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1 package JSci.instruments.pi;
2
3 import JSci.instruments.*;
4
5 import java.awt.*;
6 import java.awt.event.*;
7 import javax.swing.*;
8 import javax.swing.event.*;
9 import java.util.*;
10 import java.util.prefs.*;
11 import java.io.*;
12 import java.text.*;
13
14
22 public abstract class Mercury extends PositionControlAdapter {
23
24 private int port;
25 private int axis;
26 private double bias = 0.0;
27 private String  type = "";
28 private String version = "";
29 private static final int numAxis = 10 ;
30 private static final int numPorts = 10;
31 private static RandomAccessFile rf[] = new RandomAccessFile[] {null, null, null, null, null, null}; private Preferences persPref = Preferences.userRoot().node("/it/unimi/pi/Mercury");
33
34
35 private String readLine() {
36 String s="";
37 char c;
38 try {
39 while ((c=(char)rf[port].readByte())!=13) s+=c;
40 rf[port].readByte();
41 rf[port].readByte();
42 }
43 catch (IOException e) { throw new RuntimeException ("Cannot communicate with ttyS"+port); }
44 return s;
45 }
46
47
51 protected Mercury(int p,int n) {
52 if (n<0) throw(new IllegalArgumentException (n+": axis number should be positive"));
53 if (p<0) throw(new IllegalArgumentException (n+": ttyS port number should be positive"));
54 port=p;
55 axis=n;
56 try {
57 if (rf[port]==null) rf[port]=new RandomAccessFile("/dev/ttyS"+port,"rw");
58 synchronized (rf[port]) {
59 rf[port].writeByte(1);
61 rf[port].writeBytes(""+axis);
62 rf[port].writeBytes("rt");
63 rf[port].writeByte(13);
64 rf[port].writeByte(1);
66 rf[port].writeBytes(""+axis);
67 rf[port].writeBytes("ve");
68 rf[port].writeByte(13);
69 version=readLine();
70 }
71 }
72 catch (FileNotFoundException e) { throw new IllegalArgumentException ("/dev/ttyS"+port+"does not exist"); }
73 catch (IOException e) { throw(new IllegalArgumentException ("Error writing to /dev/ttyS"+port)); }
74 bias=persPref.getDouble("zero-"+port+"-"+axis,0.0);
75 }
76
77
78
81 protected final void setLimitSwitches(boolean b) {
82 try {
83 synchronized (rf[port]) {
84 rf[port].writeByte(1);
85 rf[port].writeBytes(""+axis);
86 if (b) rf[port].writeBytes("lh");
87 else rf[port].writeBytes("ll");
88 rf[port].writeByte(13);
89 }
90 }
91 catch (IOException e) { throw new RuntimeException ("Cannot communicate with ttyS"+port); }
92 }
93
94
96 protected void findCenter() {
97 try {
98 synchronized (rf[port]) {
99 rf[port].writeByte(1);
100 rf[port].writeBytes(""+axis);
101 rf[port].writeBytes("fe");
102 rf[port].writeByte(13);
103 }
104 }
105 catch (IOException e) { throw new RuntimeException ("Cannot communicate with ttyS"+port); }
106 }
107
108
111
116 public void setPosition(double p) {
117 if (p==currPos) return;
118 currPos=p;
119 doSetPosition(p);
120 persPref.putDouble("zero-"+port+"-"+axis,p);
121 fireStateChanged();
122 }
123
124
125 private void doSetPosition(double p) {
126 try {
127 synchronized (rf[port]) {
128 rf[port].writeByte(1);
129 rf[port].writeBytes(""+axis);
130 rf[port].writeBytes("ma"+(long)(p-bias));
131 rf[port].writeByte(13);
132 }
133 } catch (IOException e) { throw new RuntimeException ("Cannot communicate with ttyS"+port); }
134 }
135
136
140 public double getPosition() {
141 if (Double.isNaN(currPos)) currPos=doGetPosition();
142 return Math.rint(currPos);
143 }
144 private double currPos = Double.NaN;
145
146 public double doGetPosition() {
147 double p = 0.0;
148 try {
149 synchronized (rf[port]) {
150 rf[port].writeByte(1);
151 rf[port].writeBytes(""+axis);
152 rf[port].writeBytes("tt");
153 rf[port].writeByte(13);
154 p=Double.parseDouble(readLine().substring(2));
155 }
156 } catch (IOException e) { throw new RuntimeException ("Cannot communicate with ttyS"+port); }
157 return p+bias;
158 }
159
160
164 public double getActualPosition() {
165 double p = 0.0;
166 try {
167 synchronized (rf[port]) {
168 rf[port].writeByte(1);
169 rf[port].writeBytes(""+axis);
170 rf[port].writeBytes("tp");
171 rf[port].writeByte(13);
172 p=Double.parseDouble(readLine().substring(2));
173 }
