motion/ecmc_plugin_daq
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This commit is contained in:
sandst_a
2024-03-04 11:22:34 +01:00
parent e092ed9dea
commit 21c010d0be
12 changed files with 433 additions and 184 deletions
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56
src/ecmcDAQChannelItem.h
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@@ -15,7 +15,10 @@
#include <stdexcept>
#include <vector>
#include <string>
#include "string.h"
#include "ecmcDataItem.h"
#include "ecmcPluginClient.h"
#include "ecmcDAQDefs.h"
enum class ecmcDAQDataFormat { raw = 0,
time_micro_s = 1,
@@ -36,10 +39,11 @@ enum class ecmcDAQDataFormat { raw = 0,
class ecmcDAQChannelItem {
public:
ecmcDAQChannelItem(char* name, ecmcDAQDataFormat format) {
ecmcDAQChannelItem(const char* name, ecmcDAQDataFormat format) {
dataItem_ = NULL;
dataItemInfo_ = NULL;
name_ = name;
cstrName_ = strdup(name);
format_ = format; // micro s in int32
sampleTimeCompensation_ = 0;
dataIndexToReturn_ = 0;
@@ -57,10 +61,15 @@ class ecmcDAQChannelItem {
float64Ptr_ = NULL;
dataType_ = ECMC_EC_NONE;
}
~ecmcDAQChannelItem() {
free(cstrName_);
}
void connectToSource() {
// Get data item
dataItem_ = (ecmcDataItem*) getEcmcDataItem(name_.c_str());
dataItem_ = (ecmcDataItem*) getEcmcDataItem(cstrName_);
if(!dataItem_) {
printf("ERROR: DataItem %s NULL.\n", name_.c_str());
throw std::runtime_error( "ERROR: DataItem NULL." );
@@ -77,10 +86,10 @@ class ecmcDAQChannelItem {
dataType_= dataItemInfo_->dataType;
// Execute here to be sure that startup.cmd of ecmc(cfg) has been executed.
switch(format_) {
case ecmcDAQDataFormat.time_micro_s_minus_period:
case ecmcDAQDataFormat::time_micro_s_minus_period:
sampleTimeCompensation_ = getEcmcSampleTimeMS()*1000;
break;
case ecmcDAQDataFormat.time_ns_minus_period:
case ecmcDAQDataFormat::time_ns_minus_period:
sampleTimeCompensation_ = getEcmcSampleTimeMS()*1000000;
break;
default:
@@ -108,7 +117,7 @@ class ecmcDAQChannelItem {
* looping with false will return new data for each call untill theres no more data
* before call, check if data is available with notEmpty()
*/
double getData(bool first) {
double getData(int first) {
double data = 0;
uint64_t time = 0;
if(first) {
@@ -116,85 +125,85 @@ class ecmcDAQChannelItem {
}
if(dataIndexToReturn_ >= dataElementCount_) {
printf("ERROR: Try to read outside data buffer for data item %s\n", name_);
printf("ERROR: Try to read outside data buffer for data item %s\n", name_.c_str());
return -1;
}
switch (dataType_) {
case ECMC_EC_B1:
uint8Ptr_ = (uint8_t *)&buffer_[dataIndexToReturn_ * bytesPerElement_];
uint8Ptr_ = (uint8_t *)&dataItemInfo_->data[dataIndexToReturn_ * bytesPerElement_];
data = (double)(*uint8Ptr_ & 0x01);
break;
case ECMC_EC_B2:
uint8Ptr_ = (uint8_t *)&buffer_[dataIndexToReturn_ * bytesPerElement_];
uint8Ptr_ = (uint8_t *)&dataItemInfo_->data[dataIndexToReturn_ * bytesPerElement_];
data = (double)(*uint8Ptr_ & 0x03);
break;
case ECMC_EC_B3:
uint8Ptr_ = (uint8_t *)&buffer_[dataIndexToReturn_ * bytesPerElement_];
uint8Ptr_ = (uint8_t *)&dataItemInfo_->data[dataIndexToReturn_ * bytesPerElement_];
data = (double)(*uint8Ptr_ & 0x07);
break;
case ECMC_EC_B4:
uint8Ptr_ = (uint8_t *)&buffer_[dataIndexToReturn_ * bytesPerElement_];
uint8Ptr_ = (uint8_t *)&dataItemInfo_->data[dataIndexToReturn_ * bytesPerElement_];
