org.lsst.ccs.subsystems.fcs.drivers
Class CanOpenEPOS
public class CanOpenEPOS extends CanOpenDevice implements EPOSController
| Modifier and Type | Field and Description |
|---|---|
protected EPOSEnumerations.EposMode |
mode |
boolean |
on |
int |
profileVelocity |
int |
readCurrentActualValue
The value of current that is actually sent to the motor.
|
int |
readCurrentAverageValue
The value of the average of the current that is actually sent to the motor.
|
int |
readPositionActualValue
position we want to reach
UNIT= mA given in decimal mode
|
int |
sentCurrentValue |
int |
targetCurrent
The value of current that has to be sent to the motor to make it move.
|
int |
targetPosition
position we want to reach
UNIT= mA given in decimal mode
|
fcslog| Constructor and Description |
|---|
CanOpenEPOS(String aName,
int aTickMillis,
String nodeID,
String serialNB,
Map<String,Integer> paramsForCurrent,
Map<String,Integer> paramsForProfilePosition,
Map<String,Integer> paramsForHoming) |
| Modifier and Type | Method and Description |
|---|---|
void |
activateBrake()
A holding brake can be associated to a Controller.
|
void |
activateCurrentMode() |
void |
activateHomingMode() |
void |
activateProfilePositionMode() |
String |
changeMode(EPOSEnumerations.EposMode 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.
|
void |
checkFault()
Check if the Controller is in fault.
|
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(Map<String,Integer> paramsMap)
Compare values of parameters in the map with the values of parameters in the controller CPU.
|
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()
In HOMING mode and PROFILE_POSITION mode this indicates that the position is reached.
|
static int |
convertToInteger16(int unsigned16)
Change an int represented by an UNSIGNED16 to an INTEGER16.
|
void |
defineAbsolutePosition(int position)
Defines the actual position as the absolute position which value is given as an argument.
|
void |
disable() |
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 |
displayMotorParameters()
Read the values of the motor parameters and displays them for the end user.
|
String |
enable()
This methods enables the controller : i.e.
|
void |
faultReset() |
String[] |
getErrorHistory()
For the GUI
|
String |
getErrorRegister()
For the GUI
|
int |
getMaxCurrent() |
int |
getMaxPosition() |
int |
getMaxSpeed() |
int |
getMinCurrent() |
int |
getMinPosition() |
String |
getModeInString() |
int |
getMotorParameterValue(String parameterName) |
Map<String,Integer> |
getParamsForCurrent() |
Map<String,Integer> |
getParamsForHoming() |
Map<String,Integer> |
getParamsForProfilePosition() |
int |
getReadActualCurrent() |
int |
getSentCurrentMaxValue() |
int |
getSentCurrentMinValue() |
int |
getSentCurrentValue() |
StatusDataPublishedByEPOSController |
getStatusData() |
String |
initializeHardware()
This methods has to be overridden if there is some initialization to do for the device.
|
void |
initModule() |
boolean |
isEnabled() |
boolean |
isEnabledToPublish() |
boolean |
isInError()
For the GUI
|
boolean |
isOff() |
boolean |
isOn() |
boolean |
isTargetPositionReached(int position) |
static void |
main(String[] args) |
String |
off() |
String |
offOld()
Deprecated.
|
String |
on() |
String |
onOld()
Deprecated.
|
String |
printConfigurationParameters(String modeInString)
Print the configured parameters for this EPOS for a mode name given in argument.
|
String |
printMode() |
String |
printParameters()
Print the configured parameters for this EPOS for a mode name given in argument.
|
String |
printParameters(Map<String,Integer> paramMap) |
void |
processUpdate(Observable source,
org.lsst.ccs.framework.Module.ValueUpdate v)
What to do when the Modules we observe send there new values.
|
void |
publishData()
Publish Data on status bus for trending data base and GUIs.
|
void |
quickStop() |
String |
readControlWord()
Read the control world (index=6040, subindex=0,size=2)
|
int |
readCurrent()
In Current Mode this methods returns the current actualy received by the
motor.
|
int |
readCurrentAverageValue()
In Current Mode this methods returns the average of the current received by the
motor.
|
EPOSEnumerations.EposMode |
readMode()
Reads the EPOS mode in the CPU of the EPOS device, updates the field mode and returns
the mode as a String.
|
int |
readParameter(EPOSEnumerations.Parameter param)
Reads in the EPOS CPU the value of the Parameter.
