Package gda.device.motor

Class EpicsMotor

java.lang.Object

gda.factory.ConfigurableBase

gda.factory.FindableConfigurableBase

gda.device.DeviceBase

gda.device.motor.MotorBase

gda.device.motor.EpicsMotor

All Implemented Interfaces:

ControllerRecord, Device, Motor, InitializationListener, Configurable, Findable, gda.observable.IObservable, gda.observable.IObserver, Serializable

Direct Known Subclasses:

EpicsMotorDirect, EpicsReadyMotor, FeedbackControlledEpicsMotor, PiezoEpicsMotor

public class EpicsMotor
extends MotorBase
implements InitializationListener, gda.observable.IObserver, ControllerRecord

EpicsMotor implements GDA Motor interface and provide mapping from GDA interface to EPICS motor record. Note only selected PVs or channels are instantiated in this class as required by the GDA motor interface.

See Also:

• Serialized Form

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	EpicsMotor.MissedTargetLevel	Possible actions to take when a motor does not reach its target during a move

Field Summary

Fields

Modifier and Type	Field	Description
protected gov.aps.jca.Channel	accl
protected EpicsChannelManager	channelManager	EPICS Channel Manager
protected EpicsController	controller	EPICS controller
protected gov.aps.jca.Channel	dhlm
protected gov.aps.jca.event.MonitorListener	dialHighLimitMonitor	Monitor EPICS motor dial higher limit
protected gov.aps.jca.event.MonitorListener	dialLowLimitMonitor	Monitor EPICS motor dial lower limit
protected gov.aps.jca.Channel	direction
protected gov.aps.jca.Channel	dllm
protected gov.aps.jca.Channel	dmov
protected gov.aps.jca.event.MonitorListener	highLimitMonitor	Monitor EPICS motor higher limit
protected gov.aps.jca.event.MonitorListener	highLimitStateMonitor
protected gov.aps.jca.Channel	hlm
protected gov.aps.jca.Channel	hls
protected gov.aps.jca.Channel	homf
protected gov.aps.jca.Channel	llm
protected gov.aps.jca.Channel	lls
protected gov.aps.jca.event.MonitorListener	lowLimitMonitor	Monitor EPICS motor lower limit
protected gov.aps.jca.event.MonitorListener	lowLimitStateMonitor	Monitors for the limit switch states .LLS and .HLS
protected gov.aps.jca.Channel	lvio
protected gov.aps.jca.event.MonitorListener	lvioMonitor	Monitor EPICS motor limit violation
protected gov.aps.jca.Channel	mres
protected gov.aps.jca.Channel	msta
protected gov.aps.jca.event.MonitorListener	mstaMonitorListener
protected gov.aps.jca.Channel	offset
protected gov.aps.jca.event.MonitorListener	positionMonitor	monitor EPICS motor position
protected gov.aps.jca.Channel	prec
protected gov.aps.jca.event.PutListener	putCallbackListener	EPICS Put call back handler
protected String	pvName
protected gov.aps.jca.Channel	rbv
protected gov.aps.jca.Channel	rdbd
protected gov.aps.jca.Channel	setPv
protected gov.aps.jca.event.MonitorListener	setUseListener
protected gov.aps.jca.Channel	spmg
protected gov.aps.jca.event.MonitorListener	statusMonitor	Monitor EPICS motor's DMOV - EPICS motor motion completion status
protected gov.aps.jca.Channel	stop
protected gov.aps.jca.Channel	unitString
protected gov.aps.jca.Channel	val	EPICS channels to connect
protected gov.aps.jca.Channel	velo
protected gov.aps.jca.Channel	vmax

Fields inherited from class gda.device.motor.MotorBase

correctBacklash, isInitialised, maxPosition, minPosition

Fields inherited from class gda.device.DeviceBase

DEFAULT_PROTECTION_LEVEL_PROPERTY

Fields inherited from interface gda.device.Motor

FAST, MEDIUM, SLOW, SPEED_LEVELS

Constructor Summary

Constructors

Constructor	Description
EpicsMotor()
EpicsMotor(EpicsController controller, Function<InitializationListener,EpicsChannelManager> channelManagerFactory)	Constructor that takes an instance of EpicsController and a factory for a EpicsChannelManager to use.
EpicsMotor(String name)	Constructor taking a motor name

