org.lsst.ccs.subsystems.fcs.simulation

Class SimuCanOpenProxy

java.lang.Object

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

org.lsst.ccs.subsystems.fcs.simulation.SimuCanOpenProxy

All Implemented Interfaces:

org.lsst.ccs.framework.AlertHandler, org.lsst.ccs.framework.ClearAlertHandler, org.lsst.ccs.framework.HardwareController, org.lsst.ccs.framework.HasLifecycle, AlertRaiser, BridgeToHardware, org.lsst.ccs.UsesSubsystem

public class SimuCanOpenProxy
extends CanOpenProxy

Author:

virieux

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
protected static class	FcsTcpProxy.ClientContext A class to handle the tcpip connexion.

Nested classes/interfaces inherited from interface org.lsst.ccs.framework.ClearAlertHandler

org.lsst.ccs.framework.ClearAlertHandler.ClearAlertCode

Field Summary

Fields

Modifier and Type	Field and Description
protected FcsTcpProxy.ClientContext	clientContext
static Logger	COMMAND_LOG A Logger for CommandDispenser.
protected int	fieldBusTimeout
protected Condition	hardwareBooted
protected Lock	lock
protected String	name
protected int	portNumber
protected boolean	stopped
protected boolean	stopping
protected boolean	tcpServerStarted

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

bootedDeviceNB, bootingCompleted, hardwareBootProcessEnded, hardwareMapByName, hardwareMapByNodeID

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

alertSeparater

Constructor Summary

Constructors

Constructor and Description
SimuCanOpenProxy(int portNumber, int fieldBusTimeout, String clientName, long hardwareBootTimeout)

Method Summary

Modifier and Type	Method and Description
boolean	allDevicesBooted() 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.
void	bootProcess() Check if all pieces of hardware in the configuration are booted with the corect serial number.
Object	call(String clientName, String command) In simulation, call method only logs the command to be called.
void	init()
boolean	isCWrapperConnected() This method returns true if the C-Wrapper is connected to the tcp proxy.
boolean	isReady(String clientName)
boolean	isRealHardware()
protected void	processCommand(String command) Processes a command received from the tcp client.
protected void	processUnknownCommand(String message) Process a message received from the CAN bus when this message is an unknown message.
PDOStorage	readPDOs() This method sends a sync command to the can open stack and returns the reply.
int	readSDO(int nodeID, int index, int subindex) Read a SDO with the given index and subindex RETURNS the value read in hexa (String) if no error occured or throws an Exception if an error occured.
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.
String	writeSDO(int nodeID, int index, int subindex, int size, int newValue) Command to be used by the end user at the console.

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

canClearAlert, checkNodeID, checkStarted, connectHardware, disconnectHardware, getMyClientName, getNodeName, getPdoStorage, initialize, listBootedNodes, listHardwareNames, postStart, printHardwareList, printHardwareState, printPDOStorage, processEmcyMessage, processResponseToReadSDO, processSDORequestError, publishData, readSDOCommand, readSDOLong, retrieveHardwareInfo, sendCanOpen, sendCanOpenCommand, shutdownNow, toString

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.HardwareController

checkHardware, checkStopped

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, getName, getSubsystem

Methods inherited from interface org.lsst.ccs.framework.HasLifecycle

postInit, postShutdown

Field Detail

COMMAND_LOG

public static final Logger COMMAND_LOG

A Logger for CommandDispenser.

name

@LookupName
protected String name

portNumber

@ConfigurationParameter(isFinal=true,
                        range="1024..99000",
                        description="tcpip port number on which this tcpip server starts on.")
protected int portNumber

fieldBusTimeout

@ConfigurationParameter(description="Timeout in Millisecond. If a command sent to the CANbus doesn\'t respond during this amount of time, we considere that they could be an issue on the hardware.")
protected int fieldBusTimeout

stopped

protected volatile boolean stopped

stopping

protected volatile boolean stopping

tcpServerStarted

protected volatile boolean tcpServerStarted

clientContext

protected FcsTcpProxy.ClientContext clientContext

lock

protected final Lock lock

hardwareBooted

protected final Condition hardwareBooted

Constructor Detail

SimuCanOpenProxy

public SimuCanOpenProxy(int portNumber,
                        int fieldBusTimeout,
                        String clientName,
                        long hardwareBootTimeout)