|
int |
readParameter(String parameterName)
Reads in the EPOS CPU the value of the Parameter which parameter name is given as argument.
|
String |
readParameterInHexa(EPOSEnumerations.Parameter param)
Reads in the EPOS CPU the value of the Parameter.
|
String |
readParameterInHexa(String parameterName)
Reads in the EPOS CPU the hexadecimal value of the Parameter.
|
String |
readParameters() |
String |
readParameters(EPOSEnumerations.EposMode aMode) |
String |
readParameters(String modeInString)
This methods reads in the CPU of the EPOS the values of the parameters for a given mode.
|
int |
readPosition()
Reads in the CPU the value of the parameter PositionActualValue
and returns it in a decimal format.
|
int |
readProfileVelocity()
In PROFILE_POSITION returns the value of the parameter ProfileVelocity.
|
int |
readSSIPosition()
Read the position returned by the absolute encoder (single serial data).
|
String |
readStatusWord()
Read the status world (index=6041, subindex=0,size=2)
|
int |
readVelocityActualValue() |
void |
releaseBrake()
A holding brake can be associated to a Controller.
|
Object |
restoreParameters()
Restore default parameters.
|
String |
setHomePosition(int position)
Set the Home Position with the value given as argument in decimal format.
|
String |
setHomingMethodActual()
Writes value 35 in hexa to set the Homing method as Actual (See EPOS documentation)
|
void |
setOn(boolean on) |
void |
setVelocity() |
String |
shutdown()
Shutdown the controller.
|
void |
startHoming()
Starts homing : (See EPOS documentation)
For engineering mode.
|
void |
stopCurrent()
In current mode this methods set to zero the value of the current sent to
the motor.
|
void |
stopVelocity()
Stop the motion in the mode VELOCITY.
|
void |
switchOnEnableOperation() |
void |
writeControlWord(String value)
Write a value in hexa in the control world (index=6040, subindex=0,size=2)
|
void |
writeCurrent(int aValue)
In current mode this methods send a current to the motor.
|
String |
writeParameter(EPOSEnumerations.Parameter param,
int value)
Set the parameter given as argument with the decimal value given as argument
and write it in the controller CPU.
|
String |
writeParameter(String parameterName,
int value)
This method writes a parameter in the CPU of the EPOS.
|
String |
writeParameterInHexa(EPOSEnumerations.Parameter param,
String hexaValue)
Set the parameter given as argument with the hexadecimal value given as argument
and write it in the controller CPU.
|
String |
writeParameterInHexa(String parameterName,
String hexaValue)
This method writes a parameter in the CPU of the EPOS.
|
void |
writeParameters() |
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 |
writeParameters(String modeInString) |
void |
writeTargetPosition(int aValue)
In PROFILE_POSITION mode this methods set the target position.
|
displayErrorHistory, displayErrorRegister, getErrorHistoryNames, getNodeID, getSerialNB, isBooted, isInitialized, readErrorHistory, readErrorRegister, readNumberOfErrors, readSDO, saveParameters, setBooted, toString, writeSDOalias, getComponentDictionariesTree, getComponentTree, getContext, getEnvironment, getMainDictionary, getModule, getName, getNObserverThreads, getObservables, getSubsystem, getTickMillis, init, listens, percolateSignal, postStart, publishData, publishData, publishData, publishData, publishData, publishData, publishData, sendSignal, sendSignal, sendSignalWithTimeLimit, sendToReply, sendToStatus, setBeanName, setContext, setEnvironment, setName, setNObserverThreads, setObservables, setStateModularSubsystem, setStateModularSubsystem, setTickMillis, shutdownNow, signal, startTicking, tick, updateaddObserver, clearChanged, countObservers, deleteObserver, deleteObservers, hasChanged, notifyObservers, notifyObservers, setChangedclone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, waitdisplayErrorHistory, readNumberOfErrorsgetName, getNodeID, getSerialNB, isBooted, isInitialized, setBootedchange, getCheckedValueFromConfiguration, getChildren, getComponentByName, getDictionary, getParent, getParentObject, injectResources, listChildren, notifyChange, notifyChangeWithoutPreliminaryChecks, proceduralWalk, publish, publish, publish, publish, publish, publish, start, treeWalkpublic boolean on
public int sentCurrentValue
public int targetCurrent
public int readCurrentActualValue
public int readCurrentAverageValue
public int targetPosition
public int readPositionActualValue
public int profileVelocity
protected EPOSEnumerations.EposMode mode
public boolean isEnabledToPublish()
