BladeSetConfiguration (LSST CCS - Shutter Subsystem (Pom) 2.0 API)

java.lang.Object
- org.lsst.ccs.subsystems.shutter.common.BladeSetConfiguration

All Implemented Interfaces:

Serializable
```
public final class BladeSetConfiguration
extends Object
implements Serializable
```
Contains low-level hardware information and a set of calibration data for one blade set. Immutable.
At the moment each instance contains hard-coded information about only one set of hardware, that used in the one-blade prototype shutter constructed in 2009:
- Parker Aries single-axis motor controller/driver (ACR-type motor controller)
- Diamond Systems Helios PC/104 with Acces I/O 104-DIO-024S ISA I/O card
- Fixed IP addresses on a local network:
Although the prototype has only one physical blade, two blade sets are simulated. Set 0 is assigned a home/open position at low absolute position. Moving this blade set forward decreases the motor position encoder reading, so pulses/mm is negative. The forward direction for the "other" blade set, set 1, increases encoder values so pulses/mm is positive but has the same magnitude. However, the position conversion routines assume that encoder values are near zero for each blade set near its home position, which is impossible for a single axis unless the encoder zero point is reset when changing blade sets. It shouldn't matter if the motion commands use differences in position. In fact the ACR's "JOG INC" is used for all motions; as it takes only position changes as argument things appear to be OK.
Author:

Owen Saxton, tether

See Also:

org.lsst.ccs.drivers.iocard, org.lsst.ccs.drivers.parker, org.lsst.ccs.subsystems.shutter.BladeSetDrvr, Serialized Form

Constructor Summary

Constructors
Constructor and Description

BladeSetConfiguration(int index)
Constructs a configuration for a given blade set.

Constructors
Constructor and Description
`BladeSetConfiguration(int index)` Constructs a configuration for a given blade set.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`int`	`getAdAddr()` Gets the ISA base address of the Helios ADC unit.
`int`	`getAdLevel()` Gets the IRQ level of the Helios ADC unit.
`int`	`getAdTempChn()` Gets the number of the Helios ADC channel connected to the motor temperature output.
`BladeSetCalibration`	`getCalibration()` Gets the current Hall sensor calibration for the blade set.
`double`	`getClosed()` Gets the absolute position in mm of the blade set when it's considered fully extended.
`int`	`getDioAddr()` Gets the base address in ISA space of the Acces I/O card.
`int`	`getDioConf()` Gets the value to place in the configuration register of the Acces I/O card.
`int`	`getDioHPort()` Gets the ISA space offset of the Acces I/O register serving inputs from the Hall sensors.
`int`	`getDioILine()` Gets the number of the Acces input line connected to the motor controller's "output 33".
`int`	`getDioIPort()` Gets the ISA space offset of the Acces I/O register serving inputs from the motor controller.
`int`	`getDioLevel()` Gets the IRQ level of the Acces I/O card.
`int`	`getDioOLine()` Gets the number of the Acces output line connected to the motor controller's "input 4".
`int`	`getDioOPort()` Gets the ISA space offset of the Acces I/O register serving outputs to the motor controller.
`double`	`getHome()` Gets the absolute home position of the blade set in mm.
`int`	`getIndex()` Gets the index, 0 or 1, of the blade set described by this object.
`double`	`getMoveTime()` Gets the default duration in seconds of each blade set motion.
`String`	`getNode()` Gets the IP address of the motor controller for the blade set.
`int`	`getNumSamp()` Gets the number of motor position samples to be taken during each blade set motion.
`double`	`getOpen()` Gets the absolute position in mm of the blade set when it's considered fully retracted and ready for motion.
`double`	`getPpMm()` Gets the pulses-per-millimeter for the blade set's motor position encoder.
`double`	`motorDistance(double dist)` Converts a blade set travel distance, e.g., a step size, into a change in motor coordinates.
`double`	`negSoftLimit()` Calculates the software lower limit on the blade set's absolute position.
`double`	`position(double relPosition)` Converts a blade set relative position into an absolute position.
`double`	`position(int encoder)` Converts a motor position encoder reading into absolute blade set position in mm.
`double`	`posSoftLimit()` Calculates the software upper limit on the blade set's absolute position.
`double`	`ppu()` Gets the pulses per unit value given to the motor controller, the absolute value of what getPpm() returns.
`static BladeSetCalibration`	`readCalibration(int index)` Reads a text file of Hall sensor calibration data (transition positions) from the current working directory.
`static BladeSetCalibration`	`readCalibration(String file)` Reads a file of Hall sensor calibration data (transition positions) from a text file with the given path name (relative or absolute).
`double`	`relPosition(double position)` Calculates the relative position of the blade set given the absolute position.
`double`	`relPosition(int encoder)` Converts a motor encoder position into a relative position.
`void`	`writeCalibration()` Saves the currently loaded Hall sensor calibration data (transition positions).
`void`	`writeCalibration(BladeSetCalibration calib)` Saves an arbitrary Hall sensor calibration.
`static void`	`writeCalibration(BladeSetCalibration calib, String file)` Saves an arbitrary Hall sensor calibration in a non-standard location.
`void`	`writeCalibration(String file)` Saves the currently loaded Hall sensor calibration in a non-standard location.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - BladeSetConfiguration
```
public BladeSetConfiguration(int index)
```
    Constructs a configuration for a given blade set. All the parameters are hard coded except for the Hall sensor calibration data. That's loaded from a text file using readCalibration(int).
    
