Package gda.device.zebra

Class ZebraConstantVelocityMoveController

java.lang.Object

gda.factory.ConfigurableBase

gda.factory.FindableConfigurableBase

gda.device.DeviceBase

gda.device.scannable.ScannableBase

gda.device.zebra.ZebraConstantVelocityMoveController

All Implemented Interfaces:

ConstantVelocityMoveController, ConstantVelocityMoveController2, ContinuousMoveController, HardwareTriggerProvider, Device, Scannable, ContinuouslyScannableViaController, PositionCallableProvider<Double>, PositionStreamIndexerProvider<Double>, Configurable, Findable, gda.observable.IObservable, org.springframework.beans.factory.InitializingBean

Direct Known Subclasses:

P2RZebraConstantVelMoveController

public class ZebraConstantVelocityMoveController
extends ScannableBase
implements ConstantVelocityMoveController2, PositionCallableProvider<Double>, PositionStreamIndexerProvider<Double>, ContinuouslyScannableViaController, org.springframework.beans.factory.InitializingBean

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	ZebraConstantVelocityMoveController.MaxCollectionTimeAndMinAccelerationTime

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DEFAULT_PC_PULSE_GATE_TRIM
protected double	pcGateStartRBV
protected double	pcGateWidthRBV
static final int	PRIMARY_INDEXERS
static final int	SECONDARY_INDEXERS

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
ZebraConstantVelocityMoveController()

Method Summary

Modifier and Type	Method	Description
void	addPoint(Double point)
void	afterPropertiesSet()
void	atCommandFailure()	Hook to be used by Scan and pos commands to inform the Scannable that an exception, such as a DeviceExcpetion, has occurred.
void	atScanLineEnd()	Called for every Scannable at the end of every scan
void	atScanLineStart()	Called for every Scannable at the start of every scan
void	atScanStart()	Called for every Scannable at the start of a group of nested scans (or a single scan if that is the case)
static void	checkRBV(double raw, double RBVRaw, double tolerance, String desc)
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.
Scannable	createScannable(Scannable delegate)
ContinuousMoveController	getContinuousMoveController()
Collection<HardwareTriggeredDetector>	getDetectors()
double	getEnd()
Double	getLastPointAdded()
static ZebraConstantVelocityMoveController.MaxCollectionTimeAndMinAccelerationTime	getMaxCollectionTimeAndMinAccelerationTimeFromDetectors(Collection<HardwareTriggeredDetector> detectors, int pointBeingPrepared)
double	getMinimumAccelerationDistance()
int	getMode()
int	getNumberTriggers()
static short	getPcCaptureBitField(int pcEnc)
double	getPcPulseGateTrim()
double	getPcPulseTriggerWidth()
int	getPointBeingPrepared()
Callable<Double>	getPositionCallable()
PositionStreamIndexer<Double>	getPositionSteamIndexer(int index)	Get a PositionStreamIndexer for a Zebra position capture stream.
double	getRequiredSpeed()
IScannableMotor	getScannableMotor()
double	getScannableMotorEndPosition()
double	getStart()
double	getStep()
List<gda.device.zebra.ZebraCaptureInputStreamCollection>	getTimeSeriesCollection()
static double	getTimeUnitConversionAndSetTimeUnit(double maxCollectionTimeFromDetectors, Zebra zebra)
double	getTotalTime()
Collection<ZebraMonitorController>	getTriggeredControllers()
double	getTriggerPeriod()
Zebra	getZebra()
ZebraMotorInfoProvider	getZebraMotorInfoProvider()
boolean	isBusy()	Check if the Scannable is moving/operating.
boolean	isMoving()	Check if the controller is moving axes.
boolean	isOperatingContinously()	Indicates whether the Scannable has deferred control to the he configured ContinuousMoveController
boolean	isPcPulseGateNotTrigger()
protected void	prepareControllerToBeUsedForUpcomingScan()	Deprecated.
void	prepareForMove()	Prepare the already configured controller to move, waiting until ready.
Object	rawGetPosition()	[Consider abstract] Read the position in its internal (user) representation.
void	resetPointBeingPrepared()
void	setContinuousMoveController(ContinuousMoveController controller)
void	setDetectors(Collection<HardwareTriggeredDetector> detectors)
void	setEnd(double end)	Set the end location for the move in hardware units/offset/scale.
final void	setMinimumAccelerationDistance(double minimumAccelerationDistance)	Set the minimum allowable acceleration distance.
void	setMode(int mode)
void	setOperatingContinuously(boolean b)	Enable or disable control through the configured ContinuousMoveController
void	setPcPulseGateNotTrigger(boolean pcPulseGateNotTrigger)
void	setPcPulseGateTrim(double pcPulseGateTrim)
void	setPcPulseTriggerWidth(double pcPulseTriggerWidth)
void	setRequiredSpeed(double requiredSpeed)
void	setScannableMotor(IScannableMotor scannableMotor)
void	setScannableMotorEndPosition(double scannableMotorEndPosition)
void	setScannableToMove(Collection<ContinuouslyScannableViaController> scannablesToMove)
void	setStart(double start)	Set the start location for the move in hardware units/offset/scale.
void	setStep(double step)	Set the step size for the move in hardware units/scale.
void	setTimeSeriesCollection(List<gda.device.zebra.ZebraCaptureInputStreamCollection> timeSeriesCollection)
void	setTriggeredControllers(Collection<ZebraMonitorController> triggeredControllers)
void	setTriggerPeriod(double seconds)
protected void	setupGateAndArm(double pcGateStart, double pcGateWidth, double step2, double gateWidthTimeInS)
void	setZebra(Zebra zebra)
void	setZebraMotorInfoProvider(ZebraMotorInfoProvider zebraMotorInfoProvider)
void	startMove()	Start the prepared move and return immediately.
void	stop()	Stop the current move/operation.
void	stopAndReset()	Stop a move if one is in progress and then reset the controller.
void	waitWhileMoving()	Wait until the controller has completed moving axes

