stella.roof
Class BaaderDome

java.lang.Object
  util.PropertyContainer
      util.PropertyResources
          util.PropertyBundles
              io.AbstractDriver
                  stella.roof.BaaderDome

All Implemented Interfaces:

Driver, Cloneable, DomeDriver, Initializable, LocalizedSupplying, PropertySupplying, ResourceSupplying

public class BaaderDome
extends AbstractDriver
implements DomeDriver

Dome driver implementation for the Baader dome in Potsdam, sheltering Robotel.

Nested Class Summary

private class	BaaderDome.AzimuthRead This thread permanently tries to read the azimuth.
static class	BaaderDome.Close Simple test class that connects to the dome server and closes the dome, additionally cranking out the azimuth.
private class	BaaderDome.CloseHatch A thread that turns on the hatch motor for opening and turns it off automatically after a specified wait time.
private class	BaaderDome.CloseSlit A thread that turns on the hatch motor for opening and turns it off automatically after a specified wait time.
static class	BaaderDome.Open Simple test class that connects to the dome server and opens the dome, additionally cranking out the azimuth.
private class	BaaderDome.OpenHatch A thread that turns on the hatch motor for opening and turns it off automatically after a specified wait time.
private class	BaaderDome.OpenSlit A thread that turns on the hatch motor for opening and turns it off automatically after a specified wait time.
static class	BaaderDome.Test Simple test class that connects to the dome server and rotates the dome, additionally cranking out the azimuth.

Nested classes/interfaces inherited from class util.PropertyResources

PropertyResources.URLResource

Field Summary

private Double	cache We have to cache valid azimuth reading due to faulty hardware.
private static double	DEFAZIMUTHLINEAR Measured linear term, ticks per degree.
private static double	DEFAZIMUTHOFFSET Offset, crude estimate, N=jump.
private static long	DEFAZIMUTHSLEEP Default property value.
static String	DEFDRIVERNAME Default name of the dome in Potsdam.
private static long	DEFHATCHCLOSE Default property value.
private static long	DEFHATCHOPEN Default property value.
private static long	DEFHATCHSURE Default property value.
private static long	DEFJOINFULL Default property value.
private static int	DEFMAXVALID Minimum valid reading on dome.
private static int	DEFMINVALID Minimum valid reading on dome.
private static long	DEFREADTIMEOUT Default property value.
private static int	DEFRPCTIMEOUT Default property value.
private static String	DEFSERVERNAME Default property value.
private static long	DEFSLITFULL Default property value.
private static long	DEFSLITSURE Default property value.
private static double	DEFSLOWSPEED Measured slow speed.
private static boolean	DEFUPDATE Default property value.
private static Object	HATCH A lock for hatch operation.
private Trigger	hatchopen The trigger that is true, if the hatch is open.
private Trigger	hatchshut The trigger that is true, if the hatch is shut.
static String	KEY_AZIMUTHLINEAR The conversion factor from position encoder to azimuth, linear term.
static String	KEY_AZIMUTHOFFSET The conversion factor from position encoder to azimuth, offset.
static String	KEY_AZIMUTHSLEEP Timeout between azimuth reads, ms.
static String	KEY_HATCHCLOSE Time to ensure that the hatch has moved its entire way.
static String	KEY_HATCHOPEN Time to ensure that the hatch has moved its entire way.
static String	KEY_HATCHSURE Time to ensure that the hatch is closed, smaller than full time.
static String	KEY_JOINFULL Time to ensure that joins are good
static String	KEY_MAXVALID The raw-azimuth maximum value that is valid.
static String	KEY_MINVALID The raw-azimuth minimum value that is valid.
static String	KEY_READTIMEOUT Timeout to get a valid azimuth reading on moving dome.
static String	KEY_RPCTIMEOUT The RPC time-out in millisecond.
static String	KEY_SERVERNAME FCDN of the host where the guider rpc server is running.
static String	KEY_SLITFULL Time to ensure that the slit has moved its entire way.
static String	KEY_SLITSURE Time to ensure that the slit has opened, smaller than full time.
static String	KEY_SLOWSPEED The speed in azimuth at slow, degrees per second.
static String	KEY_UPDATE If true, start the updarte thread on client connect.
static int	OK return value for OK .
private DomeClient	robotel The RPC client talking to the module-pc at the dome.
private static Object	SLIT A lock for slit operation.
private Trigger	slitopen The trigger that is true, if the slit is open.
private Trigger	slitshut The trigger that is true, if the slit is shut.
private Thread	update This thread updates the azimuth reading continuosly.

