Main MRPT website > C++ reference for MRPT 1.5.6
List of all members | Classes | Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes | Private Member Functions | Private Attributes
mrpt::hwdrivers::CNationalInstrumentsDAQ Class Referenceabstract

Detailed Description

An interface to read from data acquisition boards compatible with National Instruments "DAQmx Base" or "DAQmx".

Refer to DAQmx Base C API reference online to learn more on the concepts of "channels", "tasks" (which in this MRPT class are mapped to independent grabbing threads), etc. If both DAQmx and DAQmxBase are installed in the system, DAQmx will be used. This class API isolate the user from the usage of one or another specific library.

This class can be used as a sensor from the application "rawlog-grabber", or directly as a C++ class from a user program. Refer to the example: [MRPT]/samples/NIDAQ_test

Samples will be returned inside mrpt::obs::CObservationRawDAQ in "packets" of a predefined number of samples, which can be changed by the user through the "samplesPerChannelToRead" parameter of each task.

For multichannels tasks, samples will be interleaved. For example, the readings from successive timesteps for 4 ADC channels will be available in the ADC vector inside mrpt::obs::CObservationRawDAQ in this order:

The sensor label (field "m_sensorLabel") of each grabbed observation will be the concatenation of this class sensor label, a dot (".") and the task label (default="task###", with ### the task index).

PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
[supplied_section_name]
; Number of tasks (each will run in a thread). Task indices are 0-based.
; (Parameters below follow NIs DAQmx API notation)
num_tasks = 1
; Channels, separated by commas if more than one.
; - "ai": Analog inputs
; - "ao": Analog outputs
; - "di": Digital inputs
; - "do": Digital inputs
; - "ci_period",
; "ci_count_edges", "ci_pulse_width",
; "ci_lin_encoder", "ci_ang_encoder" : Counters & encoders (WARNING: NI says "a task can include only one counter input channel")
; - "co_pulses": Output digital pulses (WARNING: NI says "a task can include only one counter output channel")
;
task0.channels = ai //, ao, di, do, ci_ang_encoder
;task0.taskLabel= MY_LABEL // Optional textual label to build the mrpt::obs::CObservation sensor label (default: task number)
task0.samplesPerSecond = 1000 // Samples per second. Continuous (infinite) sampling is assumed.
task0.samplesPerChannelToRead = 1000 // The number of samples to grab at once from each channel.
;task0.bufferSamplesPerChannel = 200000 // Increase if you have errors about " Onboard device memory overflow.(...)"
; Analog input channel params.
task0.ai.physicalChannel = Dev1/ai0:3, Dev1/ai6
task0.ai.physicalChannelCount = 5 // *IMPORTANT* This must be the total number of channels listed in "physicalChannel" (e.g. 4 for "Dev1/ai0:3")
task0.ai.terminalConfig = DAQmx_Val_Cfg_Default | DAQmx_Val_RSE | DAQmx_Val_NRSE | DAQmx_Val_Diff // One of these strings
task0.ai.minVal = -10.0 // Volts
task0.ai.maxVal = 10.0 // Volts
; Analog output channel params.
task0.ao.physicalChannel = Dev1/ao0, Dev1/ao2:4
task0.ao.physicalChannelCount = 4 // *IMPORTANT* This must be the total number of channels listed in "physicalChannel" (e.g. 1 for "Dev1/ao0")
task0.ao.minVal = -10.0 // Volts
task0.ao.maxVal = 10.0 // Volts
; Digital input channel params.
task0.di.line = Dev1/port1/line0
; Digital input channel params.
task0.do.line = Dev1/port1/line2
; Counter: period of a digital signal
task0.ci_period.counter = Dev1/ctr0
task0.ci_period.minVal = 0 // The minimum value, in units, that you expect to measure.
task0.ci_period.maxVal = 0 // The minimum value, in units, that you expect to measure.
task0.ci_period.units = DAQmx_Val_Seconds | DAQmx_Val_Ticks // One of these strings
task0.ci_period.edge = DAQmx_Val_Rising | DAQmx_Val_Falling // One of these strings
task0.ci_period.measTime = 0 // NI says: "Always pass 0 for this parameter."
task0.ci_period.divisor = 1 // NI says: "Always pass 1 for this parameter."
; Counter: count the number of rising or falling edges of a digital signal
task0.ci_count_edges.counter = Dev1/ctr0
task0.ci_count_edges.edge = DAQmx_Val_Rising | DAQmx_Val_Falling // One of these strings
task0.ci_count_edges.initialCount = 0 // The value from which to start counting
task0.ci_count_edges.countDirection = DAQmx_Val_CountUp | DAQmx_Val_CountDown | DAQmx_Val_ExtControlled // One of these strings
; Counter: measure the width of a digital pulse
task0.ci_pulse_width.counter = Dev1/ctr0
task0.ci_pulse_width.minVal = 0 // The minimum value, in units, that you expect to measure.
task0.ci_pulse_width.maxVal = 0 // The minimum value, in units, that you expect to measure.
task0.ci_pulse_width.units = DAQmx_Val_Seconds | DAQmx_Val_Ticks // One of these strings
task0.ci_pulse_width.startingEdge = DAQmx_Val_Rising | DAQmx_Val_Falling // One of these strings
; Counter: uses a linear encoder to measure linear position
task0.ci_lin_encoder.counter = Dev1/ctr0
task0.ci_lin_encoder.decodingType = DAQmx_Val_X1 | DAQmx_Val_X2 | DAQmx_Val_X4 | DAQmx_Val_TwoPulseCounting // One of these strings
task0.ci_lin_encoder.ZidxEnable = false | true | 0 | 1 // enable z indexing?
task0.ci_lin_encoder.ZidxVal = 0 // The value, in units, to which to reset the measurement when signal Z is high and signal A and signal B are at the states you specify with ZidxPhase.
task0.ci_lin_encoder.ZidxPhase = DAQmx_Val_AHighBHigh | DAQmx_Val_AHighBLow | DAQmx_Val_ALowBHigh | DAQmx_Val_ALowBLow // One of these strings
task0.ci_lin_encoder.units = DAQmx_Val_Meters | DAQmx_Val_Inches | DAQmx_Val_Ticks // One of these strings
task0.ci_lin_encoder.distPerPulse = 0.1 // The distance measured for each pulse the encoder generates. Specify this value in units.
task0.ci_lin_encoder.initialPos = 0.0 // The position of the encoder when the measurement begins. This value is in units.
; Counter: uses an angular encoder to measure angular position
task0.ci_ang_encoder.counter = Dev1/ctr0
task0.ci_ang_encoder.decodingType = DAQmx_Val_X1 | DAQmx_Val_X2 | DAQmx_Val_X4 | DAQmx_Val_TwoPulseCounting // One of these strings
task0.ci_ang_encoder.ZidxEnable = 0 | 1 | false | true // enable z indexing
task0.ci_ang_encoder.ZidxVal = 0 // The value, in units, to which to reset the measurement when signal Z is high and signal A and signal B are at the states you specify with ZidxPhase.
task0.ci_ang_encoder.ZidxPhase = DAQmx_Val_AHighBHigh | DAQmx_Val_AHighBLow | DAQmx_Val_ALowBHigh | DAQmx_Val_ALowBLow // One of these strings
task0.ci_ang_encoder.units = DAQmx_Val_Degrees | DAQmx_Val_Radians | DAQmx_Val_Ticks // One of these strings
task0.ci_ang_encoder.pulsesPerRev = 512 // The number of pulses the encoder generates per revolution.
task0.ci_ang_encoder.initialAngle = 0.0 // The position of the encoder when the measurement begins. This value is in units.
task0.ci_ang_encoder.decimate = 1 // Grab 1 out of N readings
; Output digital pulses:
task0.co_pulses.counter = Dev1/ctr1
task0.co_pulses.idleState = DAQmx_Val_High | DAQmx_Val_Low
task0.co_pulses.initialDelay = 0 // The amount of time in seconds to wait before generating the first pulse.
task0.co_pulses.freq = 100 // The frequency of the pulses to generate (Hertz)
task0.co_pulses.dutyCycle = 0.5 // The width of the pulse divided by the pulse period.

See also:

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.
As of 2013, NI seems not to support compiling 64bit programs, so you can must build MRPT for 32bits if you need this class.

Definition at line 157 of file CNationalInstrumentsDAQ.h.

