Detailed Description

An interface to read from data acquisition boards compatible with National Instruments "DAQmx Base" or "DAQmx".

Refer to DAQmx Base C API reference online to learn more on the concepts of "channels", "tasks" (which in this MRPT class are mapped to independent grabbing threads), etc. If both DAQmx and DAQmxBase are installed in the system, DAQmx will be used. This class API isolate the user from the usage of one or another specific library.

This class can be used as a sensor from the application "rawlog-grabber", or directly as a C++ class from a user program. Refer to the example: [MRPT]/samples/NIDAQ_test

Samples will be returned inside mrpt::obs::CObservationRawDAQ in "packets" of a predefined number of samples, which can be changed by the user through the "samplesPerChannelToRead" parameter of each task.

For multichannels tasks, samples will be interleaved. For example, the readings from successive timesteps for 4 ADC channels will be available in the ADC vector inside mrpt::obs::CObservationRawDAQ in this order:

A0[0] A1[0] A2[0] A3[0] A0[1] A1[1] A2[1] A3[1] A0[2] A1[2] A2[2] A3[2] ...

The sensor label (field "m_sensorLabel") of each grabbed observation will be the concatenation of this class sensor label, a dot (".") and the task label (default="task###", with ### the task index).

 PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
  [supplied_section_name]
; Number of tasks (each will run in a thread). Task indices are 0-based.
; (Parameters below follow NIs DAQmx API notation)
num_tasks  = 1
; Channels, separated by commas if more than one.
;  - "ai": Analog inputs
;  - "ao": Analog outputs
;  - "di": Digital inputs
;  - "do": Digital inputs
;  - "ci_period",
;    "ci_count_edges", "ci_pulse_width",
;    "ci_lin_encoder", "ci_ang_encoder" : Counters & encoders (WARNING: NI
says "a task can include only one counter input channel")
;  - "co_pulses": Output digital pulses (WARNING: NI says "a task can include
only one counter output channel")
;
task0.channels = ai  //, ao, di, do, ci_ang_encoder
;task0.taskLabel= MY_LABEL     // Optional textual label to build the
mrpt::obs::CObservation sensor label (default: task number)
task0.samplesPerSecond = 1000 // Samples per second. Continuous (infinite)
sampling is assumed.
task0.samplesPerChannelToRead = 1000  // The number of samples to grab at
once from each channel. ;task0.bufferSamplesPerChannel = 200000 // Increase
if you have errors about " Onboard device memory overflow.(...)"
; Analog input channel params.
task0.ai.physicalChannel = Dev1/ai0:3, Dev1/ai6
task0.ai.physicalChannelCount = 5  // *IMPORTANT* This must be the total
number of channels listed in "physicalChannel" (e.g. 4 for "Dev1/ai0:3")
task0.ai.terminalConfig  = DAQmx_Val_Cfg_Default | DAQmx_Val_RSE |
DAQmx_Val_NRSE | DAQmx_Val_Diff   // One of these strings
task0.ai.minVal          = -10.0    // Volts
task0.ai.maxVal          =  10.0    // Volts
; Analog output channel params.
task0.ao.physicalChannel = Dev1/ao0, Dev1/ao2:4
task0.ao.physicalChannelCount = 4  // *IMPORTANT* This must be the total
number of channels listed in "physicalChannel" (e.g. 1 for "Dev1/ao0")
task0.ao.minVal          = -10.0    // Volts
task0.ao.maxVal          =  10.0    // Volts
; Digital input channel params.
task0.di.line           = Dev1/port1/line0
; Digital input channel params.
task0.do.line           = Dev1/port1/line2
; Counter: period of a digital signal
task0.ci_period.counter  = Dev1/ctr0
task0.ci_period.minVal   = 0   // The minimum value, in units, that you
expect to measure. task0.ci_period.maxVal   = 0   // The minimum value, in
units, that you expect to measure. task0.ci_period.units    =
DAQmx_Val_Seconds | DAQmx_Val_Ticks  // One of these strings
