org.lsst.ccs.subsystems.fcs.drivers

Class CanOpenProxy

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

org.lsst.ccs.subsystems.fcs.drivers.CanOpenProxy

All Implemented Interfaces:

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

Direct Known Subclasses:

LoaderCanOpenProxy, SimuCanOpenProxy

public class CanOpenProxy
extends org.lsst.ccs.framework.Module
implements org.lsst.ccs.framework.HardwareController

This Module starts a tcpip server, waits for the connection of a client whose name is the value of the field myClientName. This client is supposed to be a CanOpen C-wrapper. When the client starts it scans the can open network and send to the server some information on the can open nodes living on the network.

Author:

virieux

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	CanOpenProxy.PDOStorage To store the values returned by the PDO.
protected static class	FcsTcpProxy.ClientContext

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
Map<String,CanOpenNode>	bootedNodesMap
protected FcsTcpProxy.ClientContext	clientContext
protected static Logger	fcslog
protected Condition	hardwareBooted
PieceOfHardware[]	hardwareList
protected Lock	lock
protected boolean	stopped
protected boolean	stopping
protected boolean	tcpServerStarted

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

environment, log, name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description
CanOpenProxy(String aName, int aTickMillis, int portNumber, String aClientName, long hardwareBootTimeout)

Method Summary

Modifier and Type	Method and Description
Object	call(String clientName, String command) This methods send a command to the tcp client.
void	checkCanOpenNodes() Check if the list of the booted CANopen devices on the CANbus is identical to the hardware list we have in the description.
org.lsst.ccs.framework.TreeWalkerDiag	checkHardware()
void	checkHardwareID(PieceOfHardware pieceOfHardware) When the hardware is booted and we have retrieve the information (serial number), we want to check for each piece of hardware that we have the good node ID and the good serial number: so we compare the serial number found on the CANopen bus with the serial number in the configuration file.
void	checkNewHardware() checkNewHardware is called by command checkStarted() in higher level Modules and is executed when a command completeInitialization is sent to the subsystem.
void	checkStarted()
void	checkStopped()
String	configAsHeartbeatConsumer(int nodeID, int producerNodeID, int heartbeat_time) Configure a node as a hearbeat consumer.
String	configAsHeartbeatProducer(int nodeID, int heartbeat_time) Command to be used by the end users.
String	configAsHeartbeatProducer(String nodeID, String heartbeat_time) Configure a node as a hearbeat producer.
void	connectHardware()
void	disconnectHardware() This methods stops the CWrapper client, and the TCP server.
String	displayReadPDOs()
Map<String,CanOpenNode>	getBootedNodesMap()
int	getBootedNodesNB()
CanOpenNode	getDetectedNodeForSerialNumber(String aSerialNB) This method returns the can open detected on the can open network for a piece of hardware identified by its serial number.
int	getExpectedNodesNB()
long	getHardwareBootTimeout()
PieceOfHardware[]	getHardwareList()
String	getMyClientName()
String	getNodeName(String aNodeID)
ArrayList<CanOpenNode>	getNodes()
CanOpenProxy.PDOStorage	getPdoStorage()
int	getPortNumber()
void	identifieHardware_old() Deprecated.
void	identifyHardware() Identification of the hardware : we want to retrieve the information stored in the hardware of the booted nodes and update the array of nodes with this information.
void	initModule()
boolean	isBooted(String aNodeID)
boolean	isHardwareIdentified()
boolean	isHardwareReady() This method returns true if : all the hardware items are booted and identified and the hardware have the node ID expected within the configuration and the hardware is initialized.
boolean	isReady(String clientName)
boolean	isTcpServerStarted()
String	listHardware()
String	listNodes() List the can open nodes which are in the nodes table.
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	publishHardwareData(PieceOfHardware device) Publish Data on status bus for trending data base and GUIs.
CanOpenProxy.PDOStorage	readPDOs() This method sends a sync command to the can open stack and returns the reply.
String	readSDO(int nodeID, String index, String subindex) Command to be used by the end user at the console in engineering mode.
String	readSDO(String nodeID, String index, String subindex) Read a SDO with the given index and subindex RETURNS the value read in hexa (String) if no error occured or returns the error code if a error was detected.
String	sendCanOpen(String command) For engineering mode, this method can be used to send Can Open commands to the Wrapper.
void	setExpectedNodesNB(int nodeNB)
void	setHardwareBootTimeout(int hardwareBootTimeout)
void	setHardwareBootTimeout(long hardwareBootTimeout)
void	shutdownNow()
void	start()
void	startServer() Starts the server tcp on the port portNumber.
void	startThreadReader() Starts a thread which read on the tcp socket, waiting for messages coming from tcp proxy.
void	stopServer() Stops the tcp server.
void	tick()
String	toString()
String	writeSDO(int nodeID, String index, String subindex, int size, int value) Command to be used by the end user at the console.
String	writeSDO(String nodeID, String index, String subindex, String size, String value) Write a SDO request and send it to the can open stack, then analyses the response or throws an exception if the request failed.

