Package org.openpnp.spi

Interface HeadMountable

All Superinterfaces:

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

All Known Subinterfaces:

Actuator, Camera, Nozzle

All Known Implementing Classes:

AbstractActuator, AbstractBroadcastingCamera, AbstractCamera, AbstractHeadMountable, AbstractNozzle, AbstractSettlingCamera, BufferedImageCamera, ContactProbeNozzle, GstreamerCamera, HttpActuator, ImageCamera, MjpgCaptureCamera, Neoden4Camera, NeoDen4FeederActuator, Neoden4SwitcherCamera, OnvifIPCamera, OpenCvCamera, OpenPnpCaptureCamera, ReferenceActuator, ReferenceCamera, ReferenceNozzle, ScriptActuator, SimulatedUpCamera, SwitcherCamera, ThermistorToLinearSensorActuator, Webcams

public interface HeadMountable
extends MovableMountable, Identifiable, Named, Solutions.Subject

Nested Class Summary

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

Locatable.LocationOption

Method Summary

Modifier and Type	Method	Description
void	delay(int milliseconds, HeadMountable... hms)	Wait for a given time before continuing with the next command.
Location	getCameraToolCalibratedOffset(Camera camera)	Get the tool specific calibrated offset for the camera.
Head	getHead()	Gets the Head that this HeadMountable is attached to.
Location	getHeadOffsets()	Get the head offsets for the object
void	setHead(Head head)	Set the Head that this HeadMountable is attached to.
void	setHeadOffsets(Location headOffsets)	Set the head offsets for the object
Location	toHeadLocation(Location location, Locatable.LocationOption... options)	Transform the specified HeadMountable location to a Head location.
Location	toHeadMountableLocation(Location location, Locatable.LocationOption... options)	Transform the specified Head location to a HeadMountable location.
void	waitForCompletion(MotionPlanner.CompletionType completionType)	Wait for any motion of this HeadMountable to be completed according to the completionType.

Methods inherited from interface org.openpnp.model.Identifiable

getId

Methods inherited from interface org.openpnp.spi.Locatable

getApproximativeLocation, getLocation

Methods inherited from interface org.openpnp.spi.Movable

getEffectiveSafeZ, getSafeZ, getSafeZZone, home, isInSafeZZone, isReachable, moveTo, moveTo, moveToSafeZ, moveToSafeZ

Methods inherited from interface org.openpnp.spi.MovableMountable

getAxis, getAxisRotation, getAxisX, getAxisY, getAxisZ, getMappedAxes, toRaw, toTransformed

Methods inherited from interface org.openpnp.model.Named

getName, setName

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

findIssues, getSubjectIcon, getSubjectText

Method Detail

getHead

Head getHead()

Gets the Head that this HeadMountable is attached to. If it is not attached to a Head this method returns null.

Returns:

setHead

void setHead(Head head)

Set the Head that this HeadMountable is attached to. Called by the Head when the HeadMountable is added to it.

getCameraToolCalibratedOffset

Location getCameraToolCalibratedOffset(Camera camera)

Get the tool specific calibrated offset for the camera.

Parameters:

camera -

Returns:

toHeadLocation

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

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.

Parameters:

location - The HeadMountable location.

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

Returns:

Throws:

java.lang.Exception

toHeadMountableLocation

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

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.

Parameters:

location - The Head location.

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

Returns:

waitForCompletion

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

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.

Parameters:

completionType -

Throws:

java.lang.Exception

getHeadOffsets

Location getHeadOffsets()

Get the head offsets for the object

setHeadOffsets

void setHeadOffsets(Location headOffsets)

Set the head offsets for the object

Parameters:

headOffsets - The offsets in XYZ

delay

void delay(int milliseconds,
           HeadMountable... hms)
    throws java.lang.Exception

Wait for a given time before continuing with the next command. The delay my be executed using the OS (via Thread.sleep()) or - if supported - by the driver. If addition head mountables are given, they are taken into account. This shall be use to indicate, that eg a nozzle is in relation to it's vacuum valve when timing a dwell delay.

Parameters:

milliseconds -

hms -

Throws:

java.lang.Exception