Machine

All Superinterfaces:

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

All Known Implementing Classes:

AbstractMachine, ReferenceMachine, SimulationModeMachine
```
public interface Machine
extends WizardConfigurable, PropertySheetHolder, java.io.Closeable, Solutions.Subject
```
Machine represents the pick and place machine itself. It provides the information and interface needed to cause the machine to do work. A Machine has one or more Heads. Unless otherwise noted, the methods in this class block while performing their operations.

Nested Class Summary
- Nested classes/interfaces inherited from interface org.openpnp.spi.PropertySheetHolder
  PropertySheetHolder.PropertySheet

Field Summary

Fields
Modifier and Type Field and Description

static long DEFAULT_TASK_BUSY_TIMEOUT_MS

Fields
Modifier and Type	Field and Description
`static long`	`DEFAULT_TASK_BUSY_TIMEOUT_MS`

Method Summary

All Methods Instance Methods Abstract Methods Default Methods
Modifier and Type	Method and Description
`void`	`addActuator(Actuator actuator)`
`void`	`addAxis(Axis axis)`
`void`	`addCamera(Camera camera)`
`void`	`addDriver(Driver driver)`
`void`	`addFeeder(Feeder feeder)`
`void`	`addListener(MachineListener listener)`
`void`	`addNozzleTip(NozzleTip nozzleTip)`
`void`	`addSignaler(Signaler signaler)`
`default <T> T`	`execute(java.util.concurrent.Callable<T> callable)` Calls `execute(Callable, boolean, long, long)` with default busy timeout.
`default <T> T`	`execute(java.util.concurrent.Callable<T> callable, boolean onlyIfEnabled, long busyTimeout)` Calls `execute(Callable, boolean, long, long)` with default busy timeout.
`<T> T`	`execute(java.util.concurrent.Callable<T> callable, boolean onlyIfEnabled, long busyTimeout, long executeTimeout)` Execute a task to be run with access to the Machine.
`default <T> T`	`executeIfEnabled(java.util.concurrent.Callable<T> callable)` Same as `execute(Callable, boolean, long, long)` but the task is only executed if the Machine is enabled.
`Actuator`	`getActuator(java.lang.String id)` Get the Actuator attached to this Machine and not to a Head that has the specified id.
`Actuator`	`getActuatorByName(java.lang.String name)`
`java.util.List<Actuator>`	`getActuators()` Get a list of Actuators that are attached to this Machine and not to a Head.
`java.util.List<Actuator>`	`getAllActuators()` Gets a list of all Actuator attached to the Machine and to all the Heads.
`java.util.List<Camera>`	`getAllCameras()` Gets a list of all Cameras attached to the Machine and to all the Heads.
`java.util.List<Axis>`	`getAxes()` Gets a List of Axes attached to the Machine.
`Axis`	`getAxis(java.lang.String id)`
`Camera`	`getCamera(java.lang.String id)`
`java.util.List<Camera>`	`getCameras()` Gets a List of Cameras attached to the Machine that are not attached to Heads.
`java.util.List<java.lang.Class<? extends Actuator>>`	`getCompatibleActuatorClasses()`
`java.util.List<java.lang.Class<? extends Axis>>`	`getCompatibleAxisClasses()`
`java.util.List<java.lang.Class<? extends Camera>>`	`getCompatibleCameraClasses()`
`java.util.List<java.lang.Class<? extends Driver>>`	`getCompatibleDriverClasses()`
`java.util.List<java.lang.Class<? extends Feeder>>`	`getCompatibleFeederClasses()`
`java.util.List<java.lang.Class<? extends MotionPlanner>>`	`getCompatibleMotionPlannerClasses()`
`java.util.List<java.lang.Class<? extends Nozzle>>`	`getCompatibleNozzleClasses()`
`java.util.List<java.lang.Class<? extends Signaler>>`	`getCompatibleSignalerClasses()`
`Head`	`getDefaultHead()`
`Location`	`getDiscardLocation()`
`Driver`	`getDriver(java.lang.String id)`
`java.util.List<Driver>`	`getDrivers()` Gets a List of Drivers attached to the Machine.
`Feeder`	`getFeeder(java.lang.String id)`
`Feeder`	`getFeederByName(java.lang.String name)`
`java.util.List<Feeder>`	`getFeeders()` Gets a List of Feeders attached to the Machine.
`FiducialLocator`	`getFiducialLocator()`
`Head`	`getHead(java.lang.String id)`
`Head`	`getHeadByName(java.lang.String name)`
`java.util.List<Head>`	`getHeads()` Gets all active heads on the machine.
`boolean`	`getHomeAfterEnabled()`
`MotionPlanner`	`getMotionPlanner()`
`NozzleTip`	`getNozzleTip(java.lang.String id)`
`NozzleTip`	`getNozzleTipByName(java.lang.String name)`
`java.util.List<NozzleTip>`	`getNozzleTips()` Get a list of the NozzleTips currently attached to the Nozzle.
`java.util.List<PartAlignment>`	`getPartAlignments()`
`PnpJobProcessor`	`getPnpJobProcessor()`
`java.lang.Object`	`getProperty(java.lang.String name)`
`Signaler`	`getSignaler(java.lang.String id)`
`Signaler`	`getSignalerByName(java.lang.String name)`
`java.util.List<Signaler>`	`getSignalers()` Gets a List of Signalers attached to the Machine.
`double`	`getSpeed()`
`Length`	`getUnsafeZRoamingDistance()` Virtual Z axes (typically on cameras) are invisible, therefore it can easily be overlooked by users that it is at unsafe Z.
`void`	`home()` Commands all Heads to perform visual homing if available.
`boolean`	`isAutoToolSelect()`
`boolean`	`isBusy()`
`boolean`	`isEnabled()` Returns whether the Machine is currently ready for commands.
`boolean`	`isHomed()` Returns whether the Machine is homed
`boolean`	`isParkAfterHomed()`
`boolean`	`isPoolScriptingEngines()`
`boolean`	`isSafeZPark()`
`boolean`	`isTask(java.lang.Thread thread)` Determines whether the given thread is a task thread currently executed by the machine.
`void`	`permutateActuator(Actuator actuator, int direction)`
`void`	`permutateAxis(Axis axis, int direction)`
`void`	`permutateCamera(Camera driver, int direction)`
`void`	`permutateDriver(Driver driver, int direction)`
`void`	`removeActuator(Actuator actuator)`
`void`	`removeAxis(Axis axis)`
`void`	`removeCamera(Camera camera)`
`void`	`removeDriver(Driver driver)`
`void`	`removeFeeder(Feeder feeder)`
`void`	`removeListener(MachineListener listener)`
`void`	`removeNozzleTip(NozzleTip nozzleTip)`
`void`	`removeSignaler(Signaler signaler)`
`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`	`setHomed(boolean homed)`
`void`	`setProperty(java.lang.String name, java.lang.Object value)`
`void`	`setSpeed(double speed)`
`<T> java.util.concurrent.Future<T>`	`submit(java.util.concurrent.Callable<T> callable)`
`<T> java.util.concurrent.Future<T>`	`submit(java.util.concurrent.Callable<T> callable, <any> callback)`
`<T> java.util.concurrent.Future<T>`	`submit(java.util.concurrent.Callable<T> callable, <any> callback, boolean ignoreEnabled)` Submit a task to be run with access to the Machine.
`java.util.concurrent.Future<java.lang.Object>`	`submit(java.lang.Runnable runnable)`

