Class AF2Impl

java.lang.Object
  org.omg.PortableServer.Servant
      iAF2.AF2InterfacePOA
          AF2Impl

All Implemented Interfaces:

iAF2.AF2InterfaceOperations, org.omg.CORBA.portable.InvokeHandler

 class AF2Impl
extends iAF2.AF2InterfacePOA

The class AF2Impl contains the implementation methods for the AF2 CORBA interface. All CORBA method calls enter here.

Field Summary

private boolean	abortInProgress
private long	MIN_ROBOT_LIMIT_SWITCH_STATUS_UPDATE_PERIOD
private long	MIN_ROBOT_STATUS_UPDATE_PERIOD
private Stopwatch	robotLimitSwitchUpdateTimer
private Stopwatch	robotUpdateTimer
private Configuration	theConfiguration
(package private) static FibreModule	theFibreModule
private Robot	theRobot
private RobotEncoder	theRobotEncoder
private iAF2.RobotStatus	theRobotStatus
private Setup	theSetup
private UserMode	theUserMode

Constructor Summary

AF2Impl()

Method Summary

void	abort() Abort a setup or load module
iAF2.Position	centroid() Perform a centroid on the TV system and return the centroid position
void	circleFibres() Set all of the fibres to the circle position
void	closeGripper() Close the gripper jaws
java.lang.String	commandMotionController(java.lang.String command) Issue a command to the motion controller
void	disableFibre(int fibreNumber) Disable a fibre
void	enableFibre(int fibreNumber) Enable a fibre
void	exit() Exit the AF2 server
void	extractRobot() Extract the robot from its limit switches
iAF2.RobotAxisConfiguration	getAxisConfiguration(iAF2.RobotAxis axis) Get the configuration of an axis
iAF2.FibreModuleStatus	getFibreModuleStatus() Get the fibre module status
iAF2.Fibre	getFibreStatus(int fibreNumber) Get the fibre status
iAF2.RobotGripperConfiguration	getGripperJawConfiguration() Get the gripper jaw height configuration
private MotionControllerAxis	getMotionControllerAxis(iAF2.RobotAxis axis) Convert the iAF2.RobotAxis to the correct MotionController axis
iAF2.RobotStatus	getRobotStatus() Get the robot status
iAF2.Position	getSkyViewProbeOffset() Get the offset between the gripper centre and sky viewing probe in x and y
void	initialiseRobot() Initialise the robot
boolean	isConfigurationValid(java.lang.String[] theConfigurationData, java.lang.String siderealTime) Check the validity of the configuration data
private boolean	isRobotLimitSwitchStatusUpdateRequired() Is a robot limit switch status update required.
private boolean	isRobotStatusUpdateRequired() Is a robot status update required.
boolean	isSetupInProgress() Check whether a setup is in progress
void	killFibre(int fibreNumber) Kill a fibre, causing it to be permanently disabled
void	loadFibre(int fibreNumber) Load a fibre
void	loadFibreHere(int fibreNumber) Load a fibre at the current robot position
void	loadModule() Load all of the fibres in the fibre module
void	loadModuleAll() Load all of the fibres in the fibre module continuing in the event of failure to find fibres
void	map(java.lang.String[] theConfigurationData, java.lang.String siderealTime) Construct a distortion map of the Prime Focus field using a standard set of star positions, and star centroid information produced by the autoguider
void	moveFibre(int fibreNumber, int positionX, int positionY) Move a fibre to the specified coordinates
void	moveProbe(int positionProbe) Move the single axis probe to the specified position
void	moveRobot(int positionX, int positionY) Move the robot to the specified position
void	moveTheta(int positionTheta) Rotate the gripper jaws to the specified angle (in arcmins)
void	moveZ(int positionZ) Move the gripper jaws up or down to the specified position
void	offsetFibre(int fibreNumber, int offsetX, int offsetY) Offset the fibre by the specified amount in x and y
void	offsetRobot(int offsetX, int offsetY) Offset the robot by the specified amount in x and y
void	openGripper() Open the gripper jaws
void	parkFibre(int fibreNumber) Place a fibre in its park position
void	parkFibres() Place all fibres in their park position
void	parkRobot() Park the robot
void	ping() Ping the instrument to verify a connection
void	recoverFibre() Recover a fibre lost during a setup
void	reset() Reset the AF2 server
void	ringFibre(int fibreNumber) Inform the AF2 system that a fibre has been manually placed in the load ring
void	ringFibres() Inform the AF2 system that all fibres have been manually placed in the load ring
void	saveAxisConfiguration() Save the robot's axis configuration
void	setAxisConfiguration(iAF2.RobotAxis axis, iAF2.RobotAxisConfiguration configuration) Set the configuration of an axis
void	setBackIlluminationOff() Set the AF2 back illumination system off
void	setBackIlluminationOn() Set the AF2 back illumination system on
void	setEngineeringUserMode(java.lang.String password) Set engineering user mode on
void	setExtendedUserMode(java.lang.String password) Set extended user mode on
void	setGripperJawConfiguration(iAF2.RobotGripperConfiguration gripperConfiguration) Set the gripper jaw height configuration
void	setInspectionLightsOff() Set the inspection lights off
void	setInspectionLightsOn() Set the inspection lights on
void	setInstrumentPowerOff() Set the instrument power off
void	setInstrumentPowerOn() Set the instrument power on
void	setIterations(int numberOfFibrePlacementIterations) Set the maximum number of fibre placement iterations for a setup to the specified value
void	setMotorPowerOff() Set the motor power off
void	setMotorPowerOn() Set the motor power on
void	setNormalUserMode() Set normal user mode on
void	setSkyViewProbeOffset(int offsetX, int offsetY) Set the offset between the gripper centre and sky viewing probe in x and y
void	setTolerance(int fibrePlacementToleranceInMicrons) Set the positioning tolerance for fibre placements to the specified value in microns
void	setup(java.lang.String[] theConfigurationData, java.lang.String siderealTime) Perform a field setup on the specified configuration data
void	sleepRobot() Sleep the robot
private void	updateLimitSwitchStatus(iAF2.RobotStatus theRobotStatus) Update the state of the axis limit switches
void	viewFibre(int fibreNumber) View the specified fibre
void	viewObject(int objectNumber) View the specified object
void	viewSky(int positionX, int positionY) View the sky at the specified position
private void	waitSetupFinished() Wait for a setup to complete
void	wakeRobot() Wake the robot
int	whichFibre() Return the number of the fibre which failed during a setup

