org.lsst.ccs.subsystem.metrology

Class AerotechP165Device

java.lang.Object

org.lsst.ccs.framework.ConfigurableComponent

org.lsst.ccs.subsystem.monitor.Device

org.lsst.ccs.subsystem.metrology.AerotechP165Device

All Implemented Interfaces:

org.lsst.ccs.config.ConfigurationBulkChangeHandler, org.lsst.ccs.framework.Configurable, org.lsst.ccs.framework.HasLifecycle, AerotechDevice, org.lsst.ccs.UsesSubsystem

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

AerotechP165 device class for the metrology subsystem * @author: Homer Neal **************************************************************************

Nested Class Summary

Nested classes/interfaces inherited from interface org.lsst.ccs.framework.Configurable

org.lsst.ccs.framework.Configurable.Environment

Field Summary

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

chanMask, ctlChans, disabled, fullName, inited, lineMask, lineState, lineWarm, log, mon, online

Constructor Summary

Constructors

Constructor and Description
AerotechP165Device() Constructor * **************************************************************************
AerotechP165Device(String host, int port) AerotechP165Device constructor - put AerotechP165 in initial subsystem state

Method Summary

Modifier and Type	Method and Description
void	abort() abort any motion **************************************************************************
protected int[]	checkChannel(String name, int hwChan, String type, String subtype) Checks a channel's parameters for validity.
protected void	close() Closes the connection.
protected void	configure(org.lsst.ccs.subsystem.monitor.Monitor mon) Performs configuration.
void	disableAxes() disable axes **************************************************************************
void	enableAxes() enable axes **************************************************************************
void	fullreset() reset controller **************************************************************************
String	getError() get errors **************************************************************************
double	getLastPos_x() return last x position **************************************************************************
double	getLastPos_y() return last y position **************************************************************************
double	getLastPos_z() return last z position **************************************************************************
double	getPos_x() get x position **************************************************************************
double[]	getPos_xyz() get xyz position **************************************************************************
double	getPos_y() get y position **************************************************************************
double	getPos_z() get z position **************************************************************************
int	getState()
String	getVersion() gets version of the Ensemble controller * **************************************************************************
double	getxOffset()
double	getyOffset()
double	getzOffset()
void	goHome() go to home position **************************************************************************
protected void	initChannel(int chan, int type, int subtype) Initializes a channel.
protected void	initialize() Initializes the device **************************************************************************
void	moveAbs_x(double xpos) *absolute move **************************************************************************
void	moveAbs_xy(double xpos, double ypos) *absolute move in x and y **************************************************************************
void	moveAbs_xyz(double xpos, double ypos, double zpos) *absolute move in , y and z **************************************************************************
void	moveAbs_y(double ypos) *absolute move **************************************************************************
void	moveAbs_z(double zpos) *absolute move **************************************************************************
void	moveInc_x(double delta) moveInc_x: perform incremental move **************************************************************************
void	moveInc_xy(double dx, double dy) *incremental move in x and y **************************************************************************
void	moveInc_xyz(double dx, double dy, double dz) moveInx_xyz: incremental move in , y and z **************************************************************************
void	moveInc_y(double delta) *incremental move **************************************************************************
void	moveInc_z(double delta) *incremental move **************************************************************************
void	rampRate(double rate) rampRate: step/s^2 **************************************************************************
protected double	readChannel(int chan, int type) Reads a channel.
void	reconnect() reconnect **************************************************************************
void	reset() acknowledge errors **************************************************************************
void	setSpeed(double velocity) setSpeed: step/s **************************************************************************
void	setState(int istate)
void	setupHome(int mode) setup homing **************************************************************************
void	setxOffset(double xOffset)
void	setyOffset(double yOffset)
void	setzOffset(double zOffset)
void	Sleep(double secs) Sleep - what a waste **************************************************************************
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.subsystem.monitor.Device

addChannel, addConfigValues, addLine, checkHwLine, checkLine, checkOnline, checkTimeout, disable, dropChannel, enable, getConfigValues, getFullName, getOutputLines, initChannel, initSensors, isHwLineSet, isLineSet, isOnline, isTimeout, readChannelGroup, 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.framework.Configurable

change, dropSubmittedChanges, getChildren, getComponentByName, getEnvironment, getParent, getParentObject, getSubmittedChanges, init, isParameterConfigurable, postStart, printConfigurableParameters, setBulkParameter, shutdownNow, start, submitChange, submitChanges, validateBulkChange

Methods inherited from interface org.lsst.ccs.config.ConfigurationBulkChangeHandler

setParameterBulk

Methods inherited from interface org.lsst.ccs.UsesSubsystem

getComponentConfigurationEnvironment, getComponentLookup, getName, getSubsystem

Constructor Detail

AerotechP165Device

public AerotechP165Device(String host,
                          int port)
                   throws org.lsst.ccs.drivers.commons.DriverException

