stella.telescope
Class TelescopeMaster

java.lang.Object
  util.PropertyContainer
      util.PropertyResources
          util.PropertyBundles
              util.rmi.RmiPropertyContainer
                  util.rmi.AbstractRmiListener
                      stella.rmi.AbstractRmiCasterAndListener
                          stella.rmi.ReceiverTorso
                              stella.rmi.GenericMaster
                                  stella.telescope.TelescopeMaster

All Implemented Interfaces:

Cloneable, Remote, EventListener, Caster, ErrorSending, ErrorCaster, Alive, FocusControlling, ListenerControlling, PointingModelControlling, RmiAcknowledgeCaster, RmiCommandListener, RmiDoneCaster, RmiErrorCaster, RmiParameterClustering, TelescopeControlling, ExitCleaning, Initializable, LocalizedSupplying, PropertySupplying, Reloadable, ResourceSupplying, RmiCaster, RmiEventListener, RmiListener, RmiPropertyBearing, TriggerableReload, StepInitializable

public class TelescopeMaster
extends GenericMaster
implements PointingModelControlling, Reloadable

Class that resides on the telescope side and directly talks to a Pilar3 server via a TCP/IP socket connection.

Nested Class Summary

Nested classes/interfaces inherited from class stella.rmi.GenericMaster

GenericMaster.Standalone

Nested classes/interfaces inherited from class stella.rmi.ReceiverTorso

ReceiverTorso.CommandHandler

Nested classes/interfaces inherited from class util.PropertyResources

PropertyResources.URLResource

Field Summary

private static long	DEFALLOWCLEAR Time it takes for clearing the errors.
private static String	DEFALTITUDENAME The name of the azimuthal pilar value.
private static String	DEFALTITUDEOFFSETNAME The name of the azimuthal pilar value.
private static String	DEFAZIMUTHNAME The name of the azimuthal pilar value.
private static String	DEFAZIMUTHOFFSETNAME The name of the azimuthal pilar value.
private static long	DEFCOVERTIME Time for closing the covers, maximum.
private static boolean	DEFDBPOINTING If this points to true, we add the PM offset also to the done table.
private static long	DEFDEROTATORTIME Time for derotating the telescope.
private static long	DEFERRORRESETTIME Time it takes for clearing the errors.
private static long	DEFFOCUSTIME Time for focusing the telescope.
private static long	DEFINITTIME Time for initializing the telescope .
private static long	DEFMOVETIME Time for moving the telescope, maximum.
private static long	DEFOFFSETTIME Time for offsetting the telescop, maximum.
private static long	DEFPARKTIME Time for parking the telescope.
private static String	DEFPILAR The name of the filter wheel driver.
private static long	DEFPOINTINGADDTIME Time it takes for selecting pointing model.
private static long	DEFPOINTINGMODELTIME Time it takes for selecting pointing model.
private static long	DEFPOINTINGPOSITIONTIME Time it takes for retrieving true position.
private static long	DEFPOINTINGREQUESTTIME Time it takes for selecting pointing model.
private static long	DEFPOINTINGSAVETIME Time it takes for selecting pointing model.
private static String	DEFSET The default properties file for the adapter master parameters.
private static long	DEFSTARTTRACKINGTIME Time it takes for starting tracking.
private static String	DEFSTATENAME The name of the azimuthal pilar value.
private static long	DEFSTOPTRACKINGTIME Time it takes for stopping tracking.
private static long	DEFVERTICALTIMEOUT Time it takes for selecting pointing model.
static String	KEY_ALLOWCLEAR Minimum time difference to allow clearing of errors.
static String	KEY_ALTITUDENAME The name of the azimuthal pilar value.
static String	KEY_ALTITUDEOFFSETNAME The name of the azimuthal pilar value.
static String	KEY_AZIMUTHNAME The name of the azimuthal pilar value.
static String	KEY_AZIMUTHOFFSETNAME The name of the azimuthal pilar value.
static String	KEY_COVERTIME Time for closing the mirror covers, maximum.
static String	KEY_COVERVERTICAL Points to the vertical position on cover closure if needed
static String	KEY_DBPOINTING If this points to true, we add the PM offset also to the done table.
static String	KEY_DEROTATORTIME Time for derotator action the telescope.
static String	KEY_ERRORRESETTIME Time it takes for stopping tracking.
static String	KEY_FOCUSTIME Time for focusing the telescope.
static String	KEY_MOVETIME Time for moving the telescope, maximum.
static String	KEY_OFFSETTIME Time for offsetting the telescop, maximum.
static String	KEY_PILAR The name of the telescope driver, a PilarDriver.
static String	KEY_POINTINGADDTIME Time it takes for adding a measurement to a pointing model.
static String	KEY_POINTINGMODELTIME Time it takes for stopping tracking.
static String	KEY_POINTINGPOSITIONTIME Time it takes for stopping tracking.
static String	KEY_POINTINGREQUESTTIME Time it takes for requesting a pointing model.
static String	KEY_POINTINGSAVETIME Time it takes for adding a measurement to a pointing model.
static String	KEY_STARTTRACKINGTIME Time it takes for starting tracking.
static String	KEY_STATENAME The name of the telescope-is-ready trigger.
static String	KEY_STOPTRACKINGTIME Time it takes for stopping tracking.
static String	KEY_VERTICALTIMEOUT Timeout for sliding vertical.
private long	lastclear Last time the ETEL errors have been cleared.
private TelescopeDriver	pi4 For convenience, the pilar driver for the telescope.
private Map<String,TelescopePosition>	pointinglist The list of telescope positions.
private PointingFunction	pointingmodel If we have queried the actual pointing model.

