FcsUtils (LSST CCS - Subsystem FCS 6.1.1 API)

java.lang.Object
- org.lsst.ccs.subsystems.fcs.utils.FcsUtils

```
public final class FcsUtils
extends Object
```
This class gathers static final variables and static methods. By example, to creates Objects for GUI and Status Bus.

Author:

virieux

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`static class`	`FcsUtils.AsyncTasks`
`static class`	`FcsUtils.AutoTimed` class to be used in a try-with-resource block to report the time spent in the block.

Field Summary

Fields
Modifier and Type	Field and Description
`protected static Logger`	`FCSLOG`
`static int`	`MAX_NODE_ID` The maximum number of CANopen devices which can be on a CANbus.
`static int`	`MAX_VALUE_2BYTES` The maximum value which a number coded on 2 bytes can reach.
`static int`	`TICKMILLIS` A value for all fcs Modules tickmillis.

Constructor Summary

Constructors
Constructor and Description

FcsUtils()

Constructors
Constructor and Description
`FcsUtils()`

Method Summary

All Methods Static Methods Concrete Methods
Modifier and Type	Method and Description
`static FcsUtils.AsyncTasks`	`asyncRun()`
`static FcsUtils.AsyncTasks`	`asyncRun(Runnable task)`
`static String`	`buildRsdoCommand(int nodeID, int index, int subindex)` build a Can Open rsdo Command that can understand the C wrapper.
`static String`	`buildWsdoCommand(int nodeID, int index, int subindex, int size, int data)` build a Can Open wsdo Command that can understand the C wrapper.
`static void`	`checkAndWaitCondition(Callable<Boolean> condition, Runnable update, String name, String error)` Wait for a condition to be true, with increasing wait time from 10ms to 200ms Will run the update function if not null while waiting Will exit ok if condition is met before timeout (1000 ms) Otherwise will raise exception
`static void`	`checkCommand(String command)`
`static void`	`checkPositive(int arg)`
`static void`	`checkSocketName(String name)`
`static int`	`computeNewCurrentValue(int stepHeight, int currentValue, int finalValue)`
`static short`	`convertInteger16(long integer16)` Convert a number coded on 16 bits which represents a signed number (INTEGER16) to a short.
`static int`	`convertInteger32(long integer32)` Convert a number coded on 32 bits which represents a signed number (INTEGER32) to an int.
`static byte`	`convertInteger8(long integer8)` Convert a number coded on 8 bits which represents a signed number (INTEGER8) to a byte.
`static String`	`displayListParameters()` Displays the list of parameters.
`static String`	`displayListParameters(String modeInString)` Displays the list of parameters that we have to define for a given mode.
`static void`	`endAsync()`
`static boolean`	`finalValueReached(int stepHeight, int newCurrentValue, int finalValue)` Returns true if the final value is reached.
`static int`	`force2one(int val, int bit)` Return a new value where the digit (bit number given as argument) has been replaced by 1.
`static int`	`force2zero(int val, int bit)` Computes a new value given as argument in replacing bit which is at position given as argument by 0.
`static int`	`forceBit(int val, int bit, int zeroOne)` Sets the nth bit
`static int`	`getSignedStepHeight(int initialValue, int finalValue, int increment)` For online clamps.
`static int`	`getTimingLevel()`
`static boolean`	`isJUnitTest()`
`static boolean`	`isSimu()`
`static boolean`	`isValidCommandWord(String command)` returns true if the command given as argument is an available CANopen command.
`static void`	`main(String[] args)`
`static void`	`parallelRun(Runnable... tasks)` execute in parallel a list of tasks will wait for all tasks to terminate if a task throws an exception it will be propagated
`static int`	`returnIndex(int byteNumero)` Compute index to read a byte on a CanOpenPlutoGateway
`static int`	`returnSubindex(int byteNumero)` Compute subindex to read a byte on a CanOpenPlutoGateway
`static void`	`sleep(int duration, String itemName)`
`static void`	`startAsync(int level)`
`static void`	`waitCondition(Callable<Boolean> condition, Runnable update, String name, long timeout)` Wait for a condition to be true, with increasing wait time from 10ms to 200ms Will run the update function if not null while waiting Will exit ok if condition is met or upon timeout

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - FCSLOG
```
protected static final Logger FCSLOG
```
  - MAX_VALUE_2BYTES
```
public static final int MAX_VALUE_2BYTES
```
    The maximum value which a number coded on 2 bytes can reach.
    
