stella.omc
Class MotorController

java.lang.Object
  util.PropertyContainer
      util.PropertyResources
          util.PropertyBundles
              io.AbstractDriver
                  io.AbstractSerialDriver
                      stella.omc.MotorController

All Implemented Interfaces:

Driver, Cloneable, Initializable, LocalizedSupplying, PropertySupplying, ResourceSupplying

Direct Known Subclasses:

FilterWheel, LinearPositioner, MiniWheel, RelativeWheel, WifsipWheel, WindmillShutter

public abstract class MotorController
extends AbstractSerialDriver

Communication class for the OMC 93-70 MINI stepper motor controller. The communication is carried out through the serial port. The class provides the basic commucation API for the controller:

• opening, closing the communication port
• Minilog commands can be sent
• text file based programs can be uploaded and downloaded from the controller. Not part of actual version

REMARKS: the controller has to be left in local mode Last changed: 13.09.2004, JB. Last changed: 17.09.2005, TG.

Nested Class Summary

static class	MotorController.AxesReset Resets the controller.
static class	MotorController.Dump Dumps all parameters to system out.
static class	MotorController.Reset Resets the controller.
static class	MotorController.Set Reads the filter wheel configuration from a file and positions to the specified slot.
static class	MotorController.Status Dumps the full status message to system out.
static class	MotorController.Step Steps the filter wheel from the current position to the desired offset.

Nested classes/interfaces inherited from class io.AbstractSerialDriver

AbstractSerialDriver.Available

Nested classes/interfaces inherited from class util.PropertyResources

PropertyResources.URLResource

Field Summary

protected List<String>	axis The names of the axis the controller supports.
private static int	DEFADDRESS Set the default address.
private static String	DEFCONTROLLERTYPE Default controller type.
private static long	DEFDELAY The default reading delay in ms.
private static boolean	DEFEEPROMSTORE Storing in EEPROM is not possible per default.
private static int	DEFFAILAXISMOVE The default axis movement failure maximum.
private static String	DEFPROTOCOL Default protocol type.
private static int	DEFRETRYPOS
private static int	DEFSERIALRETRY The default reading delay in ms.
private static long	DEFSLEEPAXISMOVE The default axis movement sleep time .
private static int	DEFSTEPTOLERANCE
private static int	DEFTELEGRAM Set the minimum reply length.
private static boolean	DEFWORKAROUND Firmware error work-around.
static int	FAILED Return code for failed.
private List<Integer>	fails The maximum failures allowed per axis.
static int	HOME The HOME position.
static String	KEY_ADDRESS Device address on the serial port.
static String	KEY_AXES The names of the axis, upper case.
static String	KEY_CONTROLLERTYPE Controller type .
static String	KEY_DELAY The key to the reading delay in msec.
static String	KEY_EEPROMSTORE If true, we can store the parameters in the EEPROM
static String	KEY_FAILAXISMOVE The maximum number of failures allowed during axis movement.
static String	KEY_PROTOCOL The telegram protocol to use as a string.
static String	KEY_RETRYPOS Maximum number of repositioning tries at go to step.
static String	KEY_SERIALRETRY The key to the maximum number of retries for critical reads.
static String	KEY_SLEEPAXISMOVE Sleep until requery axis movement.
static String	KEY_STEPTOLERANCE Maximum allowed difference between requested and achieved position.
static String	KEY_TELEGRAM The minimum length of a telegram (a valid reply).
static String	KEY_WORKAROUND Firmware error work-around.
static String	MCC Protocoll type for MMC
static int	OK Return code for o.k.
static String	OMC Protocoll type for OMC
private List<Long>	sleeps The sleep interval per axis.
static int	UNDEFINEDPOSITION The HOME position.
private gnu.io.SerialPortEventListener	wakeup This object notifies me on data available.

