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Merged in develop

This commit is contained in:
Anne de Jong 2023-06-11 05:45:02 -07:00
parent f9640a5f99 9b724ab9d5
commit 3904abfcf9
38 changed files with 1372 additions and 932 deletions
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6
src/lasp/device/CMakeLists.txt
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@ -1,4 +1,5 @@
# src/lasp/device/CMakeLists.txt
include_directories(uldaq)
add_library(lasp_device_lib OBJECT
lasp_daq.cpp
@ -7,8 +8,11 @@ add_library(lasp_device_lib OBJECT
lasp_deviceinfo.cpp
lasp_rtaudiodaq.cpp
lasp_streammgr.cpp
lasp_indatahandler.cpp
lasp_uldaq.cpp
lasp_uldaq_impl.cpp
uldaq/lasp_uldaq_impl.cpp
uldaq/lasp_uldaq_bufhandler.cpp
uldaq/lasp_uldaq_common.cpp
)
# Callback requires certain arguments that are not used by code. This disables

6
src/lasp/device/lasp_daq.h
View File

@ -5,6 +5,8 @@
#include "lasp_types.h"
#include <functional>
#include <memory>
#include <mutex>
#include <atomic>
/**
* \defgroup device Device interfacing
@ -13,12 +15,12 @@
* @brief Callback of DAQ for input data. Callback should return
* false for a stop request.
*/
using InDaqCallback = std::function<bool(const DaqData &)>;
using InDaqCallback = std::function<void(const DaqData &)>;
/**
* @brief
*/
using OutDaqCallback = std::function<bool(DaqData &)>;
using OutDaqCallback = std::function<void(DaqData &)>;
/**
* @brief Base cass for all DAQ (Data Acquisition) interfaces. A DAQ can be a

1
src/lasp/device/lasp_deviceinfo.h
View File

@ -19,6 +19,7 @@ public:
* @brief Virtual desctructor. Can be derived class.
*/
virtual ~DeviceInfo() {}
DeviceInfo& operator=(const DeviceInfo&) = delete;
/**
* @brief Clone a device info.

59
src/lasp/device/lasp_indatahandler.cpp Normal file
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@ -0,0 +1,59 @@
/* #define DEBUGTRACE_ENABLED */
#include "lasp_indatahandler.h"
#include "debugtrace.hpp"
#include "lasp_streammgr.h"
#include <thread>
InDataHandler::InDataHandler(SmgrHandle mgr, const InCallbackType cb,
const InResetType resetfcn)
: _mgr(mgr), inCallback(cb), reset(resetfcn)
#if LASP_DEBUG == 1
,
main_thread_id(std::this_thread::get_id())
#endif
{
DEBUGTRACE_ENTER;
#if LASP_DEBUG == 1
assert(mgr->main_thread_id == main_thread_id);
#endif
}
void InDataHandler::start() {
DEBUGTRACE_ENTER;
checkRightThread();
if (SmgrHandle handle = _mgr.lock()) {
handle->addInDataHandler(this);
#if LASP_DEBUG == 1
assert(handle->main_thread_id == main_thread_id);
#endif
}
}
void InDataHandler::stop() {
DEBUGTRACE_ENTER;
checkRightThread();
#if LASP_DEBUG == 1
stopCalled = true;
#endif
if (SmgrHandle handle = _mgr.lock()) {
handle->removeInDataHandler(*this);
}
}
InDataHandler::~InDataHandler() {
DEBUGTRACE_ENTER;
checkRightThread();
#if LASP_DEBUG == 1
if (!stopCalled) {
std::cerr << "************ BUG: Stop function not called while arriving at "
"InDataHandler's destructor. Fix this by calling "
"InDataHandler::stop()."
<< std::endl;
abort();
}
#endif
}
#if LASP_DEBUG == 1
void InDataHandler::checkRightThread() const {
assert(std::this_thread::get_id() == main_thread_id);
}
#endif

79
src/lasp/device/lasp_indatahandler.h Normal file
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@ -0,0 +1,79 @@
#pragma once
#include "lasp_types.h"
#include <atomic>
#include <functional>
#include <memory>
#include <thread>
class StreamMgr;
using SmgrHandle = std::shared_ptr<StreamMgr>;
class DaqData;
class Daq;
/** \addtogroup device
* @{
*/
/**
* @brief The function definition of callbacks with incoming DAQ data
*/
using InCallbackType = std::function<void(const DaqData &)>;
/**
* @brief Function definition for the reset callback.
*/
using InResetType = std::function<void(const Daq *)>;
class InDataHandler {
protected:
std::weak_ptr<StreamMgr> _mgr;
#if LASP_DEBUG == 1
// This is a flag to indicate whether the method stop() is called for the
// current handler. It should call the method stop() from the derived class's
// destructor.
std::atomic<bool> stopCalled{false};
#endif
public:
~InDataHandler();
const InCallbackType inCallback;
const InResetType reset;
/**
* @brief When constructed, the handler is added to the stream manager, which
* will call the handlers's inCallback() until stop() is called.
*
* @param mgr Stream manager.
* @param cb The callback that is stored, and called on new DAQ data
* @param resetfcn The callback that is stored, and called when the DAQ
* changes state.
*/
InDataHandler(SmgrHandle mgr, InCallbackType cb,
InResetType resetfcn);
/**
* @brief Adds the current InDataHandler to the list of handlers in the
* StreamMgr. After this happens, the reset() method stored in this
* object is called back. When the stream is running, right after this,
* inCallback() is called with DaqData.
*/
void start();
/**
* @brief Removes the currend InDataHandler from the list of handlers in the
* StreamMgr. From that point on, the object can be safely destroyed. Not
* calling stop() before destruction of this object is considered a BUG. I.e.
* a class which *uses* an InDataHandler should always call stop() in its
* destructor.
*/
void stop();
#if LASP_DEBUG == 1
const std::thread::id main_thread_id;
void checkRightThread() const;
#else
void checkRightThread() const {}
#endif
};
/** @} */

13
src/lasp/device/lasp_rtaudiodaq.cpp
View File

@ -368,11 +368,7 @@ public:
DaqData d{nFramesPerBlock, neninchannels, dtype};
d.copyInFromRaw(ptrs);
bool ret = _incallback(d);
if (!ret) {
stopWithError(se::noError);
return 1;
}
_incallback(d);
}
if (outputBuffer) {
@ -395,11 +391,8 @@ public:
}
DaqData d{nFramesPerBlock, nenoutchannels, dtype};
bool ret = _outcallback(d);
if (!ret) {
stopWithError(se::noError);
return 1;
}
_outcallback(d);
// Copy over the buffer
us j = 0;
for (auto ptr : ptrs) {
d.copyToRaw(j, ptr);

21
src/lasp/device/lasp_rtaudiodaq.h
View File

@ -2,6 +2,25 @@
#include "lasp_daq.h"
#include <memory>
/** \addtogroup device
* @{
* \defgroup rtaudio RtAudio backend
* This code is used to interface with the RtAudio cross-platform audio
* interface.
*
* \addtogroup rtaudio
* @{
*/
/**
* @brief Method called from Daq::createDaq.
*
* @param devinfo Device info
* @param config DAQ Configuration settings
*
* @return Pointer to Daq instance. Throws Runtime errors on error.
*/
std::unique_ptr<Daq> createRtAudioDevice(const DeviceInfo& devinfo,
const DaqConfiguration& config);
@ -12,3 +31,5 @@ std::unique_ptr<Daq> createRtAudioDevice(const DeviceInfo& devinfo,
*/
void fillRtAudioDeviceInfo(DeviceInfoList &devinfolist);
/** @} */
/** @} */