data = (double)(*uint8Ptr_ & 0x0F);
break;
case ECMC_EC_U8:
uint8Ptr_ = (uint8_t *)&buffer_[dataIndexToReturn_ * bytesPerElement_];
uint8Ptr_ = (uint8_t *)&dataItemInfo_->data[dataIndexToReturn_ * bytesPerElement_];
time = *uint8Ptr_;
data = (double)*uint8Ptr_;
break;
case ECMC_EC_S8:
int8Ptr_ = (int8_t *)&buffer_[dataIndexToReturn_ * bytesPerElement_];
int8Ptr_ = (int8_t *)&dataItemInfo_->data[dataIndexToReturn_ * bytesPerElement_];
time = *int8Ptr_;
data = (double)*int8Ptr_;
break;
case ECMC_EC_U16:
uint16Ptr_ = (uint16_t *)&buffer_[dataIndexToReturn_ * bytesPerElement_];
uint16Ptr_ = (uint16_t *)&dataItemInfo_->data[dataIndexToReturn_ * bytesPerElement_];
time = *uint16Ptr_;
data = (double)*uint16Ptr_;
break;
case ECMC_EC_S16:
int16Ptr_ = (int16_t *)&buffer_[dataIndexToReturn_ * bytesPerElement_];
int16Ptr_ = (int16_t *)&dataItemInfo_->data[dataIndexToReturn_ * bytesPerElement_];
time = *int16Ptr_;
data = (double)*int16Ptr_;
break;
case ECMC_EC_U32:
uint32Ptr_ = (uint32_t *)&buffer_[dataIndexToReturn_ * bytesPerElement_];
uint32Ptr_ = (uint32_t *)&dataItemInfo_->data[dataIndexToReturn_ * bytesPerElement_];
time = *uint32Ptr_;
data = (double)*uint32Ptr_;
break;
case ECMC_EC_S32:
int32Ptr_ = (int32_t *)&buffer_[dataIndexToReturn_ * bytesPerElement_];
int32Ptr_ = (int32_t *)&dataItemInfo_->data[dataIndexToReturn_ * bytesPerElement_];
time = *int32Ptr_;
data = (double)*int32Ptr_;
break;
case ECMC_EC_U64:
uint64Ptr_ = (uint64_t *)&buffer_[dataIndexToReturn_ * bytesPerElement_];
uint64Ptr_ = (uint64_t *)&dataItemInfo_->data[dataIndexToReturn_ * bytesPerElement_];
time = *uint64Ptr_;
data = (double)*uint64Ptr_;
break;
case ECMC_EC_S64:
int64Ptr_ = (int64_t *)&buffer_[dataIndexToReturn_ * bytesPerElement_];
int64Ptr_ = (int64_t *)&dataItemInfo_->data[dataIndexToReturn_ * bytesPerElement_];
time = *uint64Ptr_;
data = (double)*int64Ptr_;
break;
case ECMC_EC_F32:
float32Ptr_ = (float *)&buffer_[dataIndexToReturn_ * bytesPerElement_];
float32Ptr_ = (float *)&dataItemInfo_->data[dataIndexToReturn_ * bytesPerElement_];
data = (double)*float32Ptr_;
break;
case ECMC_EC_F64:
float64Ptr_ = (double *)&buffer_[dataIndexToReturn_ * bytesPerElement_];
float64Ptr_ = (double *)&dataItemInfo_->data[dataIndexToReturn_ * bytesPerElement_];
data = (double)*float64Ptr_;
break;
@@ -213,16 +222,16 @@ class ecmcDAQChannelItem {
double formatData(double data, uint64_t time){
// Time format only works for integer values, otherwise a 0 will be returned
switch(format_) {
case ecmcDAQDataFormat.time_micro_s:
case ecmcDAQDataFormat::time_micro_s:
time = time / 1000; // micro seconds
data = (double)(time & 0xFFFFFFFF); //keep 32bits
break;
case ecmcDAQDataFormat.time_micro_s_minus_period:
case ecmcDAQDataFormat::time_micro_s_minus_period:
time = time / 1000; // micro seconds
data = (double)(time & 0xFFFFFFFF); //keep 32bits
data = data - sampleTimeCompensation_;
break;
case ecmcDAQDataFormat.time_ns_minus_period:
case ecmcDAQDataFormat::time_ns_minus_period:
data = (double)(time - (uint64_t)sampleTimeCompensation_);
break;
default:
@@ -246,6 +255,7 @@ class ecmcDAQChannelItem {
ecmcDataItem* dataItem_;
ecmcDataItemInfo* dataItemInfo_;
std::string name_;
char *cstrName_;
ecmcDAQDataFormat format_;
double sampleTimeCompensation_;
size_t dataIndexToReturn_;