AbstractMachine

java.lang.Object
- org.openpnp.model.AbstractModelObject
- - org.openpnp.spi.base.AbstractMachine

All Implemented Interfaces:

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

Direct Known Subclasses:

ReferenceMachine
```
public abstract class AbstractMachine
extends AbstractModelObject
implements Machine
```

Nested Class Summary

Nested Classes
Modifier and Type Class and Description

static class AbstractMachine.State
History: Note: Can't actually use the @Version annotation because of a bug in SimpleXML.
- Nested classes/interfaces inherited from interface org.openpnp.spi.PropertySheetHolder
  PropertySheetHolder.PropertySheet

Nested Classes
Modifier and Type	Class and Description
`static class`	`AbstractMachine.State` History: Note: Can't actually use the @Version annotation because of a bug in SimpleXML.

Field Summary

Fields
Modifier and Type	Field and Description
`protected IdentifiableList<Actuator>`	`actuators`
`protected IdentifiableList<Axis>`	`axes`
`protected IdentifiableList<Camera>`	`cameras`
`protected Location`	`discardLocation`
`protected IdentifiableList<Driver>`	`drivers`
`protected java.util.concurrent.ThreadPoolExecutor`	`executor`
`protected IdentifiableList<Feeder>`	`feeders`
`protected IdentifiableList<Head>`	`heads`
`protected java.util.Set<MachineListener>`	`listeners`
`protected IdentifiableList<NozzleTip>`	`nozzleTips`
`protected IdentifiableList<PartAlignment>`	`partAlignments`
`protected java.util.HashMap<java.lang.String,java.lang.Object>`	`properties`
`protected IdentifiableList<Signaler>`	`signalers`
`protected double`	`speed`
`protected java.lang.Thread`	`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
Modifier Constructor and Description

protected AbstractMachine()

Constructors
Modifier	Constructor and Description
`protected`	`AbstractMachine()`

Method Summary

All Methods Instance Methods Concrete 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`	`addHead(Head head)`
`void`	`addListener(MachineListener listener)`
`void`	`addNozzleTip(NozzleTip nozzleTip)`
`void`	`addSignaler(Signaler signaler)`
`protected void`	`commit()`
`<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.
`void`	`findIssues(Solutions solutions)` Report any detected issue and proposed solution in the list.
`void`	`fireMachineAboutToBeDisabled(java.lang.String reason)`
`void`	`fireMachineActuatorActivity(Actuator actuator)`
`void`	`fireMachineBusy(boolean busy)`
`void`	`fireMachineDisabled(java.lang.String reason)`
`void`	`fireMachineDisableFailed(java.lang.String reason)`
`void`	`fireMachineEnabled()`
`void`	`fireMachineEnableFailed(java.lang.String reason)`
`void`	`fireMachineHeadActivity(Head head)`
`void`	`fireMachineHomed(boolean isHomed)`
`void`	`fireMachineTargetedUserAction(HeadMountable hm, boolean jogging)`
`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.
`AbstractAxis`	`getDefaultAxis(Axis.Type type)` Find a default machine axis by type.
`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.
`Head`	`getHead(java.lang.String id)`
`Head`	`getHeadByName(java.lang.String name)`
`java.util.List<Head>`	`getHeads()` Gets all active heads on the machine.
`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()`
`java.lang.Object`	`getProperty(java.lang.String name)`
`javax.swing.Icon`	`getPropertySheetHolderIcon()`
`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()`
`protected java.lang.Thread`	`getTaskThread()`
`void`	`home()` Commands all Heads to perform visual homing if available.
`boolean`	`isBusy()`
`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 camera, 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`	`setDiscardLocation(Location discardLocation)`
`void`	`setProperty(java.lang.String name, java.lang.Object value)`
`void`	`setSpeed(double speed)`
`protected void`	`setTaskThread(java.lang.Thread taskThread)`
`<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 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.WizardConfigurable
getConfigurationWizard

Methods inherited from interface org.openpnp.spi.PropertySheetHolder
getChildPropertySheetHolders, getPropertySheetHolderActions, getPropertySheetHolderTitle, getPropertySheets

