NetFTSynchronization

Class NetFTSensorGroup

java.lang.Object

NetFTSynchronization.NetFTSensorGroup

public class NetFTSensorGroup
extends java.lang.Object

Represents a group of ATI Industrial Automation Net F/T force and torque load cells.

Constructor Summary

Constructors

Constructor and Description
NetFTSensorGroup(java.net.InetAddress[] setAddress) creates new Net F/T group representation.

Method Summary

Methods

Modifier and Type	Method and Description
NetFTRDTPacket	getNetFTRDTPacketFromDatagramPacket(java.net.DatagramPacket NetFTRDTDataPacket) Get the user-friendly NetFTRDTPacket structure from the data received off the network.
static java.lang.String	getVersion() Get the version of the Net F/T interface.
java.net.DatagramPacket	readHighSpeedData(java.net.DatagramSocket cNetFTSocket) Read high speed data from the Net F/T sensor group.
java.net.DatagramSocket	startHighSpeedDataCollection() Start interrupt-driven (high-speed) data collection from Net F/T sensor.
void	stopDataCollection() Stop the Net F/T group from outputting any more RDT samples.
void	tare(int sensorNumber) Tares the current load of a specific sensor.

Methods inherited from class java.lang.Object

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

Constructor Detail

NetFTSensorGroup

public NetFTSensorGroup(java.net.InetAddress[] setAddress)
                 throws java.net.UnknownHostException

creates new Net F/T group representation.

Parameters:

setAddress - the addresses of the Net F/T sensors

Throws:

UnkownHostException - If setAddress contains an unknown host.

java.net.UnknownHostException

Method Detail

startHighSpeedDataCollection

public java.net.DatagramSocket startHighSpeedDataCollection()
                                                     throws java.net.SocketException,
                                                            java.io.IOException

Start interrupt-driven (high-speed) data collection from Net F/T sensor.

Returns:

A DatagramSocket that you should pass to subsequent calls to readHighSpeedData in order to read the samples sent back from the Net F/T systems.

Throws:

java.net.SocketException - A SocketException is thrown if there is a problem setting up the socket that is returned.

java.io.IOException - An IOException is thrown if there is a problem sending the start command to any of the Net F/Ts.

tare

public void tare(int sensorNumber)
          throws java.net.SocketException,
                 java.io.IOException

Tares the current load of a specific sensor.

Parameters:

sensorNumer: - indicates the sensor to receive the Tare operation. This is the index to the list of Net F/T IP addresses.

Throws:

java.net.SocketException - A SocketException is thrown if there is trouble setting up the socket to send the tare command.

java.io.IOException - An IOException is thrown if there is trouble communicating with the sensor.

readHighSpeedData

public java.net.DatagramPacket readHighSpeedData(java.net.DatagramSocket cNetFTSocket)
                                          throws java.io.IOException

Read high speed data from the Net F/T sensor group. This method is not thread-safe, so take care that you do not perform other operations on the DatagramSocket while this function is executing, i.e. calling stopDataCollection while this function is executing could cause a "socket is closed" error.

Parameters:

cNetFTSocket - The socket returned from startHighSpeedDataCollection.

Returns:

An array of NetFTRDTPackets of length iCount, which represent the F/T records collected from the sensor.

Throws:

java.io.IOException - An IOException will be thrown if there is an error reading data from a Net F/T.

stopDataCollection

public void stopDataCollection()
                        throws java.io.IOException

Stop the Net F/T group from outputting any more RDT samples.

Throws:

java.io.IOException - An IOException will be thrown if there is an error sending the stop command to the Net F/T.

getNetFTRDTPacketFromDatagramPacket

public NetFTRDTPacket getNetFTRDTPacketFromDatagramPacket(java.net.DatagramPacket NetFTRDTDataPacket)

Get the user-friendly NetFTRDTPacket structure from the data received off the network.

Parameters:

NetFTRDTDataPacket - The DatagramPacket received from the Net F/T sensor.

Returns:

The filled NetFTRDTPacket structure

getVersion

public static java.lang.String getVersion()

Get the version of the Net F/T interface.

Returns:

The version of the Net F/T interface.