org.openpnp.machine.reference

Class SimulationModeMachine

java.lang.Object

org.openpnp.model.AbstractModelObject

org.openpnp.spi.base.AbstractMachine

org.openpnp.machine.reference.ReferenceMachine

org.openpnp.machine.reference.SimulationModeMachine

All Implemented Interfaces:

java.io.Closeable, java.lang.AutoCloseable, Solutions.Subject, Machine, PropertySheetHolder, WizardConfigurable

public class SimulationModeMachine
extends ReferenceMachine

Add a basic simulation mode to the ReferenceMachine. These are just the foundations of something that could become bigger with time. The idea is to be able to put any machine configuration in simulation mode. For a NullDriver this is the only operating mode, for GcodeDriver this mode could mean to redirect its communications to a GcodeServer back-end. Cameras should be redirected to either a SimulatedUpCamera or and ImageCamera. Ideally the image source could one day be scanned off the real machine table by the regular camera (some concepts exist). Because of the new Axis design, multiple simulated drivers must be supported to test new features (in the future), plus the cameras are obviously involved. Therefore this simulation switchboard must be in the Machine, rather than the driver. For now this only works with NullDriver, SimulatedUpCamera and ImageCamera. Some physical imperfections are simulated.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	SimulationModeMachine.SimulationMode The SimulationMode sets the level of simulation.

Nested classes/interfaces inherited from class org.openpnp.spi.base.AbstractMachine

AbstractMachine.State

Nested classes/interfaces inherited from interface org.openpnp.spi.PropertySheetHolder

PropertySheetHolder.PropertySheet

Field Summary

Fields inherited from class org.openpnp.machine.reference.ReferenceMachine

fiducialLocator, mootionPlanner, motionPlanner, pnpJobProcessor

Fields inherited from class org.openpnp.spi.base.AbstractMachine

actuators, axes, cameras, discardLocation, drivers, executor, feeders, heads, listeners, nozzleTips, partAlignments, properties, signalers, speed, taskThread

Fields inherited from class org.openpnp.model.AbstractModelObject

propertyChangeSupport

Fields inherited from interface org.openpnp.spi.Machine

DEFAULT_TASK_BUSY_TIMEOUT_MS

Constructor Summary

Constructors

Constructor and Description
SimulationModeMachine()

Method Summary

Modifier and Type	Method and Description
protected static AxesLocation	applyHomingOffsets(Machine machine, AxesLocation axesLocation, AxesLocation mappedAxes, Camera.Looking looking)
void	fireMachineActuatorActivity(Actuator actuator)
protected org.openpnp.machine.reference.SimulationModeMachine.ActuatorHistory	getActuatorHistory(Actuator lightActuator)
Location	getHomingError()
static AxesLocation	getMomentaryVector(SimulationModeMachine machine, double cameraTime, java.util.function.BiFunction<Motion,java.lang.Double,AxesLocation> function)
PropertySheetHolder.PropertySheet[]	getPropertySheets()
double	getSimulatedCameraLag()
int	getSimulatedCameraNoise()
double	getSimulatedNonSquarenessFactor()
static Location	getSimulatedPhysicalLocation(HeadMountable hm, Camera.Looking looking, boolean partRotation) Simulates imperfections in the physical location of a HeadMountable.
Length	getSimulatedRunout()
double	getSimulatedRunoutPhase()
double	getSimulatedVibrationAmplitude()
double	getSimulatedVibrationDuration()
SimulationModeMachine.SimulationMode	getSimulationMode()
static SimulationModeMachine	getSimulationModeMachine()
boolean	isPickAndPlaceChecking()
void	resetAllFeeders()
void	setEnabled(boolean enabled) Attempts to bring the Machine to a ready state or attempts to immediately stop it depending on the value of enabled.
void	setHomingError(Location homingError)
void	setMachineTableZ(Length machineTableZ)
void	setPickAndPlaceChecking(boolean pickAndPlaceChecking)
void	setSimulatedCameraLag(double simulatedCameraLag)
void	setSimulatedCameraNoise(int simulatedCameraNoise)
void	setSimulatedNonSquarenessFactor(double simulatedNonSquarenessFactor)
void	setSimulatedRunout(Length simulatedRunout)
void	setSimulatedRunoutPhase(double simulatedRunoutPhase)
void	setSimulatedVibrationAmplitude(double simulatedVibrationAmplitude)
void	setSimulatedVibrationDuration(double simulatedVibrationDuration)
void	setSimulationMode(SimulationModeMachine.SimulationMode simulationMode)
static void	simulateActuate(Actuator actuator, java.lang.Object value, boolean realtime) Simulates the Actuator.
static void	simulateCameraExposure(Camera camera, java.awt.Graphics2D gFrame, int width, int height)

