Package gda.device.robot

Class SamplePlateMoverBase

java.lang.Object

gda.factory.ConfigurableBase

gda.factory.FindableConfigurableBase

gda.device.DeviceBase

gda.device.scannable.ScannableBase

gda.device.robot.SamplePlateMoverBase

All Implemented Interfaces:

Device, SamplePlateMover, Scannable, Configurable, Findable, gda.observable.IObservable

Direct Known Subclasses:

GantryPositioner, MecaSampleHolderControl

public abstract class SamplePlateMoverBase
extends ScannableBase
implements SamplePlateMover

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	SamplePlateMoverBase.GripperState	State of the gripper used to hold sample plate
static enum	SamplePlateMoverBase.MotionState	State during and after a SamplePlateMoverBase.MotorSequence has run
static enum	SamplePlateMoverBase.MotorSequence	Types of motor move sequences that can take place

Field Summary

Fields inherited from class gda.device.scannable.ScannableBase

__doc__, DEFAULT_INPUT_NAME, DEFAULT_OUTPUT_FORMAT, extraNames, inputNames, level, outputFormat

Fields inherited from class gda.device.DeviceBase

DEFAULT_PROTECTION_LEVEL_PROPERTY

Fields inherited from interface gda.device.Scannable

ATTR_NEXUS_CATEGORY, ATTR_NX_CLASS, DEFAULT_INPUT_NAME, VALUE_UNAVAILABLE

Constructor Summary

Constructors

Constructor	Description
SamplePlateMoverBase()

Method Summary

Modifier and Type	Method	Description
void	asynchronousMoveTo(Object position)	Trigger a move/operation and return immediately.
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.
SamplePlateMoverBase.MotionState	getMotionState()	Current state of motion - one of SamplePlateMoverBase.MotionState (i.e.
SamplePlateMoverBase.MotorSequence	getMotorSequence()	The last motor sequence that was run - one of the values in SamplePlateMoverBase.MotorSequence enum.
boolean	isBusy()	Check if the Scannable is moving/operating.
void	performMotion(SamplePlateMoverBase.MotorSequence motion, String samplePlateName)	Perform sequence of moves (load, unload sample plate, move into beam)
protected void	printConsoleMessage(String message)

Methods inherited from class gda.device.scannable.ScannableBase

__call__, __call__, __doc__, __getitem__, __len__, __repr__, __str__, atCommandFailure, atLevelEnd, atLevelMoveStart, atLevelStart, atPointEnd, atPointStart, atScanEnd, atScanLineEnd, atScanLineStart, atScanStart, checkPositionValid, externalToInternal, getExtraNames, getInputNames, getLevel, getOutputFormat, getPosition, getScanMetadataAttribute, getScanMetadataAttributeNames, getScanMetadataAttributes, internalToExternal, isAt, moveTo, rawAsynchronousMoveTo, rawGetPosition, setExtraNames, setInputNames, setLevel, setOutputFormat, setScanMetadataAttribute, setScanMetadataAttributes, stop, throwExceptionIfInvalidTarget, toFormattedString, toString, validateScannable, valueUnavailableString, waitWhileBusy, waitWhileBusy

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, 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

Methods inherited from interface gda.device.robot.SamplePlateMover

getCurrentPlate, getPlateNames, loadPlate, moveToBeam, unloadPlate

Methods inherited from interface gda.device.Scannable

atCommandFailure, atLevelEnd, atLevelMoveStart, atLevelStart, atPointEnd, atPointStart, atScanEnd, atScanLineEnd, atScanLineStart, atScanStart, checkPositionValid, getExtraNames, getInputNames, getLevel, getOutputFormat, getPosition, getScanMetadataAttribute, getScanMetadataAttributeNames, getScanMetadataAttributes, isAt, moveTo, setExtraNames, setInputNames, setLevel, setOutputFormat, setScanMetadataAttribute, setScanMetadataAttributes, stop, toFormattedString, waitWhileBusy

Constructor Details

SamplePlateMoverBase

public SamplePlateMoverBase()

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

performMotion

public void performMotion(SamplePlateMoverBase.MotorSequence motion,
 String samplePlateName)
                   throws DeviceException

Description copied from interface: SamplePlateMover

Perform sequence of moves (load, unload sample plate, move into beam)

Specified by:

performMotion in interface SamplePlateMover

Throws:

DeviceException

asynchronousMoveTo

public void asynchronousMoveTo(Object position)
                        throws DeviceException

Description copied from class: ScannableBase

Trigger a move/operation and return immediately. Implementations of this method should be non-blocking to allow concurrent motion; the isBusy method will be used to determine when the move has completed. Converts the external (user) position to an internal position and passes this to rawAsynchronousMoveTo.

Specified by:

asynchronousMoveTo in interface Scannable

Overrides:

asynchronousMoveTo in class ScannableBase

Parameters:

position - Position to move to should have an element for each input field.

Throws:

DeviceException

isBusy

public boolean isBusy()
               throws DeviceException

Description copied from interface: Scannable

Check if the Scannable is moving/operating.

Specified by:

isBusy in interface Scannable

Returns:

true - if operation carried out by moveTo has not completed yet

Throws:

DeviceException

getMotorSequence

public SamplePlateMoverBase.MotorSequence getMotorSequence()

The last motor sequence that was run - one of the values in SamplePlateMoverBase.MotorSequence enum.

Returns:

getMotionState

public SamplePlateMoverBase.MotionState getMotionState()

Current state of motion - one of SamplePlateMoverBase.MotionState (i.e. in progress, completed or error).

Returns:

printConsoleMessage

protected void printConsoleMessage(String message)