139
src/lasp/device/lasp_streammgr.cpp
View File

@ -2,58 +2,78 @@
#include "lasp_streammgr.h"
#include "debugtrace.hpp"
#include "lasp_biquadbank.h"
#include "lasp_indatahandler.h"
#include "lasp_thread.h"
#include <algorithm>
#include <assert.h>
#include <functional>
#include <iostream>
#include <memory>
#include <mutex>
using std::cerr;
using std::endl;
using rte = std::runtime_error;
InDataHandler::InDataHandler(StreamMgr &mgr) : _mgr(mgr) { DEBUGTRACE_ENTER; }
void InDataHandler::start() {
DEBUGTRACE_ENTER;
_mgr.addInDataHandler(*this);
}
void InDataHandler::stop() {
#if LASP_DEBUG == 1
stopCalled = true;
#endif
_mgr.removeInDataHandler(*this);
}
InDataHandler::~InDataHandler() {
/**
* @brief The main global handle to a stream, stored in a weak pointer, if it
* does not yet exist, via StreamMgr::getInstance, a new stream mgr is created.
* It also makes sure that the stream manager is deleted once the latest handle
* to it has been destroyed (no global stuff left).
*/
std::weak_ptr<StreamMgr> _mgr;
std::mutex _mgr_mutex;
using Lck = std::scoped_lock<std::mutex>;
/**
* @brief The only way to obtain a stream manager, can only be called from the
* thread that does it the first time.
*
* @return Stream manager handle
*/
SmgrHandle StreamMgr::getInstance() {
DEBUGTRACE_ENTER;
#if LASP_DEBUG == 1
if (!stopCalled) {
cerr << "************ BUG: Stop function not called while arriving at "
"InDataHandler's destructor. Fix this by calling "
"InDataHandler::stop() from the derived class' destructor."
<< endl;
abort();
auto mgr = _mgr.lock();
if (!mgr) {
// Double Check Locking Pattern, if two threads would simultaneously
// instantiate the singleton instance.
Lck lck(_mgr_mutex);
auto mgr = _mgr.lock();
if (mgr) {
return mgr;
}
mgr = SmgrHandle(new StreamMgr());
if (!mgr) {
throw rte("Fatal: could not allocate stream manager!");
}
// Update global weak pointer
_mgr = mgr;
return mgr;
}
#if LASP_DEBUG == 1
// Make sure we never ask for a new SmgrHandle from a different thread.
assert(std::this_thread::get_id() == mgr->main_thread_id);
#endif
}
StreamMgr &StreamMgr::getInstance() {
DEBUGTRACE_ENTER;
static StreamMgr mgr;
return mgr;
}
StreamMgr::StreamMgr() {
DEBUGTRACE_ENTER;
StreamMgr::StreamMgr()
#if LASP_DEBUG == 1
_main_thread_id = std::this_thread::get_id();
: main_thread_id(std::this_thread::get_id())
#endif
{
DEBUGTRACE_ENTER;
// Trigger a scan for the available devices, in the background.
rescanDAQDevices(true);
}
#if LASP_DEBUG == 1
void StreamMgr::checkRightThread() const {
assert(std::this_thread::get_id() == _main_thread_id);
assert(std::this_thread::get_id() == main_thread_id);
}
#endif
@ -61,22 +81,23 @@ void StreamMgr::rescanDAQDevices(bool background,
std::function<void()> callback) {
DEBUGTRACE_ENTER;
DEBUGTRACE_PRINT(background);
auto &pool = getPool();
checkRightThread();
if (_inputStream || _outputStream) {
throw rte("Rescanning DAQ devices only possible when no stream is running");
}
if (!_devices_mtx.try_lock()) {
throw rte("A background DAQ device scan is probably already running");
}
_devices_mtx.unlock();
if (_inputStream || _outputStream) {
throw rte("Rescanning DAQ devices only possible when no stream is running");
}
std::scoped_lock lck(_devices_mtx);
_devices.clear();
/* auto &pool = getPool(); */
if (!background) {
rescanDAQDevices_impl(callback);
} else {
pool.push_task(&StreamMgr::rescanDAQDevices_impl, this, callback);
DEBUGTRACE_PRINT("Rescanning DAQ devices on different thread...");
_pool.push_task(&StreamMgr::rescanDAQDevices_impl, this, callback);
}
}
void StreamMgr::rescanDAQDevices_impl(std::function<void()> callback) {
@ -87,7 +108,7 @@ void StreamMgr::rescanDAQDevices_impl(std::function<void()> callback) {
callback();
}
}
bool StreamMgr::inCallback(const DaqData &data) {
void StreamMgr::inCallback(const DaqData &data) {
DEBUGTRACE_ENTER;
@ -118,23 +139,15 @@ bool StreamMgr::inCallback(const DaqData &data) {
}
for (auto &handler : _inDataHandlers) {
bool res = handler->inCallback(input_filtered);
if (!res) {
return false;
}
handler->inCallback(input_filtered);
}
} else {
/// No input filters
for (auto &handler : _inDataHandlers) {
bool res = handler->inCallback(data);
if (!res) {
return false;
}
handler->inCallback(data);
}
}
return true;
}
void StreamMgr::setSiggen(std::shared_ptr<Siggen> siggen) {
@ -198,7 +211,7 @@ template <typename T> bool fillData(DaqData &data, const vd &signal) {
return true;
}
bool StreamMgr::outCallback(DaqData &data) {
void StreamMgr::outCallback(DaqData &data) {
/* DEBUGTRACE_ENTER; */
@ -227,19 +240,17 @@ bool StreamMgr::outCallback(DaqData &data) {
// Set all values to 0.
std::fill(data.raw_ptr(), data.raw_ptr() + data.size_bytes(), 0);
}
return true;
}
StreamMgr::~StreamMgr() {
DEBUGTRACE_ENTER;
checkRightThread();
stopAllStreams();
if (!_inDataHandlers.empty()) {
cerr << "*** WARNING: InDataHandlers have not been all stopped, while "
"StreamMgr destructor is called. This is a misuse BUG"
<< endl;
abort();
}
// Stream manager now handled by shared pointer. Each indata handler gets a
// shared pointer to the stream manager, and stores a weak pointer to it.
// Hence, we do not have to do any cleanup here. It also makes sure that the
// order in which destructors are called does not matter anymore. As soon as
// the stream manager is destructed, the weak pointers loose there ref, and do
// not have to removeInDataHandler() anymore.
}
void StreamMgr::stopAllStreams() {
DEBUGTRACE_ENTER;
@ -264,15 +275,15 @@ void StreamMgr::startStream(const DaqConfiguration &config) {
std::scoped_lock lck(_devices_mtx);
DeviceInfo *devinfo = nullptr;
bool found = false;
// Match configuration to a device in the list of devices
for (auto &devinfoi : _devices) {
if (config.match(*devinfoi)) {
devinfo = devinfoi.get();
break;
}
}
if (!devinfo) {
if (devinfo == nullptr) {
throw rte("Could not find a device with name " + config.device_name +
" in list of devices.");
}
@ -408,23 +419,20 @@ void StreamMgr::stopStream(const StreamType t) {
}
}
void StreamMgr::addInDataHandler(InDataHandler &handler) {
void StreamMgr::addInDataHandler(InDataHandler *handler) {
DEBUGTRACE_ENTER;
checkRightThread();
assert(handler);
std::scoped_lock<std::mutex> lck(_inDataHandler_mtx);
if (_inputStream) {
handler.reset(_inputStream.get());
} else {
handler.reset(nullptr);
}
if (std::find(_inDataHandlers.cbegin(), _inDataHandlers.cend(), &handler) !=
handler->reset(_inputStream.get());
if (std::find(_inDataHandlers.cbegin(), _inDataHandlers.cend(), handler) !=
_inDataHandlers.cend()) {
throw std::runtime_error("Error: handler already added. Probably start() "
"is called more than once on a handler object");
}
_inDataHandlers.push_back(&handler);
_inDataHandlers.push_back(handler);
DEBUGTRACE_PRINT(_inDataHandlers.size());
}
void StreamMgr::removeInDataHandler(InDataHandler &handler) {
@ -434,7 +442,6 @@ void StreamMgr::removeInDataHandler(InDataHandler &handler) {
_inDataHandlers.remove(&handler);
DEBUGTRACE_PRINT(_inDataHandlers.size());
}
Daq::StreamStatus StreamMgr::getStreamStatus(const StreamType type) const {

