org.lsst.ccs.drivers.rotator

Class RotatorDriver

java.lang.Object

org.lsst.ccs.drivers.rotator.RotatorDriver

All Implemented Interfaces:

AutoCloseable, RotatorInterface

public class RotatorDriver
extends Object
implements RotatorInterface, AutoCloseable

A driver for the camera rotator. Works by talking to the rotator controller software using SAL.

Author:

tonyj

Constructor Summary

Constructors

Constructor and Description
RotatorDriver()
RotatorDriver(ExecutorService executor)

Method Summary

Modifier and Type	Method and Description
void	addPositionListener(PositionListener positionListener)
void	addStateChangeListener(RotatorStateChangeListener stateChangeListener)
void	clearError() Clear the Fault state, sending the controller into Offline substate PublishOnly.You must use the engineering user interface to transition from that to Offline substate Available before the CSC can control the rotator.
void	close()
void	configureAcceleration(double aLimit) Limit the minimum and maximum acceleration level of the rotator to be set within the global limit of +/- 1 deg/s2.
void	configureVelocity(double vLimit) The configure Velocity command limits the minimum and maximum velocity level of the rotator to be set within the global limit of +/- 3.5 deg/s.
void	disable()
void	enable()
void	enterControl()
void	exitControl()
Date	getLastHeartbeat()
Position	getPosition()
RotatorState	getRotatorState()
org.lsst.sal.rotator.event.SummaryStateEvent.SummaryState	getSummaryState()
void	move(double position) Move the rotator to the specified position and stop.During the move the enabled substate will be MovingPointToPoint, then it will return to Stationary.
void	removePositionListener(PositionListener positionListener)
void	removeStateChangeListener(RotatorStateChangeListener stateChangeListener)
void	standby()
void	start(String config)
void	stop() Stop any current rotation.

Methods inherited from class java.lang.Object

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

Constructor Detail

RotatorDriver

public RotatorDriver()

RotatorDriver

public RotatorDriver(ExecutorService executor)

Method Detail

close

public void close()
           throws org.lsst.ccs.drivers.commons.DriverException

Specified by:

close in interface AutoCloseable

Throws:

org.lsst.ccs.drivers.commons.DriverException

move

public void move(double position)
          throws org.lsst.ccs.drivers.commons.DriverException,
                 TimeoutException

Description copied from interface: RotatorInterface

Move the rotator to the specified position and stop.During the move the enabled substate will be MovingPointToPoint, then it will return to Stationary.

Specified by:

move in interface RotatorInterface

Parameters:

position - The target position in degrees

Throws:

org.lsst.ccs.drivers.commons.DriverException

TimeoutException

enable

public void enable()
            throws org.lsst.ccs.drivers.commons.DriverException,
                   TimeoutException

Throws:

org.lsst.ccs.drivers.commons.DriverException

TimeoutException

disable

public void disable()
             throws org.lsst.ccs.drivers.commons.DriverException,
                    TimeoutException

Throws:

org.lsst.ccs.drivers.commons.DriverException

TimeoutException

standby

public void standby()
             throws org.lsst.ccs.drivers.commons.DriverException,
                    TimeoutException

Throws:

org.lsst.ccs.drivers.commons.DriverException

TimeoutException

start

public void start(String config)
           throws org.lsst.ccs.drivers.commons.DriverException,
                  TimeoutException

Throws:

org.lsst.ccs.drivers.commons.DriverException

TimeoutException

enterControl

public void enterControl()
                  throws org.lsst.ccs.drivers.commons.DriverException,
                         TimeoutException

Throws:

org.lsst.ccs.drivers.commons.DriverException

TimeoutException

exitControl

public void exitControl()
                 throws org.lsst.ccs.drivers.commons.DriverException,
                        TimeoutException

Throws:

org.lsst.ccs.drivers.commons.DriverException

TimeoutException

stop

public void stop()
          throws org.lsst.ccs.drivers.commons.DriverException,
                 TimeoutException

Description copied from interface: RotatorInterface

Stop any current rotation.

Specified by:

stop in interface RotatorInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

TimeoutException

configureAcceleration

public void configureAcceleration(double aLimit)
                           throws org.lsst.ccs.drivers.commons.DriverException,
                                  TimeoutException

Description copied from interface: RotatorInterface

Limit the minimum and maximum acceleration level of the rotator to be set within the global limit of +/- 1 deg/s2.

Specified by:

configureAcceleration in interface RotatorInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

TimeoutException

configureVelocity

public void configureVelocity(double vLimit)
                       throws org.lsst.ccs.drivers.commons.DriverException,
                              TimeoutException

Description copied from interface: RotatorInterface

The configure Velocity command limits the minimum and maximum velocity level of the rotator to be set within the global limit of +/- 3.5 deg/s.

Specified by:

configureVelocity in interface RotatorInterface

Throws:

org.lsst.ccs.drivers.commons.DriverException

TimeoutException

clearError

public void clearError()
                throws TimeoutException,
                       org.lsst.ccs.drivers.commons.DriverException

Description copied from interface: RotatorInterface

Clear the Fault state, sending the controller into Offline substate PublishOnly.You must use the engineering user interface to transition from that to Offline substate Available before the CSC can control the rotator.

Specified by:

clearError in interface RotatorInterface

Throws:

TimeoutException

org.lsst.ccs.drivers.commons.DriverException

addStateChangeListener

public void addStateChangeListener(RotatorStateChangeListener stateChangeListener)

Specified by:

addStateChangeListener in interface RotatorInterface

removeStateChangeListener

public void removeStateChangeListener(RotatorStateChangeListener stateChangeListener)

Specified by:

removeStateChangeListener in interface RotatorInterface

addPositionListener

public void addPositionListener(PositionListener positionListener)

Specified by:

addPositionListener in interface RotatorInterface

removePositionListener

public void removePositionListener(PositionListener positionListener)

Specified by:

removePositionListener in interface RotatorInterface

getLastHeartbeat

public Date getLastHeartbeat()

getSummaryState

public org.lsst.sal.rotator.event.SummaryStateEvent.SummaryState getSummaryState()

getRotatorState

public RotatorState getRotatorState()

getPosition

public Position getPosition()