174 } catch (IOException e) { throw new RuntimeException ("Cannot communicate with ttyS"+port); }
175 return p+bias;
176 }
177
178
181 public double getMinimum() { return Math.rint(persPref.getDouble("min-"+port+"-"+axis,getPosition())); }
182
183
186 public double getMaximum() { return Math.rint(persPref.getDouble("max-"+port+"-"+axis,getPosition())); }
187
188
191 public void setMinimum(double m) { persPref.putDouble("min-"+port+"-"+axis,m); }
192
193
196 public void setMaximum(double m) { persPref.putDouble("max-"+port+"-"+axis,m); }
197
198
201 public String getUnit() {return "counts";}
202
203
206 public double getMinorStep() {return 400.0;}
207
208
211 public double getMajorStep() {return 4000.0;}
212
213
217 public double getPositionError() { return doGetPositionError(); }
218
219
223 public double doGetPositionError() {
224 double p = 0.0;
225 try {
226 synchronized (rf[port]) {
227 rf[port].writeByte(1);
228 rf[port].writeBytes(""+axis);
229 rf[port].writeBytes("te");
230 rf[port].writeByte(13);
231 p=Double.parseDouble(readLine().substring(2));
232 }
233 } catch (IOException e) { throw new RuntimeException ("Cannot communicate with ttyS"+port); }
234 return p;
235 }
236
237
240
245 public void setVelocity(double v) {
246 try {
247 synchronized (rf[port]) {
248 rf[port].writeByte(1);
249 rf[port].writeBytes(""+axis);
250 rf[port].writeBytes("sv"+(long)v);
251 rf[port].writeByte(13);
252 }
253 } catch (IOException e) { throw new RuntimeException ("Cannot communicate with ttyS"+port); }
254 }
255
256
260 public double getVelocity() {
261 double p = 0.0;
262 try {
263 synchronized (rf[port]) {
264 rf[port].writeByte(1);
265 rf[port].writeBytes(""+axis);
266 rf[port].writeBytes("ty");
267 rf[port].writeByte(13);
268 p=Double.parseDouble(readLine().substring(2));
269 }
270 } catch (IOException e) { throw new RuntimeException ("Cannot communicate with ttyS"+port); }
271 return p;
272 }
273
274
278 public double getActualVelocity() {
279 double p = 0.0;
280 try {
281 synchronized (rf[port]) {
282 rf[port].writeByte(1);
283 rf[port].writeBytes(""+axis);
284 rf[port].writeBytes("tv");
285 rf[port].writeByte(13);
286 p=Double.parseDouble(readLine().substring(2));
287 }
288 } catch (IOException e) { throw new RuntimeException ("Cannot communicate with ttyS"+port); }
289 return p;
290 }
291
292
295 public double getMaxVelocity() { return Double.POSITIVE_INFINITY; }
296
297
300 public double getVelocityStep() {return 100000.0;}
301
302
305 public String getVelocityUnit() {return "counts/cycle";}
306
307
310
312 protected void clearErrors() {}
313
314
317 protected void setMotorOn(boolean b) {
318 try {
319 synchronized (rf[port]) {
320 rf[port].writeByte(1);
321 rf[port].writeBytes(""+axis);
322 if (b) rf[port].writeBytes("mn");
323 else rf[port].writeBytes("mf");
324 rf[port].writeByte(13);
325 }
326 } catch (IOException e) { throw new RuntimeException ("Cannot communicate with ttyS"+port); }
327 motor_on=b;
328 }
329 private boolean motor_on = true;
330
331
334 protected boolean getMotorOn() { return motor_on; }
335
336
339 protected void setBrake(boolean b) {
340 try {
341 synchronized (rf[port]) {
342 rf[port].writeByte(1);
343 rf[port].writeBytes(""+axis);
344 if (b) rf[port].writeBytes("bn");
345 else rf[port].writeBytes("bf");
346 rf[port].writeByte(13);
347 }
348 } catch (IOException e) { throw new RuntimeException ("Cannot communicate with ttyS"+port); }
349 brake_on=b;
350 }
351 private boolean brake_on;
352
353
356 protected boolean getBrake() { return brake_on; }
357
358
359
360
363 protected Hashtable getEventStatus() { return null; }
364 protected static final String EVENT_MOTION_COMPLETE = "Motion complete";
365 protected static final String EVENT_WRAP_AROUND = "Wrap around";
366 protected static final String EVENT_BREAKPOINT1 = "Breakpoint 1";
367 protected static final String EVENT_CAPTURE_RECEIVED = "Capture received";
368 protected static final String EVENT_MOTION_ERROR = "Motion error";
369 protected static final String EVENT_POS_LIMIT = "Positive limit";
370 protected static final String EVENT_NEG_LIMIT = "Negative limit";
