CNationalInstrumentsDAQ.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include "hwdrivers-precomp.h"  // Precompiled headers

#include <mrpt/hwdrivers/CNationalInstrumentsDAQ.h>
#include <iterator>  // advance()
#include <iostream>
#include <mrpt/serialization/CArchive.h>

// If we have both, DAQmx & DAQmxBase, prefer DAQmx:
#define MRPT_HAS_SOME_NIDAQMX (MRPT_HAS_NIDAQMXBASE || MRPT_HAS_NIDAQMX)

#define MRPT_USE_NIDAQMXBASE (MRPT_HAS_NIDAQMXBASE && !MRPT_HAS_NIDAQMX)
#define MRPT_USE_NIDAQMX (MRPT_HAS_NIDAQMX)

#if MRPT_USE_NIDAQMXBASE
#include "NIDAQmxBase.h"  // Include file for NI-DAQmx Base API
#endif
#if MRPT_USE_NIDAQMX
#include "NIDAQmx.h"  // Include file for NI-DAQmx API
#endif

// Macros to use either DAQmx or DAQmx Base automatically, depending on the
// installed libraries:
#if MRPT_USE_NIDAQMXBASE
#define MRPT_DAQmxGetExtendedErrorInfo DAQmxBaseGetExtendedErrorInfo
#define MRPT_DAQmxCreateTask DAQmxBaseCreateTask
#define MRPT_DAQmxCreateAIVoltageChan DAQmxBaseCreateAIVoltageChan
#define MRPT_DAQmxCreateAOVoltageChan DAQmxBaseCreateAOVoltageChan
#define MRPT_DAQmxCreateDIChan DAQmxBaseCreateDIChan
#define MRPT_DAQmxCreateDOChan DAQmxBaseCreateDOChan
#define MRPT_DAQmxCreateCIPeriodChan DAQmxBaseCreateCIPeriodChan
#define MRPT_DAQmxCreateCICountEdgesChan DAQmxBaseCreateCICountEdgesChan
#define MRPT_DAQmxCreateCIPulseWidthChan DAQmxBaseCreateCIPulseWidthChan
#define MRPT_DAQmxCreateCILinEncoderChan DAQmxBaseCreateCILinEncoderChan
#define MRPT_DAQmxCreateCIAngEncoderChan DAQmxBaseCreateCIAngEncoderChan
#define MRPT_DAQmxCreateCOPulseChanFreq DAQmxBaseCreateCOPulseChanFreq
#define MRPT_DAQmxCfgSampClkTiming DAQmxBaseCfgSampClkTiming
#define MRPT_DAQmxCfgInputBuffer DAQmxBaseCfgInputBuffer
#define MRPT_DAQmxCfgOutputBuffer DAQmxBaseCfgOutputBuffer
#define MRPT_DAQmxStartTask DAQmxBaseStartTask
#define MRPT_DAQmxStopTask DAQmxBaseStopTask
#define MRPT_DAQmxClearTask DAQmxBaseClearTask
#define MRPT_DAQmxReadAnalogF64 DAQmxBaseReadAnalogF64
#define MRPT_DAQmxReadCounterF64 DAQmxBaseReadCounterF64
#define MRPT_DAQmxReadDigitalU8 DAQmxBaseReadDigitalU8
#define MRPT_DAQmxWriteAnalogF64 DAQmxBaseWriteAnalogF64
#define MRPT_DAQmxWriteDigitalU32 DAQmxBaseWriteDigitalU32
#define MRPT_DAQmxWriteDigitalLines DAQmxBaseWriteDigitalLines
#else
#define MRPT_DAQmxGetExtendedErrorInfo DAQmxGetExtendedErrorInfo
#define MRPT_DAQmxCreateTask DAQmxCreateTask
#define MRPT_DAQmxCreateAIVoltageChan DAQmxCreateAIVoltageChan
#define MRPT_DAQmxCreateAOVoltageChan DAQmxCreateAOVoltageChan
#define MRPT_DAQmxCreateDIChan DAQmxCreateDIChan
#define MRPT_DAQmxCreateDOChan DAQmxCreateDOChan
#define MRPT_DAQmxCreateCIPeriodChan DAQmxCreateCIPeriodChan
#define MRPT_DAQmxCreateCICountEdgesChan DAQmxCreateCICountEdgesChan
#define MRPT_DAQmxCreateCIPulseWidthChan DAQmxCreateCIPulseWidthChan
#define MRPT_DAQmxCreateCILinEncoderChan DAQmxCreateCILinEncoderChan
#define MRPT_DAQmxCreateCIAngEncoderChan DAQmxCreateCIAngEncoderChan
#define MRPT_DAQmxCreateCOPulseChanFreq DAQmxCreateCOPulseChanFreq
#define MRPT_DAQmxCfgSampClkTiming DAQmxCfgSampClkTiming
#define MRPT_DAQmxCfgInputBuffer DAQmxCfgInputBuffer
#define MRPT_DAQmxCfgOutputBuffer DAQmxCfgOutputBuffer
#define MRPT_DAQmxStartTask DAQmxStartTask
#define MRPT_DAQmxStopTask DAQmxStopTask
#define MRPT_DAQmxClearTask DAQmxClearTask
#define MRPT_DAQmxReadAnalogF64 DAQmxReadAnalogF64
#define MRPT_DAQmxReadCounterF64 DAQmxReadCounterF64
#define MRPT_DAQmxReadDigitalU8 DAQmxReadDigitalU8
#define MRPT_DAQmxWriteAnalogF64 DAQmxWriteAnalogF64
#define MRPT_DAQmxWriteDigitalU32 DAQmxWriteDigitalU32
#define MRPT_DAQmxWriteDigitalLines DAQmxWriteDigitalLines
#endif