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

BaaderDome(Map<String,String> prop)
Constructs a new BaaderDome driver, but does not connect to hardware.

Method Summary

boolean	close() Close the RPC communication.
boolean	closeDome() Closes the dome.
boolean	closeHatch() Closes the hatch.
boolean	closeSlit() Closes the slit.
boolean	fastBackward() Starts fast backward in azimuth.
boolean	fastForward() Starts fast forward in azimuth.
double	getAzimuth() Returns the azimuth position of the dome in degrees.
void	init() On itit, the triggers are constructed and set to dome closed.
boolean	isDomeClosed() Returns true, if dome is closed.
boolean	isDomeOpened() Returns true, if dome is open.
boolean	isOpen() We are open if we have a client.
boolean	open() Opens the RPC client to the module-PC operating the dome.
boolean	openDome() Opens the dome.
boolean	openHatch() Opens the hatch.
boolean	openSlit() Opens the slit.
boolean	slowBackward() Starts slow backward in azimuth.
boolean	slowForward() Starts slow forward in azimuth.
private boolean	startUpdate() This method starts the update thread.
boolean	stopAzimuth() Stops the azimuth motor.

Methods inherited from class io.AbstractDriver

createDriver, equals, getDriverName, 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 io.Driver

getDriverName

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 value for OK .

See Also:

Constant Field Values

KEY_SERVERNAME

public static final String KEY_SERVERNAME

FCDN of the host where the guider rpc server is running.

See Also:

Constant Field Values

KEY_RPCTIMEOUT

public static final String KEY_RPCTIMEOUT

The RPC time-out in millisecond.

See Also:

Constant Field Values

KEY_AZIMUTHLINEAR

public static final String KEY_AZIMUTHLINEAR

The conversion factor from position encoder to azimuth, linear term.

See Also:

Constant Field Values

KEY_AZIMUTHOFFSET

public static final String KEY_AZIMUTHOFFSET

The conversion factor from position encoder to azimuth, offset.

See Also:

Constant Field Values

KEY_SLOWSPEED

public static final String KEY_SLOWSPEED

The speed in azimuth at slow, degrees per second. Setting at 10Hz.

See Also:

Constant Field Values

KEY_UPDATE

public static final String KEY_UPDATE

If true, start the updarte thread on client connect.

See Also:

Constant Field Values

KEY_MINVALID

public static final String KEY_MINVALID

The raw-azimuth minimum value that is valid.

See Also:

Constant Field Values

KEY_MAXVALID

public static final String KEY_MAXVALID

The raw-azimuth maximum value that is valid.

See Also:

Constant Field Values

KEY_READTIMEOUT

public static final String KEY_READTIMEOUT

Timeout to get a valid azimuth reading on moving dome.

See Also:

Constant Field Values

KEY_AZIMUTHSLEEP

public static final String KEY_AZIMUTHSLEEP

Timeout between azimuth reads, ms.

See Also:

Constant Field Values

KEY_HATCHSURE

public static final String KEY_HATCHSURE

Time to ensure that the hatch is closed, smaller than full time.

See Also:

Constant Field Values

KEY_HATCHOPEN

public static final String KEY_HATCHOPEN

Time to ensure that the hatch has moved its entire way.

See Also:

Constant Field Values

KEY_HATCHCLOSE

public static final String KEY_HATCHCLOSE

Time to ensure that the hatch has moved its entire way.