Methods inherited from interface java.io.Closeable
close

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

- Field Detail
  - axes
```
protected IdentifiableList<Axis> axes
```
  - heads
```
protected IdentifiableList<Head> heads
```
  - signalers
```
protected IdentifiableList<Signaler> signalers
```
  - feeders
```
protected IdentifiableList<Feeder> feeders
```
  - cameras
```
protected IdentifiableList<Camera> cameras
```
  - actuators
```
protected IdentifiableList<Actuator> actuators
```
  - partAlignments
```
protected IdentifiableList<PartAlignment> partAlignments
```
  - drivers
```
protected IdentifiableList<Driver> drivers
```
  - discardLocation
```
protected Location discardLocation
```
  - speed
```
protected double speed
```
  - properties
```
protected java.util.HashMap<java.lang.String,java.lang.Object> properties
```
  - nozzleTips
```
protected IdentifiableList<NozzleTip> nozzleTips
```
  - listeners
```
protected java.util.Set<MachineListener> listeners
```
  - executor
```
protected java.util.concurrent.ThreadPoolExecutor executor
```
  - taskThread
```
protected volatile java.lang.Thread taskThread
```
- Constructor Detail
  - AbstractMachine
```
protected AbstractMachine()
```
- Method Detail
  - commit
```
protected void commit()
```
  - addHead
```
public void addHead(Head head)
```
  - getAxes
```
public java.util.List<Axis> getAxes()
```
    Description copied from interface: Machine
    
    Gets a List of Axes attached to the Machine.
    
    Specified by:
    
    getAxes in interface Machine
    
    Returns:
  - getAxis
```
public Axis getAxis(java.lang.String id)
```
    Specified by:
    
    getAxis in interface Machine
  - getDefaultAxis
```
public AbstractAxis getDefaultAxis(Axis.Type type)
```
    Find a default machine axis by type. This is just an educated guess that is good as a default assignment to be reviewed by the user.
    
    Parameters:
    
    type -
    
    Returns:
  - getHeads
```
public java.util.List<Head> getHeads()
```
    Description copied from interface: Machine
    
    Gets all active heads on the machine.
    
    Specified by:
    
    getHeads in interface Machine
    
    Returns:
  - getHead
```
public Head getHead(java.lang.String id)
```
    Specified by:
    
    getHead in interface Machine
  - getHeadByName
```
public Head getHeadByName(java.lang.String name)
```
    Specified by:
    
    getHeadByName in interface Machine
  - getSignalers
```
public java.util.List<Signaler> getSignalers()
```
    Description copied from interface: Machine
    
    Gets a List of Signalers attached to the Machine.
    
    Specified by:
    
    getSignalers in interface Machine
    
    Returns:
  - getSignaler
```
public Signaler getSignaler(java.lang.String id)
```
    Specified by:
    
    getSignaler in interface Machine
  - getSignalerByName
```
public Signaler getSignalerByName(java.lang.String name)
```
    Specified by:
    
    getSignalerByName in interface Machine
  - getFeeders
```
public java.util.List<Feeder> getFeeders()
```
    Description copied from interface: Machine
    
    Gets a List of Feeders attached to the Machine.
    
    Specified by:
    
    getFeeders in interface Machine
    
    Returns:
  - getFeeder
```
public Feeder getFeeder(java.lang.String id)
```
    Specified by:
    
    getFeeder in interface Machine
  - getCameras
```
public java.util.List<Camera> getCameras()
```
    Description copied from interface: Machine
    
    Gets a List of Cameras attached to the Machine that are not attached to Heads.
    
    Specified by:
    
    getCameras in interface Machine
    
    Returns:
  - getAllCameras
```
public java.util.List<Camera> getAllCameras()
```
    Description copied from interface: Machine
    
    Gets a list of all Cameras attached to the Machine and to all the Heads.
    
    Specified by:
    
    getAllCameras in interface Machine
    
    Returns:
  - getCamera
```
public Camera getCamera(java.lang.String id)
```
    Specified by:
    
    getCamera in interface Machine
  - getDrivers
```
public java.util.List<Driver> getDrivers()
```
    Description copied from interface: Machine
    
    Gets a List of Drivers attached to the Machine.
    
    Specified by:
    
    getDrivers in interface Machine
    
    Returns:
  - getDriver
```
public Driver getDriver(java.lang.String id)
```
    Specified by:
    
    getDriver in interface Machine
  - getPartAlignments
```
public java.util.List<PartAlignment> getPartAlignments()
```
    Specified by:
    
    getPartAlignments in interface Machine
  - getActuators
```
public java.util.List<Actuator> getActuators()
```
    Description copied from interface: Machine
    
    Get a list of Actuators that are attached to this Machine and not to a Head.
    
    Specified by:
    
    getActuators in interface Machine
    
    Returns:
  - getAllActuators
```
public java.util.List<Actuator> getAllActuators()
```
    Description copied from interface: Machine
    
    Gets a list of all Actuator attached to the Machine and to all the Heads.
    
    Specified by:
    
    getAllActuators in interface Machine
    
    Returns:
  - getActuator
```
public Actuator getActuator(java.lang.String id)
```
    Description copied from interface: Machine
    
    Get the Actuator attached to this Machine and not to a Head that has the specified id.
    
    Specified by:
    
    getActuator in interface Machine
    
    Returns:
  - getActuatorByName
```
public Actuator getActuatorByName(java.lang.String name)
```
    Specified by:
    
    getActuatorByName in interface Machine
  - getFeederByName
```
public Feeder getFeederByName(java.lang.String name)
```
    Specified by:
    
    getFeederByName in interface Machine
  - home
```
public void home()
          throws java.lang.Exception
```
    Description copied from interface: Machine
    
    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.
    
