org.lsst.ccs.subsystem.cablerotator

Class Aerotech

java.lang.Object

org.lsst.ccs.subsystem.cablerotator.Aerotech

public class Aerotech
extends Object

Uses the Ascii driver to send commands to an Aerotech Ensemble controller and receive replies. Every method, if it doesn't throw an exception, returns a reply object with information on the command, the text of the controller's reply (less prefix) and information about what if anything went wrong. For command failures the driver can either throw a CommandFailureException or log the error and return the reply object. Which is done depends on a constructor argument. Exceptions from the Ascii driver are not caught.

This class is immutable. Thread safety depends on the safety of the Ascii driver.

Author:

tether

See Also:

Aerotech.CommandFailureException

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	Aerotech.CommandFailureException Gets thrown when a command is received by the controller but fails for some reason such as invalid command parameters, syntax error, execution fault, etc.
static class	Aerotech.ErrorHandling How the driver is supposed to handle command failure errors.
static class	Aerotech.PositioningMode The possible positioning modes
static class	Aerotech.RampMode How non-homing motion commands should ramp up to and down from the target speed of motion.
static class	Aerotech.Reply Information on the command issued and the reply from the controller.
static class	Aerotech.Status The result of examining the controller's reply to a command.
static class	Aerotech.Target Specifies an axis and a target coordinate on that axis.
static class	Aerotech.WaitMode The possible settings of the command wait mode for non-homing motion commands.

Constructor Summary

Constructors

Constructor and Description
Aerotech(org.lsst.ccs.drivers.ascii.Ascii driver, Aerotech.ErrorHandling errorMode) Saves the Ascii driver instance and the error handling mode.

Method Summary

Modifier and Type	Method and Description
Aerotech.Reply	abortAxes(String... axisNames) Aborts motion on a set of axes using ABORT axisName1 axisName2....
Aerotech.Reply	clearAllFaults() Attempts to clear all axis faults and task errors using ACKNOWLEDGEALL.
Aerotech.Reply	clearAxisFaults(String... axisNames) Attempts to clear existing faults on axes using FAULTACK axisName.
void	close() Attempts to close the driver.
Aerotech.Reply	disableAxes(String... axisNames) Disables a set of axes using DISABLE axisName1 axisName2....
Aerotech.Reply	enableAxes(String... axisNames) Enables a set of axes using ENABLE axisName1 axisName2....
Aerotech.Reply	homeAxes(String... axisNames) Homes a set of axes using HOME axisName1 axisName2....
boolean	isOpen() Is the underlying ASCII driver open?
Aerotech.Reply	moveLinear(double targetSpeed, Aerotech.Target... targets) Executes a linear coordinated move using {@code LINEAR axis1 pos1 axis2 pos2 ...
Aerotech.Reply	readAnalogInput(String axisName, int channel) Reads an analog input channel using AIN(axisName,channel).
Aerotech.Reply	readAxisFaults(String axisName) Reads the fault bits of an axis using AXISFAULT(axisName).
Aerotech.Reply	readAxisStatus(String axisName) Reads the status bits of an axis using AXISSTATUS(axisName).
Aerotech.Reply	readCalibratedPosition(String axisName) Reads the calibrated position of an axis using PFBKCAL(axisName).
Aerotech.Reply	readDglobal(int index) Reads the value of a DGLOBAL array element using DGLOBAL(index).
Aerotech.Reply	readDigitalInput(String axisName, int port, int bit) Reads a digital input port using DIN(axisName,port,bit).
Aerotech.Reply	readIglobal(int index) Reads the value of an IGLOBAL array element using IGLOBAL(index).
Aerotech.Reply	readPlaneStatus(int planeNum) Reads the status bits of a plane using PLANESTATUS(planeNum).
Aerotech.Reply	readProgramPosition(String axisName) Reads the "program" position of an axis using PFBKPROG(axisName).
Aerotech.Reply	readRawPosition(String axisName) Reads the raw position of an axis using .
Aerotech.Reply	readTaskState(int taskNum) Reads the state of a task slot using TASKSTATE(taskNum).
Aerotech.Reply	sendCommand(String cmd) Sends a command to the controller, receives and examines its reply.
String	sendCommandRaw(String cmd) Sends a command to the device and returns the response string with no post-processing.
Aerotech.Reply	setPlane(int planeNum) Sets the plane that will be used for subsequent coordinated motion.
Aerotech.Reply	setPositioningMode(Aerotech.PositioningMode mode) Sets the positioning mode for coordinated moves using either INC or ABS.
Aerotech.Reply	setRampDist(double dist) Sets the distance for DIST mode ramping using RAMP DIST dist.
Aerotech.Reply	setRampMode(Aerotech.RampMode mode) Sets the ramp (acceleration) mode for non-homing motion commands using RAMP MODE mode.
Aerotech.Reply	setRampRate(double accel) Sets the acceleration for RATE mode ramping using RAMP RATE accel.
Aerotech.Reply	setRampTime(double time) Sets the time for TIME mode ramping using RAMP TIME accel.
void	setReplyTimeout(int millis) Sets the timeout for replies from the controller.
Aerotech.Reply	setWaitMode(Aerotech.WaitMode mode) Sets the waiting mode for motion commands, except homeAxes(java.lang.String...), using WAIT MODE mode.
Aerotech.Reply	startProgram(int taskNum, String progName) Starts an AeroBasic program in a given task slot using PROGRAM RUN taskNum,"progName".
Aerotech.Reply	stopProgram(int taskNum) Stops the AeroBasic program running in a given task slot using PROGRAM STOP taskNum.
Aerotech.Reply	writeDglobal(int index, double value) Writes the value of a DGLOBAL array element using DGLOBAL(index)=value.
Aerotech.Reply	writeDigitalOutput(String axisName, int port, int bit, boolean state) Sets the state of a digital output channel using DOUT axisName,port,bit:state.
Aerotech.Reply	writeIglobal(int index, int value) Writes the value of an IGLOBAL array element using IGLOBAL(index)=value.

