Package org.openpnp.spi.base

Class AbstractHeadMountable

java.lang.Object

org.openpnp.model.AbstractModelObject

org.openpnp.spi.base.AbstractHeadMountable

All Implemented Interfaces:

Identifiable, Named, Solutions.Subject, HeadMountable, Locatable, Movable, MovableMountable

Direct Known Subclasses:

AbstractActuator, AbstractCamera, AbstractNozzle

public abstract class AbstractHeadMountable
extends AbstractModelObject
implements HeadMountable

Nested Class Summary

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

Locatable.LocationOption

Field Summary

Fields inherited from class org.openpnp.model.AbstractModelObject

propertyChangeSupport

Constructor Summary

Constructors

Constructor	Description
AbstractHeadMountable()

Method Summary

Modifier and Type	Method	Description
void	applyConfiguration(Configuration configuration)
Location	getApproximativeLocation(Location currentLocation, Location desiredLocation, Locatable.LocationOption... options)	Get an approximative Location in order to avoid extra compensation transformations or moves.
AbstractAxis	getAxis(Axis.Type type)
AbstractAxis	getAxisRotation()
AbstractAxis	getAxisX()
AbstractAxis	getAxisY()
AbstractAxis	getAxisZ()
Location	getCalibratedHeadOffsets(Locatable.LocationOption... options)
protected CoordinateAxis	getCoordinateAxisZ()
Length	getEffectiveSafeZ()
Location	getLocation()
protected ReferenceMachine	getMachine()
AxesLocation	getMappedAxes(Machine machine)	Returns the set of motion-controller axes, mapped to the MovableMountable.
Length	getSafeZ()
Length[]	getSafeZZone()
protected Length	headMountableToRawZ(CoordinateAxis axisZ, Length z)
boolean	isInSafeZZone(Length z)
boolean	isReachable(Location location)
void	moveTo(Location location, double speed, Motion.MotionOption... options)	Move the object to the Location at the feedRate.
void	moveTo(Location location, Motion.MotionOption... options)
void	moveToSafeZ()
void	moveToSafeZ(double speed)
protected Length	rawToHeadMountableZ(ReferenceControllerAxis rawAxis, Length z)
void	setAxis(AbstractAxis axis)
void	setAxis(AbstractAxis axis, Axis.Type type)
void	setAxisRotation(AbstractAxis axisRotation)
void	setAxisX(AbstractAxis axisX)
void	setAxisY(AbstractAxis axisY)
void	setAxisZ(AbstractAxis axisZ)
void	setSafeZ(Length safeZ)
static Location	substituteUnchangedCoordinates(Location location, Location currentLocation)
protected AxesLocation	toAxesLocation(Location location)
Location	toHeadLocation(Location location, Location currentLocation, Locatable.LocationOption... options)
Location	toHeadLocation(Location location, Locatable.LocationOption... options)	Transform the specified HeadMountable location to a Head location.
Location	toHeadMountableLocation(Location location, Location currentLocation, Locatable.LocationOption... options)
Location	toHeadMountableLocation(Location location, Locatable.LocationOption... options)	Transform the specified Head location to a HeadMountable location.
protected Location	toMappedLocation(LengthUnit units, AxesLocation location)
AxesLocation	toRaw(Location location, Locatable.LocationOption... options)	Converts the specified transformed Head Location into a raw motion-controller AxesLocation.
Location	toTransformed(AxesLocation axesLocation, Locatable.LocationOption... options)	Converts the specified raw motion-controller AxesLocation into a transformed Head Location.
void	waitForCompletion(MotionPlanner.CompletionType completionType)	Wait for any motion of this HeadMountable to be completed according to the completionType.

