Package gda.device.continuouscontroller

Interface TrajectoryMoveController

All Superinterfaces:

Configurable, ContinuousMoveController, Device, Findable, HardwareTriggerProvider, gda.observable.IObservable

All Known Implementing Classes:

DummyTrajectoryMoveController

public interface TrajectoryMoveController
extends ContinuousMoveController

A trajectory move controller represents a motor controller that move one or more axes through an arbitrary trajectory while generating hardware triggers. Hardware triggers can be uniformly spaced in time if configured with HardwareTriggerProvider.setTriggerPeriod(double), or may be non-uniform if configured with setTriggerDeltas(double[]); not all controllers need support the latter.

Method Summary

Modifier and Type	Method	Description
void	addPoint(Double[] point)	Called in sequence specifies the trajectory over all axes point by point.
Double[]	getLastPointAdded()	Return the last point added.
int	getNumberAxes()	Get the number of axes configured on the controller.
void	setAxisTrajectory(int axisIndex, double[] trajectory)	Set the entire trajectory for one axis.
void	setTriggerDeltas(double[] triggerDeltas)	Set a profile of potentially non-uniformly spaced trigger times.

Methods inherited from interface gda.factory.Configurable

configure, isConfigureAtStartup, isConfigured, reconfigure

Methods inherited from interface gda.device.continuouscontroller.ContinuousMoveController

isMoving, prepareForMove, startMove, stopAndReset, waitWhileMoving

Methods inherited from interface gda.device.Device

close, getAttribute, getProtectionLevel, setAttribute, setProtectionLevel

Methods inherited from interface gda.factory.Findable

getName, setName

Methods inherited from interface gda.device.continuouscontroller.HardwareTriggerProvider

getNumberTriggers, getTotalTime, setTriggerPeriod

Methods inherited from interface gda.observable.IObservable

addIObserver, deleteIObserver, deleteIObservers

Method Details

getNumberAxes

int getNumberAxes()

Get the number of axes configured on the controller. This may be less than the maximum number the controller supports,

Returns:

number of configured axes.

addPoint

void addPoint(Double[] point)
       throws DeviceException

Called in sequence specifies the trajectory over all axes point by point. Alternatively use setAxisTrajectory(int, double[]).

Parameters:

point - Array with a value for each axis. If an axis value is null null, indicating this axis is not to be used, then all positions for this axis must also be null.

Throws:

DeviceException

getLastPointAdded

Double[] getLastPointAdded()
                    throws DeviceException

Return the last point added.

Returns:

the last point added, or null if no points have been added or setAxisTrajectory(int, double[]) has been used to configure the controller.

Throws:

DeviceException

setAxisTrajectory

void setAxisTrajectory(int axisIndex,
 double[] trajectory)
                throws DeviceException,
InterruptedException

Set the entire trajectory for one axis. Alternatively use addPoint(Double[]).

Parameters:

axisIndex -

trajectory -

Throws:

DeviceException

InterruptedException

setTriggerDeltas

void setTriggerDeltas(double[] triggerDeltas)
               throws DeviceException

Set a profile of potentially non-uniformly spaced trigger times. May not be supported by all controllers. Alternatively use HardwareTriggerProvider.setTriggerPeriod(double).

Parameters:

triggerDeltas -

Throws:

DeviceException - if not supported or the request is not possible.