org.mbari.siam.foce.devices.motorControl
Class MotorControl

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.motorControl.MotorControl

All Implemented Interfaces:

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

public class MotorControl
extends PolledInstrumentService
implements Instrument, InstrumentDataListener

MotorControl implements a PID loop for the FOCE thruster motors, using a set of AllMotion EZServo EZSV23 Motor Servo Boards, with communication via an RS-485 serial port.

See Also:

Serialized Form

Field Summary

protected Velocity	_adcpVelocity
protected byte[]	_commBuf
protected boolean	_debug
protected int[]	_errors
protected PrintfFormat	_format
protected int[]	_good
protected Velocity	_instantaneousVelocity
protected int[]	_lastPosition
protected int[]	_lastVelocityCmd
protected static org.apache.log4j.Logger	_log4j Log4j logger
protected byte[]	_nullBytes
protected byte[]	_sampleTerm
protected boolean[]	_stalled
protected int[]	_totErrors
protected Velocity	_waterVelocity
protected Velocity	_waterVelocityAccum
protected int	_waterVelocitySamples
protected static java.lang.String	CANCEL_CMD
protected static int	ERR_CLEAR
protected static java.lang.String	EXEC_INIT_CMD
protected static java.lang.String	FIRMWARE_CMD
protected static java.lang.String	GET_POSITION_CMD
protected static java.lang.String	INIT_STRING
protected static int	MAX_MOTOR_RPM
protected static int	MAX_SERVOS
protected static java.lang.String	NEG_DIRECTION_CMD
protected static java.lang.String	POS_DIRECTION_CMD
protected static java.lang.String	RESET_CMD
protected static java.lang.String	STATUS_CMD
protected static java.lang.String	VELOCITY_CMD

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

MotorControl()

Method Summary

protected void	clearErrors()
protected ScheduleSpecifier	createDefaultSampleSchedule() Return specifier for default sampling schedule.
void	dataCallback(DevicePacket sensorData, PacketParser.Field[] fields) dataCallback from the ADV device
protected int	findResponse(int nbytes) Look for "/0" in _commBuf.
protected byte[]	getInstrumentStateMetadata() Return metadata.
protected int	getMotorPosition(int servo) Get Motor position for one servo
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.
protected void	initializeInstrument() Initialize the servos
protected PowerPolicy	initInstrumentPowerPolicy() Return initial value of instrument power policy.
protected int	initInstrumentStartDelay() Specify device 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 void	pidLoop() Run once through PID loop
protected void	printBuffer(byte[] buf, int nbytes)
protected int	readSample(byte[] sample) Run the loop, log the results
protected void	requestSample() Request a data sample
void	serviceRegisteredCallback(RegistryEntry entry) Callback for InstrumentDataListener interface, called when the ADV service is registered with the InstrumentRegistry
void	setClock() No internal clock.
protected void	setMotorDirection(int servo, boolean dir) Set Motor direction for one servo
protected void	setMotorVelocity(int servo, int velocity) Set motor velocity for one servo
protected void	setVelocity(Velocity velocity, PacketParser.Field[] fields)
java.lang.String	shutdownInstrument() Perform any instrument-specific shutdown actions and optionally return a human-readable message (e.g.
protected int	status(int servo) Get motor status
int	test() Self-test not implemented.
protected int	transact(int servo, java.lang.String cmd, boolean logIt) Perform one I/O transaction to a servo.
protected boolean	transactAll(java.lang.String cmd) Send a command to all servos

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, getParser, 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, 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.Instrument

acquireSample, addDefaultPacketFilters, annotate, cacheProperties, clearDefaultPacketFilters, clearPropertiesCache, disableSummary, enableSummary, getDefaultPacketFilters, getLastSample, getPackets, getPackets, getParser, 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

_log4j

protected static org.apache.log4j.Logger _log4j

Log4j logger

MAX_SERVOS

protected static final int MAX_SERVOS

See Also:

Constant Field Values

MAX_MOTOR_RPM

protected static final int MAX_MOTOR_RPM

See Also:

Constant Field Values

INIT_STRING

protected static final java.lang.String INIT_STRING

See Also:

Constant Field Values

EXEC_INIT_CMD

protected static final java.lang.String EXEC_INIT_CMD

See Also:

Constant Field Values

RESET_CMD

protected static final java.lang.String RESET_CMD

See Also:

Constant Field Values

CANCEL_CMD

protected static final java.lang.String CANCEL_CMD

See Also:

Constant Field Values

STATUS_CMD

protected static final java.lang.String STATUS_CMD

See Also:

Constant Field Values

VELOCITY_CMD

protected static final java.lang.String VELOCITY_CMD

See Also:

Constant Field Values

GET_POSITION_CMD

protected static final java.lang.String GET_POSITION_CMD

See Also:

Constant Field Values

POS_DIRECTION_CMD

protected static final java.lang.String POS_DIRECTION_CMD

See Also:

Constant Field Values

NEG_DIRECTION_CMD

protected static final java.lang.String NEG_DIRECTION_CMD

See Also:

Constant Field Values

FIRMWARE_CMD

protected static final java.lang.String FIRMWARE_CMD

See Also:

