Package gda.device.zebra

Class ZebraConstantVelocityMoveControllerForQexafs

java.lang.Object

gda.factory.ConfigurableBase

gda.factory.FindableConfigurableBase

gda.device.zebra.ZebraConstantVelocityMoveControllerForQexafs

All Implemented Interfaces:

ConstantVelocityMoveController, ConstantVelocityMoveController2, ContinuousMoveController, HardwareTriggerProvider, Device, Scannable, ContinuouslyScannableViaController, PositionCallableProvider<Double>, Configurable, Findable, gda.observable.IObservable

public class ZebraConstantVelocityMoveControllerForQexafs
extends FindableConfigurableBase
implements ConstantVelocityMoveController2, PositionCallableProvider<Double>, ContinuouslyScannableViaController

Field Summary

Fields inherited from interface gda.device.Scannable

ATTR_NEXUS_CATEGORY, ATTR_NX_CLASS, DEFAULT_INPUT_NAME, VALUE_UNAVAILABLE

Constructor Summary

Constructors

Constructor	Description
ZebraConstantVelocityMoveControllerForQexafs()

Method Summary

Modifier and Type	Method	Description
void	addIObserver(gda.observable.IObserver observer)
void	addPoint(Double point)
void	asynchronousMoveTo(Object position)	Trigger a move/operation and return immediately.
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	atLevelEnd()
void	atLevelMoveStart()	Called by both the pos and scan commands at the start of each subsequent level move only on Scannables that will be moved as part that level's movement.
void	atLevelStart()	Called by both the pos and scan commands at the start of each subsequent level move on all Scannables that are part that level's movement.
void	atPointEnd()	Called on every Scannable at the end of every data point, for scans which are broken down into individual points (i.e.
void	atPointStart()	Called on every Scannable at every data point, for scans which are broken down into individual points (i.e.
void	atScanEnd()	Called for every Scannable at the end of a group of nested scans (or a single scan if that is the case).
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)
String	checkPositionValid(Object position)	Tests if the given object is meaningful to this Scannable and so could be used by one of the move commands.
void	close()	Close and unconfigure the device.
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.
void	deleteIObserver(gda.observable.IObserver observer)
void	deleteIObservers()
double	getAccelerationDistance(double requiredSpeed, IScannableMotor scannableMotor, double minimumAccelerationDistance)
Object	getAttribute(String attributeName)	Get the value of the specified attribute
ContinuousMoveController	getContinuousMoveController()
double	getEnd()
String[]	getExtraNames()	Additional names for extra values that returned by getPosition().
String[]	getInputNames()	gets a array of InputNames used by moveTo of this scannable.
Double	getLastPointAdded()
int	getLevel()	get the operation level of this scannable.
double	getMinimumBraggAccelerationDistance()
double	getMinimumScannableMotorAccelerationDistance()
int	getNumberTriggers()
String[]	getOutputFormat()	Returns an array of strings which are the format strings to use when pretty printing parts of the output
int	getPointBeingPrepared()
Object	getPosition()	Returns the current position of the Scannable.
Callable<Double>	getPositionCallable()
PositionStreamIndexer<Double>	getPositionSteamIndexer(int index)
int	getProtectionLevel()
IScannableMotor	getScannableMotor()
double	getStart()
double	getStep()
List<gda.device.zebra.ZebraCaptureInputStreamCollection>	getTimeSeriesCollection()
double	getTotalTime()
Zebra	getZebra()
ZebraConstantVelocityMoveController	getZebraConstantVelocityMoveController()
ZebraMotorInfoProvider	getZebraMotorInfoProvider()
boolean	isAt(Object positionToTest)	Tests if the scannable is at (or if appropriate, close to) the value positionToTest.
boolean	isBusy()	Check if the Scannable is moving/operating.
boolean	isConfigureAtStartup()	Indicates whether this object should be configured at startup.
boolean	isConfigured()	Checks to see if the object is already configured.
boolean	isMoving()	Check if the controller is moving axes.
boolean	isOperatingContinously()	Indicates whether the Scannable has deferred control to the he configured ContinuousMoveController
void	moveTo(Object position)	Trigger a move/operation and block until completion.
void	prepareForMove()	Prepare the already configured controller to move, waiting until ready.
void	reconfigure()	Re-initialisation of values and states.
void	resetPointBeingPrepared()
void	setAttribute(String attributeName, Object value)	Set any attribute the implementing classes may provide
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.
void	setExtraNames(String[] names)	Sets the array of names returned by getExtraNames of this scannable.
void	setInputNames(String[] names)	sets the array of names returned by getInputNames method of this scannable.
void	setLevel(int level)	Used for ordering the operations of Scannables during scans
void	setMinimumBraggAccelerationDistance(double minimumBraggAccelerationDistance)
void	setMinimumScannableMotorAccelerationDistance(double minimumScannableMotorAccelerationDistance)
void	setOperatingContinuously(boolean b)	Enable or disable control through the configured ContinuousMoveController
void	setOutputFormat(String[] names)	Sets the array of strings describing how best to format the positions from this scannable
void	setProtectionLevel(int newLevel)	Sets the permission level for this object.
void	setSampleShutter(EnumPositioner sampleShutter)
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	setTriggerPeriod(double seconds)
void	setZebraConstantVelocityMoveController(ZebraConstantVelocityMoveController zebraController)
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.
String	toFormattedString()	Returns a string representation of the Scannable and its current position/value/status
String	toString()
void	waitWhileBusy()	Returns when operation carried out by moveTo has completed
void	waitWhileMoving()	Wait until the controller has completed moving axes

