CNationalInstrumentsDAQ.h

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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 |
   +------------------------------------------------------------------------+ */

#ifndef CNationalInstrumentsDAQ_H
#define CNationalInstrumentsDAQ_H

#include <mrpt/obs/CObservationRawDAQ.h>
#include <mrpt/system/COutputLogger.h>
#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/io/CPipe.h>

#include <list>
#include <memory>
#include <thread>
#include <atomic>

namespace mrpt::hwdrivers
{
/** 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).
*
*  \code
*  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.
*  \endcode
*
* See also:
*  - [MRPT]/samples/NIDAQ_test
*  - Sample .ini files for rawlog-grabber in
* [MRPT]/share/mrpt/config_files/rawlog-grabber/
*  - NI DAQmx C reference:
* http://others-help.mrpt.org/ni-daqmx_c_reference_help/
*  - NI DAQmx Base 3.x C reference:
* http://others-help.mrpt.org/ni-daqmx_base_3.x_c_function_reference/
*
* DAQmx Base Installation
* ------------------------
* Go to http://ni.com and download the "DAQmx Base" package for your OS. Install
* following NI's instructions.
* As of 2013, the latest version is 3.7.
*
* \note This class requires compiling MRPT with support for "NI DAQmx" or "NI
* DAQmx Base". While compiling MRPT,
*        check the "MRPT_HAS_NI_DAQmx"/"MRPT_HAS_NI_DAQmxBASE" option and
* correctly set the new variables to
*        the library include directory and library file.
*
* \note As of 2013, NI seems not to support compiling 64bit programs, so you can
* must build MRPT for 32bits if you need this class.
*
* \ingroup mrpt_hwdrivers_grp
*/
class CNationalInstrumentsDAQ : public mrpt::system::COutputLogger,
                                public CGenericSensor
{
    DEFINE_GENERIC_SENSOR(CNationalInstrumentsDAQ)
   public:
    /** Constructor */
    CNationalInstrumentsDAQ();

    /** Destructor */
    virtual ~CNationalInstrumentsDAQ();

    /** Setup and launch the DAQ tasks, in parallel threads.
      * Access to grabbed data with CNationalInstrumentsDAQ::readFromDAQ() or
     * the standard CGenericSensor::doProcess() */
    virtual void initialize();

    /** Stop the grabbing threads for DAQ tasks. It is automatically called at
     * destruction. */
    void stop();

    // See docs in parent class
    void doProcess();

    /** 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.
      */
    void readFromDAQ(
        std::vector<mrpt::obs::CObservationRawDAQ::Ptr>& outObservations,
        bool& hardwareError);

    /** 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 \a volt_values must match the number of
     * channels in the task when it was initiated.
      */
    void writeAnalogOutputTask(
        size_t task_index, size_t nSamplesPerChannel, const double* volt_values,
        double timeout, bool groupedByChannel);

    /** 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 \a volt_values must match the number of
     * channels in the task when it was initiated.
      */
    void writeDigitalOutputTask(
        size_t task_index, bool line_value, double timeout);

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

    /** Each of the tasks to create in CNationalInstrumentsDAQ::initialize().
      * Refer to the docs on config file formats of
     * mrpt::hwdrivers::CNationalInstrumentsDAQ to learn on the meaning
      * of each field. Also, see National Instruments' DAQmx API docs online.
      */
    struct TaskDescription
    {
        TaskDescription();

        bool has_ai, has_ao, has_di, has_do;
        bool has_ci_period, has_ci_count_edges, has_ci_pulse_width,
            has_ci_lin_encoder, has_ci_ang_encoder, has_co_pulses;

        /** Sample clock config: samples per second. Continuous (infinite)
         * sampling is assumed. */
        double samplesPerSecond;
        /** Sample clock source: may be empty (default value) for some channels.
         */
        std::string sampleClkSource;
        /** (Default=0) From NI's docs: The number of samples the buffer can
         * hold for each channel in the task. Zero indicates no buffer should be
         * allocated. Use a buffer size of 0 to perform a hardware-timed
         * operation without using a buffer. */
        uint32_t bufferSamplesPerChannel;
        /** (Default=1000) The number of samples to grab at once from each
         * channel. */
        uint32_t samplesPerChannelToRead;
        /** (Default="task###") */
        std::string taskLabel;

        struct desc_ai_t
        {
            desc_ai_t()
                : terminalConfig("DAQmx_Val_NRSE"),
                  minVal(-10),
                  maxVal(10),
                  physicalChannelCount(0)
            {
            }

