org.lsst.ccs.subsystems.fcs.simulation

Class SimuAutochangerOnlineClampController

java.lang.Object

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

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

org.lsst.ccs.subsystems.fcs.simulation.SimuEPOSController

org.lsst.ccs.subsystems.fcs.simulation.SimuAutochangerOnlineClampController

All Implemented Interfaces:

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

public class SimuAutochangerOnlineClampController
extends SimuEPOSController
implements EPOSControllerForOnlineClamp

To simulate a controller which opens and closes a ONLINE clamp on the autochanger.

Author:

virieux

Field Summary

Fields inherited from class org.lsst.ccs.subsystems.fcs.simulation.SimuEPOSController

actualCurrent, ssiPosition, targetCurrent, targetPosition

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.EPOSController

FCSLOG

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

alertSeparator

Constructor Summary

Constructors

Constructor and Description
SimuAutochangerOnlineClampController()

Method Summary

Modifier and Type	Method and Description
void	activateBrake() Activate brake to prevent motion.
void	activateBrakeAndDisable() activateBrakeAndDisable
void	doReleaseBrake() Release holding brake to be able to move linear rail trucks or open/close ONLINE clamps.
void	enableAndReleaseBrake() enableAndReleaseBrake if this controller is a follower, command is rejected because we have to check if driver controller is enabled.
void	homing()
void	init()
boolean	isBrakeActivated() return true if brake if activated.
boolean	isBrakeActivatedPub() For GUI.
boolean	isHomingDone()
void	resetHoming()
void	setBrakeActivatedPub(boolean brakeActivatedToPublish)
void	setHomingDone()
void	writeCurrent(int current) Quick and dirty simulation.
void	writeTargetPosition(int positionToReach) In PROFILE_POSITION mode this methods set the target position.

Methods inherited from class org.lsst.ccs.subsystems.fcs.simulation.SimuEPOSController

checkFault, checkParameters, defineAbsolutePosition, displayErrorHistory, enable, enableAndWriteRelativePosition, getErrorHistoryNB, goToOperationEnable, goToSwitchOnDisabled, isEnabled, isParametersOK, isTargetReached, postStart, quickStop, readCurrent, readErrorRegister, readMode, readParameter, readParametersForMode, readPosition, readProfileVelocity, readSSIPosition, readStatusWord, setPosition, stopAction, updateErrorHistory, writeControlWord, writeParameters, writeParameters

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

build, changeEPOSParameter, changeMode, checkParameters, faultReset, getAverageCurrent, getCurrent, getEposState, getFollowingError, getMode, getPosition, getProfileAcceleration, getProfileDeceleration, getProfileVelocity, getStatusWord, getVelocity, initializeAndCheckHardware, isInError, printControlWord, printPDOConfiguration, publishData, publishDataDuringMotion, readControlWord, readCurrentAverageValue, readFollowingError, readVelocity, restoreParameters, setCurrent, setEposState, setProfileAcceleration, setProfileDeceleration, setProfileVelocity, setVelocity, updateStatusWord, writeParameter

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

configAsHeartbeatConsumer, configAsHeartbeatProducer, createStatusDataPublishedByCanOpenDevice, displayError, displayErrorRegister, doInitializePDOs, getAlertService, getErrorHistory, getErrorRegister, getLastErrorCode, getLastErrorName, getName, getNodeID, getPath, getSerialNB, getSubsystem, getTcpProxy, isBooted, isInitialized, onEmergencyMessage, printSerialNumber, readDeviceType, readNumberOfErrors, readSDO, resetError, saveParameters, setBooted, toString, updateDeviceInfo, updateFromPDO, 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.EPOSControllerWithBrake

checkBrakeActivated, checkBrakeReleased, createStatusDataPublishedByEPOSController, publishData

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

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

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

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

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

Constructor Detail

SimuAutochangerOnlineClampController

public SimuAutochangerOnlineClampController()

Method Detail

resetHoming

public void resetHoming()

Specified by:

resetHoming in interface EPOSControllerForOnlineClamp

isBrakeActivatedPub

public boolean isBrakeActivatedPub()

Description copied from interface: EPOSControllerWithBrake

For GUI. Doesn't read again controller CPU. Return true if controller is enabled.

Specified by:

isBrakeActivatedPub in interface EPOSControllerWithBrake

Returns:

setBrakeActivatedPub

public void setBrakeActivatedPub(boolean brakeActivatedToPublish)

Specified by:

setBrakeActivatedPub in interface EPOSControllerWithBrake

init

public void init()

Specified by:

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

Overrides:

init in class CanOpenEPOS

writeCurrent

public void writeCurrent(int current)

Quick and dirty simulation. This will have to be refactored after tests on the real hardware.

Specified by:

writeCurrent in interface EPOSController

Overrides:

writeCurrent in class SimuEPOSController

Parameters:

current -

writeTargetPosition

public void writeTargetPosition(int positionToReach)

Description copied from class: CanOpenEPOS

In PROFILE_POSITION mode this methods set the target position. This make run the motor.

Specified by:

writeTargetPosition in interface EPOSController

Overrides:

writeTargetPosition in class SimuEPOSController

Parameters:

positionToReach - UNIT=mA / FORMAT=decimal the value of the unsCurrent to be sent.

activateBrakeAndDisable

public void activateBrakeAndDisable()

Description copied from interface: EPOSControllerWithBrake

activateBrakeAndDisable

Specified by:

activateBrakeAndDisable in interface EPOSControllerWithBrake

enableAndReleaseBrake

public void enableAndReleaseBrake()

Description copied from interface: EPOSControllerWithBrake

enableAndReleaseBrake if this controller is a follower, command is rejected because we have to check if driver controller is enabled. See AutoChangerTwoTrucksModule.

Specified by:

enableAndReleaseBrake in interface EPOSControllerWithBrake

doReleaseBrake

public void doReleaseBrake()

Description copied from interface: EPOSControllerWithBrake

Release holding brake to be able to move linear rail trucks or open/close ONLINE clamps. Check that brake is released within a timeout of 500 ms. doReleaseBrake for controller consists in forcing to ONE bit 15 of parameter DigitalOutputFonctionnalityState. It can't be a command because if this controller is a follower we have to check if driver controller is enabled. See AutoChangerTwoTrucksModule.

Specified by:

doReleaseBrake in interface EPOSControllerWithBrake

isBrakeActivated

public boolean isBrakeActivated()

Description copied from interface: EPOSControllerWithBrake

return true if brake if activated. This is when bit15 of Parameter.DigitalOutputFonctionnalityState is ZERO.

Specified by:

isBrakeActivated in interface EPOSControllerWithBrake

Returns:

activateBrake

public void activateBrake()

Description copied from interface: EPOSControllerWithBrake

Activate brake to prevent motion. A holding brake can be associated to a Controller. This brake is activated when the controller is powered on. A brake is associated with Autochanger Linear Rail trucks controllers and Autochanger Online Clamps controllers. activateBrake consists in forcing to ZERO bit 15 of parameter DigitalOutputFonctionnalityState.

Specified by:

activateBrake in interface EPOSControllerWithBrake

homing

public void homing()

Specified by:

homing in interface EPOSControllerForOnlineClamp

isHomingDone

public boolean isHomingDone()

Specified by:

isHomingDone in interface EPOSControllerForOnlineClamp

setHomingDone

public void setHomingDone()

Specified by:

setHomingDone in interface EPOSControllerForOnlineClamp