Package gda.px.sampleChanger

Class JCameramanController

java.lang.Object

gda.px.sampleChanger.JCameramanController

All Implemented Interfaces:

PropertyChangeListener, EventListener, rigaku.jcameraman.RobotListener

public class JCameramanController
extends Object
implements rigaku.jcameraman.RobotListener, PropertyChangeListener

Operates the JCameraman api for Rigaku/MSC sample changers. The methods are intended to be thread safe so that only one command may be operated at a time. However the methods are run asynchronously. To wait for the command to be completed, call waitWhileBusy.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
class	JCameramanController.JCameramanException	Exceptions to be thrown by this class

Field Summary

Fields

Modifier and Type	Field	Description
protected boolean	robotBusy	flag to prevent waitWhileBusy from returning
boolean	soakAfterOperation	flag to say if robot will return to the soak position after mount/unmount

Method Summary

Modifier and Type	Method	Description
void	abort()	Actor panic stop.
void	addEventCompleteObservers(IJCameramanObserver newObserver)	Add an observer of asynchronous events this class creates.
void	anneal(int time)	If a sample is at the sample position, then this anneals that sample.
void	closeDewar(int dewarNumber)	Calls close lid on the api which automatically centres the lid
void	closedown()
void	dismount(int dewar, int magazine, int position)
void	dismountSpecialPin()	Dismounts the current special pin.
void	dispose()	If a sample is at the sample position, then this disposes of that sample.
void	dry(boolean wait)	Dries the end effector.
void	exchange(int oldDewar, int oldMagazine, int oldPosition, int newDewar, int newMagazine, int newPosition)
String	getBarcode()
String	getCommandError()
Image	getImageBySocket()
static JCameramanController	getInstance()
int[]	getMountedPin()
int	getOscarCassette()
int	getOscarPlate()
int[]	getPosition()
rigaku.jcameraman.RobotClient.RobotLocation	getRobotLocation()	Returns the enumneration value of the current robot location as understood by the Java side of the Rigaku api.
void	gotoWait()	Move the robot to the wait position.
void	home()	Homes the sample positioner
void	initialiseRobotClient(String host)	Make the connection to the robot, (re)initialises it and does a pin check.
void	intialiseCameraClient(String host)	Creates the connection to the camera and homes the sample positioner
void	intialiseOscarClient()	Initialises OSCAR
boolean	isCameraClientInitialised()
boolean	isRobotAPIBusy()
boolean	isRobotClientInitialised()
void	mount(int dewar, int magazine, int position)
void	mountSpecialPin(Integer pin)	Mounts a special pin.
void	move(boolean absolute, int x, int y, int z)	Moves the sample positioner.
void	move(int oldDewar, int oldMagazine, int oldPosition, int newDewar, int newMagazine, int newPosition)
void	oscarInventory(String path)	Performs an inventory and saves the information in an xml file.
void	oscarRetrievePlate(int cassette, int plate)
void	oscarRetrievePlate(String barcode)
void	oscarStorePlate(int iCassette, int iPlate)	Store the plate in the given position
void	propertyChange(PropertyChangeEvent evt)
void	robotCommandCompleted(rigaku.jcameraman.RobotEvent event)
void	setMountedPin(int dewar, int magazine, int position)	Tells the robot the identity of the mounted pin.
void	setSoakAfterOperation(boolean soakAfterOperation)
void	soak(int dewarNumber)	Soak the end effector.
void	waitWhileAPIBusy()	A version of waitWhileBusy that does not check for an error state in the robot.
void	waitWhileBusy()	Hold up the current string until a robot command has been received.

Methods inherited from class java.lang.Object

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

Field Details

soakAfterOperation

public boolean soakAfterOperation

flag to say if robot will return to the soak position after mount/unmount

robotBusy

protected volatile boolean robotBusy

flag to prevent waitWhileBusy from returning

Method Details

getInstance

public static JCameramanController getInstance()

Returns:

the static instance of this object

isRobotClientInitialised

public boolean isRobotClientInitialised()

isCameraClientInitialised

public boolean isCameraClientInitialised()

Returns:

true if the robot has been initialised, so the sample positioner motors can be operated.

closedown

public void closedown()

initialiseRobotClient

public void initialiseRobotClient(String host)
                           throws JCameramanController.JCameramanException

Make the connection to the robot, (re)initialises it and does a pin check.

