org.mbari.siam.foce.utils
Class ControlClient

java.lang.Object
  org.mbari.siam.foce.utils.ControlClient

All Implemented Interfaces:

ProcessParameterIF

public class ControlClient
extends java.lang.Object
implements ProcessParameterIF

Nested Class Summary

Nested classes/interfaces inherited from interface org.mbari.siam.distributed.devices.ProcessParameterIF

ProcessParameterIF.DummyConstValues, ProcessParameterIF.DummyFIDMap, ProcessParameterIF.DummyIDMap, ProcessParameterIF.DummyIIDMap, ProcessParameterIF.DummyModeNames, ProcessParameterIF.DummyOIDMap, ProcessParameterIF.DummyParamNames, ProcessParameterIF.DummyRIDMap, ProcessParameterIF.DummySIDMap

Field Summary

protected java.util.Vector	_commands
protected ControlLoopConfigIF	_controlLoop
protected Instrument	_instrument
protected boolean	_isConnected
protected static org.apache.log4j.Logger	_log4j
protected boolean	_lookupRegistry
protected ProcessConfigIF	_processConfig
protected ControlProtocol	_protocol
java.lang.String	_registryName
java.lang.String	_siamHost
protected Node	_siamNode
java.lang.String	_siamPort
protected boolean	_suppressStatus

Fields inherited from interface org.mbari.siam.distributed.devices.ProcessParameterIF

