org.lsst.ccs.subsystem.metrology

Class AerotechP165Device

java.lang.Object

org.lsst.ccs.monitor.Device

org.lsst.ccs.subsystem.metrology.AerotechP165Device

All Implemented Interfaces:

org.lsst.ccs.framework.HardwareController, org.lsst.ccs.framework.HasLifecycle, AerotechDevice

Direct Known Subclasses:

AerotechP165DeviceSim

public class AerotechP165Device
extends org.lsst.ccs.monitor.Device
implements AerotechDevice

AerotechP165 device class for the metrology subsystem

Field Summary

Fields

Modifier and Type	Field and Description
protected String	host
protected int	port

Fields inherited from class org.lsst.ccs.monitor.Device

disabled, fullName, inited, lineMask, lineState, lineWarm, log, mon, name, online, s

Constructor Summary

Constructors

Constructor and Description
AerotechP165Device()

Method Summary

Modifier and Type	Method and Description
void	abort() abort any motion
String	aerotechChat(String command) Sends command to Aerotech
protected int[]	checkChannel(String name, int hwChan, String type, String subtype) Checks a channel's parameters for validity.
protected void	close() Closes the connection.
void	disableAxes() disable axes
void	enableAxes() enable axes
void	fullreset() reset controller
String	getError() get errors
double	getLastPosX() return last x position
double	getLastPosY() return last y position
double	getLastPosZ() return last z position
double	getPosX() get x position
double[]	getPosXYZ() get xyz position
double	getPosY() get y position
double	getPosZ() get z position
int	getState() Gets the state.
String	getVersion() gets version of the Ensemble controller
double	getxOffset()
double	getyOffset()
double	getzOffset()
void	goHome() go to home position
protected void	initDevice() Performs basic initialization.
protected void	initialize() Fully initializes the device.
void	moveAbsX(double x) absolute move
void	moveAbsXY(double x, double y) absolute move in x and y
void	moveAbsXYZ(double x, double y, double z) absolute move in x, y and z
void	moveAbsY(double y) absolute move
void	moveAbsZ(double z) absolute move
void	moveIncX(double dx) incremental move in x
void	moveIncXY(double dx, double dy) incremental move in x and y
void	moveIncXYZ(double dx, double dy, double dz) moveInx_xyz: incremental move in x, y and z
void	moveIncY(double dy) incremental move in y
void	moveIncZ(double dz) incremental move in z
void	rampRate(double rate) rampRate: step/s^2
protected double	readChannel(int chan, int type) Reads a channel.
void	reconnect() Reconnects.
void	reset() acknowledge errors
void	setSpeed(double velocity) setSpeed: step/s
void	setState(int istate) Sets the state.
void	setupHome(int mode) setup homing
void	setxOffset(double xoff)
void	setyOffset(double yoff)
void	setzOffset(double zoff)
void	softHighLim(String axis, int param) setup high position limit
void	softLowLim(String axis, int param) setup low position limit

Methods inherited from class org.lsst.ccs.monitor.Device

addLine, checkHardware, checkHwLine, checkLine, checkOnline, checkTimeout, configure, disable, dropChannel, enable, getFullName, getName, getOutputLines, init, initChannel, initChannel, initSensors, isHwLineSet, isLineSet, isOnline, isTimeout, readChannel, readChannelGroup, readChannelNow, readSensors, setHwLine, setLine, setLineWarm, setOnline, setOutputLines, testOnline

Methods inherited from class java.lang.Object

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

Methods inherited from interface org.lsst.ccs.subsystem.metrology.AerotechDevice

getLastPos_x, getLastPos_y, getLastPos_z, getPos_x, getPos_xyz, getPos_y, getPos_z, moveAbs_x, moveAbs_xy, moveAbs_xyz, moveAbs_y, moveAbs_z, moveInc_x, moveInc_xy, moveInc_xyz, moveInc_y, moveInc_z

Methods inherited from interface org.lsst.ccs.framework.HardwareController

checkStopped

Methods inherited from interface org.lsst.ccs.framework.HasLifecycle

build, postBuild, postInit, postShutdown, postStart, shutdown, start

Field Detail

host

protected String host

port

protected int port

Constructor Detail

AerotechP165Device

public AerotechP165Device()

Method Detail

initDevice

protected void initDevice()

Performs basic initialization.

