EPOSController (LSST CCS - Subsystem FCS 5.1.2 API)

All Superinterfaces:

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

All Known Subinterfaces:

EPOSControllerForCarousel, EPOSControllerForLinearRail, EPOSControllerWithBrake

All Known Implementing Classes:

CanOpenEPOS, CanOpenEPOSCarousel, CanOpenEPOSLinearRailTruck, CanOpenEPOSOnlineClamp, SimuAutochangerLatchController, SimuAutochangerLinearRailController, SimuAutochangerOnlineClampController, SimuCarouselClampController, SimuCarouselController, SimuEPOSController, SimuLoaderCarrierController, SimuLoaderClampController
```
public interface EPOSController
extends PieceOfHardware, org.lsst.ccs.framework.HasLifecycle
```
Author:

virieux

Field Summary
- Fields inherited from interface org.lsst.ccs.subsystems.fcs.common.AlertRaiser
  alertSeparater

Method Summary

All Methods Static Methods Instance Methods Abstract Methods Default Methods
Modifier and Type	Method and Description
`void`	`changeMode(EPOSEnumerations.EposMode newMode)` This methods changes the mode to the new mode given as an argument.
`default void`	`changeProfileVelocity(int newVelocity)` change ProfileVelocity to a new value.
`default void`	`checkCurrent(int aValue)`
`default void`	`checkEnabled()` Check if controller is enable otherwise, throw an Exception.
`void`	`checkFault()` Check if the controller is in fault.
`void`	`checkParameters(EPOSEnumerations.EposMode aMode)` Check parameters for a given EPOS mode : compare the values stored in the Configuration System and the values stored in controller CPU.
`default void`	`checkTargetReached(long timeout)` check if target is reached in HOMING or PROFILE_POSITION commands and throws an Exception if not.
`static long`	`convertEPOSValue(EPOSEnumerations.Parameter param, long value, String myName)` values transmitted by EPOSController can be : UNSIGNED32, UNSIGNED16, UNSIGNED8 for UNSIGNED parameter INTEGER32, INTEGER16, INTEGER8 for SIGNED parameter This method convert a value sent by device to the value to be used in fcs.
`default StatusDataPublishedByEPOSController`	`createStatusDataPublishedByEPOSController()` Creates an object to be published on the STATUS bus by an EPOSController.
`default void`	`defineAbsolutePosition(int position)` Defines the actual position as the absolute position which value is given as an argument.
`default void`	`definePositionFromNegativeLimitSwitch()`
`default void`	`disable()` shutdowns controller
`default void`	`disableVoltage()` cf doc EPOS2_Firmware_Specification § 3.2 Device Control
`String`	`displayErrorHistory()` Return a printed list of errors that occured on this controller.
`default void`	`enable()` This methods enables the controller : i.e.
`default void`	`enableAndWriteAbsolutePosition(int pos)` Enable controller and go to absolute position.
`default void`	`enableAndWriteCurrent(int aValue)` Enable, set mode CURRENT and write current.
`default void`	`enableAndWriteRelativePosition(int pos)` Enable controller and go to relative position.
`int[]`	`getErrorHistory()`
`String`	`getErrorRegister()`
`EPOSEnumerations.EposMode`	`getMode()` Return the EPOS mode stored in field mode.
`default boolean`	`isEnabled()` Returns true if the controller is enabled.
`boolean`	`isEnabledToPublish()` For GUI.
`boolean`	`isInError()` Return true if controller is in fault.
`default boolean`	`isInMode(EPOSEnumerations.EposMode aMode)` return true if this controller is in the mode given as argument.
`boolean`	`isParametersOK()` This methods returns true if the values of parameters stored in CPU are the same than those stored in the configuration system.
`default boolean`	`isTargetReached()` In HOMING mode and PROFILE_POSITION mode this indicates that the position is reached.
`default void`	`quickStop()` Send a quickStop command to the controller.
`short`	`readControlWord()`
`int`	`readCurrent()` Read actual current on the controller CPU.
`int`	`readCurrentAverageValue()` Read Average current on controller CPU.
`int`	`readFollowingError()` read Following Error on controller CPU.
`EPOSEnumerations.EposMode`	`readMode()` read the EPOS mode on the controller CPU.
`int`	`readNumberOfErrors()` Return the number of errors that occured on this controller.
`long`	`readParameter(EPOSEnumerations.Parameter parameter)` Reads in the EPOS CPU the value of the Parameter.
`default long`	`readParameter(String parameterName)` Reads in the EPOS CPU the value of the Parameter which parameter name is given as argument.
`default String`	`readParameters()` Read the parameters for the actual mode.
`default String`	`readParameters(EPOSEnumerations.EposMode aMode)` Read all the value of parameters for a given EPOS mode and return a printed list of this values.
`default String`	`readParameters(String modeInString)` This methods reads in the CPU of the EPOS the values of the parameters for a given mode.
`default int`	`readPosition()` Reads in the CPU the value of the parameter PositionActualValue and returns it in a decimal format.
`default int`	`readPositionSensorType()` Read parameter PositionSensorType in CPU of controller and return read value.
`default long`	`readProfileVelocity()` In PROFILE_POSITION returns the value of the parameter ProfileVelocity.
`default int`	`readSSIPosition()` Read the position returned by the absolute encoder (single serial data).
`int`	`readStatusWord()` Read StatusWord on controller CPU.
`int`	`readVelocity()` read velocity on the controller CPU.
`void`	`setEnabledToPublish(boolean enabledToPublish)`
`default void`	`startVelocity(int velocity)` Change to PROFILE_VELOCITY mode, and move with velocity given as argument.
`default void`	`stopAction()` Stop action and disable(shutdown) controller.
`default void`	`stopPosition()` Stop motion when in mode PROFILE_POSITION.
`default void`	`stopVelocity()` Stop motion when in mode PROFILE_VELOCITY.
`default void`	`switchOnEnableOperation()` Switch on and enable controller.
`void`	`writeControlWord(int w)` Write controlWord to the controller.
`void`	`writeCurrent(int aValue)` In current mode this methods send a current to the motor.
`void`	`writeParameter(EPOSEnumerations.Parameter parameter, int val)` Write on the CPU of the controller a value given in hexadecimal format for a parameter.
`default void`	`writeParameters()` Write in the CPU of the EPOS device the values of the parameters set for the mode in configuration system.
`void`	`writeParameters(EPOSEnumerations.EposMode mode)` This methods writes in the CPU of the EPOS devis the values of the parameters set for the mode.
`default void`	`writeParameters(Map<String,Integer> paramMap)` Write to the CPU of the EPOS a map of parameters.
`void`	`writeTargetPosition(int aValue)` In PROFILE_POSITION mode this methods set the target position.
`void`	`writeTargetVelocity(int velocity)` set the target velocity.