    Parameters:
    
    index - the index, 0 or 1, designating the blade set.
- Method Detail
  - getIndex
```
public int getIndex()
```
    Gets the index, 0 or 1, of the blade set described by this object.
    
    Returns:
    
    the index
  - getCalibration
```
public BladeSetCalibration getCalibration()
```
    Gets the current Hall sensor calibration for the blade set.
    
    Returns:
    
    the calibration
  - getNode
```
public String getNode()
```
    Gets the IP address of the motor controller for the blade set.
    
    Returns:
    
    the numerical IP address in dotted string form
  - getPpMm
```
public double getPpMm()
```
    Gets the pulses-per-millimeter for the blade set's motor position encoder. Although the prototype has only a single blade, the second blade is simulated by reversing the sense of motion by reversing the sign on this value.
    
    Returns:
    
    the scale factor
  - getHome
```
public double getHome()
```
    Gets the absolute home position of the blade set in mm. The home position is a special set point that may correspond to a physical mark on the motor encoder scale or it may just be a convenient reference point. It's possible that a homed blade set is not ready to be moved.
    
    Returns:
    
    the home position
  - getOpen
```
public double getOpen()
```
    Gets the absolute position in mm of the blade set when it's considered fully retracted and ready for motion. May be the same as the home position depending on the hardware.
    
    Returns:
    
    the open position
  - getClosed
```
public double getClosed()
```
    Gets the absolute position in mm of the blade set when it's considered fully extended.
    
    Returns:
    
    the closed position
  - getMoveTime
```
public double getMoveTime()
```
    Gets the default duration in seconds of each blade set motion.
    
    Returns:
    
    the duration
  - getNumSamp
```
public int getNumSamp()
```
    Gets the number of motor position samples to be taken during each blade set motion. Modern motor controllers can read and save the motor position encoder value at intervals during motion.
    
    Returns:
  - getDioAddr
```
public int getDioAddr()
```
    Gets the base address in ISA space of the Acces I/O card.
    
    Returns:
    
    the address
  - getDioLevel
```
public int getDioLevel()
```
    Gets the IRQ level of the Acces I/O card.
    
    Returns:
    
    the level
  - getDioConf
```
public int getDioConf()
```
    Gets the value to place in the configuration register of the Acces I/O card.
    
    Returns:
    
    the configuration value
  - getDioHPort
```
public int getDioHPort()
```
    Gets the ISA space offset of the Acces I/O register serving inputs from the Hall sensors.
    
    Returns:
    
    the port number
  - getDioIPort
```
public int getDioIPort()
```
    Gets the ISA space offset of the Acces I/O register serving inputs from the motor controller.
    
    Returns:
    
    the port number
  - getDioILine
```
public int getDioILine()
```
    Gets the number of the Acces input line connected to the motor controller's "output 33".
    
    Returns:
    
    the line number
  - getDioOPort
```
public int getDioOPort()
```
    Gets the ISA space offset of the Acces I/O register serving outputs to the motor controller.
    
    Returns:
    
    the port number
  - getDioOLine
```
public int getDioOLine()
```
    Gets the number of the Acces output line connected to the motor controller's "input 4".
    
    Returns:
    
    the line number
  - getAdAddr
```
public int getAdAddr()
```
    Gets the ISA base address of the Helios ADC unit.
    
    Returns:
    
    the address
  - getAdLevel
```
public int getAdLevel()
```
    Gets the IRQ level of the Helios ADC unit.
    
    Returns:
    
    the level number
  - getAdTempChn
```
public int getAdTempChn()
```
    Gets the number of the Helios ADC channel connected to the motor temperature output.
    