Method Summary

Modifier and Type	Method	Description
protected MotorStatus	checkStatus()	checks motor Status
void	configure()	Initialise the motor object.
protected void	createChannelAccess()	Create Channel access for motor.
void	forceCallback()
String	getAccessControlName()	gets EPICS access control name.
String	getControllerRecordName()	Gets the name of the controller record, e.g.
protected double	getDialHighLimit()	Reads the motor's dial high limit (DHLM).
protected double	getDialLowLimit()	Reads the motor's dial low limit (DLLM).
MotorDirection	getDirection()
double	getMaxPosition()	Gets the maximum or upper soft limits of the motor itself (i.e.
double	getMaxSpeed()
double	getMinPosition()	Gets the minimum or lower soft limits of the motor itself (i.e.
double	getMotorResolution()	Gets the motor resolution from EPICS motor.
double	getPosition()	This method returns the current position of the motor in user coordinates.
int	getPrecision()
String	getPvName()
double	getRetryDeadband()	Gets the retry dead band for this motor from EPICS.
double	getSpeed()	Gets the current speed of the motor in mm/second
MotorStatus	getStatus()	Returns the motor status from the motor object.
double	getTargetPosition()
double	getTimeToVelocity()	Returns this motor's time to velocity.
String	getUnitString()	gets the unit string from EPICS motor.
double	getUserOffset()
void	home()	Moves the motor to a repeatable starting location.
void	initializationCompleted()	Called when all critical channels are connected.
boolean	isAssertHomedBeforeMoving()
boolean	isCallbackWait()
boolean	isHomed()	Checks if the motor is homed or not.
boolean	isHomedFromMSTAValue(double msta)
boolean	isMoving()	Returns whether or not motor is actually moving
boolean	isReduceExcessiveReadyLogs()
void	moveBy(double increament)	Relative move, moves the motor by the specified mount in user coordinate system units, specified in the .EGU field of the Motor record.
void	moveContinuously(int direction)	Moves the motor in a continuous mode
void	moveTo(double position)	Absolute move, moves the motor to the specified position in user coordinate system units, specified by .EGU field of the Motor Record.
void	moveTo(double position, double timeout)	moves motor to the specified position with timeout in seconds.
void	moveTo(double position, gov.aps.jca.event.PutListener moveListener)	Asynchronously moves the motor to the specified position in EGU with a specified PutListener.
void	panicStop()	Some motors offer a control for emergence stop which stop the motor and switch off the power.
double	readMsta()
void	reconfigure()	Re-initialisation of values and states.
void	setAccessControl(AccessControl accessControl)	Sets the access control object used by this motor.
void	setAccessControlName(String accessControlName)	sets the EPICS access control name.
void	setAssertHomedBeforeMoving(boolean assertHomedBeforeMoving)
void	setCallbackWait(boolean callbackDelay)
void	setMaxPosition(double maximumPosition)	Sets the maximum position.
void	setMinPosition(double minimumPosition)	Sets the minimum position.
void	setMissedTargetAction(EpicsMotor.MissedTargetLevel level)
void	setMissedTargetLevel(EpicsMotor.MissedTargetLevel level)	Deprecated. Please use setMissedTargetAction(MissedTargetLevel) instead
void	setPosition(double position)	Set the position of the motor without moving it
void	setPvName(String pvName)	Sets the record name that this motor will link to.
void	setReduceExcessiveReadyLogs(boolean reduceExcessiveReadyLogs)
void	setSpeed(double mmPerSec)	Sets the speed of the motor in IOC in mm/second.
void	setTimeToVelocity(double timeToVelocity)	Sets this motor's time to velocity.
void	setUnitStringOverride(String unitStringOverride)
void	setUserOffset(double userOffset)
void	stop()	Stops the motor
void	stopGo()	Tells the motor record to stop trying to move the motor and then resets it.
String	toString()
void	update(Object theObserved, Object changeCode)
MotorStatus	waitWhileStatusBusy()	Blocks while the motors status is Busy