task0.ci_period.edge     = DAQmx_Val_Rising | DAQmx_Val_Falling // One of
these strings
task0.ci_period.measTime = 0   // NI says: "Always pass 0 for this
parameter." task0.ci_period.divisor  = 1   // NI says: "Always pass 1 for
this parameter."
; Counter: count the number of rising or falling edges of a digital signal
task0.ci_count_edges.counter        = Dev1/ctr0
task0.ci_count_edges.edge           = DAQmx_Val_Rising | DAQmx_Val_Falling //
One of these strings
task0.ci_count_edges.initialCount   = 0    // The value from which to start
counting
task0.ci_count_edges.countDirection = DAQmx_Val_CountUp | DAQmx_Val_CountDown
| DAQmx_Val_ExtControlled  // One of these strings
; Counter:  measure the width of a digital pulse
task0.ci_pulse_width.counter      = Dev1/ctr0
task0.ci_pulse_width.minVal       = 0   // The minimum value, in units, that
you expect to measure.
task0.ci_pulse_width.maxVal       = 0   // The minimum value, in units, that
you expect to measure.
task0.ci_pulse_width.units        = DAQmx_Val_Seconds | DAQmx_Val_Ticks  //
One of these strings
task0.ci_pulse_width.startingEdge = DAQmx_Val_Rising | DAQmx_Val_Falling //
One of these strings
; Counter:  uses a linear encoder to measure linear position
task0.ci_lin_encoder.counter      = Dev1/ctr0
task0.ci_lin_encoder.decodingType = DAQmx_Val_X1 | DAQmx_Val_X2 |
DAQmx_Val_X4 | DAQmx_Val_TwoPulseCounting // One of these strings
task0.ci_lin_encoder.ZidxEnable   = false | true | 0 | 1    //  enable z
indexing?
task0.ci_lin_encoder.ZidxVal      = 0 // The value, in units, to which to
reset the measurement when signal Z is high and signal A and signal B are at
the states you specify with ZidxPhase.
task0.ci_lin_encoder.ZidxPhase    = DAQmx_Val_AHighBHigh |
DAQmx_Val_AHighBLow | DAQmx_Val_ALowBHigh | DAQmx_Val_ALowBLow  // One of
these strings task0.ci_lin_encoder.units        = DAQmx_Val_Meters |
DAQmx_Val_Inches | DAQmx_Val_Ticks  // One of these strings
task0.ci_lin_encoder.distPerPulse = 0.1  // The distance measured for each
pulse the encoder generates. Specify this value in units.
task0.ci_lin_encoder.initialPos   = 0.0 // The position of the encoder when
the measurement begins. This value is in units.
; Counter:  uses an angular encoder to measure angular position
task0.ci_ang_encoder.counter      = Dev1/ctr0
task0.ci_ang_encoder.decodingType = DAQmx_Val_X1 | DAQmx_Val_X2 |
DAQmx_Val_X4 | DAQmx_Val_TwoPulseCounting // One of these strings
task0.ci_ang_encoder.ZidxEnable   = 0 | 1 | false | true  //  enable z
indexing
task0.ci_ang_encoder.ZidxVal      = 0 // The value, in units, to which to
reset the measurement when signal Z is high and signal A and signal B are at
the states you specify with ZidxPhase.
task0.ci_ang_encoder.ZidxPhase    = DAQmx_Val_AHighBHigh |
DAQmx_Val_AHighBLow | DAQmx_Val_ALowBHigh | DAQmx_Val_ALowBLow  // One of
these strings task0.ci_ang_encoder.units        = DAQmx_Val_Degrees |
DAQmx_Val_Radians | DAQmx_Val_Ticks  // One of these strings
task0.ci_ang_encoder.pulsesPerRev = 512  // The number of pulses the encoder
generates per revolution.
task0.ci_ang_encoder.initialAngle = 0.0 // The position of the encoder when
the measurement begins. This value is in units.
task0.ci_ang_encoder.decimate     = 1   // Grab 1 out of N readings
; Output digital pulses:
task0.co_pulses.counter           = Dev1/ctr1
task0.co_pulses.idleState         = DAQmx_Val_High | DAQmx_Val_Low
task0.co_pulses.initialDelay      = 0  // The amount of time in seconds to
wait before generating the first pulse.
task0.co_pulses.freq              = 100 // The frequency of the pulses to
generate (Hertz)
task0.co_pulses.dutyCycle         = 0.5  // The width of the pulse divided by
the pulse period.

