Package uk.ac.gda.devices.insitu.controller

Class AbstractPlateController

java.lang.Object

gda.observable.ObservableComponent

uk.ac.gda.devices.insitu.controller.AbstractPlateController

All Implemented Interfaces:

Device, Configurable, Findable, gda.observable.IObservable, Serializable, PlateController

public abstract class AbstractPlateController
extends gda.observable.ObservableComponent
implements PlateController

See Also:

• Serialized Form

Field Summary

Fields

Modifier and Type	Field	Description
static final String	ALPHA_LABELS
static final String	CFG_KEY_CURRENTWELL
static final String	CFG_KEY_ORIGIN_X
static final String	CFG_KEY_ORIGIN_Y
static final String	CFG_KEY_PLATE_CLASS
static final String	CFG_KEY_PLATE_INDEX
static final String	CFG_KEY_PLATE_STATE
static final String	CFG_KEY_PLATE_TYPEID
static final String	CFG_KEY_USER_X
static final String	CFG_KEY_USER_Y
static final String	CFG_KEY_USER_Z
static final String	CFG_KEY_WELL
static final String	CFG_SUFFIX_ORIGIN_X
static final String	CFG_SUFFIX_ORIGIN_Y
static final int	EMPTY_INDEX
static org.slf4j.Logger	logger
protected gda.observable.ObservableComponent	oc
static final String	ORIGIN
static final PlateType	UNLOADED

Fields inherited from interface uk.ac.gda.devices.insitu.controller.PlateController

POS_COLLECT, POS_NUM_POSITIONS, POS_ORIGIN, POS_SAFE, POS_SAVED, POS_USER

Constructor Summary

Constructors

Constructor	Description
AbstractPlateController()

Method Summary

Modifier and Type	Method	Description
protected PlatePosition	calculatePosition()
protected Well	calculateWell()
protected Well	calculateWell(PlatePosition posn)
void	clearDropSelection()
protected static int	findIndexOf(String target, String[] domain)
ActionApprover	getApproachApprover()
org.apache.commons.configuration.XMLConfiguration	getConfig()
static org.apache.commons.configuration.XMLConfiguration	getConfiguration()
abstract PlatePosition	getControllerPosition()
PlateControllerState	getControllerState()
Plate	getCurrentPlate()
int	getCurrentPlateIndex()
PlateType	getCurrentPlateType()
PlatePosition	getCurrentPosition()
PlatePosition	getOriginPosition()
PlateInventory	getPlateInventory()
PlatePosition	getPlatePosition(int index)
PlatePosition	getSavedPosition()
Well	getSavedWell()
EnumPositionerStatus	getStatus()
boolean	hasCurrentPlate()
void	loadPlate(int index)
void	loadPlateManual(int index)
PlatePosition	moveTo(String descriptor)
void	notifyPlateEventListeners(PlateEvent event)
static Well	parseWellEntry(PlateType ptype, String entry)
abstract void	postApproach()
abstract void	prepareApproach(int attempts)
protected PlateControllerState	readControllerState()
PlatePosition	readOrigin()
Integer	readPlateIndex()
PlateType	readPlateType()
PlatePosition	readUserPosition()
void	recalibrate()	Calibrate the controller using the currently reported position
org.apache.commons.configuration.XMLConfiguration	resetConfig()
PlatePosition	restorePosition(int posIndex)
PlatePosition	restoreSavedPosition()
static void	runCommand(String cmd)
protected PlateControllerState	saveControllerState(PlateControllerState state)
PlatePosition	saveCurrentPosition()
PlatePosition	saveCurrentPosition(double gonx, double gonz, double platey, double platez)
PlatePosition	savePosition(int posIndex)
void	savePosition(PlatePosition pos, int posIndex)
void	saveWell(Well well)
void	setApproachApprover(ActionApprover approver)
void	setControllerState(PlateControllerState state)
void	setCurrentPlateIndex(int index)
void	setCurrentPlateUnloaded()
void	setPlateInventory(PlateInventory inventory)
void	setPositions(String[] positions)
void	test()
String	toString()
protected PlatePosition	updateCurrentPosition()

