org.lsst.ccs.subsystems.fcs.drivers

Class CanOpenDevice

java.lang.Object

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

All Implemented Interfaces:

AlertRaiser, PieceOfHardware, EmergencyMessageListener, org.lsst.ccs.UsesSubsystem

Direct Known Subclasses:

CanCBXAI420, CanOpenADC, CanOpenDAC, CanOpenEPOS, CanOpenStrainGauge, CanOpenSystecIO, CanOpenTTC580, CompactIOModule, PlutoGatewayModule

public class CanOpenDevice
extends Object
implements PieceOfHardware, AlertRaiser

Author:

virieux

Field Summary

Fields

Modifier and Type	Field and Description
protected boolean	booted
protected int[]	errorHistory
protected String	errorRegister
protected boolean	inError
protected boolean	initialized
protected String	name
protected int	nodeID
protected String	serialNB
protected CanOpenProxy	tcpProxy

Fields inherited from interface org.lsst.ccs.subsystems.fcs.common.AlertRaiser

alertSeparater

Constructor Summary

Constructors

Constructor and Description
CanOpenDevice(int nodeID, String serialNB) Create a new CanOpenDevice with a node ID and a serial number.

Method Summary

Modifier and Type	Method and Description
String	configAsHeartbeatConsumer(int nodeID, int producerNodeID, int heartbeatTime) Configure a node as a hearbeat consumer.
String	configAsHeartbeatProducer(int nodeID, int heartbeatTime) Configure a node as a hearbeat producer.
StatusDataPublishedByCanOpenDevice	createStatusDataPublishedByCanOpenDevice() Creates an object to be published on the STATUS bus by a CanOpenDevice.
String	displayErrorHistory()
String	displayErrorRegister()
int[]	getErrorHistory() For the GUI
String	getErrorRegister() For the GUI
String	getName() Return name.
int	getNodeID()
String	getSerialNB()
CanOpenProxy	getTcpProxy() Return tcpProxy
void	initializeAndCheckHardware() This methods has to be overridden if there is some initialization to do for the device.
boolean	isBooted() Returns true if this CANopen node is booted.
boolean	isInError() For the GUI
boolean	isInitialized() Returns true if this CANopen node is initialized.
void	onEmergencyMessage(EmergencyMessage emcyMsg) This method is to be used when receiving an EmergencyMessage from the CANbus.
void	publishData() Publish Data on status bus for trending data base and GUIs.
int[]	readErrorHistory() The error history holds errors that have occurred on the device and have been signalled via the emergency object.
int	readErrorRegister() At index 1001 there deviceErrorFile an error register for the device.
int	readNumberOfErrors() Extract from the Maxon Motor firmware specification : Contains the number of actual errors that are recorded in the array starting at subindex 1.
int	readSDO(int index, int subindex) Sends a readSDO request to the CANopen device.
String	readStringSerialNumber() return a Hexadecimal String representation of serial number.
void	resetError() Reset fields which contains error messages.
void	saveParameters() This method saves the parameters in the controller memory.
void	setBooted(boolean isBooted) set boolean isBooted in INITIALIZATION phase.
String	toString()
void	writeSDO(int index, int subindex, int size, int newValue) Sends a writeSDO request to the CANopen device.

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

checkBooted, checkInitialized, createStatusDataPublishedByHardware, printState, raiseAlarmIfMissing

Methods inherited from interface org.lsst.ccs.subsystems.fcs.drivers.EmergencyMessageListener

onFault, onFaultReset

Methods inherited from interface org.lsst.ccs.subsystems.fcs.common.AlertRaiser

raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseWarning, raiseWarning, raiseWarning, raiseWarning, raiseWarning

Methods inherited from interface org.lsst.ccs.UsesSubsystem

getComponentConfigurationEnvironment, getComponentLookup, getSubsystem

Field Detail

nodeID

@ConfigurationParameter(isFinal=true,
                        description="CANOpen node ID of this CANOpen device")
protected int nodeID

serialNB

@ConfigurationParameter(description="serial number of this CANOpen device")
protected String serialNB

tcpProxy

@LookupField(strategy=ANCESTORS)
protected CanOpenProxy tcpProxy

initialized

protected boolean initialized

booted

protected boolean booted

inError

protected boolean inError

errorHistory

protected int[] errorHistory

errorRegister

protected String errorRegister

name

@LookupName
protected String name

Constructor Detail

CanOpenDevice

public CanOpenDevice(int nodeID,
                     String serialNB)

Create a new CanOpenDevice with a node ID and a serial number.

Parameters:

nodeID -

serialNB -

Method Detail

getName

public String getName()

Return name. Need this method because EPOSController uses getName() to log events which concerns controllers.

Specified by:

getName in interface org.lsst.ccs.UsesSubsystem

Returns:

getSerialNB

@Command(type=QUERY,
         level=1,
         description="Returns this CANopen device\'s serial number.")
public String getSerialNB()

Specified by:

getSerialNB in interface PieceOfHardware

getNodeID

@Command(type=QUERY,
         level=1,
         description="Returns this CANopen device\'s node ID and print it in decimal format.")
public int getNodeID()

Specified by:

getNodeID in interface PieceOfHardware

isBooted

@Command(type=QUERY,
         level=1,
         description="Returns true if this CANopen node is booted.")
public boolean isBooted()

Returns true if this CANopen node is booted.

Specified by:

isBooted in interface PieceOfHardware

Returns:

setBooted

public void setBooted(boolean isBooted)

Description copied from interface: PieceOfHardware

set boolean isBooted in INITIALIZATION phase.

