Package gda.device.scannable

Class ScannableMotor

java.lang.Object

gda.factory.ConfigurableBase

gda.factory.FindableConfigurableBase

gda.device.DeviceBase

gda.device.scannable.ScannableBase

gda.device.scannable.ScannableMotionBase

gda.device.scannable.ScannableMotionUnitsBase

gda.device.scannable.ScannableMotor

All Implemented Interfaces:

INeXusInfoWriteable, ControllerRecord, Device, IScannableMotor, Scannable, ScannableMotion, ScannableMotionUnits, Configurable, Findable, gda.observable.IObservable

Direct Known Subclasses:

AirBearingScannableMotor, B18EnergyScannable, ControllerScannable, Crystal1PitchScannable, IdealBaseX, QexafsScannable, ScannableAttenuatorWedge, SmarGonScannableMotor, TrajectoryScannableMotor, TurboXasScannable, TweakableScannableMotor, ZebraScannableMotor, ZebraScannableMotorForQexafs

@ServiceInterface(IScannableMotor.class)
public class ScannableMotor
extends ScannableMotionUnitsBase
implements IScannableMotor

Adapter class for motor to work as scannables. This class uses units and has an offset/scaling factor for the motor position.

The returned position (user position) is calculated by:

userPosition = (motorPosition*scalingFactor) + offset

GDALimits are based on the userPosition, but must be in the same units as the motor.

Field Summary

Fields

Modifier and Type	Field	Description
static final String	COPY_MOTOR_LIMITS_INTO_SCANNABLE_LIMITS	Name of java property which when set true causes the upper invalid input: '&' lower gda limits to be set from the motor limits if not already set.

Fields inherited from class gda.device.scannable.ScannableMotionUnitsBase

unitsComponent

Fields inherited from class gda.device.scannable.ScannableMotionBase

numberTries, tolerance

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.IScannableMotor

WAS_ALREADY_BUSY_SO_COULD_NOT_BE_MOVED

Fields inherited from interface gda.device.Scannable

ATTR_NEXUS_CATEGORY, ATTR_NX_CLASS, DEFAULT_INPUT_NAME, VALUE_UNAVAILABLE

Fields inherited from interface gda.device.ScannableMotion

FIRSTINPUTLIMITS

Fields inherited from interface gda.device.ScannableMotionUnits

HARDWAREUNITS, USERUNITS

Constructor Summary

Constructors

Constructor	Description
ScannableMotor()

Method Summary

Modifier and Type	Method	Description
protected void	attachMotorObserver()
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 Object	getActualPosition()
Object	getAttribute(String attributeName)	Get the value of the specified attribute
String	getControllerRecordName()	Gets the name of the controller record, e.g.
protected Object	getDemandPosition()	Return the last demanded user/external position if one has been set.
double	getDemandPositionTolerance()	See setReturnDemandPosition(boolean) Value is in internal/motor units and scale
Double[]	getFirstInputLimits()
Double	getLowerInnerLimit()	Returns the innermost (i.e.
Double	getLowerMotorLimit()	Returns the lower motor limit in its external representation.
Motor	getMotor()	Method required by scripts which need to access the real motor at times. Before the script could get the motor name but now that the motor may be set by spring, scripts cannot get the underlying motor.
MotorLimitsComponent	getMotorLimitsComponent()
String	getMotorName()
double	getMotorResolution()
Object	getPosition()	Returns the current position of the Scannable.
double	getSpeed()	Get the speed of the underlying motor
double	getTimeToVelocity()	Returns this motor's time to velocity.
Double	getUpperInnerLimit()	Returns the innermost (i.e.
Double	getUpperMotorLimit()	Returns the upper motor limit in its external representation.
double	getUserOffset()
boolean	isBusy()	Return true if motor is busy.
boolean	isReturningDemandPosition()	See setReturnDemandPosition(boolean)
void	rawAsynchronousMoveTo(Object internalPosition)	[Consider abstract] Trigger a move/operation to an internal/hardware position and return immediately.
protected Object	rawGetDemandPosition()	Return the last demanded motor/internal position if one has been set, otherwise return the current position.
Object	rawGetPosition()	Read the position in its internal (user) representation.
void	setDemandPositionTolerance(double demandPositionTolerance)	See setReturnDemandPosition(boolean) Value is in internal/motor units and scale
void	setLogMoveRequestsWithInfo(boolean logMoveRequestsWithInfo)
void	setMotor(Motor motor)	Sets the motor used by this scannable motor.
void	setMotorLimitsComponent(MotorLimitsComponent motorLimitsComponent)
void	setMotorName(String motorName)
void	setNotifyObserverPositionChangeEvents(boolean notifyObserverPositionChangeEvents)
void	setPosition(Object position)	Set the position
void	setReturnDemandPosition(boolean returnDemandPosition)	If true, calls to rawGetPosition() will return the last demanded position.
void	setSpeed(double theSpeed)	Set the speed of the underlying motor
void	setTimeToVelocity(double timeToVelocity)	Sets this motor's time to velocity.
void	stop()	Stop the current move/operation.
String	toFormattedString()	Returns a string representation of the Scannable and its current position/value/status
void	waitWhileBusy()	Returns when operation carried out by moveTo has completed

