org.lsst.ccs.subsystems.fcs.drivers

Class CanOpenEPOSCarousel

java.lang.Object

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

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

org.lsst.ccs.subsystems.fcs.drivers.CanOpenEPOSCarousel

All Implemented Interfaces:

org.lsst.ccs.framework.HasLifecycle, AlertRaiser, EPOSController, EPOSControllerForCarousel, NamedComponent, PieceOfHardware, EmergencyMessageListener

Direct Known Subclasses:

SimuCarouselController

public class CanOpenEPOSCarousel
extends CanOpenEPOS
implements EPOSControllerForCarousel

For carousel rotation controller.

Author:

virieux

Field Summary

Fields

Modifier and Type	Field and Description
protected int	cobid1 define cobid to be able to read values from PDO data.
protected int	cobid2
int	positionSensorType

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

averageCurrent, current, eposState, followingError, hasEncoder, mode, parametersOK, position, profileAcceleration, profileDeceleration, profileVelocity, simuEnabled, statusWord, velocity

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

booted, dataProviderDictionaryService, errorHistory, errorRegister, inError, initialized, lastErrorCode, lastErrorName, name, nodeID, path, serialNB, subs, tcpProxy

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

FCSLOG

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

alertSeparator

Constructor Summary

Constructors

Constructor and Description
CanOpenEPOSCarousel()

Method Summary

Modifier and Type	Method and Description
StatusDataPublishedByCarouselController	createStatusDataPublishedByCarouselController()
StatusDataPublishedDuringMotionWithEncoderAndHoldingBrake	createStatusDataPublishedDuringMotionWithEncoderAndHoldingBrake()
void	doInitializePDOs() Do nothing if this device doesn't send PDOs except log for debug purpose.
static int	extractCurrentAverage(long pdo)
static int	extractFollowingError(long pdo)
static int	extractPosition(long pdo)
static int	extractStatusWord(long pdo)
static int	extractVelocity(long pdo)
void	faultReset() Clear faults on the controller and clear alarm that was raised for this controller.
int	getCobid1() for simulation only
int	getCobid2() for simulation only
long	getPdo1() for simulation
long	getPdo2() for simulation
int	getPositionSensorType()
int	getStatusWord()
void	init()
boolean	isHoldingBrakes()
String	printValuesUpdatedByPDOs() For tests and debug
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	publishDataDuringMotion() publish data during motion for trending data base.
void	setHoldingBrakes(boolean holdingBrakes)
void	setPdo1(long pdo1) set a pdo1 for simulation
void	setPdo2(long pdo2) set a pdo2 for simulation
void	setPositionSensorType(int positionSensorType)
void	updateFromPDO(org.lsst.ccs.drivers.canopenjni.PDOData pdo) process PDOData to retrieve data from this device.
void	updateStatusWord()

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

build, changeEPOSParameter, changeMode, checkFault, checkParameters, checkParameters, getAverageCurrent, getCurrent, getEposState, getFollowingError, getMode, getPosition, getProfileAcceleration, getProfileDeceleration, getProfileVelocity, getVelocity, initializeAndCheckHardware, isInError, isParametersOK, printControlWord, readControlWord, readCurrent, readCurrentAverageValue, readFollowingError, readMode, readParameter, readStatusWord, readVelocity, restoreParameters, setCurrent, setEposState, setPosition, setProfileAcceleration, setProfileDeceleration, setProfileVelocity, setVelocity, writeControlWord, writeCurrent, writeParameter, writeParameters, writeTargetPosition