Methods inherited from class gda.device.motor.MotorBase

addInBacklash, correctBacklash, getBacklashSteps, getFastSpeed, getMediumSpeed, getSlowSpeed, isHomeable, isInitialised, isLimitsSettable, setBacklashSteps, setFastSpeed, setInitialised, setLimitsSettable, setMediumSpeed, setMotorResolution, setSlowSpeed, setSoftLimits, setSpeedLevel

Methods inherited from class gda.device.DeviceBase

addIObserver, close, deleteIObserver, deleteIObservers, getAttribute, getName, getProtectionLevel, isBeingObserved, isConfigureAtStartup, notifyIObservers, setAttribute, setConfigureAtStartup, setName, setProtectionLevel

Methods inherited from class gda.factory.ConfigurableBase

isConfigured, setConfigured

Methods inherited from class java.lang.Object

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

Methods inherited from interface gda.factory.Configurable

isConfigureAtStartup, isConfigured

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.observable.IObservable

addIObserver, deleteIObserver, deleteIObservers

Field Details

val

protected gov.aps.jca.Channel val

EPICS channels to connect

rbv

protected gov.aps.jca.Channel rbv

direction

protected gov.aps.jca.Channel direction

offset

protected gov.aps.jca.Channel offset

stop

protected gov.aps.jca.Channel stop

velo

protected gov.aps.jca.Channel velo

vmax

protected gov.aps.jca.Channel vmax

accl

protected gov.aps.jca.Channel accl

lvio

protected gov.aps.jca.Channel lvio

dmov

protected gov.aps.jca.Channel dmov

rdbd

protected gov.aps.jca.Channel rdbd

hlm

protected gov.aps.jca.Channel hlm

llm

protected gov.aps.jca.Channel llm

hls

protected gov.aps.jca.Channel hls

lls

protected gov.aps.jca.Channel lls

dhlm

protected gov.aps.jca.Channel dhlm

dllm

protected gov.aps.jca.Channel dllm

homf

protected gov.aps.jca.Channel homf

mres

protected gov.aps.jca.Channel mres

unitString

protected gov.aps.jca.Channel unitString

msta

protected gov.aps.jca.Channel msta

spmg

protected gov.aps.jca.Channel spmg

prec

protected gov.aps.jca.Channel prec

positionMonitor

protected gov.aps.jca.event.MonitorListener positionMonitor

monitor EPICS motor position

statusMonitor

protected gov.aps.jca.event.MonitorListener statusMonitor

Monitor EPICS motor's DMOV - EPICS motor motion completion status

lowLimitMonitor

protected gov.aps.jca.event.MonitorListener lowLimitMonitor

Monitor EPICS motor lower limit

highLimitMonitor

protected gov.aps.jca.event.MonitorListener highLimitMonitor

Monitor EPICS motor higher limit

dialHighLimitMonitor

protected gov.aps.jca.event.MonitorListener dialHighLimitMonitor

Monitor EPICS motor dial higher limit

dialLowLimitMonitor

protected gov.aps.jca.event.MonitorListener dialLowLimitMonitor

Monitor EPICS motor dial lower limit

mstaMonitorListener

protected gov.aps.jca.event.MonitorListener mstaMonitorListener

lvioMonitor

protected gov.aps.jca.event.MonitorListener lvioMonitor

Monitor EPICS motor limit violation

lowLimitStateMonitor

protected gov.aps.jca.event.MonitorListener lowLimitStateMonitor

Monitors for the limit switch states .LLS and .HLS

highLimitStateMonitor

protected gov.aps.jca.event.MonitorListener highLimitStateMonitor

setPv

protected gov.aps.jca.Channel setPv

setUseListener

protected gov.aps.jca.event.MonitorListener setUseListener

putCallbackListener

protected gov.aps.jca.event.PutListener putCallbackListener

EPICS Put call back handler

pvName

protected String pvName

controller

protected EpicsController controller

EPICS controller

channelManager

protected EpicsChannelManager channelManager

EPICS Channel Manager

Constructor Details

EpicsMotor

public EpicsMotor(EpicsController controller,
 Function<InitializationListener,EpicsChannelManager> channelManagerFactory)

Constructor that takes an instance of EpicsController and a factory for a EpicsChannelManager to use. Used for testing.