Member Typedef Documentation

◆ Ptr

using mrpt::hwdrivers::CGenericSensor::Ptr = std::shared_ptr<CGenericSensor>

inherited

Definition at line 73 of file CGenericSensor.h.

◆ TListObservations

using mrpt::hwdrivers::CGenericSensor::TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr>

inherited

Definition at line 77 of file CGenericSensor.h.

◆ TListObsPair

using mrpt::hwdrivers::CGenericSensor::TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr>

inherited

Definition at line 79 of file CGenericSensor.h.

Member Enumeration Documentation

◆ TSensorState

enum mrpt::hwdrivers::CGenericSensor::TSensorState

inherited

The current state of the sensor.

See also: CGenericSensor::getState

Enumerator
ssInitializing
ssWorking
ssError
ssUninitialized

Definition at line 84 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ CNationalInstrumentsDAQ()

CNationalInstrumentsDAQ::CNationalInstrumentsDAQ ( )

Constructor.

Definition at line 113 of file CNationalInstrumentsDAQ.cpp.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

◆ ~CNationalInstrumentsDAQ()

CNationalInstrumentsDAQ::~CNationalInstrumentsDAQ ( )

override

Destructor.

Definition at line 390 of file CNationalInstrumentsDAQ.cpp.

References stop().

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Member Function Documentation

◆ appendObservation()

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::serialization::CSerializable::Ptr & obj )

inlineprotectedinherited

Like appendObservations() but for just one observation.

Definition at line 180 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::appendObservations().

Referenced by mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), mrpt::hwdrivers::CCANBusReader::doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), and mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow().

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◆ appendObservations()

void CGenericSensor::appendObservations ( const std::vector< mrpt::serialization::CSerializable::Ptr > & obj )

protectedinherited

This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations.

Passed objects must be created in dynamic memory and a smart pointer passed. Example of creation:

  mrpt::obs::CObservationGPS::Ptr  o = CObservationGPS::Ptr( new
CObservationGPS() );
  o-> .... // Set data
  appendObservation(o);

If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.

Definition at line 48 of file CGenericSensor.cpp.

References CLASS_ID, mrpt::hwdrivers::CGenericSensor::m_csObjList, mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_objList, and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservation(), doProcess(), and mrpt::hwdrivers::CKinect::doProcess().

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◆ checkDAQIsWorking()

bool CNationalInstrumentsDAQ::checkDAQIsWorking ( ) const

Returns true if initialize() was called and at least one task is running.

Returns true if initialize() was called successfully.

Definition at line 679 of file CNationalInstrumentsDAQ.cpp.

References m_running_tasks.

Referenced by readFromDAQ().

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◆ createSensor()

CGenericSensor * CGenericSensor::createSensor ( const std::string & className )

staticinherited

Creates a sensor by a name of the class.

Typically the user may want to create a smart pointer around the returned pointer, whis is made with:

CGenericSensor::Ptr sensor = CGenericSensor::Ptr(

CGenericSensor::createSensor("XXX") );

Returns: A pointer to a new class, or nullptr if class name is unknown.

Definition at line 97 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

Referenced by mrpt::hwdrivers::CGenericSensor::createSensorPtr().

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◆ createSensorPtr()

static Ptr mrpt::hwdrivers::CGenericSensor::createSensorPtr ( const std::string & className )

inlinestaticinherited

Just like createSensor, but returning a smart pointer to the newly created sensor object.

Definition at line 210 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::createSensor().

Referenced by mrpt::apps::RawlogGrabberApp::SensorThread().

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◆ doProcess()

void CNationalInstrumentsDAQ::doProcess ( )

overridevirtual

This method will be invoked at a minimum rate of "process_rate" (Hz)

Exceptions

This	method must throw an exception with a descriptive message if some critical error is found.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 729 of file CNationalInstrumentsDAQ.cpp.

References mrpt::hwdrivers::CGenericSensor::appendObservations(), m_nextObservations, mrpt::hwdrivers::CGenericSensor::m_state, readFromDAQ(), mrpt::hwdrivers::CGenericSensor::ssError, mrpt::hwdrivers::CGenericSensor::ssWorking, and THROW_EXCEPTION.

