Added solver.

src/main/java/org/openpnp/machine/neoden4/NeoDen4Driver.java

@@ -16,6 +16,7 @@
 import org.openpnp.model.Configuration;
 import org.openpnp.model.Length;
 import org.openpnp.model.LengthUnit;
+import org.openpnp.model.Motion;
 import org.openpnp.model.Named;
 import org.openpnp.spi.Axis;
 import org.openpnp.spi.ControllerAxis;
@@ -487,8 +488,17 @@ private void setMoveSpeed(double speed) throws Exception {
     }
 
     @Override
-    public void moveTo(ReferenceHeadMountable hm, AxesLocation location, double speed, MoveToOption... options)
+    public void moveTo(ReferenceHeadMountable hm, Motion motion, MoveToOption... options)
             throws Exception {
+        AxesLocation location = motion.getVector(Motion.Derivative.Location);
+        double feedRate = motion.getFeedRatePerSecond(getUnits());
+        // Reconstruct speed factor from "virtual" feed-rate assuming the default 
+        // 250mm/s axes feedrate.
+
+        // TODO: better solution. 
+
+        double speed = Math.max(0.0, Math.min(1.0, feedRate/250.0));
+
         double x = location.getCoordinate(location.getAxis(this, Axis.Type.X), units);
         double y = location.getCoordinate(location.getAxis(this, Axis.Type.Y), units);
         double z = location.getCoordinate(location.getAxis(this, Axis.Type.Z), units);

src/main/java/org/openpnp/machine/reference/ReferenceDriver.java

@@ -22,6 +22,7 @@
 import java.io.Closeable;
 
 import org.openpnp.model.AxesLocation;
+import org.openpnp.model.Motion;
 import org.openpnp.spi.Driver;
 import org.openpnp.spi.MotionPlanner.CompletionType;
 import org.openpnp.spi.Movable.MoveToOption;
@@ -32,13 +33,18 @@
  * Defines the interface for a simple driver that the ReferenceMachine can drive. All methods result
  * in machine operations and most methods should block until they are complete or throw an error.
  * 
- * This Driver interface is intended to model a machine with one or more Heads, and each Head having
- * one or more Nozzles and zero or more Cameras and Actuators.
+ * This Driver interface is intended to talk to one controller with Axes and Actuators attached.
  * 
  * In OpenPnP, the Head does not move on it's own. It is moved by the moving of attached objects:
- * Nozzles, Cameras, Actuators. For this reason, all movements on the driver are specified as
- * movements by one of these objects. This allows the driver to make decisions as to what axes
- * should be moved to accomplish a specific task.
+ * Nozzles, Cameras, Actuators, so-called HeadMountables. The HeadMountables specify with which axes 
+ * they are moved. The axes are in turn assigned to the Driver. When you move a HeadMountable the 
+ * MotionPlanner will determine which axes are involved and call the drivers accordingly. 
+ * 
+ * Drivers should only expose the functionality of the controller in a unified way. They should not add 
+ * any additional logic on top like axis mapping, transformations etc. other than what is needed to make
+ * the controller behave like any other controller. This is different from previous versions of OpenPnP 
+ * where the driver did much more.
+ * 
  */
 public interface ReferenceDriver extends Driver, WizardConfigurable, PropertySheetHolder, Closeable {
     /**
@@ -53,7 +59,7 @@ public interface ReferenceDriver extends Driver, WizardConfigurable, PropertyShe
     public void home(ReferenceMachine machine) throws Exception;
 
     /**
-     * Set the current physical or virtual axis positions to be reinterpreted as the specified coordinates. 
+     * Set the current physical axis positions to be reinterpreted as the specified coordinates. 
      * Used after visual homing and to reset a rotation angle after it has wrapped around. 
      * 
      * In G-Code parlance this is setting a global offset:
@@ -74,12 +80,11 @@ public interface ReferenceDriver extends Driver, WizardConfigurable, PropertyShe
      * 
      * @param hm The HeadMountable having triggered the move. This is mostly for proprietary machine driver support  
      * and might only be a stand-in in some motion blending scenarios on the GcodeDriver.
-     * @param location destination
-     * @param speed relative speed (0-1) of the move
+     * @param motion the moveTo Motion to execute, including location, feedrate, acceleration etc. as shaped by the MotionPlanner
      * @param options zero to n options from the MoveToOptions enum.
      * @throws Exception
      */
-    public void moveTo(ReferenceHeadMountable hm, AxesLocation axesLocation, double speed, MoveToOption... options) throws Exception;
+    public void moveTo(ReferenceHeadMountable hm, Motion motion, MoveToOption... options) throws Exception;
 