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 java.io.Closeable
close

Methods inherited from interface org.openpnp.model.Solutions.Subject
findIssues, getSubjectIcon, getSubjectText

- Field Detail
  - DEFAULT_TASK_BUSY_TIMEOUT_MS
```
static final long DEFAULT_TASK_BUSY_TIMEOUT_MS
```
    See Also:
    
    Constant Field Values
- Method Detail
  - getAxes
```
java.util.List<Axis> getAxes()
```
    Gets a List of Axes attached to the Machine.
    
    Returns:
  - getAxis
```
Axis getAxis(java.lang.String id)
```
  - getHeads
```
java.util.List<Head> getHeads()
```
    Gets all active heads on the machine.
    
    Returns:
  - getHead
```
Head getHead(java.lang.String id)
```
  - getHeadByName
```
Head getHeadByName(java.lang.String name)
```
  - getSignalers
```
java.util.List<Signaler> getSignalers()
```
    Gets a List of Signalers attached to the Machine.
    
    Returns:
  - getSignaler
```
Signaler getSignaler(java.lang.String id)
```
  - getSignalerByName
```
Signaler getSignalerByName(java.lang.String name)
```
  - getFeeders
```
java.util.List<Feeder> getFeeders()
```
    Gets a List of Feeders attached to the Machine.
    