100
src/lasp/device/lasp_streammgr.h
View File

@ -1,6 +1,7 @@
#pragma once
#include "lasp_daq.h"
#include "lasp_siggen.h"
#include "lasp_thread.h"
#include <list>
#include <memory>
#include <mutex>
@ -10,60 +11,8 @@
* @{
*/
class StreamMgr;
class InDataHandler;
class InDataHandler {
protected:
StreamMgr &_mgr;
#if LASP_DEBUG == 1
std::atomic<bool> stopCalled{false};
#endif
public:
virtual ~InDataHandler();
/**
* @brief When constructed, the handler is added to the stream manager, which
* will call the handlers's inCallback() until stop() is called.
*
* @param mgr Stream manager.
*/
InDataHandler(StreamMgr &mgr);
/**
* @brief This function is called when input data from a DAQ is available.
*
* @param daqdata Input data from DAQ
*
* @return true if no error. False to stop the stream from running.
*/
virtual bool inCallback(const DaqData &daqdata) = 0;
/**
* @brief Reset in-data handler.
*
* @param daq New DAQ configuration of inCallback(). If nullptr is given,
* it means that the stream is stopped.
*/
virtual void reset(const Daq *daq = nullptr) = 0;
/**
* @brief This function should be called from the constructor of the
* implementation of InDataHandler. It will start the stream's calling of
* inCallback().
*/
void start();
/**
* @brief This function should be called from the destructor of derived
* classes, to disable the calls to inCallback(), such that proper
* destruction of the object is allowed and no other threads call methods
* from the object. It removes the inCallback() from the callback list of the
* StreamMgr(). **Failing to call this function results in deadlocks, errors
* like "pure virtual function called", or other**.
*/
void stop();
};
class SeriesBiquad;
@ -76,48 +25,53 @@ class SeriesBiquad;
* fact is asserted.
*/
class StreamMgr {
#if LASP_DEBUG == 1
std::thread::id _main_thread_id;
#endif
/**
* @brief Storage for streams.
*/
std::unique_ptr<Daq> _inputStream, _outputStream;
ThreadSafeThreadPool _pool;
/**
* @brief All indata handlers are called when input data is available. Note
* that they can be called from different threads and should take care of
* thread-safety.
*/
std::list<InDataHandler *> _inDataHandlers;
std::mutex _inDataHandler_mtx;
mutable std::mutex _inDataHandler_mtx;
/**
* @brief Signal generator in use to generate output data. Currently
* implemented as to generate the same data for all output channels.
*/
std::shared_ptr<Siggen> _siggen;
std::mutex _siggen_mtx;
/**
* @brief Filters on input stream. For example, a digital high pass filter.
*/
std::vector<std::unique_ptr<SeriesBiquad>> _inputFilters;
std::mutex _siggen_mtx;
std::mutex _devices_mtx;
mutable std::recursive_mutex _devices_mtx;
/**
* @brief Current storage for the device list
*/
DeviceInfoList _devices;
// Singleton, no public constructor. Can only be obtained using
// getInstance();
StreamMgr();
friend class InDataHandler;
friend class Siggen;
// Singleton, no public destructor
~StreamMgr();
public:
~StreamMgr();
enum class StreamType : us {
/**
* @brief Input stream
@ -137,7 +91,7 @@ class StreamMgr {
*
* @return Reference to stream manager.
*/
static StreamMgr &getInstance();
static std::shared_ptr<StreamMgr> getInstance();
/**
* @brief Obtain a list of devices currently available. When the StreamMgr is
@ -146,7 +100,7 @@ class StreamMgr {
* @return A copy of the internal stored list of devices
*/
DeviceInfoList getDeviceInfo() const {
std::scoped_lock lck(const_cast<std::mutex &>(_devices_mtx));
std::scoped_lock lck(_devices_mtx);
DeviceInfoList d2;
for(const auto& dev: _devices) {
d2.push_back(dev->clone());
@ -157,7 +111,8 @@ class StreamMgr {
/**
* @brief Triggers a background scan of the DAQ devices, which updates the
* internally stored list of devices. Throws a runtime error when a
* background thread is already scanning for devices.
* background thread is already scanning for devices, or if a stream is
* running.
*
* @param background Perform searching for DAQ devices in the background. If
* set to true, the function returns immediately.
@ -231,17 +186,17 @@ class StreamMgr {
/**
* @brief Set active signal generator for output streams. Only one `Siggen'
* is active at the same time. Siggen controls its own data race protection
* using a mutex.
* using a mutex. If no Siggen is there, and an output stream is running, it
* will send a default signal of 0.
*
* @param s New Siggen pointer
*/
void setSiggen(std::shared_ptr<Siggen> s);
private:
bool inCallback(const DaqData &data);
bool outCallback(DaqData &data);
void inCallback(const DaqData &data);
void outCallback(DaqData &data);
void removeInDataHandler(InDataHandler &handler);
/**
* @brief Add an input data handler. The handler's inCallback() function is
@ -251,8 +206,14 @@ private:
*
* @param handler The handler to add.
*/
void addInDataHandler(InDataHandler &handler);
void addInDataHandler(InDataHandler *handler);
/**
* @brief Remove InDataHandler from the list.
*
* @param handler
*/
void removeInDataHandler(InDataHandler &handler);
/**
* @brief Do the actual rescanning.
*
@ -261,6 +222,7 @@ private:
void rescanDAQDevices_impl(std::function<void()> callback);
#if LASP_DEBUG == 1
const std::thread::id main_thread_id;
void checkRightThread() const;
#else
void checkRightThread() const {}

69
src/lasp/device/lasp_uldaq.cpp
View File

@ -1,18 +1,22 @@
/* #define DEBUGTRACE_ENABLED */
#include "debugtrace.hpp"
#include "lasp_config.h"
#if LASP_HAS_ULDAQ == 1
#include "lasp_uldaq.h"
#include "lasp_uldaq_impl.h"
#include <uldaq.h>
/**
* @brief The maximum number of devices that can be enumerated when calling
* ulGetDaqDeviceInventory()
*/
const us MAX_ULDAQ_DEV_COUNT_PER_API = 100;
void fillUlDaqDeviceInfo(DeviceInfoList &devinfolist) {
DEBUGTRACE_ENTER;
UlError err;
unsigned int numdevs = MAX_ULDAQ_DEV_COUNT_PER_API;
@ -20,13 +24,13 @@ void fillUlDaqDeviceInfo(DeviceInfoList &devinfolist) {
DaqDeviceDescriptor descriptor;
DaqDeviceInterface interfaceType = ANY_IFC;
err = ulGetDaqDeviceInventory(interfaceType, devdescriptors,
static_cast<unsigned *>(&numdevs));
err = ulGetDaqDeviceInventory(interfaceType, devdescriptors, &numdevs);
if (err != ERR_NO_ERROR) {
throw rte("UlDaq device inventarization failed");
}
DEBUGTRACE_PRINT(string("Number of devices: ") + std::to_string(numdevs));
for (unsigned i = 0; i < numdevs; i++) {
descriptor = devdescriptors[i];
@ -35,32 +39,34 @@ void fillUlDaqDeviceInfo(DeviceInfoList &devinfolist) {
devinfo._uldaqDescriptor = descriptor;
devinfo.api = uldaqapi;
string name, interface;
string productname = descriptor.productName;
if (productname != "DT9837A") {
throw rte("Unknown UlDAQ type: " + productname);
{
string name;
string productname = descriptor.productName;
if (productname != "DT9837A") {
throw rte("Unknown UlDAQ type: " + productname);
}
switch (descriptor.devInterface) {
case USB_IFC:
name = "USB - ";
break;
case BLUETOOTH_IFC:
/* devinfo. */
name = "Bluetooth - ";
break;
case ETHERNET_IFC:
/* devinfo. */
name = "Ethernet - ";
break;
default:
name = "Uknown interface = ";
}
name += productname + " " + string(descriptor.uniqueId);
devinfo.device_name = name;
}
switch (descriptor.devInterface) {
case USB_IFC:
name = "USB - ";
break;
case BLUETOOTH_IFC:
/* devinfo. */
name = "Bluetooth - ";
break;
case ETHERNET_IFC:
/* devinfo. */
name = "Ethernet - ";
break;
default:
name = "Uknown interface = ";
}
name += string(descriptor.productName) + " " + string(descriptor.uniqueId);
devinfo.device_name = std::move(name);
devinfo.physicalOutputQty = DaqChannel::Qty::Voltage;
devinfo.availableDataTypes.push_back(
@ -93,7 +99,12 @@ void fillUlDaqDeviceInfo(DeviceInfoList &devinfolist) {
std::unique_ptr<Daq> createUlDaqDevice(const DeviceInfo &devinfo,
const DaqConfiguration &config) {
return std::make_unique<DT9837A>(devinfo, config);
const UlDaqDeviceInfo *_info =
dynamic_cast<const UlDaqDeviceInfo *>(&devinfo);
if (_info == nullptr) {
throw rte("BUG: Could not cast DeviceInfo to UlDaqDeviceInfo");
}
return std::make_unique<DT9837A>(*_info, config);
}
#endif // LASP_HAS_ULDAQ