Method Detail

init

public void init()

Specified by:

init in interface org.lsst.ccs.framework.HasLifecycle

Overrides:

init in class CanOpenProxy

startServer

public void startServer()

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

Specified by:

startServer in interface BridgeToHardware

startThreadReader

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"

Specified by:

startThreadReader in interface BridgeToHardware

stopServer

public void stopServer()

Stops the tcp server.

bootProcess

public void bootProcess()

Description copied from class: CanOpenProxy

Check if all pieces of hardware in the configuration are booted with the corect serial number. Raise alerts if not. Waits until all hardware is booted or timeout is reached.

Specified by:

bootProcess in interface BridgeToHardware

Overrides:

bootProcess in class CanOpenProxy

call

public Object call(String clientName,
                   String command)

In simulation, call method only logs the command to be called.

Parameters:

clientName -

command -

Returns:

readPDOs

public PDOStorage readPDOs()

Description copied from class: CanOpenProxy

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

Specified by:

readPDOs in interface BridgeToHardware

Overrides:

readPDOs in class CanOpenProxy

readSDO

public int readSDO(int nodeID,
                   int index,
                   int subindex)

Description copied from class: CanOpenProxy

Read a SDO with the given index and subindex RETURNS the value read in hexa (String) if no error occured or throws an Exception if an error occured.

Overrides:

readSDO in class CanOpenProxy

Parameters:

nodeID -

index -

subindex -

Returns:

writeSDO

public String writeSDO(int nodeID,
                       int index,
                       int subindex,
                       int size,
                       int newValue)

Description copied from class: CanOpenProxy

Command to be used by the end user at the console. (for internal usage, see writeSDO(String,String,String,String,String); Write a SDO message and send it to the can open stack. The parameters are given in the following format:

Overrides:

writeSDO in class CanOpenProxy

Parameters:

nodeID - FORMAT=hexa

index - FORMAT=HEXA

subindex - FORMAT=HEXA

size - FORMAT=decimal between 0 and 4.

newValue - FORMAT=decimal

Returns:

allDevicesBooted

public boolean allDevicesBooted()

Description copied from class: CanOpenProxy

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.

Specified by:

allDevicesBooted in interface BridgeToHardware

Overrides:

allDevicesBooted in class CanOpenProxy

Returns:

a boolean

isCWrapperConnected

public boolean isCWrapperConnected()

Description copied from interface: BridgeToHardware

This method returns true if the C-Wrapper is connected to the tcp proxy. The C-Wrapper has to send the tcpProxy clientName as a keyword before any communication can begin. So if the C-Wrapper doesn't send the good keyword or if it doesn't connect to the tcp proxy, this method returns false.

Specified by:

isCWrapperConnected in interface BridgeToHardware

Overrides:

isCWrapperConnected in class CanOpenProxy

Returns:

isRealHardware

public boolean isRealHardware()

Specified by:

isRealHardware in interface BridgeToHardware

Overrides:

isRealHardware in class CanOpenProxy

Returns:

true if this bridge is connected with real hardware, false if the hardware is simulated.

start

public void start()

Specified by:

start in interface org.lsst.ccs.framework.HasLifecycle

processCommand

protected void processCommand(String command)

Processes a command received from the tcp client.

isReady

public boolean isReady(String clientName)

processUnknownCommand

protected void processUnknownCommand(String message)

Process a message received from the CAN bus when this message is an unknown message. Just raise a Warning Alarm.

Parameters:

nodeID -