Methods inherited from class iAF2.AF2InterfacePOA

_all_interfaces, _invoke, _this, _this

Methods inherited from class org.omg.PortableServer.Servant

_default_POA, _get_delegate, _get_interface_def, _is_a, _non_existent, _object_id, _orb, _poa, _set_delegate, _this_object, _this_object

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

MIN_ROBOT_STATUS_UPDATE_PERIOD

private final long MIN_ROBOT_STATUS_UPDATE_PERIOD

See Also:

Constant Field Values

MIN_ROBOT_LIMIT_SWITCH_STATUS_UPDATE_PERIOD

private final long MIN_ROBOT_LIMIT_SWITCH_STATUS_UPDATE_PERIOD

See Also:

Constant Field Values

theRobot

private Robot theRobot

theRobotEncoder

private RobotEncoder theRobotEncoder

theRobotStatus

private iAF2.RobotStatus theRobotStatus

robotUpdateTimer

private Stopwatch robotUpdateTimer

robotLimitSwitchUpdateTimer

private Stopwatch robotLimitSwitchUpdateTimer

theFibreModule

static FibreModule theFibreModule

theConfiguration

private Configuration theConfiguration

theSetup

private Setup theSetup

theUserMode

private UserMode theUserMode

abortInProgress

private boolean abortInProgress

Constructor Detail

AF2Impl

public AF2Impl()