Methods inherited from class gda.device.scannable.ScannableBase

__call__, __call__, __doc__, __getitem__, __len__, __repr__, __str__, asynchronousMoveTo, atLevelEnd, atLevelMoveStart, atLevelStart, atPointEnd, atPointStart, atScanEnd, checkPositionValid, externalToInternal, getExtraNames, getInputNames, getLevel, getOutputFormat, getPosition, getScanMetadataAttribute, getScanMetadataAttributeNames, getScanMetadataAttributes, internalToExternal, isAt, moveTo, rawAsynchronousMoveTo, setExtraNames, setInputNames, setLevel, setOutputFormat, setScanMetadataAttribute, setScanMetadataAttributes, 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.Scannable

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

Field Details

DEFAULT_PC_PULSE_GATE_TRIM

public static final double DEFAULT_PC_PULSE_GATE_TRIM

See Also:

• Constant Field Values

pcGateWidthRBV

protected double pcGateWidthRBV

pcGateStartRBV

protected double pcGateStartRBV

PRIMARY_INDEXERS

public static final int PRIMARY_INDEXERS

See Also:

• Constant Field Values

SECONDARY_INDEXERS

public static final int SECONDARY_INDEXERS

See Also:

• Constant Field Values

Constructor Details

ZebraConstantVelocityMoveController

public ZebraConstantVelocityMoveController()

Method Details

prepareControllerToBeUsedForUpcomingScan

@Deprecated(since="GDA 8.40")
protected void prepareControllerToBeUsedForUpcomingScan()
                                                 throws DeviceException

Deprecated.

This method should not be necessary. We have added it so that the scannable giving this controller to a scan can reset it to a known state. We hope this help us work around numerous hard to track down issues.