Fields inherited from class stella.rmi.GenericMaster

DEFUNIQUE, KEY_ABORTTIME, KEY_AUTOMATIC, KEY_COMMTIME, KEY_COMMUNICATOR, KEY_DRIVERS, KEY_HISTORYDB, KEY_INITTIME, KEY_NODB, KEY_OBSERVEDB, KEY_OVERRULEAUTO, KEY_PARKTIME, KEY_PERMISSIONDB, KEY_PROPOSALDB, KEY_QUITTIME, KEY_REAUTO, KEY_RESETTIME, KEY_SET, KEY_SHUTDOWNDELAY, KEY_STATUSTIME, KEY_TARGETDB, KEY_TASKDB, KEY_UNIQUE, KEY_USERDB, lastabort, lastinit, lastpark, lastreset, telescope

Fields inherited from class stella.rmi.ReceiverTorso

KEY_BIND, KEY_BINDNAME, KEY_COMMANDCASTER, KEY_ERRORCOOL

Fields inherited from class util.rmi.AbstractRmiListener

KEY_ALIVE, KEY_EXPORTPORT, KEY_INIT, KEY_LISTENERNAME, KEY_RETRY, KEY_RETRYSLEEP

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 stella.rmi.RmiAcknowledgeCaster

NAMING_EXTENSION

Fields inherited from interface stella.rmi.RmiDoneCaster

NAMING_EXTENSION

Fields inherited from interface util.StepInitializable

KEY_INITDEPTH

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

TelescopeMaster(Map<String,String> prop)
Constructs a new telescope master.