Methods inherited from class gda.observable.ObservableComponent

addIObserver, deleteIObserver, deleteIObservers, getNumberOfObservers, getObservers, isBeingObserved, notifyIObservers

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 uk.ac.gda.devices.insitu.controller.PlateController

calibratePosition, isCalibrated, moveToAbsolute, moveToCollectPosition, moveToSafePosition, moveToWell, resetControllerState, unloadPlate, unloadPlateManual

Field Details

logger

public static org.slf4j.Logger logger

CFG_KEY_CURRENTWELL

public static final String CFG_KEY_CURRENTWELL

See Also:

• Constant Field Values

CFG_KEY_WELL

public static final String CFG_KEY_WELL

See Also:

• Constant Field Values

CFG_KEY_PLATE_CLASS

public static final String CFG_KEY_PLATE_CLASS

See Also:

• Constant Field Values

CFG_KEY_PLATE_STATE

public static final String CFG_KEY_PLATE_STATE

See Also:

• Constant Field Values

CFG_KEY_PLATE_TYPEID

public static final String CFG_KEY_PLATE_TYPEID

See Also:

• Constant Field Values

CFG_KEY_PLATE_INDEX

public static final String CFG_KEY_PLATE_INDEX

See Also:

• Constant Field Values

CFG_KEY_ORIGIN_X

public static final String CFG_KEY_ORIGIN_X

See Also:

• Constant Field Values

CFG_KEY_ORIGIN_Y

public static final String CFG_KEY_ORIGIN_Y

See Also:

• Constant Field Values

CFG_KEY_USER_X

public static final String CFG_KEY_USER_X

See Also:

• Constant Field Values

CFG_KEY_USER_Y

public static final String CFG_KEY_USER_Y

See Also:

• Constant Field Values

CFG_KEY_USER_Z

public static final String CFG_KEY_USER_Z

See Also:

• Constant Field Values

CFG_SUFFIX_ORIGIN_X

public static final String CFG_SUFFIX_ORIGIN_X

See Also:

• Constant Field Values

CFG_SUFFIX_ORIGIN_Y

public static final String CFG_SUFFIX_ORIGIN_Y

See Also:

• Constant Field Values

ALPHA_LABELS

public static final String ALPHA_LABELS

See Also:

• Constant Field Values

ORIGIN

public static final String ORIGIN

See Also:

• Constant Field Values

UNLOADED

public static final PlateType UNLOADED

EMPTY_INDEX

public static final int EMPTY_INDEX

See Also:

• Constant Field Values

oc

protected gda.observable.ObservableComponent oc

Constructor Details

AbstractPlateController

public AbstractPlateController()

Method Details

findIndexOf

protected static int findIndexOf(String target,
 String[] domain)

getConfiguration

public static org.apache.commons.configuration.XMLConfiguration getConfiguration()
                                                                          throws org.apache.commons.configuration.ConfigurationException,
IOException

Throws:

org.apache.commons.configuration.ConfigurationException

IOException

parseWellEntry

public static Well parseWellEntry(PlateType ptype,
 String entry)

runCommand

public static void runCommand(String cmd)

calculatePosition

protected PlatePosition calculatePosition()

calculateWell

protected Well calculateWell()
                      throws Exception

Throws:

Exception

calculateWell

protected Well calculateWell(PlatePosition posn)
                      throws Exception

Throws:

Exception

clearDropSelection

public void clearDropSelection()

getApproachApprover

public ActionApprover getApproachApprover()

getConfig

public org.apache.commons.configuration.XMLConfiguration getConfig()
                                                            throws org.apache.commons.configuration.ConfigurationException,
IOException

Throws:

org.apache.commons.configuration.ConfigurationException

IOException

getControllerPosition

public abstract PlatePosition getControllerPosition()

getControllerState

public PlateControllerState getControllerState()

Specified by:

getControllerState in interface PlateController

getCurrentPlate

public Plate getCurrentPlate()

Specified by:

getCurrentPlate in interface PlateController

getCurrentPlateIndex

public int getCurrentPlateIndex()

Specified by:

getCurrentPlateIndex in interface PlateController

getCurrentPlateType

public PlateType getCurrentPlateType()

