org.mbari.siam.devices.workhorse
Class WorkhorseADCP

java.lang.Object
  java.rmi.server.RemoteObject
      java.rmi.server.RemoteServer
          java.rmi.server.UnicastRemoteObject
              org.mbari.siam.core.DeviceService
                  org.mbari.siam.core.BaseInstrumentService
                      org.mbari.siam.core.PolledInstrumentService
                          org.mbari.siam.devices.workhorse.WorkhorseADCP

All Implemented Interfaces:

java.io.Serializable, java.rmi.Remote, ScheduleOwner, Device, DeviceServiceIF, Instrument, Safeable

Direct Known Subclasses:

DigiWorkhorseADCP

public class WorkhorseADCP
extends PolledInstrumentService
implements Instrument, Safeable

The WorkhorseADCP class represents the InstrumentServices driver for controlling the RDI Workhorse ADCP. WorkhorseADCP is sub-classed from AggregateInstrumentService . The primary responsibilities of this class is to:-

 

 Capture and verify sample data from the instrument.
 

 

See Also:

Device, Instrument, PowerPort, AggregateInstrumentService, Serialized Form

Nested Class Summary

class	WorkhorseADCP.Attributes Configurable Workhorse attributes
static interface	WorkhorseADCP.DataStructure
static class	WorkhorseADCP.PD0DataStructure This class encapsulates access to the workhorses binary data format

Field Summary

WorkhorseADCP.Attributes	_attributes
protected int	_ensembleIntervalSec
protected long	_initialInterval
protected WorkhorseADCP.PD0DataStructure	_pd0Struct
protected boolean	_safed
protected org.mbari.siam.devices.workhorse.WorkhorseADCP.DevicePacketParser	devicePacketParser

Fields inherited from class org.mbari.siam.core.BaseInstrumentService

_defaultSamplerTask, _defaultSampleScheduleName, _errorCache, _instrumentAttributes, _lastPacket, _lastSensorDataPacket, _maxSampleBytes, _messagePacket, _nPowerRequests, _nWakeRequests, _packetLog, _recordType, _running, _samplerWakeupTime, _scheduleKey, _schedules, _sensorDataPacket, _turbinator, MAX_BASE_RECORDTYPE, RECORDTYPE_DEFAULT, RECORDTYPE_METADATA, RECORDTYPE_UNDEFINED

Fields inherited from class org.mbari.siam.core.DeviceService

_fromDevice, _instrumentPort, _nodeProperties, _parentNode, _regEntry, _sandBox, _serviceCachePath, _serviceName, _servicePropertiesPath, _serviceXMLPath, _toDevice, CACHED_PROPERTIES_FILENAME, PROPERTIES_FILENAME, XML_FILENAME

Fields inherited from class java.rmi.server.RemoteObject

ref

Fields inherited from interface org.mbari.siam.distributed.Device

ERROR, INITIAL, INSTRUMENT_STATE, MDATA_ALL, OK, SAFE, SAMPLING, SERVICE_ATTRIBUTES, SERVICE_CACHE, SERVICE_PROPERTIES, SERVICE_XML, SHUTDOWN, SLEEPING, SUSPEND, UNKNOWN

