10-m Antenna Drive Module CAN Implementation (API No. More...

#include <carma/antenna/ovro/canbus/Drive.h>

Inheritance diagram for carma::antenna::ovro::Drive:

Classes
struct	TimestampedAzOverlapState
	Timestamped az overlap state. More...

Public Types
enum	BaseSwitchState { OFF, REMOTE_CONTROL, LOCAL_CONTROL }
	Enum describing base switch state. More...

Public Member Functions
	Drive (carma::canbus::CanOutput &canOutput, carma::monitor::OvroSubsystem &monitorSubsys, unsigned short antNo, const std::string confFilename="antenna/ovro/drive.conf")
	Constructor. More...

TimestampedAzOverlapState	getAzOverlapState () const
	Retrieve boolean indicating if azimuth is in the overlap region. More...

BaseSwitchState	getBaseSwitchState () const

bool	getControllerOvertemp () const
	Retrieve boolean indicating if any of the three drive controllers shows an overtemp fault. More...

carma::canbus::MsgIdInfoMap	getHalfSecMonitors () const
	Get map of half second monitor points processed by this class. More...

carma::canbus::MsgIdInfoMap	getSlowMonitors () const
	Get map of slow monitor points processed by this class. More...

bool	isAtHwLimit () const
	Retrieve boolean indicating if drive is at a hw limit. More...

bool	isDriveEnabled () const
	Retrieve boolean indicating if drive is enabled. More...

bool	isInEngineeringMode () const
	Is module in engineering mode? More...

void	processMsg (carma::canbus::msgType messageId,::std::vector< carma::canbus::byteType > &data, bool sim)
	Process CAN message. More...

void	setAzElDriveRates (double azRateInRadPerS, double elRateInRadPerS, const carma::services::Angle &elevation)
	Set azimuth and elevation drive rates. More...

void	setEngineeringMode (bool enable)
	Set engineering mode. More...

void	setRawDriveVoltages (float azRawVolts, float elRawVolts)
	Set raw drive voltages for engineering purposes. More...

carma::canbus::Message	simulateMsg (carma::canbus::msgType messageId)
	Simulate CAN message. More...

void	stop ()
	Stop the drives This is just a shortcut for enabling the drives followed by seting the drive rates to 0. More...

void	updateConfDataFromFile ()
	Update configuration parameters from conf file. More...

void	writeMonitorData ()
	Write monitor data. More...

virtual	~Drive ()
	Destructor. More...

Public Member Functions inherited from carma::canbus::devices::XacDevice
bool	isOnline ()
	Is Device ONLINE? More...

void	reset ()
	Reset the can module via CORBA using Device::softReset() method. More...

virtual void	setState (deviceStateType state)
	Set the state of the device. More...

void	startChannelOneFastSampling (unsigned short fastItem)
	Start fast sampling on channel one with the requested data item. More...

void	startChannelTwoFastSampling (unsigned short fastItem)
	Start fast sampling on channel two with the requested data item. More...

void	stopChannelOneFastSampling ()
	Stop fast sampling on channel one. More...

void	stopChannelTwoFastSampling ()
	Stop fast sampling on channel two. More...

	XacDevice (carma::canbus::apiType api, carma::canbus::nodeType node, carma::canbus::CanOutput &canOutput)
	Constructor. More...

virtual	~XacDevice ()
	Destructor. More...

Public Member Functions inherited from carma::canbus::Device
carma::canbus::Message	createDummyMsg () const
	Create a dummy CAN message. More...

carma::canbus::Message	createMsgToAllNodes (msgType messageId) const
	Create a CAN message addressed to all nodes of this type. More...

carma::canbus::Message	createMsgToHost (msgType messageId) const
	Create a CAN message addressed from this Device to the host. More...

carma::canbus::Message	createMsgToNode (msgType messageId) const
	Create a CAN message addressed to this device from the host. More...

	Device (apiType api, nodeType node, CanOutput &io)
	Device constructor. More...

apiType	getApi () const
	Return api code of device. More...

char	getApiVersion () const
	Get API Version of this Device. More...

boardType	getBoardType () const
	Return board type id of device. More...

busIdType	getBusId () const
	Return bus Id that node resides on. More...

virtual MsgIdInfoMap	getControls () const
	Return a map of devices controls. More...

keyType	getKey () const
	Create a key unique to this api and node. More...

double	getLastRxTime () const
	Get Last RX Time for device. More...

unsigned int	getNlatePackets () const
	Get number of late packets. More...

nodeType	getNode () const
	Return node location code of device. More...

serialNumberType	getSerialNumber () const
	Return serial number of device. More...

deviceStateType	getState () const
	Status access routine. More...

virtual void	processMsg (msgType messageId, std::vector< byteType > &data, bool sim)=0
	Process a CAN message. More...

void	reset ()
	Perform a software reset of module. More...

void	setBoardType (boardType bt)
	Set board type of device. More...