    Specified by:
    
    home in interface Machine
    
    Throws:
    
    java.lang.Exception
  - addListener
```
public void addListener(MachineListener listener)
```
    Specified by:
    
    addListener in interface Machine
  - removeListener
```
public void removeListener(MachineListener listener)
```
    Specified by:
    
    removeListener in interface Machine
  - addAxis
```
public void addAxis(Axis axis)
             throws java.lang.Exception
```
    Specified by:
    
    addAxis in interface Machine
    
    Throws:
    
    java.lang.Exception
  - removeAxis
```
public void removeAxis(Axis axis)
```
    Specified by:
    
    removeAxis in interface Machine
  - permutateAxis
```
public void permutateAxis(Axis axis,
                          int direction)
```
    Specified by:
    
    permutateAxis in interface Machine
  - addFeeder
```
public void addFeeder(Feeder feeder)
               throws java.lang.Exception
```
    Specified by:
    
    addFeeder in interface Machine
    
    Throws:
    
    java.lang.Exception
  - removeFeeder
```
public void removeFeeder(Feeder feeder)
```
    Specified by:
    
    removeFeeder in interface Machine
  - addCamera
```
public void addCamera(Camera camera)
               throws java.lang.Exception
```
    Specified by:
    
    addCamera in interface Machine
    
    Throws:
    
    java.lang.Exception
  - removeCamera
```
public void removeCamera(Camera camera)
```
    Specified by:
    
    removeCamera in interface Machine
  - permutateCamera
```
public void permutateCamera(Camera camera,
                            int direction)
```
    Specified by:
    
    permutateCamera in interface Machine
  - addActuator
```
public void addActuator(Actuator actuator)
                 throws java.lang.Exception
```
    Specified by:
    
    addActuator in interface Machine
    
    Throws:
    
    java.lang.Exception
  - removeActuator
```
public void removeActuator(Actuator actuator)
```
    Specified by:
    
    removeActuator in interface Machine
  - permutateActuator
```
public void permutateActuator(Actuator actuator,
                              int direction)
```
    Specified by:
    
    permutateActuator in interface Machine
  - addDriver
```
public void addDriver(Driver driver)
               throws java.lang.Exception
```
    Specified by:
    
    addDriver in interface Machine
    
    Throws:
    
    java.lang.Exception
  - removeDriver
```
public void removeDriver(Driver driver)
```
    Specified by:
    
    removeDriver in interface Machine
  - permutateDriver
```
public void permutateDriver(Driver driver,
                            int direction)
```
    Specified by:
    
    permutateDriver in interface Machine
  - addSignaler
```
public void addSignaler(Signaler signaler)
                 throws java.lang.Exception
```
    Specified by:
    
    addSignaler in interface Machine
    
    Throws:
    
    java.lang.Exception
  - removeSignaler
```
public void removeSignaler(Signaler signaler)
```
    Specified by:
    
    removeSignaler in interface Machine
  - fireMachineHeadActivity
```
public void fireMachineHeadActivity(Head head)
```
  - fireMachineTargetedUserAction
```
public void fireMachineTargetedUserAction(HeadMountable hm,
                                          boolean jogging)
```
  - fireMachineActuatorActivity
```
public void fireMachineActuatorActivity(Actuator actuator)
```
  - fireMachineEnabled
```
public void fireMachineEnabled()
```
  - fireMachineEnableFailed
```
public void fireMachineEnableFailed(java.lang.String reason)
```
  - fireMachineAboutToBeDisabled
```
public void fireMachineAboutToBeDisabled(java.lang.String reason)
```
  - fireMachineDisabled
```
public void fireMachineDisabled(java.lang.String reason)
```
  - fireMachineDisableFailed
```
public void fireMachineDisableFailed(java.lang.String reason)
```
  - fireMachineHomed
```
public void fireMachineHomed(boolean isHomed)
```
  - fireMachineBusy
```
public void fireMachineBusy(boolean busy)
```
  - getPropertySheetHolderIcon
```
public javax.swing.Icon getPropertySheetHolderIcon()
```
    Specified by:
    
    getPropertySheetHolderIcon in interface PropertySheetHolder
  - submit
```
public java.util.concurrent.Future<java.lang.Object> submit(java.lang.Runnable runnable)
```
    Specified by:
    
    submit in interface Machine
  - submit
```
public <T> java.util.concurrent.Future<T> submit(java.util.concurrent.Callable<T> callable)
```
    Specified by:
    
    submit in interface Machine
  - submit
```
public <T> java.util.concurrent.Future<T> submit(java.util.concurrent.Callable<T> callable,
                                                 <any> callback)
```
    Specified by:
    
    submit in interface Machine
  - submit
```
public <T> java.util.concurrent.Future<T> submit(java.util.concurrent.Callable<T> callable,
                                                 <any> callback,
                                                 boolean ignoreEnabled)
```
    Description copied from interface: Machine
    
    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.
    
