Machine

All Superinterfaces:

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

All Known Implementing Classes:

AbstractMachine, ReferenceMachine
```
public interface Machine
extends WizardConfigurable, PropertySheetHolder, java.io.Closeable
```
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

Method Summary

All Methods Instance Methods Abstract Methods
Modifier and Type	Method and Description
`void`	`addActuator(Actuator actuator)`
`void`	`addCamera(Camera camera)`
`void`	`addFeeder(Feeder feeder)`
`void`	`addListener(MachineListener listener)`
`void`	`addSignaler(Signaler signaler)`
`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.
`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 Camera>>`	`getCompatibleCameraClasses()`
`java.util.List<java.lang.Class<? extends Feeder>>`	`getCompatibleFeederClasses()`
`java.util.List<java.lang.Class<? extends Nozzle>>`	`getCompatibleNozzleClasses()`
`java.util.List<java.lang.Class<? extends Signaler>>`	`getCompatibleSignalerClasses()`
`Head`	`getDefaultHead()`
`Location`	`getDiscardLocation()`
`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)`
`java.util.List<Head>`	`getHeads()` Gets all active heads on the machine.
`boolean`	`getHomeAfterEnabled()`
`java.util.List<PartAlignment>`	`getPartAlignments()`
`PasteDispenseJobProcessor`	`getPasteDispenseJobProcessor()`
`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()`
`void`	`home()` Commands all Heads to move to their home positions and reset their current positions to 0,0,0,0.
`boolean`	`isEnabled()` Returns whether the Machine is currently ready for commands.
`boolean`	`isHomed()` Returns whether the Machine is homed
`void`	`removeActuator(Actuator actuator)`
`void`	`removeCamera(Camera camera)`
`void`	`removeFeeder(Feeder feeder)`
`void`	`removeListener(MachineListener listener)`
`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

- Method Detail
  - getHeads
```
java.util.List<Head> getHeads()
```
    Gets all active heads on the machine.
    
    Returns:
  - getHead
```
Head getHead(java.lang.String id)
```
  - 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:
  - 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:
  - 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)
```
  - home
```
void home()
   throws java.lang.Exception
```
    Commands all Heads to move to their home positions and reset their current positions to 0,0,0,0. 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)
```
  - 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()
```
  - 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)
```
  - addActuator
```
void addActuator(Actuator actuator)
          throws java.lang.Exception
```
    Throws:
    
    java.lang.Exception
  - removeActuator
```
void removeActuator(Actuator actuator)
```
  - getPnpJobProcessor
```
PnpJobProcessor getPnpJobProcessor()
```
  - getPasteDispenseJobProcessor
```
PasteDispenseJobProcessor getPasteDispenseJobProcessor()
```
  - 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. This is the primary entry point into executing any blocking operation on the Machine. If you are doing anything that results in the Machine doing something it should happen here. 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.
  - 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)
```

Interface Machine

Nested Class Summary

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

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

Method Detail

getHeads

getHead

getSignalers

getSignaler

getSignalerByName

getFeeders

getFeeder

getFeederByName

getCameras

getCamera

getActuators

getActuator

getActuatorByName

home

isEnabled

isHomed

setEnabled

setHomed

addListener

removeListener

getCompatibleFeederClasses

getCompatibleCameraClasses

getCompatibleNozzleClasses

getCompatibleActuatorClasses

getCompatibleSignalerClasses

addFeeder

removeFeeder

addSignaler

removeSignaler

addCamera

removeCamera

addActuator

removeActuator

getPnpJobProcessor

getPasteDispenseJobProcessor

submit

submit

submit

getHomeAfterEnabled

submit

getDefaultHead

getPartAlignments

getFiducialLocator

getDiscardLocation

setSpeed

getSpeed

getProperty

setProperty