    Returns:
  - getFeeder
```
Feeder getFeeder(java.lang.String id)
```
  - getFeederByName
```
Feeder getFeederByName(java.lang.String name)
```
  - getCameras
```
java.util.List<Camera> getCameras()
```
    Gets a List of Cameras attached to the Machine that are not attached to Heads.
    
    Returns:
  - getAllCameras
```
java.util.List<Camera> getAllCameras()
```
    Gets a list of all Cameras attached to the Machine and to all the Heads.
    
    Returns:
  - getCamera
```
Camera getCamera(java.lang.String id)
```
  - getActuators
```
java.util.List<Actuator> getActuators()
```
    Get a list of Actuators that are attached to this Machine and not to a Head.
    
    Returns:
  - getAllActuators
```
java.util.List<Actuator> getAllActuators()
```
    Gets a list of all Actuator attached to the Machine and to all the Heads.
    
    Returns:
  - getActuator
```
Actuator getActuator(java.lang.String id)
```
    Get the Actuator attached to this Machine and not to a Head that has the specified id.
    
    Parameters:
    
    id -
    
    Returns:
  - getActuatorByName
```
Actuator getActuatorByName(java.lang.String name)
```
  - getDrivers
```
java.util.List<Driver> getDrivers()
```
    Gets a List of Drivers attached to the Machine.
    
    Returns:
  - getDriver
```
Driver getDriver(java.lang.String id)
```
  - getMotionPlanner
```
MotionPlanner getMotionPlanner()
```
  - home
```
void home()
   throws java.lang.Exception
```
    Commands all Heads to perform visual homing if available. Depending on the head configuration of the machine the home positions may not all be the same but the end result should be that any head commanded to move to a certain position will end up in the same position.
    
    Throws:
    
    java.lang.Exception
  - isEnabled
```
boolean isEnabled()
```
    Returns whether the Machine is currently ready for commands.
  - isHomed
```
boolean isHomed()
```
    Returns whether the Machine is homed
  - setEnabled
```
void setEnabled(boolean enabled)
         throws java.lang.Exception
```
    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.
    
    Throws:
    
    java.lang.Exception
  - setHomed
```
void setHomed(boolean homed)
```
  - addListener
```
void addListener(MachineListener listener)
```
  - removeListener
```
void removeListener(MachineListener listener)
```
  - getCompatibleAxisClasses
```
java.util.List<java.lang.Class<? extends Axis>> getCompatibleAxisClasses()
```
  - getCompatibleFeederClasses
```
java.util.List<java.lang.Class<? extends Feeder>> getCompatibleFeederClasses()
```
  - getCompatibleCameraClasses
```
java.util.List<java.lang.Class<? extends Camera>> getCompatibleCameraClasses()
```
  - getCompatibleNozzleClasses
```
java.util.List<java.lang.Class<? extends Nozzle>> getCompatibleNozzleClasses()
```
  - getCompatibleActuatorClasses
```
java.util.List<java.lang.Class<? extends Actuator>> getCompatibleActuatorClasses()
```
  - getCompatibleSignalerClasses
```
java.util.List<java.lang.Class<? extends Signaler>> getCompatibleSignalerClasses()
```
  - getCompatibleDriverClasses
```
java.util.List<java.lang.Class<? extends Driver>> getCompatibleDriverClasses()
```
  - getCompatibleMotionPlannerClasses
```
java.util.List<java.lang.Class<? extends MotionPlanner>> getCompatibleMotionPlannerClasses()
```
  - addAxis
```
void addAxis(Axis axis)
      throws java.lang.Exception
```
    Throws:
    
    java.lang.Exception
  - removeAxis
```
void removeAxis(Axis axis)
```
  - permutateAxis
```
void permutateAxis(Axis axis,
                   int direction)
```
  - addDriver
```
void addDriver(Driver driver)
        throws java.lang.Exception
```
    Throws:
    
    java.lang.Exception
  - removeDriver
```
void removeDriver(Driver driver)
```
  - permutateDriver
```
void permutateDriver(Driver driver,
                     int direction)
```
  - addFeeder
```
void addFeeder(Feeder feeder)
        throws java.lang.Exception
```
    Throws:
    
    java.lang.Exception
  - removeFeeder
```
void removeFeeder(Feeder feeder)
```
  - addSignaler
```
void addSignaler(Signaler signaler)
          throws java.lang.Exception
```
    Throws:
    
    java.lang.Exception
  - removeSignaler
```
void removeSignaler(Signaler signaler)
```
  - addCamera
```
void addCamera(Camera camera)
        throws java.lang.Exception
```
    Throws:
    