Methods inherited from class org.openpnp.model.AbstractModelObject

addPropertyChangeListener, addPropertyChangeListener, dispose, dumpListeners, fireIndexedPropertyChange, firePropertyChange, isListener, isListener, 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.HeadMountable

getCameraToolCalibratedOffset, getHead, getHeadOffsets, setHead, setHeadOffsets

Methods inherited from interface org.openpnp.model.Identifiable

getId

Methods inherited from interface org.openpnp.spi.Movable

home

Methods inherited from interface org.openpnp.model.Named

getName, setName

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

findIssues, getSubjectIcon, getSubjectText

Constructor Detail

AbstractHeadMountable

public AbstractHeadMountable()

Method Detail

applyConfiguration

public void applyConfiguration(Configuration configuration)

getAxisX

public AbstractAxis getAxisX()

Specified by:

getAxisX in interface MovableMountable

setAxisX

public void setAxisX(AbstractAxis axisX)

getAxisY

public AbstractAxis getAxisY()

Specified by:

getAxisY in interface MovableMountable

setAxisY

public void setAxisY(AbstractAxis axisY)

getAxisZ

public AbstractAxis getAxisZ()

Specified by:

getAxisZ in interface MovableMountable

setAxisZ

public void setAxisZ(AbstractAxis axisZ)

getAxisRotation

public AbstractAxis getAxisRotation()

Specified by:

getAxisRotation in interface MovableMountable

setAxisRotation

public void setAxisRotation(AbstractAxis axisRotation)

getAxis

public AbstractAxis getAxis(Axis.Type type)

Specified by:

getAxis in interface MovableMountable

setAxis

public void setAxis(AbstractAxis axis,
                    Axis.Type type)

setAxis

public void setAxis(AbstractAxis axis)

getCoordinateAxisZ

protected CoordinateAxis getCoordinateAxisZ()

rawToHeadMountableZ

protected Length rawToHeadMountableZ(ReferenceControllerAxis rawAxis,
                                     Length z)

headMountableToRawZ

protected Length headMountableToRawZ(CoordinateAxis axisZ,
                                     Length z)
                              throws java.lang.Exception

Throws:

java.lang.Exception

getSafeZZone

public Length[] getSafeZZone()

Specified by:

getSafeZZone in interface Movable

Returns:

The lower and upper limits of the Safe Zone as defined on the Z axis. The array elements may be null if no axis is mapped on the Movable or no Safe Zone defined on the axis.

getSafeZ

public Length getSafeZ()

Specified by:

getSafeZ in interface Movable

Returns:

The lower limit of the Safe Zone as defined on the Z axis, or null if now axis is mapped on the Movable or no Safe Zone defined on the axis.

isInSafeZZone

public boolean isInSafeZZone(Length z)
                      throws java.lang.Exception

Specified by:

isInSafeZZone in interface Movable

Returns:

True if the given z is in the Safe Z Zone.

Throws:

java.lang.Exception

setSafeZ

public void setSafeZ(Length safeZ)

getEffectiveSafeZ

public Length getEffectiveSafeZ()
                         throws java.lang.Exception

Specified by:

getEffectiveSafeZ in interface Movable

Returns:

The effective Safe Z, including any dynamic adjustment such as for parts on a Nozzle.

Throws:

java.lang.Exception

moveTo

public void moveTo(Location location,
                   double speed,
                   Motion.MotionOption... options)
            throws java.lang.Exception

Description copied from interface: Movable

Move the object to the Location at the feedRate.

Specified by:

moveTo in interface Movable

Parameters:

location - The Location to move to. If the movement should not include a particular axis, specify Double.NaN for that axis.

speed - Feed rate is specified as a percentage of maximum feed between 0 and 1. 1 specifies maximum feed rate as defined by the machine while 0 defines the absolute minimum feed rate while still moving.

Throws:

java.lang.Exception

moveToSafeZ

public void moveToSafeZ(double speed)
                 throws java.lang.Exception

Specified by:

moveToSafeZ in interface Movable

Throws:

java.lang.Exception

moveTo

public void moveTo(Location location,
                   Motion.MotionOption... options)
            throws java.lang.Exception

Specified by:

moveTo in interface Movable

Throws:

java.lang.Exception

moveToSafeZ

public void moveToSafeZ()
                 throws java.lang.Exception

Specified by:

moveToSafeZ in interface Movable

Throws:

java.lang.Exception

waitForCompletion

public void waitForCompletion(MotionPlanner.CompletionType completionType)
                       throws java.lang.Exception

Description copied from interface: HeadMountable

Wait for any motion of this HeadMountable to be completed according to the completionType. If this is not mounted to any Head (e.g. the bottom camera), the wait must encompass the whole machine, as any HeadMountable could then be the camera's subject.

