CNationalInstrumentsDAQ.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, 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()

// 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()
{ }

// Copy ctor (needed for the auto_ptr semantics)
CNationalInstrumentsDAQ::TInfoPerTask::TInfoPerTask(const TInfoPerTask &o) :
        taskHandle(o.taskHandle),
        hThread(o.hThread),
        read_pipe(o.read_pipe.get()),
        write_pipe(o.write_pipe.get()),
        must_close(o.must_close),
        is_closed(o.is_closed),
        new_obs_available(0),
        task(o.task)
{
        const_cast<TInfoPerTask*>(&o)->read_pipe.release();
        const_cast<TInfoPerTask*>(&o)->write_pipe.release();
}


/* -----------------------------------------------------
                Constructor
   ----------------------------------------------------- */
CNationalInstrumentsDAQ::CNationalInstrumentsDAQ() :
        mrpt::utils::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::utils::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(),NULL,
                                        daqmx_defstr2num(tf.ai.terminalConfig),
                                        tf.ai.minVal, tf.ai.maxVal,DAQmx_Val_Volts,NULL));
                        }
                        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(),NULL,
                                        tf.ao.minVal, tf.ao.maxVal,DAQmx_Val_Volts,NULL));
                        }
                        if (tf.has_di) {
                                MRPT_DAQmx_ErrChk(MRPT_DAQmxCreateDIChan(taskHandle,
                                        tf.di.line.c_str(),NULL,DAQmx_Val_ChanPerLine));
                        }
                        if (tf.has_do) {
                                MRPT_DAQmx_ErrChk(MRPT_DAQmxCreateDOChan(taskHandle,
                                        tf.douts.line.c_str(),NULL,DAQmx_Val_ChanPerLine));
                        }
                        if (tf.has_ci_period) {
                                MRPT_DAQmx_ErrChk(MRPT_DAQmxCreateCIPeriodChan(taskHandle,
                                        tf.ci_period.counter.c_str(),NULL,
                                        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,NULL));
                        }
                        if (tf.has_ci_count_edges) {
                                MRPT_DAQmx_ErrChk(MRPT_DAQmxCreateCICountEdgesChan(taskHandle,
                                        tf.ci_count_edges.counter.c_str(),NULL,
                                        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(),NULL,
                                        tf.ci_pulse_width.minVal, tf.ci_pulse_width.maxVal,
                                        daqmx_defstr2num(tf.ci_pulse_width.units),
                                        daqmx_defstr2num(tf.ci_pulse_width.startingEdge),
                                        NULL));
                        }
                        if (tf.has_ci_lin_encoder) {
                                MRPT_DAQmx_ErrChk(MRPT_DAQmxCreateCILinEncoderChan(taskHandle,
                                        tf.ci_lin_encoder.counter.c_str(),NULL,
                                        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,
                                        NULL));
                        }
                        if (tf.has_ci_ang_encoder) {
                                MRPT_DAQmx_ErrChk(MRPT_DAQmxCreateCIAngEncoderChan(taskHandle,
                                        tf.ci_ang_encoder.counter.c_str(),NULL,
                                        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,
                                        NULL));
                        }
                        if (tf.has_co_pulses) {
                                MRPT_DAQmx_ErrChk(MRPT_DAQmxCreateCOPulseChanFreq(taskHandle,
                                        tf.co_pulses.counter.c_str(),NULL,
                                        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 = mrpt::system::createThreadFromObjectMethodRef<CNationalInstrumentsDAQ,TInfoPerTask>(this, &CNationalInstrumentsDAQ::grabbing_thread, ipt);
                        

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

                        // Stop thread:
                        if (!ipt.hThread.isClear())
                        {
                                ipt.must_close=true;
                                cerr << "[CNationalInstrumentsDAQ::initialize] Waiting for the grabbing thread to end due to exception...\n";
                                mrpt::system::joinThread(ipt.hThread);
                                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.isClear()) mrpt::system::joinThread(it->hThread);
                // Polling:
                for (size_t tim=0;tim<250 && !it->is_closed;tim++) { mrpt::system::sleep(1); }
                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=NULL;
        }
#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::CObservationRawDAQPtr> &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) 
                        {
                                it->read_pipe->ReadObject(&tmp_obs);
                                --(it->new_obs_available);

                                // Yes, valid block of samples was adquired:
                                outObservations.push_back(CObservationRawDAQPtr(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::utils::CSerializablePtr> 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,NULL))<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,NULL))<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,NULL))<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);
                                //mrpt::system::sleep(1); // This seems to be needed to allow all objs to be sent to the recv thread
                        }
                        else {
                                mrpt::system::sleep(1);
                        }

                } // 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, NULL) )
        {
                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,NULL) )
        {
                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)
{
}