charly.client
Class ChRobClient

java.lang.Object
  charly.client.ChRobClient

All Implemented Interfaces:

ChResource

public class ChRobClient

extends java.lang.Object

implements ChResource

This class gives access to a ROB3 connected to the server. For an example of how to use it refer to ChSimpleRob

Field Summary

protected ChConnect	conn
protected ChRobDevice	robDvc points to the ChRobDevice on the server.
protected ChTask	task This is the task which reserves the device ROB on the server.

Constructor Summary

ChRobClient(ChConnect conn)
Konstruktor

Method Summary

int[]	getAxes()
int	getAxisPos(int axisNr)
ChConnect	getConnection() Implementations should return the connection to the server where the resource can be found.
java.lang.String	getResourceName() returns the name to be allocated on a server for a specified GPIB-device.
ChTask	getTask()
void	setAxes(int[] pos) Setzt Position aller sechs Achsen
void	setAxisPos(int axisNr, int pos) Setzt Position der Achse axisNr
void	setTask(ChTask task) This method must be called to be able to use the setAxis...

Methods inherited from class java.lang.Object

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

Field Detail

robDvc

protected ChRobDevice robDvc

points to the ChRobDevice on the server.

task

protected ChTask task

This is the task which reserves the device ROB on the server.

conn

protected ChConnect conn

Constructor Detail

ChRobClient

public ChRobClient(ChConnect conn)
            throws java.rmi.RemoteException,
                   java.net.MalformedURLException,
                   java.rmi.NotBoundException

Konstruktor

Parameters:

conn - - the server address.

Method Detail

getConnection

public ChConnect getConnection()

Description copied from interface: ChResource

Implementations should return the connection to the server where the resource can be found.

Specified by:

getConnection in interface ChResource

setTask

public void setTask(ChTask task)

This method must be called to be able to use the setAxis...-methods. The task must be started before calling these methods.

Specified by:

setTask in interface ChResource

getTask

public ChTask getTask()

getResourceName

public java.lang.String getResourceName()

returns the name to be allocated on a server for a specified GPIB-device.

Example:

   ChTask task=new ChTask("ATask");
   task.addRsrc(conn,robClient.getRsrcName());
 

Specified by:

getResourceName in interface ChResource

Returns:

ChRobDevice.NAME

setAxisPos

public void setAxisPos(int axisNr,
                       int pos)
                throws ChRobDeviceException,
                       java.rmi.RemoteException,
                       ChTaskNotStartedException,
                       ChAccessDeniedException

Setzt Position der Achse axisNr

Parameters:

axisNr - Achsennummer (0-5)

pos - Neue Position (0-255)

Throws:

ChRobDeviceException

java.rmi.RemoteException

ChTaskNotStartedException

ChAccessDeniedException

getAxisPos

public int getAxisPos(int axisNr)
               throws java.rmi.RemoteException,
                      ChRobDeviceException

Parameters:

axisNr - - Achsennummer (0-5)

Returns:

Achsenposition (0-255)

Throws:

java.rmi.RemoteException

ChRobDeviceException

setAxes

public void setAxes(int[] pos)
             throws java.rmi.RemoteException,
                    ChTaskNotStartedException,
                    ChAccessDeniedException,
                    ChRobDeviceException

Setzt Position aller sechs Achsen

Parameters:

pos - Neue Positionen: Array mit sechs Elementen mit Werten zwischen 0 und 255

Throws:

java.rmi.RemoteException

ChTaskNotStartedException

ChAccessDeniedException

ChRobDeviceException

getAxes

public int[] getAxes()
              throws java.rmi.RemoteException,
                     ChTaskNotStartedException,
                     ChAccessDeniedException,
                     ChRobDeviceException

Returns:

Positionen - Array mit sechs Elementen mit Werten zwischen 0 und 255 - oder null bei Misserfolg bspw. bei Timeout????!!!!

Throws:

java.rmi.RemoteException

ChTaskNotStartedException

ChAccessDeniedException

ChRobDeviceException