
public class SimuClampActuatorModule extends org.lsst.ccs.framework.Module implements EPOSController
| Modifier and Type | Field and Description |
|---|---|
protected static Logger |
fcslog |
boolean |
on |
int |
readCurrentValue |
int |
sentCurrentMaxValue |
int |
sentCurrentMinValue |
int |
sentCurrentValue |
| Constructor and Description |
|---|
SimuClampActuatorModule() |
| Modifier and Type | Method and Description |
|---|---|
void |
activateBrake() |
String |
changeMode(EPOSEnumerations.EposMode newMode)
This methods changes the mode to the new mode given as an argument.
|
void |
checkFault() |
boolean |
checkMotorParameters()
This methods read the parameters of the motor stored in the actuator
(hardware configuration)and compare with the configuration stored in the
Configuration Data Base (software configuration).
|
void |
checkParameters(EPOSEnumerations.EposMode aMode) |
void |
checkParameters(String modeInString)
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 HardwareException if these values are not equal.
|
boolean |
checkTargetReached() |
void |
defineAbsolutePosition(int position)
Defines the actual position as the absolute position which value is given as an argument.
|
void |
disable() |
String |
displayErrorHistory() |
String |
enable() |
String[] |
getErrorHistory() |
String |
getErrorRegister() |
int |
getMaxCurrent() |
int |
getMaxPosition() |
int |
getMaxSpeed() |
int |
getMinCurrent() |
int |
getMinPosition() |
String |
getModeInString() |
String |
getNodeID() |
Map<String,Integer> |
getParamsForCurrent() |
Map<String,Integer> |
getParamsForHoming() |
Map<String,Integer> |
getParamsForProfilePosition() |
int |
getReadActualCurrent() |
int |
getSentCurrentMaxValue() |
int |
getSentCurrentMinValue() |
int |
getSentCurrentValue() |
String |
getSerialNB() |
StatusDataPublishedByClampActuator |
getStatusData() |
String |
initializeAndCheckHardware()
This methods write some configuration data on the hardware CPU.
|
void |
initModule() |
boolean |
isBooted() |
boolean |
isEnabled() |
boolean |
isEnabledToPublish() |
boolean |
isInError() |
boolean |
isInitialized() |
boolean |
isOff() |
boolean |
isOn() |
boolean |
isTargetPositionReached(int position) |
String |
maintainUnclamped() |
String |
off() |
String |
on() |
void |
publishActuatorData()
Deprecated.
|
void |
publishData()
Publish Data on status bus for trending data base and GUIs.
|
void |
quickStop() |
int |
readCurrent() |
EPOSEnumerations.EposMode |
readMode() |
int |
readNumberOfErrors() |
String |
readParameters(EPOSEnumerations.EposMode mode) |
int |
readPosition() |
int |
readProfileVelocity() |
int |
readSSIPosition() |
void |
releaseBrake() |
void |
setBooted(boolean aBoolean) |
void |
setOn(boolean on) |
String |
shutdown() |
void |
switchOnEnableOperation() |
void |
tick() |
String |
toString() |
void |
writeControlWord(String f) |
void |
writeCurrent(int currentValue)
In current mode this methods send a current to the motor.
|
String |
writeParameterInHexa(EPOSEnumerations.Parameter parameter,
String string) |
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 aValue)
In PROFILE_POSITION mode this methods set the target position.
