stella.roof
Class DomeReceiver

java.lang.Object
  util.PropertyContainer
      util.PropertyResources
          util.PropertyBundles
              stella.roof.AbstractShelter
                  stella.roof.DomeReceiver

All Implemented Interfaces:

DriverDepending, Cloneable, ClusterDepending, DomeOperating, Sheltering, Initializable, LocalizedSupplying, PropertySupplying, ResourceSupplying, StatusProviding

public class DomeReceiver
extends AbstractShelter
implements DomeOperating, DriverDepending, ClusterDepending

The Dome receiver operates the Baader dome of RoboTel, but should be capable of dealing with similar dome designs.

Nested Class Summary

static class	DomeReceiver.Follow A class for testing dome tracking.
static class	DomeReceiver.Position A class for testing dome positioning.
private class	DomeReceiver.Slew This thread never switches motors on or off! This class acts as a thread to slew to a desired position.
private class	DomeReceiver.SolTrack A timer task that does the tracking of the anti-solar az.
static class	DomeReceiver.Status A class for retrieving dome status
private class	DomeReceiver.Track A timer task that does the tracking of the dome.

Nested classes/interfaces inherited from class util.PropertyResources

PropertyResources.URLResource

Field Summary

private Value	altitude The value that has the height of the sky position tracked.
private Value	azimuth The value that has the azimuth of the sky position tracked.
private DecTarget	de The declination in the actual sky we have to follow.
private static double	DEFALLOW We allow a maximum of 6 degrees on tracking.
private static double	DEFDESIREDOFF Default property value.
private static long	DEFFASTCOOL The time it takes the dome to stop after fast movement.
private static long	DEFFASTJOIN Maximum time fast movement is allowed.
private static double	DEFFASTPRE The fast positioning is done to that lavel.
private static double	DEFHOMEPOSITION A home position.
private static int	DEFMAXFAILS The default number of positiong retires .
private static double	DEFMAXHEIGHT No need to go here.
private static int	DEFMAXRETRIES The default number of positiong retires .
private static long	DEFPOSITIONCACHE Position is invalid after 1000 ms.
private static String	DEFSITE The default site.
private static long	DEFSLEWSLEEP Sleep intervall during slews.
private static long	DEFSLOWCOOL The time it takes the dome to stop after slow movement.
private static long	DEFSLOWJOIN Maximum time slow movement is allowed.
private static double	DEFSLOWPRE The slow positioning is done to that lavel.
private static long	DEFTIMEOUT Maximum slit time for closing.
private static long	DEFTRACKREPEAT During tracking, position is checked with this intervall.
private static double	DEFTRAVELFAST If desired position is further than this, use fast speed.
private static double	DEFVELOCITYTHRESHOLD Velocities below this deg per second are considered stopped.
private DomeDriver	dome The dome driver used for interfacing to the dome.
private double	domeaz And the azimuth.
private long	dometime The last time-stamp we retrieved the dome azimuth.
private TimerTask	follow The timer task that allows following the dome.
static String	KEY_ALLOW
static String	KEY_DESIREDOFF
static String	KEY_DOMEDRIVER The name of the dome driver to use.
static String	KEY_FASTCOOL
static String	KEY_FASTJOIN
static String	KEY_FASTPRE
static String	KEY_HOMEPOSITION The azimuth of the home position.
static String	KEY_LATITUDE If set, the name of the latitude parameter to use.
static String	KEY_LONGITUDE If set, the name of the longitude parameter to use.
static String	KEY_MAXFAILS The maximum number of go-to failures on position obtains.
static String	KEY_MAXHEIGHT
static String	KEY_MAXRETRIES The maximum number of retires for position obtains.
static String	KEY_POSITIONCACHE
static String	KEY_SITE If no explicit longitude or latitude, we use this site.
static String	KEY_SLEWSLEEP
static String	KEY_SLOWCOOL
static String	KEY_SLOWJOIN
static String	KEY_SLOWPRE
static String	KEY_TIME If set, this time parameter should be used from the cluster.
static String	KEY_TIMEOUT
static String	KEY_TRACKREPEAT
static String	KEY_TRAVELFAST
static String	KEY_VELOCITYTHRESHOLD
private double	lastaz And the last azimuth.
private ErrorEvent	lasterror We store the last error generated for asynchroneous retrieval.
private long	lastopen The timestamp of the last opening of the roof.
private long	lastshut The timestamp of the last closing of the roof.
private long	lasttime Prior to the last get, this was the time of dome azimuth.
private boolean	motoron Indicates that we switched on the motors.
private Thread	moving A thread indicating a moving slit/hatch.
private boolean	movingannounced A boolean to avoid repeating messages.
private RaTarget	ra The right ascension in the actual sky we have to follow.
private SolAzimuth	solaz The azimuth of the sun to avoid direct blinding.
private SolHeight	solh The height of the sun to avoid direct blinding.

