org.lsst.ccs.subsystems.fcs.simulation

Class SimuAutochangerLinearRailController

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.SimuAutochangerLinearRailController

All Implemented Interfaces:

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

public class SimuAutochangerLinearRailController
extends SimuEPOSController
implements EPOSControllerForLinearRail

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

Author:

virieux

Nested Class Summary

Nested classes/interfaces inherited from interface org.lsst.ccs.framework.ClearAlertHandler

org.lsst.ccs.framework.ClearAlertHandler.ClearAlertCode

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

current, enabledToPublish, followingError, mode, parametersOK, velocity

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

alertSeparator

Constructor Summary

Constructors

Constructor and Description
SimuAutochangerLinearRailController(int nodeID, String serialNB, SimuAutochangerPlutoGateway plutoGateway) Build a new SimuAutochangerLinearRailController

Method Summary

Modifier and Type	Method and Description
void	activateBrake() Activate brake to prevent motion.
void	activateBrakeAndDisable()
void	configureDigitalInputOfLinearRails()
void	configureDigitalOutputOfLinearRails()
void	doReleaseBrake() Release holding brake to be able to move linear rail trucks or open/close ONLINE clamps.
int	getEncoderRibbonMinValue()
void	homing()
void	init()
boolean	isBrakeActivated() return true if brake if activated.
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.SimuEPOSController

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

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

changeEPOSParameter, changeMode, changeProfileVelocity, checkParameters, faultReset, getCurrent, getFollowingError, getMode, getPosition, getVelocity, initializeAndCheckHardware, isEnabledToPublish, printControlWord, publishData, readControlWord, readCurrentAverageValue, readFollowingError, readParameter, readVelocity, restoreParameters, setEnabledToPublish, writeTargetVelocity

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

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

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, enableAndReleaseBrake

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

canClearAlert, changeMode, changeProfileVelocity, checkEnabled, checkFault, checkParameters, checkTargetReached, convertEPOSValue, defineAbsolutePosition, definePositionFromNegativeLimitSwitch, disableOperation, disableVoltage, displayErrorHistory, enable, enableAndWriteAbsolutePosition, enableAndWriteCurrent, enableAndWriteRelativePosition, getCurrent, getErrorHistory, getErrorRegister, getMode, getPosition, getVelocity, isEnabled, isEnabledToPublish, isInError, isInMode, isParametersOK, isTargetReached, printStatusWordInBinary, quickStop, readControlWord, readCurrent, readCurrentAverageValue, readFollowingError, readMode, readNumberOfErrors, readParameter, readParameter, readParameters, readParameters, readParameters, readPosition, readPositionSensorType, readProfileVelocity, readSSIPosition, readStatusWord, readVelocity, setEnabledToPublish, shutdownController, stopAction, stopPosition, stopVelocity, switchOn, switchOnEnableOperation, writeControlWord, writeCurrent, writeParameter, writeParameters, writeParameters, writeParameters, 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, getAlertSeparator, getAlertService, getSubsystem, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseWarning, raiseWarning

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

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

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

canClearAlert

Constructor Detail

SimuAutochangerLinearRailController

public SimuAutochangerLinearRailController(int nodeID,
                                           String serialNB,
                                           SimuAutochangerPlutoGateway plutoGateway)

Build a new SimuAutochangerLinearRailController

Parameters:

nodeID -

serialNB -

plutoGateway -

Method Detail

setSsiPosition

public void setSsiPosition(int ssiPosition)

getEncoderRibbonMinValue

public int getEncoderRibbonMinValue()

init

public void init()

Specified by:

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

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 SimuEPOSController

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

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