Fields inherited from class io.AbstractSerialDriver

inport, KEY_BAUDRATE, KEY_CLOSETIMEOUT, KEY_DATABIT, KEY_FLOWCONTROL, KEY_INBUFFER, KEY_NOTIFYCOOLDOWN, KEY_OUTBUFFER, KEY_PARITYBIT, KEY_PORTNAME, KEY_RECEIVEFRAMING, KEY_RECEIVETHRESHOLD, KEY_RECEIVETIMEOUT, KEY_STOPBIT, KEY_TIMEOUT, outport, staticlock

Fields inherited from class io.AbstractDriver

KEY_DRIVERNAME

Fields inherited from class util.PropertyBundles

KEY_LOCALECOUNTRY, KEY_LOCALELANGUAGE, KEY_RESOURCEBUNDLES

Fields inherited from class util.PropertyResources

KEY_NOINITONCREATE, localurl, locate, POSTFIX_DIR, POSTFIX_EXT, POSTFIX_FILE, POSTFIX_LIST, POSTFIX_URL, urlset

Fields inherited from class util.PropertyContainer

KEY_LISTSEPARATOR, KEY_MAPKEYVALUECHAR, KEY_MAPSEPARATOR

Fields inherited from interface util.ResourceSupplying

KEY_URLRESOURCES, KEY_URLUSECONFIG, KEY_URLUSECURRENT, KEY_URLUSEHOME

Fields inherited from interface util.PropertySupplying

CONFIG, KEY_CLASS

Constructor Summary

MotorController(Map<String,String> config)
Constructs a new motor controller.

Method Summary

private char	axisIsMoving(String ax) Returns the moving state of the axis.
protected boolean	axisStop(String ax) Axis stop
protected String	encapsulate(String comm) Encapsulates a minilig command into a transmission telegram.
protected String	ensureCommand(String comm) Ensures command write by repeating for maximum KEY_SERIALRETRY times.
protected boolean	errorPower(String ax) Error in last stage.
protected boolean	errorStep(String ax) Error in last stage.
protected boolean	errorStop(String ax) Error in last stage.
Collection<String>	getAxesNames() Gets the names of the available axes.
protected double	getControllerParameter(String ax, String param) Returns a controller parameter.
protected double[]	getControllerParameterArray(String ax, int[] ipar) Returns the values of all parameters indicated in the list.
protected String	getControllerType() Returns the controller type string.
protected abstract Map<String,?>	getParametersFor(String axisname) Returns the appropriate parameters for the axis in question.
String	getStatus() Returns various status information about the controller.
protected String	getStatus(String ax, boolean all) Returns staus information.
int	getStep(String axis) Returns the currently attained step position via a direct query to the underlying driver.
protected int	getStepResolution(String ax) Returns the controller's step resolution compiled from the P45 controller parameter.
void	init() Initialies the parameter maps, the axis names and their timeouts.
boolean	isContinuous(String axis) Returns true, if this axis can be continuousely offset, which is likely the case for rotary stagets, and never the case for linear stages.
boolean	open() Initializes the driver.
protected void	powerOff(String axis) Deactivates the power stage of the given axis.
protected void	powerOn(String axis) Activates the power stage of the given axis.
String	readString() Reads and interprets the serial response.
String	readString(boolean nolog) Reads and interprets the serial response.
protected void	remote() Set the controller to remote
protected void	reset() Resets the controller.
protected boolean	resetAxis(String ax) Resets the axis.
protected void	setControllerParameter(String ax, String param, int value) Method to set a controller parameter.
protected int	waitWhileAxisMoving(int axnr) Waits until the given axis is moving.
protected int	waitWhileAxisMoving(String x)
String	writeCommand(String comm) Sends a MINILOG command to the controller.
String	writeCommand(String comm, boolean nolog) Sends a MINILOG command to the controller.
String	writeString(String cmd) Writes a string to the serial port.
String	writeString(String cmd, boolean nolog) Writes a string to the serial port.