371 protected static final String EVENT_INSTRUCTION_ERR = "Instruction error";
372 protected static final String EVENT_COMMUNICATION_ERR = "Communication error";
373 protected static final String EVENT_BREAKPOINT2 = "Breakpoint 2";
374
375
378 protected Hashtable getSignalStatus() { return null; }
379 protected static final String SIGNAL_ENCODER_A = "Encoder A";
380 protected static final String SIGNAL_ENCODER_B = "Encoder B";
381 protected static final String SIGNAL_ENCODER_INDEX = "Encoder index";
382 protected static final String SIGNAL_ENCODER_HOME = "Encoder home";
383 protected static final String SIGNAL_POS_LIMIT = "Positive limit";
384 protected static final String SIGNAL_NEG_LIMIT = "Negative limit";
385 protected static final String SIGNAL_AXIS_IN = "Axis in";
386 protected static final String SIGNAL_HALL_A = "Hall A";
387 protected static final String SIGNAL_HALL_B = "Hall B";
388 protected static final String SIGNAL_HALL_C = "Hall C";
389 protected static final String SIGNAL_AXIS_OUT = "Axis out";
390 protected static final String SIGNAL_STEP_OUTPUT = "Step output";
391 protected static final String SIGNAL_MOTOR_OUTPUT = "Motor output";
392
393
394
397 protected Hashtable getActivityStatus() { return null; }
398 protected static final String ACTIVITY_PHASING_INITD = "Not for the PI boards!!!";
399 protected static final String ACTIVITY_MAX_VELOCITY = "Running at max velocity";
400 protected static final String ACTIVITY_TRACKING = "Tracking";
401 protected static final String ACTIVITY_PROFILE_MODE_0 = "Profile mode 0";
402 protected static final String ACTIVITY_PROFILE_MODE_1 = "Profile mode 1";
403 protected static final String ACTIVITY_PROFILE_MODE_2 = "Profile mode 2";
404 protected static final String ACTIVITY_RESERVED = "Reserved";
405 protected static final String ACTIVITY_AXIS_SETTLED = "Setteled";
406 protected static final String ACTIVITY_MOTOR_STATUS = "Motor status";
407 protected static final String ACTIVITY_POSITION_CAPTURE = "Position capture";
408 protected static final String ACTIVITY_IN_MOTION = "In motion";
409 protected static final String ACTIVITY_ACT_POS_LIMIT = "Actual positive limit";
410 protected static final String ACTIVITY_ACT_NEG_LIMIT = "Actual negative limit";
411
412
413
414 public void sleep() {
415 do {
416 try {
417 Thread.sleep(200);
418 }
419 catch (InterruptedException e) {}
420 } while (Math.abs(doGetPositionError())>19.5);
421 }
422
423
426
427
432 protected JPanel createPositionPanel(boolean monitor,boolean vertical, boolean inverted) {
433 final JButton setLimits = new JButton("Limits");
434 final JSpinner spinner;
435 JButton plus,minus;
436 JPanel fastMovement = new JPanel();
437 JPanel r = new JPanel();
438 fastMovement.setLayout(new BorderLayout());
439 r.setLayout(new FlowLayout());
440 if (vertical) {
441 plus = new JButton("^");
442 minus = new JButton("v");
443 fastMovement.add("North",plus);
444 fastMovement.add("South",minus);
445 }
446 else {
447 plus = new JButton(">");
448 minus = new JButton("<");
449 fastMovement.add("East",plus);
450 fastMovement.add("West",minus);
451 }
452 spinner=new JSpinner(new SpinnerNumberModel(getPosition(),getMinimum(),getMaximum(),getMinorStep()));
453
454 Dimension dim = spinner.getPreferredSize();
455 dim.setSize(100,dim.getHeight());
456 spinner.setPreferredSize(dim);
457
458 r.add(spinner);
459 r.add(new JLabel("("+getUnit()+")"));
460 r.add(fastMovement);
461
462 if (monitor) {
463 final JSpinner actpos;
464 actpos = new JSpinner(new SpinnerNumberModel(getPosition(),getMinimum(),getMaximum(),getMinorStep() ));
465 dim = actpos.getPreferredSize();
466 dim.setSize(100,dim.getHeight());
467 actpos.setPreferredSize(dim);
468 actpos.setEnabled(false);
469 r.add(new JLabel("Actual: "));
470 r.add(actpos);
471 r.add(new JLabel("("+getUnit()+")"));
472 class ActposChangeListener implements ChangeListener,Runnable {
473 private boolean running = false;
474 public void run() {
475 Thread t = new Thread (new Runnable () {
476 public void run() { sleep(); running=false; }
477 });
478 t.setDaemon(true);
479 t.start();
480 do {
481 actpos.setValue(new Double (getActualPosition()));
