org.lsst.ccs.subsystems.fcs.drivers

Class CanOpenProxy

java.lang.Object

org.lsst.ccs.subsystems.fcs.drivers.CanOpenProxy

All Implemented Interfaces:

org.lsst.ccs.framework.AlertHandler, org.lsst.ccs.framework.ClearAlertHandler, org.lsst.ccs.framework.HardwareController, org.lsst.ccs.framework.HasLifecycle, AlertRaiser, BridgeToHardware, CanOpenEventListener

Direct Known Subclasses:

LoaderCanOpenProxy

public class CanOpenProxy
extends Object
implements org.lsst.ccs.framework.HardwareController, org.lsst.ccs.framework.ClearAlertHandler, BridgeToHardware, org.lsst.ccs.framework.HasLifecycle, AlertRaiser, CanOpenEventListener

The main job of the class CanOpenProxy is to check that the CANopen devices booted on the CAN bus are the CANopen devices which are listed in the configuration system.

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

Modifier and Type	Field and Description
protected String	baud
protected int	bootedDeviceNB
protected String	busName
protected boolean	canbusConnected
protected org.lsst.ccs.drivers.canopenjni.CanOpenInterface	canInterface
protected Map<String,EPOSController>	controllerMapByName
protected boolean	hardwareBootProcessEnded
long	hardwareBootTimeout A timeout for the booting process : during initialization, we wait for the boot messages coming from CANbus field.
protected Map<String,PieceOfHardware>	hardwareMapByName
protected Map<Integer,PieceOfHardware>	hardwareMapByNodeID Map of PieceOfHardware objects this CanOpenProxy manages.
protected int	master
protected int	masterNodeID
protected String	name
org.lsst.ccs.Subsystem	subs

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

alertSeparator

Constructor Summary

Constructors

Constructor and Description
CanOpenProxy(long hardwareBootTimeout) Creates a CanOpenProxy with a tcpip port number to start the tcp server on, a client name, and a hardware booting process timeout.

Method Summary

Modifier and Type	Method and Description
void	addReceivedPDO(int cobId)
boolean	allDevicesBooted() This method returns true if : all the hardware items are booted and identified and the hardware have the node ID expected within the configuration and the hardware is initialized.
void	bootProcess() Check if all pieces of hardware in the configuration are booted with the corect serial number.
org.lsst.ccs.framework.ClearAlertHandler.ClearAlertCode	canClearAlert(org.lsst.ccs.bus.data.Alert alert, org.lsst.ccs.bus.states.AlertState alertState) Overridden method from ClearAlertHandler interface to define conditions when Alerts can be cleared.
void	checkControllers()
void	checkNodeID(int nodeID) Check that a nodeID entered by an end user at the console is a valid one: nodeID should be in the hardwareMapByNodeID.
void	clearReceivedPDOs()
void	connectHardware() This method is used when the loader CANbus is connected.
void	connectToCANbus()
void	disconnectHardware() This methods stops the CWrapper client, and the TCP server.
void	doShutdown() This has to be executed in post order : after controllers and other hardware shutdown.
org.lsst.ccs.services.alert.AlertService	getAlertService() return alertService
org.lsst.ccs.drivers.canopenjni.CanOpenInterface	getCanInterface()
String	getName()
String	getNodeName(int aNodeID) For a piece of hardware that this tcpProxy manages, this methods returns the name of the device when the CANopen node id is given as argument.
org.lsst.ccs.drivers.canopenjni.PDOData	getPDOData()
org.lsst.ccs.Subsystem	getSubsystem()
String	info(int nodeID) for end users from ccs-console.
void	init() *********************************************************************************************** ******************** END OF SETTERS AND GETTERS ********************************************** ***********************************************************************************************
void	init(int master, String baud, String busName, int nodeID)
protected void	initialize() This method initializes the fields of the tcpProxy.
void	initializePDOs() Used with JNI interface to initialize canInterface to be able to received PDOs.
boolean	isCanbusConnected()
boolean	isReady() This method should return true when connection to hardware is effective and all devices connected to that bridge have been correctly identified.
String	listBootedNodes() List the can open bootedNodes which are in the bootedNodes table.
List<String>	listHardwareNames() For the GUI : Return an Array containing hardware names handled by this component.
void	onBootMessage(int nodeID)
void	onEmergencyMessage(int nodeID, int errCode, int errReg) Process an emergency message received from a CANopen device on the status bus : - ALARM or WARNING Alert is raised, - a message is logged
void	postStart() check that all pieces of hardware is booted.
String	printHardwareList() Return a String with the list of hardware expected in this subsystem.
String	printHardwareState() Return a printed list of hardware with the initialization state.
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	quit()
void	readDevicesInfo() This method is called in the checkHardware method during the initialization process.
long	readSDO(int nodeID, int index, int subindex) Send a rsdo command to can interface and throw Exceptions or raise Alarms in case of something went wrong.
long	readSDO(int nodeID, int index, int subindex, int tryouts) Send a rsdo command to can interface and throw Exceptions or raise Alarms in case of something went wrong.
void	retrieveHardwareInfo() Identification of the hardware : we want to retrieve the information stored in the hardware of the booted bootedNodes and update the array of bootedNodes with this information.
int	scan()
void	setNMTStateOperational(int nodeID)
void	shutdown() executed in pre-order : before controllers and other hardware shutdown.
void	start()
org.lsst.ccs.drivers.canopenjni.PDOData	sync() Send a command sync to CAN bus to read sensors by PDO.
String	toString()
void	updatePDOData() Update pdoData in sending a sync command.
void	writeSDO(int nodeID, int index, int subindex, int size, int value) Command to be used by the end user at the console.
void	writeSDO(int nodeID, int index, int subindex, int size, int value, int tryouts) Write a SDO message and send it to the can open stack.