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◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const

inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also: writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ enableVerbose()

void mrpt::hwdrivers::CGenericSensor::enableVerbose ( bool enabled = true )

inlineinherited

Enable or disable extra debug info dumped to std::cout during sensor operation.

Default: disabled unless the environment variable "MRPT_HWDRIVERS_VERBOSE" is set to "1" during object creation.

Definition at line 106 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_verbose.

◆ getExternalImageJPEGQuality()

unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const

inlineinherited

Definition at line 279 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.

◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string & log_contents ) const

inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const

inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

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◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const

inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

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◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string & msg_str ) const

inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const

inherited

Return the name of the COutputLogger instance.

See also: setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const

inlineinherited

See also: setMinLoggingLevel

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::apps::RawlogGrabberApp::dump_verbose_info(), mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ getObservations()

void CGenericSensor::getObservations ( TListObservations & lstObjects )

inherited

Returns a list of enqueued objects, emptying it (thread-safe).

The objects must be freed by the invoker.

Definition at line 85 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::m_csObjList, and mrpt::hwdrivers::CGenericSensor::m_objList.

Referenced by TEST().

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◆ getProcessRate()

double mrpt::hwdrivers::CGenericSensor::getProcessRate ( ) const

inlineinherited

Definition at line 94 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_process_rate.

◆ GetRuntimeClass()

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const

pure virtualinherited

◆ getSensorLabel()

std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const

inlineinherited

Definition at line 95 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

◆ getState()

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const

inlineinherited

The current state of the sensor.

Definition at line 93 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_state.

◆ grabbing_thread()

void CNationalInstrumentsDAQ::grabbing_thread ( TInfoPerTask & ipt )

private

Method to be executed in each parallel thread.

Definition at line 757 of file CNationalInstrumentsDAQ.cpp.

Referenced by initialize().

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◆ initialize()

void CNationalInstrumentsDAQ::initialize ( )

overridevirtual

Setup and launch the DAQ tasks, in parallel threads.

Access to grabbed data with CNationalInstrumentsDAQ::readFromDAQ() or the standard CGenericSensor::doProcess()

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 441 of file CNationalInstrumentsDAQ.cpp.

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◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel level ) const

inlineinherited

Definition at line 202 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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◆ isVerboseEnabled()

bool mrpt::hwdrivers::CGenericSensor::isVerboseEnabled ( ) const

inlineinherited

Definition at line 107 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_verbose.

◆ loadConfig()

void CGenericSensor::loadConfig	(	const mrpt::config::CConfigFileBase &	cfg,
		const std::string &	sect
	)

inherited

Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".

Exceptions

This	method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

Definition at line 126 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_max_queue_len, mrpt::hwdrivers::CGenericSensor::m_process_rate, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, MRPT_END, MRPT_START, mrpt::config::CConfigFileBase::read_double(), mrpt::config::CConfigFileBase::read_int(), mrpt::config::CConfigFileBase::read_string(), and sect.

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◆ loadConfig_sensorSpecific()

void CNationalInstrumentsDAQ::loadConfig_sensorSpecific	(	const mrpt::config::CConfigFileBase &	configSource,
		const std::string &	iniSection
	)

overrideprotectedvirtual

See the class documentation at the top for expected parameters.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 146 of file CNationalInstrumentsDAQ.cpp.

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◆ logCond()

void COutputLogger::logCond	(	const VerbosityLevel	level,
		bool	cond,
		const std::string &	msg_str
	)		const

inherited

Log the given message only if the condition is satisfied.

See also: log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t userFunc )

inherited

Returns: true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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◆ logFmt()

void COutputLogger::logFmt	(	const VerbosityLevel	level,
		const char *	fmt,
			...
	)		const

inherited

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));
// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);

See also: logStr, logCond

Definition at line 91 of file COutputLogger.cpp.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::hmtslam::CHMTSLAM::thread_3D_viewer(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), mrpt::hmtslam::CHMTSLAM::thread_TBI(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

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◆ loggerReset()

void COutputLogger::loggerReset ( )

inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )

staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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◆ logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )

staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

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◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t userFunc )

inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

◆ logStr()

void COutputLogger::logStr	(	const VerbosityLevel	level,
		std::string_view	msg_str
	)		const

inherited

Main method to add the specified message string to the logger.