Methods inherited from class java.lang.Object

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

Constructor Detail

Aerotech

public Aerotech(org.lsst.ccs.drivers.ascii.Ascii driver,
                Aerotech.ErrorHandling errorMode)

Saves the Ascii driver instance and the error handling mode.

Parameters:

driver - The Ascii driver instance.

errorMode - How to handle Aerotech command failures.

Method Detail

close

public void close()

Attempts to close the driver.

isOpen

public boolean isOpen()

Is the underlying ASCII driver open?

Returns:

true if the driver is open, else false.

sendCommandRaw

public String sendCommandRaw(String cmd)
                      throws org.lsst.ccs.drivers.commons.DriverException

Sends a command to the device and returns the response string with no post-processing.

Parameters:

cmd - The command to send.

Returns:

The response from the controller, including prefix.

Throws:

org.lsst.ccs.drivers.commons.DriverException

setReplyTimeout

public void setReplyTimeout(int millis)
                     throws org.lsst.ccs.drivers.commons.DriverException

Sets the timeout for replies from the controller.

Parameters:

millis - The timeout in milliseconds.

Throws:

org.lsst.ccs.drivers.commons.DriverException

sendCommand

public Aerotech.Reply sendCommand(String cmd)
                           throws org.lsst.ccs.drivers.commons.DriverException

Sends a command to the controller, receives and examines its reply.

Parameters:

cmd - The command to send.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException - something went wrong with command execution.

readAnalogInput

public Aerotech.Reply readAnalogInput(String axisName,
                                      int channel)
                               throws org.lsst.ccs.drivers.commons.DriverException

Reads an analog input channel using AIN(axisName,channel).

Parameters:

axisName - The name of the axis which owns the channel.

channel - The index of the channel.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

readDigitalInput

public Aerotech.Reply readDigitalInput(String axisName,
                                       int port,
                                       int bit)
                                throws org.lsst.ccs.drivers.commons.DriverException

Reads a digital input port using DIN(axisName,port,bit).

Parameters:

axisName - The name of the axis which owns the channel.

port - The port index.

bit - The bit index.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

writeDigitalOutput

public Aerotech.Reply writeDigitalOutput(String axisName,
                                         int port,
                                         int bit,
                                         boolean state)
                                  throws org.lsst.ccs.drivers.commons.DriverException

Sets the state of a digital output channel using DOUT axisName,port,bit:state.

