Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- trigger [2020/02/03 15:57] – oliver
+++ trigger [2021/02/09 15:23] (aktuell) – [Trigger SPI] oliver
@@ Zeile 1: / Zeile 1: @@
-The **Trigger-API** allows to create a puls to signal start and/or stop of a measurement/trial. The slope and the duration of the signal can be configured in the options menu.
+====== Trigger ======
+The original **Trigger-API** functionality is used to create a puls to signal start and/or stop of a measurement/trial. The slope and the duration of the signal can be configured in the options menu.
-The general configuration of the trigger functionality can be done via the options dialog in the misceleanous tab.
+Furthermore there are additional methods to control external systems in a more complex process, e.g. waiting that an external system is ready (nextCycle()).
+===== Trigger SPI =====
+Multiple implementations of the following SPI are possible and can be used to adjust to external systems:
+<code java>
+package de.orat.dataaquisition.measurementsystem.spi;
+import de.orat.motionData.PropertyGroup;
+import java.util.concurrent.ExecutionException;
+/**
+ * @author Oliver Rettig
+ */
+public interface iTrigger {
+    /**
+     * Initialisation of the trigger implementation functionality.
+     *
+     * This method is invoked, befor recording is started with the trial type the trigger
+     * is configured and
+     * - if the trigger functionality is activated in the trigger options panel
+     * - maybe further explicitly by an init-button in the trigger options panel.
+     *
+     * @param configuration
+     * @return false, if the initialisation failed
+     */
+    public boolean init(PropertyGroup configuration);
+    /**
+     * Get the name of the trigger.
+     *
+     * This name is also used as a configuration property group name.
+     *
+     * @return name of the trigger implementation
+     */
+    public String getName();
+    public void dispose();
+    /**
+     * Set the signal, which is used to control start triggering.
+     *
+     * Generally this method is used to create a signal with a defined duration
+     * and slope. To do this this method is invoked twice in a short distance
+     * with the oppositite parameter value.<b>
+     *
+     * But a specific implementation e.g. ROSTrigger can implement this method to
+     * do something else, e.g. using the first invocation to invoke an RPC and ignoring
+     * the second invocation.<b>
+     *
+     * @param on true, to set the signals bit to 1, else 0.
+     */
+    public void startTriggerSignal(boolean on);
+    /**
+     * Set the signal, which is used to control stop triggering.
+     *
+     * Can be used to define the end of a measurement process for variable length
+     * recording.
+     *
+     * Currently only used by the QuancomIOTrigger implementation as WORKAROUND.
+     *
+     * @param on
+     */
+    public void stopTriggerSignal(boolean on);
+    /**
+     * Waiting until starting next cycle is possible.
+     *
+     * @return properties of the next cycle or null if waiting is failed.
+     * @throws ExcecutionExceptin if nextCycle fails fatal an the recording must be stopped.
+     */
+    public PropertyGroup nextCycle() throws ExecutionException;
+    /**
+     *
+     * Used to close a robot program before loading a new one.
+     *
+     * @return
+     *
+     */
+     public boolean close();
+}
+</code>
+Implementing the **nextCycle()**-method allows to ask for an external system to be ready before starting the measurement of the next trial in multicycle recordings.
+===== Configuration of trigger implementations =====
+A trigger implementation is used only, if it is included in a trial type. To do this a property group with the name of the trigger must be included into the trial type configuration. This property group can include implementation specific properties to config the trigger.
+<code xml>
+...
+<TrialType name="takeover" duration="2"
+              labelset="Input.xml" measurementSystemConfigIds="default">
+  <PropertyGroup name="ROSTrigger">
+        <!-- ROS trigger specific properties-->
+        <Property name="robot_cmd_node_name" value="robot_command_server"/>
+        <Property name="robot_cmd_service_name" value="robotCommand"/>
+        <Property name="nextcycle_cmd_node_name" value="robot_nextcycle"/>
+        <Property name="nextcycle_cmd_service_name" value="nextCycle"/>
+  </PropertyGroup>
+  ...
+</code>
+It is possible to use more than one trigger for a trial type.
+===== Generic Options of the triggering functionality =====
+Generic configuration of the trigger functionality can be done via the options dialog in the misceleanous tab.
 {{ :trigger:options_trigger.png?400 |}}
-Furthermore there is an API to adjust to an external system. Implementing the **nextCycle()**-method allows to ask for an external system to be ready before starting the measurement of the next trial in multicycle recordings.
+^ Property name ^ Description ^ Unity^
+^ Duration | If startTrigger is used to create a signal, duration defines the width of the signal, can be 0 else. | [ms] |
+^ Slope | If startTrigger is used to create a signal the slope value defines if a positive or negative signal is created. A positive signal is create if slope is set to true. | - |
+^ Offset | Can be used to delay the start of the trigger. | [ms] |