Methods inherited from class gda.factory.FindableConfigurableBase

getName, setName

Methods inherited from class gda.factory.ConfigurableBase

setConfigured

Methods inherited from class java.lang.Object

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

Methods inherited from interface gda.factory.Findable

getName, setName

Methods inherited from interface gda.device.Scannable

getScanMetadataAttribute, getScanMetadataAttributeNames, getScanMetadataAttributes, setScanMetadataAttribute, setScanMetadataAttributes

Constructor Details

ZebraConstantVelocityMoveControllerForQexafs

public ZebraConstantVelocityMoveControllerForQexafs()

Method Details

getZebraConstantVelocityMoveController

public ZebraConstantVelocityMoveController getZebraConstantVelocityMoveController()

setZebraConstantVelocityMoveController

public void setZebraConstantVelocityMoveController(ZebraConstantVelocityMoveController zebraController)

getMinimumBraggAccelerationDistance

public double getMinimumBraggAccelerationDistance()

setMinimumBraggAccelerationDistance

public void setMinimumBraggAccelerationDistance(double minimumBraggAccelerationDistance)

getMinimumScannableMotorAccelerationDistance

public double getMinimumScannableMotorAccelerationDistance()

setMinimumScannableMotorAccelerationDistance

public void setMinimumScannableMotorAccelerationDistance(double minimumScannableMotorAccelerationDistance)

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

getZebra

public Zebra getZebra()

getZebraMotorInfoProvider

public ZebraMotorInfoProvider getZebraMotorInfoProvider()

getScannableMotor

public IScannableMotor getScannableMotor()

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

getAccelerationDistance

public double getAccelerationDistance(double requiredSpeed,
 IScannableMotor scannableMotor,
 double minimumAccelerationDistance)
                               throws DeviceException

Throws:

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

getNumberTriggers

public int getNumberTriggers()

Specified by:

getNumberTriggers in interface HardwareTriggerProvider

getTotalTime

public double getTotalTime()
                    throws DeviceException

Specified by:

getTotalTime in interface HardwareTriggerProvider

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

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

getPositionCallable

public Callable<Double> getPositionCallable()
                                     throws DeviceException

Specified by:

getPositionCallable in interface PositionCallableProvider<Double>

Throws:

DeviceException

setScannableToMove

public void setScannableToMove(Collection<ContinuouslyScannableViaController> scannablesToMove)

Specified by:

setScannableToMove in interface ConstantVelocityMoveController2

setDetectors

public void setDetectors(Collection<HardwareTriggeredDetector> detectors)
                  throws DeviceException

Specified by:

setDetectors in interface ConstantVelocityMoveController2

Throws:

DeviceException

getLastPointAdded

public Double getLastPointAdded()

addPoint

public void addPoint(Double point)

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

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

isConfigured

public boolean isConfigured()

Description copied from interface: Configurable

Checks to see if the object is already configured.

Specified by:

isConfigured in interface Configurable

Overrides:

isConfigured in class ConfigurableBase

Returns:

return true if configured false otherwise

isConfigureAtStartup

public boolean isConfigureAtStartup()

Description copied from interface: Configurable

Indicates whether this object should be configured at startup.

Moved from ConditionallyConfigurable which has been deleted

Specified by:

isConfigureAtStartup in interface Configurable

Overrides:

isConfigureAtStartup in class ConfigurableBase

reconfigure

public void reconfigure()
                 throws FactoryException

Description copied from interface: Configurable

Re-initialisation of values and states.

Moved from Reconfigurable which has been deleted

Specified by:

reconfigure in interface Configurable

Overrides:

reconfigure in class ConfigurableBase

Throws:

FactoryException

getPosition

public Object getPosition()
                   throws DeviceException

Description copied from interface: Scannable

Returns the current position of the Scannable. Called by ConcurentScan at the end of the point.