Methods inherited from class org.openpnp.machine.reference.ReferenceMachine

close, commit, findIssues, getCalibrationSolutions, getChildPropertySheetHolders, getCompatibleActuatorClasses, getCompatibleAxisClasses, getCompatibleCameraClasses, getCompatibleDriverClasses, getCompatibleFeederClasses, getCompatibleMotionPlannerClasses, getCompatibleNozzleClasses, getCompatibleSignalerClasses, getConfigurationWizard, getDefaultDriver, getFiducialLocator, getHomeAfterEnabled, getMotionPlanner, getPnpJobProcessor, getPropertySheetHolderActions, getPropertySheetHolderTitle, getSolutions, getUnsafeZRoamingDistance, getVisionSolutions, home, isAutoToolSelect, isEnabled, isHomed, isParkAfterHomed, isPoolScriptingEngines, isSafeZPark, registerFeederClass, setAutoToolSelect, setHomeAfterEnabled, setHomed, setMotionPlanner, setParkAfterHomed, setPoolScriptingEngines, setSafeZPark, setUnsafeZRoamingDistance

Methods inherited from class org.openpnp.spi.base.AbstractMachine

addActuator, addAxis, addCamera, addDriver, addFeeder, addHead, addListener, addNozzleTip, addSignaler, execute, fireMachineAboutToBeDisabled, fireMachineBusy, fireMachineDisabled, fireMachineDisableFailed, fireMachineEnabled, fireMachineEnableFailed, fireMachineHeadActivity, fireMachineHomed, fireMachineTargetedUserAction, getActuator, getActuatorByName, getActuators, getAllActuators, getAllCameras, getAxes, getAxis, getCamera, getCameras, getDefaultAxis, getDefaultHead, getDiscardLocation, getDriver, getDrivers, getFeeder, getFeederByName, getFeeders, getHead, getHeadByName, getHeads, getNozzleTip, getNozzleTipByName, getNozzleTips, getPartAlignments, getProperty, getPropertySheetHolderIcon, getSignaler, getSignalerByName, getSignalers, getSpeed, getTaskThread, isBusy, isTask, permutateActuator, permutateAxis, permutateCamera, permutateDriver, removeActuator, removeAxis, removeCamera, removeDriver, removeFeeder, removeListener, removeNozzleTip, removeSignaler, setDiscardLocation, setProperty, setSpeed, setTaskThread, submit, submit, submit, submit

Methods inherited from class org.openpnp.model.AbstractModelObject

addPropertyChangeListener, addPropertyChangeListener, fireIndexedPropertyChange, firePropertyChange, removePropertyChangeListener, removePropertyChangeListener

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface org.openpnp.spi.Machine

execute, execute, executeIfEnabled

Methods inherited from interface org.openpnp.model.Solutions.Subject

getSubjectIcon, getSubjectText

Constructor Detail

SimulationModeMachine

public SimulationModeMachine()

Method Detail

setEnabled

public void setEnabled(boolean enabled)
                throws java.lang.Exception

Description copied from interface: Machine

Attempts to bring the Machine to a ready state or attempts to immediately stop it depending on the value of enabled. If true, this would include turning on motor drivers, turning on compressors, resetting solenoids, etc. If the Machine is unable to become ready for any reason it should throw an Exception explaining the reason. This method should block until the Machine is ready. After this method is called successfully, isEnabled() should return true unless the Machine encounters some error. If false, stops the machine and disables it as soon as possible. This may include turning off power to motors and stopping compressors. It is expected that the machine may need to be re-homed after this is called. If the Machine cannot be stopped for any reason, this method may throw an Exception explaining the reason but this should probably only happen in very extreme cases. This method should effectively be considered a software emergency stop. After this method returns, isEnabled() should return false until setEnabled(true) is successfully called again.

