org.mbari.siam.foce.devices.elmo.eswPump
Class ESWPump

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.foce.devices.elmo.base.ElmoService
                              org.mbari.siam.foce.devices.elmo.thruster.ElmoThruster
                                  org.mbari.siam.foce.devices.elmo.eswPump.ESWPump

All Implemented Interfaces:

java.io.Serializable, java.rmi.Remote, ScheduleOwner, Device, ElmoIF, ElmoThrusterIF, DeviceServiceIF, Instrument, InstrumentDataListener

public class ESWPump
extends ElmoThruster
implements ElmoThrusterIF

See Also:

Serialized Form

Nested Class Summary

class

ESWPump.ESWPumpAttributes

Nested classes/interfaces inherited from class org.mbari.siam.foce.devices.elmo.thruster.ElmoThruster

ElmoThruster.ElmoThrusterAttributes

Nested classes/interfaces inherited from class org.mbari.siam.foce.devices.elmo.base.ElmoService

ElmoService.Attributes

Field Summary

protected static org.apache.log4j.Logger

_log4j Log4j logger

Fields inherited from class org.mbari.siam.foce.devices.elmo.base.ElmoService

_attributes, _elmo, _precision, CLOSED_LOOP, DEFAULT_COUNTS_PER_REVOLUTION, DEFAULT_PRECISION, df, DFL_CURRENT_LIMIT_MILLIAMPS, DFL_MAX_SAMPLE_BYTES, MAX_PRECISION, MIN_PRECISION, OPEN_LOOP, serialVersionUID

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

ESWPump()

Method Summary

void	initializeController() Initialize motor controller
void	validateSpeed(int counts) Validate velocity value.

Methods inherited from class org.mbari.siam.foce.devices.elmo.thruster.ElmoThruster

createDefaultSampleSchedule, getParser, getThrusterSampleMessage, getTSElapsedMsec, getTSState, getTSStateName, getTSTriggerCount, initializeInstrument, parseDataPacket, readSample, setTurnsSensorEnable, shutdownInstrument, stepStart, switchElmoPower

Methods inherited from class org.mbari.siam.foce.devices.elmo.base.ElmoService

beginMotion, counts2orpm, counts2rpm, dataCallback, delay, getCountsPerRevolution, getEncoderVelocity, getEncoderVelocity, getFaultRegister, getGearRatio, getInstrumentStateMetadata, getJoggingVelocity, getPositionCounter, getPositionError, getSerialPortParameters, getStatusRegister, initCommunicationPowerPolicy, initCurrentLimit, initializeController, initInstrumentPowerPolicy, initInstrumentStartDelay, initMaxSampleBytes, initPromptString, initSampleTerminator, isEnabled, jog, orpm2counts, ptpAbsolute, ptpRelative, readRegister, requestSample, rpm2counts, serviceRegisteredCallback, setCountsPerRevolution, setEnable, setGearRatio, setJoggingVelocity, setPositionCounter, setPTPSpeed, setSerialMode, showConfiguration, test

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, getDevicePacketParser, 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, powerOnCallback, prepareToRun, prepareToSample, printData, processSample, removeAllSchedules, removeSchedule, resetPortDiagnostics, resume, resumeSchedule, running, setClock, setClock, setCommunicationPowerPolicy, setCurrentLimit, setDefaultSampleScheduleName, setInstrumentPowerPolicy, setInstrumentServiceBlock, setInstrumentStartDelay, setMaxSampleBytes, setMaxSampleTries, setPromptString, setProperty, setRecordType, setSampleTerminator, setSampleTimeout, shutdown, sleepingUntil, snooze, startDeviceAccess, summaryEnabled, suspend, suspendSchedule, sync, syncSchedule, validateSample

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.devices.ElmoThrusterIF

getThrusterSampleMessage, getTSElapsedMsec, getTSState, getTSStateName, getTSTriggerCount, setTurnsSensorEnable

Methods inherited from interface org.mbari.siam.distributed.devices.ElmoIF

beginMotion, counts2orpm, counts2rpm, delay, getCountsPerRevolution, getEncoderVelocity, getEncoderVelocity, getFaultRegister, getGearRatio, getJoggingVelocity, getPositionCounter, getPositionError, getStatusRegister, initializeController, isEnabled, jog, orpm2counts, ptpAbsolute, ptpRelative, readRegister, rpm2counts, setCountsPerRevolution, setEnable, setGearRatio, setJoggingVelocity, setPositionCounter, setPTPSpeed, setSerialMode, showConfiguration

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, 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

_log4j

protected static org.apache.log4j.Logger _log4j

Log4j logger

Constructor Detail

ESWPump

public ESWPump()
        throws java.rmi.RemoteException

Throws:

java.rmi.RemoteException

Method Detail

initializeController

public void initializeController()
                          throws TimeoutException,
                                 java.io.IOException,
                                 java.lang.Exception,
                                 java.rmi.RemoteException

Description copied from class: ElmoThruster

Initialize motor controller

Specified by:

initializeController in interface ElmoIF

Overrides:

initializeController in class ElmoThruster

Throws:

TimeoutException

java.io.IOException

java.lang.Exception

java.rmi.RemoteException

validateSpeed

public void validateSpeed(int counts)
                   throws java.lang.IllegalArgumentException

Validate velocity value. By default, does nothing and relies on the configured ElmoImpl limits. Subclasses may override this method to provide special range validatation logic. For example, a service may wish to impose constraints like a range that includes 0 rpm and 50-100 rpm, but no speeds between 0-50.

Overrides:

validateSpeed in class ElmoService

Throws:

java.lang.IllegalArgumentException