|
alias, getComponentTree, getEnvironment, getModule, getName, getNObserverThreads, getObservables, getSubsystem, getTickMillis, init, listens, percolateSignal, postStart, processUpdate, sendSignal, sendSignalWithTimeLimit, setEnvironment, setName, setNObserverThreads, setObservables, setTickMillis, shutdownNow, signal, startTicking, updateaddObserver, clearChanged, countObservers, deleteObserver, deleteObservers, hasChanged, notifyObservers, notifyObservers, setChangedclone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, waitgetNameprotected static final Logger fcslog
public boolean on
public int readCurrentValue
public int sentCurrentValue
public int sentCurrentMinValue
public int sentCurrentMaxValue
public int getReadActualCurrent()
getReadActualCurrent in interface Actuatorpublic int getSentCurrentMinValue()
getSentCurrentMinValue in interface Actuatorpublic int getSentCurrentMaxValue()
getSentCurrentMaxValue in interface Actuatorpublic void initModule()
initModule in class org.lsst.ccs.framework.Modulepublic String on() throws org.lsst.ccs.messaging.BadCommandException, org.lsst.ccs.messaging.ErrorInCommandExecutionException
public void writeCurrent(int currentValue)
throws org.lsst.ccs.messaging.BadCommandException,
SDORequestException
EPOSControllerwriteCurrent in interface EPOSControllercurrentValue - UNIT=mA / FORMAT=decimal the value of the current to be sent.org.lsst.ccs.messaging.BadCommandExceptionSDORequestExceptionpublic String off() throws org.lsst.ccs.messaging.BadCommandException, org.lsst.ccs.messaging.ErrorInCommandExecutionException
public int getSentCurrentValue()
getSentCurrentValue in interface Actuatorpublic void tick()
tick in class org.lsst.ccs.framework.Modulepublic String maintainUnclamped() throws org.lsst.ccs.messaging.BadCommandException, org.lsst.ccs.messaging.ErrorInCommandExecutionException
org.lsst.ccs.messaging.BadCommandExceptionorg.lsst.ccs.messaging.ErrorInCommandExecutionExceptionpublic StatusDataPublishedByClampActuator getStatusData()
@Deprecated public void publishActuatorData()
public void publishData()
public void setOn(boolean on)
setOn in interface EPOSControllerpublic String changeMode(EPOSEnumerations.EposMode newMode) throws SDORequestException
EPOSControllerchangeMode in interface EPOSControllerSDORequestExceptionpublic boolean checkMotorParameters()
throws EPOSConfigurationException,
SDORequestException,
ShortResponseToSDORequestException
EPOSControllercheckMotorParameters in interface EPOSControllerEPOSConfigurationExceptionSDORequestExceptionShortResponseToSDORequestExceptionpublic void defineAbsolutePosition(int position)
throws SDORequestException,
org.lsst.ccs.messaging.ErrorInCommandExecutionException,
org.lsst.ccs.messaging.BadCommandException
EPOSControllerdefineAbsolutePosition in interface EPOSControllerSDORequestExceptionorg.lsst.ccs.messaging.ErrorInCommandExecutionExceptionorg.lsst.ccs.messaging.BadCommandExceptionpublic void writeParameters(EPOSEnumerations.EposMode mode) throws SDORequestException, org.lsst.ccs.messaging.ErrorInCommandExecutionException
EPOSControllerwriteParameters in interface EPOSControllerSDORequestExceptionorg.lsst.ccs.messaging.ErrorInCommandExecutionExceptionpublic void writeTargetPosition(int aValue)
throws org.lsst.ccs.messaging.BadCommandException,
SDORequestException
EPOSControllerwriteTargetPosition in interface EPOSControlleraValue - UNIT=mA / FORMAT=decimal the value of the current to be sent.org.lsst.ccs.messaging.BadCommandExceptionSDORequestExceptionpublic void writeParameters(Map<String,Integer> paramMap) throws SDORequestException
EPOSControllerwriteParameters in interface EPOSControllerSDORequestExceptionpublic boolean isTargetPositionReached(int position)
throws SDORequestException
isTargetPositionReached in interface EPOSControllerSDORequestExceptionpublic int readPosition()
throws SDORequestException,
ShortResponseToSDORequestException
readPosition in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestExceptionpublic int readSSIPosition()
throws SDORequestException,
ShortResponseToSDORequestException
readSSIPosition in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestExceptionpublic int readCurrent()
throws org.lsst.ccs.messaging.BadCommandException,
SDORequestException
readCurrent in interface EPOSControllerorg.lsst.ccs.messaging.BadCommandExceptionSDORequestExceptionpublic String enable() throws SDORequestException
enable in interface EPOSControllerSDORequestExceptionpublic EPOSEnumerations.EposMode readMode() throws SDORequestException