Specified by:

setEnabled in interface Machine

Overrides:

setEnabled in class ReferenceMachine

Throws:

java.lang.Exception

getPropertySheets

public PropertySheetHolder.PropertySheet[] getPropertySheets()

Specified by:

getPropertySheets in interface PropertySheetHolder

Overrides:

getPropertySheets in class ReferenceMachine

getSimulationMode

public SimulationModeMachine.SimulationMode getSimulationMode()

setSimulationMode

public void setSimulationMode(SimulationModeMachine.SimulationMode simulationMode)

getSimulatedNonSquarenessFactor

public double getSimulatedNonSquarenessFactor()

setSimulatedNonSquarenessFactor

public void setSimulatedNonSquarenessFactor(double simulatedNonSquarenessFactor)

getSimulatedRunout

public Length getSimulatedRunout()

getSimulatedRunoutPhase

public double getSimulatedRunoutPhase()

setSimulatedRunoutPhase

public void setSimulatedRunoutPhase(double simulatedRunoutPhase)

setSimulatedRunout

public void setSimulatedRunout(Length simulatedRunout)

getSimulatedCameraNoise

public int getSimulatedCameraNoise()

setSimulatedCameraNoise

public void setSimulatedCameraNoise(int simulatedCameraNoise)

getSimulatedCameraLag

public double getSimulatedCameraLag()

setSimulatedCameraLag

public void setSimulatedCameraLag(double simulatedCameraLag)

getSimulatedVibrationAmplitude

public double getSimulatedVibrationAmplitude()

setSimulatedVibrationAmplitude

public void setSimulatedVibrationAmplitude(double simulatedVibrationAmplitude)

getSimulatedVibrationDuration

public double getSimulatedVibrationDuration()

setSimulatedVibrationDuration

public void setSimulatedVibrationDuration(double simulatedVibrationDuration)

getHomingError

public Location getHomingError()

setHomingError

public void setHomingError(Location homingError)

isPickAndPlaceChecking

public boolean isPickAndPlaceChecking()

setPickAndPlaceChecking

public void setPickAndPlaceChecking(boolean pickAndPlaceChecking)

resetAllFeeders

public void resetAllFeeders()

setMachineTableZ

public void setMachineTableZ(Length machineTableZ)

getSimulationModeMachine

public static SimulationModeMachine getSimulationModeMachine()

simulateActuate

public static void simulateActuate(Actuator actuator,
                                   java.lang.Object value,
                                   boolean realtime)
                            throws java.lang.Exception

Simulates the Actuator.

Parameters:

actuator -

value -

realtime -

Throws:

java.lang.Exception

getSimulatedPhysicalLocation

public static Location getSimulatedPhysicalLocation(HeadMountable hm,
                                                    Camera.Looking looking,
                                                    boolean partRotation)

Simulates imperfections in the physical location of a HeadMountable.

Parameters:

hm -

looking -

partRotation -

Returns:

applyHomingOffsets

protected static AxesLocation applyHomingOffsets(Machine machine,
                                                 AxesLocation axesLocation,
                                                 AxesLocation mappedAxes,
                                                 Camera.Looking looking)
                                          throws java.lang.Exception

Throws:

java.lang.Exception

getMomentaryVector

public static AxesLocation getMomentaryVector(SimulationModeMachine machine,
                                              double cameraTime,
                                              java.util.function.BiFunction<Motion,java.lang.Double,AxesLocation> function)
                                       throws java.lang.Exception

Throws:

java.lang.Exception

fireMachineActuatorActivity

public void fireMachineActuatorActivity(Actuator actuator)

Overrides:

fireMachineActuatorActivity in class AbstractMachine

getActuatorHistory

protected org.openpnp.machine.reference.SimulationModeMachine.ActuatorHistory getActuatorHistory(Actuator lightActuator)

simulateCameraExposure

public static void simulateCameraExposure(Camera camera,
                                          java.awt.Graphics2D gFrame,
                                          int width,
                                          int height)