org.openpnp.spi

Interface Driver

All Superinterfaces:

java.lang.AutoCloseable, java.io.Closeable, Identifiable, Named, PropertySheetHolder, Solutions.Subject, WizardConfigurable

All Known Implementing Classes:

AbstractDriver, AbstractReferenceDriver, GcodeAsyncDriver, GcodeDriver, NeoDen4Driver, NullDriver

public interface Driver
extends Identifiable, Named, java.io.Closeable, WizardConfigurable, PropertySheetHolder, Solutions.Subject

Defines the interface for a driver that the MotionPlanner can drive. All methods result in machine operations and most methods should block until they are complete or throw an error. This Driver interface is intended to talk to one controller with Axes and Actuators attached. Drivers should only expose the functionality of the controller in a unified way. They should not add additional logic other than what is needed to make an attached controller behave like any other. This is different from previous versions of OpenPnP where the driver did much more.

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static class	Driver.MotionControlType The MotionControlType determines how the OpenPnP MotionPlanner will do its planning and how it will talk to the controller.

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

PropertySheetHolder.PropertySheet

Method Summary

Modifier and Type	Method and Description
void	actuate(Actuator actuator, boolean on) Actuates a machine defined object with a boolean state.
void	actuate(Actuator actuator, double value) Actuates a machine defined object with a double value.
default void	actuate(Actuator actuator, java.lang.String value) Actuates a machine defined object with a String value.
default java.lang.String	actuatorRead(Actuator actuator) Read a String value from the given Actuator.
default java.lang.String	actuatorRead(Actuator actuator, java.lang.Object parameter) Read a given String value from the given Actuator.
Length	getFeedRatePerSecond()
default java.lang.Integer	getInterpolationJerkSteps()
default java.lang.Integer	getInterpolationMaxSteps()
default java.lang.Integer	getInterpolationMinStep()
default java.lang.Double	getInterpolationTimeStep()
default Length	getJunctionDeviation()
Length	getMinimumRate(int order)
Driver.MotionControlType	getMotionControlType()
AxesLocation	getReportedLocation(long timeout) Get the momentary real-time location from the controller.
LengthUnit	getUnits()
void	home(Machine machine) Perform the hardware homing operation.
boolean	isMotionPending()
boolean	isSupportingPreMove()
boolean	isSyncInitialLocation()
boolean	isUsingLetterVariables()
void	moveTo(HeadMountable hm, Motion.MoveToCommand moveToCommand) Executes the given Motion.
void	setEnabled(boolean enabled) Attempts to enable the Driver, turning on all outputs.
void	setGlobalOffsets(Machine machine, AxesLocation axesLocation) Set the current physical axis positions to be reinterpreted as the specified coordinates.
void	waitForCompletion(HeadMountable hm, MotionPlanner.CompletionType completionType) Perform a coordinated wait for completion.

Methods inherited from interface org.openpnp.model.Identifiable

getId

Methods inherited from interface org.openpnp.model.Named

getName, setName

Methods inherited from interface java.io.Closeable

close

Methods inherited from interface org.openpnp.spi.WizardConfigurable

getConfigurationWizard

Methods inherited from interface org.openpnp.spi.PropertySheetHolder

getChildPropertySheetHolders, getPropertySheetHolderActions, getPropertySheetHolderIcon, getPropertySheetHolderTitle, getPropertySheets

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

findIssues, getSubjectIcon, getSubjectText

Method Detail

getUnits

LengthUnit getUnits()

Returns:

The LengthUnit used by the controller that is driven by this driver.

home

void home(Machine machine)
   throws java.lang.Exception

Perform the hardware homing operation. When this completes the axes should be at their homing location. The call might return before this physically happens, so a waitForCompletion() is needed if you need to be sure.

Parameters:

machine -

Throws:

java.lang.Exception

setGlobalOffsets

void setGlobalOffsets(Machine machine,
                      AxesLocation axesLocation)
               throws java.lang.Exception

Set the current physical axis positions to be reinterpreted as the specified coordinates. Used after visual homing and to reset a rotation angle after it has wrapped around. In G-Code parlance this is setting a global offset:

Parameters:

machine -

axesLocation -

Throws:

java.lang.Exception

See Also:

http://www.linuxcnc.org/docs/html/gcode/coordinates.html#_the_g92_commands, http://smoothieware.org/g92-cnc, https://github.com/synthetos/TinyG/wiki/Coordinate-Systems#offsets-to-the-offsets-g92

moveTo

void moveTo(HeadMountable hm,
            Motion.MoveToCommand moveToCommand)
     throws java.lang.Exception

Executes the given Motion.