Throws:

DeviceException

getPcCaptureBitField

public static short getPcCaptureBitField(int pcEnc)

resetPointBeingPrepared

public void resetPointBeingPrepared()

Specified by:

resetPointBeingPrepared in interface ConstantVelocityMoveController2

getPointBeingPrepared

public int getPointBeingPrepared()

Specified by:

getPointBeingPrepared in interface ConstantVelocityMoveController2

prepareForMove

public void prepareForMove()
                    throws DeviceException,
InterruptedException

Description copied from interface: ContinuousMoveController

Prepare the already configured controller to move, waiting until ready. Normally this should move motors to the start position.

Specified by:

prepareForMove in interface ContinuousMoveController

Throws:

InterruptedException

DeviceException

getMaxCollectionTimeAndMinAccelerationTimeFromDetectors

public static ZebraConstantVelocityMoveController.MaxCollectionTimeAndMinAccelerationTime getMaxCollectionTimeAndMinAccelerationTimeFromDetectors(Collection<HardwareTriggeredDetector> detectors,
 int pointBeingPrepared)
                                                                                                                                           throws DeviceException

Throws:

DeviceException

getTimeUnitConversionAndSetTimeUnit

public static double getTimeUnitConversionAndSetTimeUnit(double maxCollectionTimeFromDetectors,
 Zebra zebra)
                                                  throws Exception

Throws:

Exception

setupGateAndArm

protected void setupGateAndArm(double pcGateStart,
 double pcGateWidth,
 double step2,
 double gateWidthTimeInS)
                        throws Exception

Throws:

Exception

checkRBV

public static void checkRBV(double raw,
 double RBVRaw,
 double tolerance,
 String desc)

getMode

public int getMode()

setMode

public void setMode(int mode)

isPcPulseGateNotTrigger

public boolean isPcPulseGateNotTrigger()

setPcPulseGateNotTrigger

public void setPcPulseGateNotTrigger(boolean pcPulseGateNotTrigger)

startMove

public void startMove()
               throws DeviceException

Description copied from interface: ContinuousMoveController

Start the prepared move and return immediately.

Specified by:

startMove in interface ContinuousMoveController

Throws:

DeviceException

isMoving

public boolean isMoving()
                 throws DeviceException

Description copied from interface: ContinuousMoveController

Check if the controller is moving axes.

Specified by:

isMoving in interface ContinuousMoveController

Returns:

true if moving.

Throws:

DeviceException

waitWhileMoving

public void waitWhileMoving()
                     throws DeviceException,
InterruptedException

Description copied from interface: ContinuousMoveController

Wait until the controller has completed moving axes

Specified by:

waitWhileMoving in interface ContinuousMoveController

Throws:

InterruptedException

DeviceException

stopAndReset

public void stopAndReset()
                  throws DeviceException,
InterruptedException

Description copied from interface: ContinuousMoveController

Stop a move if one is in progress and then reset the controller.

Specified by:

stopAndReset in interface ContinuousMoveController

Throws:

DeviceException

InterruptedException

setTriggerPeriod

public void setTriggerPeriod(double seconds)
                      throws DeviceException

Specified by:

setTriggerPeriod in interface HardwareTriggerProvider

Throws:

DeviceException

getTriggerPeriod

public double getTriggerPeriod()

getNumberTriggers

public int getNumberTriggers()

Specified by:

getNumberTriggers in interface HardwareTriggerProvider

getTotalTime

public double getTotalTime()
                    throws DeviceException

Specified by:

getTotalTime in interface HardwareTriggerProvider

Throws:

DeviceException

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

setStart

public void setStart(double start)
              throws DeviceException

Description copied from interface: ConstantVelocityMoveController

Set the start location for the move in hardware units/offset/scale.

Specified by:

setStart in interface ConstantVelocityMoveController

Parameters:

start -

Throws:

DeviceException

getStart

public double getStart()

Specified by:

getStart in interface ConstantVelocityMoveController

setEnd

public void setEnd(double end)
            throws DeviceException

Description copied from interface: ConstantVelocityMoveController

Set the end location for the move in hardware units/offset/scale.