     /**
      * Perform a coordinated wait for completion. This must be issued before capturing camera frames.
@@ -143,6 +148,13 @@ public default String actuatorRead(ReferenceActuator actuator, double parameter)
 
     public default void createDefaults() throws Exception  {}
 
+    /**
+     * Migrates the driver for the new global axes implementation. Is marked a deprecated as it can be removed
+     * along with the old GcodeDriver Axes implementation, if migration of users is expected to be complete.  
+     * 
+     * @param machine
+     * @throws Exception
+     */
     @Deprecated
     void migrateDriver(ReferenceMachine machine) throws Exception;
 

src/main/java/org/openpnp/machine/reference/axis/ReferenceControllerAxis.java

@@ -27,6 +27,7 @@
 import org.openpnp.model.Length;
 import org.openpnp.model.LengthUnit;
 import org.openpnp.model.Location;
+import org.openpnp.spi.Axis;
 import org.openpnp.spi.Movable.LocationOption;
 import org.openpnp.spi.base.AbstractControllerAxis;
 import org.simpleframework.xml.Attribute;
@@ -56,9 +57,6 @@ public class ReferenceControllerAxis extends AbstractControllerAxis {
     @Element(required = false, data = true)
     private String preMoveCommand;
 
-    @Element(required = false)
-    private Length homeCoordinate = new Length(0.0, LengthUnit.Millimeters);
-
     @Element(required = false)
     private Length softLimitLow = new Length(0.0, LengthUnit.Millimeters);
 
@@ -90,36 +88,25 @@ public class ReferenceControllerAxis extends AbstractControllerAxis {
     @Element(required = false)
     private double resolution = 0.0001; // 
 
-    @Override
-    public Length getHomeCoordinate() {
-        return homeCoordinate;
-    }
-
-    @Override
-    public void setHomeCoordinate(Length homeCoordinate) {
-        Object oldValue = this.homeCoordinate;
-        this.homeCoordinate = homeCoordinate;
-        firePropertyChange("homeCoordinate", oldValue, homeCoordinate);
-    }
-
     public double getResolution() {
+        if (resolution <= 0.0) {
+            resolution = 0.0001;
+        }
         return resolution;
     }
 
     public void setResolution(double resolution) {
         Object oldValue = this.resolution;
+        if (resolution <= 0.0) {
+            resolution = 0.0001;
+        }
         this.resolution = resolution;
         firePropertyChange("resolution", oldValue, resolution);
     }
 
     @Override
-    public double roundedToResolution(double coordinate) {
-        if (resolution != 0.0) {
-            return Math.round(coordinate/resolution)*resolution;
-        }
-        else {
-            return coordinate;
-        }
+    protected long getResolutionTicks(double coordinate) {
+        return Math.round(coordinate/getResolution());
     }
 
     public Length getFeedratePerSecond() {
@@ -218,13 +205,13 @@ public Wizard getConfigurationWizard() {
     @Override
     public double getMotionLimit(int order) {
         if (order == 1) {
-            return getFeedratePerSecond().convertToUnits(LengthUnit.Millimeters).getValue();
+            return getFeedratePerSecond().convertToUnits(AxesLocation.getUnits()).getValue();
         }
         else if (order == 2) {
-            return getAccelerationPerSecond2().convertToUnits(LengthUnit.Millimeters).getValue();
+            return getAccelerationPerSecond2().convertToUnits(AxesLocation.getUnits()).getValue();
         }
         else if (order == 3) {
-            return getJerkPerSecond3().convertToUnits(LengthUnit.Millimeters).getValue();
+            return getJerkPerSecond3().convertToUnits(AxesLocation.getUnits()).getValue();
         }
         return 0;
     }