Constructor Summary

WorkhorseADCP()
Allocates a new WorkhorseADCP

Method Summary

protected ScheduleSpecifier	createDefaultSampleSchedule() Return specifier for initial sampling schedule.
protected void	enterCommandMode() sends a break to the Workhorse a waits for a prompt
void	enterSafeMode() Enter mode for resource-restricted environment.
protected void	exitCommandMode() restarts sampling and exits command mode
DevicePacketParser	getDevicePacketParser() Get instruments' DevicePacketParser, which returns JDDAC records.
protected byte[]	getInstrumentStateMetadata() Not implemented
PacketParser	getParser() Return a PacketParser.
protected java.lang.String	getProperty(java.lang.String response) Returns the property value from the Workhorse response
SerialPortParameters	getSerialPortParameters() Return parameters to use on serial port.
protected PowerPolicy	initCommunicationPowerPolicy() Return initial value of communication power policy.
protected int	initCurrentLimit() Specify current limit in increments of 120 mA upto 11880 mA.
protected void	initializeInstrument() Called by the framework to initialize the instrument prior to sampling.
protected PowerPolicy	initInstrumentPowerPolicy() Return initial value of instrument power policy.
protected int	initInstrumentStartDelay() Specify startup delay (millisec)
protected int	initMaxSampleBytes() Specify maximum bytes in raw sample.
protected byte[]	initPromptString() Specify prompt string.
protected byte[]	initSampleTerminator() Specify sample terminator.
protected byte[]	mkCmd(java.lang.String cmd) Utility method to construct a message of the form: -
protected int	mkInt(byte loByte, byte hiByte) Cludge to create an int from 2 bytes (There is probably a better way of doing this but this works)
java.lang.Object	parseDataPacket(SensorDataPacket pkt) Parse the ADCP data into a Velocity object
protected java.lang.String[]	parseProperty(java.lang.String response, java.lang.String delim, int fieldCount) splits the response into fields defined by the delim string and returns these in an array.
protected void	powerOnCallback() Called after power is applied; return when instrument is ready for use.
void	printData(byte[] buf) Print instrument data contained in input buffer.
protected int	readSample(byte[] sample) Called by the framework to fetch the sample data returned from the instrument and copy to sample buffer.
protected int	readUntilDelay(java.io.InputStream instream, byte[] outbuf, long timeout) Read characters from input stream into buffer and returns the number of bytes read.
protected void	requestSample() This method should be called _preemptionSec seconds before the expected receipt of the sample.
protected void	sendBreak() sends a break longer then 350mS required by the Workhorse
protected void	sendCommand(java.lang.String cmd) Method to send commands to the Workhorse.
protected java.lang.String	sendRequest(java.lang.String request) Sends a request to the Workhorse for parametric data.
void	setClock(long t) Not implemented.
protected java.lang.String	shutdownInstrument() Shutdown instrument sampling.
int	test() Run device's self-test routine.
protected void	validateSample(byte[] buffer, int nBytes) Validates the sampled data by summing nBytes-2 bytes modulo 0x10000 and comparing this with the last two bytes of the packet.

Methods inherited from class org.mbari.siam.core.PolledInstrumentService

acquire, doScheduledTask, setAttributes

Methods inherited from class org.mbari.siam.core.BaseInstrumentService

acquireSample, addDefaultPacketFilters, addSchedule, addSchedule, annotate, assertSamplingState, cacheProperties, callDataListeners, canSummarize, checkInputProperties, cleanupServiceState, clearDefaultPacketFilters, clearPropertiesCache, createPacketLog, createTask, createTurbinators, disableSummary, enableSummary, endDeviceAccess, getAllSchedules, getChildren, getCommunicationPowerPolicy, getCurrentLimit, getDefaultPacketFilters, getDefaultSampleSchedule, getDefaultSampleScheduleName, getFileBytes, getInstrumentPowerPolicy, getInstrumentServiceBlock, getInstrumentStartDelay, getLastSample, getMaxSampleBytes, getMaxSampleTries, getMetadata, getMetadata, getMetadataPayload, getPackets, getPackets, getParent, getPortDiagnostics, getPortDiagnosticsSummary, getPromptString, getProperties, getProperty, getSampleBuf, getSampleSchedule, getSampleTerminator, getSampleTimeout, getSchedule, getScheduleKey, getSchedules, getServicePropertiesBytes, initialize, initializeDriverDefaults, initializePooledResources, interruptDeviceAccess, logPacket, managePowerSleep, managePowerWake, nPowerRequests, postSample, powerOff, powerOffCallback, powerOn, prepareToRun, prepareToSample, processSample, removeAllSchedules, removeSchedule, resetPortDiagnostics, resume, resumeSchedule, running, setClock, setCommunicationPowerPolicy, setCurrentLimit, setDefaultSampleScheduleName, setInstrumentPowerPolicy, setInstrumentServiceBlock, setInstrumentStartDelay, setMaxSampleBytes, setMaxSampleTries, setPromptString, setProperty, setRecordType, setSampleTerminator, setSampleTimeout, shutdown, sleepingUntil, snooze, startDeviceAccess, summaryEnabled, suspend, suspendSchedule, sync, syncSchedule