Methods inherited from class gda.device.scannable.ScannableMotionUnitsBase

addAcceptableUnit, externalToInternal, getAcceptableUnits, getHardwareUnitString, getInitialUserUnits, getOffset, getUserUnits, internalToExternal, isAt, setHardwareUnitString, setInitialUserUnits, setOffset, setOffset, setUserUnits

Methods inherited from class gda.device.scannable.ScannableMotionBase

a, addPositionValidator, ar, asynchronousMoveTo, checkPositionValid, checkPositionWithinGdaLimits, checkPositionWithinGdaLimits, completeInstantiation, generateScannableLimitsReport, getAdditionalPositionValidators, getInputLimits, getInputLimits, getLimitsComponent, getLowerGdaLimits, getNumberTries, getScalingFactor, getTolerances, getUpperGdaLimits, moveTo, r, rawIsBusy, removePositionValidator, setAdditionalPositionValidators, setLimitsComponent, setLowerGdaLimits, setLowerGdaLimits, setNumberTries, setOffsetAndScalingComponent, setScalingFactor, setTolerance, setTolerances, setUpperGdaLimits, setUpperGdaLimits, writeNeXusInformation, writeNeXusInformationLimits

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, getExtraNames, getInputNames, getLevel, getOutputFormat, getScanMetadataAttribute, getScanMetadataAttributeNames, getScanMetadataAttributes, setExtraNames, setInputNames, setLevel, setOutputFormat, setScanMetadataAttribute, setScanMetadataAttributes, throwExceptionIfInvalidTarget, toString, validateScannable, valueUnavailableString, waitWhileBusy

Methods inherited from class gda.device.DeviceBase

addIObserver, close, deleteIObserver, deleteIObservers, 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, 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.Scannable

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

Methods inherited from interface gda.device.ScannableMotion

a, ar, checkPositionWithinGdaLimits, checkPositionWithinGdaLimits, getLowerGdaLimits, getNumberTries, getOffset, getScalingFactor, getTolerances, getUpperGdaLimits, r, setLowerGdaLimits, setLowerGdaLimits, setNumberTries, setOffset, setScalingFactor, setTolerance, setTolerances, setUpperGdaLimits, setUpperGdaLimits

Methods inherited from interface gda.device.ScannableMotionUnits

addAcceptableUnit, getAcceptableUnits, getHardwareUnitString, getUserUnits, setHardwareUnitString, setOffset, setUserUnits

Field Details

COPY_MOTOR_LIMITS_INTO_SCANNABLE_LIMITS

public static final String COPY_MOTOR_LIMITS_INTO_SCANNABLE_LIMITS

Name of java property which when set true causes the upper invalid input: '&' lower gda limits to be set from the motor limits if not already set. Due to the possibility the motor high limit can be associated with a gda low limit we cannot separate out the setting of the upper gda limit without also setting the lower gda limit and vice versa. If the motor lower and upper limits are not set they are taken to be -Double.MAX_VALUE and Double.MAX_VALUE respectively.

See Also:

• Constant Field Values

Constructor Details

ScannableMotor

public ScannableMotor()

Method Details

setMotor

public void setMotor(Motor motor)

Sets the motor used by this scannable motor.

Specified by:

setMotor in interface IScannableMotor

Parameters:

motor - the motor

getMotor

public Motor getMotor()

Method required by scripts which need to access the real motor at times.
Before the script could get the motor name but now that the motor may be set by spring, scripts cannot get the underlying motor.

