org.openpnp.machine.reference.driver

Class GcodeDriver

java.lang.Object

org.openpnp.model.AbstractModelObject

org.openpnp.machine.reference.driver.AbstractReferenceDriver

org.openpnp.machine.reference.driver.GcodeDriver

All Implemented Interfaces:

java.io.Closeable, java.lang.AutoCloseable, java.lang.Runnable, ReferenceDriver, Named, PropertySheetHolder, WizardConfigurable

public class GcodeDriver
extends AbstractReferenceDriver
implements Named, java.lang.Runnable

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	GcodeDriver.Axis
static interface	GcodeDriver.AxisTransform
static class	GcodeDriver.CamTransform
static class	GcodeDriver.Command
static class	GcodeDriver.CommandType
static class	GcodeDriver.NegatingTransform An AxisTransform for heads with dual linear Z axes powered by one motor.
static class	GcodeDriver.OffsetTransform

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

PropertySheetHolder.PropertySheet

Field Summary

Fields

Modifier and Type	Field and Description
javax.swing.Action	addSubDriverAction
protected java.util.List<GcodeDriver.Axis>	axes
protected double	backlashFeedRateFactor
protected double	backlashOffsetX
protected double	backlashOffsetY
java.util.ArrayList<GcodeDriver.Command>	commands
protected int	connectWaitTimeMilliseconds
javax.swing.Action	deleteSubDriverAction
protected Location	homingFiducialLocation
protected int	maxFeedRate
protected java.lang.String	name
protected double	nonSquarenessFactor
protected java.util.List<GcodeDriver>	subDrivers
protected int	timeoutMilliseconds
protected LengthUnit	units
protected boolean	visualHomingEnabled

Fields inherited from class org.openpnp.machine.reference.driver.AbstractReferenceDriver

baud, communicationsType, connectionKeepAlive, dataBits, flowControl, parity, portName, serial, setDtr, setRts, stopBits, tcp

Fields inherited from class org.openpnp.model.AbstractModelObject

propertyChangeSupport

Constructor Summary

Constructors

Constructor and Description
GcodeDriver()

Method Summary

Modifier and Type	Method and Description
void	actuate(ReferenceActuator actuator, boolean on) Actuates a machine defined object with a boolean state.
void	actuate(ReferenceActuator actuator, double value) Actuates a machine defined object with a double value.
java.lang.String	actuatorRead(ReferenceActuator actuator) Read a String value from the given Actuator.
void	close()
void	commit()
void	connect()
void	createDefaults()
void	disconnect()
void	dispense(ReferencePasteDispenser dispenser, Location startLocation, Location endLocation, long dispenseTimeMilliseconds)
GcodeDriver.Axis	getAxis(HeadMountable hm, GcodeDriver.Axis.Type type)
double	getBacklashFeedRateFactor()
double	getBacklashOffsetX()
double	getBacklashOffsetY()
PropertySheetHolder[]	getChildPropertySheetHolders()
java.lang.String	getCommand(HeadMountable hm, GcodeDriver.CommandType type)
GcodeDriver.Command	getCommand(HeadMountable hm, GcodeDriver.CommandType type, boolean checkDefaults)
int	getConnectWaitTimeMilliseconds()
Location	getLocation(ReferenceHeadMountable hm) Returns a clone of the HeadMountable's current location.
int	getMaxFeedRate()
java.lang.String	getName()
double	getNonSquarenessFactor()
javax.swing.Action[]	getPropertySheetHolderActions()
java.lang.String	getPropertySheetHolderTitle()
PropertySheetHolder.PropertySheet[]	getPropertySheets()
int	getTimeoutMilliseconds()
LengthUnit	getUnits()
protected static boolean	hasVariable(java.lang.String command, java.lang.String name) Find matches of variables in the format {Name:Format} and return true if present.
void	home(ReferenceHead head) Performing the hardware homing operation for the given Head.
boolean	isVisualHomingEnabled()
void	moveTo(ReferenceHeadMountable hm, Location location, double speed) Moves the specified HeadMountable to the given location at a speed defined by (maximum feed rate * speed) where speed is greater than 0 and typically less than or equal to 1.
void	pick(ReferenceNozzle nozzle) Causes the nozzle to apply vacuum and any other operation that it uses for picking up a part that it is resting on.
void	place(ReferenceNozzle nozzle) Causes the nozzle to release vacuum and any other operation that it uses for placing a part that it is currently holding.
void	run()
java.util.List<java.lang.String>	sendCommand(java.lang.String command)
java.util.List<java.lang.String>	sendCommand(java.lang.String command, long timeout)
protected java.util.List<java.lang.String>	sendGcode(java.lang.String gCode)
protected java.util.List<java.lang.String>	sendGcode(java.lang.String gCode, long timeout)
void	setBacklashFeedRateFactor(double BacklashFeedRateFactor)
void	setBacklashOffsetX(double BacklashOffsetX)
void	setBacklashOffsetY(double BacklashOffsetY)
void	setCommand(HeadMountable hm, GcodeDriver.CommandType type, java.lang.String text)
void	setConnectWaitTimeMilliseconds(int connectWaitTimeMilliseconds)
void	setEnabled(boolean enabled) Attempts to enable the Driver, turning on all outputs.
void	setMaxFeedRate(int maxFeedRate)
void	setName(java.lang.String name)
void	setNonSquarenessFactor(double NonSquarenessFactor)
void	setTimeoutMilliseconds(int timeoutMilliseconds)
void	setUnits(LengthUnit units)
void	setVisualHomingEnabled(boolean visualHomingEnabled)
protected static java.lang.String	substituteVariable(java.lang.String command, java.lang.String name, java.lang.Object value) Find matches of variables in the format {Name:Format} and replace them with the specified value formatted using String.format with the specified Format.