16
src/lasp/device/lasp_uldaq.h
View File

@ -1,18 +1,24 @@
#pragma once
#include "lasp_daq.h"
/**
* @brief The maximum number of devices that can be enumerated when calling
* ulGetDaqDeviceInventory()
/** \addtogroup device
* \defgroup uldaq UlDAQ specific code
* This code is used to interface with UlDAQ compatible devices. It is only
* tested on Linux.
* @{
* \addtogroup uldaq
* @{
*/
const us MAX_ULDAQ_DEV_COUNT_PER_API = 100;
std::unique_ptr<Daq> createUlDaqDevice(const DeviceInfo &devinfo,
const DaqConfiguration &config);
/**
* @brief Fill device info list with UlDaq specific devices, if any.
* @brief Append device info list with UlDaq specific devices, if any.
*
* @param devinfolist Info list to append to.
*/
void fillUlDaqDeviceInfo(DeviceInfoList& devinfolist);
/** @} */
/** @} */

484
src/lasp/device/lasp_uldaq_impl.cpp
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@ -1,484 +0,0 @@
/* #define DEBUGTRACE_ENABLED */
#include "debugtrace.hpp"
#include "lasp_config.h"
#if LASP_HAS_ULDAQ == 1
#include "lasp_daqconfig.h"
#include "lasp_uldaq.h"
#include "lasp_uldaq_impl.h"
using namespace std::literals::chrono_literals;
/**
* @brief Reserve some space for an error message from UlDaq
*/
const us UL_ERR_MSG_LEN = 512;
/**
* @brief Return a string corresponding to the UlDaq API error
*
* @param err error code
*
* @return Error string
*/
string getErrMsg(UlError err) {
string errstr;
errstr.reserve(UL_ERR_MSG_LEN);
char errmsg[UL_ERR_MSG_LEN];
errstr = "UlDaq API Error: ";
ulGetErrMsg(err, errmsg);
errstr += errmsg;
return errstr;
}
inline void showErr(string errstr) {
std::cerr << "\b\n**************** UlDAQ backend error **********\n";
std::cerr << errstr << std::endl;
std::cerr << "***********************************************\n\n";
}
inline void showErr(UlError err) {
if (err != ERR_NO_ERROR)
showErr(getErrMsg(err));
}
DT9837A::~DT9837A() {
UlError err;
if (isRunning()) {
stop();
}
if (_handle) {
err = ulDisconnectDaqDevice(_handle);
showErr(err);
err = ulReleaseDaqDevice(_handle);
showErr(err);
}
}
DT9837A::DT9837A(const DeviceInfo &devinfo, const DaqConfiguration &config)
: Daq(devinfo, config),
_nFramesPerBlock(availableFramesPerBlock.at(framesPerBlockIndex)) {
// Some sanity checks
if (inchannel_config.size() != 4) {
throw rte("Invalid length of enabled inChannels vector");
}
if (outchannel_config.size() != 1) {
throw rte("Invalid length of enabled outChannels vector");
}
if (_nFramesPerBlock < 24 || _nFramesPerBlock > 8192) {
throw rte("Unsensible number of samples per block chosen");
}
if (samplerate() < ULDAQ_SAMPLERATES.at(0) || samplerate() > ULDAQ_SAMPLERATES.at(ULDAQ_SAMPLERATES.size()-1)) {
throw rte("Invalid sample rate");
}
const UlDaqDeviceInfo *_info =
dynamic_cast<const UlDaqDeviceInfo *>(&devinfo);
if (_info == nullptr) {
throw rte("BUG: Could not cast DeviceInfo to UlDaqDeviceInfo");
}
// get a handle to the DAQ device associated with the first descriptor
_handle = ulCreateDaqDevice(_info->_uldaqDescriptor);
if (_handle == 0) {
throw rte("Unable to create a handle to the specified DAQ "
"device. Is the device currently in use? Please make sure to set "
"the DAQ configuration in duplex mode if simultaneous input and "
"output is required.");
}
UlError err = ulConnectDaqDevice(_handle);
if (err != ERR_NO_ERROR) {
ulReleaseDaqDevice(_handle);
_handle = 0;
throw rte("Unable to connect to device: " + getErrMsg(err));
}
/// Loop over input channels, set parameters
for (us ch = 0; ch < 4; ch++) {
err = ulAISetConfigDbl(_handle, AI_CFG_CHAN_SENSOR_SENSITIVITY, ch, 1.0);
showErr(err);
if (err != ERR_NO_ERROR) {
throw rte("Fatal: could normalize channel sensitivity");
}
CouplingMode cm = inchannel_config.at(ch).ACCouplingMode ? CM_AC : CM_DC;
err = ulAISetConfig(_handle, AI_CFG_CHAN_COUPLING_MODE, ch, cm);
if (err != ERR_NO_ERROR) {
showErr(err);
throw rte("Fatal: could not set AC/DC coupling mode");
}
IepeMode iepe =
inchannel_config.at(ch).IEPEEnabled ? IEPE_ENABLED : IEPE_DISABLED;
err = ulAISetConfig(_handle, AI_CFG_CHAN_IEPE_MODE, ch, iepe);
if (err != ERR_NO_ERROR) {
showErr(err);
throw rte("Fatal: could not set IEPE mode");
}
}
}
bool DT9837A::isRunning() const {
DEBUGTRACE_ENTER;
return _thread.joinable();
}
void DT9837A::stop() {
DEBUGTRACE_ENTER;
StreamStatus status = _streamStatus;
if (!isRunning()) {
throw rte("No data acquisition running");
}
_stopThread = true;
if (_thread.joinable()) {
_thread.join();
}
_stopThread = false;
status.isRunning = false;
_streamStatus = status;
}
/**
* @brief Throws an appropriate stream exception based on the UlError number.
* The mapping is based on the error numbers as given in uldaq.h. There are a
* log of errors definded here (109 in total). Except for some, we will map
* most of them to a driver error.
*
* @param e
*/
inline void throwUlException(UlError err) {
if (err == ERR_NO_ERROR) {
return;
}
string errstr = getErrMsg(err);
showErr(errstr);
Daq::StreamStatus::StreamError serr;
if ((int)err == 18) {
serr = Daq::StreamStatus::StreamError::inputXRun;
} else if ((int)err == 19) {
serr = Daq::StreamStatus::StreamError::outputXRun;
} else {
serr = Daq::StreamStatus::StreamError::driverError;
}
throw Daq::StreamException(serr, errstr);
}
void DT9837A::start(InDaqCallback inCallback, OutDaqCallback outCallback) {
DEBUGTRACE_ENTER;
if (isRunning()) {
throw rte("DAQ is already running");
}
if (neninchannels() > 0) {
if (!inCallback)
throw rte("DAQ requires a callback for input data");
}
if (nenoutchannels() > 0) {
if (!outCallback)
throw rte("DAQ requires a callback for output data");
}
assert(neninchannels() + nenoutchannels() > 0);
_thread = std::thread(&DT9837A::threadFcn, this, inCallback, outCallback);
}
InBufHandler::InBufHandler(DT9837A &daq, InDaqCallback cb)
: BufHandler(daq, daq.neninchannels()), cb(cb)
{
DEBUGTRACE_ENTER;
assert(daq.getHandle() != 0);
monitorOutput = daq.monitorOutput;
DaqInScanFlag inscanflags = DAQINSCAN_FF_DEFAULT;
ScanOption scanoptions = SO_CONTINUOUS;
UlError err = ERR_NO_ERROR;
std::vector<DaqInChanDescriptor> indescs;
boolvec eninchannels_without_mon = daq.eninchannels(false);
// Set ranges for each input. Below asks only channels that are not a
// monitor channel (hence the false flag).
dvec ranges = daq.inputRangeForEnabledChannels(false);
us enabled_ch_count = 0;
for (us chin = 0; chin < 4; chin++) {
if (eninchannels_without_mon[chin] == true) {
DaqInChanDescriptor indesc;
indesc.type = DAQI_ANALOG_SE;
indesc.channel = chin;
double rangeval = ranges.at(enabled_ch_count);
Range rangenum;
if (fabs(rangeval - 1.0) < 1e-8) {
rangenum = BIP1VOLTS;
} else if (fabs(rangeval - 10.0) < 1e-8) {
rangenum = BIP10VOLTS;
} else {
throw Daq::StreamException(Daq::StreamStatus::StreamError::logicError);
std::cerr << "Fatal: input range value is invalid" << endl;
return;
}
indesc.range = rangenum;
indescs.push_back(indesc);
enabled_ch_count++;
}
}
// Add possibly last channel as monitor
if (monitorOutput) {
DaqInChanDescriptor indesc;
indesc.type = DAQI_DAC;
indesc.channel = 0;
/// The output only has a range of 10V, therefore the monitor of the
/// output also has to be set to this value.
indesc.range = BIP10VOLTS;
indescs.push_back(indesc);
}
assert(indescs.size() == nchannels);
DEBUGTRACE_MESSAGE("Starting input scan");
err = ulDaqInScan(daq.getHandle(), indescs.data(), nchannels,
2 * nFramesPerBlock, // Watch the 2 here!
&samplerate, scanoptions, inscanflags, buf.data());
throwUlException(err);
}
void InBufHandler::start() {
DEBUGTRACE_ENTER;
ScanStatus status;
TransferStatus transferStatus;
UlError err = ulDaqInScanStatus(daq.getHandle(), &status, &transferStatus);
throwUlException(err);
totalFramesCount = transferStatus.currentTotalCount;
topenqueued = true;
botenqueued = true;
}
bool InBufHandler::operator()() {
/* DEBUGTRACE_ENTER; */
bool ret = true;
auto runCallback = ([&](us totalOffset) {
/* DEBUGTRACE_ENTER; */
DaqData data(nFramesPerBlock, nchannels, dtype_descr.dtype);
us monitorOffset = monitorOutput ? 1 : 0;
/* /// Put the output monitor in front */
if (monitorOutput) {
for (us frame = 0; frame < nFramesPerBlock; frame++) {
data.value<double>(frame, 0) =
buf[totalOffset + (frame * nchannels) + (nchannels - 1)];
}
}
for (us channel = 0; channel < nchannels - monitorOffset; channel++) {
/* DEBUGTRACE_PRINT(channel); */
for (us frame = 0; frame < nFramesPerBlock; frame++) {
data.value<double>(frame, channel + monitorOffset) =
buf[totalOffset + (frame * nchannels) + channel];
}
}
return cb(data);
});
ScanStatus status;
TransferStatus transferStatus;
UlError err = ulDaqInScanStatus(daq.getHandle(), &status, &transferStatus);
throwUlException(err);
us increment = transferStatus.currentTotalCount - totalFramesCount;
totalFramesCount += increment;
if (increment > nFramesPerBlock) {
throw Daq::StreamException(Daq::StreamStatus::StreamError::inputXRun);
}
assert(status == SS_RUNNING);
if (transferStatus.currentIndex < (long long)buffer_mid_idx) {
topenqueued = false;
if (!botenqueued) {
ret = runCallback(nchannels * nFramesPerBlock);
botenqueued = true;
}
} else {
botenqueued = false;
if (!topenqueued) {
ret = runCallback(0);
topenqueued = true;
}
}
return ret;
}
InBufHandler::~InBufHandler() {
// At exit of the function, stop scanning.
DEBUGTRACE_ENTER;
UlError err = ulDaqInScanStop(daq.getHandle());
if (err != ERR_NO_ERROR) {
showErr(err);
}
}
OutBufHandler::OutBufHandler(DT9837A &daq, OutDaqCallback cb)
: BufHandler(daq, daq.nenoutchannels()), cb(cb) {
DEBUGTRACE_MESSAGE("Starting output scan");
DEBUGTRACE_PRINT(nchannels);
AOutScanFlag outscanflags = AOUTSCAN_FF_DEFAULT;
ScanOption scanoptions = SO_CONTINUOUS;
UlError err = ulAOutScan(daq.getHandle(), 0, 0, BIP10VOLTS,
2 * nFramesPerBlock, // Watch the 2 here!
&samplerate, scanoptions, outscanflags, buf.data());
throwUlException(err);
}
void OutBufHandler::start() {
ScanStatus status;
TransferStatus transferStatus;
UlError err = ulAOutScanStatus(daq.getHandle(), &status, &transferStatus);
if (err != ERR_NO_ERROR) {
showErr(err);
throw rte("Unable to start output on DAQ");
}
if (status != SS_RUNNING) {
throw rte("Unable to start output on DAQ");
}
totalFramesCount = transferStatus.currentTotalCount;
topenqueued = true;
botenqueued = true;
}
bool OutBufHandler::operator()() {
/* DEBUGTRACE_ENTER; */
bool res = true;
assert(daq.getHandle() != 0);
UlError err = ERR_NO_ERROR;
ScanStatus status;
TransferStatus transferStatus;
err = ulAOutScanStatus(daq.getHandle(), &status, &transferStatus);
throwUlException(err);
if (status != SS_RUNNING) {
return false;
}
us increment = transferStatus.currentTotalCount - totalFramesCount;
totalFramesCount += increment;
if (increment > nFramesPerBlock) {
throw Daq::StreamException(Daq::StreamStatus::StreamError::outputXRun);
}
if (transferStatus.currentIndex < buffer_mid_idx) {
topenqueued = false;
if (!botenqueued) {
DaqData d(nFramesPerBlock, 1, dtype_descr.dtype);
res = cb(d);
d.copyToRaw(0, reinterpret_cast<byte_t *>(&(buf[buffer_mid_idx])));
botenqueued = true;
}
} else {
botenqueued = false;
if (!topenqueued) {
DaqData d(nFramesPerBlock, 1, dtype_descr.dtype);
res = cb(d);
d.copyToRaw(0, reinterpret_cast<byte_t *>(&(buf[0])));
topenqueued = true;
}
}
return res;
}
OutBufHandler::~OutBufHandler() {
DEBUGTRACE_ENTER;
UlError err = ulAOutScanStop(daq.getHandle());
if (err != ERR_NO_ERROR) {
showErr(err);
}
}
void DT9837A::threadFcn(InDaqCallback inCallback, OutDaqCallback outCallback) {
DEBUGTRACE_ENTER;
try {
std::unique_ptr<OutBufHandler> obh;
std::unique_ptr<InBufHandler> ibh;
StreamStatus status = _streamStatus;
status.isRunning = true;
_streamStatus = status;
if (nenoutchannels() > 0) {
assert(outCallback);
obh = std::make_unique<OutBufHandler>(*this, outCallback);
}
if (neninchannels() > 0) {
assert(inCallback);
ibh = std::make_unique<InBufHandler>(*this, inCallback);
}
if (obh)
obh->start();
if (ibh)
ibh->start();
const double sleeptime_s =
static_cast<double>(_nFramesPerBlock) / (16 * samplerate());
const us sleeptime_us = static_cast<us>(sleeptime_s * 1e6);
while (!_stopThread) {
if (ibh) {
if (!(*ibh)()) {
_stopThread = true;
break;
}
}
if (obh) {
if (!(*obh)()) {
_stopThread = true;
break;
}
}
std::this_thread::sleep_for(std::chrono::microseconds(sleeptime_us));
}
/// Update stream status that we are not running anymore
status.isRunning = false;
_streamStatus = status;
_stopThread = false;
} catch (StreamException &e) {
StreamStatus status = _streamStatus;
// Copy over error type
status.errorType = e.e;
_streamStatus = status;
/*
cerr << "\n******************\n";
cerr << "Catched error in UlDAQ thread: " << e.what() << endl;
cerr << "\n******************\n";
*/
}
}
#endif // LASP_HAS_ULDAQ