Specified by:

getMotor in interface IScannableMotor

Returns:

Motor

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

attachMotorObserver

protected void attachMotorObserver()

getAttribute

public Object getAttribute(String attributeName)
                    throws DeviceException

Description copied from class: ScannableMotionBase

Get the value of the specified attribute To distributed some of the extra methods in the ScannableMotion interface

Specified by:

getAttribute in interface Device

Overrides:

getAttribute in class ScannableMotionUnitsBase

Parameters:

attributeName - is the name of the attribute

Returns:

the value of the attribute as an Object type

Throws:

DeviceException

See Also:

• DeviceBase.getAttribute(java.lang.String)

getFirstInputLimits

public Double[] getFirstInputLimits()
                             throws DeviceException

Overrides:

getFirstInputLimits in class ScannableMotionBase

Throws:

DeviceException

getMotorName

public String getMotorName()

Specified by:

getMotorName in interface IScannableMotor

Returns:

Returns the motorName.

setMotorName

public void setMotorName(String motorName)

Specified by:

setMotorName in interface IScannableMotor

Parameters:

motorName - The motorName to set.

rawAsynchronousMoveTo

public void rawAsynchronousMoveTo(Object internalPosition)
                           throws DeviceException

[Consider abstract] Trigger a move/operation to an internal/hardware position and return immediately.. Triggers a motor to move. Throws a DeviceException if the motor is already busy. This method's guts are synchronised so that another thread can't enter it before the first thread has completed the motor's (asynchronous) moveTo call. For the DeviceException to be thrown properly when a move request is made of a moving motor, the motor's getStatus() method must *immediately* report BUSY after it's moveTo call has completed.

Overrides:

rawAsynchronousMoveTo in class ScannableBase

Parameters:

internalPosition - Position in its internal/hardware representation. e.g. with units and offsets removed

Throws:

DeviceException

See Also:

• asynchronousMoveTo

rawGetPosition

public Object rawGetPosition()
                      throws DeviceException

Read the position in its internal (user) representation. If configured to return demand positions with setReturnDemandPosition(boolean) and the last demanded position is within getDemandPositionTolerance() of the physical internal motor position, then return this demand position instead.

Overrides:

rawGetPosition in class ScannableBase

Returns:

the value represented by this Scannable

Throws:

DeviceException

See Also:

• Scannable.getPosition()

rawGetDemandPosition

protected Object rawGetDemandPosition()
                               throws DeviceException

Return the last demanded motor/internal position if one has been set, otherwise return the current position. If the motor is stopped, and the actual position is not close to the the demand position, then the current position is returned instead.

Throws:

DeviceException

getPosition

public Object getPosition()
                   throws DeviceException

Returns the current position of the Scannable. Called by ConcurentScan at the end of the point. Reads an internal (hardware) position from rawGetPosition, converts this to an external (user) position and returns it. Return the demand position from getDemandPosition() if configured with setReturnDemandPosition(boolean) to do so and the motor is not moving, otherwise returns the actual position. i.e. if the motor is moving the actual position is always returned.

Specified by:

getPosition in interface Scannable

Overrides:

getPosition in class ScannableBase

Returns:

Current position with an element for each input and extra field. null if their are no fields.

Throws:

DeviceException

setPosition

public void setPosition(Object position)
                 throws DeviceException

Set the position

Specified by:

setPosition in interface IScannableMotor

Throws:

DeviceException

getDemandPosition

protected Object getDemandPosition()
                            throws DeviceException

Return the last demanded user/external position if one has been set. If the motor is stopped, and the actual position is not close to the the demand position, then the current position is returned instead.

Throws:

DeviceException

getActualPosition

protected Object getActualPosition()
                            throws DeviceException

Throws:

DeviceException

isBusy

public boolean isBusy()
               throws DeviceException

Return true if motor is busy.

Specified by:

isBusy in interface Scannable

Overrides:

isBusy in class ScannableMotionBase

Returns:

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

Throws:

DeviceException

See Also:

• Scannable.isBusy()

waitWhileBusy

public void waitWhileBusy()
                   throws DeviceException,
InterruptedException

Description copied from class: ScannableBase

Returns when operation carried out by moveTo has completed If this is to be overriden, isBusy must also be valid. Although the pos and scan command currently use this method to determine if the Scannable is busy, this must not be relied upon.

Specified by:

waitWhileBusy in interface Scannable

Overrides:

waitWhileBusy in class ScannableBase

Throws:

DeviceException

InterruptedException

stop

public void stop()
          throws DeviceException

Description copied from class: ScannableBase

Stop the current move/operation. Default behaviour is to do nothing. Inheriting classes have the option to implement this if their specific behaviour requires it.