#include <mrpt/hwdrivers/CNationalInstrumentsDAQ.h>

Inheritance diagram for mrpt::hwdrivers::CNationalInstrumentsDAQ:
Inheritance graph

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
 
typedef CGenericSensorPtr Ptr
 
typedef stlplus::smart_ptr
< const CGenericSensor
ConstPtr
 

Public Member Functions

 CNationalInstrumentsDAQ ()
 Constructor. More...
 
virtual ~CNationalInstrumentsDAQ ()
 Destructor. More...
 
virtual void initialize ()
 Setup and launch the DAQ tasks, in parallel threads. More...
 
void stop ()
 Stop the grabbing threads for DAQ tasks. More...
 
void doProcess ()
 This method will be invoked at a minimum rate of "process_rate" (Hz)

Exceptions
Thismethod must throw an exception with a descriptive message if some critical error is found.
More...
 
void readFromDAQ (std::vector< mrpt::obs::CObservationRawDAQPtr > &outObservations, bool &hardwareError)
 Receives data from the DAQ thread(s). More...
 
void writeAnalogOutputTask (size_t task_index, size_t nSamplesPerChannel, const double *volt_values, double timeout, bool groupedByChannel)
 Set voltage outputs to all the outputs in an AOUT task For the meaning of parameters, refere to NI DAQmx docs for DAQmxBaseWriteAnalogF64() More...
 
void writeDigitalOutputTask (size_t task_index, bool line_value, double timeout)
 Changes the boolean state of one digital output line. More...
 
bool checkDAQIsWorking () const
 Returns true if initialize() was called and at least one task is running. More...
 
virtual const
mrpt::hwdrivers::TSensorClassId
GetRuntimeClass () const =0
 
TSensorState getState () const
 The current state of the sensor. More...
 
double getProcessRate () const
 
std::string getSensorLabel () const
 
void setSensorLabel (const std::string &sensorLabel)
 
void enableVerbose (bool enabled=true)
 Enable or disable extra debug info dumped to std::cout during sensor operation. More...
 
bool isVerboseEnabled () const
 
void loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)
 Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific"

Exceptions
Thismethod throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.
More...
 
void getObservations (TListObservations &lstObjects)
 Returns a list of enqueued objects, emptying it (thread-safe). More...
 
virtual void setPathForExternalImages (const std::string &directory)
 Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable). More...
 
void setExternalImageFormat (const std::string &ext)
 Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". More...
 
void setExternalImageJPEGQuality (const unsigned int quality)
 The quality of JPEG compression, when external images is enabled and the format is "jpg". More...
 
unsigned int getExternalImageJPEGQuality () const
 

Static Public Member Functions

static void registerClass (const TSensorClassId *pNewClass)
 Register a class into the internal list of "CGenericSensor" descendents. More...
 
static CGenericSensorcreateSensor (const std::string &className)
 Creates a sensor by a name of the class. More...
 
static CGenericSensorPtr createSensorPtr (const std::string &className)
 Just like createSensor, but returning a smart pointer to the newly created sensor object. More...
 

Public Attributes

std::vector< TaskDescriptiontask_definitions
 Publicly accessible vector with the list of tasks to be launched upon call to CNationalInstrumentsDAQ::initialize(). More...
 

Protected Member Functions

void loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
 See the class documentation at the top for expected parameters. More...
 
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. More...
 
void appendObservation (const mrpt::utils::CSerializablePtr &obj)
 Like appendObservations() but for just one observation. More...
 

Protected Attributes

size_t m_grab_decimation_counter
 Used when "m_grab_decimation" is enabled. More...
 
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. More...
 
std::string m_external_images_format
 The extension ("jpg","gif","png",...) that determines the format of images saved externally. More...
 
unsigned int m_external_images_jpeg_quality
 For JPEG images, the quality (default=95%). More...
 
Common settings to any sensor, loaded in "loadConfig"
double m_process_rate
 See CGenericSensor. More...
 
size_t m_max_queue_len
 See CGenericSensor. More...
 
size_t m_grab_decimation
 If set to N>=2, only 1 out of N observations will be saved to m_objList. More...
 
std::string m_sensorLabel
 See CGenericSensor. More...
 

Private Member Functions

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

Private Attributes

std::vector
< mrpt::obs::CObservationRawDAQPtr > 
m_nextObservations
 A buffer for doProcess. More...
 
std::list< TInfoPerTaskm_running_tasks
 

Member Typedef Documentation

typedef stlplus::smart_ptr<const CGenericSensor> mrpt::hwdrivers::CGenericSensor::ConstPtr
inherited

Definition at line 103 of file CGenericSensor.h.

Definition at line 102 of file CGenericSensor.h.

typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObservations
inherited

Definition at line 68 of file CGenericSensor.h.

typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObsPair
inherited

Definition at line 69 of file CGenericSensor.h.

