org.lsst.ccs.subsystems.fcs.simulation

Class SimuAutochangerLinearRailController

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

org.lsst.ccs.subsystems.fcs.drivers.CanOpenEPOS

org.lsst.ccs.subsystems.fcs.simulation.SimuEPOSControllerModule

org.lsst.ccs.subsystems.fcs.simulation.SimuAutochangerLinearRailController

All Implemented Interfaces:

Observer, org.lsst.ccs.config.ConfigurationBulkChangeHandler, org.lsst.ccs.framework.Configurable, org.lsst.ccs.framework.HasLifecycle, org.lsst.ccs.framework.SignalHandler, AlertRaiser, EPOSController, EPOSControllerForLinearRail, EPOSControllerWithBrake, PieceOfHardware, org.lsst.ccs.UsesSubsystem

public class SimuAutochangerLinearRailController
extends SimuEPOSControllerModule
implements EPOSControllerForLinearRail

To simulate a controller which moves autochanger trucks along its linear rails.

Author:

virieux

Nested Class Summary

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 inherited from class org.lsst.ccs.subsystems.fcs.simulation.SimuEPOSControllerModule

actualCurrent, position, ssiPosition, targetCurrent, targetPosition

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

enabledToPublish, mode, parametersOK, turnedOff

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

errorHistory, errorRegister, inError, initialized, nodeID, serialNB, tcpProxy

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

name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description
SimuAutochangerLinearRailController(String nodeID, String serialNB, String plutoGatewayName, Map<String,Integer> paramsForCurrent, Map<String,Integer> paramsForProfilePosition, Map<String,Integer> paramsForHoming, int encoderRibbonMinValue) Build a new SimuAutochangerLinearRailController

Method Summary

Modifier and Type	Method and Description
void	activateBrakeAndDisable()
void	configureDigitalInputOfLinearRails()
void	configureDigitalOutputOfLinearRails()
void	doReleaseBrake()
void	enableAndReleaseBrake()
int	getEncoderRibbonMinValue()
void	homing()
void	initModule()
boolean	isHomingDone()
void	setSsiPosition(int ssiPosition)
void	writeTargetPosition(int positionToReached) Simulates a command writeTargetPosition : the position given as argument is the position to be reached.

Methods inherited from class org.lsst.ccs.subsystems.fcs.simulation.SimuEPOSControllerModule

activateBrake, checkCurrentValue, checkFault, checkParameters, defineAbsolutePosition, disable, displayErrorHistory, enable, enableAndWriteRelativePosition, isBooted, isEnabled, isParametersOK, off, quickStop, readCurrent, readErrorHistory, readErrorRegister, readMode, readNumberOfErrors, readParameters, readPosition, readProfileVelocity, readSSIPosition, releaseBrake, setPosition, shutdownEPOS, writeControlWord, writeCurrent, writeParameter, writeParameterInHexa, writeParameters, writeParameters

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

activateCurrentMode, activateHomingMode, activateProfilePositionMode, changeEPOSParameter, changeMode, checkParameters, checkTargetReached, enableAndWriteCurrent, faultReset, getMode, initializeAndCheckHardware, isEnabledToPublish, isInMode, isTargetReached, isTurnedOff, publishData, readControlWord, readCurrentAverageValue, readParameter, readParameter, readParameterInHexa, readParameterInHexa, readParameters, readParameters, readStatusWord, restoreParameters, stopCurrent, switchOnEnableOperation, writeParameter, writeParameterInHexa, writeParameters

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

configAsHeartbeatConsumer, configAsHeartbeatProducer, configAsHeartbeatProducer, createStatusDataPublishedByCanOpenDevice, displayErrorRegister, getErrorHistory, getErrorRegister, getNodeID, getSerialNB, getTcpProxy, isInError, isInitialized, processUpdate, readErrorHistoryNames, readSDO, resetError, saveParameters, toString, writeSDO

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

getNObserverThreads, getObservables, getTickMillis, init, listens, sendSignal, sendSignalWithTimeLimit, setNObserverThreads, setObservables, setTickMillis, shutdownNow, 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.EPOSControllerWithBrake

activateBrake

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

changeMode, checkFault, checkParameters, checkTargetReached, createStatusDataPublishedByEPOSController, defineAbsolutePosition, disable, displayErrorHistory, enable, enableAndWriteAbsolutePosition, enableAndWriteCurrent, enableAndWriteRelativePosition, faultReset, getErrorHistory, getErrorRegister, getMode, isEnabled, isEnabledToPublish, isInError, isInMode, isParametersOK, isTargetReached, isTurnedOff, off, quickStop, readCurrent, readMode, readNumberOfErrors, readParameters, readPosition, readProfileVelocity, readSSIPosition, readStatusWord, shutdownEPOS, switchOnEnableOperation, writeControlWord, writeCurrent, writeParameter, writeParameterInHexa, writeParameters, writeParameters

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

checkBooted, checkInitialized, createStatusDataPublishedByHardware, getNodeID, getSerialNB, initializeAndCheckHardware, isBooted, isInitialized, printState, publishData

Methods inherited from interface org.lsst.ccs.UsesSubsystem

getComponentConfigurationEnvironment, getComponentLookup, getName, getSubsystem

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.framework.Configurable

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

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

setParameterBulk

Constructor Detail

SimuAutochangerLinearRailController

public SimuAutochangerLinearRailController(String nodeID,
                                           String serialNB,
                                           String plutoGatewayName,
                                           Map<String,Integer> paramsForCurrent,
                                           Map<String,Integer> paramsForProfilePosition,
                                           Map<String,Integer> paramsForHoming,
                                           int encoderRibbonMinValue)

Build a new SimuAutochangerLinearRailController

Parameters:

nodeID -

serialNB -

plutoGatewayName -

paramsForCurrent -

paramsForProfilePosition -

paramsForHoming -

encoderRibbonMinValue -

Method Detail

setSsiPosition

public void setSsiPosition(int ssiPosition)

getEncoderRibbonMinValue

public int getEncoderRibbonMinValue()

initModule

public void initModule()

Overrides:

initModule in class CanOpenDevice

writeTargetPosition

public void writeTargetPosition(int positionToReached)

Simulates a command writeTargetPosition : the position given as argument is the position to be reached. This method updates position incremently to simulate a real trucks with a motor controller.

Specified by:

writeTargetPosition in interface EPOSController

Overrides:

writeTargetPosition in class SimuEPOSControllerModule

Parameters:

positionToReached -

configureDigitalInputOfLinearRails

public void configureDigitalInputOfLinearRails()

Specified by:

configureDigitalInputOfLinearRails in interface EPOSControllerForLinearRail

configureDigitalOutputOfLinearRails

public void configureDigitalOutputOfLinearRails()

Specified by:

configureDigitalOutputOfLinearRails in interface EPOSControllerForLinearRail

homing

public void homing()

Specified by:

homing in interface EPOSControllerForLinearRail

isHomingDone

public boolean isHomingDone()

Specified by:

isHomingDone in interface EPOSControllerForLinearRail

activateBrakeAndDisable

public void activateBrakeAndDisable()

Specified by:

activateBrakeAndDisable in interface EPOSControllerWithBrake

enableAndReleaseBrake

public void enableAndReleaseBrake()

Specified by:

enableAndReleaseBrake in interface EPOSControllerWithBrake

doReleaseBrake

public void doReleaseBrake()

Specified by:

doReleaseBrake in interface EPOSControllerWithBrake