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

alias, getComponentDictionariesTree, getComponentTree, getContext, getEnvironment, getMainDictionary, getModule, getName, getNObserverThreads, getObservables, getSubsystem, getTickMillis, init, listens, percolateSignal, postStart, processUpdate, publishData, publishData, publishData, publishData, publishData, publishData, publishData, sendSignal, sendSignal, sendSignalWithTimeLimit, sendToReply, sendToStatus, setBeanName, setContext, setEnvironment, setName, setNObserverThreads, setObservables, setStateModularSubsystem, setStateModularSubsystem, setTickMillis, signal, startTicking, 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, getDictionary, getParent, getParentObject, injectResources, listChildren, notifyChange, notifyChangeWithoutPreliminaryChecks, proceduralWalk, publish, publish, publish, publish, publish, publish, treeWalk

Field Detail

hardwareList

public PieceOfHardware[] hardwareList

bootedNodesMap

public Map<String,CanOpenNode> bootedNodesMap

stopped

protected volatile boolean stopped

stopping

protected volatile boolean stopping

tcpServerStarted

protected volatile boolean tcpServerStarted

clientContext

protected FcsTcpProxy.ClientContext clientContext

fcslog

protected static final Logger fcslog

lock

protected final Lock lock

hardwareBooted

protected final Condition hardwareBooted

Constructor Detail

CanOpenProxy

public CanOpenProxy(String aName,
                    int aTickMillis,
                    int portNumber,
                    String aClientName,
                    long hardwareBootTimeout)

Method Detail

getExpectedNodesNB

public int getExpectedNodesNB()

Returns:

the expectedNodesNB

setExpectedNodesNB

public void setExpectedNodesNB(int nodeNB)

Parameters:

nodeNB -

getHardwareBootTimeout

public long getHardwareBootTimeout()

setHardwareBootTimeout

@ConfigChanger
public void setHardwareBootTimeout(long hardwareBootTimeout)

setHardwareBootTimeout

@ConfigChanger
public void setHardwareBootTimeout(int hardwareBootTimeout)

getHardwareList

public PieceOfHardware[] getHardwareList()

getBootedNodesNB

public int getBootedNodesNB()

Returns:

the bootedNodesNB

getMyClientName

public String getMyClientName()

Returns:

the myClientName

getNodes

public ArrayList<CanOpenNode> getNodes()

getBootedNodesMap

public Map<String,CanOpenNode> getBootedNodesMap()

getPdoStorage

public CanOpenProxy.PDOStorage getPdoStorage()

isHardwareIdentified

public boolean isHardwareIdentified()

disconnectHardware

public void disconnectHardware()

This methods stops the CWrapper client, and the TCP server.

connectHardware

public void connectHardware()
                     throws org.lsst.ccs.HardwareException

Throws:

org.lsst.ccs.HardwareException

initModule

public void initModule()

tick

public void tick()

Overrides:

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

checkHardware

public org.lsst.ccs.framework.TreeWalkerDiag checkHardware()
                                                    throws org.lsst.ccs.HardwareException

Specified by:

checkHardware in interface org.lsst.ccs.framework.HardwareController

Throws:

org.lsst.ccs.HardwareException

checkNewHardware

public void checkNewHardware()
                      throws org.lsst.ccs.HardwareException

checkNewHardware is called by command checkStarted() in higher level Modules and is executed when a command completeInitialization is sent to the subsystem. The command completeInitialization is sent by the end-user to complete the initialization phase when the subsystem was stopped during this phase because of an error (HardwareException).

Throws:

org.lsst.ccs.HardwareException

checkStarted

public void checkStarted()
                  throws org.lsst.ccs.HardwareException

Specified by:

checkStarted in interface org.lsst.ccs.framework.HardwareController

Throws:

org.lsst.ccs.HardwareException

checkStopped

public void checkStopped()
                  throws org.lsst.ccs.HardwareException

Specified by:

checkStopped in interface org.lsst.ccs.framework.HardwareController

Throws:

org.lsst.ccs.HardwareException

getNodeName

public String getNodeName(String aNodeID)

Parameters:

aNodeID -

Returns:

isBooted

public boolean isBooted(String aNodeID)

listNodes

public String listNodes()

List the can open nodes which are in the nodes table.