Methods inherited from class io.AbstractSerialDriver

close, createPortEventListener, createPortEventListener, deregisterSoleEventListener, disableEvent, enableEvent, getDriverName, isOpen, registerSoleEventListener, resetOriginalParameters

Methods inherited from class io.AbstractDriver

createDriver, equals, hashCode

Methods inherited from class util.PropertyBundles

clone, getLocalized, getLocalized, getLocalizedString, getLocalizedString, loadResource

Methods inherited from class util.PropertyResources

createFrom, createFrom, createFrom, getApplet, getAsResources, getLocalClassLoader, getPropertiesToKey, getPropertiesToKey, getResource, getResourceAsStream, getResourceFromKey, getResources, keyCreate, keyCreate, reload, setApplet

Methods inherited from class util.PropertyContainer

augment, augment, augment, defaultBoolean, defaultChar, defaultDouble, defaultFloat, defaultInt, defaultLong, defaultObject, defaultObject, defaultProperties, defaultProperty, getAsBoolean, getAsChar, getAsDouble, getAsEnums, getAsFloat, getAsInt, getAsList, getAsLong, getAsMap, getAsMap, getAsObject, getAsObject, getProperties, getProperty, has, isNew, parseObject, reload, removeProperty, rescanned, setObject, setProperties, setProperty, stringProperties, toString

Methods inherited from class java.lang.Object

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

Methods inherited from interface util.ResourceSupplying

getResource, getResourceAsStream, getResources

Methods inherited from interface util.PropertySupplying

defaultBoolean, defaultChar, defaultDouble, defaultFloat, defaultInt, defaultLong, defaultObject, defaultObject, defaultProperties, defaultProperty, getAsBoolean, getAsChar, getAsDouble, getAsFloat, getAsInt, getAsList, getAsLong, getAsMap, getAsObject, getAsObject, getProperties, getProperty, has, parseObject, removeProperty, setObject, setProperty, stringProperties

Field Detail

OK

public static final int OK

Return code for o.k.

See Also:

Constant Field Values

FAILED

public static final int FAILED

Return code for failed.

See Also:

Constant Field Values

HOME

public static final int HOME

The HOME position.

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Constant Field Values

UNDEFINEDPOSITION

public static final int UNDEFINEDPOSITION

The HOME position.

See Also:

Constant Field Values

OMC

public static final String OMC

Protocoll type for OMC

See Also:

Constant Field Values

MCC

public static final String MCC

Protocoll type for MMC

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Constant Field Values

KEY_PROTOCOL

public static final String KEY_PROTOCOL

The telegram protocol to use as a string.

See Also:

Constant Field Values

KEY_DELAY

public static final String KEY_DELAY

The key to the reading delay in msec.

See Also:

Constant Field Values

KEY_SERIALRETRY

public static final String KEY_SERIALRETRY

The key to the maximum number of retries for critical reads.

See Also:

Constant Field Values

KEY_TELEGRAM

public static final String KEY_TELEGRAM

The minimum length of a telegram (a valid reply).

See Also:

Constant Field Values

KEY_AXES

public static final String KEY_AXES

The names of the axis, upper case. Simplest case 'X'.

See Also:

Constant Field Values

KEY_FAILAXISMOVE

public static final String KEY_FAILAXISMOVE

The maximum number of failures allowed during axis movement.

See Also:

Constant Field Values

KEY_RETRYPOS

public static final String KEY_RETRYPOS

Maximum number of repositioning tries at go to step.

See Also:

Constant Field Values

KEY_STEPTOLERANCE

public static final String KEY_STEPTOLERANCE

Maximum allowed difference between requested and achieved position.

See Also:

Constant Field Values

KEY_SLEEPAXISMOVE

public static final String KEY_SLEEPAXISMOVE

Sleep until requery axis movement.

See Also:

Constant Field Values

KEY_ADDRESS

public static final String KEY_ADDRESS

Device address on the serial port.

See Also:

Constant Field Values

KEY_WORKAROUND

public static final String KEY_WORKAROUND

Firmware error work-around.

