org.lsst.ccs.subsystems.fcs.simulation

Class SimuCarouselController

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.SimuCarouselController

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, PieceOfHardware, org.lsst.ccs.UsesSubsystem

public class SimuCarouselController
extends SimuEPOSControllerModule

To simulate the controller which rotates carousel.

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
SimuCarouselController(String nodeID, String serialNB, Map<String,Integer> paramsForCurrent, Map<String,Integer> paramsForProfilePosition, Map<String,Integer> paramsForHoming) Build a new SimuCarouselController

Method Summary

Modifier and Type	Method and Description
void	initModule()
void	simulateWriteTargetPosition(int positionToReach, int positionInitiale) This simulates a rotation of carousel to reach a position given as argument.
void	writeControlWord(String controlWord) In the same way than for the real hardware with an EPOSController, this method starts actually the simulated motion.
void	writeTargetPosition(int position) This methods does nothing but save the position given as argument.

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, 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.EPOSController

createStatusDataPublishedByEPOSController, enableAndWriteAbsolutePosition, getErrorHistory, getErrorRegister, isInError

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

checkBooted, checkInitialized, createStatusDataPublishedByHardware, getNodeID, getSerialNB, isInitialized, printState

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

SimuCarouselController

public SimuCarouselController(String nodeID,
                              String serialNB,
                              Map<String,Integer> paramsForCurrent,
                              Map<String,Integer> paramsForProfilePosition,
                              Map<String,Integer> paramsForHoming)

Build a new SimuCarouselController

Parameters:

nodeID -

serialNB -

paramsForCurrent -

paramsForProfilePosition -

paramsForHoming -

Method Detail

initModule

public void initModule()

Overrides:

initModule in class CanOpenDevice

writeControlWord

@Command(type=ACTION,
         level=1,
         description="In PROFILE_POSITION mode this methods start the motion to the targetPosition.")
public void writeControlWord(String controlWord)

In the same way than for the real hardware with an EPOSController, this method starts actually the simulated motion.

Specified by:

writeControlWord in interface EPOSController

Overrides:

writeControlWord in class SimuEPOSControllerModule

Parameters:

controlWord -

writeTargetPosition

@Command(type=ACTION,
         level=1,
         description="In PROFILE_POSITION mode this methods set the target position.")
public void writeTargetPosition(int position)
                                                                                                                                                        throws FcsHardwareException

This methods does nothing but save the position given as argument.

Specified by:

writeTargetPosition in interface EPOSController

Overrides:

writeTargetPosition in class SimuEPOSControllerModule

Parameters:

position -

Throws:

FcsHardwareException

SDORequestException

simulateWriteTargetPosition

public void simulateWriteTargetPosition(int positionToReach,
                                        int positionInitiale)

This simulates a rotation of carousel to reach a position given as argument. (absolute position)

Parameters:

positionToReach - can be < -360 or > 360

positionInitiale -