Specified by:

getPosition in interface Scannable

Returns:

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

Throws:

DeviceException

addIObserver

public void addIObserver(gda.observable.IObserver observer)

Specified by:

addIObserver in interface gda.observable.IObservable

setAttribute

public void setAttribute(String attributeName,
 Object value)
                  throws DeviceException

Description copied from interface: Device

Set any attribute the implementing classes may provide

Specified by:

setAttribute in interface Device

Parameters:

attributeName - is the name of the attribute

value - is the value of the attribute

Throws:

DeviceException - if an attribute cannot be set

deleteIObserver

public void deleteIObserver(gda.observable.IObserver observer)

Specified by:

deleteIObserver in interface gda.observable.IObservable

toString

public String toString()

Overrides:

toString in class Object

deleteIObservers

public void deleteIObservers()

Specified by:

deleteIObservers in interface gda.observable.IObservable

getAttribute

public Object getAttribute(String attributeName)
                    throws DeviceException

Description copied from interface: Device

Get the value of the specified attribute

Specified by:

getAttribute in interface Device

Parameters:

attributeName - is the name of the attribute

Returns:

the value of the attribute as an Object type

Throws:

DeviceException - if an attribute cannot be retrieved

moveTo

public void moveTo(Object position)
            throws DeviceException

Description copied from interface: Scannable

Trigger a move/operation and block until completion.

Specified by:

moveTo in interface Scannable

Parameters:

position -

Throws:

DeviceException

asynchronousMoveTo

public void asynchronousMoveTo(Object position)
                        throws DeviceException

Description copied from interface: Scannable

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.

Specified by:

asynchronousMoveTo in interface Scannable

Parameters:

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

Throws:

DeviceException

close

public void close()
           throws DeviceException

Description copied from interface: Device

Close and unconfigure the device.

Specified by:

close in interface Device

Throws:

DeviceException

setProtectionLevel

public void setProtectionLevel(int newLevel)

Description copied from interface: Device

Sets the permission level for this object. If this is not set then a default value will be applied.

Specified by:

setProtectionLevel in interface Device

Parameters:

newLevel -

checkPositionValid

public String checkPositionValid(Object position)
                          throws DeviceException

Description copied from interface: Scannable

Tests if the given object is meaningful to this Scannable and so could be used by one of the move commands. May check limits and other things too. This is the method called by scans on all points before the scan is run.

Specified by:

checkPositionValid in interface Scannable

Parameters:

position -

Returns:

null if position is valid, or returns a description if not.

Throws:

DeviceException

getProtectionLevel

public int getProtectionLevel()

Specified by:

getProtectionLevel in interface Device

Returns:

int - the permission level for this object.

stop

public void stop()
          throws DeviceException

Description copied from interface: Scannable

Stop the current move/operation.

Specified by:

stop in interface Scannable

Throws:

DeviceException

waitWhileBusy

public void waitWhileBusy()
                   throws DeviceException,
InterruptedException

Description copied from interface: Scannable

Returns when operation carried out by moveTo has completed

Specified by:

waitWhileBusy in interface Scannable

Throws:

DeviceException

InterruptedException

isAt

public boolean isAt(Object positionToTest)
             throws DeviceException

Description copied from interface: Scannable

Tests if the scannable is at (or if appropriate, close to) the value positionToTest.

Specified by:

isAt in interface Scannable

Parameters:

positionToTest - The position to compare the scannable's position to.

Returns:

true if scannable is at positionToTest

Throws:

DeviceException

setLevel

public void setLevel(int level)

Description copied from interface: Scannable

Used for ordering the operations of Scannables during scans

Specified by:

setLevel in interface Scannable

Parameters:

level -

getLevel

public int getLevel()

Description copied from interface: Scannable

get the operation level of this scannable.

Specified by:

getLevel in interface Scannable

Returns:

int - the level

getInputNames

public String[] getInputNames()

Description copied from interface: Scannable

gets a array of InputNames used by moveTo of this scannable.

Specified by:

getInputNames in interface Scannable

Returns:

array of the names of the elements of the object returned by getPosition

setInputNames

public void setInputNames(String[] names)

Description copied from interface: Scannable

sets the array of names returned by getInputNames method of this scannable.

Specified by:

setInputNames in interface Scannable

Parameters:

names -

getExtraNames

public String[] getExtraNames()

Description copied from interface: Scannable

Additional names for extra values that returned by getPosition().