isEnabledToPublish in interface EPOSControllerpublic String getModeInString()
getModeInString in interface EPOSControllerpublic String[] getErrorHistory()
getErrorHistory in interface EPOSControllerpublic String getErrorRegister()
getErrorRegister in interface EPOSControllerpublic boolean isInError()
isInError in interface EPOSControllerpublic Map<String,Integer> getParamsForHoming()
getParamsForHoming in interface EPOSControllerpublic Map<String,Integer> getParamsForProfilePosition()
getParamsForProfilePosition in interface EPOSControllerpublic Map<String,Integer> getParamsForCurrent()
getParamsForCurrent in interface EPOSControllerpublic int getMaxCurrent()
getMaxCurrent in interface EPOSControllerpublic int getMinCurrent()
getMinCurrent in interface EPOSControllerpublic int getMaxSpeed()
getMaxSpeed in interface EPOSControllerpublic int getMaxPosition()
getMaxPosition in interface EPOSControllerpublic int getMinPosition()
getMinPosition in interface EPOSControllerpublic void setOn(boolean on)
setOn in interface EPOSControllerpublic int getReadActualCurrent()
getReadActualCurrent in interface Actuatorpublic int getSentCurrentValue()
getSentCurrentValue in interface Actuatorpublic int getSentCurrentMinValue()
getSentCurrentMinValue in interface Actuatorpublic int getSentCurrentMaxValue()
getSentCurrentMaxValue in interface Actuatorpublic int getMotorParameterValue(String parameterName) throws EPOSConfigurationException
EPOSConfigurationException@Command(type=QUERY, level=1, description="Print the configured parameters for this EPOS for this mode.This command doesn\'t read the controlle.") public String printParameters() throws SDORequestException, ShortResponseToSDORequestException
SDORequestExceptionShortResponseToSDORequestException@Command(type=QUERY, level=1, description="Print the configured parameters for this EPOS for a mode name given in argument. This command doesn\'t read the controller.") public String printConfigurationParameters(String modeInString)
modeInString - @Command(type=QUERY, level=1, description="Reads the EPOS mode in the CPU of the EPOS device and updates the field mode.") public EPOSEnumerations.EposMode readMode() throws SDORequestException, ShortResponseToSDORequestException
readMode in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestException@Command(type=QUERY, level=1, description="Print the Epos controller mode.") public String printMode()
@Command(type=ACTION, level=3, description="Change EPOS mode .") public String changeMode(String modeInString) throws SDORequestException
modeInString - SDORequestExceptionpublic String changeMode(EPOSEnumerations.EposMode newMode) throws SDORequestException
changeMode in interface EPOSControllernewMode - SDORequestException@Command(type=QUERY, level=1, description="Displays the list of parameters that we have to define for a given mode.") public static String displayListParameters(String modeInString)
modeInString - @Command(type=QUERY, level=1, description="Displays the list of parameters.") public static String displayListParameters()
@Command(type=QUERY, level=1, description="This methods reads in the CPU of the EPOS the values of the parameters for a given mode.") public String readParameters(String modeInString) throws SDORequestException, ShortResponseToSDORequestException
modeInString - SDORequestExceptionShortResponseToSDORequestExceptionpublic String readParameters(EPOSEnumerations.EposMode aMode) throws SDORequestException, ShortResponseToSDORequestException
readParameters in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestException@Command(type=QUERY, level=1, description="Read the parameters for the actual mode.") public String readParameters() throws SDORequestException, ShortResponseToSDORequestException
@Command(type=ACTION, level=3, description="This methods writes in the CPU of the EPOS device the values of the parameters set for the mode.") public void writeParameters() throws SDORequestException, ShortResponseToSDORequestException, org.lsst.ccs.bus.ErrorInCommandExecutionException
SDORequestExceptionShortResponseToSDORequestExceptionorg.lsst.ccs.bus.ErrorInCommandExecutionException@Command(type=ACTION, level=3, description="This methods writes in the CPU of the EPOS device the values of the parameters set for the mode given as argument") public void writeParameters(String modeInString) throws SDORequestException, org.lsst.ccs.bus.ErrorInCommandExecutionException
SDORequestExceptionorg.lsst.ccs.bus.ErrorInCommandExecutionExceptionpublic void writeParameters(EPOSEnumerations.EposMode mode) throws SDORequestException, org.lsst.ccs.bus.ErrorInCommandExecutionException
