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.

DAQmx Base Installation

Go to http://ni.com and download the "DAQmx Base" package for your OS. Install following NI's instructions. As of 2013, the latest version is 3.7.

Note: This class requires compiling MRPT with support for "NI DAQmx" or "NI DAQmx Base". While compiling MRPT, check the "MRPT_HAS_NI_DAQmx"/"MRPT_HAS_NI_DAQmxBASE" option and correctly set the new variables to the library include directory and library file.; As of 2013, NI seems not to support compiling 64bit programs, so you can must build MRPT for 32bits if you need this class.

Definition at line 216 of file CNationalInstrumentsDAQ.h.

#include <mrpt/hwdrivers/CNationalInstrumentsDAQ.h>

Inheritance diagram for mrpt::hwdrivers::CNationalInstrumentsDAQ:

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

struct	TInfoPerTask

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

using	Ptr = std::shared_ptr< CGenericSensor >

typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializable::Ptr >	TListObservations

typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializable::Ptr >	TListObsPair

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

virtual	~CNationalInstrumentsDAQ ()
	Destructor. More...

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

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

void	doProcess ()
	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::utils::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 (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 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 CGenericSensor::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::utils::CConfigFileBase &configSource, const std::string &iniSection)
	See the class documentation at the top for expected parameters. More...

void	appendObservations (const std::vector< mrpt::utils::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::utils::CSerializable::Ptr &obj)
	Like appendObservations() but for just one observation. More...

Protected Attributes
size_t	m_grab_decimation_counter
	Used when "m_grab_decimation" is enabled. More...

TSensorState	m_state

bool	m_verbose

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

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

size_t	m_max_queue_len
	See CGenericSensor. More...

size_t	m_grab_decimation
	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

Member Typedef Documentation

◆ Ptr

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

inherited

Definition at line 73 of file CGenericSensor.h.

◆ TListObservations

typedef std::multimap<mrpt::system::TTimeStamp, mrpt::utils::CSerializable::Ptr> mrpt::hwdrivers::CGenericSensor::TListObservations

inherited

Definition at line 78 of file CGenericSensor.h.

◆ TListObsPair

typedef std::pair<mrpt::system::TTimeStamp, mrpt::utils::CSerializable::Ptr> mrpt::hwdrivers::CGenericSensor::TListObsPair

inherited

Definition at line 80 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

Definition at line 85 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ CNationalInstrumentsDAQ()

CNationalInstrumentsDAQ::CNationalInstrumentsDAQ ( )

Constructor.

Definition at line 115 of file CNationalInstrumentsDAQ.cpp.

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

◆ ~CNationalInstrumentsDAQ()

CNationalInstrumentsDAQ::~CNationalInstrumentsDAQ ( )

virtual

Destructor.

Definition at line 393 of file CNationalInstrumentsDAQ.cpp.

References stop().

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Member Function Documentation

◆ appendObservation()

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

inlineprotectedinherited

Like appendObservations() but for just one observation.

Definition at line 180 of file CGenericSensor.h.

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

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◆ appendObservations()

void CGenericSensor::appendObservations ( const std::vector< mrpt::utils::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 53 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 698 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 103 of file CGenericSensor.cpp.

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

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

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◆ createSensorPtr()

static CGenericSensor::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 220 of file CGenericSensor.h.

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

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◆ doProcess()

void CNationalInstrumentsDAQ::doProcess ( )

virtual

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 748 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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◆ 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 290 of file CGenericSensor.h.

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

◆ 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 91 of file CGenericSensor.cpp.

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

◆ 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 776 of file CNationalInstrumentsDAQ.cpp.

Referenced by initialize().

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◆ initialize()

void CNationalInstrumentsDAQ::initialize ( void )

virtual

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 444 of file CNationalInstrumentsDAQ.cpp.

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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::utils::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 132 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::utils::CConfigFileBase::read_double(), mrpt::utils::CConfigFileBase::read_int(), and mrpt::utils::CConfigFileBase::read_string().

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◆ loadConfig_sensorSpecific()

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

protectedvirtual

See the class documentation at the top for expected parameters.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 149 of file CNationalInstrumentsDAQ.cpp.

References mrpt::mrpt::format(), MY_LOAD_HERE_CONFIG_VAR, MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT, mrpt::utils::CConfigFileBase::read_string(), mrpt::utils::CConfigFileBase::read_uint64_t(), mrpt::system::strCmpI(), task_definitions, THROW_EXCEPTION_FMT, and mrpt::system::tokenize().

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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 706 of file CNationalInstrumentsDAQ.cpp.

References 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 121 of file CGenericSensor.cpp.

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

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

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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 279 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 286 of file CGenericSensor.h.

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

◆ setPathForExternalImages()

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( 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.

Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, and mrpt::hwdrivers::CSwissRanger3DCamera.

Definition at line 268 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

◆ 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.

◆ stop()

void CNationalInstrumentsDAQ::stop ( )

Stop the grabbing threads for DAQ tasks.

It is automatically called at destruction.

Definition at line 658 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 938 of file CNationalInstrumentsDAQ.cpp.

References ASSERT_, FALSE, m_running_tasks, MRPT_DAQmx_ErrChk, MRPT_DAQmxWriteAnalogF64, MRPT_UNUSED_PARAM, 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 969 of file CNationalInstrumentsDAQ.cpp.

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

Member Data Documentation

◆ 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

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

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

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

protectedinherited

See CGenericSensor.

Definition at line 136 of file CGenericSensor.h.

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

◆ m_nextObservations

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

private

A buffer for doProcess.

Definition at line 462 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

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 482 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

protectedinherited

Definition at line 148 of file CGenericSensor.h.

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose

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 452 of file CNationalInstrumentsDAQ.h.

Referenced by initialize(), and loadConfig_sensorSpecific().

Detailed Description

DAQmx Base Installation

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Member Typedef Documentation

◆ Ptr

◆ TListObservations

◆ TListObsPair

Member Enumeration Documentation

◆ TSensorState

Constructor & Destructor Documentation

◆ CNationalInstrumentsDAQ()

◆ ~CNationalInstrumentsDAQ()

Member Function Documentation

◆ appendObservation()

◆ appendObservations()

◆ checkDAQIsWorking()

◆ createSensor()

◆ createSensorPtr()

◆ doProcess()

◆ enableVerbose()

◆ getExternalImageJPEGQuality()

◆ getObservations()

◆ getProcessRate()

◆ GetRuntimeClass()

◆ getSensorLabel()

◆ getState()

◆ grabbing_thread()

◆ initialize()

◆ isVerboseEnabled()

◆ loadConfig()

◆ loadConfig_sensorSpecific()

◆ readFromDAQ()

◆ registerClass()

◆ setExternalImageFormat()

◆ setExternalImageJPEGQuality()

◆ setPathForExternalImages()

◆ setSensorLabel()

◆ stop()

◆ writeAnalogOutputTask()

◆ writeDigitalOutputTask()

Member Data Documentation

◆ m_external_images_format

◆ m_external_images_jpeg_quality

◆ m_grab_decimation

◆ m_grab_decimation_counter

◆ m_max_queue_len

◆ m_nextObservations

◆ m_path_for_external_images

◆ m_process_rate

◆ m_running_tasks

◆ m_sensorLabel

◆ m_state

◆ m_verbose

◆ task_definitions