Package org.openpnp.spi.base

Class AbstractActuator

java.lang.Object

org.openpnp.model.AbstractModelObject

org.openpnp.spi.base.AbstractHeadMountable

org.openpnp.spi.base.AbstractActuator

All Implemented Interfaces:

Identifiable, Named, Solutions.Subject, Actuator, HeadMountable, Locatable, Movable, MovableMountable, PropertySheetHolder, WizardConfigurable

Direct Known Subclasses:

ReferenceActuator

public abstract class AbstractActuator
extends AbstractHeadMountable
implements Actuator

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	AbstractActuator.ActuatorCoordinationEnumType

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

Actuator.ActuatorValueType, Actuator.InterlockMonitor

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

Locatable.LocationOption

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

PropertySheetHolder.PropertySheet

Field Summary

Fields

Modifier and Type	Field	Description
protected java.lang.Double	defaultOffDouble
protected java.lang.String	defaultOffString
protected java.lang.Double	defaultOnDouble
protected java.lang.String	defaultOnString
protected Head	head
protected java.lang.String	id
protected boolean	interlockActuator
protected java.lang.String	name
protected Actuator.ActuatorValueType	valueType
protected boolean	valueTypeConfirmed

Fields inherited from class org.openpnp.model.AbstractModelObject

propertyChangeSupport

Constructor Summary

Constructors

Constructor	Description
AbstractActuator()

Method Summary

Modifier and Type	Method	Description
void	actuate(java.lang.Object value)	Provides the actuator with a generic value to which it can respond in an implementation dependent manner.
void	actuateBoolean(boolean value)
void	actuateDouble(double value)
void	actuateObject(java.lang.Object value)
void	actuateString(java.lang.String value)
void	assertOnOffDefined()
static void	assertOnOffDefined(Actuator actuator)
protected void	coordinateWithMachineAfterActuate()
protected void	coordinateWithMachineBeforeActuate()	The following three methods are used to execute the requested coordination between actuator and machine.
protected void	coordinateWithMachineBeforeRead()
void	findIssues(Solutions solutions)	Report any detected issue and proposed solution in the list.
Location	getCameraToolCalibratedOffset(Camera camera)	Get the tool specific calibrated offset for the camera.
AbstractActuator.ActuatorCoordinationEnumType	getCoordinatedAfterActuateEnum()
AbstractActuator.ActuatorCoordinationEnumType	getCoordinatedBeforeActuateEnum()
AbstractActuator.ActuatorCoordinationEnumType	getCoordinatedBeforeReadEnum()
java.lang.Double	getDefaultOffDouble()
protected abstract java.lang.String	getDefaultOffProfile()
java.lang.String	getDefaultOffString()
java.lang.Object	getDefaultOffValue()
java.lang.Double	getDefaultOnDouble()
protected abstract java.lang.String	getDefaultOnProfile()
java.lang.String	getDefaultOnString()
java.lang.Object	getDefaultOnValue()
Driver	getDriver()
Head	getHead()	Gets the Head that this HeadMountable is attached to.
java.lang.String	getId()
Actuator.InterlockMonitor	getInterlockMonitor()
java.lang.String	getName()
javax.swing.Icon	getPropertySheetHolderIcon()
Actuator.ActuatorValueType	getValueType()	Declares the primary value type of the Actuator.
java.lang.Boolean	isActuated()	Returns the Boolean state of the actuator i.e.
boolean	isInterlockActuator()
boolean	isValueTypeConfirmed()
java.lang.String	read()	Read a value from the actuator.
void	setCoordinatedAfterActuateEnum(AbstractActuator.ActuatorCoordinationEnumType coordinateAfterActuateEnum)
void	setCoordinatedBeforeActuateEnum(AbstractActuator.ActuatorCoordinationEnumType coordinateBeforeActuateEnum)
void	setCoordinatedBeforeReadEnum(AbstractActuator.ActuatorCoordinationEnumType coordinateBeforeReadEnum)
void	setDefaultOffDouble(java.lang.Double defaultOffDouble)
void	setDefaultOffString(java.lang.String defaultOffString)
void	setDefaultOnDouble(java.lang.Double defaultOnDouble)
void	setDefaultOnString(java.lang.String defaultOnString)
void	setDriver(Driver driver)
void	setHead(Head head)	Set the Head that this HeadMountable is attached to.
void	setInterlockActuator(boolean interlockActuator)
void	setInterlockMonitor(Actuator.InterlockMonitor interlockMonitor)
void	setName(java.lang.String name)
void	setValueType(Actuator.ActuatorValueType valueType)
void	setValueTypeConfirmed(boolean valueTypeConfirmed)
static void	suggestValueType(Actuator actuator, Actuator.ActuatorValueType valueType)	Suggest a specific valueType for the actuator, based on its functional use.
java.lang.Object	typedValue(java.lang.Object value)	As the user might change the valueType() in the life-time of the actuator, we try to re-interpret persisted values in the most tolerant fashion.
static java.lang.Object	typedValue(java.lang.Object value, Actuator actuator)	Convenience null- and type-checked call to typedValue().