// An auxiliary macro to check and report errors in the DAQmx library as
// exceptions with a well-explained message.
#define MRPT_DAQmx_ErrChk(functionCall)                                \
    if ((functionCall) < 0)                                            \
    {                                                                  \
        char errBuff[2048];                                            \
        MRPT_DAQmxGetExtendedErrorInfo(errBuff, 2048);                 \
        std::string sErr = mrpt::format(                               \
            "DAQ error: '%s'\nCalling: '%s'", errBuff, #functionCall); \
        THROW_EXCEPTION(sErr);                                         \
    }

using namespace mrpt::hwdrivers;
using namespace mrpt::obs;
using namespace mrpt::system;
using namespace std;

IMPLEMENTS_GENERIC_SENSOR(CNationalInstrumentsDAQ, mrpt::hwdrivers)

// -------------  CNationalInstrumentsDAQ::TInfoPerTask  -----------
// Default ctor:
CNationalInstrumentsDAQ::TInfoPerTask::TInfoPerTask()
    : taskHandle(0),
      must_close(false),
      is_closed(false),
      new_obs_available(0),
      task()
{
}

/* -----------------------------------------------------
                Constructor
   ----------------------------------------------------- */
CNationalInstrumentsDAQ::CNationalInstrumentsDAQ()
    : mrpt::system::COutputLogger("CNationalInstrumentsDAQ")
{
    m_sensorLabel = "NIDAQ";
}

// Just like "MRPT_LOAD_HERE_CONFIG_VAR" but...
#define MY_LOAD_HERE_CONFIG_VAR(                                  \
    variableName, variableType, targetVariable, configFileObject, \
    sectionNameStr)                                               \
    targetVariable = configFileObject.read_##variableType(        \
        sectionNameStr, variableName, targetVariable, false);

#define MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(                          \
    variableName, variableType, targetVariable, configFileObject,    \
    sectionNameStr)                                                  \
    {                                                                \
        try                                                          \
        {                                                            \
            targetVariable = configFileObject.read_##variableType(   \
                sectionNameStr, variableName, targetVariable, true); \
        }                                                            \
        catch (std::exception&)                                      \
        {                                                            \
            THROW_EXCEPTION(                                         \
                format(                                              \
                    "Value for '%s' not found in config file",       \
                    std::string(variableName).c_str()));             \
        }                                                            \
    }

/* -----------------------------------------------------
                loadConfig_sensorSpecific
   ----------------------------------------------------- */
void CNationalInstrumentsDAQ::loadConfig_sensorSpecific(
    const mrpt::config::CConfigFileBase& cfg, const std::string& sect)
{
    // std::vector<TaskDescription>  task_definitions;
    task_definitions.clear();

    const unsigned int nTasks = cfg.read_uint64_t(sect, "num_tasks", 0, true);
    if (!nTasks)
    {
        std::cerr << "[CNationalInstrumentsDAQ] Warning: Number of tasks is "
                     "zero. No datalogging will be done.\n";
    }

    task_definitions.resize(nTasks);
    for (unsigned int i = 0; i < nTasks; i++)
    {
        TaskDescription& t = task_definitions[i];
        const string sTask = mrpt::format("task%u", i);

        // Read general settings for this task:
        // ---------------------------------------
        const string sChanns =
            cfg.read_string(sect, sTask + string(".channels"), "", true);
        vector<string> lstStrChanns;
        mrpt::system::tokenize(sChanns, " \t,", lstStrChanns);
        if (lstStrChanns.empty())
            THROW_EXCEPTION_FMT("List of channels for task %u is empty!", i)

        MY_LOAD_HERE_CONFIG_VAR(
            sTask + string(".samplesPerSecond"), double, t.samplesPerSecond,
            cfg, sect)
        MY_LOAD_HERE_CONFIG_VAR(
            sTask + string(".samplesPerChannelToRead"), double,
            t.samplesPerChannelToRead, cfg, sect)
        MY_LOAD_HERE_CONFIG_VAR(
            sTask + string(".sampleClkSource"), string, t.sampleClkSource, cfg,
            sect)
        MY_LOAD_HERE_CONFIG_VAR(
            sTask + string(".bufferSamplesPerChannel"), double,
            t.bufferSamplesPerChannel, cfg, sect)
        t.taskLabel =
            cfg.read_string(sect, sTask + string(".taskLabel"), sTask, false);

