org.lsst.ccs.subsystems.fcs.simulation

Class SimuBridgeForCPPMTestBench

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

org.lsst.ccs.subsystems.fcs.drivers.BridgeToCanOpenHardware

org.lsst.ccs.subsystems.fcs.simulation.SimuBridgeForCPPMTestBench

All Implemented Interfaces:

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

public class SimuBridgeForCPPMTestBench
extends BridgeToCanOpenHardware

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
SimuEPOSControllerModule	latchController
SimuEPOSControllerModule	linearRailMasterController
SimuEPOSControllerModule	linearRailSlaveController
SimuEPOSControllerModule	onlineClampController
SimuPlutoGateway	plutoGateway
protected SimuCanOpenProxy	simuTcpProxy

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

configurationChecked, fcslog, hardwareInitialized, hardwareMap, tcpProxy

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

environment, log, name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description
SimuBridgeForCPPMTestBench(String aName, int aTickMillis, SimuCanOpenProxy tcpProxy, SimuPlutoGateway plutoGateway, SimuEPOSControllerModule latchController, SimuEPOSControllerModule linearRailMasterController, SimuEPOSControllerModule linearRailSlaveController, SimuEPOSControllerModule onlineClampController)

Method Summary

Modifier and Type	Method and Description
CanOpenProxy	getTcpProxy()
boolean	isCWrapperConnected() This method returns true if the C-Wrapper is connected to the tcp proxy.
boolean	isHardwareReady() returns true if the hardware is booted, identified and initialized.
boolean	isRealHardware()
CanOpenProxy.PDOStorage	readPDOs()
void	startServer()
void	startThreadReader()
String	toString()

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

initModule, listHardware, printChildren, sendCanOpen

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.framework.Configurable

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

Field Detail

simuTcpProxy

protected SimuCanOpenProxy simuTcpProxy

plutoGateway

public SimuPlutoGateway plutoGateway

latchController

public SimuEPOSControllerModule latchController

linearRailMasterController

public SimuEPOSControllerModule linearRailMasterController

linearRailSlaveController

public SimuEPOSControllerModule linearRailSlaveController

onlineClampController

public SimuEPOSControllerModule onlineClampController

Constructor Detail

SimuBridgeForCPPMTestBench

public SimuBridgeForCPPMTestBench(String aName,
                                  int aTickMillis,
                                  SimuCanOpenProxy tcpProxy,
                                  SimuPlutoGateway plutoGateway,
                                  SimuEPOSControllerModule latchController,
                                  SimuEPOSControllerModule linearRailMasterController,
                                  SimuEPOSControllerModule linearRailSlaveController,
                                  SimuEPOSControllerModule onlineClampController)

Method Detail

isRealHardware

public boolean isRealHardware()

Specified by:

isRealHardware in interface BridgeToHardware

Overrides:

isRealHardware in class BridgeToCanOpenHardware

Returns:

true if this bridge is connected with real hardware, false if the hardware is simulated.

isCWrapperConnected

public boolean isCWrapperConnected()

Description copied from class: BridgeToCanOpenHardware

This method returns true if the C-Wrapper is connected to the tcp proxy. The C-Wrapper has to send the tcpProxy clientName as a keyword before any communication can begin. So if the C-Wrapper doesn't send the good keyword or if it doesn't connect to the tcp proxy, this method returns false.

Specified by:

isCWrapperConnected in interface BridgeToHardware

Overrides:

isCWrapperConnected in class BridgeToCanOpenHardware

isHardwareReady

public boolean isHardwareReady()

Description copied from class: BridgeToCanOpenHardware

returns true if the hardware is booted, identified and initialized.

Specified by:

isHardwareReady in interface BridgeToHardware

Overrides:

isHardwareReady in class BridgeToCanOpenHardware

getTcpProxy

public CanOpenProxy getTcpProxy()

Specified by:

getTcpProxy in interface BridgeToHardware

Overrides:

getTcpProxy in class BridgeToCanOpenHardware

readPDOs

public CanOpenProxy.PDOStorage readPDOs()
                                 throws FcsHardwareException,
                                        org.lsst.ccs.messaging.BadCommandException

Specified by:

readPDOs in interface BridgeToHardware

Overrides:

readPDOs in class BridgeToCanOpenHardware

Throws:

FcsHardwareException

org.lsst.ccs.messaging.BadCommandException

startServer

public void startServer()

Specified by:

startServer in interface BridgeToHardware

Overrides:

startServer in class BridgeToCanOpenHardware

startThreadReader

public void startThreadReader()

Specified by:

startThreadReader in interface BridgeToHardware

Overrides:

startThreadReader in class BridgeToCanOpenHardware

toString

public String toString()

Overrides:

toString in class BridgeToCanOpenHardware