Methods inherited from class org.openpnp.spi.base.AbstractHeadMountable

applyConfiguration, delay, getApproximativeLocation, getAxis, getAxisRotation, getAxisX, getAxisY, getAxisZ, getCalibratedHeadOffsets, getCoordinateAxisZ, getEffectiveSafeZ, getLocation, getMachine, getMappedAxes, getSafeZ, getSafeZZone, headMountableToRawZ, isInSafeZZone, isReachable, moveTo, moveTo, moveToSafeZ, moveToSafeZ, rawToHeadMountableZ, setAxis, setAxis, setAxisRotation, setAxisX, setAxisY, setAxisZ, setSafeZ, substituteUnchangedCoordinates, toAxesLocation, toHeadLocation, toHeadLocation, toHeadMountableLocation, toHeadMountableLocation, toMappedLocation, toRaw, toTransformed, waitForCompletion

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.Actuator

actuate, actuate, actuate, actuateProfile, actuateProfile, getLastActuationValue, getProfileValues, isDriverless, read

Methods inherited from interface org.openpnp.spi.HeadMountable

delay, getHeadOffsets, setHeadOffsets, toHeadLocation, toHeadMountableLocation, waitForCompletion

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.spi.PropertySheetHolder

getChildPropertySheetHolders, getPropertySheetHolderActions, getPropertySheetHolderTitle, getPropertySheets

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

getSubjectIcon, getSubjectText

Methods inherited from interface org.openpnp.spi.WizardConfigurable

getConfigurationWizard

Field Detail

id

protected java.lang.String id

name

protected java.lang.String name

valueType

protected Actuator.ActuatorValueType valueType

valueTypeConfirmed

protected boolean valueTypeConfirmed

defaultOnDouble

protected java.lang.Double defaultOnDouble

defaultOnString

protected java.lang.String defaultOnString

defaultOffDouble

protected java.lang.Double defaultOffDouble

defaultOffString

protected java.lang.String defaultOffString

interlockActuator

protected boolean interlockActuator

head

protected Head head

Constructor Detail

AbstractActuator

public AbstractActuator()

Method Detail

getId

public java.lang.String getId()

Specified by:

getId in interface Identifiable

getHead

public Head getHead()

Description copied from interface: HeadMountable

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

Specified by:

getHead in interface HeadMountable

Returns:

setHead

public void setHead(Head head)

Description copied from interface: HeadMountable

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

Specified by:

setHead in interface HeadMountable

getDriver

public Driver getDriver()

Specified by:

getDriver in interface Actuator

Returns:

the driver through which this Actuator is controlled.

setDriver

public void setDriver(Driver driver)

Specified by:

setDriver in interface Actuator

getCameraToolCalibratedOffset

public Location getCameraToolCalibratedOffset(Camera camera)

Description copied from interface: HeadMountable

Get the tool specific calibrated offset for the camera.

Specified by:

getCameraToolCalibratedOffset in interface HeadMountable

Returns:

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

getValueType

public Actuator.ActuatorValueType getValueType()

Description copied from interface: Actuator

Declares the primary value type of the Actuator. This will allow the GUI to present the proper control for value editing.

Specified by:

getValueType in interface Actuator

Returns:

setValueType

public void setValueType(Actuator.ActuatorValueType valueType)

isValueTypeConfirmed

public boolean isValueTypeConfirmed()

Returns:

true if the valueType was confirmed by functional usage or user interaction.

setValueTypeConfirmed

public void setValueTypeConfirmed(boolean valueTypeConfirmed)

suggestValueType

public static void suggestValueType(Actuator actuator,
                                    Actuator.ActuatorValueType valueType)

Suggest a specific valueType for the actuator, based on its functional use. This will only set the valueType once, if not yet otherwise confirmed by GUI user interaction etc. (mixed type usage must remain possible). Performs null and type checking on the actuator.

Parameters:

actuator -

valueType -

typedValue

public java.lang.Object typedValue(java.lang.Object value)

As the user might change the valueType() in the life-time of the actuator, we try to re-interpret persisted values in the most tolerant fashion.

Parameters:

value -

Returns:

typedValue

public static java.lang.Object typedValue(java.lang.Object value,
                                          Actuator actuator)

Convenience null- and type-checked call to typedValue().