readMode in interface EPOSControllerSDORequestExceptionpublic int getMinCurrent()
getMinCurrent in interface EPOSControllerpublic int getMaxCurrent()
getMaxCurrent in interface EPOSControllerpublic int getMaxSpeed()
getMaxSpeed in interface EPOSControllerpublic int getMaxPosition()
getMaxPosition in interface EPOSControllerpublic int getMinPosition()
getMinPosition in interface EPOSControllerpublic void quickStop()
throws SDORequestException
quickStop in interface EPOSControllerSDORequestExceptionpublic int readNumberOfErrors()
throws SDORequestException,
ShortResponseToSDORequestException
readNumberOfErrors in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestExceptionpublic String displayErrorHistory() throws SDORequestException, ShortResponseToSDORequestException
displayErrorHistory in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestExceptionpublic void checkFault()
throws SDORequestException,
ShortResponseToSDORequestException,
FcsHardwareException
checkFault in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestExceptionFcsHardwareExceptionpublic int readProfileVelocity()
throws SDORequestException,
ShortResponseToSDORequestException
readProfileVelocity in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestExceptionpublic String readParameters(EPOSEnumerations.EposMode mode) throws SDORequestException, ShortResponseToSDORequestException
readParameters in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestExceptionpublic void checkParameters(String modeInString) throws org.lsst.ccs.HardwareException, SDORequestException, ShortResponseToSDORequestException
EPOSControllercheckParameters in interface EPOSControllerorg.lsst.ccs.HardwareExceptionSDORequestExceptionShortResponseToSDORequestExceptionpublic void checkParameters(EPOSEnumerations.EposMode aMode) throws org.lsst.ccs.HardwareException, SDORequestException, ShortResponseToSDORequestException
checkParameters in interface EPOSControllerorg.lsst.ccs.HardwareExceptionSDORequestExceptionShortResponseToSDORequestExceptionpublic void writeControlWord(String f) throws SDORequestException
writeControlWord in interface EPOSControllerSDORequestExceptionpublic String shutdown() throws SDORequestException
shutdown in interface EPOSControllerSDORequestExceptionpublic boolean isEnabled()
throws SDORequestException
isEnabled in interface EPOSControllerSDORequestExceptionpublic boolean checkTargetReached()
throws SDORequestException,
ShortResponseToSDORequestException
checkTargetReached in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestExceptionpublic void releaseBrake()
throws SDORequestException,
ShortResponseToSDORequestException
releaseBrake in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestExceptionpublic void switchOnEnableOperation()
throws SDORequestException
switchOnEnableOperation in interface EPOSControllerSDORequestExceptionpublic void activateBrake()
throws SDORequestException,
ShortResponseToSDORequestException
activateBrake in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestExceptionpublic String getSerialNB()
getSerialNB in interface PieceOfHardwarepublic String getNodeID()
getNodeID in interface PieceOfHardwarepublic boolean isBooted()
isBooted in interface PieceOfHardwarepublic void setBooted(boolean aBoolean)
setBooted in interface PieceOfHardwarepublic boolean isInitialized()
isInitialized in interface PieceOfHardwarepublic String initializeAndCheckHardware() throws FcsHardwareException
PieceOfHardwareinitializeAndCheckHardware in interface PieceOfHardwareFcsHardwareExceptionpublic Map<String,Integer> getParamsForCurrent()
getParamsForCurrent in interface EPOSControllerpublic Map<String,Integer> getParamsForHoming()
getParamsForHoming in interface EPOSControllerpublic Map<String,Integer> getParamsForProfilePosition()
getParamsForProfilePosition in interface EPOSControllerpublic boolean isEnabledToPublish()
isEnabledToPublish in interface EPOSControllerpublic boolean isInError()
isInError in interface EPOSControllerpublic String getErrorRegister()
getErrorRegister in interface EPOSControllerpublic String[] getErrorHistory()
getErrorHistory in interface EPOSControllerpublic String getModeInString()
getModeInString in interface EPOSControllerpublic String writeParameterInHexa(EPOSEnumerations.Parameter parameter, String string) throws SDORequestException
writeParameterInHexa in interface EPOSControllerSDORequestExceptionpublic void disable()
throws SDORequestException,
ShortResponseToSDORequestException
disable in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestExceptionCopyright © 2015 LSST. All rights reserved.