482 try { Thread.sleep(100); } catch (InterruptedException e) {}
483 } while (running);
484 actpos.setValue(new Double (getActualPosition()));
485 }
486 public void stateChanged(ChangeEvent event) {
487 if (running) return;
488 Thread t = new Thread (this);
489 t.setDaemon(true);
490 running=true;
491 t.start();
492 }
493 }
494 addChangeListener(new ActposChangeListener());
495 }
496
497 if (!inverted) {
498 minus.addActionListener(new ActionListener() {
499 public void actionPerformed(ActionEvent e) {
500 double p=getPosition()-getMajorStep();
501 if (p>=getMinimum()) spinner.setValue(new Double (p));
502 }
503 });
504 plus.addActionListener(new ActionListener() {
505 public void actionPerformed(ActionEvent e) {
506 double p=getPosition()+getMajorStep();
507 if (p<=getMaximum()) spinner.setValue(new Double (p));
508 }
509 });
510 }
511 else {
512 minus.addActionListener(new ActionListener() {
513 public void actionPerformed(ActionEvent e) {
514 double p=getPosition()+getMajorStep();
515 if (p<=getMaximum()) spinner.setValue(new Double (p));
516 }
517 });
518 plus.addActionListener(new ActionListener() {
519 public void actionPerformed(ActionEvent e) {
520 double p=getPosition()-getMajorStep();
521 if (p>=getMinimum()) spinner.setValue(new Double (p));
522 }
523 });
524 }
525 spinner.addChangeListener(new ChangeListener() {
526 public void stateChanged(ChangeEvent event) {
527 double p=((Double )spinner.getValue()).doubleValue();
528 setPosition(p);
529 }
530 });
531 addChangeListener(new ChangeListener() {
532 public void stateChanged(ChangeEvent event) {
533 spinner.setValue(new Double (getPosition()));
534 }
535 });
536
537 r.add(setLimits);
538 setLimits.addActionListener(new ActionListener() {
539 public void actionPerformed(ActionEvent e) {
540 if (setLimitsDialog==null) setLimits();
541 if (!setLimitsDialog.isVisible()) setLimitsDialog.setVisible(true);
542 setLimitsDialog.toFront();
543 }
544 });
545
546 r.setBorder(
547 BorderFactory.createTitledBorder(
548 BorderFactory.createEtchedBorder(),
549 "Position"
550 )
551 );
552 return r;
553 }
554
555
558 protected JPanel createVelocityPanel(boolean monitor) {
559 final JSpinner vel;
560 final JRadioButton inMotion;
561 JPanel r = new JPanel();
562 r.setLayout(new FlowLayout());
563 vel = new JSpinner(new SpinnerNumberModel(getVelocity(),0.0,getMaxVelocity(),getVelocityStep()));
564 inMotion = new JRadioButton("In motion");
565 inMotion.setSelected(false);
566 inMotion.setEnabled(false);
567
568 Dimension dim = vel.getPreferredSize();
569 dim.setSize(100,dim.getHeight());
570 vel.setPreferredSize(dim);
571
572 r.add(vel);
573 r.add(new JLabel("("+getVelocityUnit()+")"));
574
575 if (monitor) {
576 final JSpinner actvel;
577 actvel = new JSpinner(new SpinnerNumberModel(getActualVelocity(),-getMaxVelocity(),getMaxVelocity(),getVelocityStep()) );
578
579 dim = actvel.getPreferredSize();
580 dim.setSize(100,dim.getHeight());
581 actvel.setPreferredSize(dim);
582 actvel.setEnabled(false);
583 r.add(new JLabel("Actual: "));
584 r.add(actvel);
585 r.add(new JLabel("("+getVelocityUnit()+")"));
586 class ActvelChangeListener implements ChangeListener,Runnable {
587 private boolean running = false;
588 public void run() {
589 Thread t = new Thread (new Runnable () {
590 public void run() {
591 inMotion.setSelected(true);
592 sleep();
593 running=false;
594 inMotion.setSelected(false);
595 }
596 });
597 t.setDaemon(true);
598 t.start();
599 do {
600 actvel.setValue(new Double (getActualVelocity()));
601 try { Thread.sleep(100); } catch (InterruptedException e) {}
602 } while (running);
603 actvel.setValue(new Double (getActualVelocity()));
604 }
605 public void stateChanged(ChangeEvent event) {
606 if (running) return;
607 Thread t = new Thread (this);
608 t.setDaemon(true);
609 running=true;
610 t.start();
611 }
612 }
613 addChangeListener(new ActvelChangeListener());
614 }
615
616 r.add(inMotion);
617
618 vel.addChangeListener(new ChangeListener() {
619 public void stateChanged(ChangeEvent event) {
620 double v=((Double )vel.getValue()).doubleValue();
621 setVelocity(v);