See also: logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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◆ readFromDAQ()

void CNationalInstrumentsDAQ::readFromDAQ	(	std::vector< mrpt::obs::CObservationRawDAQ::Ptr > &	outObservations,
		bool &	hardwareError
	)

Receives data from the DAQ thread(s).

It returns a maximum number of one observation object per running grabber threads, that is, per each DAQmx "task". This method MUST BE CALLED in a timely fashion by the user to allow the proccessing of incoming data. It can be run in a different thread safely. This is internally called when using the alternative CGenericSensor::doProcess() interface. No observations may be returned if there are not samples enough yet from any task.

Definition at line 687 of file CNationalInstrumentsDAQ.cpp.

References mrpt::serialization::archiveFrom(), checkDAQIsWorking(), m_running_tasks, mrpt::hwdrivers::CGenericSensor::m_state, and mrpt::hwdrivers::CGenericSensor::ssWorking.

Referenced by doProcess().

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◆ registerClass()

void CGenericSensor::registerClass ( const TSensorClassId * pNewClass )

staticinherited

Register a class into the internal list of "CGenericSensor" descendents.

Used internally in the macros DEFINE_GENERIC_SENSOR, etc...

Can be used as "CGenericSensor::registerClass( SENSOR_CLASS_ID(CMySensor) );" if building custom sensors outside mrpt libraries in user code.

Definition at line 115 of file CGenericSensor.cpp.

References mrpt::hwdrivers::TSensorClassId::className, and mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

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◆ setExternalImageFormat()

void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat ( const std::string & ext )

inlineinherited

Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".

See also: setPathForExternalImages, setExternalImageJPEGQuality

Definition at line 268 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_format.

◆ setExternalImageJPEGQuality()

void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality ( const unsigned int quality )

inlineinherited

The quality of JPEG compression, when external images is enabled and the format is "jpg".

See also: setExternalImageFormat

Definition at line 275 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.

◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string & name )

inherited

Set the name of the COutputLogger instance.

See also: getLoggerName

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), mrpt::apps::ICP_SLAM_App_Base::ICP_SLAM_App_Base(), mrpt::apps::ICP_SLAM_App_Live::ICP_SLAM_App_Live(), mrpt::apps::ICP_SLAM_App_Rawlog::ICP_SLAM_App_Rawlog(), mrpt::graphslam::CWindowManager::initCWindowManager(), mrpt::apps::MonteCarloLocalization_Base::MonteCarloLocalization_Base(), mrpt::apps::RBPF_SLAM_App_Base::RBPF_SLAM_App_Base(), and mrpt::apps::RBPF_SLAM_App_Rawlog::RBPF_SLAM_App_Rawlog().

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◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel level )

inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ setPathForExternalImages()

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( [ [maybe_unused] ] const std::string & directory )

inlinevirtualinherited

Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable).

An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.

Exceptions

std::exception If the directory doesn't exists and cannot be created.

Definition at line 257 of file CGenericSensor.h.

◆ setSensorLabel()

void mrpt::hwdrivers::CGenericSensor::setSensorLabel ( const std::string & sensorLabel )

inlineinherited

Definition at line 96 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel level )

inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::math::ransac_detect_2D_lines(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ stop()

void CNationalInstrumentsDAQ::stop ( )

Stop the grabbing threads for DAQ tasks.

It is automatically called at destruction.

Definition at line 641 of file CNationalInstrumentsDAQ.cpp.

References m_running_tasks, mrpt::hwdrivers::CGenericSensor::m_verbose, MRPT_DAQmxClearTask, and MRPT_DAQmxStopTask.

Referenced by initialize(), and ~CNationalInstrumentsDAQ().

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◆ writeAnalogOutputTask()

void CNationalInstrumentsDAQ::writeAnalogOutputTask	(	size_t	task_index,
		size_t	nSamplesPerChannel,
		const double *	volt_values,
		double	timeout,
		bool	groupedByChannel
	)

Set voltage outputs to all the outputs in an AOUT task For the meaning of parameters, refere to NI DAQmx docs for DAQmxBaseWriteAnalogF64()

Note: The number of samples in volt_values must match the number of channels in the task when it was initiated.

Definition at line 918 of file CNationalInstrumentsDAQ.cpp.