Specified by:

stop in interface Scannable

Overrides:

stop in class ScannableBase

Throws:

DeviceException

See Also:

• Scannable.stop()

getLowerMotorLimit

public Double getLowerMotorLimit()
                          throws DeviceException

Returns the lower motor limit in its external representation. Null if there is no lower Motor limit.

Specified by:

getLowerMotorLimit in interface IScannableMotor

Returns:

limit in external representation

Throws:

DeviceException

getUpperMotorLimit

public Double getUpperMotorLimit()
                          throws DeviceException

Returns the upper motor limit in its external representation. Null if there is no upper Motor limit.

Specified by:

getUpperMotorLimit in interface IScannableMotor

Returns:

limit in external representation

Throws:

DeviceException

getLowerInnerLimit

public Double getLowerInnerLimit()
                          throws DeviceException

Returns the innermost (i.e. the most limiting) of the lower Scannable and Motor limits.

Specified by:

getLowerInnerLimit in interface IScannableMotor

Returns:

the highest minimum limit, or null if neither are set.

Throws:

DeviceException

getUpperInnerLimit

public Double getUpperInnerLimit()
                          throws DeviceException

Returns the innermost (i.e. the most limiting) of the upper Scannable and Motor limits.

Specified by:

getUpperInnerLimit in interface IScannableMotor

Returns:

the lowest maximum limit, or null if neither are set.

Throws:

DeviceException

toFormattedString

public String toFormattedString()

Description copied from interface: Scannable

Returns a string representation of the Scannable and its current position/value/status

Typically should return:

name : position

or for detectors, name : status

If the position/status cannot be determined, the function should return Scannable.VALUE_UNAVAILABLE in its place.

Specified by:

toFormattedString in interface Scannable

Overrides:

toFormattedString in class ScannableMotionUnitsBase

Returns:

string as defined above

getSpeed

public double getSpeed()
                throws DeviceException

Get the speed of the underlying motor

Specified by:

getSpeed in interface IScannableMotor

Returns:

speed in the motor's units

Throws:

DeviceException

setSpeed

public void setSpeed(double theSpeed)
              throws DeviceException

Set the speed of the underlying motor

Specified by:

setSpeed in interface IScannableMotor

Parameters:

theSpeed - in the motor's units

Throws:

DeviceException

getTimeToVelocity

public double getTimeToVelocity()
                         throws DeviceException

Returns this motor's time to velocity.

Specified by:

getTimeToVelocity in interface IScannableMotor

Throws:

DeviceException

setTimeToVelocity

public void setTimeToVelocity(double timeToVelocity)
                       throws DeviceException

Sets this motor's time to velocity.

Specified by:

setTimeToVelocity in interface IScannableMotor

Throws:

DeviceException

setMotorLimitsComponent

public void setMotorLimitsComponent(MotorLimitsComponent motorLimitsComponent)

getMotorLimitsComponent

public MotorLimitsComponent getMotorLimitsComponent()

setNotifyObserverPositionChangeEvents

public void setNotifyObserverPositionChangeEvents(boolean notifyObserverPositionChangeEvents)

setLogMoveRequestsWithInfo

public void setLogMoveRequestsWithInfo(boolean logMoveRequestsWithInfo)

setReturnDemandPosition

public void setReturnDemandPosition(boolean returnDemandPosition)

If true, calls to rawGetPosition() will return the last demanded position. If the current position is greater than demandPositionTolerance from the last demanded position the actual current position is returned and a warning logged and displayed on the console.

Parameters:

returnDemandPosition -

isReturningDemandPosition

public boolean isReturningDemandPosition()

See setReturnDemandPosition(boolean)

setDemandPositionTolerance

public void setDemandPositionTolerance(double demandPositionTolerance)

See setReturnDemandPosition(boolean) Value is in internal/motor units and scale

getDemandPositionTolerance

public double getDemandPositionTolerance()

See setReturnDemandPosition(boolean) Value is in internal/motor units and scale

Specified by:

getDemandPositionTolerance in interface IScannableMotor

Returns:

the deadband retry of an EPICS motor for eg.

getMotorResolution

public double getMotorResolution()
                          throws DeviceException

Specified by:

getMotorResolution in interface IScannableMotor

Returns:

the resolution of the motor

Throws:

DeviceException

getUserOffset

public double getUserOffset()
                     throws DeviceException

Specified by:

getUserOffset in interface IScannableMotor

Returns:

the user offset on the motor

Throws:

DeviceException

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