Parameters:

axisName - The name of the axis owning the channel.

port - The port index.

bit - The bit number.

state - The desired state; true for 1 and false for 0.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

readCalibratedPosition

public Aerotech.Reply readCalibratedPosition(String axisName)
                                      throws org.lsst.ccs.drivers.commons.DriverException

Reads the calibrated position of an axis using PFBKCAL(axisName).

Parameters:

axisName - The name of the axis.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

readProgramPosition

public Aerotech.Reply readProgramPosition(String axisName)
                                   throws org.lsst.ccs.drivers.commons.DriverException

Reads the "program" position of an axis using PFBKPROG(axisName).

Parameters:

axisName - The name of the axis.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

readRawPosition

public Aerotech.Reply readRawPosition(String axisName)
                               throws org.lsst.ccs.drivers.commons.DriverException

Reads the raw position of an axis using .

Parameters:

axisName - The name of the axis.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

readAxisStatus

public Aerotech.Reply readAxisStatus(String axisName)
                              throws org.lsst.ccs.drivers.commons.DriverException

Reads the status bits of an axis using AXISSTATUS(axisName).

Parameters:

axisName - The name of the axis.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

readAxisFaults

public Aerotech.Reply readAxisFaults(String axisName)
                              throws org.lsst.ccs.drivers.commons.DriverException

Reads the fault bits of an axis using AXISFAULT(axisName).

Parameters:

axisName - The name of the axis.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

writeDglobal

public Aerotech.Reply writeDglobal(int index,
                                   double value)
                            throws org.lsst.ccs.drivers.commons.DriverException

Writes the value of a DGLOBAL array element using DGLOBAL(index)=value.

Parameters:

index - The element index.

value - The new value.

Returns:

The reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

readDglobal

public Aerotech.Reply readDglobal(int index)
                           throws org.lsst.ccs.drivers.commons.DriverException

Reads the value of a DGLOBAL array element using DGLOBAL(index).

Parameters:

index - The element index.

Returns:

The reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

writeIglobal

public Aerotech.Reply writeIglobal(int index,
                                   int value)
                            throws org.lsst.ccs.drivers.commons.DriverException

Writes the value of an IGLOBAL array element using IGLOBAL(index)=value.

Parameters:

index - The element index.

value - The new value.

Returns:

The reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

readIglobal

public Aerotech.Reply readIglobal(int index)
                           throws org.lsst.ccs.drivers.commons.DriverException

Reads the value of an IGLOBAL array element using IGLOBAL(index).

Parameters:

index - The element index.

Returns:

The reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

startProgram

public Aerotech.Reply startProgram(int taskNum,
                                   String progName)
                            throws org.lsst.ccs.drivers.commons.DriverException

Starts an AeroBasic program in a given task slot using PROGRAM RUN taskNum,"progName".

Parameters:

taskNum - The task slot number.

progName - The name of the compiled program file in the controller filesystem, e.g., foo.bcx.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

stopProgram

public Aerotech.Reply stopProgram(int taskNum)
                           throws org.lsst.ccs.drivers.commons.DriverException

Stops the AeroBasic program running in a given task slot using PROGRAM STOP taskNum.

Parameters:

taskNum - The task slot number.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

readTaskState

public Aerotech.Reply readTaskState(int taskNum)
                             throws org.lsst.ccs.drivers.commons.DriverException

Reads the state of a task slot using TASKSTATE(taskNum). The state is a small integer: 0=inactive, 1=idle, 2=ready, 3=running, 4=paused, 5=complete, 6=task error, 10-running a task plugin.

Parameters:

taskNum - The task number.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

clearAxisFaults

public Aerotech.Reply clearAxisFaults(String... axisNames)
                               throws org.lsst.ccs.drivers.commons.DriverException

Attempts to clear existing faults on axes using FAULTACK axisName.

Parameters:

axisNames - The array of axis names.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

homeAxes

public Aerotech.Reply homeAxes(String... axisNames)
                        throws org.lsst.ccs.drivers.commons.DriverException

Homes a set of axes using HOME axisName1 axisName2....