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

configAsHeartbeatConsumer, configAsHeartbeatProducer, createStatusDataPublishedByCanOpenDevice, displayError, displayErrorHistory, displayErrorRegister, getAlertService, getErrorHistory, getErrorHistoryNB, getErrorRegister, getLastErrorCode, getLastErrorName, getName, getNodeID, getPath, getSerialNB, getSubsystem, getTcpProxy, isBooted, isInitialized, onEmergencyMessage, printSerialNumber, readDeviceType, readErrorRegister, readNumberOfErrors, readSDO, resetError, saveParameters, setBooted, toString, updateDeviceInfo, updateErrorHistory, 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.EPOSControllerForCarousel

activatePowerSave, checkPositionSensorType, defineAbsolutePosition, disactivatePowerSave, doSetEncoderSSI, doSetSinusIncrementalEncoder, isTargetReached, readHoldingBrakes, setPositionSensorTypeEncoderSSI, setPositionSensorTypeSinusIncrementalEncoder

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

changeMode, changeProfileAcceleration, changeProfileDeceleration, changeProfileVelocity, checkEposMode, checkFault, checkHomingDone, checkParameters, checkState, checkTargetReached, convertEPOSValue, createStatusDataPublishedByEPOSController, createStatusDataPublishedDuringMotionNoEncoder, createStatusDataPublishedDuringMotionWithEncoder, defineHomingCurrentThresholdNegativeSpeed, definePositionFromNegativeLimitSwitch, disableOperation, disableVoltage, displayErrorHistory, enable, enableAndWriteAbsolutePosition, enableAndWriteCurrent, enableAndWriteRelativePosition, getAverageCurrent, getCurrent, getEposState, getErrorHistoryNB, getErrorRegister, getFollowingError, getLastErrorCode, getLastErrorName, getMode, getPosition, getProfileAcceleration, getProfileDeceleration, getProfileVelocity, getVelocity, goToOperationEnable, goToSwitchOnDisabled, isEnabled, isFault, isInError, isInMode, isInState, isOperationEnabled, isParametersOK, isQuickstop, isReadyToSwitchOn, isSwitchedOn, isSwitchOnDisabled, printStatusWordInBinary, quickStop, readControllerStructure, readControlWord, readCurrent, readCurrentAverageValue, readFollowingError, readHomingMethod, readMode, readParameter, readParameter, readParameters, readParameters, readParameters, readPosition, readPositionSensorType, readProfileAcceleration, readProfileDeceleration, readProfileVelocity, readSSIPosition, readStatusWord, readVelocity, setCurrent, setEposState, setPosition, setProfileAcceleration, setProfileDeceleration, setProfileVelocity, setVelocity, shutdownController, stopAction, stopPosition, stopVelocity, switchOnEnableOperation, updateDataDuringMotionFromSDO, updateEposState, updateEposState, updatePositionFromSDO, writeControlWord, writeCurrent, writeParameter, writeParameters, writeParameters, writeParameters, writeTargetPosition

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

checkBooted, checkId, checkInitialized, createStatusDataPublishedByHardware, getName, getNodeID, getPath, getSerialNB, initializeAndCheckHardware, initializePDOs, isBooted, isInitialized, printState, raiseAlarmIfMissing, raiseWarningIfMissing, readDeviceType, setBooted, updateDeviceInfo

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, raiseAlarmOnlyIfNew, raiseAlertOnlyEveryTenMinutes, raiseAlertOnlyEveryTenMinutes, raiseAlertOnlyIfNew, raiseWarning, raiseWarning, raiseWarning, raiseWarning, raiseWarningOnlyEveryTenMinutes, raiseWarningOnlyIfNew

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

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

Field Detail

cobid1

protected int cobid1

define cobid to be able to read values from PDO data.

cobid2

protected int cobid2

positionSensorType

public int positionSensorType

Constructor Detail

CanOpenEPOSCarousel

public CanOpenEPOSCarousel()

Method Detail

setHoldingBrakes

public void setHoldingBrakes(boolean holdingBrakes)

Specified by:

setHoldingBrakes in interface EPOSControllerForCarousel

isHoldingBrakes

public boolean isHoldingBrakes()

