org.lsst.ccs.subsystems.fcs.drivers

Class CanOpenTTC580

java.lang.Object

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

org.lsst.ccs.subsystems.fcs.drivers.CanOpenTTC580

All Implemented Interfaces:

org.lsst.ccs.framework.HasLifecycle, AlertRaiser, NamedComponent, PieceOfHardware, TTC580Interface, EmergencyMessageListener

Direct Known Subclasses:

SimuTTC580

public class CanOpenTTC580
extends CanOpenDevice
implements TTC580Interface

A model for the CANopen device to read carousel sensors. This sensors are read by PDO. (in response to a command "sync" sent to the CANbus) See on Confluence the description of data read on hyTTC580 : https://confluence.slac.stanford.edu/pages/viewpage.action?spaceKey=LSSTCAM&title=CAN+Open+communication+with+carousel+modules

Author:

virieux

Field Summary

Fields

Modifier and Type	Field and Description
protected int	cobid1
protected int	cobid2
protected int	cobid4
static String	FILTERPRESENCE
static String	IO_MODULE_SENSOR
static String	LOCKSENSOR
protected long	pdo1 PDO1 represents sensors value for socket at STANDBY.
protected long	pdo2 PDO2 represents the same data than PDO1 but for another socket, not at standby.
protected long	pdo4
protected Map<String,CarouselPLCSensor>	plcSensorsMap
protected Map<String,SensorPluggedOnTTC580>	sensorsMap map of sensors attached to this device.
static String	XMINUS
static String	XPLUS

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
CanOpenTTC580()

Method Summary

Modifier and Type	Method and Description
void	build()
StatusDataPublishedByHYTTC580	createStatusDataPublishedByHYTTC580() Creates an object to be published on the STATUS bus by an hyttc580 device.
String	displayError(int error) read an error table to return an error name corresponding to the error code given as argument.
void	doInitializePDOs() Do nothing if this device doesn't send PDOs except log for debug purpose.
int	getCobid1()
int	getCobid2()
int	getOffset1Xminus(byte sid) for tests
int	getOffset1Xplus(byte sid) for tests
int	getOffset2Xminus(byte sid) for tests
int	getOffset2Xplus(byte sid) for tests
long	getPdo1()
long	getPdo2()
long	getPdo4()
short	getSocketId(long pdo) return socketId from PDO value socket identification are the first 3 bits (reading from left to right).
void	init()
void	interlockShutterDisable()
void	interlockShutterEnable()
String	printSensorsValues() for tests
void	publishData() Publish Data on status bus for trending data base and GUIs.
long	readInterlocksSDO() Deprecated.
long	readLockSensorMinLocked() read lockSensorMinLocked : lock threshold which depends on ambient temperature.
long	readMeanClampsTemperature() The mean of the temperatures on the 10 clamps can be read on hyttc580 os SDO 6404 index 4.
long	readOffset1SDO(byte socketID) Read offset1 for 2 clamps of socketID given as argument.
long	readOffset2SDO(byte socketID) Read offset2 for 2 clamps of socketID given as argument.
void	setPdo1(long pdoVal)
void	setPdo2(long pdo2)
String	toString() end of ERRORS **********************************************************************************
void	updateFromPDO(org.lsst.ccs.drivers.canopenjni.PDOData pdo) process PDOData to retrieve data from this device.
protected void	updateSocketSensors(short socketID, long pdoValue) update the clamps sensors from pdoValue for a carousel socket given by its id.

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

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

postBuild, postInit, postShutdown, postStart, shutdown, start

Field Detail

LOCKSENSOR

public static final String LOCKSENSOR

See Also:

Constant Field Values

FILTERPRESENCE

public static final String FILTERPRESENCE

See Also:

Constant Field Values

IO_MODULE_SENSOR

public static final String IO_MODULE_SENSOR

See Also:

Constant Field Values

XMINUS

public static final String XMINUS

See Also:

Constant Field Values

XPLUS

public static final String XPLUS

See Also:

Constant Field Values

cobid1

protected int cobid1

cobid2

protected int cobid2

cobid4

protected int cobid4

sensorsMap

@LookupField(strategy=TREE)
protected Map<String,SensorPluggedOnTTC580> sensorsMap

map of sensors attached to this device.

plcSensorsMap

protected Map<String,CarouselPLCSensor> plcSensorsMap

pdo1

protected long pdo1

PDO1 represents sensors value for socket at STANDBY. pdo1 is coded on 64bits and represents from right to left : - 3 bits for socket identification - 3 bits unused - 2 bits unused - 4 bits for State of filter at standby for clampXminus - 4 bits for State of filter at standby for clampXplus - 12 bits for ClampXminus lockSensor value - 12 bits for ClampXminus filterPresenceSensor value - 12 bits for ClampXplus lockSensor value - 12 bits for ClampXplus filterPresenceSensor value

pdo2

protected long pdo2

PDO2 represents the same data than PDO1 but for another socket, not at standby. - 3 bits for socket identification - 3 bits for io module status - 2 bits for socket safety switch states - 4 bits for clampXminus State - 4 bits for clampXplus State - 12 bits for ClampXminus lockSensor value - 12 bits for ClampXminus filterPresenceSensor value - 12 bits for ClampXplus lockSensor value - 12 bits for ClampXplus filterPresenceSensor value

pdo4

protected long pdo4

Constructor Detail

CanOpenTTC580

public CanOpenTTC580()