Parameters:

axisNames - The array of axis names.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

enableAxes

public Aerotech.Reply enableAxes(String... axisNames)
                          throws org.lsst.ccs.drivers.commons.DriverException

Enables a set of axes using ENABLE axisName1 axisName2....

Parameters:

axisNames - The array of axis names.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

disableAxes

public Aerotech.Reply disableAxes(String... axisNames)
                           throws org.lsst.ccs.drivers.commons.DriverException

Disables a set of axes using DISABLE axisName1 axisName2....

Parameters:

axisNames - The array of axis names.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

abortAxes

public Aerotech.Reply abortAxes(String... axisNames)
                         throws org.lsst.ccs.drivers.commons.DriverException

Aborts motion on a set of axes using ABORT axisName1 axisName2....

Parameters:

axisNames - The array of axis names.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

clearAllFaults

public Aerotech.Reply clearAllFaults()
                              throws org.lsst.ccs.drivers.commons.DriverException

Attempts to clear all axis faults and task errors using ACKNOWLEDGEALL.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

readPlaneStatus

public Aerotech.Reply readPlaneStatus(int planeNum)
                               throws org.lsst.ccs.drivers.commons.DriverException

Reads the status bits of a plane using PLANESTATUS(planeNum).

Parameters:

planeNum - The plane number.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

setPlane

public Aerotech.Reply setPlane(int planeNum)
                        throws org.lsst.ccs.drivers.commons.DriverException

Sets the plane that will be used for subsequent coordinated motion.

Parameters:

planeNum - The plane number.

Returns:

The Reply object

Throws:

org.lsst.ccs.drivers.commons.DriverException

setWaitMode

public Aerotech.Reply setWaitMode(Aerotech.WaitMode mode)
                           throws org.lsst.ccs.drivers.commons.DriverException

Sets the waiting mode for motion commands, except homeAxes(java.lang.String...), using WAIT MODE mode.

Parameters:

mode - The desired mode.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

setRampMode

public Aerotech.Reply setRampMode(Aerotech.RampMode mode)
                           throws org.lsst.ccs.drivers.commons.DriverException

Sets the ramp (acceleration) mode for non-homing motion commands using RAMP MODE mode.

Parameters:

mode - The desired mode.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

See Also:

setRampRate(double), setRampDist(double), setRampTime(double)

setRampRate

public Aerotech.Reply setRampRate(double accel)
                           throws org.lsst.ccs.drivers.commons.DriverException

Sets the acceleration for RATE mode ramping using RAMP RATE accel.

Parameters:

accel - The desired acceleration.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

setRampDist

public Aerotech.Reply setRampDist(double dist)
                           throws org.lsst.ccs.drivers.commons.DriverException

Sets the distance for DIST mode ramping using RAMP DIST dist.

Parameters:

dist - The distance over which to accelerate to the target speed.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

setRampTime

public Aerotech.Reply setRampTime(double time)
                           throws org.lsst.ccs.drivers.commons.DriverException

Sets the time for TIME mode ramping using RAMP TIME accel.

Parameters:

time - The time in seconds to take to accelerate to the target speed.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

setPositioningMode

public Aerotech.Reply setPositioningMode(Aerotech.PositioningMode mode)
                                  throws org.lsst.ccs.drivers.commons.DriverException

Sets the positioning mode for coordinated moves using either INC or ABS.

Parameters:

mode - The desired mode.

Returns:

The Reply object.

Throws:

org.lsst.ccs.drivers.commons.DriverException

See Also:

#moveLinear(double, org.lsst.ccs.subsystem.motorplatform.bot.Aerotech.Target...)

moveLinear

public Aerotech.Reply moveLinear(double targetSpeed,
                                 Aerotech.Target... targets)
                          throws org.lsst.ccs.drivers.commons.DriverException

Executes a linear coordinated move using LINEAR axis1 pos1 axis2 pos2 ... F speed.

Parameters:

targetSpeed - The speed to which to ramp up.

targets - The target positions for each axis.

Returns:

Throws:

org.lsst.ccs.drivers.commons.DriverException