BaaderDome

java.lang.Object
- util.PropertyContainer
- - io.AbstractDriver
  - - stella.roof.BaaderDome

All Implemented Interfaces:

Driver, Cloneable, DomeDriver, Initializable, PropertySupplying
```
public class BaaderDome
extends AbstractDriver
implements DomeDriver, Initializable
```
Dome driver implementation for the Baader dome in Potsdam, sheltering Robotel. This is additional information on how to operate the dome:
- At IP 141.33.54.246, there resides a module PC, an Artila.
- It has a very limited linux on it, but you can log in as root with the old standard root password.
- in /disk/bin, there are a few programs, running asi-serial spits out in the very first line the current dome position, valid range there is from -17000 to -33000.
Last update: Dec.-2014

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`private class`	`BaaderDome.ApertureThread`
`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.Control` Command line interface to the dome server.
`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.

Field Summary

Fields
Modifier and Type	Field and Description
`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`	`DEFPOWERDELAY` Default property value.
`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 BaaderDome.ApertureThread`	`hatch` Opening or closing of the hatch.
`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 int`	`INTERRUPT`
`static int`	`IOEX`
`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_POWERDELAY` Time delay on electrical switching to avoid overload.
`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.
`static int`	`RPCEX`
`private BaaderDome.ApertureThread`	`slit` Opening or closing of the slit.
`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.PropertyContainer
KEY_LISTSEPARATOR, KEY_MAPKEYVALUECHAR, KEY_MAPSEPARATOR

Fields inherited from interface util.PropertySupplying
CONFIG, KEY_CLASS

Constructor Summary

Constructors
Constructor and Description

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

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

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`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.
`boolean`	`stopDomeOpeningMotors()` Stops either opening or closing of the dome.

Methods inherited from class io.AbstractDriver
createDriver, equals, getDriverName, 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

Methods inherited from interface io.Driver
getDriverName

- Field Detail
  - OK
```
public static final int OK
```
    return value for OK .
    
    See Also:
    
    Constant Field Values
  - IOEX
```
public static final int IOEX
```
    See Also:
    
    Constant Field Values
  - RPCEX
```
public static final int RPCEX
```
    See Also:
    
    Constant Field Values
  - INTERRUPT
```
public static final int INTERRUPT
```
    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
  - KEY_POWERDELAY
```
public static final String KEY_POWERDELAY
```
    Time delay on electrical switching to avoid overload.
    
    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
  - DEFPOWERDELAY
```
private static final long DEFPOWERDELAY
```
    Default property value.
    
    See Also:
    
    Constant Field Values
  - robotel
```
private DomeClient robotel
```
    The RPC client talking to the module-pc at the dome.
  - hatch
```
private BaaderDome.ApertureThread hatch
```
    Opening or closing of the hatch.
  - slit
```
private BaaderDome.ApertureThread slit
```
    Opening or closing of the slit.
  - 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()
          throws InitException
```
    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
    
    Throws:
    
    InitException
  - 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
  - stopDomeOpeningMotors
```
public boolean stopDomeOpeningMotors()
                              throws IOException
```
    Description copied from interface: DomeDriver
    
    Stops either opening or closing of the dome. This method must be implemented, but can of course fork to closeSlit and closeHatch.
    
    Specified by:
    
    stopDomeOpeningMotors 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

Class BaaderDome

Nested Class Summary

Field Summary

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.AbstractDriver

Methods inherited from class util.PropertyContainer

Methods inherited from class java.lang.Object

Methods inherited from interface io.Driver

Field Detail

OK

IOEX

RPCEX

INTERRUPT

KEY_SERVERNAME

KEY_RPCTIMEOUT

KEY_AZIMUTHLINEAR

KEY_AZIMUTHOFFSET

KEY_SLOWSPEED

KEY_UPDATE

KEY_MINVALID

KEY_MAXVALID

KEY_READTIMEOUT

KEY_AZIMUTHSLEEP

KEY_HATCHSURE

KEY_HATCHOPEN

KEY_HATCHCLOSE

KEY_SLITSURE

KEY_SLITFULL

KEY_JOINFULL

KEY_POWERDELAY

HATCH

SLIT

DEFDRIVERNAME

DEFSERVERNAME

DEFRPCTIMEOUT

DEFUPDATE

DEFSLOWSPEED

DEFMINVALID

DEFMAXVALID

DEFAZIMUTHLINEAR

DEFAZIMUTHOFFSET

DEFAZIMUTHSLEEP

DEFREADTIMEOUT

DEFHATCHSURE

DEFHATCHCLOSE

DEFHATCHOPEN

DEFSLITSURE

DEFSLITFULL

DEFJOINFULL

DEFPOWERDELAY

robotel

hatch

slit

hatchopen

hatchshut

slitopen

slitshut

cache

update

Constructor Detail

BaaderDome

Method Detail

init

open

startUpdate

isOpen

close

stopAzimuth

fastForward

fastBackward

slowForward

slowBackward

stopDomeOpeningMotors

openSlit

openHatch

openDome