DRTokin3D.h

#ifndef DEVICE_TOKIN3D_H
#define DEVICE_TOKIN3D_H

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

namespace Spr {
class SPR_DLL DRTokin3D: public DRRealDevice{
public:
    /// 仮想デバイス
    class DVOrientation:public DVOrientationBase{
    protected:
        DRTokin3D* realDevice;
    public:
        DVOrientation(DRTokin3D* r):realDevice(r){}
        virtual DRRealDevice* RealDevice() { return realDevice; }
        virtual const char* Name() const{ return realDevice->Name(); }
        virtual void GetOrientationMatrix(Matrix3f& ori){
            realDevice->GetMatrix(ori);
        }
        virtual void GetMatrix(Matrix3f& ori){
            realDevice->GetMatrix(ori);
        }
        virtual Vec3f GetEuler(){
            return realDevice->GetEuler();
        }
    };
    class DVInputPort:public DVInputPortBase{
    protected:
        DRTokin3D* realDevice;
        int ch;
        char name[256];
    public:
        DVInputPort(DRTokin3D* r, int c);
        virtual DRRealDevice* RealDevice() { return realDevice; }
        virtual const char* Name() const{ return name; }
        virtual int Get(){
            return realDevice->GetPort(ch);
        }
    };
protected:
    void* intf;
    char name[1024];
public:
    ///
    DRTokin3D();
    ///
    virtual ~DRTokin3D();
    /// 初期化
    virtual bool Init();
    /// 登録
    virtual void Register(DVVirtualDevicePool& vpool);
    /// 名前
    virtual const char* Name() const { return name; }
    /// 方向行列
    virtual void GetMatrix(Matrix3f& ori);
    /// オイラー角の取得
    virtual Vec3f GetEuler();
    /// ポート
    virtual int GetPort(int ch);
};

}   //  namespace Spr

#endif

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