Method Detail

abort

public void abort()
           throws iAF2.AF2Error

Abort a setup or load module

Throws:

iAF2.AF2Error

centroid

public iAF2.Position centroid()
                       throws iAF2.AF2Error

Perform a centroid on the TV system and return the centroid position

Throws:

iAF2.AF2Error

circleFibres

public void circleFibres()
                  throws iAF2.AF2Error

Set all of the fibres to the circle position

Throws:

iAF2.AF2Error

closeGripper

public void closeGripper()
                  throws iAF2.AF2Error

Close the gripper jaws

Throws:

iAF2.AF2Error

commandMotionController

public java.lang.String commandMotionController(java.lang.String command)
                                         throws iAF2.AF2Error

Issue a command to the motion controller

Throws:

iAF2.AF2Error

disableFibre

public void disableFibre(int fibreNumber)
                  throws iAF2.AF2Error

Disable a fibre

Throws:

iAF2.AF2Error

enableFibre

public void enableFibre(int fibreNumber)
                 throws iAF2.AF2Error

Enable a fibre

Throws:

iAF2.AF2Error

exit

public void exit()

Exit the AF2 server

extractRobot

public void extractRobot()
                  throws iAF2.AF2Error

Extract the robot from its limit switches

Throws:

iAF2.AF2Error

initialiseRobot

public void initialiseRobot()
                     throws iAF2.AF2Error

Initialise the robot

Throws:

iAF2.AF2Error

isConfigurationValid

public boolean isConfigurationValid(java.lang.String[] theConfigurationData,
                                    java.lang.String siderealTime)
                             throws iAF2.AF2Error

Check the validity of the configuration data

Throws:

iAF2.AF2Error

isSetupInProgress

public boolean isSetupInProgress()

Check whether a setup is in progress

killFibre

public void killFibre(int fibreNumber)
               throws iAF2.AF2Error

Kill a fibre, causing it to be permanently disabled

Throws:

iAF2.AF2Error

loadFibre

public void loadFibre(int fibreNumber)
               throws iAF2.AF2Error

Load a fibre

Throws:

iAF2.AF2Error

loadFibreHere

public void loadFibreHere(int fibreNumber)
                   throws iAF2.AF2Error

Load a fibre at the current robot position

Throws:

iAF2.AF2Error

loadModule

public void loadModule()
                throws iAF2.AF2Error

Load all of the fibres in the fibre module

Throws:

iAF2.AF2Error

loadModuleAll

public void loadModuleAll()
                   throws iAF2.AF2Error

Load all of the fibres in the fibre module continuing in the event of failure to find fibres

Throws:

iAF2.AF2Error

map

public void map(java.lang.String[] theConfigurationData,
                java.lang.String siderealTime)
         throws iAF2.AF2Error

Construct a distortion map of the Prime Focus field using a standard set of star positions, and star centroid information produced by the autoguider

Throws:

iAF2.AF2Error

moveFibre

public void moveFibre(int fibreNumber,
                      int positionX,
                      int positionY)
               throws iAF2.AF2Error

Move a fibre to the specified coordinates

Throws:

iAF2.AF2Error

moveProbe

public void moveProbe(int positionProbe)
               throws iAF2.AF2Error

Move the single axis probe to the specified position

Throws:

iAF2.AF2Error

moveRobot

public void moveRobot(int positionX,
                      int positionY)
               throws iAF2.AF2Error

Move the robot to the specified position

Throws:

iAF2.AF2Error

moveTheta

public void moveTheta(int positionTheta)
               throws iAF2.AF2Error

Rotate the gripper jaws to the specified angle (in arcmins)

Throws:

iAF2.AF2Error

moveZ

public void moveZ(int positionZ)
           throws iAF2.AF2Error

Move the gripper jaws up or down to the specified position

Throws:

iAF2.AF2Error

offsetFibre

public void offsetFibre(int fibreNumber,
                        int offsetX,
                        int offsetY)
                 throws iAF2.AF2Error

Offset the fibre by the specified amount in x and y

Throws:

iAF2.AF2Error

offsetRobot

public void offsetRobot(int offsetX,
                        int offsetY)
                 throws iAF2.AF2Error