        for (size_t j = 0; j < lstStrChanns.size(); j++)
        {
            if (strCmpI(lstStrChanns[j], "ai"))
            {
                t.has_ai = true;
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ai.physicalChannel"), string,
                    t.ai.physicalChannel, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ai.physicalChannelCount"), uint64_t,
                    t.ai.physicalChannelCount, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ai.terminalConfig"), string,
                    t.ai.terminalConfig, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ai.minVal"), double, t.ai.minVal, cfg,
                    sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ai.maxVal"), double, t.ai.maxVal, cfg,
                    sect)
            }
            else if (strCmpI(lstStrChanns[j], "ao"))
            {
                t.has_ao = true;
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ao.physicalChannel"), string,
                    t.ao.physicalChannel, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ao.physicalChannelCount"), uint64_t,
                    t.ao.physicalChannelCount, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ao.minVal"), double, t.ao.minVal, cfg,
                    sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ao.maxVal"), double, t.ao.maxVal, cfg,
                    sect)
            }
            else if (strCmpI(lstStrChanns[j], "di"))
            {
                t.has_di = true;
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".di.line"), string, t.di.line, cfg, sect)
            }
            else if (strCmpI(lstStrChanns[j], "do"))
            {
                t.has_do = true;
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".do.line"), string, t.douts.line, cfg, sect)
            }
            else if (strCmpI(lstStrChanns[j], "ci_period"))
            {
                t.has_ci_period = true;
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_period.counter"), string,
                    t.ci_period.counter, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_period.minVal"), double,
                    t.ci_period.minVal, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_period.maxVal"), double,
                    t.ci_period.maxVal, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_period.units"), string,
                    t.ci_period.units, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_period.edge"), string, t.ci_period.edge,
                    cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR(
                    sTask + string(".ci_period.measTime"), double,
                    t.ci_period.measTime, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR(
                    sTask + string(".ci_period.divisor"), int,
                    t.ci_period.divisor, cfg, sect)
            }
            else if (strCmpI(lstStrChanns[j], "ci_count_edges"))
            {
                t.has_ci_count_edges = true;
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_count_edges.counter"), string,
                    t.ci_count_edges.counter, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_count_edges.edge"), string,
                    t.ci_count_edges.edge, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR(
                    sTask + string(".ci_count_edges.initialCount"), int,
                    t.ci_count_edges.initialCount, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR(
                    sTask + string(".ci_count_edges.countDirection"), string,
                    t.ci_count_edges.countDirection, cfg, sect)
            }
            else if (strCmpI(lstStrChanns[j], "ci_pulse_width"))
            {
                t.has_ci_pulse_width = true;
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_pulse_width.counter"), string,
                    t.ci_pulse_width.counter, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_pulse_width.minVal"), double,
                    t.ci_pulse_width.minVal, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_pulse_width.maxVal"), double,
                    t.ci_pulse_width.maxVal, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_pulse_width.units"), string,
                    t.ci_pulse_width.units, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_pulse_width.startingEdge"), string,
                    t.ci_pulse_width.startingEdge, cfg, sect)
            }
            else if (strCmpI(lstStrChanns[j], "ci_lin_encoder"))
            {
                t.has_ci_lin_encoder = true;
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_lin_encoder.counter"), string,
                    t.ci_lin_encoder.counter, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_lin_encoder.decodingType"), string,
                    t.ci_lin_encoder.decodingType, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_lin_encoder.ZidxEnable"), bool,
                    t.ci_lin_encoder.ZidxEnable, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_lin_encoder.ZidxVal"), double,
                    t.ci_lin_encoder.ZidxVal, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_lin_encoder.ZidxPhase"), string,
                    t.ci_lin_encoder.ZidxPhase, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_lin_encoder.units"), string,
                    t.ci_lin_encoder.units, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_lin_encoder.distPerPulse"), double,
                    t.ci_lin_encoder.distPerPulse, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_lin_encoder.initialPos"), double,
                    t.ci_lin_encoder.initialPos, cfg, sect)
            }
            else if (strCmpI(lstStrChanns[j], "ci_ang_encoder"))
            {
                t.has_ci_ang_encoder = true;
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_ang_encoder.counter"), string,
                    t.ci_ang_encoder.counter, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_ang_encoder.decodingType"), string,
                    t.ci_ang_encoder.decodingType, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_ang_encoder.ZidxEnable"), bool,
                    t.ci_ang_encoder.ZidxEnable, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_ang_encoder.ZidxVal"), double,
                    t.ci_ang_encoder.ZidxVal, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_ang_encoder.ZidxPhase"), string,
                    t.ci_ang_encoder.ZidxPhase, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_ang_encoder.units"), string,
                    t.ci_ang_encoder.units, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_ang_encoder.pulsesPerRev"), int,
                    t.ci_ang_encoder.pulsesPerRev, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".ci_ang_encoder.initialAngle"), double,
                    t.ci_ang_encoder.initialAngle, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR(
                    sTask + string(".ci_ang_encoder.decimate"), int,
                    t.ci_ang_encoder.decimate, cfg, sect)
            }
            else if (strCmpI(lstStrChanns[j], "co_pulses"))
            {
                t.has_co_pulses = true;
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".co_pulses.counter"), string,
                    t.co_pulses.counter, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR(
                    sTask + string(".co_pulses.idleState"), string,
                    t.co_pulses.idleState, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".co_pulses.initialDelay"), double,
                    t.co_pulses.initialDelay, cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".co_pulses.freq"), double, t.co_pulses.freq,
                    cfg, sect)
                MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(
                    sTask + string(".co_pulses.dutyCycle"), double,
                    t.co_pulses.dutyCycle, cfg, sect)
            }
            else
            {
                THROW_EXCEPTION_FMT(
                    "Unknown channel type '%s'! See the docs of "
                    "CNationalInstrumentsDAQ",
                    lstStrChanns[j].c_str())
            }
        }  // end for each "k" channel in channel "i"
    }  // end for "i", each task
}