    Returns:
    
    the channel number
  - ppu
```
public double ppu()
```
    Gets the pulses per unit value given to the motor controller, the absolute value of what getPpm() returns.
    
    Returns:
    
    the ppu value
  - motorDistance
```
public double motorDistance(double dist)
```
    Converts a blade set travel distance, e.g., a step size, into a change in motor coordinates.
    
    Parameters:
    
    dist - the travel distance in mm where a positive value means forward or away from home and a negative value means backward or toward home
    
    Returns:
    
    the change in motor distance = dist * signum(getPpMm()).
  - position
```
public double position(int encoder)
```
    Converts a motor position encoder reading into absolute blade set position in mm.
    
    Parameters:
    
    encoder - the encoder value
    
    Returns:
    
    the absolute position = encoder / getPpMm()
  - position
```
public double position(double relPosition)
```
    Converts a blade set relative position into an absolute position.
    
    Parameters:
    
    relPosition - the dimensionless relative position in the interval [0, 1]
    
    Returns:
    
    the absolute position = getOpen() + relPosition * (getClosed() - getOpen())
  - relPosition
```
public double relPosition(int encoder)
```
    Converts a motor encoder position into a relative position. Allows for the possibility that the home position is behind the position assigned to relative position 0.
    
    Parameters:
    
    encoder - the encoder position value.
    
    Returns:
    
    the relative position = (position(encoder) - getOpen()) / (getClosed() - getOpen())
  - relPosition
```
public double relPosition(double position)
```
    Calculates the relative position of the blade set given the absolute position.
    
    Parameters:
    
    position - the absolute position in mm
    
    Returns:
    
    the relative position = (position - getOpen()) / (getClosed() - getOpen())
  - posSoftLimit
```
public double posSoftLimit()
```
    Calculates the software upper limit on the blade set's absolute position.
    
    Returns:
    
    the limit
  - negSoftLimit
```
public double negSoftLimit()
```
    Calculates the software lower limit on the blade set's absolute position.
    
    Returns:
    
    the limit
  - readCalibration
```
public static BladeSetCalibration readCalibration(int index)
```
    Reads a text file of Hall sensor calibration data (transition positions) from the current working directory. The file is named Calibration_0.dat or Calibration_1.dat. For a description of the format see readCalibration(String).
    
    Parameters:
    
    index - the blade set index, 0 or 1.
    
    Returns:
    
    the calibration object, or null if reading failed
  - readCalibration
```
public static BladeSetCalibration readCalibration(String file)
```
    Reads a file of Hall sensor calibration data (transition positions) from a text file with the given path name (relative or absolute). The file contains space-separated columns in the following order and format:
    1. "+" or "-" if the blade set was extending or retracting, respectively,
    2. The sensor ID number (int),
    3. The index distinguishing consecutive transitions for the same sensor (int),
    4. "C" or "O" (oh) if the new sensor state was open or closed, respectively,
    5. The absolute position of the blade set when the transition took place (double).
    Parameters:
    
    file - the file's pathname
    
    Returns:
    
    the calibration object, or null if reading failed
  - writeCalibration
```
public void writeCalibration()
```
    Saves the currently loaded Hall sensor calibration data (transition positions). The file will be the standard one Calibration_n.dat in the current working directory.
  - writeCalibration
```
public void writeCalibration(BladeSetCalibration calib)
```
    Saves an arbitrary Hall sensor calibration. The file will be the standard one Calibration_n.dat in the current working directory.
    
    Parameters:
    
    calib - the calibration to save
  - writeCalibration
```
public void writeCalibration(String file)
```
    Saves the currently loaded Hall sensor calibration in a non-standard location.
    
    Parameters:
    
    file - the absolute or relative pathname of the file to be created
  - writeCalibration
```
public static void writeCalibration(BladeSetCalibration calib,
                                    String file)
```
    Saves an arbitrary Hall sensor calibration in a non-standard location.
    
    Parameters:
    
    calib - the calibration to save
    
    file - the absolute or relative pathname of the file to be created

Class BladeSetConfiguration

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

BladeSetConfiguration

Method Detail

getIndex

getCalibration

getNode

getPpMm

getHome

getOpen

getClosed

getMoveTime

getNumSamp

getDioAddr

getDioLevel

getDioConf

getDioHPort

getDioIPort

getDioILine

getDioOPort

getDioOLine

getAdAddr

getAdLevel

getAdTempChn

ppu

motorDistance

position

position

relPosition

relPosition

posSoftLimit

negSoftLimit

readCalibration

readCalibration

writeCalibration

writeCalibration

writeCalibration

writeCalibration