Method Summary

protected boolean	abortMaster() Method called to abort the telescope.
boolean	accepts(CommandEvent ce) Checks if the command received is accepted by the adapter master.
boolean	addOffset(double deg1, double deg2) Offsets the telescope.
private boolean	addPilarPointingMeasure(PilarDriver pd4, String unique)
boolean	addPointingAs(String unique) Adds a pointing to the Pilar list, specifying the measurement name.
private boolean	addPointingMeasure(String unique) Adds the current pointing to the Pilar pointing model measures via the POINTING.MODEL.ADD set method.
private boolean	applyAddOffset(double daz, double dalt) Apply an offset to the telescope and return immediately.
private boolean	applyAddOffset(double daz, double dalt, double h) Apply an offset to the telescope and return immediately.
private boolean	applyDerotator(double deg) Applies a new derotator position in degrees.
private boolean	applyDerotatorOffset(double deg) Applies a new derotator position in degrees.
private boolean	applyFocus(double mm) Applies a new focus position in millimeters.
private boolean	applyFocusOffset(double mm) Applies a new focus offset in millimeters.
private boolean	applyOffset(double daz, double dalt) Apply an offset to the telescope and return immediately.
private boolean	applyOffset(double daz, double dalt, double h) Apply an offset to the telescope and return immediately.
boolean	changePointingModel(String model) Switches to the specified pointing model.
boolean	changePort(int portid) Switches to the specified port.
boolean	clear() Clear the telescope errors.
private boolean	clearErrors() Clears any errors that are present on the telescope.
private boolean	clearPointingMeasures() Clear all pointing measures from the Pilar list.
boolean	clearPointings() Clears current pointing measures.
boolean	closeCover() Protects the telescope by closing the covers.
boolean	derotator(double deg) Sets the derotator in the telescope.
boolean	derotatorOffset(double deg) Sets the derotator offset in the telescope.
String	errors() Returns a list of errors present on the system.
boolean	focus(double mm) Sets the focus in the telescope.
boolean	focusOffset(double mm) Sets the focus in the telescope.
protected int	getAcknowledgeNumber(CommandEvent cmd) Returns the number of acknowledge event to be sent back as a function of the command type.
private PointingFunction	getActivePointingModel() Queries the Pilar driver for the currently active pointing model and tries to construct a VectorFunction out of it to.
protected long	getCompletionTime(CommandEvent cmd, int acknr) Returns the individual completion times.
private TelescopeOffsets	getPointingOffsets(String unique) If a pointing model is available, we can get the uncorrected pointing from POSITION.HORIZONTAL and the true pointing plus offset from POSITION.INSTRUMENTAL.REALPOS.
private TelescopePosition	getPointingPosition() If a pointing model is available, we can get the uncorrected pointing from POSITION.HORIZONTAL and the true pointing plus offset from POSITION.INSTRUMENTAL.REALPOS.
Object	getTcsParameter(String parameter) Gets the specified parameter to the value.
private boolean	guiding(boolean on) Changes the current tracking state and waits until the telescope is in the new state.
private void	init2() Grabs the instance of the pilar driver.
boolean	initialize() Initializes the telescope.
protected boolean	initializeMaster() Initializes the calibration master.
void	initStep(int curstep) Additionally initializes the filter-to-position lookup tables.
boolean	loadPointings(File load) Loads measures from a file to pilar.
static void	main(String[] arg) Constructs a new telescope master.
boolean	moveAzAlt(double az, double alt) Moves the azimuth and altitude axis of the telescope, start tracking.
boolean	moveRaDec(double ra, double dec, double off, boolean follow) Moves the telescope to the given ra and dec, start tracking.
boolean	offset(double deg1, double deg2) Offsets the telescope.
boolean	openCover() Protects the telescope by closing the covers.
boolean	park() Parks the telescope.
protected boolean	parkMaster() Parks the telescope.
private static Map<String,VectorG>	parsePointingList(String list) We take a list of the Pilar pointing measure format and parse that into a lookup table linking pointing names (unique) to a four-dimensional vector, with az, azoff, z, zoff as its components.
String	pointingAt() Returns the pointing plus pointing-model offset.
private boolean	port(int id) Changes to the specified port.
private boolean	position(double az, double alt) Positions the telescope at a certain az/alt.
protected boolean	processCommand(CommandEvent cmd, int acknr) Process the command.
private boolean	protect(boolean yes) Closes the mirror cover.
void	quit() Quits the master.
boolean	requestPointingModel() Loads the currently active pointing model.
double	rescanned(String key, String old, String newval) On reload, we can change the telescope driver to another, but already loaded, driver.
protected boolean	resetMaster() Resets the telescope.
private boolean	savePilarPointingMeasures(File meas) Saves the current active list to the given file.
private boolean	savePointingMeasures(File meas) Saves the current active list to the given file.
boolean	savePointings(File save) Saves the pointing to a file.
private boolean	selectPointingModel(String model) Selects a pointing model.
boolean	setTcsParameter(String parameter, Object value) Sets the specified parameter to the value.
private boolean	slide(double ra, double de, double off, boolean follow) Positions the telescope to a certain ra, dec and start tracking.
boolean	startTracking() Starts the tracking from the current position of the telescope.
protected Object	statusMaster() Returns a short description of the status of the telescope.
boolean	stopTracking() Stops the tracking of the telescope.
private boolean	tracking(boolean on) Changes the current tracking state.
boolean	wipe() Escape for clearing errors.

Methods inherited from class stella.rmi.GenericMaster

addErrorListener, addRmiErrorListener, automatic, createCommunicator, exit, external, formatWithGlobals, getAllDrivers, getDriver, getHistorySql, getLastError, getObserveSql, getParameterByKey, getParameterByName, getParameterCluster, getParameterValueByKey, getParameterValueByName, getPermissionSql, getProposalSql, getStatus, getTargetSql, getTaskSql, getUnique, getUserSql, isAlive, isAuto, isManual, isPassive, manual, quitMaster, reload, reset, restartAllDrivers, restartNamedDriver, revert, rmiAddParameter, rmiCommand, rmiGet, rmiGetAllParameterNames, rmiRemoveParameter, rmiSet, setLastError, setParameterValueByKey, setParameterValueByName, setPassive, shutdown, zeroAllOmc

Methods inherited from class stella.rmi.ReceiverTorso

addRmiAcknowledgeListener, addRmiDoneListener, bindDefault, containsRemoteProperty, deregisterAtCaster, equals, getRemoteProperties, getRemoteProperty, hashCode, notifyAcknowledgeListener, notifyDoneListener, registerAtCaster, removeRmiAcknowledgeListener, removeRmiDoneListener, sendAllPrematureDone, sendPrematureDone, setRemoteProperty, toString, unbindDefault

Methods inherited from class stella.rmi.AbstractRmiCasterAndListener

bindToRegistry, getBindName, isValid, notifyErrorListener, removeErrorListener, removeRmiErrorListener, sendError, sendError, sendError, sendStatus, sendStatus, sendStatus, unbindFromRegistry

Methods inherited from class util.rmi.AbstractRmiListener

allBound, blockBinding, blockBinding, disconnect, getIP, getListenerName, isConnected, listenerName, releaseBinding, releaseBinding, startBinding, startBinding

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, removeProperty, setObject, setProperties, setProperty, stringProperties

Methods inherited from class java.lang.Object

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

Methods inherited from interface stella.rmi.ListenerControlling

automatic, external, getStatus, manual, reset, setPassive

Methods inherited from interface util.Reloadable

reload

Methods inherited from interface util.rmi.RmiCaster

bindToRegistry, isValid, unbindFromRegistry

Methods inherited from interface stella.ErrorCaster

removeErrorListener

Methods inherited from interface util.rmi.RmiEventListener

getListenerName

Methods inherited from interface util.rmi.RmiListener

disconnect, isConnected

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_PILAR

public static final String KEY_PILAR

The name of the telescope driver, a PilarDriver.

