Package gda.device.motor

Class EpicsMotorDecorator

java.lang.Object

gda.factory.ConfigurableBase

gda.factory.FindableConfigurableBase

gda.device.DeviceBase

gda.device.motor.MotorBase

gda.device.motor.MotorIocDecorator

gda.device.motor.EpicsMotorDecorator

All Implemented Interfaces:

Device, Motor, Configurable, Findable, gda.observable.IObservable, gda.observable.IObserver, Serializable, org.springframework.beans.factory.InitializingBean

public class EpicsMotorDecorator
extends MotorIocDecorator
implements gda.observable.IObserver

Decorator for EPICS Motor which checks IOC status before connecting and accessing EPICS motor PVs. This class doesn't decorate all the methods in an EpicsMotor, but only those methods that access to EPICS PVs in the specified IOC. If IOC is up and running, access is delegated to the decorated motor instance; If IOC is down, any access to PVs in the specified IOC will throw MotorException except for configure() which throws FactoryException if DeviceBase.isConfigureAtStartup() is set to true, otherwise it just delays the configure later.

Spring XML configuration example:

 
 <bean id="d6x_mtr" class="gda.device.motor.EpicsMotorDecorator">
 	<property name="iocPv" value="BL11I-MO-IOC-03:STATUS"/>
 	<constructor-arg>
 		<bean class="gda.device.motor.EpicsMotor">
 			<property name="deviceName" value="D6.X"/>
 		</bean>
 	</constructor-arg>
 	<property name="configureAtStartup" value="true">
 </bean>
 
 

See Also:

• Serialized Form

Nested Class Summary

Nested classes/interfaces inherited from class gda.device.motor.MotorIocDecorator

MotorIocDecorator.IOCStatusMonitorListener

Field Summary

Fields inherited from class gda.device.motor.MotorIocDecorator

decoratedMotor, iocPv, iocRunning

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
EpicsMotorDecorator()
EpicsMotorDecorator(Motor decoratedMotor)

Method Summary

Modifier and Type	Method	Description
protected MotorStatus	checkStatus()
void	configure()	Default implementation for classes that do not have to do any specific configuration. Classes that do their own configuration should *not* call this superclass function, as it may cause the object to appear configured before it really is.
protected double	getDialHighLimit()
protected double	getDialLowLimit()
double	getMaxPosition()	Gets the maximum or upper soft limits of the motor itself (i.e.
double	getMinPosition()	Gets the minimum or lower soft limits of the motor itself (i.e.
double	getMotorResolution()
double	getPosition()	Gets the current position of the motor
double	getRetryDeadband()	return the position tolerance or accuracy
double	getSpeed()	Gets the current speed setting of the motor
MotorStatus	getStatus()	Gets the state of the motor
double	getTimeToVelocity()	Returns this motor's time to velocity.
String	getUnitString()
double	getUserOffset()
void	home()	Moves the motor to a repeatable starting location.
boolean	isHomed()	Checks if the motor is homed or not.
boolean	isHomedFromMSTAValue(double msta)
boolean	isMoving()	Returns whether or not motor is actually moving
void	moveBy(double steps)	Moves the motor by the specified number of steps
void	moveContinuously(int direction)	Moves the motor in a continuous mode
void	moveTo(double steps)	Moves the motor to the specified position in steps
void	moveTo(double position, double timeout)
void	moveTo(double position, gov.aps.jca.event.PutListener moveListener)
void	panicStop()	Brings the motor to an uncontrolled stop if possible
double	readMsta()
void	setMaxPosition(double maximumPosition)	Set the upper soft limit of the motor
void	setMinPosition(double minimumPosition)	Set the lower soft limit of the motor
void	setPosition(double steps)	Sets the current position of the motor
void	setSpeed(double speed)	Sets the speed of the motor
void	setTimeToVelocity(double timeToVelocity)	Sets this motor's time to velocity.
void	setUserOffset(double userOffset)
void	stop()	Brings the motor to a controlled stop if possible
void	stopGo()
void	update(Object theObserved, Object changeCode)

Methods inherited from class gda.device.motor.MotorIocDecorator

afterPropertiesSet, getDecoratedMotor, getIocPv, isIocRunning, setDecoratedMotor, setIocPv, setIocRunning

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, waitWhileStatusBusy

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, reconfigure, setConfigured

Methods inherited from class java.lang.Object

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

Methods inherited from interface gda.factory.Configurable

isConfigureAtStartup, isConfigured, reconfigure

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

Constructor Details

EpicsMotorDecorator

public EpicsMotorDecorator()

EpicsMotorDecorator

public EpicsMotorDecorator(Motor decoratedMotor)

Method Details

configure

public void configure()
               throws FactoryException

Description copied from class: ConfigurableBase

Default implementation for classes that do not have to do any specific configuration.
Classes that do their own configuration should *not* call this superclass function, as it may cause the object to appear configured before it really is.