References ASSERT_, m_running_tasks, MRPT_DAQmx_ErrChk, MRPT_DAQmxWriteAnalogF64, and mrpt::hwdrivers::CNationalInstrumentsDAQ::TInfoPerTask::taskHandle.

◆ writeDigitalOutputTask()

void CNationalInstrumentsDAQ::writeDigitalOutputTask	(	size_t	task_index,
		bool	line_value,
		double	timeout
	)

Changes the boolean state of one digital output line.

For the meaning of parameters, refere to NI DAQmx docs for DAQmxBaseWriteAnalogF64()

Note: The number of samples in volt_values must match the number of channels in the task when it was initiated.

Definition at line 944 of file CNationalInstrumentsDAQ.cpp.

References ASSERT_, m_running_tasks, MRPT_DAQmx_ErrChk, MRPT_DAQmxWriteDigitalLines, and mrpt::hwdrivers::CNationalInstrumentsDAQ::TInfoPerTask::taskHandle.

◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string * fname_in = nullptr ) const

inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also: dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Member Data Documentation

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}

inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 240 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}

inherited

[Default=false] Enables storing all messages into an internal list.

See also: writeLogToFile, getLogAsString

Definition at line 243 of file system/COutputLogger.h.

◆ m_external_images_format

std::string mrpt::hwdrivers::CGenericSensor::m_external_images_format

protectedinherited

The extension ("jpg","gif","png",...) that determines the format of images saved externally.

See also: setPathForExternalImages

Definition at line 158 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageFormat().

◆ m_external_images_jpeg_quality

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality {95}

protectedinherited

For JPEG images, the quality (default=95%).

Definition at line 160 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality().

◆ m_grab_decimation

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation {0}

protectedinherited

If set to N>=2, only 1 out of N observations will be saved to m_objList.

Definition at line 139 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_grab_decimation_counter

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter {0}

protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 146 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_max_queue_len

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len {200}

protectedinherited

See CGenericSensor.

Definition at line 136 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}

protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 253 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

◆ m_nextObservations

std::vector<mrpt::obs::CObservationRawDAQ::Ptr> mrpt::hwdrivers::CNationalInstrumentsDAQ::m_nextObservations

private

A buffer for doProcess.

Definition at line 416 of file CNationalInstrumentsDAQ.h.

Referenced by doProcess().

◆ m_path_for_external_images

std::string mrpt::hwdrivers::CGenericSensor::m_path_for_external_images

protectedinherited

The path where to save off-rawlog images: empty means save images embedded in the rawlog.

Definition at line 155 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::setPathForExternalImages().

◆ m_process_rate

double mrpt::hwdrivers::CGenericSensor::m_process_rate {0}

protectedinherited

See CGenericSensor.

Definition at line 134 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getProcessRate(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_running_tasks

std::list<TInfoPerTask> mrpt::hwdrivers::CNationalInstrumentsDAQ::m_running_tasks

private

Definition at line 436 of file CNationalInstrumentsDAQ.h.

Referenced by checkDAQIsWorking(), initialize(), readFromDAQ(), stop(), writeAnalogOutputTask(), and writeDigitalOutputTask().

◆ m_sensorLabel

std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel

protectedinherited

See CGenericSensor.

Definition at line 141 of file CGenericSensor.h.

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state {ssInitializing}

protectedinherited

Definition at line 148 of file CGenericSensor.h.

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose {false}

protectedinherited

Definition at line 149 of file CGenericSensor.h.

◆ task_definitions

std::vector<TaskDescription> mrpt::hwdrivers::CNationalInstrumentsDAQ::task_definitions

Publicly accessible vector with the list of tasks to be launched upon call to CNationalInstrumentsDAQ::initialize().

Changing these while running will have no effects.

Definition at line 406 of file CNationalInstrumentsDAQ.h.

Referenced by initialize(), and loadConfig_sensorSpecific().

Public Types
enum	TSensorState { ssInitializing = 0, ssWorking, ssError, ssUninitialized }
	The current state of the sensor. More...

using	Ptr = std::shared_ptr< CGenericSensor >

using	TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr >

using	TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr >

Public Member Functions
	CNationalInstrumentsDAQ ()
	Constructor. More...

