org.lsst.ccs.subsystems.fcs.drivers

Class CanOpenEPOSCarouselClamp

java.lang.Object

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

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

org.lsst.ccs.subsystems.fcs.drivers.CanOpenEPOSCarouselClamp

All Implemented Interfaces:

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

public class CanOpenEPOSCarouselClamp
extends CanOpenEPOS

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.

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.AlertRaiser

alertSeparator

Constructor Summary

Constructors

Constructor and Description
CanOpenEPOSCarouselClamp()

Method Summary

Modifier and Type	Method and Description
void	doInitializePDOs() Do nothing if this device doesn't send PDOs except log for debug purpose.
void	init()
String	printValuesUpdatedByPDOs() For tests and debug
void	updateFromPDO(org.lsst.ccs.drivers.canopenjni.PDOData pdo) process PDOData to retrieve data from this device.

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

build, changeEPOSParameter, changeMode, checkFault, checkParameters, checkParameters, faultReset, getAverageCurrent, getCurrent, getEposState, getFollowingError, getMode, getPosition, getProfileAcceleration, getProfileDeceleration, getProfileVelocity, getStatusWord, getVelocity, initializeAndCheckHardware, isInError, isParametersOK, printControlWord, publishData, publishDataDuringMotion, readControlWord, readCurrent, readCurrentAverageValue, readFollowingError, readMode, readParameter, readStatusWord, readVelocity, restoreParameters, setCurrent, setEposState, setPosition, setProfileAcceleration, setProfileDeceleration, setProfileVelocity, setVelocity, updateStatusWord, 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.EPOSController

changeProfileAcceleration, changeProfileDeceleration, changeProfileVelocity, checkEposMode, checkHomingDone, checkState, checkTargetReached, convertEPOSValue, createStatusDataPublishedByEPOSController, createStatusDataPublishedDuringMotionNoEncoder, createStatusDataPublishedDuringMotionWithEncoder, defineAbsolutePosition, defineHomingCurrentThresholdNegativeSpeed, definePositionFromNegativeLimitSwitch, disableOperation, disableVoltage, displayErrorHistory, enable, enableAndWriteAbsolutePosition, enableAndWriteCurrent, enableAndWriteRelativePosition, getErrorHistoryNB, getErrorRegister, getLastErrorCode, getLastErrorName, goToOperationEnable, goToSwitchOnDisabled, isEnabled, isFault, isInMode, isInState, isOperationEnabled, isQuickstop, isReadyToSwitchOn, isSwitchedOn, isSwitchOnDisabled, isTargetReached, printStatusWordInBinary, quickStop, readControllerStructure, readHomingMethod, readParameter, readParameters, readParameters, readParameters, readPosition, readPositionSensorType, readProfileAcceleration, readProfileDeceleration, readProfileVelocity, readSSIPosition, shutdownController, stopAction, stopPosition, stopVelocity, switchOnEnableOperation, updateDataDuringMotionFromSDO, updateEposState, updateEposState, updatePositionFromSDO, writeParameters, writeParameters

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

checkBooted, checkId, checkInitialized, createStatusDataPublishedByHardware, getName, getNodeID, getPath, getSerialNB, 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

postBuild, postInit, postShutdown, postStart, shutdown, start

Field Detail

cobid1

protected int cobid1

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

Constructor Detail

CanOpenEPOSCarouselClamp

public CanOpenEPOSCarouselClamp()

Method Detail

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

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 -

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