Specified by:

waitForCompletion in interface HeadMountable

Throws:

java.lang.Exception

getMappedAxes

public AxesLocation getMappedAxes(Machine machine)

Description copied from interface: MovableMountable

Returns the set of motion-controller axes, mapped to the MovableMountable.

Specified by:

getMappedAxes in interface MovableMountable

Parameters:

machine - The machine giving the axes order.

Returns:

toHeadLocation

public Location toHeadLocation(Location location,
                               Location currentLocation,
                               Locatable.LocationOption... options)

substituteUnchangedCoordinates

public static Location substituteUnchangedCoordinates(Location location,
                                                      Location currentLocation)

toHeadLocation

public Location toHeadLocation(Location location,
                               Locatable.LocationOption... options)
                        throws java.lang.Exception

Description copied from interface: HeadMountable

Transform the specified HeadMountable location to a Head location. This will typically apply the Head Offset and apply other transformations such as Runout Compensation on a Nozzle.

Specified by:

toHeadLocation in interface HeadMountable

Parameters:

location - The HeadMountable location.

options - Location approximation options @see org.openpnp.spi.Movable.LocationOption

Returns:

Throws:

java.lang.Exception

getCalibratedHeadOffsets

public Location getCalibratedHeadOffsets(Locatable.LocationOption... options)

toHeadMountableLocation

public Location toHeadMountableLocation(Location location,
                                        Location currentLocation,
                                        Locatable.LocationOption... options)

toHeadMountableLocation

public Location toHeadMountableLocation(Location location,
                                        Locatable.LocationOption... options)

Description copied from interface: HeadMountable

Transform the specified Head location to a HeadMountable location. This will typically unapply the Head Offset and unapply other transformations such as Runout Compensation on a Nozzle.

Specified by:

toHeadMountableLocation in interface HeadMountable

Parameters:

location - The Head location.

options - Location approximation options @see org.openpnp.spi.Movable.LocationOption

Returns:

toMappedLocation

protected Location toMappedLocation(LengthUnit units,
                                    AxesLocation location)

toAxesLocation

protected AxesLocation toAxesLocation(Location location)

toTransformed

public Location toTransformed(AxesLocation axesLocation,
                              Locatable.LocationOption... options)

Description copied from interface: MovableMountable

Converts the specified raw motion-controller AxesLocation into a transformed Head Location. Note, toTransformed() must not throw even if transformations are not well-defined. This would otherwise disrupt operation while setting the machine up. Only if toRaw() will throw, e.g. when you want to move the machine.

Specified by:

toTransformed in interface MovableMountable

Returns:

toRaw

public AxesLocation toRaw(Location location,
                          Locatable.LocationOption... options)
                   throws java.lang.Exception

Description copied from interface: MovableMountable

Converts the specified transformed Head Location into a raw motion-controller AxesLocation. Note, unlike toTransformed() toRaw() will throw if the reverse transformation is not well-defined. As this typically happens when trying to move the machine, it is an appropriately graded precaution.

Specified by:

toRaw in interface MovableMountable

Returns:

Throws:

java.lang.Exception

getLocation

public Location getLocation()

Specified by:

getLocation in interface Locatable

getApproximativeLocation

public Location getApproximativeLocation(Location currentLocation,
                                         Location desiredLocation,
                                         Locatable.LocationOption... options)
                                  throws java.lang.Exception

Description copied from interface: Locatable

Get an approximative Location in order to avoid extra compensation transformations or moves.

Specified by:

getApproximativeLocation in interface Locatable

Parameters:

currentLocation - The current location, usually obtained using Headmountable.getLocation()

desiredLocation - The desired location to approximate.

options - Options for the approximation.

Returns:

Throws:

java.lang.Exception

isReachable

public boolean isReachable(Location location)
                    throws java.lang.Exception

Specified by:

isReachable in interface Movable

Returns:

true if the location can be moved to with this Movable (soft limits etc.)

Throws:

java.lang.Exception

getMachine

protected ReferenceMachine getMachine()