    Specified by:
    
    submit in interface Machine
    
    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
```
public <T> T execute(java.util.concurrent.Callable<T> callable,
                     boolean onlyIfEnabled,
                     long busyTimeout,
                     long executeTimeout)
              throws java.lang.Exception
```
    Description copied from interface: Machine
    
    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.
    
    Specified by:
    
    execute in interface Machine
    
    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
  - getTaskThread
```
protected java.lang.Thread getTaskThread()
```
  - setTaskThread
```
protected void setTaskThread(java.lang.Thread taskThread)
```
  - isTask
```
public boolean isTask(java.lang.Thread thread)
```
    Description copied from interface: Machine
    
    Determines whether the given thread is a task thread currently executed by the machine.
    
    Specified by:
    
    isTask in interface Machine
    
    Returns:
  - isBusy
```
public boolean isBusy()
```
    Specified by:
    
    isBusy in interface Machine
    
    Returns:
    
    True if a machine task is currently running/pending.
  - getDefaultHead
```
public Head getDefaultHead()
                    throws java.lang.Exception
```
    Specified by:
    
    getDefaultHead in interface Machine
    
    Throws:
    
    java.lang.Exception
  - getDiscardLocation
```
public Location getDiscardLocation()
```
    Specified by:
    
    getDiscardLocation in interface Machine
  - setDiscardLocation
```
public void setDiscardLocation(Location discardLocation)
```
  - setSpeed
```
public void setSpeed(double speed)
```
    Specified by:
    
    setSpeed in interface Machine
  - getSpeed
```
public double getSpeed()
```
    Specified by:
    
    getSpeed in interface Machine
  - getProperty
```
public java.lang.Object getProperty(java.lang.String name)
```
    Specified by:
    
    getProperty in interface Machine
  - setProperty
```
public void setProperty(java.lang.String name,
                        java.lang.Object value)
```
    Specified by:
    
    setProperty in interface Machine
  - getNozzleTips
```
public java.util.List<NozzleTip> getNozzleTips()
```
    Description copied from interface: Machine
    
    Get a list of the NozzleTips currently attached to the Nozzle.
    
    Specified by:
    
    getNozzleTips in interface Machine
    
    Returns:
  - addNozzleTip
```
public void addNozzleTip(NozzleTip nozzleTip)
                  throws java.lang.Exception
```
    Specified by:
    
    addNozzleTip in interface Machine
    
    Throws:
    
    java.lang.Exception
  - removeNozzleTip
```
public void removeNozzleTip(NozzleTip nozzleTip)
```
    Specified by:
    
    removeNozzleTip in interface Machine
  - getNozzleTip
```
public NozzleTip getNozzleTip(java.lang.String id)
```
    Specified by:
    
    getNozzleTip in interface Machine
  - getNozzleTipByName
```
public NozzleTip getNozzleTipByName(java.lang.String name)
```
    Specified by:
    
    getNozzleTipByName in interface Machine
  - findIssues
```
public void findIssues(Solutions solutions)
```
    Description copied from interface: Solutions.Subject
    
    Report any detected issue and proposed solution in the list.
    
    Specified by:
    
    findIssues in interface Solutions.Subject

Class AbstractMachine

Nested Class Summary

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

Field Summary

Fields inherited from class org.openpnp.model.AbstractModelObject

Fields inherited from interface org.openpnp.spi.Machine

Constructor Summary

Method Summary

Methods inherited from class org.openpnp.model.AbstractModelObject

Methods inherited from class java.lang.Object

Methods inherited from interface org.openpnp.spi.Machine

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

axes

heads

signalers

feeders

cameras

actuators

partAlignments

drivers

discardLocation

speed

properties

nozzleTips

listeners

executor

taskThread

Constructor Detail

AbstractMachine

Method Detail

commit

addHead

getAxes

getAxis

getDefaultAxis

getHeads

getHead

getHeadByName

getSignalers

getSignaler

getSignalerByName

getFeeders

getFeeder

getCameras

getAllCameras

getCamera

getDrivers

getDriver

getPartAlignments

getActuators

getAllActuators

getActuator

getActuatorByName

getFeederByName

home

addListener

removeListener

addAxis

removeAxis

permutateAxis

addFeeder

removeFeeder

addCamera

removeCamera

permutateCamera

addActuator

removeActuator

permutateActuator

addDriver

removeDriver

permutateDriver

addSignaler

removeSignaler

fireMachineHeadActivity

fireMachineTargetedUserAction

fireMachineActuatorActivity