See Also:

Constant Field Values

KEY_SLITSURE

public static final String KEY_SLITSURE

Time to ensure that the slit has opened, smaller than full time.

See Also:

Constant Field Values

KEY_SLITFULL

public static final String KEY_SLITFULL

Time to ensure that the slit has moved its entire way.

See Also:

Constant Field Values

KEY_JOINFULL

public static final String KEY_JOINFULL

Time to ensure that joins are good

See Also:

Constant Field Values

HATCH

private static final Object HATCH

A lock for hatch operation.

SLIT

private static final Object SLIT

A lock for slit operation.

DEFDRIVERNAME

public static final String DEFDRIVERNAME

Default name of the dome in Potsdam.

See Also:

Constant Field Values

DEFSERVERNAME

private static final String DEFSERVERNAME

Default property value.

See Also:

Constant Field Values

DEFRPCTIMEOUT

private static final int DEFRPCTIMEOUT

Default property value.

See Also:

Constant Field Values

DEFUPDATE

private static final boolean DEFUPDATE

Default property value.

See Also:

Constant Field Values

DEFSLOWSPEED

private static final double DEFSLOWSPEED

Measured slow speed.

See Also:

Constant Field Values

DEFMINVALID

private static final int DEFMINVALID

Minimum valid reading on dome.

See Also:

Constant Field Values

DEFMAXVALID

private static final int DEFMAXVALID

Minimum valid reading on dome.

See Also:

Constant Field Values

DEFAZIMUTHLINEAR

private static final double DEFAZIMUTHLINEAR

Measured linear term, ticks per degree.

See Also:

Constant Field Values

DEFAZIMUTHOFFSET

private static final double DEFAZIMUTHOFFSET

Offset, crude estimate, N=jump. -> -32089(mm?) = -180deg

See Also:

Constant Field Values

DEFAZIMUTHSLEEP

private static final long DEFAZIMUTHSLEEP

Default property value.

See Also:

Constant Field Values

DEFREADTIMEOUT

private static final long DEFREADTIMEOUT

Default property value.

See Also:

Constant Field Values

DEFHATCHSURE

private static final long DEFHATCHSURE

Default property value.

See Also:

Constant Field Values

DEFHATCHCLOSE

private static final long DEFHATCHCLOSE

Default property value.

See Also:

Constant Field Values

DEFHATCHOPEN

private static final long DEFHATCHOPEN

Default property value.

See Also:

Constant Field Values

DEFSLITSURE

private static final long DEFSLITSURE

Default property value.

See Also:

Constant Field Values

DEFSLITFULL

private static final long DEFSLITFULL

Default property value.

See Also:

Constant Field Values

DEFJOINFULL

private static final long DEFJOINFULL

Default property value.

See Also:

Constant Field Values

robotel

private DomeClient robotel

The RPC client talking to the module-pc at the dome.

hatchopen

private Trigger hatchopen

The trigger that is true, if the hatch is open.

hatchshut

private Trigger hatchshut

The trigger that is true, if the hatch is shut.

slitopen

private Trigger slitopen

The trigger that is true, if the slit is open.

slitshut

private Trigger slitshut

The trigger that is true, if the slit is shut.

cache

private Double cache

We have to cache valid azimuth reading due to faulty hardware.

update

private Thread update

This thread updates the azimuth reading continuosly.

Constructor Detail

BaaderDome

public BaaderDome(Map<String,String> prop)

Constructs a new BaaderDome driver, but does not connect to hardware. This is done in the open() section.

Method Detail

init

public void init()

On itit, the triggers are constructed and set to dome closed. Read only after the client has been opened and the appropriate hardware has been installed.

Specified by:

init in interface Initializable

Overrides:

init in class PropertyResources

open

public boolean open()
             throws IOException

Opens the RPC client to the module-PC operating the dome. Currently, the hardware does not support reading of the limit switches, but setting the #KEY_HATCHSWITCHES and #KEY_SLITSWITCHES to true, initializes the internal triggers with true readings.