See Also:

Constant Field Values

KEY_STATENAME

public static final String KEY_STATENAME

The name of the telescope-is-ready trigger.

See Also:

Constant Field Values

KEY_AZIMUTHNAME

public static final String KEY_AZIMUTHNAME

The name of the azimuthal pilar value.

See Also:

Constant Field Values

KEY_AZIMUTHOFFSETNAME

public static final String KEY_AZIMUTHOFFSETNAME

The name of the azimuthal pilar value.

See Also:

Constant Field Values

KEY_ALTITUDENAME

public static final String KEY_ALTITUDENAME

The name of the azimuthal pilar value.

See Also:

Constant Field Values

KEY_ALTITUDEOFFSETNAME

public static final String KEY_ALTITUDEOFFSETNAME

The name of the azimuthal pilar value.

See Also:

Constant Field Values

KEY_COVERTIME

public static final String KEY_COVERTIME

Time for closing the mirror covers, maximum.

See Also:

Constant Field Values

KEY_MOVETIME

public static final String KEY_MOVETIME

Time for moving the telescope, maximum.

See Also:

Constant Field Values

KEY_OFFSETTIME

public static final String KEY_OFFSETTIME

Time for offsetting the telescop, maximum.

See Also:

Constant Field Values

KEY_DEROTATORTIME

public static final String KEY_DEROTATORTIME

Time for derotator action the telescope.

See Also:

Constant Field Values

KEY_FOCUSTIME

public static final String KEY_FOCUSTIME

Time for focusing the telescope.

See Also:

Constant Field Values

KEY_STARTTRACKINGTIME

public static final String KEY_STARTTRACKINGTIME

Time it takes for starting tracking.

See Also:

Constant Field Values

KEY_STOPTRACKINGTIME

public static final String KEY_STOPTRACKINGTIME

Time it takes for stopping tracking.

See Also:

Constant Field Values

KEY_ERRORRESETTIME

public static final String KEY_ERRORRESETTIME

Time it takes for stopping tracking.

See Also:

Constant Field Values

KEY_POINTINGMODELTIME

public static final String KEY_POINTINGMODELTIME

Time it takes for stopping tracking.

See Also:

Constant Field Values

KEY_POINTINGPOSITIONTIME

public static final String KEY_POINTINGPOSITIONTIME

Time it takes for stopping tracking.

See Also:

Constant Field Values

KEY_POINTINGREQUESTTIME

public static final String KEY_POINTINGREQUESTTIME

Time it takes for requesting a pointing model.

See Also:

Constant Field Values

KEY_POINTINGADDTIME

public static final String KEY_POINTINGADDTIME

Time it takes for adding a measurement to a pointing model.

See Also:

Constant Field Values

KEY_POINTINGSAVETIME

public static final String KEY_POINTINGSAVETIME

Time it takes for adding a measurement to a pointing model.

See Also:

Constant Field Values

KEY_ALLOWCLEAR

public static final String KEY_ALLOWCLEAR

Minimum time difference to allow clearing of errors.

See Also:

Constant Field Values

KEY_COVERVERTICAL

public static final String KEY_COVERVERTICAL

Points to the vertical position on cover closure if needed

See Also:

Constant Field Values

KEY_VERTICALTIMEOUT

public static final String KEY_VERTICALTIMEOUT

Timeout for sliding vertical.

See Also:

Constant Field Values

KEY_DBPOINTING

public static final String KEY_DBPOINTING

If this points to true, we add the PM offset also to the done table.

See Also:

Constant Field Values

DEFSET

private static final String DEFSET

The default properties file for the adapter master parameters.

See Also:

Constant Field Values

DEFPILAR

private static final String DEFPILAR

The name of the filter wheel driver.

See Also:

Constant Field Values

DEFSTATENAME

private static final String DEFSTATENAME

The name of the azimuthal pilar value.

See Also:

Constant Field Values

DEFAZIMUTHNAME

private static final String DEFAZIMUTHNAME

The name of the azimuthal pilar value.

See Also:

Constant Field Values

DEFAZIMUTHOFFSETNAME

private static final String DEFAZIMUTHOFFSETNAME

The name of the azimuthal pilar value.

See Also:

Constant Field Values

DEFALTITUDENAME

private static final String DEFALTITUDENAME

The name of the azimuthal pilar value.

