org.mbari.siam.foce.devices.elmo.thruster
Class ElmoThruster

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

All Implemented Interfaces:

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

Direct Known Subclasses:

ESWPump

public class ElmoThruster
extends ElmoService
implements ElmoThrusterIF

See Also:

Serialized Form

Nested Class Summary

class

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

ElmoThruster()

Method Summary

protected ScheduleSpecifier	createDefaultSampleSchedule() required by PolledInstrumentService
PacketParser	getParser() Return a PacketParser.
java.lang.String	getThrusterSampleMessage() return thruster sample string
long	getTSElapsedMsec() Return the elapsed time since last turns sensor trigger (msec)
int	getTSState() Return the turns sensor state
java.lang.String	getTSStateName() return a mnemonic for turns sensor state
long	getTSTriggerCount() Return number of times the turns sensor has been triggered since the last reset
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	setTurnsSensorEnable(boolean value) Enable or disable the turns sensor
protected java.lang.String	shutdownInstrument() Perform any instrument-specific shutdown actions and optionally return a human-readable message (e.g.
protected void	stepStart(int startSpeed, int endSpeed, int increment, long stepTime) Brings up motor in step-wise fashion.
protected java.lang.String	switchElmoPower(boolean state) Enable or disable power to Elmos Power is switched by memory mapped IO ports on an A/D card (not a standard power port) using foceio.

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, 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

ElmoThruster

public ElmoThruster()
             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

setTurnsSensorEnable

public void setTurnsSensorEnable(boolean value)

Description copied from interface: ElmoThrusterIF

Enable or disable the turns sensor

Specified by:

setTurnsSensorEnable in interface ElmoThrusterIF

getTSTriggerCount

public long getTSTriggerCount()

Return number of times the turns sensor has been triggered since the last reset

Specified by:

getTSTriggerCount in interface ElmoThrusterIF

getTSElapsedMsec

public long getTSElapsedMsec()

Return the elapsed time since last turns sensor trigger (msec)

Specified by:

getTSElapsedMsec in interface ElmoThrusterIF

getTSState

public int getTSState()

Return the turns sensor state

Specified by:

getTSState in interface ElmoThrusterIF

getTSStateName

public java.lang.String getTSStateName()

return a mnemonic for turns sensor state

Specified by:

getTSStateName in interface ElmoThrusterIF

getThrusterSampleMessage

public java.lang.String getThrusterSampleMessage()
                                          throws TimeoutException,
                                                 java.io.IOException,
                                                 java.lang.Exception

return thruster sample string

Specified by:

getThrusterSampleMessage in interface ElmoThrusterIF

Throws:

TimeoutException

java.io.IOException

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

stepStart

protected void stepStart(int startSpeed,
                         int endSpeed,
                         int increment,
                         long stepTime)
                  throws java.lang.Exception

Brings up motor in step-wise fashion. For recovering from under-voltage condition. Speeds are in counts.

Throws:

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

shutdownInstrument

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

Perform any instrument-specific shutdown actions and optionally return a human-readable message (e.g. noting caveats, status, etc); the returned message is purely for human operator. (override BaseInstrumentService)

Overrides:

shutdownInstrument in class ElmoService

Throws:

java.lang.Exception

switchElmoPower

protected java.lang.String switchElmoPower(boolean state)

Enable or disable power to Elmos Power is switched by memory mapped IO ports on an A/D card (not a standard power port) using foceio.

Parameters:

state - true for on, false for off

Returns:

String OK on success, null or error message otherwise