DRNittaForce.h

#ifndef DEVICE_DRNITTAFORCE_H
#define DEVICE_DRNITTAFORCE_H

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000
#include "DRRealDevice.h"
#include "DVForceBase.h"
#include <base/Affine.h>

namespace Spr {


class SPR_DLL DRNittaForce: public DRRealDevice{
public:
    /// 仮想デバイス
    class VirtualDevice:public DVForceBase{
    protected:
        DRNittaForce* realDevice;
    public:
        VirtualDevice(DRNittaForce* r):realDevice(r){}
        virtual DRRealDevice* RealDevice() { return realDevice; }
        virtual const char* Name() const{ return realDevice->Name(); }
        virtual int GetDOF() const { return 6; }
        virtual float GetForce(int ch) const { return realDevice->GetForce(ch); }
    };

    enum{
        count1_addr         =   0xe8,
        count2_addr         =   0xe9,
        count3_addr         =   0xea,
        count4_addr         =   0xeb,
        count5_addr         =   0xec,
        count6_addr         =   0xed,
        force_units_addr    =   0xfc,
        full_fx_addr        =   0x80,
        force_addr          =   0x90,
        fx0_addr            =   0x90,
        full_fy_addr        =   0x81,
        fy0_addr            =   0x91,
        full_fz_addr        =   0x82,
        fz0_addr            =   0x92,
        full_mx_addr        =   0x83,
        mx0_addr            =   0x93,
        full_my_addr        =   0x84,
        my0_addr            =   0x94,
        full_mz_addr        =   0x85,
        mz0_addr            =   0x95,
        software_ver_no_addr=   0xf5,
        serial_no_addr      =   0xf8,
        model_no_addr       =   0xf9,
        DOF                 =   6
    };
protected:
    char name[100];
    unsigned int baseAdr;
    unsigned int boardNumber;
    unsigned short software_ver_no;
    unsigned short serial_no;
    unsigned short model_no;
    unsigned short full_range[DOF];
    unsigned short units;
    short force[DOF];

public:
    ///
    DRNittaForce(int boardNum);
    ///
    virtual ~DRNittaForce();
    /// 初期化
    virtual bool Init();
    /// 登録
    virtual void Register(DVVirtualDevicePool& vpool);
    /// 名前
    virtual const char* Name() const { return name; }
    /// ボード上のタイマーの読み出し
    unsigned short GetCounter2K();
    /// ボード上のタイマーの読み出し
    unsigned short GetCounter8K();
    /// タイマーなどのリセット
    void Reset();
    /// 力の読み出し
    float GetForce(int ch){
        if (ch > DOF-1) ch = DOF-1;
        if (ch < 0) ch = 0;
        ReadForce(ch);
        return Force(ch);
    }
protected:
    /// データをニュートンに変換
    float DRNittaForce::Force(int num){
        return (float)force[num]/(float)16384*(float)full_range[num];
    }
    /// 力の取得
    void ReadForce(int ch);
    /// レジスタの読み出し
    void ReadReg(unsigned short a, unsigned short* d);
    void WriteReg(unsigned short a, unsigned short d);
};

}   //  namespace Spr

#endif

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