See Also:

Constant Field Values

DEFALTITUDEOFFSETNAME

private static final String DEFALTITUDEOFFSETNAME

The name of the azimuthal pilar value.

See Also:

Constant Field Values

DEFINITTIME

private static final long DEFINITTIME

Time for initializing the telescope .

See Also:

Constant Field Values

DEFPARKTIME

private static final long DEFPARKTIME

Time for parking the telescope.

See Also:

Constant Field Values

DEFCOVERTIME

private static final long DEFCOVERTIME

Time for closing the covers, maximum.

See Also:

Constant Field Values

DEFMOVETIME

private static final long DEFMOVETIME

Time for moving the telescope, maximum.

See Also:

Constant Field Values

DEFOFFSETTIME

private static final long DEFOFFSETTIME

Time for offsetting the telescop, maximum.

See Also:

Constant Field Values

DEFDEROTATORTIME

private static final long DEFDEROTATORTIME

Time for derotating the telescope.

See Also:

Constant Field Values

DEFFOCUSTIME

private static final long DEFFOCUSTIME

Time for focusing the telescope.

See Also:

Constant Field Values

DEFSTARTTRACKINGTIME

private static final long DEFSTARTTRACKINGTIME

Time it takes for starting tracking.

See Also:

Constant Field Values

DEFSTOPTRACKINGTIME

private static final long DEFSTOPTRACKINGTIME

Time it takes for stopping tracking.

See Also:

Constant Field Values

DEFERRORRESETTIME

private static final long DEFERRORRESETTIME

Time it takes for clearing the errors.

See Also:

Constant Field Values

DEFPOINTINGMODELTIME

private static final long DEFPOINTINGMODELTIME

Time it takes for selecting pointing model.

See Also:

Constant Field Values

DEFPOINTINGREQUESTTIME

private static final long DEFPOINTINGREQUESTTIME

Time it takes for selecting pointing model.

See Also:

Constant Field Values

DEFPOINTINGADDTIME

private static final long DEFPOINTINGADDTIME

Time it takes for selecting pointing model.

See Also:

Constant Field Values

DEFPOINTINGSAVETIME

private static final long DEFPOINTINGSAVETIME

Time it takes for selecting pointing model.

See Also:

Constant Field Values

DEFALLOWCLEAR

private static final long DEFALLOWCLEAR

Time it takes for clearing the errors.

See Also:

Constant Field Values

DEFPOINTINGPOSITIONTIME

private static final long DEFPOINTINGPOSITIONTIME

Time it takes for retrieving true position.

See Also:

Constant Field Values

DEFVERTICALTIMEOUT

private static final long DEFVERTICALTIMEOUT

Time it takes for selecting pointing model.

See Also:

Constant Field Values

DEFDBPOINTING

private static final boolean DEFDBPOINTING

If this points to true, we add the PM offset also to the done table.

See Also:

Constant Field Values

pi4

private TelescopeDriver pi4

For convenience, the pilar driver for the telescope.

pointingmodel

private PointingFunction pointingmodel

If we have queried the actual pointing model.

pointinglist

private Map<String,TelescopePosition> pointinglist

The list of telescope positions.

lastclear

private long lastclear

Last time the ETEL errors have been cleared.

Constructor Detail

TelescopeMaster

public TelescopeMaster(Map<String,String> prop)
                throws RemoteException

Constructs a new telescope master. The parameter set served is constructed in the PropertyResources.init() section of the parent class.

Throws:

RemoteException

Method Detail

initStep

public void initStep(int curstep)

Additionally initializes the filter-to-position lookup tables.

Specified by:

initStep in interface StepInitializable

Overrides:

initStep in class GenericMaster

Parameters:

curstep - The current initialization depth.

init2

private void init2()

Grabs the instance of the pilar driver. At this stage, this driver already exists, if it was defined in the properties. We exit here, if the telescope driver is not found.

rescanned

public double rescanned(String key,
                        String old,
                        String newval)

On reload, we can change the telescope driver to another, but already loaded, driver.

Specified by:

rescanned in interface Reloadable

Overrides:

rescanned in class GenericMaster

accepts

public boolean accepts(CommandEvent ce)
                throws RemoteException

Checks if the command received is accepted by the adapter master. An adapter master accepts all AdapterCommands.

Specified by:

accepts in interface RmiCommandListener

Throws:

RemoteException

moveAzAlt

public boolean moveAzAlt(double az,
                         double alt)
                  throws RemoteException

Moves the azimuth and altitude axis of the telescope, start tracking. Only allowed in manual mode.

Specified by:

moveAzAlt in interface TelescopeControlling

Throws:

RemoteException

moveRaDec

public boolean moveRaDec(double ra,
                         double dec,
                         double off,
                         boolean follow)
                  throws RemoteException

Moves the telescope to the given ra and dec, start tracking. If a derotator is present at the current port, and if the pilar driver is set up to using it, the offset will be applied, and derotator following will be enabled. Only allowed in manual mode.