/* -----------------------------------------------------
                Destructor
   ----------------------------------------------------- */
CNationalInstrumentsDAQ::~CNationalInstrumentsDAQ() { this->stop(); }
#if MRPT_HAS_SOME_NIDAQMX
// Declare a table to convert strings to their DAQmx #define values:
struct daqmx_str_val
{
    const char* str;
    int val;
};

const daqmx_str_val daqmx_vals[] = {
    {"DAQmx_Val_Cfg_Default", DAQmx_Val_Cfg_Default},
    {"DAQmx_Val_RSE", DAQmx_Val_RSE},
    {"DAQmx_Val_NRSE", DAQmx_Val_NRSE},
    {"DAQmx_Val_Diff", DAQmx_Val_Diff},
    {"DAQmx_Val_Seconds", DAQmx_Val_Seconds},
    {"DAQmx_Val_Rising", DAQmx_Val_Rising},
    {"DAQmx_Val_Falling", DAQmx_Val_Falling},
    {"DAQmx_Val_CountUp", DAQmx_Val_CountUp},
    {"DAQmx_Val_CountDown", DAQmx_Val_CountDown},
    {"DAQmx_Val_ExtControlled", DAQmx_Val_ExtControlled},
    {"DAQmx_Val_AHighBHigh", DAQmx_Val_AHighBHigh},
    {"DAQmx_Val_AHighBLow", DAQmx_Val_AHighBLow},
    {"DAQmx_Val_ALowBHigh", DAQmx_Val_ALowBHigh},
    {"DAQmx_Val_ALowBLow", DAQmx_Val_ALowBLow},
    {"DAQmx_Val_X1", DAQmx_Val_X1},
    {"DAQmx_Val_X2", DAQmx_Val_X2},
    {"DAQmx_Val_X4", DAQmx_Val_X4},
    {"DAQmx_Val_Meters", DAQmx_Val_Meters},
    {"DAQmx_Val_Inches", DAQmx_Val_Inches},
    {"DAQmx_Val_Ticks", DAQmx_Val_Ticks},
    {"DAQmx_Val_Degrees", DAQmx_Val_Degrees},
    {"DAQmx_Val_Radians", DAQmx_Val_Radians},
    {"DAQmx_Val_High", DAQmx_Val_High},
    {"DAQmx_Val_Low", DAQmx_Val_Low}};

int daqmx_defstr2num(const std::string& str)
{
    const std::string s = mrpt::system::trim(str);

    for (unsigned int i = 0; i < sizeof(daqmx_vals) / sizeof(daqmx_vals[0]);
         i++)
    {
        if (strCmpI(daqmx_vals[i].str, s.c_str())) return daqmx_vals[i].val;
    }
    THROW_EXCEPTION_FMT("Error: Unknown DAQmx constant: %s", s.c_str())
}
#endif

/* -----------------------------------------------------
                initialize
----------------------------------------------------- */
void CNationalInstrumentsDAQ::initialize()
{
#if MRPT_HAS_SOME_NIDAQMX
    this->stop();

    for (size_t i = 0; i < task_definitions.size(); i++)
    {
        const TaskDescription& tf = task_definitions[i];

        // Try to create a new task:
        m_running_tasks.push_back(TInfoPerTask());
        TInfoPerTask& ipt = m_running_tasks.back();
        ipt.task = tf;  // Save a copy of the task info for the thread to have
        // all the needed info

        try
        {
            TaskHandle& taskHandle =
                *reinterpret_cast<TaskHandle*>(&ipt.taskHandle);

            MRPT_DAQmx_ErrChk(MRPT_DAQmxCreateTask("", &taskHandle));

            if (tf.has_ai)
            {
                ASSERTMSG_(
                    tf.ai.physicalChannelCount > 0,
                    "ai.physicalChannelCount is zero! Please, define it "
                    "correctly.")

                MRPT_DAQmx_ErrChk(
                    MRPT_DAQmxCreateAIVoltageChan(
                        taskHandle, tf.ai.physicalChannel.c_str(), nullptr,
                        daqmx_defstr2num(tf.ai.terminalConfig), tf.ai.minVal,
                        tf.ai.maxVal, DAQmx_Val_Volts, nullptr));
            }
            if (tf.has_ao)
            {
                ASSERTMSG_(
                    tf.ao.physicalChannelCount > 0,
                    "ai.physicalChannelCount is zero! Please, define it "
                    "correctly.")