See Also:

Constant Field Values

KEY_EEPROMSTORE

public static final String KEY_EEPROMSTORE

If true, we can store the parameters in the EEPROM

See Also:

Constant Field Values

KEY_CONTROLLERTYPE

public static final String KEY_CONTROLLERTYPE

Controller type .

See Also:

Constant Field Values

DEFFAILAXISMOVE

private static final int DEFFAILAXISMOVE

The default axis movement failure maximum.

See Also:

Constant Field Values

DEFSLEEPAXISMOVE

private static final long DEFSLEEPAXISMOVE

The default axis movement sleep time .

See Also:

Constant Field Values

DEFDELAY

private static final long DEFDELAY

The default reading delay in ms.

See Also:

Constant Field Values

DEFSERIALRETRY

private static final int DEFSERIALRETRY

The default reading delay in ms.

See Also:

Constant Field Values

DEFTELEGRAM

private static final int DEFTELEGRAM

Set the minimum reply length.

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Constant Field Values

DEFADDRESS

private static final int DEFADDRESS

Set the default address.

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Constant Field Values

DEFWORKAROUND

private static final boolean DEFWORKAROUND

Firmware error work-around.

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Constant Field Values

DEFEEPROMSTORE

private static final boolean DEFEEPROMSTORE

Storing in EEPROM is not possible per default.

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Constant Field Values

DEFCONTROLLERTYPE

private static final String DEFCONTROLLERTYPE

Default controller type.

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Constant Field Values

DEFPROTOCOL

private static final String DEFPROTOCOL

Default protocol type.

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Constant Field Values

DEFRETRYPOS

private static final int DEFRETRYPOS

See Also:

Constant Field Values

DEFSTEPTOLERANCE

private static final int DEFSTEPTOLERANCE

See Also:

Constant Field Values

wakeup

private gnu.io.SerialPortEventListener wakeup

This object notifies me on data available.

axis

protected List<String> axis

The names of the axis the controller supports.

fails

private List<Integer> fails

The maximum failures allowed per axis.

sleeps

private List<Long> sleeps

The sleep interval per axis.

Constructor Detail

MotorController

public MotorController(Map<String,String> config)

Constructs a new motor controller. The initalization is deferred to the init() section.

Method Detail

getAxesNames

public Collection<String> getAxesNames()

Gets the names of the available axes.

init

public void init()

Initialies the parameter maps, the axis names and their timeouts.

Specified by:

init in interface Initializable

Overrides:

init in class PropertyResources

isContinuous

public boolean isContinuous(String axis)
                     throws IOException

Returns true, if this axis can be continuousely offset, which is likely the case for rotary stagets, and never the case for linear stages.

Throws:

IOException

getStep

public int getStep(String axis)
            throws IOException

Returns the currently attained step position via a direct query to the underlying driver.

Throws:

IOException

open

public boolean open()
             throws IOException

Initializes the driver. Additionally to opening the serial port, we set the controller parameters.

Specified by:

open in interface Driver

Overrides:

open in class AbstractSerialDriver

Returns:

True if initialization was successful.

Throws:

IOException

getParametersFor

protected abstract Map<String,?> getParametersFor(String axisname)

Returns the appropriate parameters for the axis in question.

writeCommand

public String writeCommand(String comm)
                    throws IOException

Sends a MINILOG command to the controller.

Specified by:

writeCommand in class AbstractSerialDriver

Parameters:

comm - String representing the MINILOG command (like "X+200").

Returns:

String representing the controller's response.

Throws:

IOException

writeCommand

public String writeCommand(String comm,
                           boolean nolog)
                    throws IOException

Sends a MINILOG command to the controller.

Parameters:

comm - String representing the MINILOG command (like "X+200").

Returns:

String representing the controller's response.

Throws:

IOException

encapsulate

protected String encapsulate(String comm)

Encapsulates a minilig command into a transmission telegram. Especially the number of CR/LF at the end is varying from Controler to controler. Intervene here, if you have transmission problems that are related to send-telegram size.

ensureCommand

protected String ensureCommand(String comm)
                        throws IOException

Ensures command write by repeating for maximum KEY_SERIALRETRY times. If it fails permanently, an IOException is thrown.