    java.lang.Exception
  - removeCamera
```
void removeCamera(Camera camera)
```
  - permutateCamera
```
void permutateCamera(Camera driver,
                     int direction)
```
  - addActuator
```
void addActuator(Actuator actuator)
          throws java.lang.Exception
```
    Throws:
    
    java.lang.Exception
  - removeActuator
```
void removeActuator(Actuator actuator)
```
  - permutateActuator
```
void permutateActuator(Actuator actuator,
                       int direction)
```
  - getPnpJobProcessor
```
PnpJobProcessor getPnpJobProcessor()
```
  - submit
```
java.util.concurrent.Future<java.lang.Object> submit(java.lang.Runnable runnable)
```
  - submit
```
<T> java.util.concurrent.Future<T> submit(java.util.concurrent.Callable<T> callable)
```
  - submit
```
<T> java.util.concurrent.Future<T> submit(java.util.concurrent.Callable<T> callable,
                                          <any> callback)
```
  - getHomeAfterEnabled
```
boolean getHomeAfterEnabled()
```
  - submit
```
<T> java.util.concurrent.Future<T> submit(java.util.concurrent.Callable<T> callable,
                                          <any> callback,
                                          boolean ignoreEnabled)
```
    Submit a task to be run with access to the Machine. The submit() and execute() methods are the primary entry points into executing any blocking operation on the Machine. If you are doing anything that results in the Machine doing something it should happen here. With the submit() method, tasks can be cancelled and interrupted via the returned Future. Tasks which operate in a loop should check Thread.currentThread().isInterrupted(). When a task begins the MachineListeners are notified with machineBusy(true). When the task ends, if there are no more tasks to run then machineBusy(false) is called. TODO: When any task is running the driver for the machine is locked and any calls to the driver outside of the task will throw an Exception. If any tasks throws an Exception then all queued future tasks are cancelled. If a task includes a callback the callback is executed before the next task begins. TODO: By supplying a tag you can guarantee that there is only one of a certain type of task queued. Attempting to queue another task with the same tag will return null and the task will not be queued.
    
    Parameters:
    
    callable -
    
    callback -
    
    ignoreEnabled - True if the task should execute even if the machine is not enabled. This is specifically for enabling the machine and should not typically be used elsewhere.
  - execute
```
<T> T execute(java.util.concurrent.Callable<T> callable,
              boolean onlyIfEnabled,
              long busyTimeout,
              long executeTimeout)
       throws java.lang.Exception
```
    Execute a task to be run with access to the Machine. The submit() and execute() methods are the primary entry points into executing any blocking operation on the Machine. If you are doing anything that results in the Machine doing something it should happen here. With the execute() method, tasks are executed and waited for, rather than queued. If called from inside a machine task the execution is immediate. If called from a different thread, the task is submitted and then the calling thread will wait for completion. Return value and exceptions are always handled as if called directly.
    
    Type Parameters:
    
    T -
    
    Parameters:
    
    callable -
    
    onlyIfEnabled - True if the task must only be executed if the machine is enabled.
    
    busyTimeout - If the machine is busy executing other submitted task, the execution will be rejected when the timeout (in milliseconds) expires, throwing a TimeoutException. This will typically happen, when a long-running operation like a Job is pending.
    
    executeTimeout - If the execution takes longer than this time (in milliseconds) the method throws a TimeoutException. Note the callable will still continue after that.
    
    Returns:
    
    Throws:
    
    java.lang.Exception
  - execute
```
default <T> T execute(java.util.concurrent.Callable<T> callable,
                      boolean onlyIfEnabled,
                      long busyTimeout)
               throws java.lang.Exception
```
    Calls execute(Callable, boolean, long, long) with default busy timeout.
    
    Throws:
    
    java.lang.Exception
  - execute
```
default <T> T execute(java.util.concurrent.Callable<T> callable)
               throws java.lang.Exception
```
    Calls execute(Callable, boolean, long, long) with default busy timeout.
    
    Type Parameters:
    
    T -
    
    Parameters:
    
    callable -
    
    Returns:
    
    Throws:
    
    java.lang.Exception
  - executeIfEnabled
```
default <T> T executeIfEnabled(java.util.concurrent.Callable<T> callable)
                        throws java.lang.Exception
```
    Same as execute(Callable, boolean, long, long) but the task is only executed if the Machine is enabled.
    