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, init, postBuild, postInit, postShutdown, postStart, shutdown, start

- Method Detail
  - isEnabledToPublish
```
boolean isEnabledToPublish()
```
    For GUI. Doesn't read again controller CPU. Return true if controller is enabled.
    
    Returns:
  - setEnabledToPublish
```
void setEnabledToPublish(boolean enabledToPublish)
```
  - readStatusWord
```
int readStatusWord()
```
    Read StatusWord on controller CPU.
    
    Returns:
  - readControlWord
```
short readControlWord()
```
  - writeControlWord
```
void writeControlWord(int w)
```
    Write controlWord to the controller. Use to send or start commands. See EPOS documentation.
    
    Parameters:
    
    w -
    
    Throws:
    
    FcsHardwareException
  - disable
```
@Command(type=ACTION,
         level=1,
         description="Shutdown the controller.")
default void disable()
```
    shutdowns controller
  - disableVoltage
```
@Command(type=ACTION,
         level=1,
         description="Disable voltage.")
default void disableVoltage()
```
    cf doc EPOS2_Firmware_Specification § 3.2 Device Control
  - switchOnEnableOperation
```
@Command(type=ACTION,
         level=1,
         description="Switch on and enable controller.")
default void switchOnEnableOperation()
```
    Switch on and enable controller.
    
    Throws:
    
    FcsHardwareException
  - stopAction
```
@Command(type=ACTION,
         level=1,
         description="Stop action and disable(shutdown) controller.")
default void stopAction()
```
    Stop action and disable(shutdown) controller.
  - quickStop
```
@Command(type=ACTION,
         level=1,
         description="QuickStop.")
default void quickStop()
```
    Send a quickStop command to the controller.
    
    Throws:
    
    FcsHardwareException
  - enable
```
@Command(type=ACTION,
         level=1,
         description="This methods enables the controller : i.e. this makes it able to receive commands.")
default void enable()
```
    This methods enables the controller : i.e. this makes it able to receive commands.
    
    Throws:
    
    SDORequestException
  - checkEnabled
```
@Command(type=ACTION,
         level=1,
         description="Check if controller is enabled otherwise, throw an Exception.")
default void checkEnabled()
```
    Check if controller is enable otherwise, throw an Exception.
  - isEnabled
```
@Command(type=QUERY,
         level=1,
         description="Returns true if the controller is enabled.")
default boolean isEnabled()
```
    Returns true if the controller is enabled.
    