Methods inherited from class java.lang.Object

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

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

checkHardware, checkStopped

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

build, postBuild, postInit, postShutdown

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

clearAlarm, getAlertSeparator, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseWarning, raiseWarning

Field Detail

subs

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

name

@LookupName
protected String name

canInterface

@LookupField(strategy=CHILDREN)
protected org.lsst.ccs.drivers.canopenjni.CanOpenInterface canInterface

master

protected int master

baud

@ConfigurationParameter(description="CANbus rate.")
protected String baud

busName

@ConfigurationParameter(description="CANbus name. Can be 0 for changer or 1 for loader.")
protected String busName

masterNodeID

@ConfigurationParameter(description="CANbus master nodeID.")
protected int masterNodeID

hardwareBootTimeout

@ConfigurationParameter(range="1000..100000",
                        description="A timeout for the hardware booting process")
public long hardwareBootTimeout

A timeout for the booting process : during initialization, we wait for the boot messages coming from CANbus field. When this amount of time is over, we don't wait any more. This has to be tuned during the test bench. UNIT = milliseconds

hardwareMapByNodeID

protected final Map<Integer,PieceOfHardware> hardwareMapByNodeID

Map of PieceOfHardware objects this CanOpenProxy manages. Key is device's node ID.

hardwareMapByName

@LookupField(strategy=CHILDREN)
protected final Map<String,PieceOfHardware> hardwareMapByName

controllerMapByName

@LookupField(strategy=CHILDREN)
protected final Map<String,EPOSController> controllerMapByName

hardwareBootProcessEnded

protected boolean hardwareBootProcessEnded

bootedDeviceNB

protected int bootedDeviceNB

canbusConnected

protected boolean canbusConnected

Constructor Detail

CanOpenProxy

public CanOpenProxy(long hardwareBootTimeout)

Creates a CanOpenProxy with a tcpip port number to start the tcp server on, a client name, and a hardware booting process timeout.

Parameters:

hardwareBootTimeout -

Method Detail

getName

public String getName()

Specified by:

getName in interface AlertRaiser

getSubsystem

public org.lsst.ccs.Subsystem getSubsystem()

Specified by:

getSubsystem in interface AlertRaiser

isCanbusConnected

public boolean isCanbusConnected()

Specified by:

isCanbusConnected in interface BridgeToHardware

getCanInterface

public org.lsst.ccs.drivers.canopenjni.CanOpenInterface getCanInterface()

getPDOData

public org.lsst.ccs.drivers.canopenjni.PDOData getPDOData()

Specified by:

getPDOData in interface BridgeToHardware

Returns:

PDOData

init

public void init()

*********************************************************************************************** ******************** END OF SETTERS AND GETTERS ********************************************** ***********************************************************************************************

Specified by:

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

initialize

protected void initialize()

This method initializes the fields of the tcpProxy. It's used when we start the Module and when we disconnect hardware.

bootProcess

@Command(type=ACTION,
         level=1,
         description="Check if all pieces of hardware are booted with the correct serial number.")
public void bootProcess()

Check if all pieces of hardware in the configuration are booted with the corect serial number. Raise alerts if not. Waits until all hardware is booted or timeout is reached.

Specified by:

bootProcess in interface BridgeToHardware

initializePDOs

public void initializePDOs()

Used with JNI interface to initialize canInterface to be able to received PDOs.

updatePDOData

public void updatePDOData()

Update pdoData in sending a sync command. And update all the PieceOfHardware which are my children.

Specified by:

updatePDOData in interface BridgeToHardware

start

public void start()

Specified by:

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

connectToCANbus

public void connectToCANbus()

postStart

public void postStart()

check that all pieces of hardware is booted.