src/main/java/org/openpnp/machine/reference/axis/ReferenceVirtualAxis.java

@@ -26,86 +26,31 @@
 import org.openpnp.model.AxesLocation;
 import org.openpnp.model.Length;
 import org.openpnp.model.LengthUnit;
+import org.openpnp.spi.Axis;
 import org.openpnp.spi.CoordinateAxis;
 import org.openpnp.spi.Machine;
 import org.openpnp.spi.Movable.LocationOption;
 import org.openpnp.spi.base.AbstractAxis;
+import org.openpnp.spi.base.AbstractCoordinateAxis;
 import org.simpleframework.xml.Element;
 
 /**
  * The ReferenceVirtualAxis is a pseudo-axis used to track a coordinate virtually i.e. without
  * moving a physical axis.
  */
-public class ReferenceVirtualAxis extends AbstractAxis implements CoordinateAxis {
-    @Element(required = false)
-    private Length homeCoordinate = new Length(0.0, LengthUnit.Millimeters);
-
-    /**
-     * The coordinate stored here is the last commanded coordinate. If this virtual axis is moved along with physical axes, 
-     * there can be motion that is still ongoing. 
-     */
-    private double coordinate = 0;
+public class ReferenceVirtualAxis extends AbstractCoordinateAxis implements CoordinateAxis {
 
     @Override
     public Wizard getConfigurationWizard() {
         return new ReferenceVirtualAxisConfigurationWizard(this);
     }
 
-    @Override
-    public double getCoordinate() {
-        return coordinate;
-    }
-
-    @Override
-    public Length getLengthCoordinate() {
-        return new Length(coordinate, getUnits());
-    }
-
-    @Override
-    public void setCoordinate(double coordinate) {
-        Object oldValue = this.coordinate;
-        this.coordinate = coordinate;
-        firePropertyChange("coordinate", oldValue, coordinate);
-        firePropertyChange("lengthCoordinate", null, getLengthCoordinate());
-    }
-
-    @Override
-    public void setLengthCoordinate(Length coordinate) {
-        setCoordinate(coordinate.convertToUnits(getUnits()).getValue());
-    }
-
     @Override
     public LengthUnit getUnits() {
         return LengthUnit.Millimeters;
     }
 
-    @Override
-    public Length getHomeCoordinate() {
-        return homeCoordinate;
-    }
-
-    @Override
-    public void setHomeCoordinate(Length homeCoordinate) {
-        Object oldValue = this.homeCoordinate;
-        this.homeCoordinate = homeCoordinate;
-        firePropertyChange("homeCoordinate", oldValue, homeCoordinate);
-    }
-
-    @Override
-    public AxesLocation getCoordinateAxes(Machine machine) {
-        // Yep, we're one.
-        return new AxesLocation(this);
-    }
-
-    @Override
-    public AxesLocation toTransformed(AxesLocation location, LocationOption... options) {
-        // No transformation, obviously
-        return location;
-    }
-
-    @Override
-    public AxesLocation toRaw(AxesLocation location, LocationOption... options) {
-        // No transformation, obviously
-        return location;
+    protected long getResolutionTicks(double coordinate) {
+        return Math.round(coordinate/0.0001);
     }
 }

src/main/java/org/openpnp/machine/reference/driver/AbstractMotionPlanner.java

@@ -3,11 +3,13 @@
 import java.util.ArrayList;
 import java.util.List;
 import java.util.TreeMap;
+import java.util.Map.Entry;
 
 import org.openpnp.ConfigurationListener;
 import org.openpnp.machine.reference.ReferenceDriver;
 import org.openpnp.machine.reference.ReferenceMachine;
 import org.openpnp.machine.reference.axis.ReferenceControllerAxis;
+import org.openpnp.machine.reference.axis.ReferenceVirtualAxis;
 import org.openpnp.machine.reference.vision.ReferenceBottomVision;
 import org.openpnp.model.AxesLocation;
 import org.openpnp.model.Configuration;

src/main/java/org/openpnp/machine/reference/driver/AbstractReferenceDriver.java

@@ -11,6 +11,8 @@
 import org.openpnp.machine.reference.driver.SerialPortCommunications.Parity;
 import org.openpnp.machine.reference.driver.SerialPortCommunications.StopBits;
 import org.openpnp.machine.reference.driver.wizards.AbstractReferenceDriverConfigurationWizard;
+import org.openpnp.model.Length;
+import org.openpnp.model.LengthUnit;
 import org.openpnp.spi.base.AbstractDriver;
 import org.openpnp.spi.base.AbstractMachine;
 import org.pmw.tinylog.Logger;

src/main/java/org/openpnp/machine/reference/driver/AbstractSimpleMotionPlanner.java