                MRPT_DAQmx_ErrChk(
                    MRPT_DAQmxCreateAOVoltageChan(
                        taskHandle, tf.ao.physicalChannel.c_str(), nullptr,
                        tf.ao.minVal, tf.ao.maxVal, DAQmx_Val_Volts, nullptr));
            }
            if (tf.has_di)
            {
                MRPT_DAQmx_ErrChk(
                    MRPT_DAQmxCreateDIChan(
                        taskHandle, tf.di.line.c_str(), nullptr,
                        DAQmx_Val_ChanPerLine));
            }
            if (tf.has_do)
            {
                MRPT_DAQmx_ErrChk(
                    MRPT_DAQmxCreateDOChan(
                        taskHandle, tf.douts.line.c_str(), nullptr,
                        DAQmx_Val_ChanPerLine));
            }
            if (tf.has_ci_period)
            {
                MRPT_DAQmx_ErrChk(
                    MRPT_DAQmxCreateCIPeriodChan(
                        taskHandle, tf.ci_period.counter.c_str(), nullptr,
                        tf.ci_period.minVal, tf.ci_period.maxVal,
                        daqmx_defstr2num(tf.ci_period.units),
                        daqmx_defstr2num(tf.ci_period.edge),
                        DAQmx_Val_LowFreq1Ctr, tf.ci_period.measTime,
                        tf.ci_period.divisor, nullptr));
            }
            if (tf.has_ci_count_edges)
            {
                MRPT_DAQmx_ErrChk(
                    MRPT_DAQmxCreateCICountEdgesChan(
                        taskHandle, tf.ci_count_edges.counter.c_str(), nullptr,
                        daqmx_defstr2num(tf.ci_count_edges.edge),
                        tf.ci_count_edges.initialCount,
                        daqmx_defstr2num(tf.ci_count_edges.countDirection)));
            }
            if (tf.has_ci_pulse_width)
            {
                MRPT_DAQmx_ErrChk(
                    MRPT_DAQmxCreateCIPulseWidthChan(
                        taskHandle, tf.ci_pulse_width.counter.c_str(), nullptr,
                        tf.ci_pulse_width.minVal, tf.ci_pulse_width.maxVal,
                        daqmx_defstr2num(tf.ci_pulse_width.units),
                        daqmx_defstr2num(tf.ci_pulse_width.startingEdge),
                        nullptr));
            }
            if (tf.has_ci_lin_encoder)
            {
                MRPT_DAQmx_ErrChk(
                    MRPT_DAQmxCreateCILinEncoderChan(
                        taskHandle, tf.ci_lin_encoder.counter.c_str(), nullptr,
                        daqmx_defstr2num(tf.ci_lin_encoder.decodingType),
                        tf.ci_lin_encoder.ZidxEnable, tf.ci_lin_encoder.ZidxVal,
                        daqmx_defstr2num(tf.ci_lin_encoder.ZidxPhase),
                        daqmx_defstr2num(tf.ci_lin_encoder.units),
                        tf.ci_lin_encoder.distPerPulse,
                        tf.ci_lin_encoder.initialPos, nullptr));
            }
            if (tf.has_ci_ang_encoder)
            {
                MRPT_DAQmx_ErrChk(
                    MRPT_DAQmxCreateCIAngEncoderChan(
                        taskHandle, tf.ci_ang_encoder.counter.c_str(), nullptr,
                        daqmx_defstr2num(tf.ci_ang_encoder.decodingType),
                        tf.ci_ang_encoder.ZidxEnable, tf.ci_ang_encoder.ZidxVal,
                        daqmx_defstr2num(tf.ci_ang_encoder.ZidxPhase),
                        daqmx_defstr2num(tf.ci_ang_encoder.units),
                        tf.ci_ang_encoder.pulsesPerRev,
                        tf.ci_ang_encoder.initialAngle, nullptr));
            }
            if (tf.has_co_pulses)
            {
                MRPT_DAQmx_ErrChk(
                    MRPT_DAQmxCreateCOPulseChanFreq(
                        taskHandle, tf.co_pulses.counter.c_str(), nullptr,
                        DAQmx_Val_Hz, daqmx_defstr2num(tf.co_pulses.idleState),
                        tf.co_pulses.initialDelay, tf.co_pulses.freq,
                        tf.co_pulses.dutyCycle));
            }

            // Seems to be needed to avoid an errors avoid like:
            // " Onboard device memory overflow. Because of system and/or
            // bus-bandwidth limitations, the driver could not read data from
            // the device fast enough to keep up with the device throughput."
            if (tf.has_ai || tf.has_di || tf.has_ci_period ||
                tf.has_ci_count_edges || tf.has_ci_pulse_width ||
                tf.has_ci_lin_encoder || tf.has_ci_ang_encoder)
            {
                // sample rate:
                ASSERT_ABOVE_(tf.samplesPerSecond, 0)
                MRPT_DAQmx_ErrChk(
                    MRPT_DAQmxCfgSampClkTiming(
                        taskHandle, tf.sampleClkSource.c_str(),
                        tf.samplesPerSecond, DAQmx_Val_Rising,
                        DAQmx_Val_ContSamps, tf.samplesPerChannelToRead));