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

DomeReceiver(Map<String,String> prop)
Constructs a new dome receiver used for operating the dome.

Method Summary

boolean	antiSun() Follows the anti-sun by positioning the slit always opposite to the sun position.
void	clearLastError() Clears the last error event.
boolean	close(boolean always) Closes the dome.
boolean	closeHatch() Directly closes the hatch, if possible.
boolean	closeSlit() Directly closes the slit, if possible.
static DomeReceiver	createDomeReceiver(File props) Creates a dome receiver, initalizes the dome driver and all parameters.
boolean	follow(double ratel, double detel) Follows the object at the given ra and dec.
private double	getActualDomePosition() Returns the actual dome position if the cache-time is over, otherwise the cached position is returned.
private Double	getActualDomeVelocity() Checks the current and the last dome position and calculates a speed out of it, if both are valid, otherwise it returns null.
Date	getLastCloseTime() Returns the date of the last shut time if the roof is currently shut.
ErrorEvent	getLastError() Returns the last error that occured.
Date	getLastOpenTime() Returns the date of the last open time if the roof is currently open.
private boolean	go(double to, boolean forward, boolean fast, double within, long timeout, long cooldown) Goes to the indicated position, in the desired direction and speed.
private boolean	goTo(double azdeg) Goes to the indicated position.
boolean	home() Moves the dome to the home position.
boolean	isClosed() Returns true if the dome is fully open.
private Boolean	isMoving() We are moving, if our absolute speed is higher than the threshold.
boolean	isOpen() Returns true if the dome is fully open.
boolean	open(boolean auto) Opens the dome.
boolean	openHatch() Directly opens the hatch, if possible.
boolean	openSlit() Directly opens the slit, if possible.
boolean	position(double az) Moves the dome to the indicated position and stops there.
boolean	powerOff() Returns true if the dome driver is present.
boolean	powerOn() Returns true if the dome driver is present.
Object	provideStatus() Sends a status event back.
void	registerCluster(ParameterClustering set) Registers a parameter set to the roof.
boolean	registerDriver(Driver d) Registers the dome driver.
boolean	stop() Stops the azimuth moter, the slit mechanism cannot be stopped once initiated.

Methods inherited from class stella.roof.AbstractShelter

createShelter

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, init, 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

equals, finalize, getClass, hashCode, 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

Methods inherited from interface util.Initializable

init

Field Detail

KEY_DOMEDRIVER

public static final String KEY_DOMEDRIVER

The name of the dome driver to use.

See Also:

Constant Field Values

KEY_HOMEPOSITION

public static final String KEY_HOMEPOSITION

The azimuth of the home position.

See Also:

Constant Field Values

KEY_MAXRETRIES

public static final String KEY_MAXRETRIES

The maximum number of retires for position obtains.

See Also:

Constant Field Values

KEY_MAXFAILS

public static final String KEY_MAXFAILS

The maximum number of go-to failures on position obtains.

See Also:

Constant Field Values

KEY_TIME

public static final String KEY_TIME

If set, this time parameter should be used from the cluster.