void	setBusId (busIdType busId)
	Set busId of device. More...

virtual void	setLastRxTime (double rxMjd)
	Set latest rx time. More...

void	setSerialNumber (serialNumberType sn)
	Set serial number of device. More...

void	startChannelOneFastSampling (unsigned short fastItem)
	Start fast sampling the specified data item on channel 1. More...

void	startChannelTwoFastSampling (unsigned short fastItem)
	Start fast sampling the specified data item on channel 2. More...

void	stopChannelOneFastSampling ()
	Stop fast sampling on channel 1 This routine will stop fast sampling on channel 1 regardless of whether this node is fast sampling the channel or not! In other words the request goes out globally. More...

void	stopChannelTwoFastSampling ()
	Stop fast sampling on channel 2 This routine will stop fast sampling on channel 2 regardless of whether this node is fast sampling the channel or not! In other words the request goes out globally. More...

virtual	~Device ()
	Device destructor. More...

Additional Inherited Members
Static Public Member Functions inherited from carma::canbus::Device
static keyType	createKey (apiType api, nodeType node)

Static Public Attributes inherited from carma::canbus::devices::XacDevice
static const carma::canbus::msgType	SYSTEM_MONITOR_PACKET_1 = 0x120

static const carma::canbus::msgType	SYSTEM_MONITOR_PACKET_2 = 0x121

static const carma::canbus::msgType	SYSTEM_MONITOR_PACKET_3 = 0x122

static const carma::canbus::msgType	SYSTEM_MONITOR_PACKET_4 = 0x123

static const carma::canbus::msgType	SYSTEM_MONITOR_PACKET_5 = 0x124

Protected Member Functions inherited from carma::canbus::devices::XacDevice
void	processSystemMonitorPacket (carma::canbus::msgType mid, carma::canbus::DataVector &data, carma::monitor::Xac &xac)
	Process a system monitor packet. More...

void	processSystemMonitorPacket1 (carma::canbus::DataVector &data, carma::monitor::Xac &xac)
	Process System Monitor Packet 1 This routine processes standard system monitor packet 1 and places the data into the input Xac reference. More...

void	processSystemMonitorPacket2 (carma::canbus::DataVector &data, carma::monitor::Xac &xac)
	Process System Monitor Packet 2. More...

void	processSystemMonitorPacket3 (carma::canbus::DataVector &data, carma::monitor::Xac &xac)
	Process System Monitor Packet 3. More...

void	processSystemMonitorPacket4 (carma::canbus::DataVector &data, carma::monitor::Xac &xac)
	Process System Monitor Packet 4. More...

void	processSystemMonitorPacket5 (carma::canbus::DataVector &data, carma::monitor::Xac &xac)
	Process System Monitor Packet 5. More...

carma::canbus::Message	simSystemMonitorPacket (carma::canbus::msgType mid)
	Simulate system monitor packet. More...

carma::canbus::Message	simSystemMonitorPacket1 ()
	Simulate System Monitor Packet 1. More...

carma::canbus::Message	simSystemMonitorPacket2 ()
	Simulate System Monitor Packet 2. More...

carma::canbus::Message	simSystemMonitorPacket3 ()
	Simulate System Monitor Packet 3. More...

carma::canbus::Message	simSystemMonitorPacket4 ()
	Simulate System Monitor Packet 4. More...

carma::canbus::Message	simSystemMonitorPacket5 ()
	Simulate System Monitor Packet 5. More...

Protected Member Functions inherited from carma::canbus::Device
void	incrementLatePacketCount ()
	Increment the late packet count by 1. More...

bool	isPacketLate (double window=100.0)
	Determine if the last packet sent from this device was late. More...

void	resetLatePacketCount ()
	Reset the late packet count to 0. More...

void	setApiVersion (char api)
	Set API Version. More...

Static Protected Member Functions inherited from carma::canbus::devices::XacDevice
static bool	isSystemMonitorPacket (carma::canbus::msgType)
	Check that input message type is a system monitor packet. More...

Protected Attributes inherited from carma::canbus::Device
const apiType	api_

CanOutput &	io_
	Reference to CanOutput object. More...

const keyType	key_

const nodeType	node_

Static Protected Attributes inherited from carma::canbus::Device
static const msgType	RESET = 0x0000
	Software reset message id. More...

static const msgType	START_CHANNEL_1_FAST_SAMPLING = 0x0004
	Begin channel 1 fast sampling message id. More...

static const msgType	START_CHANNEL_2_FAST_SAMPLING = 0x0005
	Begin channel 2 fast sampling message id. More...

static const msgType	STOP_CHANNEL_1_FAST_SAMPLING = 0x0002
	Stop channel 1 fast sampling message id. More...

static const msgType	STOP_CHANNEL_2_FAST_SAMPLING = 0x0003

Detailed Description

10-m Antenna Drive Module CAN Implementation (API No.