Specified by:

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

readDevicesInfo

public void readDevicesInfo()

This method is called in the checkHardware method during the initialization process. It check devices at fixed rate with a scheduler until all devices are booted or booting timeout is exceeded.

shutdown

public void shutdown()

executed in pre-order : before controllers and other hardware shutdown.

Specified by:

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

doShutdown

public void doShutdown()

This has to be executed in post order : after controllers and other hardware shutdown. Called by MainModule.postShutdown. This shutdowns the scheduler. This is executed during CLOSING phase when the CanOpenProxy is stopped. cf checkStopped

Specified by:

doShutdown in interface BridgeToHardware

getNodeName

public String getNodeName(int aNodeID)

For a piece of hardware that this tcpProxy manages, this methods returns the name of the device when the CANopen node id is given as argument.

Parameters:

aNodeID -

Returns:

listBootedNodes

@Command(type=QUERY,
         level=3,
         description="Print the list of CANopen nodes which are booted on the CAN bus.")
public String listBootedNodes()

List the can open bootedNodes which are in the bootedNodes table.

Returns:

the list of can open bootedNodes and the information stored in this.bootedNodes.

checkNodeID

public void checkNodeID(int nodeID)

Check that a nodeID entered by an end user at the console is a valid one: nodeID should be in the hardwareMapByNodeID.

Parameters:

nodeID -

writeSDO

@Command(type=ACTION,
         level=3,
         description="Send a CanOpen writeSDO command to the CANBus. size represents the number of bytes on which the value is encoded. See device documentation.")
public void writeSDO(int nodeID,
                                                                                                                                                                                                                                 int index,
                                                                                                                                                                                                                                 int subindex,
                                                                                                                                                                                                                                 int size,
                                                                                                                                                                                                                                 int value)

Command to be used by the end user at the console. Write a SDO message and send it to the can open stack. The parameters are given in the following format:

Parameters:

nodeID -

index -

subindex -

size -

value -

Throws:

FcsHardwareException

writeSDO

public void writeSDO(int nodeID,
                     int index,
                     int subindex,
                     int size,
                     int value,
                     int tryouts)

Write a SDO message and send it to the can open stack. The parameters are given in the following format:

Parameters:

nodeID -

index -

subindex -

size -

value -

tryouts -

Throws:

FcsHardwareException

readSDO

@Command(type=QUERY,
         level=3,
         description="Send a CanOpen readSDO command to the CANBus.")
public long readSDO(int nodeID,
                                                                                                                                 int index,
                                                                                                                                 int subindex)

Send a rsdo command to can interface and throw Exceptions or raise Alarms in case of something went wrong.

Parameters:

nodeID -

index -

subindex -

Returns:

readSDO

public long readSDO(int nodeID,
                    int index,
                    int subindex,
                    int tryouts)

Send a rsdo command to can interface and throw Exceptions or raise Alarms in case of something went wrong.

Parameters:

nodeID -

index -

subindex -

tryouts -

Returns:

sync

@Command(type=QUERY,
         level=3,
         description="Send a command sync to CAN bus to read sensors by PDO.")
public org.lsst.ccs.drivers.canopenjni.PDOData sync()
                                                                                                                                                                   throws org.lsst.ccs.drivers.commons.DriverException

Send a command sync to CAN bus to read sensors by PDO.

Returns:

Throws:

org.lsst.ccs.drivers.commons.DriverException

init

@Command(type=ACTION,
         level=3,
         description=" init CAN interface.")
public void init(int master,
                                                                                                      String baud,
                                                                                                      String busName,
                                                                                                      int nodeID)
                                                                                               throws org.lsst.ccs.drivers.commons.DriverException

Throws:

org.lsst.ccs.drivers.commons.DriverException

addReceivedPDO

@Command(type=ACTION,
         level=3,
         description="add a received PDO to canInterface.")
public void addReceivedPDO(int cobId)
                                                                                                                        throws org.lsst.ccs.drivers.commons.DriverException

Throws:

org.lsst.ccs.drivers.commons.DriverException

clearReceivedPDOs

@Command(type=ACTION,
         level=3,
         description="Clear all received PDO from canInterface. \nTo add again PDOs use command addReceivedPDO for one PDO or use commande initializePDOs to add al received PDOs.")
public void clearReceivedPDOs()
                                                                                                                                                                                                                                                    throws org.lsst.ccs.drivers.commons.DriverException

Throws:

org.lsst.ccs.drivers.commons.DriverException

scan

@Command(type=ACTION,
         level=3,
         description="Scan CAN bus.")
public int scan()
                                                                                       throws org.lsst.ccs.drivers.commons.DriverException

Throws:

org.lsst.ccs.drivers.commons.DriverException

info

@Command(type=QUERY,
         level=3,
         description="Send a command info to CAN bus for nodeID to retrieve device information.")
public String info(int nodeID)
                                                                                                                                                     throws org.lsst.ccs.drivers.commons.DriverException

for end users from ccs-console.