See Also:

Constant Field Values

KEY_LATITUDE

public static final String KEY_LATITUDE

If set, the name of the latitude parameter to use.

See Also:

Constant Field Values

KEY_LONGITUDE

public static final String KEY_LONGITUDE

If set, the name of the longitude parameter to use.

See Also:

Constant Field Values

KEY_SITE

public static final String KEY_SITE

If no explicit longitude or latitude, we use this site.

See Also:

Constant Field Values

KEY_DESIREDOFF

public static final String KEY_DESIREDOFF

See Also:

Constant Field Values

KEY_TRAVELFAST

public static final String KEY_TRAVELFAST

See Also:

Constant Field Values

KEY_FASTPRE

public static final String KEY_FASTPRE

See Also:

Constant Field Values

KEY_FASTJOIN

public static final String KEY_FASTJOIN

See Also:

Constant Field Values

KEY_FASTCOOL

public static final String KEY_FASTCOOL

See Also:

Constant Field Values

KEY_SLOWPRE

public static final String KEY_SLOWPRE

See Also:

Constant Field Values

KEY_SLOWJOIN

public static final String KEY_SLOWJOIN

See Also:

Constant Field Values

KEY_SLOWCOOL

public static final String KEY_SLOWCOOL

See Also:

Constant Field Values

KEY_POSITIONCACHE

public static final String KEY_POSITIONCACHE

See Also:

Constant Field Values

KEY_VELOCITYTHRESHOLD

public static final String KEY_VELOCITYTHRESHOLD

See Also:

Constant Field Values

KEY_SLEWSLEEP

public static final String KEY_SLEWSLEEP

See Also:

Constant Field Values

KEY_MAXHEIGHT

public static final String KEY_MAXHEIGHT

See Also:

Constant Field Values

KEY_ALLOW

public static final String KEY_ALLOW

See Also:

Constant Field Values

KEY_TIMEOUT

public static final String KEY_TIMEOUT

See Also:

Constant Field Values

KEY_TRACKREPEAT

public static final String KEY_TRACKREPEAT

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Constant Field Values

DEFSITE

private static final String DEFSITE

The default site.

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Constant Field Values

DEFHOMEPOSITION

private static final double DEFHOMEPOSITION

A home position.

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Constant Field Values

DEFMAXRETRIES

private static final int DEFMAXRETRIES

The default number of positiong retires .

See Also:

Constant Field Values

DEFMAXFAILS

private static final int DEFMAXFAILS

The default number of positiong retires .

See Also:

Constant Field Values

DEFDESIREDOFF

private static final double DEFDESIREDOFF

Default property value. Slit width 170cm, diameter 4.7m.

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Constant Field Values

DEFTRAVELFAST

private static final double DEFTRAVELFAST

If desired position is further than this, use fast speed.

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Constant Field Values

DEFFASTPRE

private static final double DEFFASTPRE

The fast positioning is done to that lavel.

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Constant Field Values

DEFSLOWPRE

private static final double DEFSLOWPRE

The slow positioning is done to that lavel.

See Also:

Constant Field Values

DEFFASTCOOL

private static final long DEFFASTCOOL

The time it takes the dome to stop after fast movement.

See Also:

Constant Field Values

DEFSLOWCOOL

private static final long DEFSLOWCOOL

The time it takes the dome to stop after slow movement.

See Also:

Constant Field Values

DEFFASTJOIN

private static final long DEFFASTJOIN

Maximum time fast movement is allowed.

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Constant Field Values

DEFSLOWJOIN

private static final long DEFSLOWJOIN

Maximum time slow movement is allowed.

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Constant Field Values

DEFPOSITIONCACHE

private static final long DEFPOSITIONCACHE

Position is invalid after 1000 ms.

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Constant Field Values

DEFVELOCITYTHRESHOLD

private static final double DEFVELOCITYTHRESHOLD

Velocities below this deg per second are considered stopped.

