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OScNIDAQ.c
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OScNIDAQ.c
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#include "OScNIDAQ.h"
#include "Waveform.h"
#include <Windows.h>
#include <math.h>
#include <stdio.h>
#include <string.h>
// Must be called immediately after failed DAQmx function
void LogNiError(OScDev_Device *device, int32 nierr, const char *when) {
ss8str msg;
ss8_init_copy_cstr(&msg, "DAQmx error while ");
ss8_cat_cstr(&msg, when);
ss8_cat_cstr(&msg, "; extended error info follows");
OScDev_Log_Error(device, ss8_cstr(&msg));
ss8_set_len(&msg, 1024);
DAQmxGetExtendedErrorInfo(ss8_mutable_cstr(&msg), (uInt32)ss8_len(&msg));
ss8_set_len_to_cstrlen(&msg);
OScDev_Log_Error(device, ss8_cstr(&msg));
ss8_destroy(&msg);
}
char *ErrorCodeDomain() {
static char *domainName = NULL;
if (domainName == NULL) {
domainName = "NI DAQmx";
OScDev_Error_RegisterCodeDomain(domainName,
OScDev_ErrorCodeFormat_I32);
}
return domainName;
}
// Must be called immediately after failed DAQmx function
OScDev_RichError *CreateDAQmxError(int32 nierr) {
if (nierr == 0)
return OScDev_RichError_OK;
char buf[1024];
DAQmxGetExtendedErrorInfo(buf, sizeof(buf));
if (nierr > 0) {
OScDev_Log_Warning(NULL, buf);
return OScDev_RichError_OK;
}
return OScDev_Error_CreateWithCode(ErrorCodeDomain(), nierr, buf);
}
// Fill in non-zero defaults only
static void InitializePrivateData(struct OScNIDAQPrivateData *data) {
ss8_init(&data->deviceName);
data->lineDelay = 50;
data->numLinesToBuffer = 8;
data->inputVoltageRange = 10.0;
data->minVolts_ = -10.0;
data->maxVolts_ = 10.0;
ss8_init(&data->aiPhysChans);
data->channelEnabled[0] = true;
InitializeCriticalSection(&(data->acquisition.mutex));
InitializeConditionVariable(
&(data->acquisition.acquisitionFinishCondition));
}
void SetWaveformParamsFromDevice(OScDev_Device *device,
struct WaveformParams *parameters,
OScDev_Acquisition *acq) {
parameters->resolution = OScDev_Acquisition_GetResolution(acq);
parameters->zoom = OScDev_Acquisition_GetZoomFactor(acq);
OScDev_Acquisition_GetROI(acq, ¶meters->xOffset, ¶meters->yOffset,
¶meters->width, ¶meters->height);
parameters->undershoot = GetData(device)->lineDelay;
parameters->galvoOffsetX = GetData(device)->offsetXY[0];
parameters->galvoOffsetY = GetData(device)->offsetXY[1];
parameters->xPark = GetData(device)->xPark;
parameters->yPark = GetData(device)->yPark;
parameters->prevXParkVoltage = GetData(device)->prevXParkVoltage;
parameters->prevYParkVoltage = GetData(device)->prevYParkVoltage;
}
OScDev_RichError *EnumerateInstances(OScDev_PtrArray **devices,
OScDev_DeviceImpl *impl) {
OScDev_RichError *err = OScDev_RichError_OK;
ss8str names; // Comma-separated device names
ss8_init(&names);
ss8_set_len(&names, 4096);
err = CreateDAQmxError(DAQmxGetSysDevNames(ss8_mutable_cstr(&names),
(uInt32)ss8_len(&names)));
if (err)
goto fail1;
ss8_set_len_to_cstrlen(&names);
*devices = OScDev_PtrArray_Create();
ss8str name;
ss8_init(&name);
size_t p = 0;
for (;;) {
size_t q = ss8_find_ch(&names, p, ',');
ss8_copy_substr(&name, &names, p, q - p);
ss8_strip_ch(&name, ' ');
struct OScNIDAQPrivateData *data =
calloc(1, sizeof(struct OScNIDAQPrivateData));
InitializePrivateData(data);
ss8_copy(&data->deviceName, &name);
OScDev_Device *device;
err = OScDev_Error_AsRichError(
OScDev_Device_Create(&device, impl, data));
if (err) {
ss8str msg;
ss8_init_copy_cstr(&msg, "Failed to create device ");
ss8_cat(&msg, &name);
err = OScDev_Error_Wrap(err, ss8_cstr(&msg));
ss8_destroy(&msg);
goto fail2;
}
OScDev_PtrArray_Append(*devices, device);
if (q == SIZE_MAX)
break;
p = q + 1;
}
goto succeed;
fail2:
// TODO We have no way to destroy the already-created devices. Leaking.
