org.mbari.siam.foce.devices.elmo.louver
Class ElmoLouver

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.louver.ElmoLouver

All Implemented Interfaces:

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

public class ElmoLouver
extends ElmoService
implements ElmoLouverIF

See Also:

Serialized Form

Nested Class Summary

class

ElmoLouver.ElmoLouverAttributes

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

ElmoLouver()

Method Summary

long	center(int speedCounts) Find the center of the current Hall effect feedback position.
protected ScheduleSpecifier	createDefaultSampleSchedule() required by PolledInstrumentService
long	findBoundary(boolean positive, int speedCounts) Find and stop at the nearest Hall sensor feedback transition location.
boolean	getInvertHallPosition() If invertHallPosition is true, the order of the feedback readings is reversed, ranging from 15-0 instead of 0-15.
double	getLouverPositionDegrees() Get louver position (in engineering units)
double	getLouverPositionPercent() Get louver position (as a percent of full travel)
java.lang.String	getLouverSampleMessage() return a message indicating the state of several motor registers
java.lang.String	getLouverStatusMessage() return a message indicating the state of several motor registers
PacketParser	getParser() Return a PacketParser.
void	home(int position, boolean setPx, long counterValue, int vLo, int vHi) Home to one of the louver's 16 Hall effect position feedback switches.
void	home(int position, int velocityCounts) Home to one of the louver's 16 Hall effect position feedback switches.
void	initializeController() Initialize motor controller
protected void	initializeInstrument() Override default initializeInstrument.
java.lang.Object	parseDataPacket(SensorDataPacket pkt) Parse a SensorDataPacket into a double[] array (used by infrastructure)
protected int	readSample(byte[] sample) Override base class readSample (defined in BaseInstrumentService)
void	setInvertHallPosition(boolean value) If invertHallPosition is true, the order of the feedback readings is reversed, ranging from 15-0 instead of 0-15.
void	setLouverDegrees(double positionDegrees) Set an interpolated louver position between _louverUnitsMin and _louverUnitsMax.
void	setLouverPercent(double positionPercent) Set an interpolated louver position between _louverUnitsMin and _louverUnitsMax.

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, shutdownInstrument, test, validateSpeed

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.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

ElmoLouver

public ElmoLouver()
           throws java.rmi.RemoteException

Throws:

java.rmi.RemoteException

Method Detail

createDefaultSampleSchedule

protected ScheduleSpecifier createDefaultSampleSchedule()
                                                 throws ScheduleParseException

required by PolledInstrumentService

Overrides:

createDefaultSampleSchedule in class ElmoService

Throws:

ScheduleParseException

initializeInstrument

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

Override default initializeInstrument.

Overrides:

initializeInstrument in class ElmoService

Throws:

InitializeException

java.lang.Exception

initializeController

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

Initialize motor controller

Specified by:

initializeController in interface ElmoIF

Overrides:

initializeController in class ElmoService

Throws:

TimeoutException

java.io.IOException

java.lang.Exception

java.rmi.RemoteException

setInvertHallPosition

public void setInvertHallPosition(boolean value)

If invertHallPosition is true, the order of the feedback readings is reversed, ranging from 15-0 instead of 0-15. This is used when the feedback board may be mounted in either direction along the lead screw axis while maintaining the same logical feedback sense (0 is closed, 15 is open)

Specified by:

setInvertHallPosition in interface ElmoLouverIF

getInvertHallPosition

public boolean getInvertHallPosition()

If invertHallPosition is true, the order of the feedback readings is reversed, ranging from 15-0 instead of 0-15. This is used when the feedback board may be mounted in either direction along the lead screw axis while maintaining the same logical feedback sense (0 is closed, 15 is open)

Specified by:

getInvertHallPosition in interface ElmoLouverIF

findBoundary

public long findBoundary(boolean positive,
                         int speedCounts)
                  throws TimeoutException,
                         java.io.IOException,
                         java.lang.NullPointerException,
                         java.lang.IllegalArgumentException,
                         java.lang.Exception

Find and stop at the nearest Hall sensor feedback transition location. Throws IllegalArgumentException if current position is above upper or below lower hall feedback limit (0x0, 0xF),

Specified by:

findBoundary in interface ElmoLouverIF

Parameters:

positive - If positive is true, find the transition by moving in the positive direction, otherwise move in the negative direction.

