Package uk.ac.gda.beamline.i19.server.common.scannable

Class ControllerScannable

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

uk.ac.gda.beamline.i19.server.common.scannable.ControllerScannable

All Implemented Interfaces:

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

public class ControllerScannable
extends ScannableMotor

Adapter class for a controller-mediated motor to work as a scannable.

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
ControllerScannable()

Method Summary

Modifier and Type	Method	Description
void	asynchronousMoveTo(Object externalPosition)	Trigger a move/operation and return immediately.
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	continuousMove(double start, double width, double time)
void	controllerMoveTo(Object position)
int	getAxisNumber()
Object	getControllerPosition()
NewportVMCController	getNewportController()
Double	getResetSpeed()
double	getSpeed()	Get the speed of the underlying motor
double	getTimeout()
boolean	isAt(Object position)	Tests if the scannable is at (or if appropriate, close to) the value positionToTest.
boolean	isBusyController()
boolean	isBusyEpics()
boolean	isInFaultEpics()
boolean	isInTolerance()
boolean	isProblemFlagSet()
boolean	isReadyEpics()
void	moveTo(Object position)	If the numberTries and tolerance attributes have been set then repeatedly tries to move this Scannable until the position is within the tolerance range.
void	rawAsynchronousMoveTo(Object internalPosition)	Requests controller to test and trigger a motor to move.
Object	rawGetDemandPosition()	Return the last demanded motor/internal position if one has been set, otherwise return the current position.
Double	resetSpeed()
void	setAxisNumber(int axisNumber)
void	setBasePV(String basePV)
void	setNewportController(NewportVMCController newportController)
void	setResetSpeed(double speed)
void	setSpeed(double speed)	Set the speed of the underlying motor
double	setTimeout(double timeout)
void	stop()	Stop the current move/operation.
void	stopController()
void	stopEpics()
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
double	waitWhileBusyController()	Waits for timeout and returns Calling method to raise exception if required, depending on state of scannable
void	waitWhileBusyScannable()

Methods inherited from class gda.device.scannable.ScannableMotor

attachMotorObserver, getActualPosition, getAttribute, getControllerRecordName, getDemandPosition, getDemandPositionTolerance, getFirstInputLimits, getLowerInnerLimit, getLowerMotorLimit, getMotor, getMotorLimitsComponent, getMotorName, getMotorResolution, getPosition, getTimeToVelocity, getUpperInnerLimit, getUpperMotorLimit, getUserOffset, isBusy, isReturningDemandPosition, rawGetPosition, setDemandPositionTolerance, setLogMoveRequestsWithInfo, setMotor, setMotorLimitsComponent, setMotorName, setNotifyObserverPositionChangeEvents, setPosition, setReturnDemandPosition, setTimeToVelocity

Methods inherited from class gda.device.scannable.ScannableMotionUnitsBase

addAcceptableUnit, externalToInternal, getAcceptableUnits, getHardwareUnitString, getInitialUserUnits, getOffset, getUserUnits, internalToExternal, 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, 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

atCommandFailure, atLevelEnd, atLevelMoveStart, atLevelStart, atPointEnd, atPointStart, atScanEnd, atScanLineEnd, atScanLineStart, atScanStart, checkPositionValid, getExtraNames, getInputNames, getLevel, getOutputFormat, getScanMetadataAttribute, getScanMetadataAttributeNames, getScanMetadataAttributes, 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

Constructor Details

ControllerScannable

public ControllerScannable()

Method Details

asynchronousMoveTo

public void asynchronousMoveTo(Object externalPosition)
                        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:

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

Throws:

DeviceException

controllerMoveTo

public void controllerMoveTo(Object position)
                      throws DeviceException

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 ScannableMotor

Throws:

FactoryException - if there is an error in configuration e.g. required variable not set or cannot connect to device

continuousMove

public void continuousMove(double start,
 double width,
 double time)

getAxisNumber

public int getAxisNumber()

getControllerPosition

public Object getControllerPosition()
                             throws DeviceException

Throws:

DeviceException

getNewportController

public NewportVMCController getNewportController()

getResetSpeed

public Double getResetSpeed()

getSpeed

public double getSpeed()
                throws DeviceException

Description copied from class: ScannableMotor

Get the speed of the underlying motor

Specified by:

getSpeed in interface IScannableMotor

Overrides:

getSpeed in class ScannableMotor

Returns:

speed in the motor's units

Throws:

DeviceException

getTimeout

public double getTimeout()

isAt

public boolean isAt(Object position)
             throws DeviceException

Description copied from class: ScannableMotionBase

Tests if the scannable is at (or if appropriate, close to) the value positionToTest. If positionToTest is a string (as will be the case for valves or pneumatics for example), this is compared to the value obtained from getPosition(). An exception is thrown if this is not also a string.