OScDev_PtrArray_Destroy(*devices);
succeed:
ss8_destroy(&name);
fail1:
ss8_destroy(&names);
return err;
}
OScDev_Error GetVoltageRangeForDevice(OScDev_Device *device, double *minVolts,
double *maxVolts) {
struct OScNIDAQPrivateData *debug = GetData(device);
#define MAX_RANGES 64
float64 ranges[2 * MAX_RANGES];
for (int i = 0; i < MAX_RANGES; ++i) {
ranges[2 * i] = 0.0;
ranges[2 * i + 1] = 0.0;
}
int32 nierr =
DAQmxGetDevAOVoltageRngs(ss8_cstr(&GetData(device)->deviceName),
ranges, sizeof(ranges) / sizeof(float64));
if (nierr != 0) {
OScDev_Log_Error(device, "Error getting analog voltage ranges");
}
// Find the common min and max.
*minVolts = ranges[0];
*maxVolts = ranges[1];
for (int i = 0; i < MAX_RANGES; ++i) {
if (ranges[2 * i] == 0.0 && ranges[2 * i + 1] == 0.0)
break;
if (ranges[2 * i + 1] > *maxVolts) {
*minVolts = ranges[2 * i];
*maxVolts = ranges[2 * i + 1];
}
}
return OScDev_OK;
}
OScDev_RichError *EnumerateAIPhysChans(OScDev_Device *device) {
ss8str *dest = &GetData(device)->aiPhysChans;
ss8_set_len(dest, 1024);
ss8_set_front(dest, '\0');
int32 nierr = DAQmxGetDevAIPhysicalChans(
ss8_cstr(&GetData(device)->deviceName), ss8_mutable_cstr(dest),
(uInt32)ss8_len(dest));
ss8_set_len_to_cstrlen(dest);
ss8_shrink_to_fit(dest);
if (nierr < 0)
return CreateDAQmxError(nierr);
if (ss8_is_empty(dest))
return OScDev_Error_Create("Device has no AI physical channels");
return OScDev_RichError_OK;
}
int GetNumberOfEnabledChannels(OScDev_Device *device) {
int ret = 0;
for (int i = 0; i < MAX_PHYSICAL_CHANS; ++i) {
if (GetData(device)->channelEnabled[i]) {
++ret;
}
}
return ret;
}
void GetEnabledChannels(OScDev_Device *device, ss8str *chans) {
ss8str chan;
ss8_init(&chan);
for (int i = 0; i < MAX_PHYSICAL_CHANS; ++i) {
if (GetData(device)->channelEnabled[i]) {
GetAIPhysChan(device, i, &chan);
if (!ss8_is_empty(chans))
ss8_cat_cstr(chans, ", ");
ss8_cat(chans, &chan);
}
}
ss8_destroy(&chan);
}
int GetNumberOfAIPhysChans(OScDev_Device *device) {
for (int i = 0; i < MAX_PHYSICAL_CHANS; ++i) {
if (!GetAIPhysChan(device, i, NULL))
return i;
}
return MAX_PHYSICAL_CHANS;
}
// Return the index-th physical channel, or empty string if no such channel
bool GetAIPhysChan(OScDev_Device *device, int index, ss8str *chan) {
if (index < 0) {
if (chan)
ss8_clear(chan);
return false;
}
ss8str chans;
ss8_init_copy(&chans, &GetData(device)->aiPhysChans);
size_t p = 0;
bool notFound = false;
for (int i = 0; i < index; ++i) {
size_t q = ss8_find_ch(&chans, p, ',');
if (q == SIZE_MAX) {
notFound = true;
break;
}
p = q + 1;
}
if (chan) {
if (notFound) {
ss8_clear(chan);
} else {
size_t q = ss8_find_ch(&chans, p, ',');
ss8_copy_substr(chan, &chans, p, q - p);
ss8_strip_ch(chan, ' ');
}
}
ss8_destroy(&chans);
return !notFound;
}
// DAQ version; start all tasks
// Arm acquisition task first. Then make sure the (digital) line clock output
// is armed before the (analog) waveform output.
