org.lsst.ccs.subsystems.fcs.simulation

Class SimuLoaderClampController

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.SimuLoaderClampController

All Implemented Interfaces:

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

public class SimuLoaderClampController
extends SimuEPOSController

This class is to simulate an EPOS Controller which controls the loader hooks.

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.AlertRaiser

alertSeparator

Constructor Summary

Constructors

Constructor and Description
SimuLoaderClampController()

Method Summary

Modifier and Type	Method and Description
void	changeMode(EPOSEnumerations.EposMode newmode) This methods changes the mode to the new mode given as an argument.
void	init()
void	writeCurrent(int aValue) In unsCurrent mode this methods send a unsCurrent to the motor.
void	writeTargetPosition(int positionToReached) 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, 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.EPOSController

changeProfileAcceleration, changeProfileDeceleration, changeProfileVelocity, checkEposMode, checkHomingDone, checkState, checkTargetReached, convertEPOSValue, createStatusDataPublishedByEPOSController, createStatusDataPublishedDuringMotionNoEncoder, createStatusDataPublishedDuringMotionWithEncoder, defineHomingCurrentThresholdNegativeSpeed, definePositionFromNegativeLimitSwitch, disableOperation, disableVoltage, enableAndWriteAbsolutePosition, enableAndWriteCurrent, getErrorRegister, getLastErrorCode, getLastErrorName, isFault, isHomingAttained, isInMode, isInState, isOperationEnabled, isQuickstop, isReadyToSwitchOn, isSwitchedOn, isSwitchOnDisabled, printStatusWordInBinary, readControllerStructure, readHomingMethod, readParameter, readParameters, readPositionSensorType, readProfileAcceleration, readProfileDeceleration, shutdownController, stopPosition, stopVelocity, switchOnEnableOperation, updateDataDuringMotionFromSDO, updateEposState, updateEposState, updatePositionFromSDO, writeControlWord, writeParameters

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

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

postBuild, postInit, postShutdown, shutdown, start

Constructor Detail

SimuLoaderClampController

public SimuLoaderClampController()

Method Detail

init

public void init()

Specified by:

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

Overrides:

init in class CanOpenEPOS

writeCurrent

public void writeCurrent(int aValue)

Description copied from class: CanOpenEPOS

In unsCurrent mode this methods send a unsCurrent to the motor. This make run the motor.

Specified by:

writeCurrent in interface EPOSController

Overrides:

writeCurrent in class SimuEPOSController

Parameters:

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

writeTargetPosition

public void writeTargetPosition(int positionToReached)

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:

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

changeMode

public void changeMode(EPOSEnumerations.EposMode newmode)

Description copied from class: CanOpenEPOS

This methods changes the mode to the new mode given as an argument. It writes the new mode in the CPU of the EPOS controller and updates the field mode.

Specified by:

changeMode in interface EPOSController

Overrides:

changeMode in class CanOpenEPOS