org.lsst.ccs.subsystems.fcs.testbench.LPC

Class CanOpenDigitaxVariator

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.testbench.LPC.CanOpenDigitaxVariator

All Implemented Interfaces:

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

public class CanOpenDigitaxVariator
extends CanOpenDevice

Author:

virieux

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	CanOpenDigitaxVariator.DigitaxMode Mode for the variator used in the scale1 prototype.
static class	CanOpenDigitaxVariator.Parameter Here are the parameters that we can set in an Digitax ST variator.

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 boolean	enabling
protected CanOpenDigitaxVariator.DigitaxMode	mode

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

fcslog

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

environment, log, name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description
CanOpenDigitaxVariator(String aName, int aTickMillis, String nodeID, String serialNB, Map<String,Integer> paramsForVelocity, Map<String,Integer> paramsForTorque_Profile)

Method Summary

Modifier and Type	Method and Description
String	changeMode(CanOpenDigitaxVariator.DigitaxMode newMode) This methods changes the mode to the new mode given as an argument.
String	changeMode(String modeInString) Changes the mode to the new mode given as a String argument.
static String	displayListParameters() Displays the list of parameters.
static String	displayListParameters(String modeInString) Displays the list of parameters that we have to define for a given mode.
String	enable() This methods enable the actuator : i.e.
void	faultReset()
String	initializeAndCheckHardware() This methods has to be overridden if there is some initialization to do for the device.
void	initModule()
boolean	isEnable()
static void	main(String[] args)
String	printParameters(Map<String,Integer> paramMap) Print the parameters map given as argument.
String	printParameters(String modeInString) Print the configured parameters for this Digitax for a mode name given in argument.
void	quickStop()
String	readControlWord() Read the control world (index=6040, subindex=0,size=2)
String	readMode() Reads the Digitax mode in the CPU of the Digitax device, updates the field mode and returns the mode as a String.
int	readParameter(CanOpenDigitaxVariator.Parameter param) Reads in the Digitax Variator CPU the value of the Parameter.
int	readParameter(String parameterName) Reads in the Digitax Variator CPU the value of the Parameter which parameter name is given as argument.
String	readParameters()
String	readParameters(String modeInString) This methods reads in the CPU of the Digitax Variator the values of the parameters for a given mode.
String	readStatusWord() Read the status world (index=6041, subindex=0,size=2)
int	readTorque_actual_value()
Object	restoreParameters()
Object	saveParameters() This method save the parameters in the actuator memory.
String	shutdown()
void	switchOnEnableOperation()
void	writeControlWord(String value) Write a value in hexa in the control world (index=6040, subindex=0,size=2)
String	writeParameter(CanOpenDigitaxVariator.Parameter param, int value)
String	writeParameter(String parameterName, int value) This method writes a parameter in the CPU of the Digitax Variator.
void	writeParameters(CanOpenDigitaxVariator.DigitaxMode 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 Digitax Variator a map of parameters.
void	writeParameters(String modeInString)
String	writeTorque(int value)

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

displayErrorHistory, displayErrorRegister, getErrorHistoryNames, getNodeID, getSerialNB, isBooted, isInitialized, readErrorHistory, readErrorRegister, readNumberOfErrors, readSDO, setBooted, toString, writeSDO

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

mode

protected CanOpenDigitaxVariator.DigitaxMode mode

enabling

protected volatile boolean enabling

Constructor Detail

CanOpenDigitaxVariator

public CanOpenDigitaxVariator(String aName,
                              int aTickMillis,
                              String nodeID,
                              String serialNB,
                              Map<String,Integer> paramsForVelocity,
                              Map<String,Integer> paramsForTorque_Profile)

Method Detail

initModule

public void initModule()

Overrides:

initModule in class CanOpenDevice

changeMode

@Command(type=ACTION,
         level=3,
         description="Change Digitax variator mode .")
public String changeMode(String modeInString)
                                                                                                                 throws SDORequestException

Changes the mode to the new mode given as a String argument.

Parameters:

modeInString -

Returns:

Throws:

SDORequestException

changeMode

public String changeMode(CanOpenDigitaxVariator.DigitaxMode newMode)
                  throws SDORequestException

This methods changes the mode to the new mode given as an argument. It writes the new mode in the CPU of the EPOS controller and updates the field mode.

Parameters:

newMode -

Returns:

Throws:

SDORequestException

readMode

public String readMode()
                throws SDORequestException,
                       ShortResponseToSDORequestException

Reads the Digitax mode in the CPU of the Digitax device, updates the field mode and returns the mode as a String.

Returns:

Throws:

SDORequestException

ShortResponseToSDORequestException

displayListParameters

public static String displayListParameters(String modeInString)

Displays the list of parameters that we have to define for a given mode.

Parameters:

modeInString -

Returns:

displayListParameters

public static String displayListParameters()

Displays the list of parameters.