AC_PH_INT_AFT, ACTUATION_DISABLED, ACTUATION_ENABLED, ACTUATION_MAX, ACTUATION_MIN, BX_PH_ESW, BX_PH_EXT_MID_L, BX_PH_EXT_MID_R, BX_PH_INT_AFT_L, BX_PH_INT_AFT_R, BX_PH_INT_FWD_L, BX_PH_INT_FWD_R, BX_VESWP, BX_VH2O_EXT_X, BX_VH2O_EXT_Y, BX_VH2O_INT_X, BX_VH2O_INT_Y, BX_VTHR_AFT, BX_VTHR_FWD, CONNECTOR_TYPE_EXT_OSDT, CONNECTOR_TYPE_RAW, CONNECTOR_TYPE_SIAM_OSDT, CONNECTOR_TYPE_SIAM_REG, const_mnem2value, CONTROL_MODE_CONSTANT, CONTROL_MODE_DEADBAND, CONTROL_MODE_MANUAL, CONTROL_MODE_MAX, CONTROL_MODE_MIN, CONTROL_MODE_OFFSET, CONTROL_MODE_PANIC, DIR_X, DIR_Y, DIR_Z, EC_PH_EXT, FC_PH_INT_FWD, filter_id2fname, HD_HDG_EXT, HD_HDG_INT, IAC_PH_INT_AFT_L, IAC_PH_INT_AFT_R, IBX_PH_ESW, IBX_PH_EXT_MID_L, IBX_PH_EXT_MID_R, IBX_PH_INT_AFT_L, IBX_PH_INT_AFT_R, IBX_PH_INT_FWD_L, IBX_PH_INT_FWD_R, IBX_VESWP, IBX_VH2O_EXT_X, IBX_VH2O_EXT_Y, IBX_VH2O_INT_X, IBX_VH2O_INT_Y, IBX_VTHR_AFT, IBX_VTHR_FWD, IC_PH_INT, IEC_PH_EXT_MID_L, IEC_PH_EXT_MID_R, IFC_PH_INT_FWD_L, IFC_PH_INT_FWD_R, IHD_HDG_EXT_X, IHD_HDG_EXT_Y, IHD_HDG_INT_X, IHD_HDG_INT_Y, IIC_PH_INT_AFT, IIC_PH_INT_FWD, IMA_MAG_EXT_X, IMA_MAG_EXT_Y, IMA_MAG_INT_X, IMA_MAG_INT_Y, input_id2iname, IVC_VH2O_EXT_X, IVC_VH2O_EXT_Y, IVC_VH2O_INT_X, IVC_VH2O_INT_Y, IVS_ESWV_AFT, IVS_ESWV_FWD, LOC_ESW, LOC_EXT, LOC_INT, MA_MAG_EXT, MA_MAG_INT, mode_id2pname, OUTPUT_AFT_ESW_VALVE, OUTPUT_AFT_THRUSTER_VELOCITY, OUTPUT_ESW_PUMP_VELOCITY, OUTPUT_FWD_ESW_VALVE, OUTPUT_FWD_THRUSTER_VELOCITY, output_id2name, OUTPUT_TYPE_EXT, OUTPUT_TYPE_SIAM, PARAM_CO2_CONCENTRATION, PARAM_DENSITY_SW, PARAM_ESW_PUMP_AMODE, PARAM_ESW_VALVE_AMODE, PARAM_EXP_A, PARAM_EXP_B, PARAM_EXP_H, PARAM_EXP_K, PARAM_FLUME_AREA, param_id2pname, PARAM_MAX_FLOW_CHANGE_PERCENT, PARAM_PH_ABS_MAX, PARAM_PH_ABS_MIN, PARAM_PH_CMODE, PARAM_PH_DEADBAND_HI, PARAM_PH_DEADBAND_LO, PARAM_PH_LIN_FILTER_DEPTH, PARAM_PH_LIN_OFFSET, PARAM_PH_LIN_SLOPE, PARAM_PH_MAX_CORRECTION, PARAM_PH_OFFSET, PARAM_PH_PID_KD, PARAM_PH_PID_KI, PARAM_PH_PID_KP, PARAM_PH_PID_MAX_KI, PARAM_PH_PID_SCALE_FACTOR, PARAM_PH_RMODE, PARAM_PH_SETPOINT, param_pname2aname, PARAM_THRUSTER_AMODE, PARAM_VELOCITY_CAL_A, PARAM_VELOCITY_CAL_B, PARAM_VELOCITY_CAL_C, PARAM_VELOCITY_CMODE, PARAM_VELOCITY_DEADBAND_HI, PARAM_VELOCITY_DEADBAND_LO, PARAM_VELOCITY_MAX_CORRECTION, PARAM_VELOCITY_MAX_RPM, PARAM_VELOCITY_MIN_RPM, PARAM_VELOCITY_OFFSET, PARAM_VELOCITY_PID_KD, PARAM_VELOCITY_PID_KI, PARAM_VELOCITY_PID_KP, PARAM_VELOCITY_PID_MAX_KI, PARAM_VELOCITY_PID_SCALE_FACTOR, PARAM_VELOCITY_RMODE, PARAM_VELOCITY_SETPOINT, POS_AFT, POS_FWD, POS_L, POS_MID, POS_R, PROC_EXCL, PROC_INCL, RESPONSE_MODE_EXP, RESPONSE_MODE_LIN, RESPONSE_MODE_MAX, RESPONSE_MODE_MIN, RESPONSE_MODE_PID, ROLE_AFT_ESW_VALVE, ROLE_AFT_THRUSTER, ROLE_ESW_PH, ROLE_ESW_PUMP, ROLE_EXT_MID_L_PH, ROLE_EXT_MID_R_PH, ROLE_EXT_X_VELOCITY, ROLE_EXT_Y_VELOCITY, ROLE_FWD_ESW_VALVE, ROLE_FWD_THRUSTER, role_id2name, ROLE_INT_AFT_L_PH, ROLE_INT_AFT_R_PH, ROLE_INT_FWD_L_PH, ROLE_INT_FWD_R_PH, ROLE_INT_X_VELOCITY, ROLE_INT_Y_VELOCITY, ROLE_MASK, SIG_AFT_THRUSTER_VEL, SIG_AFT_THRUSTER_VEL_CMD_CHK, SIG_AFT_THRUSTER_VEL_CMD_RAW, SIG_ESW_AFT_VALVE_CMD, SIG_ESW_AFT_VALVE_STATE, SIG_ESW_FWD_VALVE_CMD, SIG_ESW_FWD_VALVE_STATE, SIG_ESW_INJ_VOL, SIG_ESW_PUMP_CMD_CHK, SIG_ESW_PUMP_CMD_RAW, SIG_ESW_PUMP_VEL, SIG_FWD_THRUSTER_VEL, SIG_FWD_THRUSTER_VEL_CMD_CHK, SIG_FWD_THRUSTER_VEL_CMD_RAW, SIG_PH_ERR, SIG_PH_ESW, SIG_PH_ESW_FILT, SIG_PH_EXT_FILT, SIG_PH_EXT_MID_L, SIG_PH_EXT_MID_R, SIG_PH_GRAD, SIG_PH_INT_AFT_FILT, SIG_PH_INT_AFT_L, SIG_PH_INT_AFT_R, SIG_PH_INT_FILT, SIG_PH_INT_FWD_FILT, SIG_PH_INT_FWD_L, SIG_PH_INT_FWD_R, SIG_VH2O_EXT_DIR_FILT, SIG_VH2O_EXT_MAG_FILT, SIG_VH2O_EXT_X_FILT, SIG_VH2O_EXT_X_RAW, SIG_VH2O_EXT_Y_FILT, SIG_VH2O_EXT_Y_RAW, SIG_VH2O_INT_DIR_FILT, SIG_VH2O_INT_ERR, SIG_VH2O_INT_MAG_FILT, SIG_VH2O_INT_X_FILT, SIG_VH2O_INT_X_RAW, SIG_VH2O_INT_Y_FILT, SIG_VH2O_INT_Y_RAW, signal_id2sname, TYPE_ALL, TYPE_ESW, TYPE_MASK, TYPE_MOTOR, TYPE_PH, TYPE_VALVE, TYPE_VELOCITY, VC_VH2O_EXT_X, VC_VH2O_EXT_Y, VC_VH2O_INT_X, VC_VH2O_INT_Y, VS_ESWV_AFT, VS_ESWV_FWD