Specified by:

moveRaDec in interface TelescopeControlling

Throws:

RemoteException

offset

public boolean offset(double deg1,
                      double deg2)
               throws RemoteException

Offsets the telescope. Both values are in degrees. This offset works on the main axes of the telescope, thus it is an az/alt offset for az/alt telescopes and a ra/de offset for paralactically mounted telescopes. Independent of the mount, it is a spatial offset, not an angle difference. For the case of an az/alt telescope, this means that the difference in the azimuth encoder reading that will result from this offset is higher by 1/cos(alt). Only allowed in manual mode.

Specified by:

offset in interface TelescopeControlling

Throws:

RemoteException

addOffset

public boolean addOffset(double deg1,
                         double deg2)
                  throws RemoteException

Offsets the telescope. Both values are in degrees. This offset works on the main axes of the telescope, thus it is an az/alt offset for az/alt telescopes and a ra/de offset for paralactically mounted telescopes. Independent of the mount, it is a spatial offset, not an angle difference. For the case of an az/alt telescope, this means that the difference in the azimuth encoder reading that will result from this offset is higher by 1/cos(alt). Only allowed in manual mode.

Specified by:

addOffset in interface TelescopeControlling

Throws:

RemoteException

derotator

public boolean derotator(double deg)
                  throws RemoteException

Sets the derotator in the telescope.

Specified by:

derotator in interface TelescopeControlling

Throws:

RemoteException

derotatorOffset

public boolean derotatorOffset(double deg)
                        throws RemoteException

Sets the derotator offset in the telescope.

Specified by:

derotatorOffset in interface TelescopeControlling

Throws:

RemoteException

focus

public boolean focus(double mm)
              throws RemoteException

Sets the focus in the telescope. STELLA-I does that by moving M2.

Specified by:

focus in interface FocusControlling

Throws:

RemoteException

focusOffset

public boolean focusOffset(double mm)
                    throws RemoteException

Sets the focus in the telescope. STELLA-I does that by moving M2.

Specified by:

focusOffset in interface FocusControlling

Throws:

RemoteException

startTracking

public boolean startTracking()
                      throws RemoteException

Starts the tracking from the current position of the telescope. Only allowed in manual mode.

Specified by:

startTracking in interface TelescopeControlling

Throws:

RemoteException

stopTracking

public boolean stopTracking()
                     throws RemoteException

Stops the tracking of the telescope. The telescope remains at its current position. Only allowed in manual mode.

Specified by:

stopTracking in interface TelescopeControlling

Throws:

RemoteException

changePort

public boolean changePort(int portid)
                   throws RemoteException

Switches to the specified port. The port is identified with an integer that is telescope dependend. May throw an unsupported operation exception, if the telescope does not have different ports available. Only allowed in manual mode.

Specified by:

changePort in interface TelescopeControlling

Throws:

RemoteException

changePointingModel

public boolean changePointingModel(String model)
                            throws RemoteException

Switches to the specified pointing model.

Specified by:

changePointingModel in interface PointingModelControlling

Throws:

RemoteException

requestPointingModel

public boolean requestPointingModel()
                             throws RemoteException

Loads the currently active pointing model. Also works in automatic mode.

Specified by:

requestPointingModel in interface PointingModelControlling

Throws:

RemoteException

loadPointings

public boolean loadPointings(File load)
                      throws RemoteException

Loads measures from a file to pilar. Available in any mode. This method has no equivalent as a command, i.e. it can only be triggered remotely. If any list is active, the list is always replaced.

Specified by:

loadPointings in interface PointingModelControlling

Throws:

RemoteException

savePointings

public boolean savePointings(File save)
                      throws RemoteException

Saves the pointing to a file. Available in any mode. Different to the command-triggered save, this method does not clear the internal Pilar list, this must be done by issuing a clearPointings().

Specified by:

savePointings in interface PointingModelControlling

Throws:

RemoteException

clearPointings

public boolean clearPointings()
                       throws RemoteException

Clears current pointing measures. Available in any mode.

Specified by:

clearPointings in interface PointingModelControlling

Throws:

RemoteException

addPointingAs

public boolean addPointingAs(String unique)
                      throws RemoteException

Adds a pointing to the Pilar list, specifying the measurement name. If name is null, the empty string is used, which is further processed in Pilar. This method is only available in manual mode.

Specified by:

addPointingAs in interface PointingModelControlling

Parameters:

unique - An identifier for this measure or null.

Throws:

RemoteException

setTcsParameter

public boolean setTcsParameter(String parameter,
                               Object value)
                        throws RemoteException

Sets the specified parameter to the value.

Specified by:

setTcsParameter in interface TelescopeControlling

Throws:

RemoteException

getTcsParameter

public Object getTcsParameter(String parameter)
                       throws RemoteException

Gets the specified parameter to the value.