Parameters:

value -

actuator -

Returns:

getDefaultOnDouble

public java.lang.Double getDefaultOnDouble()

setDefaultOnDouble

public void setDefaultOnDouble(java.lang.Double defaultOnDouble)

getDefaultOnString

public java.lang.String getDefaultOnString()

setDefaultOnString

public void setDefaultOnString(java.lang.String defaultOnString)

getDefaultOffDouble

public java.lang.Double getDefaultOffDouble()

setDefaultOffDouble

public void setDefaultOffDouble(java.lang.Double defaultOffDouble)

getDefaultOffString

public java.lang.String getDefaultOffString()

setDefaultOffString

public void setDefaultOffString(java.lang.String defaultOffString)

getDefaultOnProfile

protected abstract java.lang.String getDefaultOnProfile()

getDefaultOffProfile

protected abstract java.lang.String getDefaultOffProfile()

getDefaultOnValue

public java.lang.Object getDefaultOnValue()

Specified by:

getDefaultOnValue in interface Actuator

getDefaultOffValue

public java.lang.Object getDefaultOffValue()

Specified by:

getDefaultOffValue in interface Actuator

isActuated

public java.lang.Boolean isActuated()

Description copied from interface: Actuator

Returns the Boolean state of the actuator i.e. whether the last actuation was not equal to the default off value. Returns null when the actuator state is unknown, i.e. when it was never actuated.

Specified by:

isActuated in interface Actuator

Returns:

actuate

public void actuate(java.lang.Object value)
             throws java.lang.Exception

Description copied from interface: Actuator

Provides the actuator with a generic value to which it can respond in an implementation dependent manner. This will ultimately call typed actuate() methods according to getValueType().

Specified by:

actuate in interface Actuator

Throws:

java.lang.Exception

actuateBoolean

public final void actuateBoolean(boolean value)
                          throws java.lang.Exception

Throws:

java.lang.Exception

actuateDouble

public final void actuateDouble(double value)
                         throws java.lang.Exception

Throws:

java.lang.Exception

actuateString

public final void actuateString(java.lang.String value)
                         throws java.lang.Exception

Throws:

java.lang.Exception

actuateObject

public final void actuateObject(java.lang.Object value)
                         throws java.lang.Exception

Throws:

java.lang.Exception

assertOnOffDefined

public void assertOnOffDefined()
                        throws java.lang.Exception

Throws:

java.lang.Exception

assertOnOffDefined

public static void assertOnOffDefined(Actuator actuator)
                               throws java.lang.Exception

Throws:

java.lang.Exception

getPropertySheetHolderIcon

public javax.swing.Icon getPropertySheetHolderIcon()

Specified by:

getPropertySheetHolderIcon in interface PropertySheetHolder

coordinateWithMachineBeforeActuate

protected void coordinateWithMachineBeforeActuate()
                                           throws java.lang.Exception

The following three methods are used to execute the requested coordination between actuator and machine. They are separated by type to allow checking if coordination is requested and to use the minimum completion types required.

Throws:

java.lang.Exception

coordinateWithMachineAfterActuate

protected void coordinateWithMachineAfterActuate()
                                          throws java.lang.Exception

Throws:

java.lang.Exception

coordinateWithMachineBeforeRead

protected void coordinateWithMachineBeforeRead()
                                        throws java.lang.Exception

Throws:

java.lang.Exception

read

public java.lang.String read()
                      throws java.lang.Exception

Description copied from interface: Actuator

Read a value from the actuator. The value will be returned exactly as provided by the Actuator and can be interpreted as needed by the caller.

Specified by:

read in interface Actuator

Returns:

The value read.

Throws:

java.lang.Exception - if there was an error reading the actuator.

getCoordinatedBeforeActuateEnum

public AbstractActuator.ActuatorCoordinationEnumType getCoordinatedBeforeActuateEnum()

setCoordinatedBeforeActuateEnum

public void setCoordinatedBeforeActuateEnum(AbstractActuator.ActuatorCoordinationEnumType coordinateBeforeActuateEnum)

getCoordinatedAfterActuateEnum

public AbstractActuator.ActuatorCoordinationEnumType getCoordinatedAfterActuateEnum()

setCoordinatedAfterActuateEnum

public void setCoordinatedAfterActuateEnum(AbstractActuator.ActuatorCoordinationEnumType coordinateAfterActuateEnum)

getCoordinatedBeforeReadEnum

public AbstractActuator.ActuatorCoordinationEnumType getCoordinatedBeforeReadEnum()

setCoordinatedBeforeReadEnum

public void setCoordinatedBeforeReadEnum(AbstractActuator.ActuatorCoordinationEnumType coordinateBeforeReadEnum)

isInterlockActuator

public boolean isInterlockActuator()

setInterlockActuator

public void setInterlockActuator(boolean interlockActuator)

getInterlockMonitor

public Actuator.InterlockMonitor getInterlockMonitor()

Specified by:

getInterlockMonitor in interface Actuator

setInterlockMonitor

public void setInterlockMonitor(Actuator.InterlockMonitor interlockMonitor)

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