writeParameters in interface EPOSControllermode - SDORequestExceptionorg.lsst.ccs.bus.ErrorInCommandExecutionExceptionpublic void writeParameters(Map<String,Integer> paramMap) throws SDORequestException
writeParameters in interface EPOSControllerparamMap - SDORequestException@Command(type=ACTION, level=3, description="Set EPOS parameter with the value given as argument.") public String writeParameter(String parameterName, int value) throws SDORequestException
parameterName - the name of the parametervalue - in decimalSDORequestExceptionpublic String writeParameter(EPOSEnumerations.Parameter param, int value) throws SDORequestException
param - parameter to be setvalue - decimal valueSDORequestException@Command(type=ACTION, level=3, description="Set EPOS parameter with the hexadecimal value given as argument.") public String writeParameterInHexa(String parameterName, String hexaValue) throws SDORequestException
parameterName - the name of the parameterhexaValue - value of the parameter given in hexaSDORequestExceptionpublic String writeParameterInHexa(EPOSEnumerations.Parameter param, String hexaValue) throws SDORequestException
writeParameterInHexa in interface EPOSControllerparam - hexaValue - SDORequestException@Command(type=QUERY, level=1, description="Reads in the EPOS CPU the decimal value of the Parameter which parameter name is given as argument.") public int readParameter(String parameterName) throws SDORequestException, ShortResponseToSDORequestException
parameterName - name of the parameter to readSDORequestExceptionShortResponseToSDORequestExceptionpublic int readParameter(EPOSEnumerations.Parameter param) throws SDORequestException, ShortResponseToSDORequestException
param - SDORequestExceptionShortResponseToSDORequestException@Command(type=QUERY, level=1, description="Reads in the EPOS CPU the hexadecimal value of the Parameter which parameter name is given as argument.") public String readParameterInHexa(String parameterName) throws SDORequestException, ShortResponseToSDORequestException
parameterName - SDORequestExceptionShortResponseToSDORequestExceptionpublic String readParameterInHexa(EPOSEnumerations.Parameter param) throws SDORequestException, ShortResponseToSDORequestException
param - SDORequestExceptionShortResponseToSDORequestExceptionpublic boolean isTargetPositionReached(int position)
throws SDORequestException,
ShortResponseToSDORequestException
isTargetPositionReached in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestExceptionpublic void initModule()
initModule in class CanOpenDevicepublic void processUpdate(Observable source, org.lsst.ccs.framework.Module.ValueUpdate v)
processUpdate in class org.lsst.ccs.framework.Modulesource - v - public String initializeHardware() throws FcsHardwareException
CanOpenDeviceinitializeHardware in interface PieceOfHardwareinitializeHardware in class CanOpenDeviceFcsHardwareException@Command(type=QUERY, level=1, description="Returns true if the controller is enabled.") public boolean isEnabled() throws SDORequestException
isEnabled in interface EPOSControllerSDORequestException@Command(type=ACTION, level=1, description="Clear faults on the controller.") public void faultReset() throws SDORequestException
SDORequestException@Command(type=ACTION, level=1, description="This methods enables the controller : i.e. this makes it able to receive commands.") public String enable() throws SDORequestException
enable in interface EPOSControllerSDORequestException@Command(type=ACTION, level=1, description="Shutdown the controller.") public String shutdown() throws SDORequestException
shutdown in interface EPOSControllerSDORequestException@Command(type=ACTION, level=1, description="writeControlWord(\"F\")") public void switchOnEnableOperation() throws SDORequestException
switchOnEnableOperation in interface EPOSControllerSDORequestException@Command(type=ACTION, level=3, description="Restore default parameters. AT YOUR OWN RISK.") public Object restoreParameters() throws SDORequestException
SDORequestException@Command(type=ACTION, level=1, description="Write a value in hexa in the control world (index=6040, subindex=0,size=2)") public void writeControlWord(String value) throws SDORequestException
writeControlWord in interface EPOSControllervalue - in hexaSDORequestException@Command(type=QUERY, level=1, description="Read the control world (index=6040, subindex=0,size=2)") public String readControlWord() throws SDORequestException, ShortResponseToSDORequestException