Parameters:

controller - The EpicsController to use.

channelManagerFactory - A factory to create a EpicsChannelManager.

EpicsMotor

public EpicsMotor()

EpicsMotor

public EpicsMotor(String name)

Constructor taking a motor name

Parameters:

name - name of the motor

Method Details

setUnitStringOverride

public void setUnitStringOverride(String unitStringOverride)

setPvName

public void setPvName(String pvName)

Sets the record name that this motor will link to.

Parameters:

pvName - the record name

getPvName

public String getPvName()

setAccessControl

public void setAccessControl(AccessControl accessControl)

Sets the access control object used by this motor.

Parameters:

accessControl - the access control object

configure

public void configure()
               throws FactoryException

Initialise the motor object.

Specified by:

configure in interface Configurable

Overrides:

configure in class ConfigurableBase

Throws:

FactoryException - if there is an error in configuration e.g. required variable not set or cannot connect to device

forceCallback

public void forceCallback()
                   throws MotorException

Throws:

MotorException

createChannelAccess

protected void createChannelAccess()
                            throws FactoryException

Create Channel access for motor. This must must on to EPICS motor record.

Throws:

FactoryException

getUnitString

public String getUnitString()
                     throws MotorException

gets the unit string from EPICS motor.

Specified by:

getUnitString in interface Motor

Overrides:

getUnitString in class MotorBase

Returns:

unit string

Throws:

MotorException

setSpeed

public void setSpeed(double mmPerSec)
              throws MotorException

Sets the speed of the motor in IOC in mm/second.

Specified by:

setSpeed in interface Motor

Parameters:

mmPerSec - the speed

Throws:

MotorException

getSpeed

public double getSpeed()
                throws MotorException

Gets the current speed of the motor in mm/second

Specified by:

getSpeed in interface Motor

Returns:

double the motor speed in revolution per second

Throws:

MotorException

getMaxSpeed

public double getMaxSpeed()
                   throws MotorException

Throws:

MotorException

setTimeToVelocity

public void setTimeToVelocity(double timeToVelocity)
                       throws MotorException

Description copied from interface: Motor

Sets this motor's time to velocity.

Specified by:

setTimeToVelocity in interface Motor

Overrides:

setTimeToVelocity in class MotorBase

Throws:

MotorException

getTimeToVelocity

public double getTimeToVelocity()
                         throws MotorException

Description copied from interface: Motor

Returns this motor's time to velocity.

Specified by:

getTimeToVelocity in interface Motor

Overrides:

getTimeToVelocity in class MotorBase

Throws:

MotorException

getRetryDeadband

public double getRetryDeadband()
                        throws MotorException

Gets the retry dead band for this motor from EPICS.

Specified by:

getRetryDeadband in interface Motor

Overrides:

getRetryDeadband in class MotorBase

Returns:

double - the retry dead band.

Throws:

MotorException

getMotorResolution

public double getMotorResolution()
                          throws MotorException

Gets the motor resolution from EPICS motor.

Specified by:

getMotorResolution in interface Motor

Overrides:

getMotorResolution in class MotorBase

Returns:

double - the motor resolution

Throws:

MotorException

getDirection

public MotorDirection getDirection()
                            throws MotorException

Throws:

MotorException

getUserOffset

public double getUserOffset()
                     throws MotorException

Specified by:

getUserOffset in interface Motor

Overrides:

getUserOffset in class MotorBase

Returns:

the user offset set on the motor

Throws:

MotorException

setUserOffset

public void setUserOffset(double userOffset)
                   throws MotorException

Throws:

MotorException

getPrecision

public int getPrecision()
                 throws MotorException

Throws:

MotorException

isMoving

public boolean isMoving()
                 throws MotorException

Description copied from interface: Motor

Returns whether or not motor is actually moving

Specified by:

isMoving in interface Motor

Returns:

true if moving

Throws:

MotorException

checkStatus

protected MotorStatus checkStatus()
                           throws MotorException

checks motor Status

Throws:

MotorException

getStatus

public MotorStatus getStatus()
                      throws MotorException

Returns the motor status from the motor object.