Method Detail

getCobid1

public int getCobid1()

getCobid2

public int getCobid2()

build

public void build()

Specified by:

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

Overrides:

build in class CanOpenDevice

init

public void init()

Specified by:

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

Overrides:

init in class CanOpenDevice

getPdo1

public long getPdo1()

Specified by:

getPdo1 in interface TTC580Interface

Returns:

setPdo1

public void setPdo1(long pdoVal)

Parameters:

pdoVal -

getPdo2

public long getPdo2()

Specified by:

getPdo2 in interface TTC580Interface

Returns:

second pdo sent by this device

setPdo2

public void setPdo2(long pdo2)

getPdo4

public long getPdo4()

Specified by:

getPdo4 in interface TTC580Interface

Returns:

second pdo sent by this device

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

interlockShutterDisable

@Command(type=ACTION,
         level=3,
         description="Disable interlock shutter. Do it only if you understand what you are doing.")
public void interlockShutterDisable()

Specified by:

interlockShutterDisable in interface TTC580Interface

interlockShutterEnable

@Command(type=ACTION,
         level=3,
         description="Enable interlock shutter. Do it only if you understand what you are doing.")
public void interlockShutterEnable()

Specified by:

interlockShutterEnable in interface TTC580Interface

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 -

updateSocketSensors

protected void updateSocketSensors(short socketID,
                                   long pdoValue)

update the clamps sensors from pdoValue for a carousel socket given by its id.

Parameters:

socketID -

pdoValue -

getSocketId

public short getSocketId(long pdo)

return socketId from PDO value socket identification are the first 3 bits (reading from left to right).

Specified by:

getSocketId in interface TTC580Interface

Parameters:

pdo -

Returns:

readLockSensorMinLocked

@Command(type=QUERY,
         level=1,
         description="read lockSensorMinLocked : lock threshold for all clamps")
public long readLockSensorMinLocked()

read lockSensorMinLocked : lock threshold which depends on ambient temperature.

Specified by:

readLockSensorMinLocked in interface TTC580Interface

Returns:

lockSensorMinLocked

readMeanClampsTemperature

public long readMeanClampsTemperature()

Description copied from interface: TTC580Interface

The mean of the temperatures on the 10 clamps can be read on hyttc580 os SDO 6404 index 4. Dixit Claire Juramy.

Specified by:

readMeanClampsTemperature in interface TTC580Interface

Returns:

readOffset1SDO

@Command(type=QUERY,
         level=1,
         description="read offset1 (balluff) for clamp presence sensors")
public long readOffset1SDO(byte socketID)

Read offset1 for 2 clamps of socketID given as argument. Two 16-bits words: from MSB: Offset for Balluff X+ Offset for Balluff X- for socketID (presence sensor)

Specified by:

readOffset1SDO in interface TTC580Interface

Parameters:

socketID -

Returns:

readOffset2SDO

@Command(type=QUERY,
         level=1,
         description="read offset2 (baumer) for clamp lock sensors")
public long readOffset2SDO(byte socketID)

Read offset2 for 2 clamps of socketID given as argument. Two 16-bits words: from MSB: Offset for Baumer X+ Offset for Baumer X- for socketID (clamp lock sensor)

Specified by:

readOffset2SDO in interface TTC580Interface

Parameters:

socketID -

Returns:

readInterlocksSDO

@Deprecated
 @Command(type=QUERY,
         level=1,
         description="for test and debug")
public long readInterlocksSDO()

Deprecated.

Description copied from interface: TTC580Interface

read SDO which contains OUT interlocks for autochanger (OUT signals CS, CFC, CF1, CF0)

Specified by:

readInterlocksSDO in interface TTC580Interface

Returns:

SDO

getOffset1Xplus

@Command(type=QUERY,
         level=1,
         description="test and debug")
public int getOffset1Xplus(byte sid)

for tests

Parameters:

sid -

Returns:

getOffset1Xminus

@Command(type=QUERY,
         level=1,
         description="test and debug")
public int getOffset1Xminus(byte sid)

for tests

Parameters:

sid -

Returns:

getOffset2Xminus

@Command(type=QUERY,
         level=1,
         description="test and debug")
public int getOffset2Xminus(byte sid)

for tests

Parameters:

sid -

Returns:

getOffset2Xplus

@Command(type=QUERY,
         level=1,
         description="test and debug")
public int getOffset2Xplus(byte sid)

for tests

Parameters:

sid -

Returns:

displayError

public String displayError(int error)

Description copied from class: CanOpenDevice

read an error table to return an error name corresponding to the error code given as argument.

Overrides:

displayError in class CanOpenDevice

Parameters:

error -

Returns:

a string representation of the error code given as argument.

toString

@Command(type=QUERY,
         level=1,
         description="Return the string representation of the PDOs")
public String toString()

end of ERRORS **********************************************************************************

Overrides:

toString in class CanOpenDevice

printSensorsValues

@Command(type=QUERY,
         level=1,
         description="for tests and debug.")
public String printSensorsValues()

for tests

Returns:

createStatusDataPublishedByHYTTC580

public StatusDataPublishedByHYTTC580 createStatusDataPublishedByHYTTC580()

Creates an object to be published on the STATUS bus by an hyttc580 device.

Returns:

publishData

public void publishData()

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

Specified by:

publishData in interface PieceOfHardware

Overrides:

publishData in class CanOpenDevice