Parameters:

nodeID -

Returns:

result of command info,node_id

Throws:

org.lsst.ccs.drivers.commons.DriverException

quit

@Command(type=ACTION,
         level=3,
         description="Send a command quit to canInterface to device.")
public void quit()
                                                                                                                         throws org.lsst.ccs.drivers.commons.DriverException

Throws:

org.lsst.ccs.drivers.commons.DriverException

setNMTStateOperational

@Command(type=ACTION,
         level=3,
         description="Send a command setNMTStateOperational to canInterface to device.")
public void setNMTStateOperational(int nodeID)
                                                                                                                                                             throws org.lsst.ccs.drivers.commons.DriverException

Throws:

org.lsst.ccs.drivers.commons.DriverException

retrieveHardwareInfo

@Command(type=QUERY,
         level=0,
         description="Identification of the hardware : we want to retrieve the information stored in the hardware of the CANopen devices")
public void retrieveHardwareInfo()

Identification of the hardware : we want to retrieve the information stored in the hardware of the booted bootedNodes and update the array of bootedNodes with this information. So for each booted node, we send a command : - info,node_ID to the CWrapper and then we update the bootedNodes list with the information returned in the command result. The serial number is a main information to retrieve.

allDevicesBooted

@Command(type=QUERY,
         level=0,
         description="Return true if all CANopen devices are booted and identified.")
public boolean allDevicesBooted()

This method returns true if : all the hardware items are booted and identified and the hardware have the node ID expected within the configuration and the hardware is initialized.

Specified by:

allDevicesBooted in interface BridgeToHardware

Returns:

a boolean

onBootMessage

public void onBootMessage(int nodeID)

Specified by:

onBootMessage in interface CanOpenEventListener

onEmergencyMessage

public void onEmergencyMessage(int nodeID,
                               int errCode,
                               int errReg)

Process an emergency message received from a CANopen device on the status bus : - ALARM or WARNING Alert is raised, - a message is logged

Specified by:

onEmergencyMessage in interface CanOpenEventListener

Parameters:

nodeID -

errCode -

errReg -

printHardwareList

@Command(type=QUERY,
         level=1,
         description="Return a printed list of hardware expected in this subsystem.")
public String printHardwareList()

Return a String with the list of hardware expected in this subsystem. For debug purpose.

Specified by:

printHardwareList in interface BridgeToHardware

Returns:

printHardwareState

@Command(type=QUERY,
         level=1,
         description="Return a printed list of hardware with the initialization state.")
public String printHardwareState()

Return a printed list of hardware with the initialization state. For debug purpose.

Specified by:

printHardwareState in interface BridgeToHardware

Returns:

listHardwareNames

@Command(type=QUERY,
         level=1,
         description="Return an Array containing hardware names handled by this component.")
public List<String> listHardwareNames()

For the GUI : Return an Array containing hardware names handled by this component.

Specified by:

listHardwareNames in interface BridgeToHardware

Returns:

canClearAlert

public org.lsst.ccs.framework.ClearAlertHandler.ClearAlertCode canClearAlert(org.lsst.ccs.bus.data.Alert alert,
                                                                             org.lsst.ccs.bus.states.AlertState alertState)

Overridden method from ClearAlertHandler interface to define conditions when Alerts can be cleared.

Specified by:

canClearAlert in interface org.lsst.ccs.framework.ClearAlertHandler

Parameters:

alert -

alertState -

Returns:

publishData

@Command(type=QUERY,
         level=1,
         description="Publish booting information for all CANopen devices.")
public void publishData()

Publish Data on status bus for trending data base and GUIs.

Specified by:

publishData in interface BridgeToHardware

toString

public String toString()

Overrides:

toString in class Object

isReady

public boolean isReady()

Description copied from interface: BridgeToHardware

This method should return true when connection to hardware is effective and all devices connected to that bridge have been correctly identified.

Specified by:

isReady in interface BridgeToHardware

Returns:

getAlertService

public org.lsst.ccs.services.alert.AlertService getAlertService()

Description copied from interface: AlertRaiser

return alertService

Specified by:

getAlertService in interface AlertRaiser

Returns:

connectHardware

public void connectHardware()

Description copied from interface: BridgeToHardware

This method is used when the loader CANbus is connected.

Specified by:

connectHardware in interface BridgeToHardware

disconnectHardware

public void disconnectHardware()

Description copied from interface: BridgeToHardware

This methods stops the CWrapper client, and the TCP server.

Specified by:

disconnectHardware in interface BridgeToHardware

checkControllers

@Command(type=QUERY,
         level=0,
         description="Perform a check fault on all booted EPOS controllers")
public void checkControllers()

Specified by:

checkControllers in interface BridgeToHardware