Package gda.device.robot

Class RobotNX100Controller

java.lang.Object

gda.factory.ConfigurableBase

gda.factory.FindableConfigurableBase

gda.device.DeviceBase

gda.device.robot.RobotNX100Controller

All Implemented Interfaces:

Device, InitializationListener, Configurable, Findable, gda.observable.IObservable

public class RobotNX100Controller
extends DeviceBase
implements InitializationListener

RobotNX100Controller Class

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
class	RobotNX100Controller.ErrorListener
static enum	RobotNX100Controller.Job	Jobs that robot performs
static enum	RobotNX100Controller.SampleState	States that a sample can be in

Field Summary

Fields

Modifier and Type	Field	Description
static final int	MAX_NUMBER_OF_SAMPLES	Maximum number of samples
static final int	MIN_NUMBER_OF_SAMPLES	Minimum number of samples

Fields inherited from class gda.device.DeviceBase

DEFAULT_PROTECTION_LEVEL_PROPERTY

Constructor Summary

Constructors

Constructor	Description
RobotNX100Controller()	Constructor

Method Summary

Modifier and Type	Method	Description
void	clearError()	clear error string
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.
String	getError()	get the error code
String	getErrorCodeFilename()
HashMap<String,String>	getErrorMap()
RobotNX100Controller.Job	getJob()
String	getPvName()
void	hold()	stop or hole robot arm, need to be released before continue.
void	initializationCompleted()	Called when all critical channels are connected.
String	lookupErrorCode(String errorCode)
void	readTheFile()	Reads the lookup table file and put them into a multi-Valued Map for looking up value for the specified energy and scannable name.
void	release()	release hold on robot arm
void	servoOff()	power off the robot
void	servoOn()	power on the robot.
void	setErrorCodeFilename(String errorCodeFilename)
void	setJob(RobotNX100Controller.Job job)	sets the Job to do without apply it to robot controller
void	setPvName(String pv)
void	start()	starts the robot motion after set Job.

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

isConfigured, reconfigure

Field Details

MAX_NUMBER_OF_SAMPLES

public static final int MAX_NUMBER_OF_SAMPLES

Maximum number of samples

See Also:

• Constant Field Values

MIN_NUMBER_OF_SAMPLES

public static final int MIN_NUMBER_OF_SAMPLES

Minimum number of samples

See Also:

• Constant Field Values

Constructor Details

RobotNX100Controller

public RobotNX100Controller()

Constructor

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

getPvName

public String getPvName()

setPvName

public void setPvName(String pv)

readTheFile

public void readTheFile()

Reads the lookup table file and put them into a multi-Valued Map for looking up value for the specified energy and scannable name.

lookupErrorCode

public String lookupErrorCode(String errorCode)

Parameters:

errorCode -

Returns:

String

getErrorMap

public HashMap<String,String> getErrorMap()

Returns:

HashMap

setJob

public void setJob(RobotNX100Controller.Job job)
            throws DeviceException

sets the Job to do without apply it to robot controller

Parameters:

job -

Throws:

DeviceException

getJob

public RobotNX100Controller.Job getJob()
                                throws DeviceException

Throws:

DeviceException

start

public void start()
           throws DeviceException

starts the robot motion after set Job.

Throws:

DeviceException

hold

public void hold()
          throws DeviceException

stop or hole robot arm, need to be released before continue.

Throws:

DeviceException

release

public void release()
             throws DeviceException

release hold on robot arm

Throws:

DeviceException

servoOn

public void servoOn()
             throws DeviceException

power on the robot.

Throws:

DeviceException

servoOff

public void servoOff()
              throws DeviceException

power off the robot

Throws:

DeviceException

getError

public String getError()
                throws DeviceException

get the error code

Returns:

error code

Throws:

DeviceException

clearError

public void clearError()
                throws DeviceException

clear error string

Throws:

DeviceException

initializationCompleted

public void initializationCompleted()

Description copied from interface: InitializationListener

Called when all critical channels are connected.

Specified by:

initializationCompleted in interface InitializationListener

setErrorCodeFilename

public void setErrorCodeFilename(String errorCodeFilename)

Parameters:

errorCodeFilename -

getErrorCodeFilename

public String getErrorCodeFilename()

Returns:

String