Methods inherited from class org.openpnp.machine.reference.driver.AbstractReferenceDriver

getBaud, getCommunications, getCommunicationsType, getConfigurationWizard, getConnectionKeepAlive, getDataBits, getFlowControl, getIpAddress, getParity, getPort, getPortName, getPropertySheetHolderIcon, getStopBits, isSetDtr, isSetRts, setBaud, setCommunicationsType, setConnectionKeepAlive, setDataBits, setFlowControl, setIpAddress, setParity, setPort, setPortName, setSetDtr, setSetRts, setStopBits

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

Field Detail

units

protected LengthUnit units

maxFeedRate

protected int maxFeedRate

backlashOffsetX

protected double backlashOffsetX

backlashOffsetY

protected double backlashOffsetY

nonSquarenessFactor

protected double nonSquarenessFactor

backlashFeedRateFactor

protected double backlashFeedRateFactor

timeoutMilliseconds

protected int timeoutMilliseconds

connectWaitTimeMilliseconds

protected int connectWaitTimeMilliseconds

visualHomingEnabled

protected boolean visualHomingEnabled

homingFiducialLocation

protected Location homingFiducialLocation

commands

public java.util.ArrayList<GcodeDriver.Command> commands

subDrivers

protected java.util.List<GcodeDriver> subDrivers

axes

protected java.util.List<GcodeDriver.Axis> axes

name

protected java.lang.String name

addSubDriverAction

public javax.swing.Action addSubDriverAction

deleteSubDriverAction

public javax.swing.Action deleteSubDriverAction

Constructor Detail

GcodeDriver

public GcodeDriver()

Method Detail

commit

public void commit()

Overrides:

commit in class AbstractReferenceDriver

createDefaults

public void createDefaults()

Specified by:

createDefaults in interface ReferenceDriver

connect

public void connect()
             throws java.lang.Exception

Throws:

java.lang.Exception

setEnabled

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

Description copied from interface: ReferenceDriver

Attempts to enable the Driver, turning on all outputs.

Specified by:

setEnabled in interface ReferenceDriver

Throws:

java.lang.Exception

dispense

public void dispense(ReferencePasteDispenser dispenser,
                     Location startLocation,
                     Location endLocation,
                     long dispenseTimeMilliseconds)
              throws java.lang.Exception

Specified by:

dispense in interface ReferenceDriver

Overrides:

dispense in class AbstractReferenceDriver

Throws:

java.lang.Exception

home

public void home(ReferenceHead head)
          throws java.lang.Exception

Description copied from interface: ReferenceDriver

Performing the hardware homing operation for the given Head. When this call completes the Head should be at it's 0,0,0,0 position.

Specified by:

home in interface ReferenceDriver

Throws:

java.lang.Exception

getAxis

public GcodeDriver.Axis getAxis(HeadMountable hm,
                                GcodeDriver.Axis.Type type)

getCommand

public GcodeDriver.Command getCommand(HeadMountable hm,
                                      GcodeDriver.CommandType type,
                                      boolean checkDefaults)

getCommand

public java.lang.String getCommand(HeadMountable hm,
                                   GcodeDriver.CommandType type)

setCommand

public void setCommand(HeadMountable hm,
                       GcodeDriver.CommandType type,
                       java.lang.String text)

getLocation

public Location getLocation(ReferenceHeadMountable hm)

Description copied from interface: ReferenceDriver

Returns a clone of the HeadMountable's current location. It's important that the returned object is a clone, since the caller may modify the returned Location.

Specified by:

getLocation in interface ReferenceDriver

Returns:

moveTo

public void moveTo(ReferenceHeadMountable hm,
                   Location location,
                   double speed)
            throws java.lang.Exception

Description copied from interface: ReferenceDriver

Moves the specified HeadMountable to the given location at a speed defined by (maximum feed rate * speed) where speed is greater than 0 and typically less than or equal to 1. A speed of 0 means to move at the minimum possible speed. HeadMountable object types include Nozzle, Camera and Actuator.

Specified by:

moveTo in interface ReferenceDriver

Throws:

java.lang.Exception

pick

public void pick(ReferenceNozzle nozzle)
          throws java.lang.Exception

Description copied from interface: ReferenceDriver

Causes the nozzle to apply vacuum and any other operation that it uses for picking up a part that it is resting on.