245
src/lasp/device/uldaq/lasp_uldaq_bufhandler.cpp Normal file
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@ -0,0 +1,245 @@
/* #define DEBUGTRACE_ENABLED */
#include "debugtrace.hpp"
#include "lasp_config.h"
#if LASP_HAS_ULDAQ == 1
#include "lasp_uldaq_bufhandler.h"
#include "lasp_daq.h"
InBufHandler::InBufHandler(DT9837A &daq, InDaqCallback cb)
: BufHandler(daq, daq.neninchannels()), cb(cb)
{
DEBUGTRACE_ENTER;
assert(daq.getHandle() != 0);
monitorOutput = daq.monitorOutput;
DaqInScanFlag inscanflags = DAQINSCAN_FF_DEFAULT;
ScanOption scanoptions = SO_CONTINUOUS;
UlError err = ERR_NO_ERROR;
std::vector<DaqInChanDescriptor> indescs;
boolvec eninchannels_without_mon = daq.eninchannels(false);
// Set ranges for each input. Below asks only channels that are not a
// monitor channel (hence the false flag).
dvec ranges = daq.inputRangeForEnabledChannels(false);
us enabled_ch_counter = 0;
for (us chin = 0; chin < 4; chin++) {
if (eninchannels_without_mon[chin] == true) {
DaqInChanDescriptor indesc;
indesc.type = DAQI_ANALOG_SE;
indesc.channel = chin;
double rangeval = ranges.at(enabled_ch_counter);
Range rangenum;
if (fabs(rangeval - 1.0) < 1e-8) {
rangenum = BIP1VOLTS;
} else if (fabs(rangeval - 10.0) < 1e-8) {
rangenum = BIP10VOLTS;
} else {
throw Daq::StreamException(Daq::StreamStatus::StreamError::logicError);
std::cerr << "Fatal: input range value is invalid" << endl;
return;
}
indesc.range = rangenum;
indescs.push_back(indesc);
enabled_ch_counter++;
}
}
// Add possibly last channel as monitor
if (monitorOutput) {
DaqInChanDescriptor indesc;
indesc.type = DAQI_DAC;
indesc.channel = 0;
/// The output only has a range of 10V, therefore the monitor of the
/// output also has to be set to this value.
indesc.range = BIP10VOLTS;
indescs.push_back(indesc);
}
assert(indescs.size() == nchannels);
DEBUGTRACE_MESSAGE("Starting input scan");
err = ulDaqInScan(daq.getHandle(), indescs.data(), nchannels,
2 * nFramesPerBlock, // Watch the 2 here!
&samplerate, scanoptions, inscanflags, buf.data());
throwOnPossibleUlException(err);
}
void InBufHandler::start() {
DEBUGTRACE_ENTER;
ScanStatus status;
TransferStatus transferStatus;
UlError err = ulDaqInScanStatus(daq.getHandle(), &status, &transferStatus);
throwOnPossibleUlException(err);
totalFramesCount = transferStatus.currentTotalCount;
topenqueued = true;
botenqueued = true;
}
bool InBufHandler::operator()() {
/* DEBUGTRACE_ENTER; */
bool ret = true;
auto runCallback = ([&](us totalOffset) {
/* DEBUGTRACE_ENTER; */
DaqData data(nFramesPerBlock, nchannels, dtype_descr.dtype);
us monitorOffset = monitorOutput ? 1 : 0;
/* /// Put the output monitor in front */
if (monitorOutput) {
for (us frame = 0; frame < nFramesPerBlock; frame++) {
data.value<double>(frame, 0) =
buf[totalOffset // Offset to lowest part of the buffer, or not
+ (frame * nchannels) // Data is interleaved, so skip each
+ (nchannels - 1)] // Monitor comes as last in the channel list,
// but we want it first in the output data.
;
}
}
// Now, all normal channels
for (us channel = 0; channel < nchannels - monitorOffset; channel++) {
/* DEBUGTRACE_PRINT(channel); */
for (us frame = 0; frame < nFramesPerBlock; frame++) {
data.value<double>(frame, channel + monitorOffset) =
buf[totalOffset + (frame * nchannels) + channel];
}
}
return cb(data);
});
ScanStatus status;
TransferStatus transferStatus;
UlError err = ulDaqInScanStatus(daq.getHandle(), &status, &transferStatus);
throwOnPossibleUlException(err);
us increment = transferStatus.currentTotalCount - totalFramesCount;
totalFramesCount += increment;
if (increment > nFramesPerBlock) {
throw Daq::StreamException(Daq::StreamStatus::StreamError::inputXRun);
}
assert(status == SS_RUNNING);
if (transferStatus.currentIndex < (long long)buffer_mid_idx) {
topenqueued = false;
if (!botenqueued) {
runCallback(nchannels * nFramesPerBlock);
botenqueued = true;
}
} else {
botenqueued = false;
if (!topenqueued) {
runCallback(0);
topenqueued = true;
}
}
return ret;
}
InBufHandler::~InBufHandler() {
// At exit of the function, stop scanning.
DEBUGTRACE_ENTER;
UlError err = ulDaqInScanStop(daq.getHandle());
if (err != ERR_NO_ERROR) {
showErr(err);
}
}
OutBufHandler::OutBufHandler(DT9837A &daq, OutDaqCallback cb)
: BufHandler(daq, daq.nenoutchannels()), cb(cb) {
DEBUGTRACE_MESSAGE("Starting output scan");
DEBUGTRACE_PRINT(nchannels);
AOutScanFlag outscanflags = AOUTSCAN_FF_DEFAULT;
ScanOption scanoptions = SO_CONTINUOUS;
UlError err = ulAOutScan(daq.getHandle(), 0, 0, BIP10VOLTS,
2 * nFramesPerBlock, // Watch the 2 here!
&samplerate, scanoptions, outscanflags, buf.data());
throwOnPossibleUlException(err);
}
void OutBufHandler::start() {
ScanStatus status;
TransferStatus transferStatus;
UlError err = ulAOutScanStatus(daq.getHandle(), &status, &transferStatus);
if (err != ERR_NO_ERROR) {
showErr(err);
throw rte("Unable to start output on DAQ");
}
if (status != SS_RUNNING) {
throw rte("Unable to start output on DAQ");
}
totalFramesCount = transferStatus.currentTotalCount;
topenqueued = true;
botenqueued = true;
}
bool OutBufHandler::operator()() {
DEBUGTRACE_ENTER;
bool res = true;
assert(daq.getHandle() != 0);
UlError err = ERR_NO_ERROR;
ScanStatus status;
TransferStatus transferStatus;
err = ulAOutScanStatus(daq.getHandle(), &status, &transferStatus);
throwOnPossibleUlException(err);
if (status != SS_RUNNING) {
return false;
}
us increment = transferStatus.currentTotalCount - totalFramesCount;
totalFramesCount += increment;
if (increment > nFramesPerBlock) {
cerr << "totalFramesCount: " << totalFramesCount << ". Detected output underrun" << endl;
/* throw Daq::StreamException(Daq::StreamStatus::StreamError::outputXRun); */
}
if (transferStatus.currentIndex < buffer_mid_idx) {
topenqueued = false;
if (!botenqueued) {
DaqData d(nFramesPerBlock, 1,// Only one output channel
dtype_descr.dtype);
// Receive data, run callback
cb(d);
d.copyToRaw(0, reinterpret_cast<byte_t *>(&(buf[buffer_mid_idx])));
botenqueued = true;
}
} else {
botenqueued = false;
if (!topenqueued) {
DaqData d(nFramesPerBlock, 1,// Only one output channel
dtype_descr.dtype);
// Receive
cb(d);
d.copyToRaw(0, reinterpret_cast<byte_t *>(&(buf[0])));
topenqueued = true;
}
}
return res;
}
OutBufHandler::~OutBufHandler() {
DEBUGTRACE_ENTER;
UlError err = ulAOutScanStop(daq.getHandle());
if (err != ERR_NO_ERROR) {
showErr(err);
}
}
#endif