Specified by:

getTcsParameter in interface TelescopeControlling

Throws:

RemoteException

initialize

public boolean initialize()
                   throws RemoteException

Initializes the telescope. Only allowed in manual mode.

Specified by:

initialize in interface ListenerControlling

Specified by:

initialize in interface TelescopeControlling

Overrides:

initialize in class GenericMaster

Throws:

RemoteException

park

public boolean park()
             throws RemoteException

Parks the telescope. Only allowed in manual mode.

Specified by:

park in interface ListenerControlling

Overrides:

park in class GenericMaster

Throws:

RemoteException

errors

public String errors()
              throws RemoteException

Returns a list of errors present on the system.

Specified by:

errors in interface TelescopeControlling

Throws:

RemoteException

wipe

public boolean wipe()
             throws RemoteException

Escape for clearing errors.

Specified by:

wipe in interface TelescopeControlling

Throws:

RemoteException

pointingAt

public String pointingAt()
                  throws RemoteException

Returns the pointing plus pointing-model offset.

Specified by:

pointingAt in interface TelescopeControlling

Throws:

RemoteException

clear

public boolean clear()
              throws RemoteException

Clear the telescope errors. Only allowed in manual mode.

Specified by:

clear in interface TelescopeControlling

Throws:

RemoteException

closeCover

public boolean closeCover()
                   throws RemoteException

Protects the telescope by closing the covers. For immediate protection, similar to park, but without moving the telescope. Only allowed in manual mode.

Specified by:

closeCover in interface TelescopeControlling

Throws:

RemoteException

openCover

public boolean openCover()
                  throws RemoteException

Protects the telescope by closing the covers. For immediate protection, similar to park, but without moving the telescope. Only allowed in manual mode.

Specified by:

openCover in interface TelescopeControlling

Throws:

RemoteException

quit

public void quit()
          throws RemoteException

Quits the master. Only allowed in manual mode.

Specified by:

quit in interface ListenerControlling

Specified by:

quit in interface TelescopeControlling

Overrides:

quit in class GenericMaster

Throws:

RemoteException

getAcknowledgeNumber

protected int getAcknowledgeNumber(CommandEvent cmd)

Returns the number of acknowledge event to be sent back as a function of the command type. Different to the Pilar2 implementation, init telescope and park telescope now only support a single acknowledge event.

Overrides:

getAcknowledgeNumber in class GenericMaster

getCompletionTime

protected long getCompletionTime(CommandEvent cmd,
                                 int acknr)

Returns the individual completion times. For exposure commands, the first acknowledge time is the sum of the exposure time plus the read-out time from the controller to the local buffer. The second acknowledge time is the time it takes to write the fits file out of the local data buffer.
If the command is unknown an IllegalArgumentException is thrown.

Overrides:

getCompletionTime in class GenericMaster

Parameters:

cmd - The command to process.

acknr - The number of the acknowledge that will be sent back.

processCommand

protected boolean processCommand(CommandEvent cmd,
                                 int acknr)

Process the command. The exposure commands are split into three processes, the first one consisting of taking the exposure, the second transfering the CCD-data to the local buffer. The third part is writing the locally buffered data to the fits file. This allows the sequencer to continue operation once the data has been transfered from the CCD to the local buffer. In principle, the next exposure can start as soon as the data transfer to the local buffer is completed.

Overrides:

processCommand in class GenericMaster

statusMaster

protected Object statusMaster()

Returns a short description of the status of the telescope.

Specified by:

statusMaster in class GenericMaster

Returns:

A string or an ErrorEvent.

initializeMaster

protected boolean initializeMaster()

Initializes the calibration master. Sets zero position on the filter wheels, the shutter and the calibration sledge.

Specified by:

initializeMaster in class GenericMaster

abortMaster

protected boolean abortMaster()

Method called to abort the telescope. Stops any movement.

Overrides:

abortMaster in class GenericMaster

resetMaster

protected boolean resetMaster()

Resets the telescope. Calls park and, if this is successful, init.

Specified by:

resetMaster in class GenericMaster

parkMaster

protected boolean parkMaster()

Parks the telescope. Also called on exit.

Specified by:

parkMaster in class GenericMaster

selectPointingModel

private boolean selectPointingModel(String model)

Selects a pointing model. If the model is not known, we produce a configuration error.

Returns:

True on success, false otherwise.

position

private boolean position(double az,
                         double alt)

Positions the telescope at a certain az/alt. As in the contract of PilarDriver#moveAzAlt, tracking of the telescope is not started. In automatic mode, the last error is set on failures.

Returns:

True on success, false otherwise.

slide

private boolean slide(double ra,
                      double de,
                      double off,
                      boolean follow)

Positions the telescope to a certain ra, dec and start tracking. If the current port has a derotator and the underlying driver allows its use, the derotator offset and its following behaviour is set. In automatic mode, the last error is set on failures.