Member Enumeration Documentation

The current state of the sensor.

See Also
CGenericSensor::getState
Enumerator
ssInitializing 
ssWorking 
ssError 

Definition at line 74 of file CGenericSensor.h.

Constructor & Destructor Documentation

CNationalInstrumentsDAQ::CNationalInstrumentsDAQ ( )

Constructor.

Definition at line 129 of file CNationalInstrumentsDAQ.cpp.

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

CNationalInstrumentsDAQ::~CNationalInstrumentsDAQ ( )
virtual

Destructor.

Definition at line 287 of file CNationalInstrumentsDAQ.cpp.

References stop().

Member Function Documentation

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::utils::CSerializablePtr &  obj)
inlineprotectedinherited
void CGenericSensor::appendObservations ( const std::vector< mrpt::utils::CSerializablePtr > &  obj)
protectedinherited

This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations.

Passed objects must be created in dynamic memory and a smart pointer passed. Example of creation:

mrpt::obs::CObservationGPSPtr o = CObservationGPSPtr( new CObservationGPS() );
o-> .... // Set data

If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.

Definition at line 53 of file CGenericSensor.cpp.

References CLASS_ID, mrpt::hwdrivers::CGenericSensor::m_csObjList, mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_objList, and THROW_EXCEPTION.

Referenced by doProcess(), and mrpt::hwdrivers::CKinect::doProcess().

bool CNationalInstrumentsDAQ::checkDAQIsWorking ( ) const

Returns true if initialize() was called and at least one task is running.

Returns true if initialize() was called successfully.

Definition at line 546 of file CNationalInstrumentsDAQ.cpp.

References m_running_tasks.

Referenced by readFromDAQ().

CGenericSensor * CGenericSensor::createSensor ( const std::string className)
staticinherited

Creates a sensor by a name of the class.

Typically the user may want to create a smart pointer around the returned pointer, whis is made with:

Returns
A pointer to a new class, or NULL if class name is unknown.

Definition at line 103 of file CGenericSensor.cpp.

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

static CGenericSensorPtr mrpt::hwdrivers::CGenericSensor::createSensorPtr ( const std::string className)
inlinestaticinherited

Just like createSensor, but returning a smart pointer to the newly created sensor object.

Definition at line 180 of file CGenericSensor.h.

void CNationalInstrumentsDAQ::doProcess ( )
virtual

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

Exceptions
Thismethod must throw an exception with a descriptive message if some critical error is found.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 597 of file CNationalInstrumentsDAQ.cpp.

References mrpt::hwdrivers::CGenericSensor::appendObservations(), m_nextObservations, mrpt::hwdrivers::CGenericSensor::m_state, readFromDAQ(), mrpt::hwdrivers::CGenericSensor::ssError, mrpt::hwdrivers::CGenericSensor::ssWorking, and THROW_EXCEPTION.

void mrpt::hwdrivers::CGenericSensor::enableVerbose ( bool  enabled = true)
inlineinherited

Enable or disable extra debug info dumped to std::cout during sensor operation.

Default: disabled unless the environment variable "MRPT_HWDRIVERS_VERBOSE" is set to "1" during object creation.

Definition at line 92 of file CGenericSensor.h.

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

Definition at line 234 of file CGenericSensor.h.

void CGenericSensor::getObservations ( TListObservations lstObjects)
inherited

Returns a list of enqueued objects, emptying it (thread-safe).

The objects must be freed by the invoker.

Definition at line 90 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::m_csObjList, and mrpt::hwdrivers::CGenericSensor::m_objList.

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

Definition at line 84 of file CGenericSensor.h.

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const
pure virtualinherited
std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const
inlineinherited

Definition at line 86 of file CGenericSensor.h.

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const
inlineinherited

The current state of the sensor.

Definition at line 82 of file CGenericSensor.h.

void CNationalInstrumentsDAQ::grabbing_thread ( TInfoPerTask ipt)
private

Method to be executed in each parallel thread.

Definition at line 626 of file CNationalInstrumentsDAQ.cpp.

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

Referenced by initialize().

void CNationalInstrumentsDAQ::initialize ( void  )
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.

Definition at line 342 of file CNationalInstrumentsDAQ.cpp.