@@ -24,11 +24,14 @@
 import java.util.Map;
 
 import org.openpnp.model.AxesLocation;
-import org.openpnp.model.AxesLocation.MotionLimits;
 import org.openpnp.model.Configuration;
+import org.openpnp.model.Length;
+import org.openpnp.model.LengthUnit;
 import org.openpnp.model.Motion;
 import org.openpnp.model.Motion.Derivative;
 import org.openpnp.model.Motion.MotionOption;
+import org.openpnp.spi.Axis;
+import org.openpnp.spi.ControllerAxis;
 import org.openpnp.spi.HeadMountable;
 import org.openpnp.spi.Movable.MoveToOption;
 import org.openpnp.util.NanosecondTime;
@@ -40,7 +43,6 @@
  */
 public abstract class AbstractSimpleMotionPlanner extends AbstractMotionPlanner {
 
-
     @Override
     public void moveToPlanning(HeadMountable hm, AxesLocation axesLocation, double speed, MoveToOption... options) 
             throws Exception {
@@ -71,35 +73,20 @@ public void moveToPlanning(HeadMountable hm, AxesLocation axesLocation, double s
         }
         else {
             // No lastMotion, create the previous waypoint from the axes. 
-            // But take all the axes in the machine.
             AxesLocation previousLocation = new AxesLocation(Configuration.get().getMachine()); 
             lastMotion = new Motion(startTime, 
                     new AxesLocation [] { previousLocation }, 
                     MotionOption.FixedWaypoint, MotionOption.CoordinatedWaypoint);
             motionPlan.put(startTime, lastMotion);
         }
-        // Calculate the 1st order kinematics. Note this must include all the axes, not just the ones mapped to 
-        // this moveTo().
-        AxesLocation lastLocation = lastMotion.getVector(Motion.Derivative.Location);
-        // Update the given axes (keep the ones not given in this moveTo())
-        axesLocation = lastLocation.put(axesLocation);
-        AxesLocation delta = axesLocation
-                .subtract(lastLocation);
-        MotionLimits limits = new MotionLimits(delta);
-        if (limits.getLinearDistance() > 0 || limits.getRotationalDistance() > 0) {
-            // @see NIST RS274NGC Interpreter - Version 3, Section 2.1.2.5 rule A
-            double time = Math.max(limits.getLinearDistance()/limits.getLinearLimit(Motion.Derivative.Velocity),
-                    limits.getRotationalDistance()/limits.getRotationalLimit(Motion.Derivative.Velocity))
-                    /Math.max(0.01, speed);
-            if (!Double.isFinite(time)) {
-                throw new Exception("Feedrate(s) missing on (some) axes "+axesLocation.getAxes());
-            }
-            double endTime = startTime + time;
-            AxesLocation velocity = time <= 0.0 ? AxesLocation.zero : delta.multiply(1.0/time);
-            Motion endMotion = new Motion(endTime, new AxesLocation [] { axesLocation, velocity }, 
-                    MotionOption.FixedWaypoint, MotionOption.CoordinatedWaypoint);
-            motionPlan.put(endTime, endMotion);
-        }
+        // Calculate the 1st order kinematics. Note this must include all the machine axes, not just the ones 
+        // included in this moveTo().
+        AxesLocation lastLocation = 
+                new AxesLocation(Configuration.get().getMachine())
+                .put(lastMotion.getVector(Motion.Derivative.Location));
+
+        Motion endMotion = Motion.computeWithLimits(startTime, lastLocation, axesLocation, speed, true, false);
+        motionPlan.put(endMotion.getTime(), endMotion);
     }
 
     @Override