AerotechP165Device constructor - put AerotechP165 in initial subsystem state

Parameters:

host - device address

port - port or baud

Throws:

org.lsst.ccs.drivers.commons.DriverException - **************************************************************************

AerotechP165Device

public AerotechP165Device()

Constructor * **************************************************************************

Method Detail

getxOffset

@Command
public double getxOffset()

Specified by:

getxOffset in interface AerotechDevice

setxOffset

@Command
public void setxOffset(double xOffset)

Specified by:

setxOffset in interface AerotechDevice

getyOffset

@Command
public double getyOffset()

Specified by:

getyOffset in interface AerotechDevice

setyOffset

@Command
public void setyOffset(double yOffset)

Specified by:

setyOffset in interface AerotechDevice

getzOffset

@Command
public double getzOffset()

Specified by:

getzOffset in interface AerotechDevice

setzOffset

@Command
public void setzOffset(double zOffset)

Specified by:

setzOffset in interface AerotechDevice

configure

protected void configure(org.lsst.ccs.subsystem.monitor.Monitor mon)

Performs configuration.

Overrides:

configure in class org.lsst.ccs.subsystem.monitor.Device

Parameters:

mon - **************************************************************************

close

protected void close()

Closes the connection. * **************************************************************************

Specified by:

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

initialize

protected void initialize()

Initializes the device **************************************************************************

Specified by:

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

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

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

Sleep

public void Sleep(double secs)

Sleep - what a waste **************************************************************************

setSpeed

@Command(description="setSpeed")
public void setSpeed(@Argument(name="velocity",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(name="rate",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

moveInc_x

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

moveInc_x: perform incremental move **************************************************************************

Specified by:

moveInc_x in interface AerotechDevice

Parameters:

delta -

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveInc_y

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

*incremental move **************************************************************************

Specified by:

moveInc_y in interface AerotechDevice

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveInc_z

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

*incremental move **************************************************************************

Specified by:

moveInc_z in interface AerotechDevice

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveInc_xy

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

*incremental move in x and y **************************************************************************

Specified by:

moveInc_xy in interface AerotechDevice

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveInc_xyz

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

moveInx_xyz: incremental move in , y and z **************************************************************************

Specified by:

moveInc_xyz in interface AerotechDevice

Parameters:

dx -

dy -

dz -

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveAbs_x

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

*absolute move **************************************************************************

Specified by:

moveAbs_x in interface AerotechDevice

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveAbs_y

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

*absolute move **************************************************************************

Specified by:

moveAbs_y in interface AerotechDevice

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveAbs_z

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

*absolute move **************************************************************************

Specified by:

moveAbs_z in interface AerotechDevice

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveAbs_xy

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

*absolute move in x and y **************************************************************************

Specified by:

moveAbs_xy in interface AerotechDevice

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveAbs_xyz

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

*absolute move in , y and z **************************************************************************

Specified by:

moveAbs_xyz in interface AerotechDevice

Throws:

org.lsst.ccs.drivers.commons.DriverException

getPos_xyz

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

get xyz position **************************************************************************

Specified by:

getPos_xyz in interface AerotechDevice

Throws:

org.lsst.ccs.drivers.commons.DriverException

getPos_x

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

get x position **************************************************************************

Specified by:

getPos_x in interface AerotechDevice

Throws:

org.lsst.ccs.drivers.commons.DriverException

getPos_y

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

get y position **************************************************************************

Specified by:

getPos_y in interface AerotechDevice

Throws:

org.lsst.ccs.drivers.commons.DriverException

getPos_z

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

get z position **************************************************************************

Specified by:

getPos_z in interface AerotechDevice

Throws:

org.lsst.ccs.drivers.commons.DriverException

getLastPos_x

public double getLastPos_x()

return last x position **************************************************************************

Specified by:

getLastPos_x in interface AerotechDevice

getLastPos_y

public double getLastPos_y()

return last y position **************************************************************************

Specified by:

getLastPos_y in interface AerotechDevice

getLastPos_z

public double getLastPos_z()

return last z position **************************************************************************

Specified by:

getLastPos_z in interface AerotechDevice

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

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

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

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

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

reconnect **************************************************************************

Throws:

org.lsst.ccs.drivers.commons.DriverException

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.subsystem.monitor.Device

Throws:

Exception

initChannel

protected void initChannel(int chan,
                           int type,
                           int subtype)

Initializes a channel. * **************************************************************************

Overrides:

initChannel in class org.lsst.ccs.subsystem.monitor.Device

readChannel

protected double readChannel(int chan,
                             int type)

Reads a channel. * **************************************************************************

Overrides:

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

setState

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

getState

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