeSDO(String index, String subindex, String length, String newValue)

Methods inherited from class org.lsst.ccs.framework.Module

alias, getComponentTree, getEnvironment, getModule, getName, getNObserverThreads, getObservables, getSubsystem, getTickMillis, init, listens, percolateSignal, postStart, processUpdate, sendSignal, sendSignalWithTimeLimit, setEnvironment, setName, setNObserverThreads, setObservables, setTickMillis, shutdownNow, signal, startTicking, tick, update

Methods inherited from class java.util.Observable

addObserver, clearChanged, countObservers, deleteObserver, deleteObservers, hasChanged, notifyObservers, notifyObservers, setChanged

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.PieceOfHardware

getName

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

change, getCheckedValueFromConfiguration, getChildren, getComponentByName, getFullPath, getParent, getParentObject, injectResources, listChildren, notifyChange, notifyChangeWithoutPreliminaryChecks, proceduralWalk, start, treeWalk

Field Detail

fcslog

protected static final Logger fcslog

Constructor Detail

CanOpenDevice

public CanOpenDevice(String aName,
                     int aTickMillis,
                     String nodeID,
                     String serialNB)

Method Detail

setBooted

public void setBooted(boolean booted)

Specified by:

setBooted in interface PieceOfHardware

getSerialNB

@Command(type=QUERY,
         level=1,
         description="Returns this CANopen device\'s serial number.")
public String getSerialNB()

Specified by:

getSerialNB in interface PieceOfHardware

getNodeID

@Command(type=QUERY,
         level=1,
         description="Returns this CANopen device\'s node ID.")
public String getNodeID()

Specified by:

getNodeID in interface PieceOfHardware

isBooted

@Command(type=QUERY,
         level=1,
         description="Returns true if this CANopen node is booted.")
public boolean isBooted()

Specified by:

isBooted in interface PieceOfHardware

Returns:

true If this piece of hardware is booted and the nodeID on the hardware is the same than the one in the Configuration DB.

isInitialized

public boolean isInitialized()

Specified by:

isInitialized in interface PieceOfHardware

Returns:

true if the hardware has been initialized with success, false otherwise.

initModule

public void initModule()

Overrides:

initModule in class org.lsst.ccs.framework.Module

initializeAndCheckHardware

public String initializeAndCheckHardware()
                                  throws FcsHardwareException

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

Specified by:

initializeAndCheckHardware in interface PieceOfHardware

Returns:

a message

Throws:

FcsHardwareException

writeSDO

@Command(type=ACTION,
         level=3,
         description="Write on the Can Open Device with a command wsdo.")
public String writeSDO(String index,
                                                                                                                                         String subindex,
                                                                                                                                         String length,
                                                                                                                                         String newValue)
                                                                                                                                  throws SDORequestException

Throws:

SDORequestException

readSDO

@Command(type=QUERY,
         level=3,
         description="Reads the Can Open Device with a command rsdo.")
public String readSDO(String index,
                                                                                                                                    String subindex)
                                                                                                                             throws SDORequestException,
                                                                                                                                    ShortResponseToSDORequestException

Throws:

SDORequestException

ShortResponseToSDORequestException

readErrorRegister

@Command(type=QUERY,
         level=3,
         description="Reads Error Register on the controller - in hexa (index 1001).")
public String readErrorRegister()
                                                                                                                                                       throws SDORequestException,
                                                                                                                                                              ShortResponseToSDORequestException

At index 1001 there deviceErrorFile an error register for the device. The device maps internal errors in this byte.

Returns:

error code in Hexa

Throws:

SDORequestException

ShortResponseToSDORequestException

displayErrorRegister

@Command(type=QUERY,
         level=3,
         description="Display Error Register on the controller (index 1001).")
public String displayErrorRegister()
                                                                                                                                                  throws SDORequestException,
                                                                                                                                                         ShortResponseToSDORequestException

Throws:

SDORequestException

ShortResponseToSDORequestException

readErrorHistory

public String[] readErrorHistory()
                          throws SDORequestException,
                                 ShortResponseToSDORequestException

The error history holds errors that have occurred on the device and have been signalled via the emergency object. This methods reads the Maxon Motor Error History and returns an array of error code.

Returns:

errors : a list of device error code

Throws:

SDORequestException

ShortResponseToSDORequestException

displayErrorHistory

@Command(type=QUERY,
         level=1,
         description="Display Error Register on the controller (index 1001).")
public String displayErrorHistory()
                                                                                                                                                 throws SDORequestException,
                                                                                                                                                        ShortResponseToSDORequestException

Throws:

SDORequestException

ShortResponseToSDORequestException

readNumberOfErrors

@Command(type=QUERY,
         level=1,
         description="Read and returns the number of errors registred in the Error History.")
public int readNumberOfErrors()
                                                                                                                                                            throws SDORequestException,
                                                                                                                                                                   ShortResponseToSDORequestException

Extract from the Maxon Motor firmware specification : Contains the number of actual errors that are recorded in the array starting at subindex 1. Writing a “0” deletes the error history (empties the array). Values higher then “0” (zero) are not allowed to write." Read and returns the number of errors registred in the Error History

Throws:

SDORequestException

ShortResponseToSDORequestException

getErrorHistoryNames

public String[] getErrorHistoryNames()
                              throws SDORequestException,
                                     ShortResponseToSDORequestException

For the GUI or to display at the console : return a list of String with the error code and the error name.

Returns:

Throws:

SDORequestException

ShortResponseToSDORequestException

saveParameters

@Command(type=ACTION,
         level=3,
         description="This method saves the parameters in the controller memory.")
public Object saveParameters()
                                                                                                                                                 throws SDORequestException

This method saves the parameters in the controller memory.

Returns:

Throws:

SDORequestException

toString

@Command(type=QUERY,
         level=1,
         description="Print CANopen device.")
public String toString()

Overrides:

toString in class Object