95
src/lasp/device/lasp_uldaq_impl.h → src/lasp/device/uldaq/lasp_uldaq_bufhandler.h
View File

@ -1,83 +1,20 @@
#pragma once
#include "lasp_daq.h"
#include <algorithm>
#include <cassert>
#include <chrono>
#include <iostream>
#include <stdexcept>
#include <thread>
#include <uldaq.h>
#include <vector>
#include "lasp_types.h"
#include "lasp_uldaq_impl.h"
#include "lasp_uldaq_common.h"
using std::atomic;
using std::cerr;
using std::endl;
using rte = std::runtime_error;
/**
* @brief List of available sampling frequencies for DT9837A
/** \addtogroup device
* @{
* \addtogroup uldaq
*/
const std::vector<d> ULDAQ_SAMPLERATES = {8000, 10000, 11025, 16000, 20000,
22050, 24000, 32000, 44056, 44100,
47250, 48000, 50000, 50400, 51000};
/**
* @brief UlDaq-specific device information. Adds a copy of the underlying
* DaqDeDaqDeviceDescriptor.
*/
class UlDaqDeviceInfo : public DeviceInfo {
public:
DaqDeviceDescriptor _uldaqDescriptor;
virtual std::unique_ptr<DeviceInfo> clone() const {
return std::make_unique<UlDaqDeviceInfo>(*this);
}
};
class DT9837A : public Daq {
DaqDeviceHandle _handle = 0;
std::mutex _daqmutex;
std::thread _thread;
atomic<bool> _stopThread{false};
atomic<StreamStatus> _streamStatus;
const us _nFramesPerBlock;
void threadFcn(InDaqCallback inCallback, OutDaqCallback outcallback);
public:
DaqDeviceHandle getHandle() const { return _handle; }
/**
* @brief Create a DT9837A instance.
*
* @param devinfo DeviceInfo to connect to
* @param config DaqConfiguration settings
*/
DT9837A(const DeviceInfo &devinfo, const DaqConfiguration &config);
virtual ~DT9837A();
bool isRunning() const;
void stop() override final;
friend class InBufHandler;
friend class OutBufHandler;
virtual void start(InDaqCallback inCallback,
OutDaqCallback outCallback) override final;
virtual StreamStatus getStreamStatus() const override {
return _streamStatus;
}
};
/**
* @brief Helper class for managing input and output samples of the DAQ device.
*/
class DT9837A;
class BufHandler {
protected:
/**
@ -96,12 +33,19 @@ protected:
* @brief Sampling frequency in Hz
*/
double samplerate;
/**
* @brief Storage capacity for the DAQ I/O.
*/
std::vector<double> buf;
/**
* @brief Whether the top / bottom part of the buffer are ready to be
* @brief Whether the top part of the buffer is enqueued
*/
bool topenqueued = false;
/**
* @brief Whether the bottom part of the buffer is enqueued
* enqueued
*/
bool topenqueued, botenqueued;
bool botenqueued = false;
/**
* @brief Counter for the total number of frames acquired / sent since the
@ -125,6 +69,7 @@ public:
0),
buffer_mid_idx(nchannels * nFramesPerBlock) {
assert(nchannels > 0);
assert(nFramesPerBlock > 0);
}
};
/**
@ -160,3 +105,5 @@ public:
~OutBufHandler();
};
/** @} */
/** @} */

