Package gda.device.zebra

Class ZebraScannableMotor

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

gda.device.zebra.ZebraScannableMotor

All Implemented Interfaces:

INeXusInfoWriteable, ControllerRecord, Device, IScannableMotor, Scannable, ContinuouslyScannableViaController, PositionCallableProvider<Double>, ScannableMotion, ScannableMotionUnits, ZebraMotorInfoProvider, Configurable, Findable, gda.observable.IObservable, org.springframework.beans.factory.InitializingBean

public class ZebraScannableMotor
extends ScannableMotor
implements ContinuouslyScannableViaController, ZebraMotorInfoProvider, PositionCallableProvider<Double>, org.springframework.beans.factory.InitializingBean

Class to use with ZebraConstantVelocityMoveController and ConstantVelocityScanLine to perform flyscans

Field Summary

Fields inherited from class gda.device.scannable.ScannableMotor

COPY_MOTOR_LIMITS_INTO_SCANNABLE_LIMITS

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
ZebraScannableMotor()

Method Summary

Modifier and Type	Method	Description
void	afterPropertiesSet()
void	asynchronousMoveTo(Object position)	Trigger a move/operation and return immediately.
void	atScanStart()	Called for every Scannable at the start of a group of nested scans (or a single scan if that is the case)
double	distanceToAccToVelocity(double velocity)
ScannableMotor	getActualScannableMotor()
ContinuousMoveController	getContinuousMoveController()
double	getExposureStep()
int	getPcEnc()
Object	getPosition()	Returns the current position of the Scannable.
Callable<Double>	getPositionCallable()
double	getScurveTimeToVelocity()
boolean	isExposureStepDefined()
boolean	isOperatingContinously()	Indicates whether the Scannable has deferred control to the he configured ContinuousMoveController
void	setContinuousMoveController(ContinuousMoveController continuousMoveController)
void	setExposureStep(double exposureStep)
void	setExposureStepDefined(boolean exposureStepDefined)
void	setOperatingContinuously(boolean b)	Enable or disable control through the configured ContinuousMoveController
void	setPcEnc(int pcEnc)
void	setScurveTimeToVelocity(double scurveTimeToVelocity)
void	setZebraConstantVelocityMoveController(ZebraConstantVelocityMoveController continuousMoveController)
void	waitWhileBusy()	Returns when operation carried out by moveTo has completed

Methods inherited from class gda.device.scannable.ScannableMotor

attachMotorObserver, configure, getActualPosition, getAttribute, getControllerRecordName, getDemandPosition, getDemandPositionTolerance, getFirstInputLimits, getLowerInnerLimit, getLowerMotorLimit, getMotor, getMotorLimitsComponent, getMotorName, getMotorResolution, getSpeed, getTimeToVelocity, getUpperInnerLimit, getUpperMotorLimit, getUserOffset, isBusy, isReturningDemandPosition, rawAsynchronousMoveTo, rawGetDemandPosition, rawGetPosition, setDemandPositionTolerance, setLogMoveRequestsWithInfo, setMotor, setMotorLimitsComponent, setMotorName, setNotifyObserverPositionChangeEvents, setPosition, setReturnDemandPosition, setSpeed, setTimeToVelocity, stop, toFormattedString

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, 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, 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

configure, 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

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

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

Constructor Details

ZebraScannableMotor

public ZebraScannableMotor()

Method Details

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

setZebraConstantVelocityMoveController

public void setZebraConstantVelocityMoveController(ZebraConstantVelocityMoveController continuousMoveController)

setContinuousMoveController

public void setContinuousMoveController(ContinuousMoveController continuousMoveController)

Specified by:

setContinuousMoveController in interface ContinuouslyScannableViaController

afterPropertiesSet

public void afterPropertiesSet()
                        throws Exception

Specified by:

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

Throws:

Exception

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 ScannableMotionBase

Parameters:

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

Throws:

DeviceException

getPosition

public Object getPosition()
                   throws DeviceException

Description copied from class: ScannableMotor

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 ScannableMotor.getDemandPosition() if configured with ScannableMotor.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 ScannableMotor

Returns:

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

Throws:

DeviceException

getPositionCallable

public Callable<Double> getPositionCallable()
                                     throws DeviceException

Specified by:

getPositionCallable in interface PositionCallableProvider<Double>

Throws:

DeviceException

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 ScannableMotor

Throws:

DeviceException

InterruptedException

distanceToAccToVelocity

public double distanceToAccToVelocity(double velocity)

Specified by:

distanceToAccToVelocity in interface ZebraMotorInfoProvider

Parameters:

velocity - in units of motor units/second e.g. mm/s

Returns:

distance in motor units e.g. mm

getScurveTimeToVelocity

public double getScurveTimeToVelocity()

setScurveTimeToVelocity

public void setScurveTimeToVelocity(double scurveTimeToVelocity)

Parameters:

scurveTimeToVelocity - - if using linear acceleration this is the ACCEL field of the motor in EPICS (Time to Velocity)

getPcEnc

public int getPcEnc()

Specified by:

getPcEnc in interface ZebraMotorInfoProvider

Returns:

index of Posn Trig PV of Zebra for this motor Enc1 = 0

setPcEnc

public void setPcEnc(int pcEnc)

getActualScannableMotor

public ScannableMotor getActualScannableMotor()

Specified by:

getActualScannableMotor in interface ZebraMotorInfoProvider

Returns:

The actual ScannableMotor that will be moved during the scan

getExposureStep

public double getExposureStep()

Specified by:

getExposureStep in interface ZebraMotorInfoProvider

Returns:

The size of the step of the motor to move during exposure

setExposureStep

public void setExposureStep(double exposureStep)

isExposureStepDefined

public boolean isExposureStepDefined()

Specified by:

isExposureStepDefined in interface ZebraMotorInfoProvider

Returns:

True if getExposureStep represents the size of the step of the motor to move during exposure.

setExposureStepDefined

public void setExposureStepDefined(boolean exposureStepDefined)

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()