Specified by:

getCurrentPlateType in interface PlateController

getCurrentPosition

public PlatePosition getCurrentPosition()

Specified by:

getCurrentPosition in interface PlateController

getOriginPosition

public PlatePosition getOriginPosition()

Specified by:

getOriginPosition in interface PlateController

getPlateInventory

public PlateInventory getPlateInventory()

Specified by:

getPlateInventory in interface PlateController

getPlatePosition

public PlatePosition getPlatePosition(int index)

Specified by:

getPlatePosition in interface PlateController

readControllerState

protected PlateControllerState readControllerState()

readOrigin

public PlatePosition readOrigin()
                         throws Exception

Throws:

Exception

readPlateIndex

public Integer readPlateIndex()
                       throws org.apache.commons.configuration.ConfigurationException,
IOException

Throws:

org.apache.commons.configuration.ConfigurationException

IOException

readPlateType

public PlateType readPlateType()

readUserPosition

public PlatePosition readUserPosition()
                               throws Exception

Throws:

Exception

getSavedPosition

public PlatePosition getSavedPosition()

Specified by:

getSavedPosition in interface PlateController

getSavedWell

public Well getSavedWell()

Specified by:

getSavedWell in interface PlateController

getStatus

public EnumPositionerStatus getStatus()
                               throws DeviceException

Specified by:

getStatus in interface PlateController

Throws:

DeviceException

hasCurrentPlate

public boolean hasCurrentPlate()

loadPlate

public void loadPlate(int index)

Specified by:

loadPlate in interface PlateController

loadPlateManual

public void loadPlateManual(int index)

Specified by:

loadPlateManual in interface PlateController

moveTo

public PlatePosition moveTo(String descriptor)

Specified by:

moveTo in interface PlateController

postApproach

public abstract void postApproach()

prepareApproach

public abstract void prepareApproach(int attempts)

recalibrate

public void recalibrate()

Description copied from interface: PlateController

Calibrate the controller using the currently reported position

Specified by:

recalibrate in interface PlateController

resetConfig

public org.apache.commons.configuration.XMLConfiguration resetConfig()
                                                              throws org.apache.commons.configuration.ConfigurationException,
IOException

Throws:

org.apache.commons.configuration.ConfigurationException

IOException

restorePosition

public PlatePosition restorePosition(int posIndex)

Specified by:

restorePosition in interface PlateController

restoreSavedPosition

public PlatePosition restoreSavedPosition()

Specified by:

restoreSavedPosition in interface PlateController

saveControllerState

protected PlateControllerState saveControllerState(PlateControllerState state)
                                            throws org.apache.commons.configuration.ConfigurationException,
IOException

Throws:

org.apache.commons.configuration.ConfigurationException

IOException

saveCurrentPosition

public PlatePosition saveCurrentPosition()

Specified by:

saveCurrentPosition in interface PlateController

saveCurrentPosition

public PlatePosition saveCurrentPosition(double gonx,
 double gonz,
 double platey,
 double platez)

savePosition

public void savePosition(PlatePosition pos,
 int posIndex)

savePosition

public PlatePosition savePosition(int posIndex)

Specified by:

savePosition in interface PlateController

saveWell

public void saveWell(Well well)

Specified by:

saveWell in interface PlateController

setApproachApprover

public void setApproachApprover(ActionApprover approver)

setControllerState

public void setControllerState(PlateControllerState state)

Specified by:

setControllerState in interface PlateController

setCurrentPlateIndex

public void setCurrentPlateIndex(int index)

Specified by:

setCurrentPlateIndex in interface PlateController

setCurrentPlateUnloaded

public void setCurrentPlateUnloaded()

setPositions

public void setPositions(String[] positions)

Specified by:

setPositions in interface PlateController

setPlateInventory

public void setPlateInventory(PlateInventory inventory)

Specified by:

setPlateInventory in interface PlateController

toString

public String toString()

Overrides:

toString in class Object

updateCurrentPosition

protected PlatePosition updateCurrentPosition()

notifyPlateEventListeners

public void notifyPlateEventListeners(PlateEvent event)

test

public void test()

Specified by:

test in interface PlateController