MRPT  1.9.9
mrpt::hwdrivers::CNationalInstrumentsDAQ Class Referenceabstract

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.

See also:

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 209 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 >
 
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::TSensorClassIdGetRuntimeClass () 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 (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 CGenericSensorcreateSensor (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< TaskDescriptiontask_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...
 

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::Ptrm_nextObservations
 A buffer for doProcess. More...
 
std::list< TInfoPerTaskm_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)
 

Member Typedef Documentation

◆ Ptr

◆ TListObservations

◆ TListObsPair

Member Enumeration Documentation

◆ TSensorState

The current state of the sensor.

See also
CGenericSensor::getState
Enumerator
ssInitializing 
ssWorking 
ssError 

Definition at line 83 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().

Here is the call graph for this function:

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 178 of file CGenericSensor.h.

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

Referenced by mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), 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().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ 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

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().

Here is the caller graph for this function:

◆ 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().

Here is the caller graph for this function:

◆ 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:

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().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ 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 208 of file CGenericSensor.h.

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

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

Here is the call graph for this function:
Here is the caller graph for this function:

◆ doProcess()

void CNationalInstrumentsDAQ::doProcess ( )
overridevirtual

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

Exceptions
Thismethod 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.

Here is the call graph for this function:

◆ 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 104 of file CGenericSensor.h.

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

◆ getExternalImageJPEGQuality()

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

◆ 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().

Here is the caller graph for this function:

◆ 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().

Here is the call graph for this function:

◆ 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(), and mrpt::apps::ICP_SLAM_App_Base::run().

Here is the caller graph for this function:

◆ 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().

Here is the caller graph for this function:

◆ getProcessRate()

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

Definition at line 92 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 93 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 91 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.

References mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::ai, mrpt::obs::CObservationRawDAQ::AIN_channel_count, mrpt::obs::CObservationRawDAQ::AIN_double, mrpt::obs::CObservationRawDAQ::AIN_interleaved, ASSERT_EQUAL_, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::ci_ang_encoder, mrpt::obs::CObservationRawDAQ::CNTRIN_double, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_ang_encoder_t::decimate, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_ang_encoder_t::decimate_cnt, mrpt::obs::CObservationRawDAQ::DIN, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::has_ai, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::has_ci_ang_encoder, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::has_ci_lin_encoder, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::has_di, mrpt::hwdrivers::CNationalInstrumentsDAQ::TInfoPerTask::is_closed, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, mrpt::hwdrivers::CGenericSensor::m_verbose, MRPT_DAQmx_ErrChk, MRPT_DAQmxReadAnalogF64, MRPT_DAQmxReadCounterF64, MRPT_DAQmxReadDigitalU8, MRPT_TODO, mrpt::hwdrivers::CNationalInstrumentsDAQ::TInfoPerTask::must_close, mrpt::hwdrivers::CNationalInstrumentsDAQ::TInfoPerTask::new_obs_available, mrpt::system::now(), mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ai_t::physicalChannelCount, mrpt::obs::CObservationRawDAQ::sample_rate, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::samplesPerChannelToRead, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::samplesPerSecond, mrpt::obs::CObservation::sensorLabel, mrpt::hwdrivers::CNationalInstrumentsDAQ::TInfoPerTask::task, mrpt::hwdrivers::CNationalInstrumentsDAQ::TInfoPerTask::taskHandle, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::taskLabel, mrpt::obs::CObservation::timestamp, and mrpt::hwdrivers::CNationalInstrumentsDAQ::TInfoPerTask::write_pipe.

Referenced by initialize().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ 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.

References mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::ai, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::ao, ASSERT_ABOVE_, ASSERTMSG_, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::bufferSamplesPerChannel, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::ci_ang_encoder, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::ci_count_edges, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::ci_lin_encoder, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::ci_period, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::ci_pulse_width, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::co_pulses, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_count_edges_t::countDirection, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_period_t::counter, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_count_edges_t::counter, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_pulse_width_t::counter, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_lin_encoder_t::counter, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_ang_encoder_t::counter, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_co_pulses_t::counter, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_lin_encoder_t::decodingType, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_ang_encoder_t::decodingType, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::di, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_lin_encoder_t::distPerPulse, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_period_t::divisor, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::douts, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_co_pulses_t::dutyCycle, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_period_t::edge, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_count_edges_t::edge, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_co_pulses_t::freq, grabbing_thread(), mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::has_ai, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::has_ao, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::has_ci_ang_encoder, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::has_ci_count_edges, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::has_ci_lin_encoder, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::has_ci_period, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::has_ci_pulse_width, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::has_co_pulses, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::has_di, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::has_do, mrpt::hwdrivers::CNationalInstrumentsDAQ::TInfoPerTask::hThread, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_co_pulses_t::idleState, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_ang_encoder_t::initialAngle, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_count_edges_t::initialCount, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_co_pulses_t::initialDelay, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_lin_encoder_t::initialPos, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_di_t::line, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_do_t::line, m_running_tasks, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ai_t::maxVal, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ao_t::maxVal, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_period_t::maxVal, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_pulse_width_t::maxVal, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_period_t::measTime, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ai_t::minVal, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ao_t::minVal, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_period_t::minVal, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_pulse_width_t::minVal, MRPT_DAQmx_ErrChk, MRPT_DAQmxCfgInputBuffer, MRPT_DAQmxCfgSampClkTiming, MRPT_DAQmxClearTask, MRPT_DAQmxCreateAIVoltageChan, MRPT_DAQmxCreateAOVoltageChan, MRPT_DAQmxCreateCIAngEncoderChan, MRPT_DAQmxCreateCICountEdgesChan, MRPT_DAQmxCreateCILinEncoderChan, MRPT_DAQmxCreateCIPeriodChan, MRPT_DAQmxCreateCIPulseWidthChan, MRPT_DAQmxCreateCOPulseChanFreq, MRPT_DAQmxCreateDIChan, MRPT_DAQmxCreateDOChan, MRPT_DAQmxCreateTask, MRPT_DAQmxStartTask, MRPT_DAQmxStopTask, mrpt::hwdrivers::CNationalInstrumentsDAQ::TInfoPerTask::must_close, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ai_t::physicalChannel, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ao_t::physicalChannel, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ai_t::physicalChannelCount, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ao_t::physicalChannelCount, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_ang_encoder_t::pulsesPerRev, mrpt::hwdrivers::CNationalInstrumentsDAQ::TInfoPerTask::read_pipe, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::sampleClkSource, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::samplesPerChannelToRead, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::samplesPerSecond, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_pulse_width_t::startingEdge, stop(), mrpt::hwdrivers::CNationalInstrumentsDAQ::TInfoPerTask::task, task_definitions, mrpt::hwdrivers::CNationalInstrumentsDAQ::TInfoPerTask::taskHandle, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ai_t::terminalConfig, THROW_EXCEPTION, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_period_t::units, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_pulse_width_t::units, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_lin_encoder_t::units, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_ang_encoder_t::units, mrpt::hwdrivers::CNationalInstrumentsDAQ::TInfoPerTask::write_pipe, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_lin_encoder_t::ZidxEnable, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_ang_encoder_t::ZidxEnable, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_lin_encoder_t::ZidxPhase, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_ang_encoder_t::ZidxPhase, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_lin_encoder_t::ZidxVal, and mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_ang_encoder_t::ZidxVal.

Here is the call graph for this function:

◆ 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().

Here is the caller graph for this function:

◆ isVerboseEnabled()

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

Definition at line 105 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
Thismethod 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.

Here is the call graph for this function:

◆ 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.

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

Here is the call graph for this function:

◆ 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.

Here is the call graph for this function:

◆ logFmt()

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

◆ 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().

Here is the caller graph for this function:

◆ 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().

Here is the caller graph for this function:

◆ 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().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ 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().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ 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().

Here is the call graph for this function:

◆ 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 267 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 274 of file CGenericSensor.h.

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

◆ setLoggerName()

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

◆ 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(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), and mrpt::apps::CGridMapAlignerApp::run().

Here is the caller graph for this function:

◆ 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::exceptionIf 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 256 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

◆ setSensorLabel()

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

Definition at line 94 of file CGenericSensor.h.

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

◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level)
inherited

◆ 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().

Here is the caller graph for this function:

◆ 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_, 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 948 of file CNationalInstrumentsDAQ.cpp.

References ASSERT_, FALSE, m_running_tasks, MRPT_DAQmx_ErrChk, MRPT_DAQmxWriteDigitalLines, MRPT_UNUSED_PARAM, 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().

Here is the call graph for this function:

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 156 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

◆ 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 137 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 144 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 134 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 153 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

◆ m_running_tasks

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

◆ m_sensorLabel

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

See CGenericSensor.

Definition at line 139 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CCANBusReader::CCANBusReader(), mrpt::hwdrivers::CGPSInterface::CGPSInterface(), mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000(), mrpt::hwdrivers::CHokuyoURG::CHokuyoURG(), mrpt::hwdrivers::CIMUXSens::CIMUXSens(), mrpt::hwdrivers::CIMUXSens_MT4::CIMUXSens_MT4(), mrpt::hwdrivers::CKinect::CKinect(), CNationalInstrumentsDAQ(), mrpt::hwdrivers::CRoboPeakLidar::CRoboPeakLidar(), mrpt::hwdrivers::CSickLaserSerial::CSickLaserSerial(), mrpt::hwdrivers::CSickLaserUSB::CSickLaserUSB(), mrpt::hwdrivers::CSkeletonTracker::CSkeletonTracker(), mrpt::hwdrivers::CSwissRanger3DCamera::CSwissRanger3DCamera(), mrpt::hwdrivers::CVelodyneScanner::CVelodyneScanner(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CGenericSensor::getSensorLabel(), grabbing_thread(), mrpt::hwdrivers::CGenericSensor::loadConfig(), mrpt::hwdrivers::CSkeletonTracker::processPreview(), mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview(), mrpt::hwdrivers::CSkeletonTracker::processPreviewNone(), and mrpt::hwdrivers::CGenericSensor::setSensorLabel().

◆ m_state

◆ m_verbose

◆ 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().




Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: fdd0b82cd Wed Oct 16 15:54:23 2019 +0200 at miƩ oct 16 16:00:10 CEST 2019