622 }
623 });
624
625 r.setBorder(
626 BorderFactory.createTitledBorder(
627 BorderFactory.createEtchedBorder(),
628 "Velocity"
629 )
630 );
631 return r;
632 }
633
634
637 protected JPanel createButtonControlPanel() {
638 JPanel r = new JPanel();
639 JButton
640 bFindHome,bSetMotorOn,
641 bSetBrake,bSetMotorMode,bSetOutputMode,
642 bClearErrors;
643 r.setLayout(new FlowLayout());
644
645 bFindHome = new JButton("Find home");
646 bSetMotorOn = new JButton("Motor ON");
647 bSetBrake = new JButton("Brake ON");
648 bSetMotorMode = new JButton("Motor mode 1");
649 bSetOutputMode = new JButton("DAC");
650 bClearErrors = new JButton("Clear error");
651
652 bFindHome.addActionListener(new ActionListener() {
653 public void actionPerformed(ActionEvent e) {
654 findCenter();
655 }
656 });
657 bSetMotorOn.addActionListener(new ActionListener() {
658 public void actionPerformed(ActionEvent e) {
659 setMotorOn(!getMotorOn());
660 }
661 });
662 bSetBrake.addActionListener(new ActionListener() {
663 public void actionPerformed(ActionEvent e) {
664 setBrake(!getBrake());
665 }
666 });
667 bClearErrors.addActionListener(new ActionListener() {
668 public void actionPerformed(ActionEvent e) {
669 clearErrors();
670 }
671 });
672
673 r.add(bFindHome);
674 r.add(bSetMotorOn);
675 r.add(bSetBrake);
676 r.add(bClearErrors);
677
678 r.setBorder(
679 BorderFactory.createTitledBorder(
680 BorderFactory.createEtchedBorder(),
681 "Motor controls"
682 )
683 );
684 return r;
685 }
686
687
688
692 public abstract Component getControlComponent();
693
694
695
698
699 public static final String C150PD = "C-150.PD";
700
701 public static final String C136 = "C-136.10";
702
703 public static final String M126PD = "M-126.PD";
704
705 public static final String RAW = "Raw";
706
707
713 public static Mercury createMotorDevice(String t,int p,int n, double gf) {
714 if (gf==0.0) throw(new IllegalArgumentException ("Gear factor = 0"));
715 if (!( t.equals(RAW) || t.equals(C150PD) || t.equals(C136) || t.equals(M126PD) ))
716 throw(new IllegalArgumentException ("Motor type not supported"));
717 if ( t.equals(RAW) && gf!=1.0 ) throw(new IllegalArgumentException ("Gear factor must be 1.0 for Row motor type"));
718 Mercury c = null;
719 final JPanel ccomp = new JPanel();
720 final double rpc;
721 final double vpc;
722 final double maxv;
723 final String propname = "vel-"+p+"-"+n+"-"+t;
724 final String posUnit;
725 final String velUnit;
726 if (t.equals(RAW)) {
727 rpc = 1.0;
728 vpc = 1.0;
729 maxv = Double.POSITIVE_INFINITY;
730 posUnit = "counts";
731 velUnit = "counts/s";
732 }
733 else if (t.equals(C150PD)) {
734 rpc = gf/4000.0;
735 vpc = gf/4000.0;
736 maxv = 100.0 * Math.abs(gf);
737 posUnit = "turns";
738 velUnit = "turns/s";
739 }
740 else if (t.equals(C136)) {
741 rpc = gf / 2000.0;
742 vpc = gf / 2000.0;
743 maxv = 3.3 * Math.abs(gf) ;
744 posUnit = "turns";
745 velUnit = "turns/s";
746 }
747 else {
748 if (! t.equals(M126PD)) throw new IllegalArgumentException ("Unknown motor type: "+t);
749 rpc = 0.5/4000.0 * gf;
750 vpc = 0.5/4000.0 * gf;
751 maxv = 15.0 * Math.abs(gf);
752 posUnit = "mm";
753 velUnit = "mm/s";
754 }
755
756 c = new Mercury(p,n) {
757 public void setPosition(double p) { if (p>=getMinimum() && p<=getMaximum()) super.setPosition(p/rpc); }
758 public double getPosition() { return super.getPosition()*rpc; }
759 public double getActualPosition() { return super.getActualPosition()*rpc; }
760 public double getMinimum() { return rpc*((rpc>0.0)?super.getMinimum():super.getMaximum()); }
761 public double getMaximum() { return rpc*((rpc>0.0)?super.getMaximum():super.getMinimum()); }
762 public void setMinimum(double m) { if (rpc>0.0) super.setMinimum(m/rpc); else super.setMaximum(m/rpc); }
763 public void setMaximum(double m) { if (rpc>0.0) super.setMaximum(m/rpc); else super.setMinimum(m/rpc); }
764 public String getUnit() { return posUnit; }
765 public double getMinorStep() { return super.getMinorStep()*Math.abs(rpc);}
766 public double getMajorStep() { return super.getMajorStep()*Math.abs(rpc);}
767 public double getPositionError() { return super.getPositionError()*rpc; }