Returns:

the list of can open nodes and the information stored in this.nodes.

sendCanOpen

@Command(type=ACTION,
         level=3,
         description="Send a CanOpen command to the Can Bus.")
public String sendCanOpen(String command)
                                                                                                                          throws CanOpenCallTimeoutException,
                                                                                                                                 org.lsst.ccs.bus.BadCommandException

For engineering mode, this method can be used to send Can Open commands to the Wrapper. Test if the command is valid before sending it to the can open stack.

Parameters:

command - A Can Open command that the Wrapper should understand.

Returns:

the response from the Wrapper

Throws:

CanOpenCallTimeoutException

org.lsst.ccs.bus.BadCommandException

writeSDO

public String writeSDO(String nodeID,
                       String index,
                       String subindex,
                       String size,
                       String value)
                throws SDORequestException

Write a SDO request and send it to the can open stack, then analyses the response or throws an exception if the request failed. The parameters are given in HEXA.

Parameters:

nodeID - FORMAT=HEXA

index - FORMAT=HEXA

subindex - FORMAT=HEXA

size - FORMAT=HEXA

value - FORMAT=HEXA

Returns:

"OK" if OK

Throws:

SDORequestException

writeSDO

@Command(type=ACTION,
         level=3,
         description="Send a CanOpen writeSDO command to the Can Bus.")
public String writeSDO(int nodeID,
                                                                                                                                       String index,
                                                                                                                                       String subindex,
                                                                                                                                       int size,
                                                                                                                                       int value)
                                                                                                                                throws SDORequestException,
                                                                                                                                       org.lsst.ccs.bus.BadCommandException

Command to be used by the end user at the console. Write a SDO message and send it to the can open stack. The parameters are given in the following format:

Parameters:

nodeID - FORMAT=decimal

index - FORMAT=HEXA

subindex - FORMAT=HEXA

size - FORMAT=decimal

value - FORMAT=decimal

Returns:

Throws:

SDORequestException

org.lsst.ccs.bus.BadCommandException

readSDO

public String readSDO(String nodeID,
                      String index,
                      String subindex)
               throws SDORequestException,
                      ShortResponseToSDORequestException

Read a SDO with the given index and subindex RETURNS the value read in hexa (String) if no error occured or returns the error code if a error was detected.

Parameters:

nodeID -

index -

subindex -

Returns:

Throws:

SDORequestException

ShortResponseToSDORequestException

readSDO

@Command(type=ACTION,
         level=3,
         description="Send a CanOpen readSDO command to the Can Bus.")
public String readSDO(int nodeID,
                                                                                                                                     String index,
                                                                                                                                     String subindex)
                                                                                                                              throws SDORequestException,
                                                                                                                                     org.lsst.ccs.bus.BadCommandException,
                                                                                                                                     ShortResponseToSDORequestException

Command to be used by the end user at the console in engineering mode.

Parameters:

nodeID - FORMAT=decimal

index - FORMAT=hexa

subindex - FORMAT=hexa

Returns:

the value sent by the can open stack if the read SDO request succeded.

Throws:

SDORequestException

org.lsst.ccs.bus.BadCommandException

ShortResponseToSDORequestException

readPDOs

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

This method sends a sync command to the can open stack and returns the reply. example of sync reply we can receive : sync,23_1=25a7,23_2=113,23_3=10,23_4=109,23_5=108,23_6=104,23_7=101,23_8=112

Returns:

Throws:

FcsHardwareException

org.lsst.ccs.bus.BadCommandException

displayReadPDOs

public String displayReadPDOs()
                       throws FcsHardwareException,
                              org.lsst.ccs.bus.BadCommandException

Throws:

FcsHardwareException

org.lsst.ccs.bus.BadCommandException

identifieHardware_old

@Deprecated
public void identifieHardware_old()
                                       throws org.lsst.ccs.HardwareException

Deprecated.

Identification of the hardware : we want to retrieve the information stored in the hardware of the booted nodes and update the array of nodes with this information. The Can Open node ID is a main information to retrieve.

Throws:

org.lsst.ccs.HardwareException

identifyHardware

public void identifyHardware()
                      throws org.lsst.ccs.HardwareException

Identification of the hardware : we want to retrieve the information stored in the hardware of the booted nodes and update the array of nodes with this information. So for each booted node, we send a command : info,node_ID to the CWrapper and then we update the nodes list with the information returned in the command result. The serial number is a main information to retrieve.

Throws:

org.lsst.ccs.HardwareException

isHardwareReady

@Command(type=QUERY,
         level=0,
         description="Return true if all hardware is booted and identified.")
public boolean isHardwareReady()

This method returns true if : all the hardware items are booted and identified and the hardware have the node ID expected within the configuration and the hardware is initialized.

Returns:

a boolean

getDetectedNodeForSerialNumber

public CanOpenNode getDetectedNodeForSerialNumber(String aSerialNB)

This method returns the can open detected on the can open network for a piece of hardware identified by its serial number. It can return NULL if the Serial Number is not on the can open network.