Methods inherited from class org.mbari.siam.core.DeviceService

addDataListener, advertiseService, createRegistryEntry, getAttributes, getCommPortName, getFrameworkVersion, getId, getInstrumentPort, getLocation, getName, getRemoteSerialPort, getRemoteSerialPort, getSamplingCount, getSamplingErrorCount, getSamplingRetryCount, getStatus, host, incRetryCount, initializePropertyDefaults, registryEntry, registryName, removeDataListener, setInstrumentPort, setNodeProperties, setParent, setSerialPort, setStatusError, setStatusInitial, setStatusOk, setStatusSafe, setStatusSampling, setStatusShutdown, setStatusSuspend

Methods inherited from class java.rmi.server.UnicastRemoteObject

clone, exportObject, exportObject, exportObject, unexportObject

Methods inherited from class java.rmi.server.RemoteServer

getClientHost, getLog, setLog

Methods inherited from class java.rmi.server.RemoteObject

equals, getRef, hashCode, toString, toStub

Methods inherited from class java.lang.Object

finalize, getClass, notify, notifyAll, wait, wait, wait

Methods inherited from interface org.mbari.siam.distributed.Instrument

acquireSample, addDefaultPacketFilters, annotate, cacheProperties, clearDefaultPacketFilters, clearPropertiesCache, disableSummary, enableSummary, getDefaultPacketFilters, getLastSample, getPackets, getPackets, getPortDiagnostics, getPortDiagnosticsSummary, getProperties, getProperty, getSampleSchedule, getSchedules, resetPortDiagnostics, setClock, setProperty, summaryEnabled

Methods inherited from interface org.mbari.siam.distributed.Device

getChildren, getCommPortName, getFrameworkVersion, getId, getLocation, getMetadata, getName, getParent, getSamplingCount, getSamplingErrorCount, getSamplingRetryCount, getStatus, host, powerOff, powerOn, prepareToRun, resume, shutdown, suspend

Methods inherited from interface org.mbari.siam.distributed.DeviceServiceIF

getName

Methods inherited from interface org.mbari.siam.core.ScheduleOwner

addSchedule, getAllSchedules, getScheduleKey, removeAllSchedules, removeSchedule, resumeSchedule, sleepingUntil, suspendSchedule, syncSchedule

Field Detail

_attributes

public WorkhorseADCP.Attributes _attributes

_ensembleIntervalSec

protected int _ensembleIntervalSec

_initialInterval

protected long _initialInterval

devicePacketParser

protected org.mbari.siam.devices.workhorse.WorkhorseADCP.DevicePacketParser devicePacketParser

_safed

protected boolean _safed

_pd0Struct

protected WorkhorseADCP.PD0DataStructure _pd0Struct

Constructor Detail

WorkhorseADCP

public WorkhorseADCP()
              throws java.rmi.RemoteException

Allocates a new WorkhorseADCP

Throws:

java.rmi.RemoteException - .

Method Detail

initInstrumentStartDelay

protected int initInstrumentStartDelay()

Specify startup delay (millisec)

Specified by:

initInstrumentStartDelay in class BaseInstrumentService

initPromptString

protected byte[] initPromptString()

Specify prompt string.

Specified by:

initPromptString in class BaseInstrumentService

initSampleTerminator

protected byte[] initSampleTerminator()

Specify sample terminator.

Specified by:

initSampleTerminator in class BaseInstrumentService

initMaxSampleBytes

protected int initMaxSampleBytes()

Specify maximum bytes in raw sample.

Specified by:

initMaxSampleBytes in class BaseInstrumentService

initCurrentLimit

protected int initCurrentLimit()

Specify current limit in increments of 120 mA upto 11880 mA.

Specified by:

initCurrentLimit in class BaseInstrumentService

initInstrumentPowerPolicy

protected PowerPolicy initInstrumentPowerPolicy()

Return initial value of instrument power policy.