Parameters:

hm - The HeadMountable having triggered the move. This is mostly for proprietary machine driver support and might only be a stand-in in some motion blending scenarios.

moveToCommand - The moveTo Motion to execute, including target location and limits for feedrate, acceleration etc. as shaped by the MotionPlanner

Throws:

java.lang.Exception

getReportedLocation

AxesLocation getReportedLocation(long timeout)
                          throws java.lang.Exception

Get the momentary real-time location from the controller. This might be in mid-motion.

Parameters:

timeout - TODO

Returns:

Throws:

java.lang.Exception

isSyncInitialLocation

boolean isSyncInitialLocation()

Returns:

true if the driver should synchronize its initial position after enabling.

isMotionPending

boolean isMotionPending()

Returns:

true if a motion is still assumed to be pending, i.e. waitForCompletion() has not yet been called.

waitForCompletion

void waitForCompletion(HeadMountable hm,
                       MotionPlanner.CompletionType completionType)
                throws java.lang.Exception

Perform a coordinated wait for completion. This must be issued before capturing camera frames etc.

Parameters:

hm - The HeadMountable to wait for. If null, wait for all the axes on the driver. Most drivers/controllers will probably not be able to wait for just a sub-set of axes, so the'll wait for all the axes anyway.

completionType - The kind of completion wanted.

Throws:

java.lang.Exception

actuate

void actuate(Actuator actuator,
             boolean on)
      throws java.lang.Exception

Actuates a machine defined object with a boolean state.

Parameters:

actuator -

on -

Throws:

java.lang.Exception

actuate

void actuate(Actuator actuator,
             double value)
      throws java.lang.Exception

Actuates a machine defined object with a double value.

Parameters:

actuator -

value -

Throws:

java.lang.Exception

actuate

default void actuate(Actuator actuator,
                     java.lang.String value)
              throws java.lang.Exception

Actuates a machine defined object with a String value.

Parameters:

actuator -

value -

Throws:

java.lang.Exception

actuatorRead

default java.lang.String actuatorRead(Actuator actuator)
                               throws java.lang.Exception

Read a String value from the given Actuator.

Parameters:

actuator -

Returns:

Throws:

java.lang.Exception

actuatorRead

default java.lang.String actuatorRead(Actuator actuator,
                                      java.lang.Object parameter)
                               throws java.lang.Exception

Read a given String value from the given Actuator.

Parameters:

actuator -

parameter -

Returns:

Throws:

java.lang.Exception

setEnabled

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

Attempts to enable the Driver, turning on all outputs.

Parameters:

enabled -

Throws:

java.lang.Exception

isSupportingPreMove

boolean isSupportingPreMove()

isUsingLetterVariables

boolean isUsingLetterVariables()

getMotionControlType

Driver.MotionControlType getMotionControlType()

Returns:

The MotionControlType that determines how the OpenPnP MotionPlanner will do its planning and how it will talk to the controller.

getFeedRatePerSecond

Length getFeedRatePerSecond()

Returns:

A driver specific feed-rate limit, applied in addition to axis feed-rate limits and according to NIST RS274NGC Interpreter - Version 3, Section 2.1.2.5 (p. 7). Given per second (will be converted to the standard per minute rate when using Gcode F values).

getInterpolationMaxSteps

default java.lang.Integer getInterpolationMaxSteps()

Returns:

The maximum number of interpolation steps that should be applied to simulate more advanced motion control. Usually depends on the depth of the look-ahead motion planner queue inside the controller.

getInterpolationJerkSteps

default java.lang.Integer getInterpolationJerkSteps()

Returns:

The maximum number of interpolation steps that should be applied to simulate jerk control per acceleration/deceleration ramp. Should be much less than getInterpolationMaxSteps().

getInterpolationTimeStep

default java.lang.Double getInterpolationTimeStep()

Returns:

The minimal time step that should be used to simulate more advanced motion control.

getInterpolationMinStep

default java.lang.Integer getInterpolationMinStep()

Returns:

The minimal interpolation step distance, given in resolution ticks (i.e. usually micro-steps) of the axes.

getJunctionDeviation

default Length getJunctionDeviation()

getMinimumRate

Length getMinimumRate(int order)

Parameters:

order - Derivative order, velocity (1), acceleration (2), jerk (3)

Returns:

The minimum velocity, acceleration, jerk the driver supports. Used to prevent "rounded to zero" errors in decimal formatting and interpolation.