Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- trigger [2020/02/20 09:06] – oliver
+++ trigger [2020/02/20 09:10] – [Configuration of trigger implementations] oliver
@@ Zeile 1: / Zeile 1: @@
 ====== Trigger ======
-===== Trigger API =====
 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.
 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:
@@ Zeile 82: / Zeile 82: @@
 ===== 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>
 ===== Generic Options of the triggering functionality =====