Specified by:

initInstrumentPowerPolicy in class BaseInstrumentService

initCommunicationPowerPolicy

protected PowerPolicy initCommunicationPowerPolicy()

Return initial value of communication power policy.

Specified by:

initCommunicationPowerPolicy in class BaseInstrumentService

createDefaultSampleSchedule

protected ScheduleSpecifier createDefaultSampleSchedule()
                                                 throws ScheduleParseException

Return specifier for initial sampling schedule.

Specified by:

createDefaultSampleSchedule in class PolledInstrumentService

Throws:

ScheduleParseException

getSerialPortParameters

public SerialPortParameters getSerialPortParameters()
                                             throws gnu.io.UnsupportedCommOperationException

Return parameters to use on serial port.

Overrides:

getSerialPortParameters in class DeviceService

Throws:

gnu.io.UnsupportedCommOperationException

initializeInstrument

protected void initializeInstrument()
                             throws InitializeException,
                                    java.lang.Exception

Called by the framework to initialize the instrument prior to sampling. Normally this method will use properties determined by the setProperties method.

Overrides:

initializeInstrument in class BaseInstrumentService

Throws:

InitializeException

java.lang.Exception

requestSample

protected void requestSample()
                      throws TimeoutException,
                             java.lang.Exception

This method should be called _preemptionSec seconds before the expected receipt of the sample. If a sample fails to be be detected for a period of 2 * _preemptionSec then a timeout exception will be called. If a sample is detected the method reschedules the service for _ensembleIntervalSec-_preemptionSec returning control to the framework to continue reading the sample in the normal way.

Specified by:

requestSample in class PolledInstrumentService

Throws:

TimeoutException - thrown if no data is detected for a period of twice the preemptionSec

java.lang.Exception - not thrown

readSample

protected int readSample(byte[] sample)
                  throws TimeoutException,
                         java.io.IOException,
                         java.lang.Exception

Called by the framework to fetch the sample data returned from the instrument and copy to sample buffer. The packet is examined to retrieve the length from the header. This is used to determine how many further bytes to read.

Overrides:

readSample in class BaseInstrumentService

Parameters:

sample -

Returns:

sample size (bytes)

Throws:

TimeoutException - sample time exceeded

java.io.IOException - error in input stream

java.lang.Exception - Bad header id (should really be in validateSample(..)) Packet exceeded packet length indicator (should really be in validateSample(..))

readUntilDelay

protected int readUntilDelay(java.io.InputStream instream,
                             byte[] outbuf,
                             long timeout)
                      throws TimeoutException,
                             java.io.IOException,
                             java.lang.Exception

Read characters from input stream into buffer and returns the number of bytes read.

Parameters:

instream - stream to read from

outbuf - buffer to place read data into

timeout - the time it takes to determine if a short packet has been sent

Returns:

bytes read

Throws:

TimeoutException - short packet sent

java.io.IOException

java.lang.Exception - Bad header id (should really be in validateSample(..)) Packet exceeded packet length indicator (should really be in validateSample(..))

validateSample

protected void validateSample(byte[] buffer,
                              int nBytes)
                       throws InvalidDataException

Validates the sampled data by summing nBytes-2 bytes modulo 0x10000 and comparing this with the last two bytes of the packet.

Overrides:

validateSample in class BaseInstrumentService

Parameters:

buffer - sample data

nBytes - Length of sample data

Throws:

InvalidDataException - checksum failed

getParser

public PacketParser getParser()
                       throws NotSupportedException

Return a PacketParser.

Specified by:

getParser in interface Instrument

Overrides:

getParser in class BaseInstrumentService

Throws:

NotSupportedException

parseDataPacket

public java.lang.Object parseDataPacket(SensorDataPacket pkt)
                                 throws InvalidDataException

Parse the ADCP data into a Velocity object

Throws:

InvalidDataException

getInstrumentStateMetadata

protected byte[] getInstrumentStateMetadata()

Not implemented

Overrides:

getInstrumentStateMetadata in class BaseInstrumentService

Returns:

N/A

setClock

public void setClock(long t)

Not implemented. Samples are locally timestamped

Specified by:

setClock in interface Instrument

Overrides:

setClock in class BaseInstrumentService

Parameters:

t -

enterSafeMode

public void enterSafeMode()
                   throws java.lang.Exception

Enter mode for resource-restricted environment.