// This will ensure both tasks will start at the same time.
static OScDev_RichError *StartScan(OScDev_Device *device) {
OScDev_RichError *err;
if (!GetData(device)->scannerOnly) {
err = StartDetector(device, &GetData(device)->detectorConfig);
if (err)
return err;
} else
OScDev_Log_Debug(device, "DAQ not used as detector");
err = StartClock(device, &GetData(device)->clockConfig);
if (err)
return err;
err = StartScanner(device, &GetData(device)->scannerConfig);
if (err)
return err;
return OScDev_RichError_OK;
}
static OScDev_RichError *WaitScanToFinish(OScDev_Device *device,
OScDev_Acquisition *acq) {
double pixelRateHz = OScDev_Acquisition_GetPixelRate(acq);
struct WaveformParams parameters;
SetWaveformParamsFromDevice(device, ¶meters, acq);
// When scanRate is low, it takes longer to finish generating scan
// waveform. Since acquisition only takes a portion of the total scan time,
// it may occur that waveform task is stopped right after acquisition is
// done but the waveform generation is not done yet -- thus nierr 200010:
// "Finite acquisition or generation has been stopped before the requested
// number of samples were acquired or generated." So need to wait some
// miliseconds till waveform generation is done before stop the task.
double yRetraceTime =
GetScannerWaveformSizeAfterLastPixel(¶meters) / pixelRateHz;
double estFrameTime = GetScannerWaveformSize(¶meters) / pixelRateHz;
double secondsToWait =
GetData(device)->scannerOnly ? estFrameTime : yRetraceTime;
char msg[OScDev_MAX_STR_LEN + 1];
snprintf(msg, OScDev_MAX_STR_LEN, "Wait %f s for scan to finish...",
secondsToWait);
OScDev_Log_Debug(device, msg);
Sleep((DWORD)ceil(secondsToWait * 1000));
return OScDev_RichError_OK;
}
// stop running tasks
// need to stop detector first, then clock and scanner
static OScDev_RichError *StopScan(OScDev_Device *device,
OScDev_Acquisition *acq) {
OScDev_RichError *err, *lastErr = OScDev_RichError_OK;
// Stopping a task may return an error if it failed, so make sure to stop
// all tasks even if we get errors.
if (!GetData(device)->scannerOnly) {
err = StopDetector(device, &GetData(device)->detectorConfig);
if (err)
lastErr = err;
}
// When scanRate is low, it takes longer to finish generating scan
// waveform. Since acquisition only takes a portion of the total scan time,
// it may occur that waveform task is stopped right after acquisition is
// done but the waveform generation is not done yet -- thus nierr 200010:
// "Finite acquisition or generation has been stopped before the requested
// number of samples were acquired or generated." So need to wait some
// miliseconds till waveform generation is done before stop the task.