            std::string physicalChannel, terminalConfig;
            double minVal, maxVal;
            /** *IMPORTANT* This must be the total number of channels listed in
             * "physicalChannel" (e.g. 4 for "Dev1/ai0:3") */
            unsigned int physicalChannelCount;
        }
        /** Analog inputs */
        ai;

        struct desc_ao_t
        {
            desc_ao_t() : physicalChannelCount(0), minVal(-10), maxVal(10) {}
            std::string physicalChannel;
            /** *IMPORTANT* This must be the total number of channels listed in
             * "physicalChannel" (e.g. 1 for "Dev1/ao0") */
            unsigned int physicalChannelCount;
            double minVal, maxVal;
        }
        /** Analog outputs */
        ao;

        struct desc_di_t
        {
            /** The digital line (for example "Dev1/port0/line1") */
            std::string line;
        }
        /** Digital inputs (di) */
        di;

        struct desc_do_t
        {
            /** The digital line (for example "Dev1/port0/line1") */
            std::string line;
        }
        /** Digital outs (do) */
        douts;

        struct desc_ci_period_t
        {
            desc_ci_period_t() : minVal(0), maxVal(0), measTime(0), divisor(1)
            {
            }

            std::string counter, units, edge;
            double minVal, maxVal;
            double measTime;
            int divisor;
        }
        /** Counter: period of a digital signal */
        ci_period;

        struct desc_ci_count_edges_t
        {
            desc_ci_count_edges_t()
                : countDirection("DAQmx_Val_CountUp"), initialCount(0)
            {
            }

            std::string counter, edge, countDirection;
            int initialCount;
        }
        /** Counter: period of a digital signal */
        ci_count_edges;

        struct desc_ci_pulse_width_t
        {
            desc_ci_pulse_width_t() : minVal(0), maxVal(0) {}
            std::string counter, units, startingEdge;
            double minVal, maxVal;
        }
        /** Counter: measure the width of a digital pulse */
        ci_pulse_width;

        struct desc_ci_lin_encoder_t
        {
            desc_ci_lin_encoder_t()
                : ZidxEnable(false),
                  ZidxVal(0),
                  distPerPulse(0.1),
                  initialPos(0)
            {
            }

            std::string counter, decodingType, ZidxPhase, units;
            bool ZidxEnable;
            double ZidxVal;
            double distPerPulse;
            double initialPos;
        }
        /** Counter: uses a linear encoder to measure linear position */
        ci_lin_encoder;

        struct desc_ci_ang_encoder_t
        {
            desc_ci_ang_encoder_t()
                : ZidxEnable(false),
                  ZidxVal(0),
                  pulsesPerRev(512),
                  initialAngle(0),
                  decimate(1),
                  decimate_cnt(0)
            {
            }

            std::string counter, decodingType, ZidxPhase, units;
            bool ZidxEnable;
            double ZidxVal;
            int pulsesPerRev;
            double initialAngle;
            int decimate, decimate_cnt;
        }
        /** Counter: uses an angular encoder to measure angular position */
        ci_ang_encoder;

        struct desc_co_pulses_t
        {
            desc_co_pulses_t()
                : idleState("DAQmx_Val_Low"),
                  initialDelay(0),
                  freq(1000),
                  dutyCycle(0.5)
            {
            }

            std::string counter, idleState;
            double initialDelay, freq, dutyCycle;
        }
        /** Output counter: digital pulses output */
        co_pulses;

    };  // end of TaskDescription

    /** Publicly accessible vector with the list of tasks to be launched upon
     * call to CNationalInstrumentsDAQ::initialize().
      * Changing these while running will have no effects.
      */
    std::vector<TaskDescription> task_definitions;

   protected:
    /** See the class documentation at the top for expected parameters */
    void loadConfig_sensorSpecific(
        const mrpt::config::CConfigFileBase& configSource,
        const std::string& iniSection);

   private:
    /** A buffer for doProcess */
    std::vector<mrpt::obs::CObservationRawDAQ::Ptr> m_nextObservations;

    struct TInfoPerTask
    {
        TInfoPerTask();

        void* taskHandle;
        std::thread hThread;

        std::unique_ptr<mrpt::io::CPipeReadEndPoint> read_pipe;
        std::unique_ptr<mrpt::io::CPipeWriteEndPoint> write_pipe;

        bool must_close, is_closed;
        std::atomic<int> new_obs_available;

        /** A copy of the original task description that generated this thread.
         */
        TaskDescription task;
    };

    std::list<TInfoPerTask> m_running_tasks;

    /** Method to be executed in each parallel thread. */
    void grabbing_thread(TInfoPerTask& ipt);

};  // end class

}
#endif