Specified by:

enterSafeMode in interface Safeable

Throws:

java.lang.Exception

getDevicePacketParser

public DevicePacketParser getDevicePacketParser()
                                         throws NotSupportedException

Description copied from class: BaseInstrumentService

Get instruments' DevicePacketParser, which returns JDDAC records. Not supported by default

Overrides:

getDevicePacketParser in class BaseInstrumentService

Throws:

NotSupportedException

sendRequest

protected java.lang.String sendRequest(java.lang.String request)
                                throws java.lang.Exception

Sends a request to the Workhorse for parametric data. The response is returned as a string.

sendRequest makes every attempt to communicate with the unit by a process of resetting, flushing input buffer and resending.

Parameters:

request - string

Returns:

Response returned by the Workhorse

Throws:

java.lang.Exception

sendCommand

protected void sendCommand(java.lang.String cmd)
                    throws java.lang.Exception

Method to send commands to the Workhorse. sendCommand makes every attempt to communicate with the unit by a process of resetting, flushing input buffer and resending.

Note: Trailing '\r' is automatically added to command string.

Parameters:

cmd - Command string to send

Throws:

java.lang.Exception - thrown if the method fails to send the command.

enterCommandMode

protected void enterCommandMode()
                         throws java.lang.Exception

sends a break to the Workhorse a waits for a prompt

Throws:

java.lang.Exception

exitCommandMode

protected void exitCommandMode()
                        throws java.io.IOException,
                               java.lang.Exception

restarts sampling and exits command mode

Throws:

java.io.IOException

java.lang.Exception

sendBreak

protected void sendBreak()

sends a break longer then 350mS required by the Workhorse

mkCmd

protected byte[] mkCmd(java.lang.String cmd)

Utility method to construct a message of the form: -

 

 "cmd + \r" 

and returns this as a byte array for transmission

Parameters:

cmd - basic command string to construct

Returns:

byte array of command

mkInt

protected int mkInt(byte loByte,
                    byte hiByte)

Cludge to create an int from 2 bytes (There is probably a better way of doing this but this works)

Parameters:

loByte - ls byte

hiByte - ms byte

Returns:

int value of hiByte:loByte

getProperty

protected java.lang.String getProperty(java.lang.String response)
                                throws InvalidPropertyException

Returns the property value from the Workhorse response

Parameters:

response - response string return from Workhorse

Returns:

string representing the property (rhs of ='s)

Throws:

InvalidPropertyException

parseProperty

protected java.lang.String[] parseProperty(java.lang.String response,
                                           java.lang.String delim,
                                           int fieldCount)
                                    throws InvalidPropertyException

splits the response into fields defined by the delim string and returns these in an array. fieldCount limits the number of fields generated.

Parameters:

response - string to parse

delim - field delimiter(s)

fieldCount - number of expected fields

Returns:

array of Strings of each field detected

Throws:

InvalidPropertyException - an illegal response string has been determined

printData

public void printData(byte[] buf)

Description copied from class: BaseInstrumentService

Print instrument data contained in input buffer. By default does nothing, and may be overridden.

Overrides:

printData in class BaseInstrumentService

test

public int test()

Description copied from interface: Device

Run device's self-test routine.

Specified by:

test in interface Device

powerOnCallback

protected void powerOnCallback()
                        throws java.lang.Exception

Called after power is applied; return when instrument is ready for use.

Overrides:

powerOnCallback in class BaseInstrumentService

Throws:

java.lang.Exception

shutdownInstrument

protected java.lang.String shutdownInstrument()
                                       throws java.lang.Exception

Shutdown instrument sampling.

Overrides:

shutdownInstrument in class BaseInstrumentService

Throws:

java.lang.Exception