Returns:

True on success, false otherwise.

applyOffset

private boolean applyOffset(double daz,
                            double dalt)

Apply an offset to the telescope and return immediately. This method does not block until an offset is reached, but rather applies it and then return immediately. There is no way to block until an offset is reached.

applyOffset

private boolean applyOffset(double daz,
                            double dalt,
                            double h)

Apply an offset to the telescope and return immediately. This method does not block until an offset is reached, but rather applies it and then return immediately. There is no way to block until an offset is reached.

applyAddOffset

private boolean applyAddOffset(double daz,
                               double dalt,
                               double h)

Apply an offset to the telescope and return immediately. This method does not block until an offset is reached, but rather applies it and then return immediately. There is no way to block until an offset is reached.

applyAddOffset

private boolean applyAddOffset(double daz,
                               double dalt)

Apply an offset to the telescope and return immediately. This method does not block until an offset is reached, but rather applies it and then return immediately. There is no way to block until an offset is reached.

applyDerotator

private boolean applyDerotator(double deg)

Applies a new derotator position in degrees. The command blocks until the new focus is reached.

applyDerotatorOffset

private boolean applyDerotatorOffset(double deg)

Applies a new derotator position in degrees. The command blocks until the new focus is reached.

applyFocus

private boolean applyFocus(double mm)

Applies a new focus position in millimeters. The command blocks until the new focus is reached.

applyFocusOffset

private boolean applyFocusOffset(double mm)

Applies a new focus offset in millimeters. The command returns immediately.

tracking

private boolean tracking(boolean on)

Changes the current tracking state. This does not wait until the telescope is truly tracking, it merely initiates the tracking.

See Also:

guiding

guiding

private boolean guiding(boolean on)

Changes the current tracking state and waits until the telescope is in the new state.

See Also:

tracking

clearErrors

private boolean clearErrors()

Clears any errors that are present on the telescope. Use with care! 4pi has screwed up things here, you can clear errors and destroy the telescope!

protect

private boolean protect(boolean yes)

Closes the mirror cover. It turened out that it may be necessarry to slide to vertical position before doing that. The KEY_COVERVERTICAL property points to the vertical value in that case.

Returns:

True, If covers were closed.

port

private boolean port(int id)

Changes to the specified port. The argument is an identifier that is driver-specific. This method is never called in automatic mode.

getPointingPosition

private TelescopePosition getPointingPosition()

If a pointing model is available, we can get the uncorrected pointing from POSITION.HORIZONTAL and the true pointing plus offset from POSITION.INSTRUMENTAL.REALPOS. Don't think it's the other way round! This definition was introduced as the wish for pointing model generation somewhat late in the process.

getPointingOffsets

private TelescopeOffsets getPointingOffsets(String unique)

If a pointing model is available, we can get the uncorrected pointing from POSITION.HORIZONTAL and the true pointing plus offset from POSITION.INSTRUMENTAL.REALPOS. Don't think it's the other way round! This definition was introduced as the wish for pointing model generation somewhat late in the process.

getActivePointingModel

private PointingFunction getActivePointingModel()

Queries the Pilar driver for the currently active pointing model and tries to construct a VectorFunction out of it to. This is done by querying for the POINTING.MODEL.TYPE, fuelling the integer value into PointingFunction.createFromType(int, int) and subsequentially querying all relevant paramters in this pointing model via the PointingFunction.getParameterNames() and PointingFunction.setParameter(java.lang.String, double) functions. Returns the pointing model function on success or null, if unsuccessful at any step.

addPointingMeasure

private boolean addPointingMeasure(String unique)

Adds the current pointing to the Pilar pointing model measures via the POINTING.MODEL.ADD set method. The name supplied is the unique name of this measurement. This method is available in all modes.

Parameters:

unique - The identifier in the pointing measurement file for this.

addPilarPointingMeasure

private boolean addPilarPointingMeasure(PilarDriver pd4,
                                        String unique)

parsePointingList

private static Map<String,VectorG> parsePointingList(String list)

We take a list of the Pilar pointing measure format and parse that into a lookup table linking pointing names (unique) to a four-dimensional vector, with az, azoff, z, zoff as its components.

savePointingMeasures

private boolean savePointingMeasures(File meas)

Saves the current active list to the given file. If file exits, it is overwrittn without warning.

savePilarPointingMeasures

private boolean savePilarPointingMeasures(File meas)

Saves the current active list to the given file. If file exits, it is overwrittn without warning.

clearPointingMeasures

private boolean clearPointingMeasures()

Clear all pointing measures from the Pilar list. This command requires an integer parameter, according to the documentation, which I have now clue on what it is, so I suplly zero.

main

public static void main(String[] arg)
                 throws RemoteException

Constructs a new telescope master. The single argument supplied are the telescope properties.

Throws:

RemoteException