                MRPT_DAQmx_ErrChk(
                    MRPT_DAQmxCfgInputBuffer(
                        taskHandle, tf.bufferSamplesPerChannel));
            }

            if (tf.has_ao)
            {
                // Nothing to do as long as we only need "on demand" outputs.
                //  MRPT_DAQmx_ErrChk (MRPT_DAQmxCfgOutputBuffer(taskHandle,2
                ///*tf.bufferSamplesPerChannel*/ ));
                //  // Output buffer MUST have some data before starting the
                // task: write 0s:
                //  vector<double> d;
                //  d.assign(tf.ao.physicalChannelCount*2, 0.0);
                //  this->writeAnalogOutputTask(i,1 /* samples per channel */,
                //&d[0], 0.10 /*timeout*/, false);
            }

            // Create pipe:
            mrpt::synch::CPipe::createPipe(ipt.read_pipe, ipt.write_pipe);

            // Add a large timeout, just in case the writing thread dies
            // unexpectedly so the reader doesn't hang on:
            ipt.read_pipe->timeout_read_start_us = 100000;  // 100ms
            ipt.read_pipe->timeout_read_between_us = 100000;  // 100ms

            MRPT_DAQmx_ErrChk(MRPT_DAQmxStartTask(taskHandle));

            ipt.hThread = std::thread(
                &CNationalInstrumentsDAQ::grabbing_thread, this, ipt);
        }
        catch (std::exception const& e)
        {
            std::cerr << "[CNationalInstrumentsDAQ] Error:" << std::endl
                      << e.what() << std::endl;
            if (ipt.taskHandle != nullptr)
            {
                TaskHandle& taskHandle =
                    *reinterpret_cast<TaskHandle*>(&ipt.taskHandle);
                MRPT_DAQmxStopTask(taskHandle);
                MRPT_DAQmxClearTask(taskHandle);
            }

            // Stop thread:
            if (ipt.hThread.joinable())
            {
                ipt.must_close = true;
                cerr << "[CNationalInstrumentsDAQ::initialize] Waiting for the "
                        "grabbing thread to end due to exception...\n";
                ipt.hThread.join();
                cerr << "[CNationalInstrumentsDAQ::initialize] Grabbing thread "
                        "ended.\n";
            }

            // Remove from list:
            m_running_tasks.erase(--m_running_tasks.end());

            std::cerr << "[CNationalInstrumentsDAQ] Error while creating "
                         "tasks. Closing other tasks before returning...\n";
            this->stop();
            std::cerr << "[CNationalInstrumentsDAQ] Closing tasks done.\n";

            throw;  // Rethrow
        }
    }  // end for each task_definitions[i]

#else
    THROW_EXCEPTION("MRPT was compiled without support for NI DAQmx!!");
#endif
}

/** Stop the grabbing threads for DAQ tasks. It is automatically called at
 * destruction. */
void CNationalInstrumentsDAQ::stop()
{
    // Stop all threads:
    for (list<TInfoPerTask>::iterator it = m_running_tasks.begin();
         it != m_running_tasks.end(); ++it)
    {
        it->must_close = true;
    }
    if (m_verbose)
        cout << "[CNationalInstrumentsDAQ::stop] Waiting for grabbing threads "
                "to end...\n";
    for (list<TInfoPerTask>::iterator it = m_running_tasks.begin();
         it != m_running_tasks.end(); ++it)
    {
        // For some reason, join doesn't work...
        if (it->hThread.joinable()) it->hThread.join();
        // Polling:
        // for (size_t tim=0;tim<250 && !it->is_closed;tim++) {
        // std::this_thread::sleep_for(1ms); }
        // it->hThread.clear();
    }
    if (m_verbose)
        cout << "[CNationalInstrumentsDAQ::stop] All threads ended.\n";

// Stop all NI tasks:
#if MRPT_HAS_SOME_NIDAQMX
    for (list<TInfoPerTask>::iterator it = m_running_tasks.begin();
         it != m_running_tasks.end(); ++it)
    {
        TaskHandle& taskHandle =
            *reinterpret_cast<TaskHandle*>(&it->taskHandle);

        MRPT_DAQmxStopTask(taskHandle);
        MRPT_DAQmxClearTask(taskHandle);
        taskHandle = nullptr;
    }
#endif
}

/** Returns true if initialize() was called successfully. */
bool CNationalInstrumentsDAQ::checkDAQIsWorking() const
{
    return (!m_running_tasks.empty() && !m_running_tasks.begin()->is_closed);
}

/*-------------------------------------------------------------
                        readFromDAQ
-------------------------------------------------------------*/
void CNationalInstrumentsDAQ::readFromDAQ(
    std::vector<mrpt::obs::CObservationRawDAQ::Ptr>& outObservations,
    bool& hardwareError)
{
    hardwareError = false;
    outObservations.clear();

    if (!checkDAQIsWorking())
    {
        hardwareError = true;
        return;
    }

    // Read from the pipe:
    m_state = ssWorking;

    for (list<TInfoPerTask>::iterator it = m_running_tasks.begin();
         it != m_running_tasks.end(); ++it)
    {
        CObservationRawDAQ tmp_obs;
        try
        {
            if (it->new_obs_available != 0)
            {
                auto arch = mrpt::serialization::archiveFrom(*it->read_pipe);
                arch.ReadObject(&tmp_obs);
                --(it->new_obs_available);