	~CNationalInstrumentsDAQ () override
	Destructor. More...

void	initialize () override
	Setup and launch the DAQ tasks, in parallel threads. More...

void	stop ()
	Stop the grabbing threads for DAQ tasks. More...

void	doProcess () override
	This method will be invoked at a minimum rate of "process_rate" (Hz) More...

void	readFromDAQ (std::vector< mrpt::obs::CObservationRawDAQ::Ptr > &outObservations, bool &hardwareError)
	Receives data from the DAQ thread(s). More...

void	writeAnalogOutputTask (size_t task_index, size_t nSamplesPerChannel, const double *volt_values, double timeout, bool groupedByChannel)
	Set voltage outputs to all the outputs in an AOUT task For the meaning of parameters, refere to NI DAQmx docs for DAQmxBaseWriteAnalogF64() More...

void	writeDigitalOutputTask (size_t task_index, bool line_value, double timeout)
	Changes the boolean state of one digital output line. More...

bool	checkDAQIsWorking () const
	Returns true if initialize() was called and at least one task is running. More...

virtual const mrpt::hwdrivers::TSensorClassId *	GetRuntimeClass () const =0

TSensorState	getState () const
	The current state of the sensor. More...

double	getProcessRate () const

std::string	getSensorLabel () const

void	setSensorLabel (const std::string &sensorLabel)

void	enableVerbose (bool enabled=true)
	Enable or disable extra debug info dumped to std::cout during sensor operation. More...

bool	isVerboseEnabled () const

void	loadConfig (const mrpt::config::CConfigFileBase &configSource, const std::string &section)
	Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific". More...

void	getObservations (TListObservations &lstObjects)
	Returns a list of enqueued objects, emptying it (thread-safe). More...

virtual void	setPathForExternalImages ([[maybe_unused]] const std::string &directory)
	Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable). More...

void	setExternalImageFormat (const std::string &ext)
	Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". More...

void	setExternalImageJPEGQuality (const unsigned int quality)
	The quality of JPEG compression, when external images is enabled and the format is "jpg". More...

unsigned int	getExternalImageJPEGQuality () const

Static Public Member Functions
static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_colors ()
	Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...

static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_names ()
	Map from VerbosityLevels to their corresponding names. More...

static void	registerClass (const TSensorClassId *pNewClass)
	Register a class into the internal list of "CGenericSensor" descendents. More...

static CGenericSensor *	createSensor (const std::string &className)
	Creates a sensor by a name of the class. More...

static Ptr	createSensorPtr (const std::string &className)
	Just like createSensor, but returning a smart pointer to the newly created sensor object. More...

Public Attributes
std::vector< TaskDescription >	task_definitions
	Publicly accessible vector with the list of tasks to be launched upon call to CNationalInstrumentsDAQ::initialize(). More...

Protected Member Functions
void	loadConfig_sensorSpecific (const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection) override
	See the class documentation at the top for expected parameters. More...

void	appendObservations (const std::vector< mrpt::serialization::CSerializable::Ptr > &obj)
	This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations. More...

void	appendObservation (const mrpt::serialization::CSerializable::Ptr &obj)
	Like appendObservations() but for just one observation. More...

Classes
struct	TaskDescription
	Each of the tasks to create in CNationalInstrumentsDAQ::initialize(). More...

struct	TInfoPerTask

Protected Attributes
VerbosityLevel	m_min_verbosity_level {LVL_INFO}
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...

size_t	m_grab_decimation_counter {0}
	Used when "m_grab_decimation" is enabled. More...

TSensorState	m_state {ssInitializing}

bool	m_verbose {false}

std::string	m_path_for_external_images
	The path where to save off-rawlog images: empty means save images embedded in the rawlog. More...

std::string	m_external_images_format
	The extension ("jpg","gif","png",...) that determines the format of images saved externally. More...

unsigned int	m_external_images_jpeg_quality {95}
	For JPEG images, the quality (default=95%). More...

Common settings to any sensor, loaded in "loadConfig"
double	m_process_rate {0}
	See CGenericSensor. More...

size_t	m_max_queue_len {200}
	See CGenericSensor. More...

size_t	m_grab_decimation {0}
	If set to N>=2, only 1 out of N observations will be saved to m_objList. More...

std::string	m_sensorLabel
	See CGenericSensor. More...

