org.lsst.ccs.subsystems.fcs.drivers

Class LoaderCanOpenProxy

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.drivers.LoaderCanOpenProxy

All Implemented Interfaces:

Observer, org.lsst.ccs.config.ConfigurationBulkChangeHandler, org.lsst.ccs.framework.ClearAlertHandler, org.lsst.ccs.framework.Configurable, org.lsst.ccs.framework.HardwareController, org.lsst.ccs.framework.HasLifecycle, org.lsst.ccs.framework.SignalHandler, AlertRaiser, BridgeToHardware, org.lsst.ccs.UsesSubsystem

public class LoaderCanOpenProxy
extends CanOpenProxy

The tcp server for the loader when we want to connect or disconnect loader hardware. So this tcp proxy won't start during initialisation phase.

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 class org.lsst.ccs.framework.Module

org.lsst.ccs.framework.Module.ValueUpdate

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

org.lsst.ccs.framework.ClearAlertHandler.ClearAlertCode

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 FcsTcpProxy.ClientContext	clientContext
static Logger	COMMAND_LOG A Logger for CommandDispenser.
protected int	fieldBusTimeout
protected Condition	hardwareBooted
protected Lock	lock
protected int	portNumber
protected boolean	stopped
protected boolean	stopping
protected boolean	tcpServerStarted

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

bootedNodes, bootingCompleted, hardwareBootProcessEnded, hardwareMapByNodeID

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

name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description
LoaderCanOpenProxy(int portNumber, int fieldBusTimeout, String clientName, 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.
org.lsst.ccs.framework.TreeWalkerDiag	checkHardware() We want that the checkHardware method does nothing during INITIALISATION phase for the loader tcpProxy because the loader might be not connected.
void	connectHardware() This methods connect the CWrapper client, and the TCP server and check the hardware.
boolean	isReady(String clientName)
protected void	processUnknownCommand(String message) Process a message received from the CAN bus when this message is an unknown message.
void	start() We don't want the tcp server to be started during INITIALISATION phase.
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.

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

canClearAlert, checkBootedCanOpenNodes, checkCanOpenCommand, checkHardwareID, checkNodeID, checkNumberOfBootedNodes, checkStarted, checkStopped, disconnectHardware, getBootedNodeBySerialNumber, getBootedSerialNumberForNode, getMyClientName, getNodeName, getPdoStorage, initialize, initModule, isBooted, isCANDevicesReady, isCWrapperConnected, isRealHardware, listBootedNodes, listHardwareNames, printBootedNodeBySerialNumber, printHardwareList, printHardwareState, printPDOStorage, processEmcyMessage, processResponseToReadSDO, processSDORequestError, publishData, publishHardwareData, publishHardwareData, readDevicesInfo, readPDOs, readSDO, readSDOCommand, retrieveHardwareInfo, sendCanOpenCommand, shutdownNow, toString, updateDeviceInfo, writeSDO, writeSDO

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

getNObserverThreads, getObservables, getTickMillis, init, listens, processUpdate, sendSignal, sendSignalWithTimeLimit, setNObserverThreads, setObservables, setTickMillis, 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.BridgeToHardware

startServer, startThreadReader

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

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

Methods inherited from interface org.lsst.ccs.UsesSubsystem

getComponentConfigurationEnvironment, getComponentLookup, getName, getSubsystem

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

change, dropSubmittedChanges, getChildren, getComponentByName, getEnvironment, getParent, getParentObject, getSubmittedChanges, isParameterConfigurable, postStart, printConfigurableParameters, setBulkParameter, submitChange, submitChanges, validateBulkChange

Methods inherited from interface org.lsst.ccs.config.ConfigurationBulkChangeHandler

setParameterBulk

Field Detail

COMMAND_LOG

public static final Logger COMMAND_LOG

A Logger for CommandDispenser.

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

LoaderCanOpenProxy

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

Method Detail

start

public void start()

We don't want the tcp server to be started during INITIALISATION phase.

Specified by:

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

Specified by:

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

checkHardware

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

We want that the checkHardware method does nothing during INITIALISATION phase for the loader tcpProxy because the loader might be not connected.

Specified by:

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

Specified by:

checkHardware in interface BridgeToHardware

Overrides:

checkHardware in class CanOpenProxy

Returns:

Throws:

org.lsst.ccs.HardwareException

connectHardware

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

This methods connect the CWrapper client, and the TCP server and check the hardware.

Specified by:

connectHardware in interface BridgeToHardware

Overrides:

connectHardware in class CanOpenProxy

Throws:

org.lsst.ccs.HardwareException

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"

stopServer

public void stopServer()

Stops the tcp server.

isReady

public boolean isReady(String clientName)

call

public Object call(String clientName,
                   String command)

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

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 -