Parameters:

host -

Throws:

JCameramanController.JCameramanException

intialiseCameraClient

public void intialiseCameraClient(String host)
                           throws JCameramanController.JCameramanException

Creates the connection to the camera and homes the sample positioner

If reading barcodes then ensure the following is in the Cameraman config:

BarCodePort = 4

BarCodeTimeOut = 2

Parameters:

host -

Throws:

JCameramanController.JCameramanException

intialiseOscarClient

public void intialiseOscarClient()
                          throws JCameramanController.JCameramanException

Initialises OSCAR

Throws:

JCameramanController.JCameramanException

getCommandError

public String getCommandError()

Returns:

String - the latest error code

abort

public void abort()
           throws JCameramanController.JCameramanException

Actor panic stop. Robot software will require re-initialisation after calling this method.

Throws:

JCameramanController.JCameramanException

anneal

public void anneal(int time)
            throws JCameramanController.JCameramanException

If a sample is at the sample position, then this anneals that sample.

Parameters:

time -

Throws:

JCameramanController.JCameramanException

closeDewar

public void closeDewar(int dewarNumber)
                throws JCameramanController.JCameramanException

Calls close lid on the api which automatically centres the lid

Throws:

JCameramanController.JCameramanException

dispose

public void dispose()
             throws JCameramanController.JCameramanException

If a sample is at the sample position, then this disposes of that sample.

Throws:

JCameramanController.JCameramanException

gotoWait

public void gotoWait()
              throws JCameramanController.JCameramanException

Move the robot to the wait position. This should be used when something has gone wrong but does not require re-initialising the robot.

Throws:

JCameramanController.JCameramanException

getRobotLocation

public rigaku.jcameraman.RobotClient.RobotLocation getRobotLocation()
                                                             throws JCameramanController.JCameramanException

Returns the enumneration value of the current robot location as understood by the Java side of the Rigaku api. So this value might be out of date if there has been some comm failure.

NB: SAFE means the location hovering above an open dewar keeping the end effector cool. WAIT means the location where the robot normally rests when not in use.

Returns:

RobotLocation

Throws:

JCameramanController.JCameramanException

setSoakAfterOperation

public void setSoakAfterOperation(boolean soakAfterOperation)
                           throws JCameramanController.JCameramanException

Parameters:

soakAfterOperation -

Throws:

JCameramanController.JCameramanException

See Also:

• RobotClient.setReturnToSafe(boolean)

getBarcode

public String getBarcode()
                  throws JCameramanController.JCameramanException

Returns:

String - the barcode of the sample mounted during the last load/exchange operation.

Throws:

JCameramanController.JCameramanException

getPosition

public int[] getPosition()
                  throws JCameramanController.JCameramanException

Returns:

int[] - the position of the sample positioner

Throws:

JCameramanController.JCameramanException

home

public void home()
          throws JCameramanController.JCameramanException

Homes the sample positioner

Throws:

JCameramanController.JCameramanException

move

public void move(boolean absolute,
 int x,
 int y,
 int z)
          throws JCameramanController.JCameramanException,
IllegalArgumentException

Moves the sample positioner. It is limited to 5mm movement, so has fixed limits of +/- 2500 um on all axes.

Parameters:

absolute -

x -

y -

z -

Throws:

JCameramanController.JCameramanException

IllegalArgumentException

getMountedPin

public int[] getMountedPin()
                    throws JCameramanController.JCameramanException

Throws:

JCameramanController.JCameramanException

soak

public void soak(int dewarNumber)
          throws JCameramanController.JCameramanException

Soak the end effector.

Throws:

JCameramanController.JCameramanException

mount

public void mount(int dewar,
 int magazine,
 int position)
           throws JCameramanController.JCameramanException

Parameters:

dewar -

magazine -

position -

Throws:

JCameramanController.JCameramanException

mountSpecialPin

public void mountSpecialPin(Integer pin)
                     throws JCameramanController.JCameramanException

Mounts a special pin.