Offset the robot by the specified amount in x and y

Throws:

iAF2.AF2Error

openGripper

public void openGripper()
                 throws iAF2.AF2Error

Open the gripper jaws

Throws:

iAF2.AF2Error

parkFibre

public void parkFibre(int fibreNumber)
               throws iAF2.AF2Error

Place a fibre in its park position

Throws:

iAF2.AF2Error

parkFibres

public void parkFibres()
                throws iAF2.AF2Error

Place all fibres in their park position

Throws:

iAF2.AF2Error

parkRobot

public void parkRobot()
               throws iAF2.AF2Error

Park the robot

Throws:

iAF2.AF2Error

ping

public void ping()
          throws iAF2.AF2Error

Ping the instrument to verify a connection

Throws:

iAF2.AF2Error

recoverFibre

public void recoverFibre()
                  throws iAF2.AF2Error

Recover a fibre lost during a setup

Throws:

iAF2.AF2Error

reset

public void reset()
           throws iAF2.AF2Error

Reset the AF2 server

Throws:

iAF2.AF2Error

ringFibre

public void ringFibre(int fibreNumber)
               throws iAF2.AF2Error

Inform the AF2 system that a fibre has been manually placed in the load ring

Throws:

iAF2.AF2Error

ringFibres

public void ringFibres()
                throws iAF2.AF2Error

Inform the AF2 system that all fibres have been manually placed in the load ring

Throws:

iAF2.AF2Error

sleepRobot

public void sleepRobot()
                throws iAF2.AF2Error

Sleep the robot

Throws:

iAF2.AF2Error

setup

public void setup(java.lang.String[] theConfigurationData,
                  java.lang.String siderealTime)
           throws iAF2.AF2Error

Perform a field setup on the specified configuration data

Throws:

iAF2.AF2Error

viewFibre

public void viewFibre(int fibreNumber)
               throws iAF2.AF2Error

View the specified fibre

Throws:

iAF2.AF2Error

viewObject

public void viewObject(int objectNumber)
                throws iAF2.AF2Error

View the specified object

Throws:

iAF2.AF2Error

viewSky

public void viewSky(int positionX,
                    int positionY)
             throws iAF2.AF2Error

View the sky at the specified position

Throws:

iAF2.AF2Error

wakeRobot

public void wakeRobot()
               throws iAF2.AF2Error

Wake the robot

Throws:

iAF2.AF2Error

whichFibre

public int whichFibre()
               throws iAF2.AF2Error

Return the number of the fibre which failed during a setup

Throws:

iAF2.AF2Error

getAxisConfiguration

public iAF2.RobotAxisConfiguration getAxisConfiguration(iAF2.RobotAxis axis)
                                                 throws iAF2.AF2Error

Get the configuration of an axis

Throws:

iAF2.AF2Error

getGripperJawConfiguration

public iAF2.RobotGripperConfiguration getGripperJawConfiguration()
                                                          throws iAF2.AF2Error

Get the gripper jaw height configuration

Throws:

iAF2.AF2Error

getSkyViewProbeOffset

public iAF2.Position getSkyViewProbeOffset()
                                    throws iAF2.AF2Error

Get the offset between the gripper centre and sky viewing probe in x and y

Throws:

iAF2.AF2Error

saveAxisConfiguration

public void saveAxisConfiguration()
                           throws iAF2.AF2Error

Save the robot's axis configuration

Throws:

iAF2.AF2Error

setAxisConfiguration

public void setAxisConfiguration(iAF2.RobotAxis axis,
                                 iAF2.RobotAxisConfiguration configuration)
                          throws iAF2.AF2Error

Set the configuration of an axis

Throws:

iAF2.AF2Error

setBackIlluminationOn

public void setBackIlluminationOn()
                           throws iAF2.AF2Error

Set the AF2 back illumination system on

Throws:

iAF2.AF2Error

setBackIlluminationOff

public void setBackIlluminationOff()
                            throws iAF2.AF2Error