768 public void setVelocity(double v) {
769 if (v>0.0 && v<getMaxVelocity()) {
770 super.setVelocity(v/Math.abs(vpc));
771 super.persPref.putDouble(propname,v);
772 }
773 }
774 public double getVelocity() { return super.getVelocity()*Math.abs(vpc); }
775 public double getActualVelocity() { return super.getActualVelocity()*vpc; }
776 public double getMaxVelocity() { return maxv; }
777 public double getVelocityStep() { return super.getVelocityStep()*Math.abs(vpc); }
778 public String getVelocityUnit() { return velUnit; }
779 public Component getControlComponent() { return ccomp; }
780 };
781 if (t.equals(M126PD)) c.setLimitSwitches(true);
782 if ( ! t.equals(RAW)) c.setMotorOn(true);
783
784 if (!(c.getPosition()>=c.getMinimum() && c.getPosition()<=c.getMaximum())) throw new IllegalArgumentException ("( Minimum <= Position <= Maximum ) failed");
785
786 c.type=t;
787 c.setVelocity(c.persPref.getDouble("vel-"+c.port+"-"+c.axis+"-"+c.type,0.1));
788
789 ccomp.setLayout(new BorderLayout());
790 if (t.equals(M126PD)) ccomp.add("North",c.createPositionPanel(true,true,false));
791 else ccomp.add("North",c.createPositionPanel(true,false,false));
792 ccomp.add("Center",c.createVelocityPanel(true));
793
795 ccomp.setBorder(
796 BorderFactory.createTitledBorder(
797 BorderFactory.createEtchedBorder(),
798 "ttyS"+p+" Axis "+n+" "+t
799 )
800 );
801 return c;
802 }
803
804
808 public static Mercury createMotorDevice(String t,int p,int n) {
809 return createMotorDevice(t,p,n,1.0);
810 }
811
812
813
814
815 public String toString() {
816 return getClass().getName()+
817 "[\nPort=ttyS"+port+",axis="+axis+",type="+type+",version="+version+"]";
818 }
819
820
823
824 private static void printHelp() {
825 System.out.println(
826 "Useful controls for the Mercury board. Parameters can be supplied.\n"+
827 "Syntax:\n"+
828 "java it.unimi.pi.Mercury {options} {commands}\n"+
829 "The options can be:\n"+
830 "-h : print the help\n"+
831 "-m type : set the motor type (\"Raw\" by default)\n"+
832 "-p ttyS_number : set the ttyS port number (0 by default)\n"+
833 "-n axis_number : set the axis number (0 by default)\n"+
834 "-g gear_factor : set the gear factor (1 by default)\n"+
835 "The commands can be:\n"+
836 "setMinimum position : set the minimum of the position (only root can do this)\n"+
837 "setMaximum position : set the maximum of the position (only root can do this)\n"+
838 "setPosition position : move the motor to the given position\n"+
839 "setLimits : graphical interface for setting limits of the given motor (only root can do this)\n"+
840 "monitor : open a window with the control component for the desired motor.\n"+
841 "motors : print a list of known motor types. \"Raw\" is a generic motor, with the\n"+
842 "units used by the board.\n"
843 );
844 System.exit(0);
845 }
846
847
865 public static void main(String [] args) {
866 String t="Raw";
867 int a=0;
868 double gf=1.0;
869 int p=0;
870 int n=0;
871 while (n<args.length) {
872 if (args[n].equals("-m")) {
873 n++;
874 if (n>=args.length) printHelp();
875 t=args[n];
876 } else
877 if (args[n].equals("-p")) {
878 n++;
879 if (n>=args.length) printHelp();
880 p=Integer.parseInt(args[n]);
881 } else
882 if (args[n].equals("-n")) {
883 n++;
884 if (n>=args.length) printHelp();
885 a=Integer.parseInt(args[n]);
886 } else
887 if (args[n].equals("-g")) {
888 n++;
889 if (n>=args.length) printHelp();
890 gf=Double.parseDouble(args[n]);
891 } else
892 if (args[n].equals("-h")) printHelp();
893 else break;
894 n++;
895 }
896
897 Mercury c = createMotorDevice(t,p,a,gf);
898
899 while (n<args.length) {
900 if (args[n].equals("setMinimum")) {
901 n++;
902 if (n>=args.length) printHelp();
903 c.setMinimum(Double.parseDouble(args[n]));
904 } else
905 if (args[n].equals("setMaximum")) {
906 n++;
907 if (n>=args.length) printHelp();
908 c.setMaximum(Double.parseDouble(args[n]));
909 } else
910 if (args[n].equals("setPosition")) {
911 n++;
912 if (n>=args.length) printHelp();
913 c.setPosition(Double.parseDouble(args[n]));
914 } else
915 if (args[n].equals("setLimits"))