    Returns:
  - changeMode
```
void changeMode(EPOSEnumerations.EposMode newMode)
```
    This methods changes the mode to the new mode given as an argument. It writes the new mode in the CPU of the EPOS controller and updates the field mode.
    
    Parameters:
    
    newMode -
    
    Throws:
    
    SDORequestException
  - readMode
```
EPOSEnumerations.EposMode readMode()
```
    read the EPOS mode on the controller CPU.
    
    Returns:
    
    mode
    
    Throws:
    
    FcsHardwareException
  - getMode
```
EPOSEnumerations.EposMode getMode()
```
    Return the EPOS mode stored in field mode. Doesn't read again controller CPU.
    
    Returns:
  - isInMode
```
@Command(type=QUERY,
         description="return true if this controller is in the mode given as argument.")
default boolean isInMode(EPOSEnumerations.EposMode aMode)
```
    return true if this controller is in the mode given as argument.
    
    Parameters:
    
    aMode -
    
    Returns:
  - readCurrent
```
int readCurrent()
```
    Read actual current on the controller CPU. (object 6078)
    
    Returns:
    
    Throws:
    
    SDORequestException
    
    FcsHardwareException
  - readCurrentAverageValue
```
int readCurrentAverageValue()
```
    Read Average current on controller CPU. (object 2027)
    
    Returns:
  - readVelocity
```
int readVelocity()
```
    read velocity on the controller CPU.
    
    Returns:
  - readFollowingError
```
int readFollowingError()
```
    read Following Error on controller CPU.
    
    Returns:
  - writeCurrent
```
@Command(type=ACTION,
         level=1,
         description="In current mode this methods send a current to the motor.")
void writeCurrent(int aValue)
                                                                                                                                     throws EPOSConfigurationException
```
    In current mode this methods send a current to the motor. This make run the motor.
    
    Parameters:
    
    aValue - UNIT=mA / FORMAT=decimal the value of the current to be sent.
    
    Throws:
    
    EPOSConfigurationException
    
    SDORequestException
  - enableAndWriteCurrent
```
@Command(type=ACTION,
         level=3,
         description="Enables controller and sets the current value in the EPOS CPU.")
default void enableAndWriteCurrent(int aValue)
```
    Enable, set mode CURRENT and write current. For end user at console.
    
    Parameters:
    
    aValue -
  - checkCurrent
```
default void checkCurrent(int aValue)
```
  - defineAbsolutePosition
```
@Command(type=ACTION,
         level=3,
         description="Define the actual position as position given as argument.")
default void defineAbsolutePosition(int position)
```
    Defines the actual position as the absolute position which value is given as an argument. Writes value 35 to set the Homing method as Actual (See EPOS documentation)
    
    Parameters:
    
    position -
    
    Throws:
    
    SDORequestException
    
    RejectedCommandException
  - definePositionFromNegativeLimitSwitch
```
default void definePositionFromNegativeLimitSwitch()
```
  - readPosition
```
@Command(type=QUERY,
         level=1,
         alias="readPositionActualValue",
         description="In PROFILE_POSITION Mode this methods returns the actual position.")
default int readPosition()
```
    Reads in the CPU the value of the parameter PositionActualValue and returns it in a decimal format.
    
    Returns:
    
    value in decimal format
    
    Throws:
    
    SDORequestException
  - readSSIPosition
```
@Command(type=QUERY,
         level=1,
         description="Read the position returned by the absolute encoder (single serial data).")
default int readSSIPosition()
```
    Read the position returned by the absolute encoder (single serial data).
    
    Returns:
    
    Throws:
    
    SDORequestException
  - readProfileVelocity
```
@Command(type=QUERY,
         level=1,
         description="In PROFILE_POSITION returns the value of the parameter ProfileVelocity.")
default long readProfileVelocity()
```
    In PROFILE_POSITION returns the value of the parameter ProfileVelocity.
    
    Returns:
    
    Throws:
    
    SDORequestException
  - readPositionSensorType
```
@Command(type=QUERY,
         level=1,
         description="Read PositionSensorType.")
default int readPositionSensorType()
```
    Read parameter PositionSensorType in CPU of controller and return read value.
    
    Returns:
  - writeTargetPosition
```
@Command(type=ACTION,
         level=1,
         description="In PROFILE_POSITION mode this methods set the target position.")
void writeTargetPosition(int aValue)
```
    In PROFILE_POSITION mode this methods set the target position. This make run the motor.
    