    See Also:
    
    Constant Field Values
  - MAX_NODE_ID
```
public static final int MAX_NODE_ID
```
    The maximum number of CANopen devices which can be on a CANbus. Also the maximum CANopen node ID a device can have.
    
    See Also:
    
    Constant Field Values
  - TICKMILLIS
```
public static final int TICKMILLIS
```
    A value for all fcs Modules tickmillis.
    
    See Also:
    
    Constant Field Values
- Constructor Detail
  - FcsUtils
```
public FcsUtils()
```
- Method Detail
  - checkSocketName
```
public static void checkSocketName(String name)
```
    Parameters:
    
    name -
  - force2zero
```
public static int force2zero(int val,
                             int bit)
```
    Computes a new value given as argument in replacing bit which is at position given as argument by 0.
    
    Parameters:
    
    val - value to transform
    
    bit - bit numero to be replaced
    
    Returns:
    
    new value
    
    Throws:
    
    IllegalArgumentException - if bit <0 or bit >15
  - force2one
```
public static int force2one(int val,
                            int bit)
```
    Return a new value where the digit (bit number given as argument) has been replaced by 1.
    
    Parameters:
    
    val -
    
    bit -
    
    Returns:
  - forceBit
```
public static int forceBit(int val,
                           int bit,
                           int zeroOne)
```
    Sets the nth bit
    
    Parameters:
    
    val - the value to modifiy
    
    bit - the bit number to set
    
    zeroOne - if zero forces to zero. Forces to one otherwise
    
    Returns:
  - buildWsdoCommand
```
public static String buildWsdoCommand(int nodeID,
                                      int index,
                                      int subindex,
                                      int size,
                                      int data)
```
    build a Can Open wsdo Command that can understand the C wrapper. exemple : wsdo,2,6411,01,2,3000
    
    Parameters:
    
    nodeID -
    
    index -
    
    subindex -
    
    size -
    
    data -
    
    Returns:
  - buildRsdoCommand
```
public static String buildRsdoCommand(int nodeID,
                                      int index,
                                      int subindex)
```
    build a Can Open rsdo Command that can understand the C wrapper. exemple: rsdo,1,1018,0
    
    Parameters:
    
    nodeID -
    
    index -
    
    subindex -
    
    Returns:
  - isValidCommandWord
```
public static boolean isValidCommandWord(String command)
```
    returns true if the command given as argument is an available CANopen command.
    
    Parameters:
    
    command -
    
    Returns:
  - checkCommand
```
public static void checkCommand(String command)
```
    Parameters:
    
    command -
    
    Throws:
    
    IllegalArgumentException - if command is not a valid command.
  - convertInteger8
```
public static byte convertInteger8(long integer8)
```
    Convert a number coded on 8 bits which represents a signed number (INTEGER8) to a byte.
    
    Parameters:
    
    integer8 -
    
    Returns:
  - convertInteger16
```
public static short convertInteger16(long integer16)
```
    Convert a number coded on 16 bits which represents a signed number (INTEGER16) to a short. Used to interprete numbers coming from CANopen devices where we can have signed or unsigned numbers depending of which parameter we read. INTEGER16=0 => value=0 INTEGER16=2356 => value=2356 INTEGER16=65342 => value=-194 INTEGER16=32767 => value=32767 INTEGER16=32768 => value=-32768 INTEGER16=65535 => value=-1
    
    Parameters:
    
    integer16 - a long because readSDO command returns a long.
    
    Returns:
  - convertInteger32
```
public static int convertInteger32(long integer32)
```
    Convert a number coded on 32 bits which represents a signed number (INTEGER32) to an int.
    