SDORequestExceptionShortResponseToSDORequestException@Command(type=QUERY, level=1, description="Read the status world (index=6041, subindex=0,size=2)") public String readStatusWord() throws SDORequestException, ShortResponseToSDORequestException
SDORequestExceptionShortResponseToSDORequestException@Command(type=ACTION, level=1, description="QuickStop.") public void quickStop() throws SDORequestException
quickStop in interface EPOSControllerSDORequestException@Deprecated public String onOld() throws org.lsst.ccs.bus.BadCommandException, EPOSConfigurationException, org.lsst.ccs.bus.ErrorInCommandExecutionException
org.lsst.ccs.bus.BadCommandExceptionEPOSConfigurationExceptionorg.lsst.ccs.bus.ErrorInCommandExecutionExceptionpublic String on() throws SDORequestException, org.lsst.ccs.bus.BadCommandException, org.lsst.ccs.bus.ErrorInCommandExecutionException
on in interface ActuatorSDORequestExceptionorg.lsst.ccs.bus.BadCommandExceptionorg.lsst.ccs.bus.ErrorInCommandExecutionException@Deprecated public String offOld() throws org.lsst.ccs.bus.BadCommandException, org.lsst.ccs.bus.ErrorInCommandExecutionException
org.lsst.ccs.bus.BadCommandExceptionorg.lsst.ccs.bus.ErrorInCommandExecutionExceptionpublic String off() throws org.lsst.ccs.bus.BadCommandException, SDORequestException
off in interface Actuatororg.lsst.ccs.bus.BadCommandExceptionSDORequestException@Command(type=QUERY, level=3, description="Compare motor parameters values in the EPOS CPU with values stored in configuration.") public boolean checkMotorParameters() throws EPOSConfigurationException, SDORequestException, ShortResponseToSDORequestException
checkMotorParameters in interface EPOSControllerEPOSConfigurationExceptionSDORequestExceptionShortResponseToSDORequestException@Command(type=QUERY, level=3, description="Display motor parameters values stored in the EPOS CPU.") public String displayMotorParameters() throws SDORequestException, ShortResponseToSDORequestException
SDORequestExceptionShortResponseToSDORequestException@Command(type=ACTION, level=3, description="Set the current value in the EPOS CPU.") public void writeCurrent(int aValue) throws org.lsst.ccs.bus.BadCommandException, SDORequestException
writeCurrent in interface EPOSControlleraValue - UNIT=mA / FORMAT=decimal the value of the current to be sent.org.lsst.ccs.bus.BadCommandExceptionSDORequestException@Command(type=QUERY, level=1, alias="readCurrentActualValue", description="In Current Mode this methods returns the current actualy received by the motor.") public int readCurrent() throws org.lsst.ccs.bus.BadCommandException, SDORequestException, ShortResponseToSDORequestException
readCurrent in interface EPOSControllerorg.lsst.ccs.bus.BadCommandExceptionSDORequestExceptionShortResponseToSDORequestException@Command(type=QUERY, level=1, alias="readCurrentAverage", description="In Current Mode this methods returns the average of the current received by the motor.") public int readCurrentAverageValue() throws org.lsst.ccs.bus.BadCommandException, SDORequestException, ShortResponseToSDORequestException
org.lsst.ccs.bus.BadCommandExceptionSDORequestExceptionShortResponseToSDORequestExceptionpublic void stopCurrent()
throws org.lsst.ccs.bus.BadCommandException,
SDORequestException
org.lsst.ccs.bus.BadCommandExceptionSDORequestExceptionpublic void setVelocity()
throws org.lsst.ccs.bus.BadCommandException
org.lsst.ccs.bus.BadCommandExceptionpublic int readVelocityActualValue()
throws org.lsst.ccs.bus.BadCommandException
org.lsst.ccs.bus.BadCommandExceptionpublic void stopVelocity()
throws org.lsst.ccs.bus.BadCommandException,
SDORequestException
org.lsst.ccs.bus.BadCommandExceptionSDORequestException@Command(type=QUERY, level=1, alias="readPositionActualValue", description="In PROFILE_POSITION Mode this methods returns the actual position.") public int readPosition() throws SDORequestException, ShortResponseToSDORequestException
readPosition in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestException@Command(type=QUERY, level=1, description="Read the position returned by the absolute encoder (single serial data).") public int readSSIPosition() throws SDORequestException, ShortResponseToSDORequestException
readSSIPosition in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestException@Command(type=QUERY, level=1, description="In PROFILE_POSITION returns the value of the parameter ProfileVelocity.") public int readProfileVelocity() throws SDORequestException, ShortResponseToSDORequestException
readProfileVelocity in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestExceptionpublic String setHomingMethodActual() throws SDORequestException, org.lsst.ccs.bus.BadCommandException