err = WaitScanToFinish(device, acq);
if (err)
return err;
err = StopClock(device, &GetData(device)->clockConfig);
if (err)
lastErr = err;
err = StopScanner(device, &GetData(device)->scannerConfig);
if (err)
lastErr = err;
return lastErr;
}
// DAQ version; acquire from multiple channels
static OScDev_RichError *ReadImage(OScDev_Device *device,
OScDev_Acquisition *acq) {
double pixelRateHz = OScDev_Acquisition_GetPixelRate(acq);
struct WaveformParams params;
SetWaveformParamsFromDevice(device, ¶ms, acq);
GetData(device)->oneFrameScanDone = false;
GetData(device)->framePixelsFilled = 0;
uint32_t totalElementsPerFramePerChan = GetScannerWaveformSize(¶ms);
uint32_t estFrameTimeMs =
(uint32_t)(1e3 * totalElementsPerFramePerChan / pixelRateHz);
uint32_t totalWaitTimeMs = 0;
OScDev_RichError *err;
err = StartScan(device);
if (err)
return err;
// Wait for scan to complete
err = CreateDAQmxError(DAQmxWaitUntilTaskDone(
GetData(device)->scannerConfig.aoTask, 2 * estFrameTimeMs * 1e-3));
if (err) {
err = OScDev_Error_Wrap(err,
"Failed to wait for scanner task to finish");
return err;
}
// Wait for data
if (!GetData(device)->scannerOnly) {
while (!GetData(device)->oneFrameScanDone) {
Sleep(1);
totalWaitTimeMs += 1;
if (totalWaitTimeMs > 2 * estFrameTimeMs) {
OScDev_Log_Error(device, "Error: Acquisition timeout!");
break;
}
}
char msg[OScDev_MAX_STR_LEN + 1];
snprintf(msg, OScDev_MAX_STR_LEN, "Total wait time is %d ",
totalWaitTimeMs);
OScDev_Log_Debug(device, msg);
}
err = StopScan(device, acq);
if (err)
return err;
if (!GetData(device)->scannerOnly) {
int nChans = GetNumberOfEnabledChannels(device);
for (int ch = 0; ch < nChans; ++ch) {
bool shouldContinue = OScDev_Acquisition_CallFrameCallback(
acq, ch, GetData(device)->frameBuffers[ch]);
if (!shouldContinue) {
// TODO Stop acquisition
}
}
}
return OScDev_RichError_OK;
}
static OScDev_RichError *AcquireFrame(OScDev_Device *device,
OScDev_Acquisition *acq) {
OScDev_RichError *err;
OScDev_Log_Debug(device, "Reading image...");
err = ReadImage(device, acq);
if (err)
return err;
OScDev_Log_Debug(device, "Finished reading image");
return OScDev_RichError_OK;
}
static DWORD WINAPI AcquisitionLoop(void *param) {
OScDev_Device *device = (OScDev_Device *)param;
OScDev_Acquisition *acq = GetData(device)->acquisition.acquisition;
uint32_t totalFrames = OScDev_Acquisition_GetNumberOfFrames(acq);
// insert from parking to start here
CreateScannerTask(device, &GetData(device)->scannerConfig);
ConfigureUnparkTiming(device, &GetData(device)->scannerConfig, acq);
WriteUnparkOutput(device, &GetData(device)->scannerConfig, acq);
GenerateUnparkOutput(device, &GetData(device)->scannerConfig, acq);
// prepare raster waveform
SetUpScanner(device, &GetData(device)->scannerConfig, acq);
for (uint32_t frame = 0; frame < totalFrames; ++frame) {
bool stopRequested;
EnterCriticalSection(&(GetData(device)->acquisition.mutex));
stopRequested = GetData(device)->acquisition.stopRequested;
LeaveCriticalSection(&(GetData(device)->acquisition.mutex));
if (stopRequested)
break;
char msg[OScDev_MAX_STR_LEN + 1];
snprintf(msg, OScDev_MAX_STR_LEN, "Sequence acquiring frame # %d",
frame);
OScDev_Log_Debug(device, msg);
OScDev_RichError *err;
err = AcquireFrame(device, acq);
if (err) {
err = OScDev_Error_Wrap(err, "Error during sequence acquisition");
char msg[OScDev_MAX_STR_LEN + 1];
OScDev_Error_FormatRecursive(err, msg, sizeof(msg));
OScDev_Log_Error(device, msg);
break;
}
}
// insert from start to parking here
ConfigureParkTiming(device, &GetData(device)->scannerConfig, acq);
WriteParkOutput(device, &GetData(device)->scannerConfig, acq);
GenerateParkOutput(device, &GetData(device)->scannerConfig, acq);
EnterCriticalSection(&(GetData(device)->acquisition.mutex));
GetData(device)->acquisition.running = false;
LeaveCriticalSection(&(GetData(device)->acquisition.mutex));
CONDITION_VARIABLE *cv =
&(GetData(device)->acquisition.acquisitionFinishCondition);
WakeAllConditionVariable(cv);
return 0;
}