    Type Parameters:
    
    T -
    
    Parameters:
    
    callable -
    
    Returns:
    
    Throws:
    
    java.lang.Exception
  - isTask
```
boolean isTask(java.lang.Thread thread)
```
    Determines whether the given thread is a task thread currently executed by the machine.
    
    Parameters:
    
    thread -
    
    Returns:
  - isBusy
```
boolean isBusy()
```
    Returns:
    
    True if a machine task is currently running/pending.
  - getDefaultHead
```
Head getDefaultHead()
             throws java.lang.Exception
```
    Throws:
    
    java.lang.Exception
  - getPartAlignments
```
java.util.List<PartAlignment> getPartAlignments()
```
  - getFiducialLocator
```
FiducialLocator getFiducialLocator()
```
  - getDiscardLocation
```
Location getDiscardLocation()
```
  - setSpeed
```
void setSpeed(double speed)
```
  - getSpeed
```
double getSpeed()
```
  - getProperty
```
java.lang.Object getProperty(java.lang.String name)
```
  - setProperty
```
void setProperty(java.lang.String name,
                 java.lang.Object value)
```
  - getNozzleTips
```
java.util.List<NozzleTip> getNozzleTips()
```
    Get a list of the NozzleTips currently attached to the Nozzle.
    
    Returns:
  - addNozzleTip
```
void addNozzleTip(NozzleTip nozzleTip)
           throws java.lang.Exception
```
    Throws:
    
    java.lang.Exception
  - removeNozzleTip
```
void removeNozzleTip(NozzleTip nozzleTip)
```
  - getNozzleTip
```
NozzleTip getNozzleTip(java.lang.String id)
```
  - getNozzleTipByName
```
NozzleTip getNozzleTipByName(java.lang.String name)
```
  - isAutoToolSelect
```
boolean isAutoToolSelect()
```
    Returns:
    
    True if the tool in machine controls should be auto-selected based on targeted user action.
  - isSafeZPark
```
boolean isSafeZPark()
```
    Returns:
    
    True if the Z Park button should move all other HeadMountables to Safe Z.
  - isParkAfterHomed
```
boolean isParkAfterHomed()
```
    Returns:
    
    True if the machine heads should be parked after the machine was homed.
  - getUnsafeZRoamingDistance
```
Length getUnsafeZRoamingDistance()
```
    Virtual Z axes (typically on cameras) are invisible, therefore it can easily be overlooked by users that it is at unsafe Z. When they later press the Move tool to camera location button, an unexpected Z down-move will result, potentially crashing the tool. The maximum allowable roaming distance at unsafe Z therefore limits the jogging area within which an unsafe virtual Z is kept. It should be enough to fine-adjust a captured location, but jogging further away will automatically move the virtual axis to Safe Z.
    
    Returns:
    
    Maximum allowable roaming distance at unsafe Z.
  - isPoolScriptingEngines
```
boolean isPoolScriptingEngines()
```
    Returns:
    
    True if scripting engines should be pooled for faster reuse.

Interface Machine

Nested Class Summary

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

Field Summary

Method Summary

Methods inherited from interface org.openpnp.spi.WizardConfigurable

Methods inherited from interface org.openpnp.spi.PropertySheetHolder

Methods inherited from interface java.io.Closeable

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

Field Detail

DEFAULT_TASK_BUSY_TIMEOUT_MS

Method Detail

getAxes

getAxis

getHeads

getHead

getHeadByName

getSignalers

getSignaler

getSignalerByName

getFeeders

getFeeder

getFeederByName

getCameras

getAllCameras

getCamera

getActuators

getAllActuators

getActuator

getActuatorByName

getDrivers

getDriver

getMotionPlanner

home

isEnabled

isHomed

setEnabled

setHomed

addListener

removeListener

getCompatibleAxisClasses

getCompatibleFeederClasses

getCompatibleCameraClasses

getCompatibleNozzleClasses

getCompatibleActuatorClasses

getCompatibleSignalerClasses

getCompatibleDriverClasses

getCompatibleMotionPlannerClasses

addAxis

removeAxis

permutateAxis

addDriver

removeDriver

permutateDriver

addFeeder

removeFeeder

addSignaler

removeSignaler

addCamera

removeCamera

permutateCamera

addActuator

removeActuator

permutateActuator

getPnpJobProcessor

submit

submit

submit

getHomeAfterEnabled

submit

execute

execute

execute

executeIfEnabled

isTask

isBusy

getDefaultHead

getPartAlignments

getFiducialLocator

getDiscardLocation