    Parameters:
    
    integer32 -
    
    Returns:
  - displayListParameters
```
public static String displayListParameters(String modeInString)
```
    Displays the list of parameters that we have to define for a given mode.
    
    Parameters:
    
    modeInString -
    
    Returns:
  - displayListParameters
```
public static String displayListParameters()
```
    Displays the list of parameters.
    
    Returns:
  - getSignedStepHeight
```
public static int getSignedStepHeight(int initialValue,
                                      int finalValue,
                                      int increment)
```
    For online clamps.
    
    Parameters:
    
    initialValue -
    
    finalValue -
    
    increment -
    
    Returns:
  - main
```
public static void main(String[] args)
```
    Parameters:
    
    args - the command line arguments
  - finalValueReached
```
public static boolean finalValueReached(int stepHeight,
                                        int newCurrentValue,
                                        int finalValue)
```
    Returns true if the final value is reached.
    
    Parameters:
    
    stepHeight -
    
    newCurrentValue -
    
    finalValue -
    
    Returns:
  - computeNewCurrentValue
```
public static int computeNewCurrentValue(int stepHeight,
                                         int currentValue,
                                         int finalValue)
```
  - sleep
```
public static void sleep(int duration,
                         String itemName)
```
  - checkPositive
```
public static void checkPositive(int arg)
```
  - returnIndex
```
public static int returnIndex(int byteNumero)
```
    Compute index to read a byte on a CanOpenPlutoGateway
    
    Parameters:
    
    byteNumero -
    
    Returns:
  - returnSubindex
```
public static int returnSubindex(int byteNumero)
```
    Compute subindex to read a byte on a CanOpenPlutoGateway
    
    Parameters:
    
    byteNumero -
    
    Returns:
  - checkAndWaitCondition
```
public static void checkAndWaitCondition(Callable<Boolean> condition,
                                         Runnable update,
                                         String name,
                                         String error)
```
    Wait for a condition to be true, with increasing wait time from 10ms to 200ms Will run the update function if not null while waiting Will exit ok if condition is met before timeout (1000 ms) Otherwise will raise exception
    
    Parameters:
    
    condition -
    
    update -
    
    name -
    
    error -
  - waitCondition
```
public static void waitCondition(Callable<Boolean> condition,
                                 Runnable update,
                                 String name,
                                 long timeout)
```
    Wait for a condition to be true, with increasing wait time from 10ms to 200ms Will run the update function if not null while waiting Will exit ok if condition is met or upon timeout
    
    Parameters:
    
    condition -
    
    update -
    
    name -
    
    timeout -
  - getTimingLevel
```
public static int getTimingLevel()
```
  - startAsync
```
public static void startAsync(int level)
```
  - endAsync
```
public static void endAsync()
```
  - parallelRun
```
public static void parallelRun(Runnable... tasks)
```
    execute in parallel a list of tasks will wait for all tasks to terminate if a task throws an exception it will be propagated
    
    Parameters:
    
    tasks -
  - asyncRun
```
public static FcsUtils.AsyncTasks asyncRun(Runnable task)
```
  - asyncRun
```
public static FcsUtils.AsyncTasks asyncRun()
```
  - isJUnitTest
```
public static boolean isJUnitTest()
```
  - isSimu
```
public static boolean isSimu()
```

Class FcsUtils

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

FCSLOG

MAX_VALUE_2BYTES

MAX_NODE_ID

TICKMILLIS

Constructor Detail

FcsUtils

Method Detail

checkSocketName

force2zero

force2one

forceBit

buildWsdoCommand

buildRsdoCommand

isValidCommandWord

checkCommand

convertInteger8

convertInteger16

convertInteger32

displayListParameters

displayListParameters

getSignedStepHeight

main

finalValueReached

computeNewCurrentValue

sleep

checkPositive

returnIndex

returnSubindex

checkAndWaitCondition

waitCondition

getTimingLevel

startAsync

endAsync

parallelRun

asyncRun

asyncRun

isJUnitTest

isSimu