Specified by:

isHoldingBrakes in interface EPOSControllerForCarousel

setPdo1

public void setPdo1(long pdo1)

set a pdo1 for simulation

Parameters:

pdo1 -

setPdo2

public void setPdo2(long pdo2)

set a pdo2 for simulation

Parameters:

pdo2 -

getPdo1

public long getPdo1()

for simulation

Returns:

pdo1

getPdo2

public long getPdo2()

for simulation

Returns:

pdo2

getCobid1

public int getCobid1()

for simulation only

Returns:

cobid1

getCobid2

public int getCobid2()

for simulation only

Returns:

cobid2

getStatusWord

public int getStatusWord()

Specified by:

getStatusWord in interface EPOSController

Overrides:

getStatusWord in class CanOpenEPOS

getPositionSensorType

public int getPositionSensorType()

Specified by:

getPositionSensorType in interface EPOSControllerForCarousel

setPositionSensorType

public void setPositionSensorType(int positionSensorType)

Specified by:

setPositionSensorType in interface EPOSControllerForCarousel

init

public void init()

Specified by:

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

Overrides:

init in class CanOpenEPOS

doInitializePDOs

public void doInitializePDOs()
                      throws org.lsst.ccs.drivers.commons.DriverException

Description copied from class: CanOpenDevice

Do nothing if this device doesn't send PDOs except log for debug purpose. To be overridden if this device sends PDOs.

Specified by:

doInitializePDOs in interface PieceOfHardware

Overrides:

doInitializePDOs in class CanOpenDevice

Throws:

org.lsst.ccs.drivers.commons.DriverException

faultReset

public void faultReset()

Description copied from class: CanOpenEPOS

Clear faults on the controller and clear alarm that was raised for this controller.

Specified by:

faultReset in interface EPOSController

Overrides:

faultReset in class CanOpenEPOS

updateFromPDO

public void updateFromPDO(org.lsst.ccs.drivers.canopenjni.PDOData pdo)

process PDOData to retrieve data from this device.

Specified by:

updateFromPDO in interface PieceOfHardware

Overrides:

updateFromPDO in class CanOpenDevice

Parameters:

pdo -

updateStatusWord

@Command(type=QUERY,
         level=1,
         description="Update field statusWorld in reading a SDO (readStatusWord)")
public void updateStatusWord()

Specified by:

updateStatusWord in interface EPOSController

Overrides:

updateStatusWord in class CanOpenEPOS

extractStatusWord

public static int extractStatusWord(long pdo)

Parameters:

pdo -

Returns:

statusWord from pdo

extractCurrentAverage

public static int extractCurrentAverage(long pdo)

Parameters:

pdo -

Returns:

current from pdo

extractPosition

public static int extractPosition(long pdo)

Parameters:

pdo -

Returns:

current from pdo

extractFollowingError

public static int extractFollowingError(long pdo)

Parameters:

pdo -

Returns:

following from pdo

extractVelocity

public static int extractVelocity(long pdo)

Parameters:

pdo -

Returns:

velocity from pdo

printValuesUpdatedByPDOs

@Command(type=QUERY,
         level=1,
         description="print values updated by PDOs to debug and test")
public String printValuesUpdatedByPDOs()

For tests and debug

Returns:

values updated by PDOs

createStatusDataPublishedByCarouselController

public StatusDataPublishedByCarouselController createStatusDataPublishedByCarouselController()

createStatusDataPublishedDuringMotionWithEncoderAndHoldingBrake

public StatusDataPublishedDuringMotionWithEncoderAndHoldingBrake createStatusDataPublishedDuringMotionWithEncoderAndHoldingBrake()

publishData

public void publishData()

Description copied from class: CanOpenEPOS

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

Specified by:

publishData in interface PieceOfHardware

Overrides:

publishData in class CanOpenEPOS

publishDataDuringMotion

public void publishDataDuringMotion()

Description copied from interface: EPOSController

publish data during motion for trending data base.

Specified by:

publishDataDuringMotion in interface EPOSController

Overrides:

publishDataDuringMotion in class CanOpenEPOS