public Callable<Double> getPositionCallable() {
if (lastImageNumberStreamIndexer == null) {
logger.info("Creating lastImageNumberStreamIndexer");
timeSeriesCollection =
new ZebraCaptureInputStreamCollection(
zebra.getNumberOfPointsCapturedPV(), zebra.getEnc1AvalPV());
lastImageNumberStreamIndexer = new PositionStreamIndexer<Double>(timeSeriesCollection);
}
numPosCallableReturned++;
return lastImageNumberStreamIndexer.getNamedPositionCallable(zSM.getName(), 1);
}
@SuppressWarnings("unused")
@Override
public void prepareForMove() throws DeviceException, InterruptedException {
try {
logger.info("prepare for move");
boolean operatingContinously = zSM.isOperatingContinously();
try {
zebra.pcDisarm();
// if we want to check it is disarmed we will need to wait >2s as that is the zebra bus
// update period
if (operatingContinously) zSM.setOperatingContinuously(false);
requiredSpeed = (Math.abs(step) / triggerPeriod);
zSM.asynchronousMoveTo(
start - (step > 0 ? 1.0 : -1.0) * zSM.distanceToAccToVelocity(requiredSpeed));
// sources must be set first
zebra.setPCGateSource(step > 0 ? 0 : 3); // Posn +ve/-ve
zebra.setPCArmSource(0); // Soft
zebra.setPCPulseSource(mode); // Position
// set motor before setting gates and pulse parameters
zebra.setPCEnc(pcEnc); // enc1
zebra.setPCTimeUnit(Zebra.PC_TIMEUNIT_SEC); // s
zebra.setPCGateStart(start);
zebra.setPCGateNumberOfGates(1);
zebra.setPCCaptureBitField(pcCaptureBitField);
zebra.setPCPulseDelay(0.);
pcPulseDelayRBV = zebra.getPCPulseDelayRBV();
switch (mode) {
case Zebra.PC_MODE_POSITION:
if (true) throw new IllegalStateException("PC_MODE_POSITION is not yet tested");
zebra.setPCPulseWidth(Math.abs(step / 2));
pcPulseWidthRBV = zebra.getPCPulseWidthRBV();
zebra.setPCPulseStep(Math.abs(step));
pcPulseStepRBV = zebra.getPCPulseStepRBV();
double gateWidthPosn =
pcPulseDelayRBV + pcPulseStepRBV * (getNumberTriggers() - 1) + pcPulseWidthRBV;
zebra.setPCGateWidth(gateWidthPosn);
pcGateWidthRBV = zebra.getPCGateWidthRBV();
pcGateStartRBV = zebra.getPCGateStartRBV();
requiredSpeed =
(Math.abs(pcPulseStepRBV) / triggerPeriod) * zSM.getConstantVelocitySpeedFactor();
break;
case Zebra.PC_MODE_TIME:
zebra.setPCTimeUnit(Zebra.PC_TIMEUNIT_MS); // s
zebra.setPCPulseWidth(.1); // .01ms
pcPulseWidthRBV = zebra.getPCPulseWidthRBV() / 1000;
zebra.setPCPulseStep(triggerPeriod * 1000); // in ms
pcPulseStepRBV = zebra.getPCPulseStepRBV() / 1000;
double gateWidthTime =
pcPulseDelayRBV + pcPulseStepRBV * (getNumberTriggers() - 1) + pcPulseWidthRBV;
requiredSpeed = (Math.abs(step) / pcPulseStepRBV);
zebra.setPCGateWidth((gateWidthTime * requiredSpeed));
pcGateWidthRBV = zebra.getPCGateWidthRBV();
pcGateStartRBV = zebra.getPCGateStartRBV();
break;
default:
throw new DeviceException("Unacceptable mode " + mode);
}
zSM.waitWhileBusy();
} finally {
zSM.setOperatingContinuously(operatingContinously);
}
int numberTriggers = getNumberTriggers();
zebra.setPCPulseMax(numberTriggers);
zebra.pcArm();
timeSeriesCollection.start(numberTriggers);
} catch (Exception e) {
throw new DeviceException("Error arming the zebra", e);
}
}