See Also:

Constant Field Values

DEFSLEWSLEEP

private static final long DEFSLEWSLEEP

Sleep intervall during slews.

See Also:

Constant Field Values

DEFMAXHEIGHT

private static final double DEFMAXHEIGHT

No need to go here.

See Also:

Constant Field Values

DEFALLOW

private static final double DEFALLOW

We allow a maximum of 6 degrees on tracking.

See Also:

Constant Field Values

DEFTIMEOUT

private static final long DEFTIMEOUT

Maximum slit time for closing.

See Also:

Constant Field Values

DEFTRACKREPEAT

private static final long DEFTRACKREPEAT

During tracking, position is checked with this intervall.

See Also:

Constant Field Values

dome

private DomeDriver dome

The dome driver used for interfacing to the dome.

solh

private SolHeight solh

The height of the sun to avoid direct blinding.

solaz

private SolAzimuth solaz

The azimuth of the sun to avoid direct blinding.

ra

private RaTarget ra

The right ascension in the actual sky we have to follow.

de

private DecTarget de

The declination in the actual sky we have to follow.

altitude

private Value altitude

The value that has the height of the sky position tracked.

azimuth

private Value azimuth

The value that has the azimuth of the sky position tracked.

motoron

private boolean motoron

Indicates that we switched on the motors.

dometime

private long dometime

The last time-stamp we retrieved the dome azimuth.

domeaz

private double domeaz

And the azimuth.

lasttime

private long lasttime

Prior to the last get, this was the time of dome azimuth.

lastaz

private double lastaz

And the last azimuth.

lasterror

private ErrorEvent lasterror

We store the last error generated for asynchroneous retrieval.

lastopen

private long lastopen

The timestamp of the last opening of the roof.

lastshut

private long lastshut

The timestamp of the last closing of the roof.

moving

private Thread moving

A thread indicating a moving slit/hatch.

movingannounced

private boolean movingannounced

A boolean to avoid repeating messages.

follow

private TimerTask follow

The timer task that allows following the dome.

Constructor Detail

DomeReceiver

public DomeReceiver(Map<String,String> prop)

Constructs a new dome receiver used for operating the dome.

Method Detail

registerDriver

public boolean registerDriver(Driver d)

Registers the dome driver.

Specified by:

registerDriver in interface DriverDepending

Returns:

True if registering at the driver was successful.

registerCluster

public void registerCluster(ParameterClustering set)

Registers a parameter set to the roof. If a time, longitude or latitude parameter was found, we grab it from the cluster, otherwise we construct default ones from our properties.

Specified by:

registerCluster in interface ClusterDepending

home

public boolean home()

Moves the dome to the home position. No extra limit/zero switches are needed, so we simply move the dome to the home azimuth position

Specified by:

home in interface DomeOperating

position

public boolean position(double az)

Moves the dome to the indicated position and stops there.

Specified by:

position in interface DomeOperating

Parameters:

az - The astronomical azimuth in degrees, S=0, W=+90.

antiSun

public boolean antiSun()

Follows the anti-sun by positioning the slit always opposite to the sun position.

Specified by:

antiSun in interface DomeOperating

follow

public boolean follow(double ratel,
                      double detel)

Follows the object at the given ra and dec.

Specified by:

follow in interface DomeOperating

Parameters:

ratel - Right ascension, degrees, apparent equinox.

detel - Declination, degress, apparent equinox.

stop

public boolean stop()

Stops the azimuth moter, the slit mechanism cannot be stopped once initiated.

Specified by:

stop in interface DomeOperating

open

public boolean open(boolean auto)

Opens the dome. Directly pipes it to our dome driver, but never throws an exception.

Specified by:

open in interface Sheltering

Parameters:

auto - True, if standard procedure (no emergency, like in automated mode).

Returns:

True if opening was successful.

close

public boolean close(boolean always)

Closes the dome. Directly pipes it to our dome driver, but never throws an exception.

