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 succesive timesteps for 4 ADC channels will be available in the ADC vector inside mrpt::obs::CObservationRawDAQ in this order:
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).
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.
Definition at line 156 of file CNationalInstrumentsDAQ.h.
#include <mrpt/hwdrivers/CNationalInstrumentsDAQ.h>
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... | |
typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > | TListObservations |
typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > | TListObsPair |
Public Member Functions | |
CNationalInstrumentsDAQ () | |
Constructor. | |
virtual | ~CNationalInstrumentsDAQ () |
Destructor. | |
virtual void | initialize () |
Setup and launch the DAQ tasks, in parallel threads. | |
void | stop () |
Stop the grabbing threads for DAQ tasks. | |
void | doProcess () |
This method will be invoked at a minimum rate of "process_rate" (Hz) | |
void | readFromDAQ (std::vector< mrpt::obs::CObservationRawDAQPtr > &outObservations, bool &hardwareError) |
Receives data from the DAQ thread(s). | |
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() | |
void | writeDigitalOutputTask (size_t task_index, bool line_value, double timeout) |
Changes the boolean state of one digital output line. | |
bool | checkDAQIsWorking () const |
Returns true if initialize() was called and at least one task is running. | |
virtual const mrpt::hwdrivers::TSensorClassId * | GetRuntimeClass () const =0 |
TSensorState | getState () const |
The current state of the sensor | |
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. | |
bool | isVerboseEnabled () const |
void | loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string §ion) |
Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific". | |
void | getObservations (TListObservations &lstObjects) |
Returns a list of enqueued objects, emptying it (thread-safe). | |
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). | |
void | setExternalImageFormat (const std::string &ext) |
Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". | |
void | setExternalImageJPEGQuality (const unsigned int quality) |
The quality of JPEG compression, when external images is enabled and the format is "jpg". | |
unsigned int | getExternalImageJPEGQuality () const |
Static Public Member Functions | |
static void | printf_debug (const char *frmt,...) |
Sends a formated text to "debugOut" if not NULL, or to cout otherwise. | |
static void | registerClass (const TSensorClassId *pNewClass) |
Register a class into the internal list of "CGenericSensor" descendents. | |
static CGenericSensor * | createSensor (const std::string &className) |
Creates a sensor by a name of the class. | |
static CGenericSensorPtr | createSensorPtr (const std::string &className) |
Just like createSensor, but returning a smart pointer to the newly created sensor object. | |
Public Attributes | |
std::vector< TaskDescription > | task_definitions |
Publicly accessible vector with the list of tasks to be launched upon call to CNationalInstrumentsDAQ::initialize(). | |
Protected Member Functions | |
void | loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection) |
See the class documentation at the top for expected parameters. | |
void | appendObservations (const std::vector< mrpt::utils::CSerializablePtr > &obj) |
This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations. | |
void | appendObservation (const mrpt::utils::CSerializablePtr &obj) |
Like appendObservations() but for just one observation. | |
Protected Attributes | |
size_t | m_grab_decimation_counter |
Used when "m_grab_decimation" is enabled. | |
TSensorState | m_state |
bool | m_verbose |
std::string | m_path_for_external_images |
The path where to save off-rawlog images: empty means save images embedded in the rawlog. | |
std::string | m_external_images_format |
The extension ("jpg","gif","png",...) that determines the format of images saved externally. | |
unsigned int | m_external_images_jpeg_quality |
For JPEG images, the quality (default=95%). | |
Common settings to any sensor, loaded in "loadConfig" | |
double | m_process_rate |
See CGenericSensor. | |
size_t | m_max_queue_len |
See CGenericSensor. | |
size_t | m_grab_decimation |
If set to N>=2, only 1 out of N observations will be saved to m_objList. | |
std::string | m_sensorLabel |
See CGenericSensor. | |
Private Member Functions | |
void | grabbing_thread (TInfoPerTask &ipt) |
Method to be executed in each parallel thread. | |
Private Attributes | |
std::vector< mrpt::obs::CObservationRawDAQPtr > | m_nextObservations |
A buffer for doProcess. | |
std::list< TInfoPerTask > | m_running_tasks |
synch::CCriticalSection | m_csObjList |
The critical section for m_objList. | |
TListObservations | m_objList |
The queue of objects to be returned by getObservations. | |
Static Private Attributes | |
static std::map< std::string, const TSensorClassId * > | m_knownClasses |
Used in registerClass. | |
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inherited |
Definition at line 68 of file CGenericSensor.h.
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inherited |
Definition at line 69 of file CGenericSensor.h.
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inherited |
The current state of the sensor.
Enumerator | |
---|---|
ssInitializing | |
ssWorking | |
ssError |
Definition at line 74 of file CGenericSensor.h.
mrpt::hwdrivers::CNationalInstrumentsDAQ::CNationalInstrumentsDAQ | ( | ) |
Constructor.