Parameters:

aSerialNB -

Returns:

checkCanOpenNodes

public void checkCanOpenNodes()
                       throws org.lsst.ccs.HardwareException

Check if the list of the booted CANopen devices on the CANbus is identical to the hardware list we have in the description.

Throws:

org.lsst.ccs.HardwareException

checkHardwareID

public void checkHardwareID(PieceOfHardware pieceOfHardware)
                     throws org.lsst.ccs.HardwareException

When the hardware is booted and we have retrieve the information (serial number), we want to check for each piece of hardware that we have the good node ID and the good serial number: so we compare the serial number found on the CANopen bus with the serial number in the configuration file.

Parameters:

pieceOfHardware -

Throws:

org.lsst.ccs.HardwareException

listHardware

@Command(type=QUERY,
         level=1,
         description="Return a String with the list of hardware.")
public String listHardware()

Returns:

configAsHeartbeatProducer

public String configAsHeartbeatProducer(String nodeID,
                                        String heartbeat_time)
                                 throws SDORequestException,
                                        TimeoutException,
                                        org.lsst.ccs.bus.BadCommandException

Configure a node as a hearbeat producer. Every heartbeat_time milliseconds this node will produce a message like: 0x700+nodeID: 05 - 1340268404.980000

Parameters:

nodeID - node ID in hexa

heartbeat_time - FORMAT=hexa UNIT=milliseconds

Returns:

error code returned by writeSDO

Throws:

SDORequestException

TimeoutException

org.lsst.ccs.bus.BadCommandException

configAsHeartbeatProducer

public String configAsHeartbeatProducer(int nodeID,
                                        int heartbeat_time)
                                 throws SDORequestException,
                                        TimeoutException,
                                        org.lsst.ccs.bus.BadCommandException

Command to be used by the end users. Configure a node as a heartbeat producer. Parameters given in decimal format.

Parameters:

nodeID - FORMAT=decimal

heartbeat_time - FORMAT=decimal UNIT=milliseconds

Returns:

Throws:

SDORequestException

TimeoutException

org.lsst.ccs.bus.BadCommandException

configAsHeartbeatConsumer

public String configAsHeartbeatConsumer(int nodeID,
                                        int producerNodeID,
                                        int heartbeat_time)
                                 throws SDORequestException,
                                        TimeoutException,
                                        org.lsst.ccs.bus.BadCommandException

Configure a node as a hearbeat consumer. Every heartbeat_time milliseconds this node will produce a message like: 0x700+nodeID: 05 - 1340268404.980000

Parameters:

nodeID - node ID in decimal

producerNodeID -

heartbeat_time - FORMAT=decimal UNIT=milliseconds

Returns:

Throws:

SDORequestException

TimeoutException

org.lsst.ccs.bus.BadCommandException

publishData

public void publishData()

Publish Data on status bus for trending data base and GUIs.

publishHardwareData

public void publishHardwareData(PieceOfHardware device)

Publish Data on status bus for trending data base and GUIs.

Parameters:

device -

toString

public String toString()

isTcpServerStarted

public boolean isTcpServerStarted()

getPortNumber

public int getPortNumber()

start

public void start()

startServer

@Command(type=ACTION,
         level=1,
         description="Starts the tcp server.")
public void startServer()

Starts the server tcp on the port portNumber. And waits for a client connection.

startThreadReader

@Command(type=ACTION,
         level=1,
         description="Starts to listen to the tcp client.")
public void startThreadReader()

Starts a thread which read on the tcp socket, waiting for messages coming from tcp proxy. If the message has a known token (already registred in commandDispenser) it is a response to a can open command that we had sent to the proxy. If the token of the message is null, that means that is's an unsynchronous message coming from the can open stack and transmitted directly from the tcp proxy. That can be : - a boot message : "boot,nodeID" - an emergency message : "emcy,80+NodeID"

shutdownNow

public void shutdownNow()

Specified by:

shutdownNow in interface org.lsst.ccs.framework.Configurable

Overrides:

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

stopServer

public void stopServer()

Stops the tcp server.

isReady

public boolean isReady(String clientName)

call

public Object call(String clientName,
                   String command)
            throws CWrapperNotConnected,
                   CanOpenCallTimeoutException

This methods send a command to the tcp client. The command is a String and can be understood by the client. Example for a Can Open command : rsdo,1,1018,0 The command is stored in the command dispenser with a token and command corelation. When the response comes back from the proxy we can retrieve it from the dispenser with the call token.

Parameters:

clientName -

command -

Returns:

result of the call or null if the call failed

Throws:

CWrapperNotConnected

CanOpenCallTimeoutException