45
src/lasp/device/uldaq/lasp_uldaq_common.cpp Normal file
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@ -0,0 +1,45 @@
/* #define DEBUGTRACE_ENABLED */
#include "debugtrace.hpp"
#include "lasp_config.h"
#if LASP_HAS_ULDAQ == 1
#include "lasp_uldaq_common.h"
#include "lasp_daq.h"
string getErrMsg(UlError err) {
string errstr;
errstr.reserve(ERR_MSG_LEN);
char errmsg[ERR_MSG_LEN];
errstr = "UlDaq API Error: ";
ulGetErrMsg(err, errmsg);
errstr += errmsg;
return errstr;
}
void showErr(string errstr) {
std::cerr << "\b\n**************** UlDAQ backend error **********\n";
std::cerr << errstr << std::endl;
std::cerr << "***********************************************\n\n";
}
void showErr(UlError err) {
if (err != ERR_NO_ERROR)
showErr(getErrMsg(err));
}
#endif
void throwOnPossibleUlException(UlError err) {
if (err == ERR_NO_ERROR) {
return;
}
string errstr = getErrMsg(err);
showErr(errstr);
Daq::StreamStatus::StreamError serr;
if ((int)err == 18) {
serr = Daq::StreamStatus::StreamError::inputXRun;
} else if ((int)err == 19) {
serr = Daq::StreamStatus::StreamError::outputXRun;
} else {
serr = Daq::StreamStatus::StreamError::driverError;
}
throw Daq::StreamException(serr, errstr);
}

66
src/lasp/device/uldaq/lasp_uldaq_common.h Normal file
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@ -0,0 +1,66 @@
#pragma once
#include <uldaq.h>
#include <string>
#include "lasp_deviceinfo.h"
/** \addtogroup device
* @{
* \addtogroup uldaq
*/
/**
* @brief Throws an appropriate stream exception based on the UlError number.
* The mapping is based on the error numbers as given in uldaq.h. There are a
* log of errors definded here (109 in total). Except for some, we will map
* most of them to a driver error.
*
* @param e The backend error code.
*/
void throwOnPossibleUlException(UlError err);
/**
* @brief Return a string corresponding to the UlDaq API error
*
* @param err error code
*
* @return Error string
*/
string getErrMsg(UlError err);
/**
* @brief Print error message to stderr
*
* @param errstr The string to print
*/
void showErr(UlError err);
/**
* @brief Get a string representation of the error
*
* @param errstr
*/
void showErr(std::string errstr);
/**
* @brief UlDaq-specific device information. Adds a copy of the underlying
* DaqDeDaqDeviceDescriptor.
*/
class UlDaqDeviceInfo : public DeviceInfo {
public:
DaqDeviceDescriptor _uldaqDescriptor;
virtual std::unique_ptr<DeviceInfo> clone() const override {
DEBUGTRACE_ENTER;
return std::make_unique<UlDaqDeviceInfo>(*this);
}
};
/**
* @brief List of available sampling frequencies for DT9837A
*/
const std::vector<d> ULDAQ_SAMPLERATES = {8000, 10000, 11025, 16000, 20000,
22050, 24000, 32000, 44056, 44100,
47250, 48000, 50000, 50400, 51000};
/** @} */
/** @} */

212
src/lasp/device/uldaq/lasp_uldaq_impl.cpp Normal file
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@ -0,0 +1,212 @@
/* #define DEBUGTRACE_ENABLED */
#include "debugtrace.hpp"
#include "lasp_config.h"
#if LASP_HAS_ULDAQ == 1
#include "lasp_daqconfig.h"
#include "lasp_uldaq.h"
#include "lasp_uldaq_bufhandler.h"
#include "lasp_uldaq_impl.h"
using namespace std::literals::chrono_literals;
DT9837A::~DT9837A() {
DEBUGTRACE_ENTER;
UlError err;
if (isRunning()) {
DEBUGTRACE_PRINT("Stop UlDAQ from destructor");
stop();
}
if (_handle) {
DEBUGTRACE_PRINT("Disconnecting and releasing DaqDevice");
/* err = ulDisconnectDaqDevice(_handle); */
/* showErr(err); */
err = ulReleaseDaqDevice(_handle);
showErr(err);
}
}
DT9837A::DT9837A(const UlDaqDeviceInfo &devinfo, const DaqConfiguration &config)
: Daq(devinfo, config),
_nFramesPerBlock(availableFramesPerBlock.at(framesPerBlockIndex)) {
const DaqDeviceDescriptor &descriptor = devinfo._uldaqDescriptor;
DEBUGTRACE_PRINT(string("Device: ") + descriptor.productName);
DEBUGTRACE_PRINT(string("Product id: ") + to_string(descriptor.productId));
DEBUGTRACE_PRINT(string("Dev string: ") + descriptor.devString);
DEBUGTRACE_PRINT(string("Unique id: ") + descriptor.uniqueId);
// get a handle to the DAQ device associated with the first descriptor
_handle = ulCreateDaqDevice(descriptor);
if (_handle == 0) {
throw rte("Unable to create a handle to the specified DAQ "
"device. Is the device currently in use? Please make sure to set "
"the DAQ configuration in duplex mode if simultaneous input and "
"output is required.");
}
UlError err = ulConnectDaqDevice(_handle);
if (err != ERR_NO_ERROR) {
ulReleaseDaqDevice(_handle);
_handle = 0;
throw rte("Unable to connect to device: " + getErrMsg(err));
}
/// Loop over input channels, set parameters
for (us ch = 0; ch < 4; ch++) {
err = ulAISetConfigDbl(_handle, AI_CFG_CHAN_SENSOR_SENSITIVITY, ch, 1.0);
showErr(err);
if (err != ERR_NO_ERROR) {
throw rte("Fatal: could normalize channel sensitivity");
}
CouplingMode cm = inchannel_config.at(ch).ACCouplingMode ? CM_AC : CM_DC;
err = ulAISetConfig(_handle, AI_CFG_CHAN_COUPLING_MODE, ch, cm);
if (err != ERR_NO_ERROR) {
showErr(err);
throw rte("Fatal: could not set AC/DC coupling mode");
}
IepeMode iepe =
inchannel_config.at(ch).IEPEEnabled ? IEPE_ENABLED : IEPE_DISABLED;
err = ulAISetConfig(_handle, AI_CFG_CHAN_IEPE_MODE, ch, iepe);
if (err != ERR_NO_ERROR) {
showErr(err);
throw rte("Fatal: could not set IEPE mode");
}
}
}
bool DT9837A::isRunning() const {
DEBUGTRACE_ENTER;
/* return _thread.joinable(); */
StreamStatus status = _streamStatus;
return status.isRunning;
}
void DT9837A::stop() {
DEBUGTRACE_ENTER;
StreamStatus status = _streamStatus;
status.isRunning = true;
_streamStatus = status;
if (!isRunning()) {
throw rte("No data acquisition running");
}
// Stop the thread and join it
_stopThread = true;
assert(_thread.joinable());
_thread.join();
_stopThread = false;
// Update stream status
status.isRunning = false;
_streamStatus = status;
}
void DT9837A::start(InDaqCallback inCallback, OutDaqCallback outCallback) {
DEBUGTRACE_ENTER;
if (isRunning()) {
throw rte("DAQ is already running");
}
if (neninchannels() > 0) {
if (!inCallback)
throw rte("DAQ requires a callback for input data");
}
if (nenoutchannels() > 0) {
if (!outCallback)
throw rte("DAQ requires a callback for output data");
}
assert(neninchannels() + nenoutchannels() > 0);
_thread = std::thread(&DT9837A::threadFcn, this, inCallback, outCallback);
}
void DT9837A::threadFcn(InDaqCallback inCallback, OutDaqCallback outCallback) {
DEBUGTRACE_ENTER;
try {
std::unique_ptr<OutBufHandler> obh;
std::unique_ptr<InBufHandler> ibh;
StreamStatus status = _streamStatus;
status.isRunning = true;
_streamStatus = status;
if (nenoutchannels() > 0) {
assert(outCallback);
obh = std::make_unique<OutBufHandler>(*this, outCallback);
}
if (neninchannels() > 0) {
assert(inCallback);
ibh = std::make_unique<InBufHandler>(*this, inCallback);
}
if (obh)
obh->start();
if (ibh)
ibh->start();
const double sleeptime_s =
static_cast<double>(_nFramesPerBlock) / (16 * samplerate());
const us sleeptime_us = static_cast<us>(sleeptime_s * 1e6);
while (!_stopThread) {
if (ibh) {
if (!(*ibh)()) {
_stopThread = true;
break;
}
}
if (obh) {
if (!(*obh)()) {
_stopThread = true;
break;
}
}
std::this_thread::sleep_for(std::chrono::microseconds(sleeptime_us));
}
/// Update stream status that we are not running anymore
status.isRunning = false;
_streamStatus = status;
_stopThread = false;
} catch (StreamException &e) {
StreamStatus status = _streamStatus;
// Copy over error type
status.errorType = e.e;
_streamStatus = status;
cerr << "\n******************\n";
cerr << "Catched error in UlDAQ thread: " << e.what() << endl;
cerr << "\n******************\n";
}
}
void DT9837A::sanityChecks() const {
// Some sanity checks
if (inchannel_config.size() != 4) {
throw rte("Invalid length of enabled inChannels vector");
}
if (outchannel_config.size() != 1) {
throw rte("Invalid length of enabled outChannels vector");
}
if (_nFramesPerBlock < 24 || _nFramesPerBlock > 8192) {
throw rte("Unsensible number of samples per block chosen");
}
if (samplerate() < ULDAQ_SAMPLERATES.at(0) ||
samplerate() > ULDAQ_SAMPLERATES.at(ULDAQ_SAMPLERATES.size() - 1)) {
throw rte("Invalid sample rate");
}
}
#endif // LASP_HAS_ULDAQ