Specified by:

getExtraNames in interface Scannable

Returns:

array of names of the extra elements if the array returned by getPosition is larger than the array required by moveTo

setExtraNames

public void setExtraNames(String[] names)

Description copied from interface: Scannable

Sets the array of names returned by getExtraNames of this scannable.

Specified by:

setExtraNames in interface Scannable

Parameters:

names -

setOutputFormat

public void setOutputFormat(String[] names)

Description copied from interface: Scannable

Sets the array of strings describing how best to format the positions from this scannable

Specified by:

setOutputFormat in interface Scannable

Parameters:

names -

getOutputFormat

public String[] getOutputFormat()

Description copied from interface: Scannable

Returns an array of strings which are the format strings to use when pretty printing parts of the output

Specified by:

getOutputFormat in interface Scannable

Returns:

string array

atScanStart

public void atScanStart()
                 throws DeviceException

Description copied from interface: Scannable

Called for every Scannable at the start of a group of nested scans (or a single scan if that is the case)

Specified by:

atScanStart in interface Scannable

Throws:

DeviceException

atScanEnd

public void atScanEnd()
               throws DeviceException

Description copied from interface: Scannable

Called for every Scannable at the end of a group of nested scans (or a single scan if that is the case).

Note that this is only called if the Scan finishes normally, or has been requested to finish early. This will not be called if the scan finishes due to an exception of any kind. See Scannable.atCommandFailure()

Specified by:

atScanEnd in interface Scannable

Throws:

DeviceException

atScanLineStart

public void atScanLineStart()
                     throws DeviceException

Description copied from interface: Scannable

Called for every Scannable at the start of every scan

Specified by:

atScanLineStart in interface Scannable

Throws:

DeviceException

atScanLineEnd

public void atScanLineEnd()
                   throws DeviceException

Description copied from interface: Scannable

Called for every Scannable at the end of every scan

Specified by:

atScanLineEnd in interface Scannable

Throws:

DeviceException

atPointStart

public void atPointStart()
                  throws DeviceException

Description copied from interface: Scannable

Called on every Scannable at every data point, for scans which are broken down into individual points (i.e. non-continuous scans)

Specified by:

atPointStart in interface Scannable

Throws:

DeviceException

atPointEnd

public void atPointEnd()
                throws DeviceException

Description copied from interface: Scannable

Called on every Scannable at the end of every data point, for scans which are broken down into individual points (i.e. non-continous scans)

Specified by:

atPointEnd in interface Scannable

Throws:

DeviceException

atLevelMoveStart

public void atLevelMoveStart()
                      throws DeviceException

Description copied from interface: Scannable

Called by both the pos and scan commands at the start of each subsequent level move only on Scannables that will be moved as part that level's movement.

For example "pos a 1 b 2 c 3", will, if a and b have the same level and c a higher level will result in:

 a.atLevelMoveStart()   invalid input: '<'----
 b.atLevelMoveStart()   invalid input: '<'----
 a.asynchronousMoveTo()
 b.asynchronousMoveTo()
 a.waitWhileBusy()
 b.waitWhileBusy()
 c.atLevelMoveStart()   invalid input: '<'----
 c.asynchronousMoveTo()
 c.waitWhileBusy()
 

This hook is used by CoordinatedMotionScannables.

Specified by:

atLevelMoveStart in interface Scannable

Throws:

DeviceException

atLevelStart

public void atLevelStart()
                  throws DeviceException

Description copied from interface: Scannable

Called by both the pos and scan commands at the start of each subsequent level move on all Scannables that are part that level's movement.

This provides a useful mechanism for e.g. creating a Scannable that opens a shutter after motors have moved but before a detector is exposed.

Specified by:

atLevelStart in interface Scannable

Throws:

DeviceException

atLevelEnd

public void atLevelEnd()
                throws DeviceException

Specified by:

atLevelEnd in interface Scannable

Throws:

DeviceException

atCommandFailure

public void atCommandFailure()
                      throws DeviceException

Description copied from interface: Scannable

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.

Specified by:

atCommandFailure in interface Scannable

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

Returns:

string as defined above

getTimeSeriesCollection

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

getPositionSteamIndexer

public PositionStreamIndexer<Double> getPositionSteamIndexer(int index)

setContinuousMoveController

public void setContinuousMoveController(ContinuousMoveController controller)

Specified by:

setContinuousMoveController in interface ContinuouslyScannableViaController

getPointBeingPrepared

public int getPointBeingPrepared()

Specified by:

getPointBeingPrepared in interface ConstantVelocityMoveController2

resetPointBeingPrepared

public void resetPointBeingPrepared()

Specified by:

resetPointBeingPrepared in interface ConstantVelocityMoveController2

setSampleShutter

public void setSampleShutter(EnumPositioner sampleShutter)