Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- trigger [2020/02/10 16:39] – oliver
+++ trigger [2021/02/09 15:23] (aktuell) – [Trigger SPI] oliver
@@ Zeile 1: / Zeile 1: @@
-====== Trigger API ======
+====== 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.
 Furthermore there are additional methods to control external systems in a more complex process, e.g. waiting that an external system is ready (nextCycle()).
-Multiple implementations are possible and can be used to adjust to external systems:
+===== Trigger SPI =====
+Multiple implementations of the following SPI are possible and can be used to adjust to external systems:
 <code java>
@@ Zeile 20: / Zeile 21: @@
      * Initialisation of the trigger implementation functionality.
      *
-     * This method is invoked, if the desktop application starts and
+     * This method is invoked, befor recording is started with the trial type the trigger
-     * - if the trigger functionality is activate in the trigger options panel
+     * 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.
      *
@@ Zeile 74: / Zeile 76: @@
      */
     public PropertyGroup nextCycle() throws ExecutionException;
+    /**
+     *
+     * Used to close a robot program before loading a new one.
+     *
+     * @return
+     *
+     */
+     public boolean close();
 }
 </code>
@@ Zeile 79: / Zeile 90: @@
 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.
-The general configuration of the trigger functionality can be done via the options dialog in the misceleanous tab.
+===== 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 |}}
 ^ 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] |
+^ 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] |