carma::canbus::devices::XacDevice Class Reference

XacDevice canbus::device class implementation. More...

#include <carma/canbus/devices/XacDevice.h>

Inheritance diagram for carma::canbus::devices::XacDevice:

Public Member Functions
virtual std::map< msgType, std::string >	getSlowMonitors () const
	Return a map of slow monitor points supported by this class The XacDevice class supports processing of the standard System Monitor Packets defined in CANbus API docs. More...
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...
virtual MsgIdInfoMap	getHalfSecMonitors () const =0
	Return a map of devices half second monitor points. 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...
virtual carma::canbus::Message	simulateMsg (msgType messageId)=0
	Simulate a CAN message. 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 void	updateFrameData ()
	Update device or monitor data on frame timescale... More...
virtual	~Device ()
	Device destructor. More...

Static Public Attributes
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
virtual void	initialize ()
	Initialization hook. More...
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
static bool	isSystemMonitorPacket (carma::canbus::msgType)
	Check that input message type is a system monitor packet. More...

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

XacDevice canbus::device class implementation.

This class implements the carma::canbus::Device base class for devices with XAC processors which transmit the standard 'System Monitor Packets' as defined in the Carma CANbus API Template. If your CAN module transmits these System Monitor Packets, you can inherit from this device and you won't need to define how to unpack those messages. The class implements several base control commands as well.

Definition at line 37 of file XacDevice.h.

Constructor & Destructor Documentation

carma::canbus::devices::XacDevice::XacDevice	(	carma::canbus::apiType	api,
		carma::canbus::nodeType	node,
		carma::canbus::CanOutput &	canOutput
	)

Constructor.

Creates an XacDevice

Parameters

api	unique code identifying a specific set of instructions and CAN message formats for a specific device.
node	Node id of device.
canOutput	Reference to CanOutput class - should be obtained from downcasting the canbus::Master reference in inherited canbus::Master class.

virtual carma::canbus::devices::XacDevice::~XacDevice ( )

virtual

Destructor.

Member Function Documentation

virtual std::map<msgType, std::string> carma::canbus::devices::XacDevice::getSlowMonitors ( ) const

virtual

Return a map of slow monitor points supported by this class The XacDevice class supports processing of the standard System Monitor Packets defined in CANbus API docs.

Returns

map<msgType, string> map containing a string description of the CAN message keyed by it's message id.

See Also

Device::simulateMsg

carma::canbus::Master

carma::canbus::Device::getSlowMonitors

Implements carma::canbus::Device.

Reimplemented in carma::antenna::ovro::Drive, carma::antenna::common::AntennaIF, carma::antenna::common::SisReceiver, carma::antenna::ovro::Tiltmeter, carma::antenna::ovro::Encoder, carma::downconverter::LoMonitor, carma::antenna::ovro::SecondaryMirror, carma::downconverter::QuadratureModulator, carma::antenna::ovro::CryoCompressor, carma::downconverter::NoiseSource, carma::downconverter::SpectralDownconverter, carma::antenna::common::LOReferenceMonitor, carma::antenna::ovro::Tiltmeter, carma::antenna::ovro::Optics, carma::downconverter::Downconverter, carma::antenna::ovro::GunnPll, carma::antenna::ovro::YigPll, carma::antenna::common::Varactor, carma::downconverter::LoControl, carma::antenna::ovro::EnvironmentalMonitor, carma::antenna::ovro::CryoTemperatures, and carma::downconverter::BlockDownconverter.

virtual void carma::canbus::devices::XacDevice::initialize ( )

protectedvirtual

Initialization hook.

This get's called when the xac slow monitor packet 1 'initialization request' flag is set.

bool carma::canbus::devices::XacDevice::isOnline

(

)

Is Device ONLINE?

static bool carma::canbus::devices::XacDevice::isSystemMonitorPacket ( carma::canbus::msgType  )

staticprotected

Check that input message type is a system monitor packet.

void carma::canbus::devices::XacDevice::processSystemMonitorPacket ( carma::canbus::msgType  mid, carma::canbus::DataVector &  data, carma::monitor::Xac &  xac  )

protected

Process a system monitor packet.

void carma::canbus::devices::XacDevice::processSystemMonitorPacket1 ( carma::canbus::DataVector &  data, carma::monitor::Xac &  xac  )

protected

Process System Monitor Packet 1 This routine processes standard system monitor packet 1 and places the data into the input Xac reference.

Note that this routine will set the device state to carma::canbus::STARTING if the INITREQ flag is set in the input packet.

Parameters

data	vector containing bytes of raw data.
xac	monitor system reference

void carma::canbus::devices::XacDevice::processSystemMonitorPacket2 ( carma::canbus::DataVector &  data, carma::monitor::Xac &  xac  )

protected

Process System Monitor Packet 2.

Parameters

data	vector containing bytes of raw data.
xac	monitor system reference

void carma::canbus::devices::XacDevice::processSystemMonitorPacket3 ( carma::canbus::DataVector &  data, carma::monitor::Xac &  xac  )

protected

Process System Monitor Packet 3.

Parameters

data	vector containing bytes of raw data.
xac	monitor system reference

void carma::canbus::devices::XacDevice::processSystemMonitorPacket4 ( carma::canbus::DataVector &  data, carma::monitor::Xac &  xac  )

protected

Process System Monitor Packet 4.

Parameters

data	vector containing bytes of raw data.
xac	monitor system reference

void carma::canbus::devices::XacDevice::processSystemMonitorPacket5 ( carma::canbus::DataVector &  data, carma::monitor::Xac &  xac  )

protected

Process System Monitor Packet 5.

Parameters

data	vector containing bytes of raw data.
xac	monitor system reference

void carma::canbus::devices::XacDevice::reset

(

)

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

virtual void carma::canbus::devices::XacDevice::setState ( deviceStateType  state )

virtual

Set the state of the device.

This function overrides the Device::setState version and simply calls the base version while adding logging functionality.

Reimplemented from carma::canbus::Device.

carma::canbus::Message carma::canbus::devices::XacDevice::simSystemMonitorPacket ( carma::canbus::msgType  mid )

protected

Simulate system monitor packet.

Exceptions

IllegalArgumentException

if mid is not a system monitor msg.

carma::canbus::Message carma::canbus::devices::XacDevice::simSystemMonitorPacket1 ( )

protected

Simulate System Monitor Packet 1.

carma::canbus::Message carma::canbus::devices::XacDevice::simSystemMonitorPacket2 ( )

protected

Simulate System Monitor Packet 2.

carma::canbus::Message carma::canbus::devices::XacDevice::simSystemMonitorPacket3 ( )

protected

Simulate System Monitor Packet 3.

carma::canbus::Message carma::canbus::devices::XacDevice::simSystemMonitorPacket4 ( )

protected

Simulate System Monitor Packet 4.

carma::canbus::Message carma::canbus::devices::XacDevice::simSystemMonitorPacket5 ( )

protected

Simulate System Monitor Packet 5.

void carma::canbus::devices::XacDevice::startChannelOneFastSampling

(

unsigned short

fastItem

)

Start fast sampling on channel one with the requested data item.

void carma::canbus::devices::XacDevice::startChannelTwoFastSampling

(

unsigned short

fastItem

)

Start fast sampling on channel two with the requested data item.

void carma::canbus::devices::XacDevice::stopChannelOneFastSampling

(

)

Stop fast sampling on channel one.

void carma::canbus::devices::XacDevice::stopChannelTwoFastSampling

(

)

Stop fast sampling on channel two.

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

• carma/canbus/devices/XacDevice.h