org.lsst.ccs.subsystems.fcs.drivers

Class CanOpenEPOSWithPDO

java.lang.Object

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

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

org.lsst.ccs.subsystems.fcs.drivers.CanOpenEPOSWithPDO

All Implemented Interfaces:

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

Direct Known Subclasses:

CanOpenEPOSLinearRailTruck, CanOpenEPOSOnlineClamp

public class CanOpenEPOSWithPDO
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.
protected int	cobid2

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

averageCurrent, controlWord, 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
CanOpenEPOSWithPDO()

Method Summary

Modifier and Type	Method and Description
void	doInitializePDOs() Do nothing if this device doesn't send PDOs except log for debug purpose.
static int	extractAverageCurrent(long pdo)
static int	extractAverageVelocity(long pdo)
static int	extractCurrent(long pdo)
static int	extractFollowingError(long pdo)
static int	extractPosition(long pdo)
static int	extractStatusWord(long pdo)
int	getCobid1() for simulation only
int	getCobid2() for simulation only
long	getPdo1() for simulation
long	getPdo2() for simulation
void	init()
String	printValuesUpdatedByPDOs() For tests and debug
void	setPdo1(long pdo1) set a pdo1 for simulation
void	setPdo2(long pdo2) set a pdo2 for simulation
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, printPDOConfiguration, 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, isHomingAttained, isInMode, isInState, isOperationEnabled, isQuickstop, isReadyToSwitchOn, isSwitchedOn, isSwitchOnDisabled, isTargetReached, printStatusWordInBinary, quickStop, readControllerStructure, readHomingMethod, readParameter, readParameters, readParametersForMode, readPosition, readPositionSensorType, readProfileAcceleration, readProfileDeceleration, readProfileVelocity, readSSIPosition, shutdownController, stopAction, stopPosition, stopVelocity, switchOnEnableOperation, updateDataDuringMotionFromSDO, updateEposState, updateEposState, updatePositionFromSDO, writeControlWord, 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. initialized in init method

cobid2

protected int cobid2

Constructor Detail

CanOpenEPOSWithPDO

public CanOpenEPOSWithPDO()

Method Detail

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

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 -

extractStatusWord

public static int extractStatusWord(long pdo)

Parameters:

pdo -

Returns:

statusWord from pdo

extractAverageCurrent

public static int extractAverageCurrent(long pdo)

Parameters:

pdo -

Returns:

average current from pdo

extractPosition

public static int extractPosition(long pdo)

Parameters:

pdo -

Returns:

position from pdo

extractCurrent

public static int extractCurrent(long pdo)

Parameters:

pdo -

Returns:

current from pdo

extractFollowingError

public static int extractFollowingError(long pdo)

Parameters:

pdo -

Returns:

following error from pdo

extractAverageVelocity

public static int extractAverageVelocity(long pdo)

Parameters:

pdo -

Returns:

average velocity from pdo

printValuesUpdatedByPDOs

@Command(type=QUERY,
         level=0,
         description="Print values updated by PDOs to debug and test")
public String printValuesUpdatedByPDOs()

For tests and debug

Returns:

values updated by PDOs