    Parameters:
    
    aValue - UNIT=mA / FORMAT=decimal the value of the current to be sent.
    
    Throws:
    
    SDORequestException
  - writeTargetVelocity
```
@Command(type=ACTION,
         level=1,
         description="In PROFILE_VELOCITY mode this methods set the target velocity.")
void writeTargetVelocity(int velocity)
```
    set the target velocity.
    
    Parameters:
    
    velocity -
  - changeProfileVelocity
```
default void changeProfileVelocity(int newVelocity)
```
    change ProfileVelocity to a new value. Used by loader carrier controller to reduce speed.
    
    Parameters:
    
    newVelocity -
  - isParametersOK
```
boolean isParametersOK()
```
    This methods returns true if the values of parameters stored in CPU are the same than those stored in the configuration system.
    
    Returns:
  - readParameter
```
long readParameter(EPOSEnumerations.Parameter parameter)
```
    Reads in the EPOS CPU the value of the Parameter.
    
    Parameters:
    
    parameter -
    
    Returns:
  - writeParameter
```
void writeParameter(EPOSEnumerations.Parameter parameter,
                    int val)
```
    Write on the CPU of the controller a value given in hexadecimal format for a parameter.
    
    Parameters:
    
    parameter -
    
    val - the value.
    
    Throws:
    
    FcsHardwareException
  - checkParameters
```
void checkParameters(EPOSEnumerations.EposMode aMode)
```
    Check parameters for a given EPOS mode : compare the values stored in the Configuration System and the values stored in controller CPU. Raise a FcsHardwareException if some values are not equals.
    
    Parameters:
    
    aMode -
    
    Throws:
    
    FcsHardwareException
  - writeParameters
```
void writeParameters(EPOSEnumerations.EposMode mode)
```
    This methods writes in the CPU of the EPOS devis the values of the parameters set for the mode. Usually the values of the parameters are given by the configuration system.
    
    Parameters:
    
    mode -
    
    Throws:
    
    SDORequestException
  - writeParameters
```
@Command(type=ACTION,
         level=3,
         description="Write in the CPU of the EPOS device the values of the parameters set for the mode.")
default void writeParameters()
```
    Write in the CPU of the EPOS device the values of the parameters set for the mode in configuration system.
  - readParameter
```
@Command(type=QUERY,
         level=1,
         description="Reads in the EPOS CPU the decimal value of the Parameter which parameter name is given as argument.")
default long readParameter(String parameterName)
```
    Reads in the EPOS CPU the value of the Parameter which parameter name is given as argument.
    
    Parameters:
    
    parameterName - name of the parameter to read
    
    Returns:
    
    value of the parameter in decimal format.
    
    Throws:
    
    SDORequestException
  - readParameters
```
@Command(type=QUERY,
         level=1,
         description="Read the parameters for the actual mode.")
default String readParameters()
```
    Read the parameters for the actual mode.
    
    Returns:
  - readParameters
```
@Command(type=QUERY,
         level=1,
         description="This methods reads in the CPU of the EPOS the values of the parameters for a given mode.")
default String readParameters(String modeInString)
```
    This methods reads in the CPU of the EPOS the values of the parameters for a given mode.
    
    Parameters:
    
    modeInString -
    
    Returns:
    
    Throws:
    
    SDORequestException
  - readParameters
```
default String readParameters(EPOSEnumerations.EposMode aMode)
```
    Read all the value of parameters for a given EPOS mode and return a printed list of this values.
    
    Parameters:
    
    aMode -
    
    Returns:
    
    Throws:
    
    FcsHardwareException
  - writeParameters
```
default void writeParameters(Map<String,Integer> paramMap)
```
    Write to the CPU of the EPOS a map of parameters.
    
    Parameters:
    
    paramMap -
    
    Throws:
    
    SDORequestException
  - convertEPOSValue
```
static long convertEPOSValue(EPOSEnumerations.Parameter param,
                             long value,
                             String myName)
```
    values transmitted by EPOSController can be : UNSIGNED32, UNSIGNED16, UNSIGNED8 for UNSIGNED parameter INTEGER32, INTEGER16, INTEGER8 for SIGNED parameter This method convert a value sent by device to the value to be used in fcs. Exemple : PolePairNumber is an UNSIGNED8. Real values are always > 0. Value sent by device should not be changed and be always > 0 : 255 => 255 HomingMethod is an INTEGER8 Real values can be negative. So value sent by device is casted as byte to have the real value. 255 => -1
    
    Parameters:
    
    param -
    
    value -
    
    myName -
    
    Returns:
  - isInError
```
boolean isInError()
```
    Return true if controller is in fault.
    
