com.atiia.automation.sensors

Class NetFTSensor

java.lang.Object

com.atiia.automation.sensors.NetFTSensor

public class NetFTSensor
extends java.lang.Object

Represents an ATI Industrial Automation Net F/T force and torque load cell.

Constructor Summary

Constructors

Constructor and Description
NetFTSensor(java.net.InetAddress setAddress) creates new Net F/T representation.

Method Summary

Methods

Modifier and Type	Method and Description
static java.lang.String	getVersion() Get the version of the Net F/T interface.
java.net.DatagramSocket	initLowSpeedData() Request a single RDT F/T record from the Net F/T sensor.
NetFTRDTPacket[]	readHighSpeedData(java.net.DatagramSocket cNetFTSocket, int iCount) Read high speed data from the Net F/T sensor.
NetFTRDTPacket	readLowSpeedData(java.net.DatagramSocket cNetFTSocket)
java.net.DatagramSocket	startHighSpeedDataCollection(int iCount) Start interrupt-driven (high-speed) data collection from Net F/T sensor.
void	stopDataCollection(java.net.DatagramSocket cNetFTSocket) Stop the Net F/T from outputting any more RDT samples.
void	tare() Tares the current load of the sensor.

Methods inherited from class java.lang.Object

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

Constructor Detail

NetFTSensor

public NetFTSensor(java.net.InetAddress setAddress)
            throws java.net.UnknownHostException

creates new Net F/T representation.

Parameters:

setAddress - the address of the Net F/T sensor

Throws:

UnkownHostException - If setAddress is an unknown host.

java.net.UnknownHostException

Method Detail

initLowSpeedData

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

Request a single RDT F/T record from the Net F/T sensor.

Returns:

the RDT Packet from the sensor.

Throws:

java.net.SocketException - If there is an error with the socket.

java.io.IOException - If there is an I/O error with the load cell.

startHighSpeedDataCollection

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

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

Parameters:

iCount - The number of samples to collect. A value of 0 means the Net F/T should keep outputting samples until it is sent a stop command. The stop command can be sent by calling stopDataCollection.

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.

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 the Net F/T.

tare

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

Tares the current load of the sensor.

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 NetFTRDTPacket[] readHighSpeedData(java.net.DatagramSocket cNetFTSocket,
                                 int iCount)
                                   throws java.io.IOException

Read high speed data from the Net F/T sensor. 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.

iCount - The number of samples to read from the Net F/T sensor. This can be less than the total number of samples that the Net F/T will output. I.e. you could call startHighSpeedDataCollection with a count of 1000, then call this function 10 times, each time reading 100 samples.

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 the Net F/T.

readLowSpeedData

public NetFTRDTPacket readLowSpeedData(java.net.DatagramSocket cNetFTSocket)
                                throws java.io.IOException

Throws:

java.io.IOException

stopDataCollection

public void stopDataCollection(java.net.DatagramSocket cNetFTSocket)
                        throws java.io.IOException

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

Parameters:

cNetFTSocket - The socket returned by startHighSpeedDataCollection. This socket will be closed by this function, so don't use it again!

Throws:

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

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.