Throws:

IOException

writeString

public String writeString(String cmd)
                   throws IOException

Writes a string to the serial port. No sync etc.

Specified by:

writeString in class AbstractSerialDriver

Returns:

The string as it was truely sent to the line, including LF etc.

Throws:

IOException

writeString

public String writeString(String cmd,
                          boolean nolog)
                   throws IOException

Writes a string to the serial port. No sync etc.

Throws:

IOException

readString

public String readString()
                  throws IOException

Reads and interprets the serial response. The motor controller returns control chars that are stripped from the reply.

Specified by:

readString in class AbstractSerialDriver

Throws:

IOException

readString

public String readString(boolean nolog)
                  throws IOException

Reads and interprets the serial response. The motor controller returns control chars that are stripped from the reply.

Throws:

IOException

waitWhileAxisMoving

protected int waitWhileAxisMoving(String x)

waitWhileAxisMoving

protected int waitWhileAxisMoving(int axnr)

Waits until the given axis is moving. This method should be called after each motor movig command to make sure the operation is finished before another operation starts.

Parameters:

axnr - Number of axis to move

Returns:

0, 1 whether or not the moving finished properly.

powerOff

protected void powerOff(String axis)
                 throws IOException

Deactivates the power stage of the given axis.

Throws:

IOException

powerOn

protected void powerOn(String axis)
                throws IOException

Activates the power stage of the given axis.

Throws:

IOException

axisIsMoving

private char axisIsMoving(String ax)
                   throws IOException

Returns the moving state of the axis.

Throws:

IOException

reset

protected void reset()
              throws IOException

Resets the controller.

Throws:

IOException

remote

protected void remote()
               throws IOException

Set the controller to remote

Throws:

IOException

resetAxis

protected boolean resetAxis(String ax)
                     throws IOException

Resets the axis.

Throws:

IOException

errorPower

protected boolean errorPower(String ax)
                      throws IOException

Error in last stage.

Throws:

IOException

errorStep

protected boolean errorStep(String ax)
                     throws IOException

Error in last stage.

Throws:

IOException

errorStop

protected boolean errorStop(String ax)
                     throws IOException

Error in last stage.

Throws:

IOException

axisStop

protected boolean axisStop(String ax)
                    throws IOException

Axis stop

Throws:

IOException

getControllerParameter

protected double getControllerParameter(String ax,
                                        String param)
                                 throws IOException,
                                        NullPointerException

Returns a controller parameter. If reading fails, it is repeated for KEY_SERIALRETRY times.

Parameters:

param - String specifying the requested parameter (like "P14");

Returns:

Double value of the requested parameter.

Throws:

IOException

NullPointerException

getControllerParameterArray

protected double[] getControllerParameterArray(String ax,
                                               int[] ipar)
                                        throws IOException,
                                               NullPointerException

Returns the values of all parameters indicated in the list.

Throws:

IOException

NullPointerException

getControllerType

protected String getControllerType()
                            throws IOException

Returns the controller type string. Values are either "MCC" or "OMC".

Returns:

String of the controller type.

Throws:

IOException

getStepResolution

protected int getStepResolution(String ax)
                         throws IOException,
                                NullPointerException

Returns the controller's step resolution compiled from the P45 controller parameter.

Returns:

Integer value of the step resolution.

Throws:

IOException

NullPointerException

setControllerParameter

protected void setControllerParameter(String ax,
                                      String param,
                                      int value)
                               throws IOException,
                                      NullPointerException

Method to set a controller parameter.

Parameters:

param - String specifying the requested parameter (like "P14").

value - Integer value of the given parameter to set.

Throws:

IOException

NullPointerException

getStatus

public String getStatus()

Returns various status information about the controller.

Returns:

A formatted string with the controllers status info.

getStatus

protected String getStatus(String ax,
                           boolean all)

Returns staus information. Depending on the flag passed over either lesser or all information is retrieved.