Private Member Functions
void	grabbing_thread (TInfoPerTask &ipt)
	Method to be executed in each parallel thread. More...

Private Attributes
std::vector< mrpt::obs::CObservationRawDAQ::Ptr >	m_nextObservations
	A buffer for doProcess. More...

std::list< TInfoPerTask >	m_running_tasks

Logging methods
bool	logging_enable_console_output {true}
	[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...

bool	logging_enable_keep_record {false}
	[Default=false] Enables storing all messages into an internal list. More...

void	logStr (const VerbosityLevel level, std::string_view msg_str) const
	Main method to add the specified message string to the logger. More...

void	logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
	Alternative logging method, which mimics the printf behavior. More...

void void	logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
	Log the given message only if the condition is satisfied. More...

void	setLoggerName (const std::string &name)
	Set the name of the COutputLogger instance. More...

std::string	getLoggerName () const
	Return the name of the COutputLogger instance. More...

void	setMinLoggingLevel (const VerbosityLevel level)
	Set the minimum logging level for which the incoming logs are going to be taken into account. More...

void	setVerbosityLevel (const VerbosityLevel level)
	alias of setMinLoggingLevel() More...

VerbosityLevel	getMinLoggingLevel () const

bool	isLoggingLevelVisible (VerbosityLevel level) const

void	getLogAsString (std::string &log_contents) const
	Fill the provided string with the contents of the logger's history in std::string representation. More...

std::string	getLogAsString () const
	Get the history of COutputLogger instance in a string representation. More...

void	writeLogToFile (const std::string *fname_in=nullptr) const
	Write the contents of the COutputLogger instance to an external file. More...

void	dumpLogToConsole () const
	Dump the current contents of the COutputLogger instance in the terminal window. More...

std::string	getLoggerLastMsg () const
	Return the last Tmsg instance registered in the logger history. More...

void	getLoggerLastMsg (std::string &msg_str) const
	Fill inputtted string with the contents of the last message in history. More...

void	loggerReset ()
	Reset the contents of the logger instance. More...

void	logRegisterCallback (output_logger_callback_t userFunc)

bool	logDeregisterCallback (output_logger_callback_t userFunc)

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Logging methods

Member Typedef Documentation

◆ Ptr

◆ TListObservations

◆ TListObsPair

Member Enumeration Documentation

◆ TSensorState

Constructor & Destructor Documentation

◆ CNationalInstrumentsDAQ()

◆ ~CNationalInstrumentsDAQ()

Member Function Documentation

◆ appendObservation()

◆ appendObservations()

◆ checkDAQIsWorking()

◆ createSensor()

◆ createSensorPtr()

◆ doProcess()

◆ dumpLogToConsole()

◆ enableVerbose()

◆ getExternalImageJPEGQuality()

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ getObservations()

◆ getProcessRate()

◆ GetRuntimeClass()

◆ getSensorLabel()

◆ getState()

◆ grabbing_thread()

◆ initialize()

◆ isLoggingLevelVisible()

◆ isVerboseEnabled()

◆ loadConfig()

◆ loadConfig_sensorSpecific()

◆ logCond()

◆ logDeregisterCallback()

◆ logFmt()

◆ loggerReset()

◆ logging_levels_to_colors()

◆ logging_levels_to_names()

◆ logRegisterCallback()

◆ logStr()

◆ readFromDAQ()

◆ registerClass()

◆ setExternalImageFormat()

◆ setExternalImageJPEGQuality()

◆ setLoggerName()

◆ setMinLoggingLevel()

◆ setPathForExternalImages()

◆ setSensorLabel()

◆ setVerbosityLevel()

◆ stop()

◆ writeAnalogOutputTask()

◆ writeDigitalOutputTask()

◆ writeLogToFile()

Member Data Documentation

◆ logging_enable_console_output

◆ logging_enable_keep_record

◆ m_external_images_format

◆ m_external_images_jpeg_quality

◆ m_grab_decimation

◆ m_grab_decimation_counter

◆ m_max_queue_len

◆ m_min_verbosity_level

◆ m_nextObservations

◆ m_path_for_external_images

◆ m_process_rate