Specified by:

close in interface Sheltering

Parameters:

always - True, if standard procedure (no emergency, like in automated mode).

Returns:

True if closing was successful

openHatch

public boolean openHatch()

Directly opens the hatch, if possible. Directly pipes it to our dome driver, but never throws an exception.

Specified by:

openHatch in interface DomeOperating

Returns:

True if opening was successful.

openSlit

public boolean openSlit()

Directly opens the slit, if possible. Directly pipes it to our dome driver, but never throws an exception.

Specified by:

openSlit in interface DomeOperating

Returns:

True if opening was successful.

closeHatch

public boolean closeHatch()

Directly closes the hatch, if possible. Directly pipes it to our dome driver, but never throws an exception.

Specified by:

closeHatch in interface DomeOperating

Returns:

True if opening was successful.

closeSlit

public boolean closeSlit()

Directly closes the slit, if possible. Directly pipes it to our dome driver, but never throws an exception.

Specified by:

closeSlit in interface DomeOperating

Returns:

True if opening was successful.

getLastCloseTime

public Date getLastCloseTime()

Returns the date of the last shut time if the roof is currently shut. If the roof is open, null should be retunred.

Specified by:

getLastCloseTime in interface Sheltering

getLastOpenTime

public Date getLastOpenTime()

Returns the date of the last open time if the roof is currently open. If the roof is shut, null should be retunred.

Specified by:

getLastOpenTime in interface Sheltering

isOpen

public boolean isOpen()

Returns true if the dome is fully open. This means that observing can commence.

Specified by:

isOpen in interface Sheltering

isClosed

public boolean isClosed()

Returns true if the dome is fully open. This means that observing can commence.

Specified by:

isClosed in interface Sheltering

powerOn

public boolean powerOn()

Returns true if the dome driver is present.

Specified by:

powerOn in interface DomeOperating

Returns:

True on success

powerOff

public boolean powerOff()

Returns true if the dome driver is present.

Specified by:

powerOff in interface DomeOperating

Returns:

True on success

provideStatus

public Object provideStatus()

Sends a status event back. The position of the roof and the state of the power switches is read and sent back.

Specified by:

provideStatus in interface StatusProviding

getLastError

public ErrorEvent getLastError()

Returns the last error that occured.

Specified by:

getLastError in interface DomeOperating

clearLastError

public void clearLastError()

Clears the last error event.

Specified by:

clearLastError in interface DomeOperating

goTo

private boolean goTo(double azdeg)

Goes to the indicated position. On RoboTel, we have two different slewing speeds available, which one we use depends on the distance we want to travel, decided by KEY_TRAVELFAST. Depending on the slewing speed chosen, we stop KEY_FASTPRE or KEY_SLOWPRE degrees before we reach the actual position. After the motor stopped moving, decided by #KEY_NOTMOVING, which is a value in degrees persecond, we check if we have reached the desired position within KEY_DESIREDOFF. If we are too far off, we are re-entrant into this method, but only to a certain depth of KEY_MAXRETRIES.

go

private boolean go(double to,
                   boolean forward,
                   boolean fast,
                   double within,
                   long timeout,
                   long cooldown)

Goes to the indicated position, in the desired direction and speed. Starts the motor, starts a surveilance thread, and stops the motor.

getActualDomePosition

private double getActualDomePosition()

Returns the actual dome position if the cache-time is over, otherwise the cached position is returned. If the driver is queried for a new position, the current one gets the last one. This information is then used to calculate the current speed.

getActualDomeVelocity

private Double getActualDomeVelocity()

Checks the current and the last dome position and calculates a speed out of it, if both are valid, otherwise it returns null.

isMoving

private Boolean isMoving()

We are moving, if our absolute speed is higher than the threshold.

createDomeReceiver

public static DomeReceiver createDomeReceiver(File props)
                                       throws IOException

Creates a dome receiver, initalizes the dome driver and all parameters. Mainly for testing purposes.

Throws:

IOException