916 c.setLimits();
917 else
918 if (args[n].equals("monitor")) {
919 JFrame frm = new JFrame("Mercury");
920 frm.getContentPane().add(c.getControlComponent());
921 frm.setDefaultCloseOperation(JFrame.DISPOSE_ON_CLOSE);
922 frm.pack();
923 frm.show();
924 } else
925 if (args[n].equals("motors")) {
926 System.out.println("Supported motor types:\nRaw\nC-150.PD\nC-136.10\nM-126.PD\n\n");
927 } else printHelp();
928 n++;
929 }
930 }
931
932
933
936 JFrame setLimitsDialog = null;
937
941 public void setLimits() {
942 setLimitsDialog = new JFrame("Axis "+axis+" "+type+" Set limits");
943 final JSpinner min = new JSpinner(new SpinnerNumberModel(getMinimum(),Double.NEGATIVE_INFINITY,getPosition(),getMinorStep()));
944 final JSpinner pos = new JSpinner(new SpinnerNumberModel(getPosition(),getMinimum(),getMaximum(),getMinorStep()));
945 final JSpinner max = new JSpinner(new SpinnerNumberModel(getMaximum(),getPosition(),Double.POSITIVE_INFINITY,getMinorStep()));
946 final JRadioButton rbPos = new JRadioButton("None",true);
947 final JRadioButton rbMin = new JRadioButton("Min",false);
948 final JRadioButton rbMax = new JRadioButton("Max",false);
949 JButton toMin = new JButton("Move to min");
950 JButton toMax = new JButton("Move to max");
951 ButtonGroup bg = new ButtonGroup();
952 bg.add(rbPos);bg.add(rbMin);bg.add(rbMax);
953
954 min.addChangeListener(new ChangeListener() {
955 public void stateChanged(ChangeEvent e) {
956 double v = ((Double )min.getValue()).doubleValue();
957 setMinimum(v);
958 if (rbPos.isSelected())
959 ((SpinnerNumberModel)pos.getModel()).setMinimum(new Double (getMinimum()));
960 if (rbMin.isSelected()) {
961 pos.setValue(new Double (getMinimum()));
962 ((SpinnerNumberModel)pos.getModel()).setMinimum(new Double (getMinimum()));
963 ((SpinnerNumberModel)pos.getModel()).setMaximum(new Double (getMinimum()));
964 ((SpinnerNumberModel)max.getModel()).setMinimum(new Double (getMinimum()));
965 }
966 if (rbMax.isSelected())
967 ((SpinnerNumberModel)max.getModel()).setMinimum(new Double (getMinimum()));
968 }
969 });
970 pos.addChangeListener(new ChangeListener() {
971 private double currPos = 0.0;
972 public void stateChanged(ChangeEvent e) {
973 if (currPos == 0.0) currPos = getPosition();
974 double v = ((Double )pos.getValue()).doubleValue();
975 if (v==currPos) return;
976 currPos=v;
977 setPosition(v);
978 if (rbPos.isSelected()) {
979 ((SpinnerNumberModel)min.getModel()).setMaximum(new Double (getPosition()));
980 ((SpinnerNumberModel)max.getModel()).setMinimum(new Double (getPosition()));
981 }
982 }
983 });
984 max.addChangeListener(new ChangeListener() {
985 public void stateChanged(ChangeEvent e) {
986 double v = ((Double )max.getValue()).doubleValue();
987 setMaximum(v);
988 if (rbPos.isSelected())
989 ((SpinnerNumberModel)pos.getModel()).setMaximum(new Double (getMaximum()));
990 if (rbMin.isSelected())
991 ((SpinnerNumberModel)min.getModel()).setMaximum(new Double (getMaximum()));
992 if (rbMax.isSelected()) {
993 pos.setValue(new Double (getMaximum()));
994 ((SpinnerNumberModel)pos.getModel()).setMinimum(new Double (getMaximum()));
995 ((SpinnerNumberModel)pos.getModel()).setMaximum(new Double (getMaximum()));
996 ((SpinnerNumberModel)min.getModel()).setMaximum(new Double (getMaximum()));
997 }
998 }
999 });
1000
1001 rbPos.addActionListener(new ActionListener() {
1002 public void actionPerformed(ActionEvent e) {
1003 ((SpinnerNumberModel)min.getModel()).setMaximum(new Double (getPosition()));
1004 ((SpinnerNumberModel)max.getModel()).setMinimum(new Double (getPosition()));
1005 ((SpinnerNumberModel)pos.getModel()).setMinimum(new Double (getMinimum()));
1006 ((SpinnerNumberModel)pos.getModel()).setMaximum(new Double (getMaximum()));
1007 }
1008 });
1009 rbMin.addActionListener(new ActionListener() {
1010 public void actionPerformed(ActionEvent e) {
1011 pos.setValue(new Double (getMinimum()));
1012 ((SpinnerNumberModel)min.getModel()).setMaximum(new Double (getMaximum()));
1013 ((SpinnerNumberModel)pos.getModel()).setMinimum(new Double (getMinimum()));
1014 ((SpinnerNumberModel)pos.getModel()).setMaximum(new Double (getMinimum()));