OScDev_RichError *RunAcquisitionLoop(OScDev_Device *device) {
DWORD id;
GetData(device)->acquisition.thread =
CreateThread(NULL, 0, AcquisitionLoop, device, 0, &id);
return OScDev_RichError_OK;
}
OScDev_RichError *StopAcquisitionAndWait(OScDev_Device *device) {
CRITICAL_SECTION *mutex = &GetData(device)->acquisition.mutex;
CONDITION_VARIABLE *cv =
&(GetData(device)->acquisition.acquisitionFinishCondition);
EnterCriticalSection(mutex);
if (GetData(device)->acquisition.started) {
GetData(device)->acquisition.stopRequested = true;
} else { // Armed but not started
GetData(device)->acquisition.running = false;
}
while (GetData(device)->acquisition.running) {
SleepConditionVariableCS(cv, mutex, INFINITE);
}
LeaveCriticalSection(mutex);
return OScDev_RichError_OK;
}
OScDev_RichError *IsAcquisitionRunning(OScDev_Device *device,
bool *isRunning) {
EnterCriticalSection(&(GetData(device)->acquisition.mutex));
*isRunning = GetData(device)->acquisition.running;
LeaveCriticalSection(&(GetData(device)->acquisition.mutex));
return OScDev_RichError_OK;
}
OScDev_RichError *WaitForAcquisitionToFinish(OScDev_Device *device) {
CRITICAL_SECTION *mutex = &GetData(device)->acquisition.mutex;
CONDITION_VARIABLE *cv =
&(GetData(device)->acquisition.acquisitionFinishCondition);
EnterCriticalSection(mutex);
while (GetData(device)->acquisition.running) {
SleepConditionVariableCS(cv, mutex, INFINITE);
}
LeaveCriticalSection(mutex);
return OScDev_RichError_OK;
}
OScDev_RichError *ReconfigDAQ(OScDev_Device *device, OScDev_Acquisition *acq) {
double pixelRateHz = OScDev_Acquisition_GetPixelRate(acq);
uint32_t resolution = OScDev_Acquisition_GetResolution(acq);
double zoomFactor = OScDev_Acquisition_GetZoomFactor(acq);
uint32_t xOffset, yOffset, width, height;
OScDev_Acquisition_GetROI(acq, &xOffset, &yOffset, &width, &height);
if (pixelRateHz != GetData(device)->configuredPixelRateHz) {
GetData(device)->clockConfig.mustReconfigureTiming = true;
GetData(device)->scannerConfig.mustReconfigureTiming = true;
GetData(device)->detectorConfig.mustReconfigureTiming = true;
}
if (resolution != GetData(device)->configuredResolution) {
GetData(device)->scannerConfig.mustReconfigureTiming = true;
GetData(device)->scannerConfig.mustRewriteOutput = true;
}
if (zoomFactor != GetData(device)->configuredZoomFactor) {
GetData(device)->clockConfig.mustRewriteOutput = true;
GetData(device)->scannerConfig.mustRewriteOutput = true;
}
if (xOffset != GetData(device)->configuredXOffset ||
yOffset != GetData(device)->configuredYOffset) {
GetData(device)->scannerConfig.mustRewriteOutput = true;
}
if (width != GetData(device)->configuredRasterWidth ||
height != GetData(device)->configuredRasterHeight) {
GetData(device)->clockConfig.mustReconfigureTiming = true;
GetData(device)->scannerConfig.mustReconfigureTiming = true;
GetData(device)->detectorConfig.mustReconfigureTiming = true;
GetData(device)->clockConfig.mustRewriteOutput = true;
GetData(device)->scannerConfig.mustRewriteOutput = true;
GetData(device)->detectorConfig.mustReconfigureCallback = true;
}
// Note that additional setting of 'mustReconfigure' flags occurs in
// settings
OScDev_RichError *err;
err = SetUpClock(device, &GetData(device)->clockConfig, acq);
if (err)
return err;
if (!GetData(device)->scannerOnly) {
err = SetUpDetector(device, &GetData(device)->detectorConfig, acq);
if (err)
return err;
}
pixelRateHz = OScDev_Acquisition_GetPixelRate(acq);
resolution = OScDev_Acquisition_GetResolution(acq);
zoomFactor = OScDev_Acquisition_GetZoomFactor(acq);
OScDev_Acquisition_GetROI(acq, &xOffset, &yOffset, &width, &height);
GetData(device)->configuredPixelRateHz = pixelRateHz;
GetData(device)->configuredResolution = resolution;
GetData(device)->configuredZoomFactor = zoomFactor;
GetData(device)->configuredXOffset = xOffset;
GetData(device)->configuredYOffset = yOffset;
GetData(device)->configuredRasterWidth = width;
GetData(device)->configuredRasterHeight = height;
return OScDev_RichError_OK;
}