speedCounts - operate at speedCounts counts/sec

Returns:

position counter value at transition

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

center

public long center(int speedCounts)
            throws TimeoutException,
                   java.io.IOException,
                   java.lang.NullPointerException,
                   java.lang.IllegalArgumentException,
                   java.lang.Exception

Find the center of the current Hall effect feedback position. The strategy is to travel to the nearest transition boundaries, then move halfway between them. The strategy is slightly modified for the two endpoints, where transitions are somewhat different. The upper transition is also a false 0, so that has to be dealt with if it's possible to get there. Notes: - Resets position counter (but returns original value) - Disables the motor

Specified by:

center in interface ElmoLouverIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

home

public void home(int position,
                 int velocityCounts)
          throws TimeoutException,
                 java.io.IOException,
                 java.lang.NullPointerException,
                 java.lang.IllegalArgumentException,
                 java.lang.Exception

Home to one of the louver's 16 Hall effect position feedback switches. The basic strategy is: - find the center of the current (nearest) feedback position - travel to the desired position (now a multiple of the sensor spacing) - reset the position counter This minimizes unnecessary opening/closing of the louver.

Specified by:

home in interface ElmoLouverIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

home

public void home(int position,
                 boolean setPx,
                 long counterValue,
                 int vLo,
                 int vHi)
          throws TimeoutException,
                 java.io.IOException,
                 java.lang.NullPointerException,
                 java.lang.IllegalArgumentException,
                 java.lang.Exception

Description copied from interface: ElmoLouverIF

Home to one of the louver's 16 Hall effect position feedback switches. use the specified speed setting and optionally set the position counter at the home position

Specified by:

home in interface ElmoLouverIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

setLouverPercent

public void setLouverPercent(double positionPercent)
                      throws java.lang.IllegalArgumentException,
                             java.lang.Exception

Set an interpolated louver position between _louverUnitsMin and _louverUnitsMax. Position is expressed as a percentage of full range, 1.0 being open and 0.0 being closed.

Specified by:

setLouverPercent in interface ElmoLouverIF

Throws:

java.lang.IllegalArgumentException

java.lang.Exception

setLouverDegrees

public void setLouverDegrees(double positionDegrees)
                      throws java.lang.IllegalArgumentException,
                             java.lang.Exception

Set an interpolated louver position between _louverUnitsMin and _louverUnitsMax. Position is expressed in engineering units.

Specified by:

setLouverDegrees in interface ElmoLouverIF

Throws:

java.lang.IllegalArgumentException

java.lang.Exception

getLouverPositionDegrees

public double getLouverPositionDegrees()
                                throws TimeoutException,
                                       java.io.IOException,
                                       java.lang.NullPointerException,
                                       java.lang.Exception

Get louver position (in engineering units)

Specified by:

getLouverPositionDegrees in interface ElmoLouverIF

Returns:

louver position (degrees)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

getLouverPositionPercent

public double getLouverPositionPercent()
                                throws TimeoutException,
                                       java.io.IOException,
                                       java.lang.NullPointerException,
                                       java.lang.Exception

Get louver position (as a percent of full travel)

Specified by:

getLouverPositionPercent in interface ElmoLouverIF

Returns:

louver position (percent, 0.0-1.0)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

getLouverStatusMessage

public java.lang.String getLouverStatusMessage()
                                        throws TimeoutException,
                                               java.io.IOException,
                                               java.lang.NullPointerException,
                                               java.lang.IllegalArgumentException,
                                               java.lang.Exception

return a message indicating the state of several motor registers

Specified by:

getLouverStatusMessage in interface ElmoLouverIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getLouverSampleMessage

public java.lang.String getLouverSampleMessage()
                                        throws TimeoutException,
                                               java.io.IOException,
                                               java.lang.NullPointerException,
                                               java.lang.IllegalArgumentException,
                                               java.lang.Exception

return a message indicating the state of several motor registers

Specified by:

getLouverSampleMessage in interface ElmoLouverIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

readSample

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

Override base class readSample (defined in BaseInstrumentService)

Overrides:

readSample in class ElmoService

Parameters:

sample - output buffer

Throws:

TimeoutException

java.io.IOException

java.lang.Exception

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 a SensorDataPacket into a double[] array (used by infrastructure)

Throws:

InvalidDataException