Constant Field Values

ERR_CLEAR

protected static final int ERR_CLEAR

See Also:

Constant Field Values

_lastVelocityCmd

protected int[] _lastVelocityCmd

_lastPosition

protected int[] _lastPosition

_errors

protected int[] _errors

_totErrors

protected int[] _totErrors

_good

protected int[] _good

_stalled

protected boolean[] _stalled

_instantaneousVelocity

protected Velocity _instantaneousVelocity

_waterVelocity

protected Velocity _waterVelocity

_waterVelocityAccum

protected Velocity _waterVelocityAccum

_adcpVelocity

protected Velocity _adcpVelocity

_waterVelocitySamples

protected int _waterVelocitySamples

_format

protected PrintfFormat _format

_nullBytes

protected byte[] _nullBytes

_debug

protected boolean _debug

_sampleTerm

protected byte[] _sampleTerm

_commBuf

protected byte[] _commBuf

Constructor Detail

MotorControl

public MotorControl()
             throws java.rmi.RemoteException

Throws:

java.rmi.RemoteException

Method Detail

initInstrumentStartDelay

protected int initInstrumentStartDelay()

Specify device 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.

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

requestSample

protected void requestSample()
                      throws java.lang.Exception

Request a data sample

Specified by:

requestSample in class PolledInstrumentService

Throws:

java.lang.Exception

initializeInstrument

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

Initialize the servos

Overrides:

initializeInstrument in class BaseInstrumentService

Throws:

InitializeException

java.lang.Exception

serviceRegisteredCallback

public void serviceRegisteredCallback(RegistryEntry entry)

Callback for InstrumentDataListener interface, called when the ADV service is registered with the InstrumentRegistry

Specified by:

serviceRegisteredCallback in interface InstrumentDataListener

setVelocity

protected void setVelocity(Velocity velocity,
                           PacketParser.Field[] fields)
                    throws NoDataException

Throws:

NoDataException

dataCallback

public void dataCallback(DevicePacket sensorData,
                         PacketParser.Field[] fields)

dataCallback from the ADV device

Specified by:

dataCallback in interface InstrumentDataListener

Parameters:

sensorData - - SensorDataPacket that instrument logged

fields - - Result of passing sensorData to PacketParser.parseFields() if registered DeviceService is an instanceof BaseInstrumentService. Else null.

findResponse

protected int findResponse(int nbytes)

Look for "/0" in _commBuf. This indicates the start of the response to the command. Return index of next byte after the response, or -1 if not found. Note that response must contain at least one byte after "/0". This is the status byte.

transact

protected int transact(int servo,
                       java.lang.String cmd,
                       boolean logIt)
                throws java.io.IOException,
                       java.lang.IllegalArgumentException

Perform one I/O transaction to a servo. Return number of bytes in response.

Throws:

java.io.IOException

java.lang.IllegalArgumentException

transactAll

protected boolean transactAll(java.lang.String cmd)

Send a command to all servos

status

protected int status(int servo)
              throws java.io.IOException,
                     java.lang.IllegalArgumentException

Get motor status

Throws:

java.io.IOException

java.lang.IllegalArgumentException

setMotorDirection

protected void setMotorDirection(int servo,
                                 boolean dir)
                          throws java.io.IOException,
                                 java.lang.IllegalArgumentException

Set Motor direction for one servo

Parameters:

servo - - servo number (1-4)

dir - - direction, true for positive direction

Throws:

java.io.IOException

java.lang.IllegalArgumentException

setMotorVelocity

protected void setMotorVelocity(int servo,
                                int velocity)
                         throws java.io.IOException,
                                java.lang.IllegalArgumentException

Set motor velocity for one servo

Throws:

java.io.IOException

java.lang.IllegalArgumentException

getMotorPosition

protected int getMotorPosition(int servo)
                        throws java.io.IOException,
                               java.lang.IllegalArgumentException,
                               java.lang.NumberFormatException

Get Motor position for one servo

Parameters:

servo - - servo number (1-4)

Throws:

java.io.IOException

java.lang.IllegalArgumentException

java.lang.NumberFormatException

pidLoop

protected void pidLoop()

Run once through PID loop

readSample

protected int readSample(byte[] sample)

Run the loop, log the results

Overrides:

readSample in class BaseInstrumentService

Parameters:

sample - output buffer

clearErrors

protected void clearErrors()

getInstrumentStateMetadata

protected byte[] getInstrumentStateMetadata()

Return metadata.

Overrides:

getInstrumentStateMetadata in class BaseInstrumentService

shutdownInstrument

public java.lang.String shutdownInstrument()

Description copied from class: BaseInstrumentService

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.

Overrides:

shutdownInstrument in class BaseInstrumentService

printBuffer

protected void printBuffer(byte[] buf,
                           int nbytes)

setClock

public void setClock()
              throws NotSupportedException

No internal clock.

Specified by:

setClock in interface Instrument

Overrides:

setClock in class BaseInstrumentService

Throws:

NotSupportedException

test

public int test()

Self-test not implemented.

Specified by:

test in interface Device

createDefaultSampleSchedule

protected ScheduleSpecifier createDefaultSampleSchedule()
                                                 throws ScheduleParseException

Return specifier for default 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