org.lsst.ccs.subsystems.fcs.drivers

Class FcsTcpProxy

java.lang.Object

org.lsst.ccs.subsystems.fcs.drivers.FcsTcpProxy

All Implemented Interfaces:

org.lsst.ccs.drivers.canopenjni.CanOpenInterface

public class FcsTcpProxy
extends Object
implements org.lsst.ccs.drivers.canopenjni.CanOpenInterface

This Modules : - start a tcpip server on a portNumber, - wait for the connection of the client (which is supposed to be a Can OPen C wrapper), - send commands received by the call method to the client and - send back the client response. It handles the asynchronous messages coming from the client and for that it starts a thread which listen to the client. This class won't be used anymore when the communication with the hardware will be with a JNI interface.

Author:

virieux

Field Summary

Fields

Modifier and Type	Field and Description
protected String	name
protected org.lsst.ccs.Subsystem	subs

Constructor Summary

Constructors

Constructor and Description
FcsTcpProxy(String clientName, int portNumber, int fieldBusTimeout) Build a new FcsTcpProxy with a tcpip port number and a tickMillis value 3000.

Method Summary

Modifier and Type	Method and Description
void	addReceivedPDO(int cobId)
void	clearReceivedPDOs()
org.lsst.ccs.AlertService	getAlertService()
String	info(int nodeID)
void	init()
void	init(int master, String baud, String busName, int nodeID)
boolean	isReady()
protected void	processCommand(String command) Processes a command received from the tcp client.
void	quit()
void	reset(int nodeId)
long	rsdo(int nodeId, int index, int subindex)
int	scan()
void	setBootMessageListener(org.lsst.ccs.drivers.canopenjni.BootMessageListener bml)
void	setEmergencyMessageListener(org.lsst.ccs.drivers.canopenjni.EmergencyMessageListener eml)
void	setTimeoutMillis(long to)
void	ssta(int nodeId)
void	ssto(int nodeId)
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	stop()
void	stopServer() Stops the tcp server.
org.lsst.ccs.drivers.canopenjni.PDOData	sync()
String	toString()
void	wsdo(int nodeId, int index, int subindex, int size, long data)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

name

@LookupName
protected String name

subs

@LookupField(strategy=TOP)
protected org.lsst.ccs.Subsystem subs

Constructor Detail

FcsTcpProxy

public FcsTcpProxy(String clientName,
                   int portNumber,
                   int fieldBusTimeout)

Build a new FcsTcpProxy with a tcpip port number and a tickMillis value 3000. And a fieldBusTimeout value 6000;

Parameters:

clientName - the client name

portNumber -

fieldBusTimeout -

Method Detail

addReceivedPDO

public void addReceivedPDO(int cobId)
                    throws org.lsst.ccs.drivers.commons.DriverException

Specified by:

addReceivedPDO in interface org.lsst.ccs.drivers.canopenjni.CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

setEmergencyMessageListener

public void setEmergencyMessageListener(org.lsst.ccs.drivers.canopenjni.EmergencyMessageListener eml)
                                 throws org.lsst.ccs.drivers.commons.DriverException

Specified by:

setEmergencyMessageListener in interface org.lsst.ccs.drivers.canopenjni.CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

setBootMessageListener

public void setBootMessageListener(org.lsst.ccs.drivers.canopenjni.BootMessageListener bml)
                            throws org.lsst.ccs.drivers.commons.DriverException

Specified by:

setBootMessageListener in interface org.lsst.ccs.drivers.canopenjni.CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

clearReceivedPDOs

public void clearReceivedPDOs()
                       throws org.lsst.ccs.drivers.commons.DriverException

Specified by:

clearReceivedPDOs in interface org.lsst.ccs.drivers.canopenjni.CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

setTimeoutMillis

public void setTimeoutMillis(long to)
                      throws org.lsst.ccs.drivers.commons.DriverException

Specified by:

setTimeoutMillis in interface org.lsst.ccs.drivers.canopenjni.CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

getAlertService

public org.lsst.ccs.AlertService getAlertService()

init

public void init()

Specified by:

init in interface org.lsst.ccs.drivers.canopenjni.CanOpenInterface

start

public void start()

Specified by:

start in interface org.lsst.ccs.drivers.canopenjni.CanOpenInterface

stop

public void stop()

Specified by:

stop in interface org.lsst.ccs.drivers.canopenjni.CanOpenInterface

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"

processCommand

protected void processCommand(String command)

Processes a command received from the tcp client.

stopServer

public void stopServer()

Stops the tcp server.

isReady

@Command(type=QUERY)
public boolean isReady()

Specified by:

isReady in interface org.lsst.ccs.drivers.canopenjni.CanOpenInterface

init

public void init(int master,
                 String baud,
                 String busName,
                 int nodeID)

Specified by:

init in interface org.lsst.ccs.drivers.canopenjni.CanOpenInterface

sync

@Command(type=QUERY)
public org.lsst.ccs.drivers.canopenjni.PDOData sync()
                                                                  throws org.lsst.ccs.drivers.commons.DriverException

Specified by:

sync in interface org.lsst.ccs.drivers.canopenjni.CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

scan

public int scan()

Specified by:

scan in interface org.lsst.ccs.drivers.canopenjni.CanOpenInterface

info

@Command(type=QUERY)
public String info(int nodeID)
                                 throws org.lsst.ccs.drivers.commons.DriverException

Specified by:

info in interface org.lsst.ccs.drivers.canopenjni.CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

wsdo

@Command(type=QUERY)
public void wsdo(int nodeId,
                                      int index,
                                      int subindex,
                                      int size,
                                      long data)
                               throws org.lsst.ccs.drivers.commons.DriverException

Specified by:

wsdo in interface org.lsst.ccs.drivers.canopenjni.CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

rsdo

@Command(type=QUERY)
public long rsdo(int nodeId,
                                      int index,
                                      int subindex)
                               throws org.lsst.ccs.drivers.commons.DriverException

Specified by:

rsdo in interface org.lsst.ccs.drivers.canopenjni.CanOpenInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

ssta

public void ssta(int nodeId)

Specified by:

ssta in interface org.lsst.ccs.drivers.canopenjni.CanOpenInterface

ssto

public void ssto(int nodeId)

Specified by:

ssto in interface org.lsst.ccs.drivers.canopenjni.CanOpenInterface

reset

public void reset(int nodeId)

Specified by:

reset in interface org.lsst.ccs.drivers.canopenjni.CanOpenInterface

quit

public void quit()

Specified by:

quit in interface org.lsst.ccs.drivers.canopenjni.CanOpenInterface

toString

public String toString()

Overrides:

toString in class Object