1015 ((SpinnerNumberModel)max.getModel()).setMinimum(new Double (getMinimum()));
1016 }
1017 });
1018 rbMax.addActionListener(new ActionListener() {
1019 public void actionPerformed(ActionEvent e) {
1020 pos.setValue(new Double (getMaximum()));
1021 ((SpinnerNumberModel)max.getModel()).setMinimum(new Double (getMinimum()));
1022 ((SpinnerNumberModel)pos.getModel()).setMinimum(new Double (getMaximum()));
1023 ((SpinnerNumberModel)pos.getModel()).setMaximum(new Double (getMaximum()));
1024 ((SpinnerNumberModel)min.getModel()).setMaximum(new Double (getMaximum()));
1025 }
1026 });
1027
1028 toMin.addActionListener(new ActionListener() {
1029 public void actionPerformed(ActionEvent e) {
1030 if (rbPos.isSelected())
1031 pos.setValue(new Double (getMinimum()));
1032 }
1033 });
1034 toMax.addActionListener(new ActionListener() {
1035 public void actionPerformed(ActionEvent e) {
1036 if (rbPos.isSelected())
1037 pos.setValue(new Double (getMaximum()));
1038 }
1039 });
1040
1041 Dimension dim = min.getPreferredSize();
1042 dim = new Dimension(100,(int)dim.getHeight());
1043 min.setPreferredSize(dim);
1044 dim = pos.getPreferredSize();
1045 dim = new Dimension(100,(int)dim.getHeight());
1046 pos.setPreferredSize(dim);
1047 dim = max.getPreferredSize();
1048 dim = new Dimension(100,(int)dim.getHeight());
1049 max.setPreferredSize(dim);
1050
1051 setLimitsDialog.getContentPane().setLayout(new GridBagLayout());
1052 GridBagConstraints constr = new GridBagConstraints();
1053 constr.fill=GridBagConstraints.NONE;
1054 constr.anchor=GridBagConstraints.EAST;
1055 constr.weightx=0;
1056 constr.weighty=0;
1057
1058 constr.gridx=0;constr.gridy=0;constr.gridwidth=1;constr.gridheight=1;
1059 setLimitsDialog.getContentPane().add(new JLabel("Maximum:"),constr);
1060 constr.gridx=1;constr.gridy=0;constr.gridwidth=1;constr.gridheight=1;
1061 setLimitsDialog.getContentPane().add(max,constr);
1062 constr.gridx=2;constr.gridy=0;constr.gridwidth=1;constr.gridheight=1;
1063 setLimitsDialog.getContentPane().add(new JLabel(getUnit()),constr);
1064 constr.gridx=0;constr.gridy=1;constr.gridwidth=1;constr.gridheight=1;
1065 setLimitsDialog.getContentPane().add(new JLabel("Position:"),constr);
1066 constr.gridx=1;constr.gridy=1;constr.gridwidth=1;constr.gridheight=1;
1067 setLimitsDialog.getContentPane().add(pos,constr);
1068 constr.gridx=2;constr.gridy=1;constr.gridwidth=1;constr.gridheight=1;
1069 setLimitsDialog.getContentPane().add(new JLabel(getUnit()),constr);
1070 constr.gridx=0;constr.gridy=2;constr.gridwidth=1;constr.gridheight=1;
1071 setLimitsDialog.getContentPane().add(new JLabel("Minimum:"),constr);
1072 constr.gridx=1;constr.gridy=2;constr.gridwidth=1;constr.gridheight=1;
1073 setLimitsDialog.getContentPane().add(min,constr);
1074 constr.gridx=2;constr.gridy=2;constr.gridwidth=1;constr.gridheight=1;
1075 setLimitsDialog.getContentPane().add(new JLabel(getUnit()),constr);
1076 constr.gridx=0;constr.gridy=3;constr.gridwidth=1;constr.gridheight=1;
1077 setLimitsDialog.getContentPane().add(new JLabel("Anchor to: "),constr);
1078 constr.anchor=GridBagConstraints.WEST;
1079 constr.gridx=1;constr.gridy=4;constr.gridwidth=1;constr.gridheight=1;
1080 setLimitsDialog.getContentPane().add(rbPos,constr);
1081 constr.gridx=1;constr.gridy=5;constr.gridwidth=1;constr.gridheight=1;
1082 setLimitsDialog.getContentPane().add(rbMin,constr);
1083 constr.gridx=1;constr.gridy=6;constr.gridwidth=1;constr.gridheight=1;
1084 setLimitsDialog.getContentPane().add(rbMax,constr);
1085 constr.anchor=GridBagConstraints.CENTER;
1086 constr.gridx=0;constr.gridy=7;constr.gridwidth=1;constr.gridheight=1;
1087 setLimitsDialog.getContentPane().add(toMin,constr);
1088 constr.gridx=1;constr.gridy=7;constr.gridwidth=1;constr.gridheight=1;
1089 setLimitsDialog.getContentPane().add(toMax,constr);
1090
1091 setLimitsDialog.pack();
1092 setLimitsDialog.setResizable(false);
1093 setLimitsDialog.setDefaultCloseOperation(JFrame.DISPOSE_ON_CLOSE);
1094 setLimitsDialog.setVisible(true);
1095 }
1096
1097
1098
1099}
1100
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