edu.nau.cs.scu
Class Status

java.lang.Object
  edu.nau.cs.scu.Status

public class Status
extends java.lang.Object

This class embodies a status message that is sent to the MEU.

Author:

Sam Mallon

Field Summary

(package private) boolean	azimuthFoldBackError True if the unit is experiencing an azimuth current fold back error
(package private) double	azimuthPosition The current azimuth of the gimbal in radians
(package private) boolean	azimuthRDError True if the unit is experiencing an azimuth RD error
(package private) boolean	elevationFoldBackError True if the unit is experiencing an elevation current fold back error
(package private) double	elevationPosition The current elevation of the gimbal in radians
(package private) boolean	elevationRDError True if the unit is experiencing an elevation RD error
(package private) boolean	invalidCommandRecieved True if the last command received from the MEU was invalid or malformed
(package private) Mode	mode The mode the gimbal is in
(package private) double	negativeSoftStopPositionAzimuth The location of the azimuth negative soft stop in radians
(package private) double	negativeSoftStopPositionElevation The location of the elecation negative soft stop in radians
(package private) boolean	portAntennaSelected True if the port antenna is selected, false if the starboard antenna is selected.
(package private) double	positiveSoftStopPositionAzimuth The location of the azimuth positive soft stop in radians
(package private) double	positiveSoftStopPositionElevation The location of the elevation postitive soft stop in radians
(package private) boolean	powerUpPassed True if the BIT passed the last time it was run, false if the BIT failed the last time it was run
(package private) boolean	runningPowerUp True if the unit is currently runnning the BIT, false otherwise
(package private) int	selectedSensor The currently selected temperature sensor - 1 through 6
static byte	START_CHARACTER A constant indicating the first byte that is sent when sending a status packet over serial communications
static int	STATUS_PACKET_LENGTH A constant indicating the length of a status byte packet as sent over a serial connection
(package private) double	temperature The temperature of the selected temperature sensor in degrees Celsius
(package private) boolean	torquersEnabled True if the torquers are enabled, false if they are disabled
(package private) boolean	vendorError0 True if the unit is experiencing a vendor defined error 0
(package private) boolean	vendorError1 True if the unit is experiencing a vendor defined error 1

Constructor Summary

Status()
Generic constructor for making empty Status objects.

Status(byte[] packet)
Constructs a Status object from a Status byte packet.

Method Summary

static byte	calculateChecksum(byte[] packet) This is a utility method that calculates the checksum for a status byte packet.
byte[]	getAzimuthBytes() This is a utility method that converts this Status object's current azimuth position into the appropriate 24 bit two's complement format as specified in the document.
byte[]	getElevationBytes() This is a utility method that converts this Status object's current elevation position into the appropriate 24 bit two's complement format as specified in the document.
byte	getErrorStatusByte() This is a utility method that composes all of the errors in this Status object into a single byte as specified in the Servo Controller Unit documentation.
byte[]	toBytes() Converts this status object into its corresponding byte packet.
java.lang.String	toString() Generate a string representing this status object.

Methods inherited from class java.lang.Object

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

Field Detail

mode

Mode mode

The mode the gimbal is in

elevationPosition

double elevationPosition

The current elevation of the gimbal in radians

azimuthPosition

double azimuthPosition

The current azimuth of the gimbal in radians

positiveSoftStopPositionAzimuth

double positiveSoftStopPositionAzimuth

The location of the azimuth positive soft stop in radians

negativeSoftStopPositionAzimuth

double negativeSoftStopPositionAzimuth

The location of the azimuth negative soft stop in radians

positiveSoftStopPositionElevation

double positiveSoftStopPositionElevation

The location of the elevation postitive soft stop in radians

negativeSoftStopPositionElevation

double negativeSoftStopPositionElevation

The location of the elecation negative soft stop in radians

selectedSensor

int selectedSensor

The currently selected temperature sensor - 1 through 6

temperature

double temperature

The temperature of the selected temperature sensor in degrees Celsius

portAntennaSelected

boolean portAntennaSelected

True if the port antenna is selected, false if the starboard antenna is selected.

torquersEnabled

boolean torquersEnabled

True if the torquers are enabled, false if they are disabled

runningPowerUp

boolean runningPowerUp

True if the unit is currently runnning the BIT, false otherwise

powerUpPassed

boolean powerUpPassed

True if the BIT passed the last time it was run, false if the BIT failed the last time it was run

invalidCommandRecieved

boolean invalidCommandRecieved

True if the last command received from the MEU was invalid or malformed

elevationRDError

boolean elevationRDError

True if the unit is experiencing an elevation RD error

azimuthRDError

boolean azimuthRDError

True if the unit is experiencing an azimuth RD error

elevationFoldBackError

boolean elevationFoldBackError

True if the unit is experiencing an elevation current fold back error

azimuthFoldBackError

boolean azimuthFoldBackError

True if the unit is experiencing an azimuth current fold back error

vendorError1

boolean vendorError1

True if the unit is experiencing a vendor defined error 1

vendorError0

boolean vendorError0

True if the unit is experiencing a vendor defined error 0

STATUS_PACKET_LENGTH

public static final int STATUS_PACKET_LENGTH

A constant indicating the length of a status byte packet as sent over a serial connection

See Also:

Constant Field Values

START_CHARACTER

public static final byte START_CHARACTER

A constant indicating the first byte that is sent when sending a status packet over serial communications

See Also:

Constant Field Values

Constructor Detail

Status

public Status(byte[] packet)

Constructs a Status object from a Status byte packet. This method of constructing a Status object is primarily for testing the automatic status responses being sent to the MEU

Parameters:

packet - The bytes representing the current status.

Status

public Status()

Generic constructor for making empty Status objects. All fields of a status object should be set before using the object.

Method Detail

toString

public java.lang.String toString()

Generate a string representing this status object. Used primarily for testing purposes.

Overrides:

toString in class java.lang.Object

toBytes

public byte[] toBytes()

Converts this status object into its corresponding byte packet. This is the byte packet that is sent over serial communications to the MEU.

Returns:

The byte packet representing this Status object

getAzimuthBytes

public byte[] getAzimuthBytes()

This is a utility method that converts this Status object's current azimuth position into the appropriate 24 bit two's complement format as specified in the document.

Returns:

The three bytes indicating azimuth position

getElevationBytes

public byte[] getElevationBytes()

This is a utility method that converts this Status object's current elevation position into the appropriate 24 bit two's complement format as specified in the document.

Returns:

The three bytes indicating elevation position

getErrorStatusByte

public byte getErrorStatusByte()

This is a utility method that composes all of the errors in this Status object into a single byte as specified in the Servo Controller Unit documentation.

Returns:

The error byte representing the errors in this Status

calculateChecksum

public static byte calculateChecksum(byte[] packet)

This is a utility method that calculates the checksum for a status byte packet. Note that this method will not work for Command packets.

Parameters:

packet - The byte packet to calculate the checksum for

Returns:

The checksum of bytes 1 through (STATUS_PACKET_LENGTH - 2)