MotorController

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

All Implemented Interfaces:

Driver, Cloneable, Initializable, PropertySupplying

Direct Known Subclasses:

FilterWheel, LinearPositioner, MiniWheel, OmcMotor, RelativeWheel, WifsipWheel, WindmillShutter
```
public abstract class MotorController
extends AbstractSerialDriver
implements Initializable
```
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

Nested Classes
Modifier and Type	Class and Description
`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

Field Summary

Fields
Modifier and Type	Field and Description
`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 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`	`DEFRESPONSECHOP` The default reading delay in ms.
`private static long`	`DEFRESPONSEDELAY` The default reading delay in ms.
`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_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_RESPONSECHOP` Availability is chopped to this number of queries.
`static String`	`KEY_RESPONSEDELAY` The key to the maximum reading delay in milliseconds.
`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, LOCK, outport, STATICLOCK

Fields inherited from class io.AbstractDriver
KEY_DRIVERNAME

Fields inherited from class util.PropertyContainer
KEY_LISTSEPARATOR, KEY_MAPKEYVALUECHAR, KEY_MAPSEPARATOR

Fields inherited from interface util.PropertySupplying
CONFIG, KEY_CLASS

Constructor Summary

Constructors
Constructor and Description

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

Constructors
Constructor and Description
`MotorController(Map<String,String> config)` Constructs a new motor controller.

Method Summary

All Methods Instance Methods Abstract Methods Concrete Methods
Modifier and Type	Method and Description
`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.PropertyContainer
augment, augment, augment, augment, augment, clone, 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, initProperties, isNew, parseObject, parseObject, reload, reload, removeProperty, requires, rescanned, setObject, setProperties, setProperty, stringProperties, toString

Methods inherited from class java.lang.Object
finalize, getClass, notify, notifyAll, wait, wait, wait

- 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.
    
    See Also:
    
    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
    
    See Also:
    
    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_RESPONSEDELAY
```
public static final String KEY_RESPONSEDELAY
```
    The key to the maximum reading delay in milliseconds.
    
    See Also:
    
    Constant Field Values
  - KEY_RESPONSECHOP
```
public static final String KEY_RESPONSECHOP
```
    Availability is chopped to this number of queries.
    
    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
  - DEFRESPONSEDELAY
```
private static final long DEFRESPONSEDELAY
```
    The default reading delay in ms.
    
    See Also:
    
    Constant Field Values
  - DEFRESPONSECHOP
```
private static final int DEFRESPONSECHOP
```
    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.
    
    See Also:
    
    Constant Field Values
  - DEFADDRESS
```
private static final int DEFADDRESS
```
    Set the default address.
    
    See Also:
    
    Constant Field Values
  - DEFWORKAROUND
```
private static final boolean DEFWORKAROUND
```
    Firmware error work-around.
    
    See Also:
    
    Constant Field Values
  - DEFEEPROMSTORE
```
private static final boolean DEFEEPROMSTORE
```
    Storing in EEPROM is not possible per default.
    
    See Also:
    
    Constant Field Values
  - DEFCONTROLLERTYPE
```
private static final String DEFCONTROLLERTYPE
```
    Default controller type.
    
    See Also:
    
    Constant Field Values
  - DEFPROTOCOL
```
private static final String DEFPROTOCOL
```
    Default protocol type.
    
    See Also:
    
    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()
          throws InitException
```
    Initialies the parameter maps, the axis names and their timeouts.
    
    Specified by:
    
    init in interface Initializable
    
    Overrides:
    
    init in class AbstractSerialDriver
    
    Throws:
    
    InitException
  - 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.

Class MotorController

Nested Class Summary

Nested classes/interfaces inherited from class io.AbstractSerialDriver

Field Summary

Fields inherited from class io.AbstractSerialDriver

Fields inherited from class io.AbstractDriver

Fields inherited from class util.PropertyContainer

Fields inherited from interface util.PropertySupplying

Constructor Summary

Method Summary

Methods inherited from class io.AbstractSerialDriver

Methods inherited from class io.AbstractDriver

Methods inherited from class util.PropertyContainer

Methods inherited from class java.lang.Object

Field Detail

OK

FAILED

HOME

UNDEFINEDPOSITION

OMC

MCC

KEY_PROTOCOL

KEY_RESPONSEDELAY

KEY_RESPONSECHOP

KEY_SERIALRETRY

KEY_TELEGRAM

KEY_AXES

KEY_FAILAXISMOVE

KEY_RETRYPOS

KEY_STEPTOLERANCE

KEY_SLEEPAXISMOVE

KEY_ADDRESS

KEY_WORKAROUND

KEY_EEPROMSTORE

KEY_CONTROLLERTYPE

DEFFAILAXISMOVE

DEFSLEEPAXISMOVE

DEFRESPONSEDELAY

DEFRESPONSECHOP

DEFSERIALRETRY

DEFTELEGRAM

DEFADDRESS

DEFWORKAROUND

DEFEEPROMSTORE

DEFCONTROLLERTYPE

DEFPROTOCOL

DEFRETRYPOS

DEFSTEPTOLERANCE

wakeup

axis

fails

sleeps

Constructor Detail

MotorController

Method Detail

getAxesNames

init

isContinuous

getStep

open

getParametersFor

writeCommand

writeCommand

encapsulate

ensureCommand

writeString

writeString

readString

readString

waitWhileAxisMoving

waitWhileAxisMoving

powerOff

powerOn

axisIsMoving

reset

remote

resetAxis

errorPower

errorStep

errorStop