Specified by:

setEnd in interface ConstantVelocityMoveController

Parameters:

end -

Throws:

DeviceException

getEnd

public double getEnd()

Specified by:

getEnd in interface ConstantVelocityMoveController

setStep

public void setStep(double step)
             throws DeviceException

Description copied from interface: ConstantVelocityMoveController

Set the step size for the move in hardware units/scale.

Specified by:

setStep in interface ConstantVelocityMoveController

Parameters:

step -

Throws:

DeviceException

getStep

public double getStep()

Specified by:

getStep in interface ConstantVelocityMoveController

getTimeSeriesCollection

public List<gda.device.zebra.ZebraCaptureInputStreamCollection> getTimeSeriesCollection()

setTimeSeriesCollection

public void setTimeSeriesCollection(List<gda.device.zebra.ZebraCaptureInputStreamCollection> timeSeriesCollection)

addPoint

public void addPoint(Double point)

getLastPointAdded

public Double getLastPointAdded()

getZebra

public Zebra getZebra()

setZebra

public void setZebra(Zebra zebra)

getScannableMotor

public IScannableMotor getScannableMotor()

setScannableMotor

public void setScannableMotor(IScannableMotor scannableMotor)

getZebraMotorInfoProvider

public ZebraMotorInfoProvider getZebraMotorInfoProvider()

setZebraMotorInfoProvider

public void setZebraMotorInfoProvider(ZebraMotorInfoProvider zebraMotorInfoProvider)

afterPropertiesSet

public void afterPropertiesSet()
                        throws Exception

Specified by:

afterPropertiesSet in interface org.springframework.beans.factory.InitializingBean

Throws:

Exception

getPositionSteamIndexer

public PositionStreamIndexer<Double> getPositionSteamIndexer(int index)

Get a PositionStreamIndexer for a Zebra position capture stream. Since each stream can only be used once, allow secondary clients to access copies of position streams by using an offset on the index. Indices 0 to 4 are ENC1-4, 6 to 9 are DIV1-4 and 10 is Capture time. Primary indices 0 to 10 are mapped onto secondary indices 11 to 21.

Specified by:

getPositionSteamIndexer in interface PositionStreamIndexerProvider<Double>

atScanStart

public void atScanStart()
                 throws DeviceException

Description copied from class: ScannableBase

Called for every Scannable at the start of a group of nested scans (or a single scan if that is the case) Default behaviour is to do nothing. Inheriting classes have the option to implement this if their specific behaviour requires it.

Specified by:

atScanStart in interface Scannable

Overrides:

atScanStart in class ScannableBase

Throws:

DeviceException

See Also:

• Scannable.atScanStart()

atScanLineStart

public void atScanLineStart()
                     throws DeviceException

Description copied from class: ScannableBase

Called for every Scannable at the start of every scan Default behaviour is to do nothing. Inheriting classes have the option to implement this if their specific behaviour requires it.

Specified by:

atScanLineStart in interface Scannable

Overrides:

atScanLineStart in class ScannableBase

Throws:

DeviceException

See Also:

• Scannable.atScanLineStart()

atScanLineEnd

public void atScanLineEnd()
                   throws DeviceException

Description copied from class: ScannableBase

Called for every Scannable at the end of every scan Default behaviour is to do nothing. Inheriting classes have the option to implement this if their specific behaviour requires it.

Specified by:

atScanLineEnd in interface Scannable

Overrides:

atScanLineEnd in class ScannableBase

Throws:

DeviceException

See Also:

• Scannable.atScanLineEnd()

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()

atCommandFailure

public void atCommandFailure()
                      throws DeviceException

Description copied from class: ScannableBase

Hook to be used by Scan and pos commands to inform the Scannable that an exception, such as a DeviceExcpetion, has occurred. However not called when the command is aborted using an InterruptionException. If a Scan is aborted then only Scannable.stop() will be called by the Scan or pos command.