Otherwise if positionToTest is not a string the object is compared to the value from getPosition(), after having first pushed both values through objectToArray() from ScannableUtils.

This behaviour should be extended where possible, and has been in ScannableMotionBase If positionToTest is a string (as will be the case for valves or pneumatics for example), this is compared to the value obtained from getPosition(). An exception is thrown if this is not also a string.

Otherwise if positionToTest is not a string the object is compared to the value from getPosition() to see if they are within the tolerance specified in the scannable's tolerance array. Both values are first converted to arrays using objectToArray() from ScannableUtils.

Specified by:

isAt in interface Scannable

Overrides:

isAt in class ScannableMotionUnitsBase

Parameters:

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

Returns:

true if scannable is at positionToTest

Throws:

DeviceException

See Also:

• Scannable.isAt(java.lang.Object)

isBusyController

public boolean isBusyController()
                         throws DeviceException

Throws:

DeviceException

isBusyEpics

public boolean isBusyEpics()
                    throws DeviceException

Throws:

DeviceException

isInFaultEpics

public boolean isInFaultEpics()
                       throws DeviceException

Throws:

DeviceException

isInTolerance

public boolean isInTolerance()
                      throws DeviceException

Throws:

DeviceException

isProblemFlagSet

public boolean isProblemFlagSet()

isReadyEpics

public boolean isReadyEpics()
                     throws DeviceException

Throws:

DeviceException

moveTo

public void moveTo(Object position)
            throws DeviceException

Description copied from class: ScannableMotionBase

If the numberTries and tolerance attributes have been set then repeatedly tries to move this Scannable until the position is within the tolerance range.

Specified by:

moveTo in interface Scannable

Overrides:

moveTo in class ScannableMotionBase

Parameters:

position -

Throws:

DeviceException

See Also:

• ScannableBase.moveTo(java.lang.Object)

rawAsynchronousMoveTo

public void rawAsynchronousMoveTo(Object internalPosition)
                           throws DeviceException

Requests controller to test and trigger a motor to move. Throws a DeviceException if the motor is in alarm, in fault or is already busy. This method is synchronised so that another thread cannot 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 ScannableMotor

Parameters:

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

Throws:

DeviceException

See Also:

• asynchronousMoveTo

rawGetDemandPosition

public 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.

Overrides:

rawGetDemandPosition in class ScannableMotor

Throws:

DeviceException

resetSpeed

public Double resetSpeed()
                  throws DeviceException

Throws:

DeviceException

setAxisNumber

public void setAxisNumber(int axisNumber)

setBasePV

public void setBasePV(String basePV)

setNewportController

public void setNewportController(NewportVMCController newportController)

setResetSpeed

public void setResetSpeed(double speed)

setSpeed

public void setSpeed(double speed)
              throws DeviceException

Description copied from class: ScannableMotor

Set the speed of the underlying motor

Specified by:

setSpeed in interface IScannableMotor

Overrides:

setSpeed in class ScannableMotor

Parameters:

speed - in the motor's units

Throws:

DeviceException

setTimeout

public double setTimeout(double timeout)

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 ScannableMotor

Throws:

DeviceException

See Also:

• Scannable.stop()

stopController

public void stopController()
                    throws DeviceException

Throws:

DeviceException

stopEpics

public void stopEpics()
               throws DeviceException

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 ScannableMotor

Returns:

string as defined above

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

waitWhileBusyScannable

public void waitWhileBusyScannable()
                            throws DeviceException,
InterruptedException

Throws:

DeviceException

InterruptedException

waitWhileBusyController

public double waitWhileBusyController()
                               throws DeviceException,
InterruptedException

Waits for timeout and returns Calling method to raise exception if required, depending on state of scannable

Throws:

DeviceException

InterruptedException