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

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

Definition at line 93 of file CGenericSensor.h.

void CGenericSensor::loadConfig ( const mrpt::utils::CConfigFileBase configSource,
const std::string section 
)
inherited
void CNationalInstrumentsDAQ::loadConfig_sensorSpecific ( const mrpt::utils::CConfigFileBase configSource,
const std::string iniSection 
)
protectedvirtual

See the class documentation at the top for expected parameters.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 152 of file CNationalInstrumentsDAQ.cpp.

References mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::ai, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::ao, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::bufferSamplesPerChannel, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::ci_ang_encoder, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::ci_count_edges, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::ci_lin_encoder, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::ci_period, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::ci_pulse_width, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::co_pulses, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_count_edges_t::countDirection, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_period_t::counter, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_count_edges_t::counter, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_pulse_width_t::counter, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_lin_encoder_t::counter, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_ang_encoder_t::counter, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_co_pulses_t::counter, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_ang_encoder_t::decimate, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_lin_encoder_t::decodingType, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_ang_encoder_t::decodingType, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::di, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_lin_encoder_t::distPerPulse, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_period_t::divisor, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::douts, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_co_pulses_t::dutyCycle, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_period_t::edge, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_count_edges_t::edge, mrpt::mrpt::format(), mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_co_pulses_t::freq, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::has_ai, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::has_ao, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::has_ci_ang_encoder, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::has_ci_count_edges, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::has_ci_lin_encoder, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::has_ci_period, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::has_ci_pulse_width, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::has_co_pulses, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::has_di, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::has_do, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_co_pulses_t::idleState, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_ang_encoder_t::initialAngle, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_count_edges_t::initialCount, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_co_pulses_t::initialDelay, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_lin_encoder_t::initialPos, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_di_t::line, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_do_t::line, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ai_t::maxVal, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ao_t::maxVal, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_period_t::maxVal, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_pulse_width_t::maxVal, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_period_t::measTime, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ai_t::minVal, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ao_t::minVal, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_period_t::minVal, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_pulse_width_t::minVal, MY_LOAD_HERE_CONFIG_VAR, MY_LOAD_HERE_CONFIG_VAR_NO_DEFAULT, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ai_t::physicalChannel, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ao_t::physicalChannel, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ai_t::physicalChannelCount, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ao_t::physicalChannelCount, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_ang_encoder_t::pulsesPerRev, mrpt::utils::CConfigFileBase::read_string(), mrpt::utils::CConfigFileBase::read_uint64_t(), mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::sampleClkSource, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::samplesPerChannelToRead, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::samplesPerSecond, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_pulse_width_t::startingEdge, mrpt::system::strCmpI(), task_definitions, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::taskLabel, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ai_t::terminalConfig, THROW_EXCEPTION_FMT, mrpt::system::tokenize(), mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_period_t::units, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_pulse_width_t::units, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_lin_encoder_t::units, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_ang_encoder_t::units, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_lin_encoder_t::ZidxEnable, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_ang_encoder_t::ZidxEnable, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_lin_encoder_t::ZidxPhase, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_ang_encoder_t::ZidxPhase, mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_lin_encoder_t::ZidxVal, and mrpt::hwdrivers::CNationalInstrumentsDAQ::TaskDescription::desc_ci_ang_encoder_t::ZidxVal.

void 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.

Definition at line 555 of file CNationalInstrumentsDAQ.cpp.

References checkDAQIsWorking(), m_running_tasks, mrpt::hwdrivers::CGenericSensor::m_state, and mrpt::hwdrivers::CGenericSensor::ssWorking.

Referenced by doProcess().

void CGenericSensor::registerClass ( const TSensorClassId pNewClass)
staticinherited

Register a class into the internal list of "CGenericSensor" descendents.

Used internally in the macros DEFINE_GENERIC_SENSOR, etc...

Can be used as "CGenericSensor::registerClass( SENSOR_CLASS_ID(CMySensor) );" if building custom sensors outside mrpt libraries in user code.

Definition at line 120 of file CGenericSensor.cpp.

References mrpt::hwdrivers::TSensorClassId::className, and mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

Referenced by mrpt::hwdrivers::CGenericSensor::CLASSINIT_GENERIC_SENSOR::CLASSINIT_GENERIC_SENSOR().

void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat ( const std::string ext)
inlineinherited

Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".

See Also
setPathForExternalImages, setExternalImageJPEGQuality

Definition at line 226 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality ( const unsigned int  quality)
inlineinherited

The quality of JPEG compression, when external images is enabled and the format is "jpg".