Overrides:

initDevice in class org.lsst.ccs.monitor.Device

initialize

protected void initialize()

Fully initializes the device.

Specified by:

initialize in class org.lsst.ccs.monitor.Device

close

protected void close()

Closes the connection.

Specified by:

close in class org.lsst.ccs.monitor.Device

checkChannel

protected int[] checkChannel(String name,
                             int hwChan,
                             String type,
                             String subtype)
                      throws Exception

Checks a channel's parameters for validity.

Overrides:

checkChannel in class org.lsst.ccs.monitor.Device

Parameters:

name -

hwChan -

type -

subtype -

Returns:

Encoded type & subtype

Throws:

org.lsst.ccs.drivers.commons.DriverException

Exception

readChannel

protected double readChannel(int chan,
                             int type)

Reads a channel.

Overrides:

readChannel in class org.lsst.ccs.monitor.Device

Parameters:

chan -

type -

Returns:

The channel value

getxOffset

@Command(description="return the x offset")
public double getxOffset()

Specified by:

getxOffset in interface AerotechDevice

setxOffset

@Command(description="set the x offset")
public void setxOffset(@Argument(description="offset in user units")
                                                                double xoff)

Specified by:

setxOffset in interface AerotechDevice

getyOffset

@Command(description="return the y offset")
public double getyOffset()

Specified by:

getyOffset in interface AerotechDevice

setyOffset

@Command(description="set the y offset")
public void setyOffset(@Argument(description="offset in user units")
                                                                double yoff)

Specified by:

setyOffset in interface AerotechDevice

getzOffset

@Command(description="return the z offset")
public double getzOffset()

Specified by:

getzOffset in interface AerotechDevice

setzOffset

@Command(description="set the z offset")
public void setzOffset(@Argument(description="offset in user units")
                                                                double zoff)

Specified by:

setzOffset in interface AerotechDevice

getVersion

@Command(description="return controller version")
public String getVersion()
                                                                    throws org.lsst.ccs.drivers.commons.DriverException

gets version of the Ensemble controller

Specified by:

getVersion in interface AerotechDevice

Returns:

The version

Throws:

org.lsst.ccs.drivers.commons.DriverException

abort

@Command(description="abort motion")
public void abort()
                                                throws org.lsst.ccs.drivers.commons.DriverException

abort any motion

Specified by:

abort in interface AerotechDevice

Throws:

org.lsst.ccs.drivers.commons.DriverException

enableAxes

@Command(description="enable axes")
public void enableAxes()
                                                    throws org.lsst.ccs.drivers.commons.DriverException

enable axes

Specified by:

enableAxes in interface AerotechDevice

Throws:

org.lsst.ccs.drivers.commons.DriverException

disableAxes

@Command(description="disable axes")
public void disableAxes()
                                                      throws org.lsst.ccs.drivers.commons.DriverException

disable axes

Specified by:

disableAxes in interface AerotechDevice

Throws:

org.lsst.ccs.drivers.commons.DriverException

setSpeed

@Command(description="setSpeed")
public void setSpeed(@Argument(description="step / s")
                                                      double velocity)
                                               throws org.lsst.ccs.drivers.commons.DriverException

setSpeed: step/s

Specified by:

setSpeed in interface AerotechDevice

Parameters:

velocity -

Throws:

org.lsst.ccs.drivers.commons.DriverException

rampRate

@Command(description="rampRate")
public void rampRate(@Argument(description="step / s2")
                                                      double rate)
                                               throws org.lsst.ccs.drivers.commons.DriverException

rampRate: step/s^2

Specified by:

rampRate in interface AerotechDevice

Parameters:

rate -

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveIncX

@Command(description="move incrementally in x")
public void moveIncX(@Argument(description="amount to move in user units")
                                                                     double dx)
                                                              throws org.lsst.ccs.drivers.commons.DriverException