Parameters:

pin -

Throws:

JCameramanController.JCameramanException

exchange

public void exchange(int oldDewar,
 int oldMagazine,
 int oldPosition,
 int newDewar,
 int newMagazine,
 int newPosition)
              throws JCameramanController.JCameramanException

Parameters:

oldDewar -

oldMagazine -

oldPosition -

newDewar -

newMagazine -

newPosition -

Throws:

JCameramanController.JCameramanException

dry

public void dry(boolean wait)
         throws JCameramanController.JCameramanException

Dries the end effector.

Parameters:

wait -

Throws:

JCameramanController.JCameramanException

dismount

public void dismount(int dewar,
 int magazine,
 int position)
              throws JCameramanController.JCameramanException

Parameters:

dewar -

magazine -

position -

Throws:

JCameramanController.JCameramanException

dismountSpecialPin

public void dismountSpecialPin()
                        throws JCameramanController.JCameramanException

Dismounts the current special pin.

Throws:

JCameramanController.JCameramanException

setMountedPin

public void setMountedPin(int dewar,
 int magazine,
 int position)
                   throws JCameramanController.JCameramanException

Tells the robot the identity of the mounted pin.

Parameters:

dewar -

magazine -

position -

Throws:

JCameramanController.JCameramanException

move

public void move(int oldDewar,
 int oldMagazine,
 int oldPosition,
 int newDewar,
 int newMagazine,
 int newPosition)
          throws JCameramanController.JCameramanException

Throws:

JCameramanController.JCameramanException

getImageBySocket

public Image getImageBySocket()
                       throws JCameramanController.JCameramanException

Returns:

Image - the latest image from the camera

Throws:

JCameramanController.JCameramanException

getOscarPlate

public int getOscarPlate()
                  throws JCameramanController.JCameramanException

Returns:

int - current Oscar plate number

Throws:

JCameramanController.JCameramanException

getOscarCassette

public int getOscarCassette()
                     throws JCameramanController.JCameramanException

Returns:

int - cassette of the current plate

Throws:

JCameramanController.JCameramanException

oscarStorePlate

public void oscarStorePlate(int iCassette,
 int iPlate)
                     throws JCameramanController.JCameramanException

Store the plate in the given position

Parameters:

iCassette -

iPlate -

Throws:

JCameramanController.JCameramanException

oscarRetrievePlate

public void oscarRetrievePlate(int cassette,
 int plate)
                        throws JCameramanController.JCameramanException

Parameters:

cassette -

plate -

Throws:

JCameramanController.JCameramanException

oscarRetrievePlate

public void oscarRetrievePlate(String barcode)
                        throws JCameramanController.JCameramanException

Parameters:

barcode -

Throws:

JCameramanController.JCameramanException

oscarInventory

public void oscarInventory(String path)
                    throws JCameramanController.JCameramanException

Performs an inventory and saves the information in an xml file.

Parameters:

path -

Throws:

JCameramanController.JCameramanException

robotCommandCompleted

public void robotCommandCompleted(rigaku.jcameraman.RobotEvent event)

Specified by:

robotCommandCompleted in interface rigaku.jcameraman.RobotListener

addEventCompleteObservers

public void addEventCompleteObservers(IJCameramanObserver newObserver)

Add an observer of asynchronous events this class creates.

Parameters:

newObserver -

propertyChange

public void propertyChange(PropertyChangeEvent evt)

Specified by:

propertyChange in interface PropertyChangeListener

waitWhileBusy

public void waitWhileBusy()
                   throws JCameramanController.JCameramanException

Hold up the current string until a robot command has been received. This should be called after every asynchronous command called. This will throw an exception if the command failed (apart from calls to update the status)

Throws:

JCameramanController.JCameramanException

waitWhileAPIBusy

public void waitWhileAPIBusy()

A version of waitWhileBusy that does not check for an error state in the robot. This should be called if you are not interested in the state of the robot, just if it is free to try a command.

This is useful for recovering from errors; by using this method to test if the robot is busy, then running a command but ignoring the state of the robot.

isRobotAPIBusy

public boolean isRobotAPIBusy()

Returns:

true if a command has been started but no command completed message received from Cameraman.