SDORequestExceptionorg.lsst.ccs.bus.BadCommandException - if the EPOS is not enable.public void startHoming()
throws SDORequestException,
org.lsst.ccs.bus.BadCommandException,
org.lsst.ccs.bus.ErrorInCommandExecutionException
SDORequestExceptionorg.lsst.ccs.bus.BadCommandException - if the EPOSorg.lsst.ccs.bus.ErrorInCommandExecutionExceptionpublic String setHomePosition(int position) throws SDORequestException, org.lsst.ccs.bus.BadCommandException
position - in decimal formatSDORequestExceptionorg.lsst.ccs.bus.BadCommandException@Command(type=ACTION, level=3, description="Define the actual position as position given as argument.") public void defineAbsolutePosition(int position) throws SDORequestException, org.lsst.ccs.bus.ErrorInCommandExecutionException, org.lsst.ccs.bus.BadCommandException
defineAbsolutePosition in interface EPOSControllerSDORequestExceptionorg.lsst.ccs.bus.ErrorInCommandExecutionExceptionorg.lsst.ccs.bus.BadCommandException@Command(type=ACTION, level=1, description="In PROFILE_POSITION mode this methods set the target position. Target position has to be given in microns.") public void writeTargetPosition(int aValue) throws org.lsst.ccs.bus.BadCommandException, SDORequestException
writeTargetPosition in interface EPOSControlleraValue - UNIT=mA / FORMAT=decimal the value of the current to be sent.org.lsst.ccs.bus.BadCommandExceptionSDORequestException@Command(type=QUERY, level=1, description="In HOMING mode and PROFILE_POSITION mode this indicates that the position is reached.") public boolean checkTargetReached() throws SDORequestException, ShortResponseToSDORequestException
checkTargetReached in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestException@Command(type=QUERY, level=1, description="Check if the Controller is in fault.") public void checkFault() throws SDORequestException, ShortResponseToSDORequestException, FcsHardwareException
checkFault in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestExceptionFcsHardwareExceptionpublic void checkParameters(EPOSEnumerations.EposMode aMode) throws FcsHardwareException, SDORequestException, ShortResponseToSDORequestException
checkParameters in interface EPOSControllerFcsHardwareExceptionSDORequestExceptionShortResponseToSDORequestException@Command(type=QUERY, level=1, description="For every parameter to be defined for this mode this method compares the values in configuration with the value stored in controller CPU.") public void checkParameters(String modeInString) throws FcsHardwareException, SDORequestException, ShortResponseToSDORequestException
checkParameters in interface EPOSControllermodeInString - SDORequestExceptionShortResponseToSDORequestExceptionFcsHardwareExceptionpublic void checkParameters(Map<String,Integer> paramsMap) throws SDORequestException, ShortResponseToSDORequestException
paramsMap - SDORequestExceptionShortResponseToSDORequestException@Command(type=ACTION, level=3, description="Change mode to CURRENT mode and initialize theCURRENT mode parameters from configuration values.") public void activateCurrentMode() throws SDORequestException
SDORequestException@Command(type=ACTION, level=3, description="Change mode to HOMING mode and initialize theHOMING mode parameters from configuration values.") public void activateHomingMode() throws SDORequestException
SDORequestException@Command(type=ACTION, level=3, description="Change mode to PROFILE_POSITION mode and initialize thePROFILE_POSITION mode parameters from configuration values.") public void activateProfilePositionMode() throws SDORequestException
SDORequestException@Command(type=ACTION, level=1, description="Put the brake on to prevent the trucks motion.") public void activateBrake() throws SDORequestException, ShortResponseToSDORequestException
activateBrake in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestException@Command(type=ACTION, level=1, description="Release the brake in order to be able to move the trucks.") public void releaseBrake() throws SDORequestException, ShortResponseToSDORequestException
releaseBrake in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestException@Command(type=ACTION, level=1, description="Activate the holding brake and shutdown the controller.") public void disable() throws SDORequestException, ShortResponseToSDORequestException
public StatusDataPublishedByEPOSController getStatusData()
public void publishData()
public static int convertToInteger16(int unsigned16)
unsigned16 - public static void main(String[] args)
args - the command line argumentsCopyright © 2015 LSST. All rights reserved.