Useful for telling Scannables which hold state during a scan for example, to reset themselves. Used for example by CoordinatedMotionScannables. This hook should be used not in the same way as the stop hook. Default behaviour is to do nothing. Inheriting classes have the option to implement this if their specific behaviour requires it.

Specified by:

atCommandFailure in interface Scannable

Overrides:

atCommandFailure in class ScannableBase

Throws:

DeviceException

See Also:

• Scannable.atCommandFailure()

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

getPositionCallable

public Callable<Double> getPositionCallable()
                                     throws DeviceException

Specified by:

getPositionCallable in interface PositionCallableProvider<Double>

Throws:

DeviceException

rawGetPosition

public Object rawGetPosition()
                      throws DeviceException

Description copied from class: ScannableBase

[Consider abstract] Read the position in its internal (user) representation.

Overrides:

rawGetPosition in class ScannableBase

Returns:

the value represented by this Scannable

Throws:

DeviceException

See Also:

• Scannable.getPosition()

setOperatingContinuously

public void setOperatingContinuously(boolean b)
                              throws DeviceException

Description copied from interface: ContinuouslyScannableViaController

Enable or disable control through the configured ContinuousMoveController

Specified by:

setOperatingContinuously in interface ContinuouslyScannableViaController

Parameters:

b -

Throws:

DeviceException

isOperatingContinously

public boolean isOperatingContinously()

Description copied from interface: ContinuouslyScannableViaController

Indicates whether the Scannable has deferred control to the he configured ContinuousMoveController

Specified by:

isOperatingContinously in interface ContinuouslyScannableViaController

Returns:

true if control is defered

getContinuousMoveController

public ContinuousMoveController getContinuousMoveController()

Specified by:

getContinuousMoveController in interface ContinuouslyScannableViaController

setContinuousMoveController

public void setContinuousMoveController(ContinuousMoveController controller)

Specified by:

setContinuousMoveController in interface ContinuouslyScannableViaController

createScannable

public Scannable createScannable(Scannable delegate)

setScannableToMove

public void setScannableToMove(Collection<ContinuouslyScannableViaController> scannablesToMove)

Specified by:

setScannableToMove in interface ConstantVelocityMoveController2

setDetectors

public void setDetectors(Collection<HardwareTriggeredDetector> detectors)

Specified by:

setDetectors in interface ConstantVelocityMoveController2

getDetectors

public Collection<HardwareTriggeredDetector> getDetectors()

setMinimumAccelerationDistance

public final void setMinimumAccelerationDistance(double minimumAccelerationDistance)

Set the minimum allowable acceleration distance. If this value is less than distanceToAccToVelocity at the requiredSpeed then it will be used instead of the calculated value. Note: This will result in a change to the time it takes for the motor to get to the start position. This value defaults to .5 ("degrees otherwise we may get error due to encoder noise") but should never be less than the deadband of the motor, otherwise the motor may already be in the gated area at the start of the move and the gate (and this pulse) will never be triggered.

Parameters:

minimumAccelerationDistance -

getMinimumAccelerationDistance

public double getMinimumAccelerationDistance()

getRequiredSpeed

public double getRequiredSpeed()

setRequiredSpeed

public void setRequiredSpeed(double requiredSpeed)

getScannableMotorEndPosition

public double getScannableMotorEndPosition()

setScannableMotorEndPosition

public void setScannableMotorEndPosition(double scannableMotorEndPosition)

getPcPulseTriggerWidth

public double getPcPulseTriggerWidth()

setPcPulseTriggerWidth

public void setPcPulseTriggerWidth(double pcPulseTriggerWidth)

getPcPulseGateTrim

public double getPcPulseGateTrim()

setPcPulseGateTrim

public void setPcPulseGateTrim(double pcPulseGateTrim)

getTriggeredControllers

public Collection<ZebraMonitorController> getTriggeredControllers()

setTriggeredControllers

public void setTriggeredControllers(Collection<ZebraMonitorController> triggeredControllers)