Constructor Summary

ControlClient()

ControlClient(java.lang.String[] args)

Method Summary

protected void	configure(java.lang.String[] args) parse command line args to configure this ControlClient
void	configure(java.lang.String host, java.lang.String port, boolean useRegistry)
void	connect() set up connections for this control client
protected Node	getNodeReference(java.lang.String siamHost) Get a SIAM node reference
boolean	isConnected()
static void	main(java.lang.String[] args) ControlClient main entry point
java.lang.String	sendCommand(java.lang.String command)
protected void	sendCommands() send all commands specified on the command line
void	setCommands(java.util.Vector commands)
protected void	setHost(java.lang.String host)
protected void	setPort(java.lang.String port)
protected void	setRegistryName(java.lang.String name)
void	setSuppressStatus(boolean suppressStatus)
protected void	setUseRegistry(boolean useRegistry)
void	start() start this client

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

_log4j

protected static org.apache.log4j.Logger _log4j

_processConfig

protected ProcessConfigIF _processConfig

_controlLoop

protected ControlLoopConfigIF _controlLoop

_instrument

protected Instrument _instrument

_protocol

protected ControlProtocol _protocol

_siamHost

public java.lang.String _siamHost

_siamPort

public java.lang.String _siamPort

_registryName

public java.lang.String _registryName

_lookupRegistry

protected boolean _lookupRegistry

_isConnected

protected boolean _isConnected

_suppressStatus

protected boolean _suppressStatus

_siamNode

protected Node _siamNode

_commands

protected java.util.Vector _commands

Constructor Detail

ControlClient

public ControlClient()

ControlClient

public ControlClient(java.lang.String[] args)

Method Detail

configure

protected void configure(java.lang.String[] args)
                  throws java.lang.Exception

parse command line args to configure this ControlClient

Throws:

java.lang.Exception

configure

public void configure(java.lang.String host,
                      java.lang.String port,
                      boolean useRegistry)

setSuppressStatus

public void setSuppressStatus(boolean suppressStatus)

isConnected

public boolean isConnected()

setCommands

public void setCommands(java.util.Vector commands)

setHost

protected void setHost(java.lang.String host)

setPort

protected void setPort(java.lang.String port)

setRegistryName

protected void setRegistryName(java.lang.String name)

setUseRegistry

protected void setUseRegistry(boolean useRegistry)

start

public void start()

start this client

getNodeReference

protected Node getNodeReference(java.lang.String siamHost)
                         throws java.lang.Exception

Get a SIAM node reference

Throws:

java.lang.Exception

connect

public void connect()
             throws java.lang.Exception

set up connections for this control client

Throws:

java.lang.Exception

sendCommand

public java.lang.String sendCommand(java.lang.String command)
                             throws java.lang.Exception

Throws:

java.lang.Exception

sendCommands

protected void sendCommands()
                     throws java.lang.Exception

send all commands specified on the command line

Throws:

java.lang.Exception

main

public static void main(java.lang.String[] args)

ControlClient main entry point