See Also
setExternalImageFormat

Definition at line 231 of file CGenericSensor.h.

References quality.

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( const std::string directory)
inlinevirtualinherited

Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable).

An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.

Exceptions
std::exceptionIf the directory doesn't exists and cannot be created.

Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, and mrpt::hwdrivers::CSwissRanger3DCamera.

Definition at line 217 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

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

Definition at line 87 of file CGenericSensor.h.

void CNationalInstrumentsDAQ::stop ( )

Stop the grabbing threads for DAQ tasks.

It is automatically called at destruction.

Definition at line 514 of file CNationalInstrumentsDAQ.cpp.

References m_running_tasks, mrpt::hwdrivers::CGenericSensor::m_verbose, MRPT_DAQmxClearTask, MRPT_DAQmxStopTask, and mrpt::system::sleep().

Referenced by ~CNationalInstrumentsDAQ().

void CNationalInstrumentsDAQ::writeAnalogOutputTask ( size_t  task_index,
size_t  nSamplesPerChannel,
const double *  volt_values,
double  timeout,
bool  groupedByChannel 
)

Set voltage outputs to all the outputs in an AOUT task For the meaning of parameters, refere to NI DAQmx docs for DAQmxBaseWriteAnalogF64()

Note
The number of samples in volt_values must match the number of channels in the task when it was initiated.

Definition at line 760 of file CNationalInstrumentsDAQ.cpp.

References ASSERT_, FALSE, m_running_tasks, MRPT_DAQmx_ErrChk, MRPT_DAQmxWriteAnalogF64, MRPT_UNUSED_PARAM, and mrpt::hwdrivers::CNationalInstrumentsDAQ::TInfoPerTask::taskHandle.

void CNationalInstrumentsDAQ::writeDigitalOutputTask ( size_t  task_index,
bool  line_value,
double  timeout 
)

Changes the boolean state of one digital output line.

For the meaning of parameters, refere to NI DAQmx docs for DAQmxBaseWriteAnalogF64()

Note
The number of samples in volt_values must match the number of channels in the task when it was initiated.

Definition at line 786 of file CNationalInstrumentsDAQ.cpp.

References ASSERT_, FALSE, m_running_tasks, MRPT_DAQmx_ErrChk, MRPT_DAQmxWriteDigitalLines, MRPT_UNUSED_PARAM, and mrpt::hwdrivers::CNationalInstrumentsDAQ::TInfoPerTask::taskHandle.

Member Data Documentation

std::string mrpt::hwdrivers::CGenericSensor::m_external_images_format
protectedinherited

The extension ("jpg","gif","png",...) that determines the format of images saved externally.

See Also
setPathForExternalImages

Definition at line 131 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific().

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality
protectedinherited

For JPEG images, the quality (default=95%).

Definition at line 132 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific().

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation
protectedinherited

If set to N>=2, only 1 out of N observations will be saved to m_objList.

Definition at line 118 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter
protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 123 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len
protectedinherited

See CGenericSensor.

Definition at line 117 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::loadConfig().

std::vector<mrpt::obs::CObservationRawDAQPtr> mrpt::hwdrivers::CNationalInstrumentsDAQ::m_nextObservations
private

A buffer for doProcess.

Definition at line 329 of file CNationalInstrumentsDAQ.h.

Referenced by doProcess().

std::string mrpt::hwdrivers::CGenericSensor::m_path_for_external_images
protectedinherited

The path where to save off-rawlog images: empty means save images embedded in the rawlog.

Definition at line 130 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::setPathForExternalImages().

double mrpt::hwdrivers::CGenericSensor::m_process_rate
protectedinherited
std::list<TInfoPerTask> mrpt::hwdrivers::CNationalInstrumentsDAQ::m_running_tasks
private
std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel
protectedinherited

See CGenericSensor.

Definition at line 119 of file CGenericSensor.h.

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

TSensorState mrpt::hwdrivers::CGenericSensor::m_state
protectedinherited
bool mrpt::hwdrivers::CGenericSensor::m_verbose
protectedinherited
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 320 of file CNationalInstrumentsDAQ.h.

Referenced by loadConfig_sensorSpecific().




Page generated by Doxygen 1.8.6 for MRPT 1.5.6 Git: 4c65e84 Tue Apr 24 08:18:17 2018 +0200 at mar abr 24 08:26:17 CEST 2018