    Returns:
  - getErrorRegister
```
String getErrorRegister()
```
    Returns:
    
    error register in printed format
  - getErrorHistory
```
int[] getErrorHistory()
```
    Returns:
    
    a printed list of errors.
  - readNumberOfErrors
```
int readNumberOfErrors()
```
    Return the number of errors that occured on this controller.
    
    Returns:
    
    Throws:
    
    SDORequestException
    
    FcsHardwareException
  - displayErrorHistory
```
String displayErrorHistory()
```
    Return a printed list of errors that occured on this controller.
    
    Returns:
    
    Throws:
    
    SDORequestException
    
    FcsHardwareException
  - checkFault
```
void checkFault()
```
    Check if the controller is in fault. Throw an Exception if the controller is in fault.
    
    Throws:
    
    SDORequestException
    
    FcsHardwareException
  - isTargetReached
```
@Command(type=QUERY,
         level=1,
         description="In HOMING mode and PROFILE_POSITION mode this indicates that the position is reached.")
default boolean isTargetReached()
```
    In HOMING mode and PROFILE_POSITION mode this indicates that the position is reached.
    
    Returns:
    
    true if the position is reached.
    
    Throws:
    
    SDORequestException
  - checkTargetReached
```
default void checkTargetReached(long timeout)
```
    check if target is reached in HOMING or PROFILE_POSITION commands and throws an Exception if not.
    
    Parameters:
    
    timeout -
  - enableAndWriteAbsolutePosition
```
@Command(type=ACTION,
         level=3,
         description="Enable controller and go to absolute position. Doesn\'t check condition. DANGER !!!! ")
default void enableAndWriteAbsolutePosition(int pos)
```
    Enable controller and go to absolute position. Doesn't check condition. DANGER !!!!
    
    Parameters:
    
    pos -
  - enableAndWriteRelativePosition
```
@Command(type=ACTION,
         level=3,
         description="Enable controller and go to relative position. Doesn\'t check condition. DANGER !!!! ")
default void enableAndWriteRelativePosition(int pos)
```
    Enable controller and go to relative position. Doesn't check condition. DANGER !!!!
    
    Parameters:
    
    pos -
  - startVelocity
```
@Command(type=ACTION,
         level=1,
         description="Change to PROFILE_VELOCITY mode, and move with velocity given as argument. To stop motion command is stopVelocity.")
default void startVelocity(int velocity)
```
    Change to PROFILE_VELOCITY mode, and move with velocity given as argument.
    
    Parameters:
    
    velocity -
  - stopPosition
```
@Command(type=ACTION,
         level=1,
         description="Stop motion when in mode PROFILE_POSITION.")
default void stopPosition()
```
    Stop motion when in mode PROFILE_POSITION.
  - stopVelocity
```
@Command(type=ACTION,
         level=1,
         description="Stop motion when in mode PROFILE_VELOCITY.")
default void stopVelocity()
```
    Stop motion when in mode PROFILE_VELOCITY.
  - createStatusDataPublishedByEPOSController
```
default StatusDataPublishedByEPOSController createStatusDataPublishedByEPOSController()
```
    Creates an object to be published on the STATUS bus by an EPOSController.
    
    Returns:

Interface EPOSController

Field Summary

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

Method Summary

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

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

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

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

Method Detail

isEnabledToPublish

setEnabledToPublish

readStatusWord

readControlWord

writeControlWord

disable

disableVoltage

switchOnEnableOperation

stopAction

quickStop

enable

checkEnabled

isEnabled

changeMode

readMode

getMode

isInMode

readCurrent

readCurrentAverageValue

readVelocity

readFollowingError

writeCurrent

enableAndWriteCurrent

checkCurrent

defineAbsolutePosition

definePositionFromNegativeLimitSwitch

readPosition

readSSIPosition

readProfileVelocity

readPositionSensorType

writeTargetPosition

writeTargetVelocity

changeProfileVelocity

isParametersOK

readParameter

writeParameter

checkParameters

writeParameters

writeParameters

readParameter

readParameters

readParameters

readParameters

writeParameters

convertEPOSValue

isInError

getErrorRegister

getErrorHistory

readNumberOfErrors

displayErrorHistory

checkFault

isTargetReached

checkTargetReached

enableAndWriteAbsolutePosition

enableAndWriteRelativePosition

startVelocity

stopPosition

stopVelocity

createStatusDataPublishedByEPOSController