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

getUnitString

public String getUnitString()
                     throws MotorException

Specified by:

getUnitString in interface Motor

Overrides:

getUnitString in class MotorBase

Returns:

unit as a String

Throws:

MotorException

setSpeed

public void setSpeed(double speed)
              throws MotorException

Description copied from interface: Motor

Sets the speed of the motor

Specified by:

setSpeed in interface Motor

Parameters:

speed - the speed

Throws:

MotorException

getSpeed

public double getSpeed()
                throws MotorException

Description copied from interface: Motor

Gets the current speed setting of the motor

Specified by:

getSpeed in interface Motor

Returns:

the speed in steps per second

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

Description copied from interface: Motor

return the position tolerance or accuracy

Specified by:

getRetryDeadband in interface Motor

Overrides:

getRetryDeadband in class MotorBase

Returns:

positioning tolerance

Throws:

MotorException

getMotorResolution

public double getMotorResolution()
                          throws MotorException

Specified by:

getMotorResolution in interface Motor

Overrides:

getMotorResolution in class MotorBase

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

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

Throws:

MotorException

getStatus

public MotorStatus getStatus()
                      throws MotorException

Description copied from interface: Motor

Gets the state of the motor

Specified by:

getStatus in interface Motor

Returns:

a value from the MotorStatus enum

Throws:

MotorException

moveBy

public void moveBy(double steps)
            throws MotorException

Description copied from interface: Motor

Moves the motor by the specified number of steps

Specified by:

moveBy in interface Motor

Parameters:

steps - the number of steps to move by

Throws:

MotorException

moveTo

public void moveTo(double steps)
            throws MotorException

Description copied from interface: Motor

Moves the motor to the specified position in steps

Specified by:

moveTo in interface Motor

Parameters:

steps - the number of steps to move to

Throws:

MotorException

moveTo

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

Throws:

MotorException

gov.aps.jca.TimeoutException

InterruptedException

moveTo

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

Throws:

MotorException

getDialLowLimit

protected double getDialLowLimit()
                          throws MotorException

Throws:

MotorException

getDialHighLimit

protected double getDialHighLimit()
                           throws MotorException

Throws:

MotorException

setMinPosition

public void setMinPosition(double minimumPosition)
                    throws MotorException

Description copied from interface: Motor

Set the lower soft limit of the motor

Specified by:

setMinPosition in interface Motor

Overrides:

setMinPosition in class MotorBase

Parameters:

minimumPosition - the lower limit to set

Throws:

MotorException

getMinPosition

public double getMinPosition()
                      throws MotorException

Description copied from interface: Motor

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.

Specified by:

getMinPosition in interface Motor

Overrides:

getMinPosition in class MotorBase

Returns:

the lower soft limit of the motor

Throws:

MotorException

setMaxPosition

public void setMaxPosition(double maximumPosition)
                    throws MotorException

Description copied from interface: Motor

Set the upper soft limit of the motor

Specified by:

setMaxPosition in interface Motor

Overrides:

setMaxPosition in class MotorBase

Parameters:

maximumPosition - upper limit to set

Throws:

MotorException

getMaxPosition

public double getMaxPosition()
                      throws MotorException

Description copied from interface: Motor

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.

Specified by:

getMaxPosition in interface Motor

Overrides:

getMaxPosition in class MotorBase

Returns:

the upper soft limit of the motor

Throws:

MotorException

stop

public void stop()
          throws MotorException

Description copied from interface: Motor

Brings the motor to a controlled stop if possible

Specified by:

stop in interface Motor

Throws:

MotorException

stopGo

public void stopGo()
            throws MotorException

Throws:

MotorException

panicStop

public void panicStop()
               throws MotorException

Description copied from interface: Motor

Brings the motor to an uncontrolled stop if possible

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 steps)
                 throws MotorException

Description copied from interface: Motor

Sets the current position of the motor

Specified by:

setPosition in interface Motor

Parameters:

steps - the position to be set as current

Throws:

MotorException

getPosition

public double getPosition()
                   throws MotorException

Description copied from interface: Motor

Gets the current position of the motor

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

isHomedFromMSTAValue

public boolean isHomedFromMSTAValue(double msta)

isHomed

public boolean isHomed()
                throws MotorException

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!

Throws:

MotorException

readMsta

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

Throws:

gov.aps.jca.TimeoutException

gov.aps.jca.CAException

InterruptedException

update

public void update(Object theObserved,
 Object changeCode)

Specified by:

update in interface gda.observable.IObserver