                // Yes, valid block of samples was adquired:
                outObservations.push_back(
                    CObservationRawDAQ::Ptr(new CObservationRawDAQ(tmp_obs)));
            }
        }
        catch (...)
        {
            // Timeout...
        }
    }
}

/* -----------------------------------------------------
                doProcess
----------------------------------------------------- */
void CNationalInstrumentsDAQ::doProcess()
{
    bool hwError;
    readFromDAQ(m_nextObservations, hwError);

    if (hwError)
    {
        m_state = ssError;
        THROW_EXCEPTION("Couldn't start DAQ task!");
    }

    if (!m_nextObservations.empty())
    {
        m_state = ssWorking;

        std::vector<mrpt::serialization::CSerializable::Ptr> new_obs;
        new_obs.resize(m_nextObservations.size());

        for (size_t i = 0; i < m_nextObservations.size(); i++)
            new_obs[i] = m_nextObservations[i];

        appendObservations(new_obs);
    }
}

/* -----------------------------------------------------
                grabbing_thread
----------------------------------------------------- */
void CNationalInstrumentsDAQ::grabbing_thread(TInfoPerTask& ipt)
{
#if MRPT_HAS_SOME_NIDAQMX
    try
    {
        TaskHandle& taskHandle =
            *reinterpret_cast<TaskHandle*>(&ipt.taskHandle);
        if (m_verbose)
            cout << "[CNationalInstrumentsDAQ::grabbing_thread] Starting "
                    "thread for task "
                 << ipt.taskHandle << "\n";

        MRPT_TODO("Add write timeout")
        // ipt.write_pipe->timeout_read_between_us

        const float timeout =
            10 * ipt.task.samplesPerChannelToRead / ipt.task.samplesPerSecond;

        int err = 0;
        vector<double> dBuf;
        vector<uint8_t> u8Buf;

        const mrpt::obs::CObservationRawDAQ clean_obs;
        mrpt::obs::CObservationRawDAQ obs;

        while (!ipt.must_close)
        {
            obs = clean_obs;  // Start with an empty observation

            // Common stuff:
            obs.timestamp = mrpt::system::now();
            obs.sample_rate = ipt.task.samplesPerSecond;
            obs.sensorLabel = m_sensorLabel + string(".") + ipt.task.taskLabel;

            bool there_are_data = false;  // At least one channel?

            // Read from each channel in this task:
            // -----------------------------------------------
            if (ipt.task.has_ai)
            {
                obs.AIN_channel_count = ipt.task.ai.physicalChannelCount;
                obs.AIN_interleaved = true;

                const uint32_t totalSamplesToRead =
                    ipt.task.ai.physicalChannelCount *
                    ipt.task.samplesPerChannelToRead;
                dBuf.resize(totalSamplesToRead);
                int32 pointsReadPerChan = -1;
                if ((err = MRPT_DAQmxReadAnalogF64(
                         taskHandle, ipt.task.samplesPerChannelToRead, timeout,
                         obs.AIN_interleaved ? DAQmx_Val_GroupByScanNumber
                                             : DAQmx_Val_GroupByChannel,
                         &dBuf[0], dBuf.size(), &pointsReadPerChan, nullptr)) <
                        0 &&
                    err != DAQmxErrorSamplesNotYetAvailable)
                {
                    MRPT_DAQmx_ErrChk(err)
                }
                else if (pointsReadPerChan > 0)
                {
                    ASSERT_EQUAL_(
                        totalSamplesToRead,
                        pointsReadPerChan * ipt.task.ai.physicalChannelCount)
                    obs.AIN_double = dBuf;
                    there_are_data = true;
                    if (m_verbose)
                        cout << "[CNationalInstrumentsDAQ::grabbing_thread] "
                             << pointsReadPerChan << " analog samples read.\n";
                }
            }  // end AI
            if (ipt.task.has_di)
            {
                const uint32_t totalSamplesToRead =
                    1 * ipt.task.samplesPerChannelToRead;
                u8Buf.resize(totalSamplesToRead);

                int32 pointsReadPerChan = -1;
                if ((err = MRPT_DAQmxReadDigitalU8(
                         taskHandle, ipt.task.samplesPerChannelToRead, timeout,
                         DAQmx_Val_GroupByChannel, &u8Buf[0], u8Buf.size(),
                         &pointsReadPerChan, nullptr)) < 0 &&
                    err != DAQmxErrorSamplesNotYetAvailable)
                {
                    MRPT_DAQmx_ErrChk(err)
                }
                else if (pointsReadPerChan > 0)
                {
                    ASSERT_EQUAL_(
                        totalSamplesToRead,
                        pointsReadPerChan * ipt.task.ai.physicalChannelCount)
                    obs.DIN = u8Buf;
                    there_are_data = true;
                    if (m_verbose)
                        cout << "[CNationalInstrumentsDAQ::grabbing_thread] "
                             << pointsReadPerChan << " digital samples read.\n";
                }
            }  // end DI
            if (ipt.task.has_ci_ang_encoder || ipt.task.has_ci_lin_encoder)
            {
                const int32 totalSamplesToRead =
                    ipt.task.samplesPerChannelToRead;
                dBuf.resize(totalSamplesToRead);
                int32 pointsReadPerChan = -1;
                if ((err = MRPT_DAQmxReadCounterF64(
                         taskHandle, totalSamplesToRead, timeout, &dBuf[0],
                         dBuf.size(), &pointsReadPerChan, nullptr)) < 0 &&
                    err != DAQmxErrorSamplesNotYetAvailable)
                {
                    MRPT_DAQmx_ErrChk(err)
                }
                else if (pointsReadPerChan > 0)
                {
                    ASSERT_EQUAL_(totalSamplesToRead, pointsReadPerChan);
                    // Decimate?
                    if (++ipt.task.ci_ang_encoder.decimate_cnt >=
                        ipt.task.ci_ang_encoder.decimate)
                    {
                        ipt.task.ci_ang_encoder.decimate_cnt = 0;

                        obs.CNTRIN_double = dBuf;
                        there_are_data = true;
                        if (m_verbose && !obs.CNTRIN_double.empty())
                        {
                            static int decim = 0;
                            if (!decim)
                                cout << "[CNationalInstrumentsDAQ::grabbing_"
                                        "thread] "
                                     << pointsReadPerChan
                                     << " counter samples read ([0]="
                                     << obs.CNTRIN_double[0] << ").\n";
                            if (++decim > 100) decim = 0;
                        }
                    }
                }
            }  // end COUNTERS

            // Send the observation to the main thread:
            if (there_are_data)
            {
                ++(ipt.new_obs_available);
                ipt.write_pipe->WriteObject(&obs);
                // std::this_thread::sleep_for(1ms); // This seems to be needed
                // to allow all objs to be sent to the recv thread
            }
            else
            {
                std::this_thread::sleep_for(1ms);
            }

        }  // end of main thread loop
    }
    catch (std::exception& e)
    {
        std::cerr << "[CNationalInstrumentsDAQ::grabbing_thread] Exception:\n"
                  << e.what() << std::endl;
    }
#endif  // MRPT_HAS_SOME_NIDAQMX

    ipt.is_closed = true;
}

void CNationalInstrumentsDAQ::writeAnalogOutputTask(
    size_t task_index, size_t nSamplesPerChannel, const double* volt_values,
    double timeout, bool groupedByChannel)
{
#if MRPT_HAS_SOME_NIDAQMX
    ASSERT_(task_index < m_running_tasks.size());
    std::list<TInfoPerTask>::iterator it = m_running_tasks.begin();
    std::advance(it, task_index);
    TInfoPerTask& ipt = *it;
    TaskHandle& taskHandle = *reinterpret_cast<TaskHandle*>(&ipt.taskHandle);

    int32 samplesWritten = 0;
    int err = 0;
    if (err = MRPT_DAQmxWriteAnalogF64(
            taskHandle, nSamplesPerChannel, FALSE, timeout,
            groupedByChannel ? DAQmx_Val_GroupByChannel
                             : DAQmx_Val_GroupByScanNumber,
            const_cast<float64*>(volt_values), &samplesWritten, nullptr))
    {
        MRPT_DAQmx_ErrChk(err)
    }
#else
    MRPT_UNUSED_PARAM(task_index);
    MRPT_UNUSED_PARAM(nSamplesPerChannel);
    MRPT_UNUSED_PARAM(volt_values);
    MRPT_UNUSED_PARAM(timeout);
    MRPT_UNUSED_PARAM(groupedByChannel);
#endif
}

void CNationalInstrumentsDAQ::writeDigitalOutputTask(
    size_t task_index, bool line_value, double timeout)
{
#if MRPT_HAS_SOME_NIDAQMX
    ASSERT_(task_index < m_running_tasks.size());
    std::list<TInfoPerTask>::iterator it = m_running_tasks.begin();
    std::advance(it, task_index);
    TInfoPerTask& ipt = *it;
    TaskHandle& taskHandle = *reinterpret_cast<TaskHandle*>(&ipt.taskHandle);

    uInt8 dat = line_value ? 1 : 0;

    int32 samplesWritten = 0;
    int32 nSamplesPerChannel = 1;
    int err = 0;
    if (err = MRPT_DAQmxWriteDigitalLines(
            taskHandle, nSamplesPerChannel, FALSE, timeout,
            DAQmx_Val_GroupByScanNumber, &dat, &samplesWritten, nullptr))
    {
        MRPT_DAQmx_ErrChk(err)
    }

#else
    MRPT_UNUSED_PARAM(task_index);
    MRPT_UNUSED_PARAM(line_value);
    MRPT_UNUSED_PARAM(timeout);
#endif
}

// Ctor:
CNationalInstrumentsDAQ::TaskDescription::TaskDescription()
    : has_ai(false),
      has_ao(false),
      has_di(false),
      has_do(false),
      has_ci_period(false),
      has_ci_count_edges(false),
      has_ci_pulse_width(false),
      has_ci_lin_encoder(false),
      has_ci_ang_encoder(false),
      has_co_pulses(false),
      samplesPerSecond(1000.0),
      bufferSamplesPerChannel(200000),
      samplesPerChannelToRead(1000)
{
}