incremental move in x

Specified by:

moveIncX in interface AerotechDevice

Parameters:

dx -

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveIncY

@Command(description="move incrementally in y")
public void moveIncY(@Argument(description="amount to move in user units")
                                                                     double dy)
                                                              throws org.lsst.ccs.drivers.commons.DriverException

incremental move in y

Specified by:

moveIncY in interface AerotechDevice

Parameters:

dy -

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveIncZ

@Command(description="move incrementally in z")
public void moveIncZ(@Argument(description="amount to move in user units")
                                                                     double dz)
                                                              throws org.lsst.ccs.drivers.commons.DriverException

incremental move in z

Specified by:

moveIncZ in interface AerotechDevice

Parameters:

dz -

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveIncXY

@Command(description="move incrementally in x and y")
public void moveIncXY(@Argument(description="amount to move in user units")
                                                                            double dx,
                                                                            @Argument(description="amount to move in user units")
                                                                            double dy)
                                                                     throws org.lsst.ccs.drivers.commons.DriverException

incremental move in x and y

Specified by:

moveIncXY in interface AerotechDevice

Parameters:

dx -

dy -

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveIncXYZ

@Command(description="move incrementally in x, y and z")
public void moveIncXYZ(@Argument(description="amount to move in user units")
                                                                                double dx,
                                                                                @Argument(description="amount to move in user units")
                                                                                double dy,
                                                                                @Argument(description="amount to move in user units")
                                                                                double dz)
                                                                         throws org.lsst.ccs.drivers.commons.DriverException

moveInx_xyz: incremental move in x, y and z

Specified by:

moveIncXYZ in interface AerotechDevice

Parameters:

dx -

dy -

dz -

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveAbsX

@Command(description="move absolutely in x")
public void moveAbsX(@Argument(description="x position in user units")
                                                                  double x)
                                                           throws org.lsst.ccs.drivers.commons.DriverException

absolute move

Specified by:

moveAbsX in interface AerotechDevice

Parameters:

x -

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveAbsY

@Command(description="move absolutely in y")
public void moveAbsY(@Argument(description="y position in user units")
                                                                  double y)
                                                           throws org.lsst.ccs.drivers.commons.DriverException

absolute move

Specified by:

moveAbsY in interface AerotechDevice

Parameters:

y -

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveAbsZ

@Command(description="move absolutely in z")
public void moveAbsZ(@Argument(description="z position in user units")
                                                                  double z)
                                                           throws org.lsst.ccs.drivers.commons.DriverException

absolute move

Specified by:

moveAbsZ in interface AerotechDevice

Parameters:

z -

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveAbsXY

@Command(description="move absolutely in x and y")
public void moveAbsXY(@Argument(description="x position in user units")
                                                                         double x,
                                                                         @Argument(description="y position in user units")
                                                                         double y)
                                                                  throws org.lsst.ccs.drivers.commons.DriverException

absolute move in x and y

Specified by:

moveAbsXY in interface AerotechDevice

Parameters:

x -

y -

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveAbsXYZ

@Command(description="move absolutely in x, y and z")
public void moveAbsXYZ(@Argument(description="x position in user units")
                                                                             double x,
                                                                             @Argument(description="y position in user units")
                                                                             double y,
                                                                             @Argument(description="z position in user units")
                                                                             double z)
                                                                      throws org.lsst.ccs.drivers.commons.DriverException

absolute move in x, y and z

Specified by:

moveAbsXYZ in interface AerotechDevice

Parameters:

x -

y -

z -

Throws:

org.lsst.ccs.drivers.commons.DriverException

getPosXYZ

@Command(description="returns position in x, y and z")
public double[] getPosXYZ()
                                                                          throws org.lsst.ccs.drivers.commons.DriverException

get xyz position

Specified by:

getPosXYZ in interface AerotechDevice

Returns:

position array

Throws:

org.lsst.ccs.drivers.commons.DriverException

getPosX

@Command(description="returns position in x")
public double getPosX()
                                                             throws org.lsst.ccs.drivers.commons.DriverException

get x position

Specified by:

getPosX in interface AerotechDevice

Returns:

x position

Throws:

org.lsst.ccs.drivers.commons.DriverException

getPosY

@Command(description="returns position in y")
public double getPosY()
                                                             throws org.lsst.ccs.drivers.commons.DriverException

get y position

Specified by:

getPosY in interface AerotechDevice

Returns:

y position

Throws:

org.lsst.ccs.drivers.commons.DriverException

getPosZ

@Command(description="returns position in z")
public double getPosZ()
                                                             throws org.lsst.ccs.drivers.commons.DriverException

get z position

Specified by:

getPosZ in interface AerotechDevice

Returns:

z position

Throws:

org.lsst.ccs.drivers.commons.DriverException

aerotechChat

@Command(description="generic write",
         level=10)
public String aerotechChat(@Argument(name="command",description="The raw Aerotech command")
                                                                                    String command)
                                                                             throws org.lsst.ccs.drivers.commons.DriverException

Sends command to Aerotech

Parameters:

command -

Returns:

The response

Throws:

org.lsst.ccs.drivers.commons.DriverException

getLastPosX

public double getLastPosX()

return last x position

Specified by:

getLastPosX in interface AerotechDevice

Returns:

The position

getLastPosY

public double getLastPosY()

return last y position

Specified by:

getLastPosY in interface AerotechDevice

Returns:

The position

getLastPosZ

public double getLastPosZ()

return last z position

Specified by:

getLastPosZ in interface AerotechDevice

Returns:

The position

getError

@Command(description="returns any axis fault messages")
public String getError()
                                                                        throws org.lsst.ccs.drivers.commons.DriverException

get errors

Specified by:

getError in interface AerotechDevice

Returns:

The error string

Throws:

org.lsst.ccs.drivers.commons.DriverException

goHome

@Command(description="goes to home position")
public void goHome()
                                                          throws org.lsst.ccs.drivers.commons.DriverException

go to home position

Specified by:

goHome in interface AerotechDevice

Throws:

org.lsst.ccs.drivers.commons.DriverException

setupHome

@Command(description="setup homing mode")
public void setupHome(int mode)
                                                         throws org.lsst.ccs.drivers.commons.DriverException

setup homing

Specified by:

setupHome in interface AerotechDevice

Parameters:

mode - The homing mode

Throws:

org.lsst.ccs.drivers.commons.DriverException

softLowLim

@Command(description="setup low position limit")
public void softLowLim(String axis,
                                                                        int param)
                                                                 throws org.lsst.ccs.drivers.commons.DriverException

setup low position limit

Specified by:

softLowLim in interface AerotechDevice

Parameters:

axis - The axis name

param - The limit

Throws:

org.lsst.ccs.drivers.commons.DriverException

softHighLim

@Command(description="setup high position limit")
public void softHighLim(String axis,
                                                                          int param)
                                                                   throws org.lsst.ccs.drivers.commons.DriverException

setup high position limit

Specified by:

softHighLim in interface AerotechDevice

Parameters:

axis - The axis name

param - The limit

Throws:

org.lsst.ccs.drivers.commons.DriverException

reset

@Command(description="clears all fault messages")
public void reset()
                                                             throws org.lsst.ccs.drivers.commons.DriverException

acknowledge errors

Specified by:

reset in interface AerotechDevice

Throws:

org.lsst.ccs.drivers.commons.DriverException

fullreset

@Command(description="reset controller")
public void fullreset()
                                                        throws org.lsst.ccs.drivers.commons.DriverException

reset controller

Specified by:

fullreset in interface AerotechDevice

Throws:

org.lsst.ccs.drivers.commons.DriverException

reconnect

@Command(description="reconnect to controller")
public void reconnect()

Reconnects. Uses the monitoring system reconnection feature

Specified by:

reconnect in interface AerotechDevice

setState

@Command(name="setstate",
         description="set AerotechP165 device status")
public void setState(int istate)

Sets the state.

Parameters:

istate - The state

getState

@Command(name="getstate",
         description="get AerotechP165 device status")
public int getState()

Gets the state.

Returns:

The state