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virtual |
Destructor.
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inlineprotectedinherited |
Like appendObservations() but for just one observation.
Definition at line 146 of file CGenericSensor.h.
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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:
If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.
bool mrpt::hwdrivers::CNationalInstrumentsDAQ::checkDAQIsWorking | ( | ) | const |
Returns true if initialize() was called and at least one task is running.
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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:
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inlinestaticinherited |
Just like createSensor, but returning a smart pointer to the newly created sensor object.
Definition at line 179 of file CGenericSensor.h.
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virtual |
This method will be invoked at a minimum rate of "process_rate" (Hz)
This | method must throw an exception with a descriptive message if some critical error is found. |
Implements mrpt::hwdrivers::CGenericSensor.
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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 92 of file CGenericSensor.h.
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inlineinherited |
Definition at line 233 of file CGenericSensor.h.
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inherited |
Returns a list of enqueued objects, emptying it (thread-safe).
The objects must be freed by the invoker.
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inlineinherited |
Definition at line 84 of file CGenericSensor.h.
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pure virtualinherited |
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inlineinherited |
Definition at line 86 of file CGenericSensor.h.
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inlineinherited |
The current state of the sensor
Definition at line 82 of file CGenericSensor.h.
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private |
Method to be executed in each parallel thread.
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virtual |
Setup and launch the DAQ tasks, in parallel threads.
Access to grabbed data with CNationalInstrumentsDAQ::readFromDAQ() or the standard CGenericSensor::doProcess()
Reimplemented from mrpt::hwdrivers::CGenericSensor.
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inlineinherited |
Definition at line 93 of file CGenericSensor.h.
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inherited |
Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".
This | method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value. |
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protectedvirtual |
See the class documentation at the top for expected parameters.
Implements mrpt::hwdrivers::CGenericSensor.
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staticinherited |
Sends a formated text to "debugOut" if not NULL, or to cout otherwise.
Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().
void mrpt::hwdrivers::CNationalInstrumentsDAQ::readFromDAQ | ( | std::vector< mrpt::obs::CObservationRawDAQPtr > & | 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.
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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.
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inlineinherited |
Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".
Definition at line 225 of file CGenericSensor.h.
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inlineinherited |
The quality of JPEG compression, when external images is enabled and the format is "jpg".
Definition at line 230 of file CGenericSensor.h.
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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.
std::exception | If the directory doesn't exists and cannot be created. |
Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2_RGBD360, mrpt::hwdrivers::COpenNI2Sensor, and mrpt::hwdrivers::CSwissRanger3DCamera.
Definition at line 216 of file CGenericSensor.h.
References MRPT_UNUSED_PARAM.
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inlineinherited |
Definition at line 87 of file CGenericSensor.h.
void mrpt::hwdrivers::CNationalInstrumentsDAQ::stop | ( | ) |
Stop the grabbing threads for DAQ tasks.
It is automatically called at destruction.
void mrpt::hwdrivers::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()
void mrpt::hwdrivers::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()
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privateinherited |
The critical section for m_objList.
Definition at line 104 of file CGenericSensor.h.
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protectedinherited |
The extension ("jpg","gif","png",...) that determines the format of images saved externally.
Definition at line 130 of file CGenericSensor.h.
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protectedinherited |
For JPEG images, the quality (default=95%).
Definition at line 131 of file CGenericSensor.h.
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protectedinherited |
If set to N>=2, only 1 out of N observations will be saved to m_objList.
Definition at line 117 of file CGenericSensor.h.
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protectedinherited |
Used when "m_grab_decimation" is enabled.
Definition at line 122 of file CGenericSensor.h.
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staticprivateinherited |
Used in registerClass.
Definition at line 108 of file CGenericSensor.h.
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protectedinherited |
See CGenericSensor.
Definition at line 116 of file CGenericSensor.h.
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private |
A buffer for doProcess.
Definition at line 328 of file CNationalInstrumentsDAQ.h.
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privateinherited |
The queue of objects to be returned by getObservations.
Definition at line 105 of file CGenericSensor.h.
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protectedinherited |
The path where to save off-rawlog images: empty means save images embedded in the rawlog.
Definition at line 129 of file CGenericSensor.h.
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protectedinherited |
See CGenericSensor.
Definition at line 115 of file CGenericSensor.h.
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private |
Definition at line 345 of file CNationalInstrumentsDAQ.h.
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protectedinherited |
See CGenericSensor.
Definition at line 118 of file CGenericSensor.h.
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protectedinherited |
Definition at line 124 of file CGenericSensor.h.
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protectedinherited |
Definition at line 125 of file CGenericSensor.h.
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 319 of file CNationalInstrumentsDAQ.h.
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