248). All commands which move an antenna must be called every 1/2 second. If this isn't done, the drive system will timeout, stop and apply the breaks. This class internally reads from a configuration file which contains important parameters such as DC offsets, rate/voltage gains and max slew rates. The filename is currently conf/antenna/ovro/drive.conf.

Definition at line 33 of file Drive.h.

Member Enumeration Documentation

enum carma::antenna::ovro::Drive::BaseSwitchState

Enum describing base switch state.

Definition at line 125 of file Drive.h.

Constructor & Destructor Documentation

carma::antenna::ovro::Drive::Drive	(	carma::canbus::CanOutput &	canOutput,
		carma::monitor::OvroSubsystem &	monitorSubsys,
		unsigned short	antNo,
		const std::string	confFilename = `"antenna/ovro/drive.conf"`
	)

explicit

Constructor.

Parameters

canOutput	Reference to CanIo or CanOutput instance.
monitorSubsys	Reference to Ovro monitor subsystem instance.
shareWithVax	When true, don't write monitor points which typically come from the vax.
confFilename	Name of configuration file.

virtual carma::antenna::ovro::Drive::~Drive ( )

virtual

Destructor.

Member Function Documentation

TimestampedAzOverlapState carma::antenna::ovro::Drive::getAzOverlapState ( ) const

Retrieve boolean indicating if azimuth is in the overlap region.

Overlap is the angular position from roughly 0 to -80 degrees where the positive-only encoder readings 'overlap'.

Returns: TimestampedAzOverlapState

bool carma::antenna::ovro::Drive::getControllerOvertemp ( ) const

Retrieve boolean indicating if any of the three drive controllers shows an overtemp fault.

carma::canbus::MsgIdInfoMap carma::antenna::ovro::Drive::getHalfSecMonitors ( ) const

virtual

Get map of half second monitor points processed by this class.

Implements carma::canbus::Device.

carma::canbus::MsgIdInfoMap carma::antenna::ovro::Drive::getSlowMonitors ( ) const

virtual

Get map of slow monitor points processed by this class.

Reimplemented from carma::canbus::devices::XacDevice.

bool carma::antenna::ovro::Drive::isAtHwLimit ( ) const

Retrieve boolean indicating if drive is at a hw limit.

Note this is a 'processed' limit boolean - in certain cases all drive limits may report true, even though no hardware limit exists. These conditions are when the drive system is disabled or the local/remote/off switch is in the OFF state. In these instances, this routine returns false.

bool carma::antenna::ovro::Drive::isDriveEnabled ( ) const

Retrieve boolean indicating if drive is enabled.

bool carma::antenna::ovro::Drive::isInEngineeringMode ( ) const

Is module in engineering mode?

void carma::antenna::ovro::Drive::processMsg	(	carma::canbus::msgType	messageId,
		::std::vector< carma::canbus::byteType > &	data,
		bool	sim
	)

Process CAN message.

See Also: carma::canbus::Device::processMsg

void carma::antenna::ovro::Drive::setAzElDriveRates	(	double	azRateInRadPerS,
		double	elRateInRadPerS,
		const carma::services::Angle &	elevation
	)

Set azimuth and elevation drive rates.

Parameters

azRateInRadPerS	Requested azimuth drive rate in rad/s.
elRateInRadPerS	Requested elevation drive rate rad/s.
elevation	Current elevation in radians.

void carma::antenna::ovro::Drive::setEngineeringMode ( bool enable )

Set engineering mode.

Parameters

enable True to enable engineering mode, false to disable.

void carma::antenna::ovro::Drive::setRawDriveVoltages	(	float	azRawVolts,
		float	elRawVolts
	)

Set raw drive voltages for engineering purposes.

Use with caution. DC offsets are not applied in this mode.

Parameters

azRawVolts	Raw azimuth voltage in volts.
elRawVolts	Raw elevation voltage in volts.

carma::canbus::Message carma::antenna::ovro::Drive::simulateMsg ( carma::canbus::msgType messageId )

virtual

Simulate CAN message.

See Also: carma::canbus::Device::simulateMsg

Implements carma::canbus::Device.

void carma::antenna::ovro::Drive::stop ( )

Stop the drives This is just a shortcut for enabling the drives followed by seting the drive rates to 0.

void carma::antenna::ovro::Drive::updateConfDataFromFile ( )

Update configuration parameters from conf file.

The location of the configuration file is specified as a constructor parameter to this class.

Exceptions

carma::util::FileNotFoundException	if config file isn't found.
carma::util::IllegalStateException	if file is corrupt.

void carma::antenna::ovro::Drive::writeMonitorData ( )

Write monitor data.

Write CANbus independent monitor data, this is data which is either calculated or updated from control commands rather than events received from the CANBus.

The documentation for this class was generated from the following file:

carma/antenna/ovro/canbus/Drive.h

Classes

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation