org.lsst.ccs.subsystems.fcs.simulation

Class SimuAutochangerOnlineClampController

java.lang.Object

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

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

org.lsst.ccs.subsystems.fcs.simulation.SimuEPOSController

org.lsst.ccs.subsystems.fcs.simulation.SimuAutochangerOnlineClampController

All Implemented Interfaces:

org.lsst.ccs.framework.HasLifecycle, AlertRaiser, EPOSController, EPOSControllerWithBrake, PieceOfHardware, EmergencyMessageListener

public class SimuAutochangerOnlineClampController
extends SimuEPOSController
implements EPOSControllerWithBrake

To simulate a controller which opens and closes a ONLINE clamp on the autochanger.

Author:

virieux

Field Summary

Fields inherited from class org.lsst.ccs.subsystems.fcs.simulation.SimuEPOSController

actualCurrent, position, ssiPosition, targetCurrent, targetPosition

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

enabledToPublish, mode, parametersOK

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

booted, errorHistory, errorRegister, inError, initialized, name, nodeID, serialNB, subs, tcpProxy

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

alertSeparater

Constructor Summary

Constructors

Constructor and Description
SimuAutochangerOnlineClampController(int nodeID, String serialNB, SimuAutochangerPlutoGateway plutoGateway, String onlineClampName, Map<String,Integer> paramsForCurrent, Map<String,Integer> paramsForProfilePosition, Map<String,Integer> paramsForHoming) Build a new SimuAutochangerOnlineClampController.

Method Summary

Modifier and Type	Method and Description
void	activateBrake() Activate brake to prevent motion.
void	activateBrakeAndDisable()
void	doReleaseBrake() Release holding brake to be able to move linear rail trucks or open/close ONLINE clamps.
void	enableAndReleaseBrake() enableAndReleaseBrake if this controller is a slave command is rejected because we have to check if master controller is enabled.
void	init()
boolean	isBrakeActivated() return true if brake if activated.
void	writeCurrent(int current) Quick and dirty simulation.

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

checkCurrent, checkFault, checkParameters, defineAbsolutePosition, displayErrorHistory, enableAndWriteRelativePosition, isParametersOK, isTargetReached, quickStop, readCurrent, readErrorHistory, readErrorRegister, readMode, readNumberOfErrors, readParameters, readPosition, readProfileVelocity, readSSIPosition, readStatusWord, setPosition, stopAction, switchOnEnableOperation, writeControlWord, writeParameter, writeParameters, writeParameters, writeTargetPosition

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

changeEPOSParameter, changeMode, changeProfileVelocity, checkParameters, faultReset, getMode, initializeAndCheckHardware, isEnabledToPublish, printControlWord, printStatusWord, publishData, readControlWord, readCurrentAverageValue, readParameter, readVelocity, restoreParameters, setEnabledToPublish, writeTargetVelocity

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

configAsHeartbeatConsumer, configAsHeartbeatProducer, createStatusDataPublishedByCanOpenDevice, displayErrorRegister, doInitializePDOs, getAlertService, getErrorHistory, getErrorRegister, getName, getNodeID, getSerialNB, getSubsystem, getTcpProxy, isBooted, isInError, isInitialized, onEmergencyMessage, printSerialNumber, readSDO, resetError, saveParameters, setBooted, toString, updateFromPDO, writeSDO

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

createStatusDataPublishedByEPOSController

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

changeMode, changeProfileVelocity, checkCurrent, checkEnabled, checkFault, checkParameters, checkTargetReached, convertEPOSValue, defineAbsolutePosition, definePositionFromNegativeLimitSwitch, disable, disableVoltage, displayErrorHistory, enable, enableAndWriteAbsolutePosition, enableAndWriteCurrent, enableAndWriteRelativePosition, getErrorHistory, getErrorRegister, getMode, isEnabled, isEnabledToPublish, isInError, isInMode, isParametersOK, isTargetReached, quickStop, readControlWord, readCurrent, readMode, readNumberOfErrors, readParameter, readParameter, readParameters, readParameters, readParameters, readPosition, readPositionSensorType, readProfileVelocity, readSSIPosition, readStatusWord, readVelocity, setEnabledToPublish, startVelocity, stopAction, stopPosition, stopVelocity, switchOnEnableOperation, writeControlWord, writeParameter, writeParameters, writeParameters, writeParameters, writeTargetPosition, writeTargetVelocity

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

checkBooted, checkId, checkInitialized, createStatusDataPublishedByHardware, doInitializePDOs, getName, getNodeID, getSerialNB, initializeAndCheckHardware, initializePDOs, isBooted, isInitialized, printState, publishData, raiseAlarmIfMissing, setBooted, updateFromPDO

Methods inherited from interface org.lsst.ccs.subsystems.fcs.drivers.EmergencyMessageListener

onEmergencyMessage, onFault, onFaultReset

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

clearAlarm, getAlertService, getSubsystem, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseWarning, raiseWarning

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

build, postBuild, postInit, postShutdown, postStart, shutdown, start

Constructor Detail

SimuAutochangerOnlineClampController

public SimuAutochangerOnlineClampController(int nodeID,
                                            String serialNB,
                                            SimuAutochangerPlutoGateway plutoGateway,
                                            String onlineClampName,
                                            Map<String,Integer> paramsForCurrent,
                                            Map<String,Integer> paramsForProfilePosition,
                                            Map<String,Integer> paramsForHoming)

Build a new SimuAutochangerOnlineClampController.

Parameters:

nodeID -

serialNB -

plutoGateway -

onlineClampName -

paramsForCurrent -

paramsForProfilePosition -

paramsForHoming -

Method Detail

init

public void init()

Specified by:

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

writeCurrent

public void writeCurrent(int current)

Quick and dirty simulation. This will have to be refactorized after tests on the real hardware.

Specified by:

writeCurrent in interface EPOSController

Overrides:

writeCurrent in class SimuEPOSController

Parameters:

current -

activateBrakeAndDisable

public void activateBrakeAndDisable()

Specified by:

activateBrakeAndDisable in interface EPOSControllerWithBrake

enableAndReleaseBrake

public void enableAndReleaseBrake()

Description copied from interface: EPOSControllerWithBrake

enableAndReleaseBrake if this controller is a slave command is rejected because we have to check if master controller is enabled. See AutoChangerTwoTrucksModule.

Specified by:

enableAndReleaseBrake in interface EPOSControllerWithBrake

doReleaseBrake

public void doReleaseBrake()

Description copied from interface: EPOSControllerWithBrake

Release holding brake to be able to move linear rail trucks or open/close ONLINE clamps. doReleaseBrake for controller consists in forcing to ONE bit 15 of parameter DigitalOutputFonctionnalityState. It can't be a command because if this controller is a slave we have to check if master controller is enabled. See AutoChangerTwoTrucksModule.

Specified by:

doReleaseBrake in interface EPOSControllerWithBrake

isBrakeActivated

public boolean isBrakeActivated()

Description copied from interface: EPOSControllerWithBrake

return true if brake if activated. This is when bit15 of Parameter.DigitalOutputFonctionnalityState is ZERO.

Specified by:

isBrakeActivated in interface EPOSControllerWithBrake

Returns:

activateBrake

public void activateBrake()

Description copied from interface: EPOSControllerWithBrake

Activate brake to prevent motion. A holding brake can be associated to a Controller. This brake is activated when the controller is powered on. A brake is associated with Autochanger Linear Rail trucks controllers and Autochanger Online Clamps controllers. activateBrake consists in forcing to ZERO bit 15 of parameter DigitalOutputFonctionnalityState.

Specified by:

activateBrake in interface EPOSControllerWithBrake