Specified by:

pick in interface ReferenceDriver

Throws:

java.lang.Exception

place

public void place(ReferenceNozzle nozzle)
           throws java.lang.Exception

Description copied from interface: ReferenceDriver

Causes the nozzle to release vacuum and any other operation that it uses for placing a part that it is currently holding. For instance, it might provide a brief puff of air to set the part.

Specified by:

place in interface ReferenceDriver

Throws:

java.lang.Exception

actuate

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

Description copied from interface: ReferenceDriver

Actuates a machine defined object with a boolean state.

Specified by:

actuate in interface ReferenceDriver

Throws:

java.lang.Exception

actuate

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

Description copied from interface: ReferenceDriver

Actuates a machine defined object with a double value.

Specified by:

actuate in interface ReferenceDriver

Throws:

java.lang.Exception

actuatorRead

public java.lang.String actuatorRead(ReferenceActuator actuator)
                              throws java.lang.Exception

Description copied from interface: ReferenceDriver

Read a String value from the given Actuator.

Specified by:

actuatorRead in interface ReferenceDriver

Returns:

Throws:

java.lang.Exception

disconnect

public void disconnect()

Specified by:

disconnect in class AbstractReferenceDriver

close

public void close()
           throws java.io.IOException

Specified by:

close in interface java.io.Closeable

Specified by:

close in interface java.lang.AutoCloseable

Overrides:

close in class AbstractReferenceDriver

Throws:

java.io.IOException

sendGcode

protected java.util.List<java.lang.String> sendGcode(java.lang.String gCode)
                                              throws java.lang.Exception

Throws:

java.lang.Exception

sendGcode

protected java.util.List<java.lang.String> sendGcode(java.lang.String gCode,
                                                     long timeout)
                                              throws java.lang.Exception

Throws:

java.lang.Exception

sendCommand

public java.util.List<java.lang.String> sendCommand(java.lang.String command)
                                             throws java.lang.Exception

Throws:

java.lang.Exception

sendCommand

public java.util.List<java.lang.String> sendCommand(java.lang.String command,
                                                    long timeout)
                                             throws java.lang.Exception

Throws:

java.lang.Exception

run

public void run()

Specified by:

run in interface java.lang.Runnable

substituteVariable

protected static java.lang.String substituteVariable(java.lang.String command,
                                                     java.lang.String name,
                                                     java.lang.Object value)

Find matches of variables in the format {Name:Format} and replace them with the specified value formatted using String.format with the specified Format. Format is optional and defaults to %s. A null value replaces the variable with "".

hasVariable

protected static boolean hasVariable(java.lang.String command,
                                     java.lang.String name)

Find matches of variables in the format {Name:Format} and return true if present.

getPropertySheetHolderTitle

public java.lang.String getPropertySheetHolderTitle()

Specified by:

getPropertySheetHolderTitle in interface PropertySheetHolder

Overrides:

getPropertySheetHolderTitle in class AbstractReferenceDriver

getChildPropertySheetHolders

public PropertySheetHolder[] getChildPropertySheetHolders()

Specified by:

getChildPropertySheetHolders in interface PropertySheetHolder

Overrides:

getChildPropertySheetHolders in class AbstractReferenceDriver

getPropertySheets

public PropertySheetHolder.PropertySheet[] getPropertySheets()

Specified by:

getPropertySheets in interface PropertySheetHolder

Overrides:

getPropertySheets in class AbstractReferenceDriver

getPropertySheetHolderActions

public javax.swing.Action[] getPropertySheetHolderActions()

Specified by:

getPropertySheetHolderActions in interface PropertySheetHolder

Overrides:

getPropertySheetHolderActions in class AbstractReferenceDriver

getUnits

public LengthUnit getUnits()

setUnits

public void setUnits(LengthUnit units)

getBacklashOffsetX

public double getBacklashOffsetX()

setBacklashOffsetX

public void setBacklashOffsetX(double BacklashOffsetX)

getBacklashOffsetY

public double getBacklashOffsetY()

setBacklashOffsetY

public void setBacklashOffsetY(double BacklashOffsetY)

getBacklashFeedRateFactor

public double getBacklashFeedRateFactor()

setBacklashFeedRateFactor

public void setBacklashFeedRateFactor(double BacklashFeedRateFactor)

setNonSquarenessFactor

public void setNonSquarenessFactor(double NonSquarenessFactor)

getNonSquarenessFactor

public double getNonSquarenessFactor()

getMaxFeedRate

public int getMaxFeedRate()

setMaxFeedRate

public void setMaxFeedRate(int maxFeedRate)

getTimeoutMilliseconds

public int getTimeoutMilliseconds()

setTimeoutMilliseconds

public void setTimeoutMilliseconds(int timeoutMilliseconds)

getConnectWaitTimeMilliseconds

public int getConnectWaitTimeMilliseconds()

setConnectWaitTimeMilliseconds

public void setConnectWaitTimeMilliseconds(int connectWaitTimeMilliseconds)

getName

public java.lang.String getName()

Specified by:

getName in interface Named

setName

public void setName(java.lang.String name)

Specified by:

setName in interface Named

isVisualHomingEnabled

public boolean isVisualHomingEnabled()

setVisualHomingEnabled

public void setVisualHomingEnabled(boolean visualHomingEnabled)