Specified by:

setBooted in interface PieceOfHardware

isInitialized

@Command(type=QUERY,
         level=1,
         description="Returns true if this CANopen node is initialized.")
public boolean isInitialized()

Returns true if this CANopen node is initialized.

Specified by:

isInitialized in interface PieceOfHardware

Returns:

getTcpProxy

public CanOpenProxy getTcpProxy()

Return tcpProxy

Returns:

getErrorHistory

public int[] getErrorHistory()

For the GUI

Returns:

a list of Errors - can be empty

getErrorRegister

public String getErrorRegister()

For the GUI

Returns:

isInError

public boolean isInError()

For the GUI

Returns:

onEmergencyMessage

public void onEmergencyMessage(EmergencyMessage emcyMsg)

This method is to be used when receiving an EmergencyMessage from the CANbus. An emergency message for a controller can be received from the CANbus in 2 cases: - a faultReset has been previously sent to the controller, in this case the error code of the emergency message is "00", - or when a new error is detected by the controller device, in this case the error code is different from "00". This method updates the boolean controllerInFault and publishes data. It's useful for the GUI and the monitoring of the hardware.

Specified by:

onEmergencyMessage in interface EmergencyMessageListener

Parameters:

emcyMsg - the emergency message to be processed.

resetError

public void resetError()

Reset fields which contains error messages.

initializeAndCheckHardware

@Command(type=ACTION,
         level=1,
         description="Initialize the device.")
public void initializeAndCheckHardware()

This methods has to be overridden if there is some initialization to do for the device.

Specified by:

initializeAndCheckHardware in interface PieceOfHardware

writeSDO

@Command(type=ACTION,
         level=3,
         description="Write on the Can Open Device with a command wsdo. All the values are in hexadecimal format. To write new data value in decimal format, please use command writeSDO of tcpProxy.")
public void writeSDO(int index,
                                                                                                                                                                                                                                                                     int subindex,
                                                                                                                                                                                                                                                                     int size,
                                                                                                                                                                                                                                                                     int newValue)

Sends a writeSDO request to the CANopen device. All the arguments of this method take values in hexadecimal format.

Parameters:

index -

subindex -

size -

newValue -

Throws:

FcsHardwareException

readSDO

@Command(type=QUERY,
         level=3,
         description="Reads the Can Open Device with a command rsdo.")
public int readSDO(int index,
                                                                                                                                 int subindex)

Sends a readSDO request to the CANopen device. All the arguments of this method take values in hexadecimal format.

Parameters:

index -

subindex -

Returns:

Throws:

FcsHardwareException

readStringSerialNumber

@Command(type=QUERY,
         level=3,
         description="Reads serial number on the Can Open Device with a command rsdo.")
public String readStringSerialNumber()

return a Hexadecimal String representation of serial number. For end user.

Returns:

readErrorRegister

@Command(type=QUERY,
         level=3,
         description="Reads Error Register on the controller - in hexa (index 1001).")
public int readErrorRegister()

At index 1001 there deviceErrorFile an error register for the device. The device maps internal errors in this byte.

Returns:

error code in Hexa

Throws:

SDORequestException

ShortResponseToSDORequestException

displayErrorRegister

@Command(type=QUERY,
         level=3,
         description="Display Error Register on the controller (index 1001).")
public String displayErrorRegister()

readErrorHistory

public int[] readErrorHistory()

The error history holds errors that have occurred on the device and have been signalled via the emergency object. This methods reads the Maxon Motor Error History and returns an array of error code.

Returns:

errors : a list of device error code

displayErrorHistory

@Command(type=QUERY,
         level=1,
         description="Display Error Register on the controller (index 1001).")
public String displayErrorHistory()

readNumberOfErrors

@Command(type=QUERY,
         level=1,
         description="Read and returns the number of errors registred in the Error History.")
public int readNumberOfErrors()

Extract from the Maxon Motor firmware specification : Contains the number of actual errors that are recorded in the array starting at subindex 1. Writing a “0” deletes the error history (empties the array). Values higher then “0” (zero) are not allowed to write." Read and returns the number of errors registred in the Error History

Returns:

Throws:

SDORequestException

ShortResponseToSDORequestException

saveParameters

@Command(type=ACTION,
         level=3,
         description="This method saves the parameters in the controller memory.")
public void saveParameters()

This method saves the parameters in the controller memory.

Throws:

SDORequestException

configAsHeartbeatProducer

@Command(type=ACTION,
         level=3,
         description="Configure a CANopen device as a heartbeat producer.")
public String configAsHeartbeatProducer(int nodeID,
                                                                                                                                                            int heartbeatTime)

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

Parameters:

nodeID - node ID

heartbeatTime - heartbeat in milliseconds

Returns:

error code returned by writeSDO

Throws:

SDORequestException

configAsHeartbeatConsumer

public String configAsHeartbeatConsumer(int nodeID,
                                        int producerNodeID,
                                        int heartbeatTime)

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

Parameters:

nodeID - node ID in decimal

producerNodeID -

heartbeatTime - FORMAT=decimal UNIT=milliseconds

Returns:

Throws:

SDORequestException

toString

@Command(type=QUERY,
         level=1,
         description="Print CANopen device.")
public String toString()

Overrides:

toString in class Object

createStatusDataPublishedByCanOpenDevice

public StatusDataPublishedByCanOpenDevice createStatusDataPublishedByCanOpenDevice()

Creates an object to be published on the STATUS bus by a CanOpenDevice.

Returns:

publishData

@Command(type=QUERY,
         level=1,
         alias="refreshGUI",
         description="Publish data for the device on the status bus.")
public void publishData()

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

Specified by:

publishData in interface PieceOfHardware