Specified by:

getStatus in interface Motor

Returns:

a value from the MotorStatus enum

Throws:

MotorException

moveBy

public void moveBy(double increament)
            throws MotorException

Relative move, moves the motor by the specified mount in user coordinate system units, specified in the .EGU field of the Motor record.

Specified by:

moveBy in interface Motor

Parameters:

increament - - double the distance that motor need to travel in EGU

Throws:

MotorException

moveTo

public void moveTo(double position)
            throws MotorException

Absolute move, moves the motor to the specified position in user coordinate system units, specified by .EGU field of the Motor Record.

Specified by:

moveTo in interface Motor

Parameters:

position - - double - the absolute position of the motor in EGU (

Throws:

MotorException

moveTo

public void moveTo(double position,
 double timeout)
            throws MotorException,
gov.aps.jca.TimeoutException,
InterruptedException

moves motor to the specified position with timeout in seconds. If motor does not callback within the specified time, this method time-out.

Throws:

MotorException

gov.aps.jca.TimeoutException

InterruptedException

moveTo

public void moveTo(double position,
 gov.aps.jca.event.PutListener moveListener)
            throws MotorException

Asynchronously moves the motor to the specified position in EGU with a specified PutListener. You must handle the callback in your PutListener code.

Parameters:

position - the absolute position of the motor in EGU

Throws:

MotorException

getDialLowLimit

protected double getDialLowLimit()
                          throws MotorException

Reads the motor's dial low limit (DLLM).

Returns:

the dial low limit

Throws:

MotorException

getDialHighLimit

protected double getDialHighLimit()
                           throws MotorException

Reads the motor's dial high limit (DHLM).

Returns:

the dial high limit

Throws:

MotorException

setMinPosition

public void setMinPosition(double minimumPosition)
                    throws MotorException

Sets the minimum position. This does write to EPICS database.

Specified by:

setMinPosition in interface Motor

Overrides:

setMinPosition in class MotorBase

Parameters:

minimumPosition - the minimum position

Throws:

MotorException

getMinPosition

public double getMinPosition()
                      throws MotorException

Gets the minimum or lower soft limits of the motor itself (i.e. NOT limits cached in GDA software). By convention return NaN if not set. Get the minimum position from EPICS database.

Specified by:

getMinPosition in interface Motor

Overrides:

getMinPosition in class MotorBase

Returns:

the minimum position, or NaN if limits are not be checked

Throws:

MotorException

setMaxPosition

public void setMaxPosition(double maximumPosition)
                    throws MotorException

Sets the maximum position. This does write to EPICS database.

Specified by:

setMaxPosition in interface Motor

Overrides:

setMaxPosition in class MotorBase

Parameters:

maximumPosition - the maximum position

Throws:

MotorException

getMaxPosition

public double getMaxPosition()
                      throws MotorException

Gets the maximum or upper soft limits of the motor itself (i.e. NOT limits cached in GDA software). By convention return NaN if not set. Get the maximum position from EPICS database.

Specified by:

getMaxPosition in interface Motor

Overrides:

getMaxPosition in class MotorBase

Returns:

the maximum position, or NaN if limits are not be checked

Throws:

MotorException

stop

public void stop()
          throws MotorException

Stops the motor

Specified by:

stop in interface Motor

Throws:

MotorException

stopGo

public void stopGo()
            throws MotorException

Tells the motor record to stop trying to move the motor and then resets it.

This is different to a normal stop and should be used when the motor is 'stuck' in a moving state. This is the same as using the Combo box control in the edm screens.

This is for EpicsMotor specific error handling and would probably only need to be used when there are underlying hardware issues.

Throws:

MotorException

panicStop

public void panicStop()
               throws MotorException

Some motors offer a control for emergence stop which stop the motor and switch off the power. This is not implemented here for EPICS motor, i.e. code block is empty.