Specified by:

open in interface Driver

Returns:

True if initialization was successful.

Throws:

IOException

startUpdate

private boolean startUpdate()
                     throws IOException

This method starts the update thread. It is normally started right at opening the driver. It assumes that the dome client is connected.

Throws:

IOException

isOpen

public boolean isOpen()

We are open if we have a client.

Specified by:

isOpen in interface Driver

Returns:

True, if a previous initialization was successful

close

public boolean close()
              throws IOException

Close the RPC communication.

Specified by:

close in interface Driver

Returns:

True if clean-up was successful.

Throws:

IOException

stopAzimuth

public boolean stopAzimuth()
                    throws IOException

Stops the azimuth motor.

Specified by:

stopAzimuth in interface DomeDriver

Throws:

IOException

fastForward

public boolean fastForward()
                    throws IOException

Starts fast forward in azimuth. Forward means in normal daily rotation, from south to west.

Specified by:

fastForward in interface DomeDriver

Throws:

IOException

fastBackward

public boolean fastBackward()
                     throws IOException

Starts fast backward in azimuth. Backwards measn against normal daily rotation, from south to east.

Specified by:

fastBackward in interface DomeDriver

Throws:

IOException

slowForward

public boolean slowForward()
                    throws IOException

Starts slow forward in azimuth. Forward means in normal daily rotation, from south to west.

Specified by:

slowForward in interface DomeDriver

Throws:

IOException

slowBackward

public boolean slowBackward()
                     throws IOException

Starts slow backward in azimuth. Backwards measn against normal daily rotation, from south to east.

Specified by:

slowBackward in interface DomeDriver

Throws:

IOException

openSlit

public boolean openSlit()
                 throws IOException

Opens the slit. On robotel, this is only possible, if the hatch is closed.

Specified by:

openSlit in interface DomeDriver

Throws:

IOException

openHatch

public boolean openHatch()
                  throws IOException

Opens the hatch. Only possible, if the slit is not closed.

Specified by:

openHatch in interface DomeDriver

Throws:

IOException

openDome

public boolean openDome()
                 throws IOException

Opens the dome. This means we first close the hatch, start the slit opening and then start the hatch opening.

Specified by:

openDome in interface DomeDriver

Throws:

IOException

closeDome

public boolean closeDome()
                  throws IOException

Closes the dome. This means we close both at the same time.

Specified by:

closeDome in interface DomeDriver

Throws:

IOException

closeHatch

public boolean closeHatch()
                   throws IOException

Closes the hatch. Only possible, if the slit is not totally shut.

Specified by:

closeHatch in interface DomeDriver

Throws:

IOException

closeSlit

public boolean closeSlit()
                  throws IOException

Closes the slit. This is only possible in conjunction to the hatch being closed, so we return a close dome here.

Specified by:

closeSlit in interface DomeDriver

Throws:

IOException

isDomeOpened

public boolean isDomeOpened()

Returns true, if dome is open. Currently, not hardware switches are installed, so we return the state of our internal switches.

Specified by:

isDomeOpened in interface DomeDriver

isDomeClosed

public boolean isDomeClosed()

Returns true, if dome is closed. Currently, not hardware switches are installed, so we return the state of our internal switches.

Specified by:

isDomeClosed in interface DomeDriver

getAzimuth

public double getAzimuth()
                  throws IOException

Returns the azimuth position of the dome in degrees. Numbering starts at South, increases to West, and goes to East=270.

The hardware installed at robotel is not very reliable, at an error rate of 50%. The unability to read is strongly position depending, i.e. if the dome is stopped at a position, where reading fails, repeating the reading will not help. Thus, we start a parallel thread on opening that contiuously caches valid readings. The most actual reading is returned by this method, without any access to the hardware.

Specified by:

getAzimuth in interface DomeDriver

Throws:

IOException