Set the AF2 back illumination system off

Throws:

iAF2.AF2Error

setEngineeringUserMode

public void setEngineeringUserMode(java.lang.String password)
                            throws iAF2.AF2Error

Set engineering user mode on

Throws:

iAF2.AF2Error

setInspectionLightsOn

public void setInspectionLightsOn()
                           throws iAF2.AF2Error

Set the inspection lights on

Throws:

iAF2.AF2Error

setInspectionLightsOff

public void setInspectionLightsOff()
                            throws iAF2.AF2Error

Set the inspection lights off

Throws:

iAF2.AF2Error

setInstrumentPowerOn

public void setInstrumentPowerOn()
                          throws iAF2.AF2Error

Set the instrument power on

Throws:

iAF2.AF2Error

setInstrumentPowerOff

public void setInstrumentPowerOff()
                           throws iAF2.AF2Error

Set the instrument power off

Throws:

iAF2.AF2Error

setMotorPowerOn

public void setMotorPowerOn()
                     throws iAF2.AF2Error

Set the motor power on

Throws:

iAF2.AF2Error

setMotorPowerOff

public void setMotorPowerOff()
                      throws iAF2.AF2Error

Set the motor power off

Throws:

iAF2.AF2Error

setNormalUserMode

public void setNormalUserMode()
                       throws iAF2.AF2Error

Set normal user mode on

Throws:

iAF2.AF2Error

setExtendedUserMode

public void setExtendedUserMode(java.lang.String password)
                         throws iAF2.AF2Error

Set extended user mode on

Throws:

iAF2.AF2Error

setGripperJawConfiguration

public void setGripperJawConfiguration(iAF2.RobotGripperConfiguration gripperConfiguration)
                                throws iAF2.AF2Error

Set the gripper jaw height configuration

Throws:

iAF2.AF2Error

setIterations

public void setIterations(int numberOfFibrePlacementIterations)
                   throws iAF2.AF2Error

Set the maximum number of fibre placement iterations for a setup to the specified value

Throws:

iAF2.AF2Error

setSkyViewProbeOffset

public void setSkyViewProbeOffset(int offsetX,
                                  int offsetY)
                           throws iAF2.AF2Error

Set the offset between the gripper centre and sky viewing probe in x and y

Throws:

iAF2.AF2Error

setTolerance

public void setTolerance(int fibrePlacementToleranceInMicrons)
                  throws iAF2.AF2Error

Set the positioning tolerance for fibre placements to the specified value in microns

Throws:

iAF2.AF2Error

getFibreStatus

public iAF2.Fibre getFibreStatus(int fibreNumber)
                          throws iAF2.AF2Error

Get the fibre status

Throws:

iAF2.AF2Error

getRobotStatus

public iAF2.RobotStatus getRobotStatus()
                                throws iAF2.AF2Error

Get the robot status

Throws:

iAF2.AF2Error

getFibreModuleStatus

public iAF2.FibreModuleStatus getFibreModuleStatus()
                                            throws iAF2.AF2Error

Get the fibre module status

Throws:

iAF2.AF2Error

isRobotStatusUpdateRequired

private boolean isRobotStatusUpdateRequired()

Is a robot status update required. This checks whether the robot update status timer has timed out

Returns:

Boolean to indicate whether a robot status update is required

isRobotLimitSwitchStatusUpdateRequired

private boolean isRobotLimitSwitchStatusUpdateRequired()

Is a robot limit switch status update required. This checks whether the robot limit switch update status timer has timed out

Returns:

Boolean to indicate whether a robot limit switch status update is required

updateLimitSwitchStatus

private void updateLimitSwitchStatus(iAF2.RobotStatus theRobotStatus)

Update the state of the axis limit switches

Parameters:

theRobotStatus - The robot status

waitSetupFinished

private void waitSetupFinished()

Wait for a setup to complete

getMotionControllerAxis

private MotionControllerAxis getMotionControllerAxis(iAF2.RobotAxis axis)

Convert the iAF2.RobotAxis to the correct MotionController axis

Parameters:

axis - The axis

Returns:

The MotionController axis