Specified by:

panicStop in interface Motor

Throws:

MotorException

moveContinuously

public void moveContinuously(int direction)
                      throws MotorException

Description copied from interface: Motor

Moves the motor in a continuous mode

Specified by:

moveContinuously in interface Motor

Parameters:

direction - direction to move in

Throws:

MotorException

setPosition

public void setPosition(double position)
                 throws MotorException

Set the position of the motor without moving it

Specified by:

setPosition in interface Motor

Parameters:

position - the new offset in motor units

Throws:

MotorException

getPosition

public double getPosition()
                   throws MotorException

This method returns the current position of the motor in user coordinates.

Specified by:

getPosition in interface Motor

Returns:

the current position

Throws:

MotorException

home

public void home()
          throws MotorException

Description copied from class: MotorBase

Moves the motor to a repeatable starting location. Motor implementations should overide this method if required.

Specified by:

home in interface Motor

Overrides:

home in class MotorBase

Throws:

MotorException

initializationCompleted

public void initializationCompleted()

Description copied from interface: InitializationListener

Called when all critical channels are connected.

Specified by:

initializationCompleted in interface InitializationListener

isHomedFromMSTAValue

public boolean isHomedFromMSTAValue(double msta)

isHomed

public boolean isHomed()

Description copied from class: MotorBase

Checks if the motor is homed or not. Motor implementations should overide this method if required.

Specified by:

isHomed in interface Motor

Overrides:

isHomed in class MotorBase

Returns:

if the motor is homed. Returns false!

readMsta

public double readMsta()
                throws gov.aps.jca.TimeoutException,
gov.aps.jca.CAException,
InterruptedException

Throws:

gov.aps.jca.TimeoutException

gov.aps.jca.CAException

InterruptedException

getTargetPosition

public double getTargetPosition()
                         throws MotorException

Throws:

MotorException

getAccessControlName

public String getAccessControlName()

gets EPICS access control name.

Returns:

name of the access control.

setAccessControlName

public void setAccessControlName(String accessControlName)

sets the EPICS access control name.

update

public void update(Object theObserved,
 Object changeCode)

Specified by:

update in interface gda.observable.IObserver

toString

public String toString()

Overrides:

toString in class Object

isCallbackWait

public boolean isCallbackWait()

setCallbackWait

public void setCallbackWait(boolean callbackDelay)

setAssertHomedBeforeMoving

public void setAssertHomedBeforeMoving(boolean assertHomedBeforeMoving)

isAssertHomedBeforeMoving

public boolean isAssertHomedBeforeMoving()

waitWhileStatusBusy

public MotorStatus waitWhileStatusBusy()
                                throws InterruptedException

Description copied from interface: Motor

Blocks while the motors status is Busy

Specified by:

waitWhileStatusBusy in interface Motor

Overrides:

waitWhileStatusBusy in class MotorBase

Returns:

status after being busy

Throws:

InterruptedException

reconfigure

public void reconfigure()
                 throws FactoryException

Description copied from interface: Configurable

Re-initialisation of values and states.

Moved from Reconfigurable which has been deleted

Specified by:

reconfigure in interface Configurable

Overrides:

reconfigure in class ConfigurableBase

Throws:

FactoryException

setMissedTargetLevel

@Deprecated(since="9.31",
            forRemoval=false)
public void setMissedTargetLevel(EpicsMotor.MissedTargetLevel level)

Deprecated.

Please use setMissedTargetAction(MissedTargetLevel) instead

Parameters:

level -

setMissedTargetAction

public void setMissedTargetAction(EpicsMotor.MissedTargetLevel level)

getControllerRecordName

public String getControllerRecordName()

Description copied from interface: ControllerRecord

Gets the name of the controller record, e.g. EPICS process variable name. For example, in NeXus this value can be written as the value of the controller_record field for the NXpositioner for the scannable.

Specified by:

getControllerRecordName in interface ControllerRecord

Returns:

controller record name

See Also:

• Nexus documentation for NXpositioner

isReduceExcessiveReadyLogs

public boolean isReduceExcessiveReadyLogs()

setReduceExcessiveReadyLogs

public void setReduceExcessiveReadyLogs(boolean reduceExcessiveReadyLogs)