Returns:

readTorque_actual_value

public int readTorque_actual_value()
                            throws SDORequestException,
                                   ShortResponseToSDORequestException

Throws:

SDORequestException

ShortResponseToSDORequestException

writeTorque

public String writeTorque(int value)
                   throws SDORequestException

Throws:

SDORequestException

readParameters

public String readParameters(String modeInString)
                      throws SDORequestException,
                             ShortResponseToSDORequestException

This methods reads in the CPU of the Digitax Variator the values of the parameters for a given mode.

Parameters:

modeInString -

Returns:

Throws:

SDORequestException

ShortResponseToSDORequestException

readParameters

public String readParameters()
                      throws SDORequestException,
                             ShortResponseToSDORequestException

Throws:

SDORequestException

ShortResponseToSDORequestException

readParameter

public int readParameter(String parameterName)
                  throws SDORequestException,
                         ShortResponseToSDORequestException

Reads in the Digitax Variator CPU the value of the Parameter which parameter name is given as argument.

Parameters:

parameterName -

Returns:

value of the parameter in decimal format.

Throws:

SDORequestException

ShortResponseToSDORequestException

readParameter

public int readParameter(CanOpenDigitaxVariator.Parameter param)
                  throws SDORequestException,
                         ShortResponseToSDORequestException

Reads in the Digitax Variator CPU the value of the Parameter.

Parameters:

param -

Returns:

value of the parameter in decimal format.

Throws:

SDORequestException

ShortResponseToSDORequestException

printParameters

public String printParameters(String modeInString)

Print the configured parameters for this Digitax for a mode name given in argument. This methods doesnt't read the CPU of the Digitax. So if no writeParameters(modeInString) command has been done before, the values in the Digitax variator CPU can be different.

Parameters:

modeInString -

Returns:

printParameters

public String printParameters(Map<String,Integer> paramMap)

Print the parameters map given as argument.

Parameters:

paramMap -

Returns:

writeParameters

public void writeParameters(String modeInString)
                     throws SDORequestException,
                            org.lsst.ccs.messaging.ErrorInCommandExecutionException

Throws:

SDORequestException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

writeParameters

public void writeParameters(CanOpenDigitaxVariator.DigitaxMode mode)
                     throws SDORequestException,
                            org.lsst.ccs.messaging.ErrorInCommandExecutionException

This methods writes in the CPU of the EPOS devis the values of the parameters set for the mode. Usually the values of the parameters are given by the configuration system.

Parameters:

mode -

Throws:

SDORequestException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

writeParameters

public void writeParameters(Map<String,Integer> paramMap)
                     throws SDORequestException

Write to the CPU of the Digitax Variator a map of parameters.

Parameters:

paramMap -

Throws:

SDORequestException

writeParameter

@Command(type=ACTION,
         level=3,
         description="Set Digitax Variator parameter with the value given as argument.")
public String writeParameter(String parameterName,
                                                                                                                                                              int value)
                                                                                                                                                       throws SDORequestException

This method writes a parameter in the CPU of the Digitax Variator.

Parameters:

parameterName - the name of the parameter

value - in decimal

Returns:

Throws:

SDORequestException

writeParameter

public String writeParameter(CanOpenDigitaxVariator.Parameter param,
                             int value)
                      throws SDORequestException

Throws:

SDORequestException

initializeAndCheckHardware

public String initializeAndCheckHardware()
                                  throws FcsHardwareException

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

Returns:

a message

Throws:

FcsHardwareException

isEnable

public boolean isEnable()
                 throws SDORequestException,
                        ShortResponseToSDORequestException

Throws:

SDORequestException

ShortResponseToSDORequestException

faultReset

public void faultReset()
                throws SDORequestException

Throws:

SDORequestException

enable

public String enable()
              throws SDORequestException

This methods enable the actuator : i.e. this makes the actuator able to receive commands.

Returns:

Throws:

SDORequestException

shutdown

public String shutdown()
                throws SDORequestException

Throws:

SDORequestException

switchOnEnableOperation

public void switchOnEnableOperation()
                             throws SDORequestException

Throws:

SDORequestException

saveParameters

public Object saveParameters()
                      throws SDORequestException

This method save the parameters in the actuator memory.

Overrides:

saveParameters in class CanOpenDevice

Returns:

Throws:

SDORequestException

restoreParameters

public Object restoreParameters()
                         throws SDORequestException

Throws:

SDORequestException

writeControlWord

public void writeControlWord(String value)
                      throws SDORequestException

Write a value in hexa in the control world (index=6040, subindex=0,size=2)

Parameters:

value - in hexa

Throws:

SDORequestException

readControlWord

public String readControlWord()
                       throws SDORequestException,
                              ShortResponseToSDORequestException

Read the control world (index=6040, subindex=0,size=2)

Returns:

value in hexa

Throws:

SDORequestException

ShortResponseToSDORequestException

readStatusWord

public String readStatusWord()
                      throws SDORequestException,
                             ShortResponseToSDORequestException

Read the status world (index=6041, subindex=0,size=2)

Returns:

value in hexa

Throws:

SDORequestException

ShortResponseToSDORequestException

quickStop

public void quickStop()
               throws SDORequestException

Throws:

SDORequestException

main

public static void main(String[] args)

Parameters:

args - the command line arguments