110
src/lasp/device/uldaq/lasp_uldaq_impl.h Normal file
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@ -0,0 +1,110 @@
#pragma once
#include "debugtrace.hpp"
#include "lasp_uldaq_common.h"
#include <algorithm>
#include <cassert>
#include <chrono>
#include <iostream>
#include <stdexcept>
#include <thread>
#include <vector>
#include "lasp_daq.h"
using std::atomic;
using std::cerr;
using std::endl;
using rte = std::runtime_error;
class InBufHandler;
class OutBufHandler;
/** \addtogroup device
* @{
* \addtogroup uldaq
*/
/**
* @brief Data translation DT9837A Daq device.
*/
class DT9837A : public Daq {
DaqDeviceHandle _handle = 0;
std::mutex _daqmutex;
/**
* @brief The thread that is doing I/O with UlDaq
*/
std::thread _thread;
/**
* @brief Flag indicating the thread to stop processing.
*/
atomic<bool> _stopThread{false};
/**
* @brief Storage for exchanging information on the stream
*/
atomic<StreamStatus> _streamStatus;
const us _nFramesPerBlock;
/**
* @brief The function that is running in a thread
*
* @param inCallback
* @param outcallback
*/
void threadFcn(InDaqCallback inCallback, OutDaqCallback outcallback);
/**
* @brief Obtain a handle to the underlying device
*
* @return Handle
*/
DaqDeviceHandle getHandle() const { return _handle; }
/**
* @brief Perform several sanity checks
*/
void sanityChecks() const;
public:
/**
* @brief Create a DT9837A instance.
*
* @param devinfo DeviceInfo to connect to
* @param config DaqConfiguration settings
*/
DT9837A(const UlDaqDeviceInfo &devinfo, const DaqConfiguration &config);
virtual ~DT9837A();
/**
* @brief Returns true when the stream is running
*
* @return as above stated
*/
bool isRunning() const;
/**
* @brief Stop the data-acquisition
*/
void stop() override final;
friend class InBufHandler;
friend class OutBufHandler;
virtual void start(InDaqCallback inCallback,
OutDaqCallback outCallback) override final;
/**
* @brief Obtain copy of stream status (thread-safe function)
*
* @return StreamStatus object
*/
virtual StreamStatus getStreamStatus() const override {
return _streamStatus;
}
};
/** @} */
/** @} */

30
src/lasp/dsp/lasp_biquadbank.cpp
View File

@ -44,19 +44,21 @@ SeriesBiquad::SeriesBiquad(const vd &filter_coefs) {
SeriesBiquad SeriesBiquad::firstOrderHighPass(const d fs, const d cuton_Hz) {
if(fs <= 0) {
if (fs <= 0) {
throw rte("Invalid sampling frequency: " + std::to_string(fs) + " [Hz]");
}
if(cuton_Hz <= 0) {
if (cuton_Hz <= 0) {
throw rte("Invalid cuton frequency: " + std::to_string(cuton_Hz) + " [Hz]");
}
if(cuton_Hz >= 0.98*fs/2) {
throw rte("Invalid cuton frequency. We limit this to 0.98* fs / 2. Given value" + std::to_string(cuton_Hz) + " [Hz]");
if (cuton_Hz >= 0.98 * fs / 2) {
throw rte(
"Invalid cuton frequency. We limit this to 0.98* fs / 2. Given value" +
std::to_string(cuton_Hz) + " [Hz]");
}
const d tau = 1/(2*arma::datum::pi*cuton_Hz);
const d facnum = 2*fs*tau/(1+2*fs*tau);
const d facden = (1-2*fs*tau)/(1+2*fs*tau);
const d tau = 1 / (2 * arma::datum::pi * cuton_Hz);
const d facnum = 2 * fs * tau / (1 + 2 * fs * tau);
const d facden = (1 - 2 * fs * tau) / (1 + 2 * fs * tau);
vd coefs(6);
// b0
@ -76,10 +78,8 @@ SeriesBiquad SeriesBiquad::firstOrderHighPass(const d fs, const d cuton_Hz) {
coefs(5) = 0;
return SeriesBiquad(coefs);
}
std::unique_ptr<Filter> SeriesBiquad::clone() const {
// sos.as_col() concatenates all columns, exactly what we want.
return std::make_unique<SeriesBiquad>(sos.as_col());
@ -124,7 +124,6 @@ BiquadBank::BiquadBank(const dmat &filters, const vd *gains) {
* for use.
*/
lock lck(_mtx);
getPool();
for (us i = 0; i < filters.n_cols; i++) {
_filters.emplace_back(filters.col(i));
@ -153,16 +152,15 @@ void BiquadBank::filter(vd &inout) {
std::vector<std::future<vd>> futs;
#if 1
auto &pool = getPool();
vd inout_cpy = inout;
for (us i = 0; i < _filters.size(); i++) {
futs.emplace_back(pool.submit(
[&](vd inout, us i) {
futs.emplace_back(_pool.submit(
[&](vd inout, us i) {
_filters[i].filter(inout);
return inout;
}, // Launch a task to filter.
inout_cpy, i // Column i as argument to the lambda function above.
));
}, // Launch a task to filter.
inout_cpy, i // Column i as argument to the lambda function above.
));
}
// Zero-out in-out and sum-up the filtered values

2
src/lasp/dsp/lasp_biquadbank.h
View File

@ -1,5 +1,6 @@
#pragma once
#include "lasp_filter.h"
#include "lasp_thread.h"
/**
* \addtogroup dsp
@ -60,6 +61,7 @@ public:
class BiquadBank : public Filter {
std::vector<SeriesBiquad> _filters;
vd _gains;
ThreadSafeThreadPool _pool;
mutable std::mutex _mtx;
public:

11
src/lasp/dsp/lasp_clip.cpp
View File

@ -1,6 +1,8 @@
/* #define DEBUGTRACE_ENABLED */
#include "debugtrace.hpp"
#include "lasp_clip.h"
#include "lasp_daqdata.h"
#include "lasp_daq.h"
#include <mutex>
using std::cerr;
@ -9,13 +11,14 @@ using std::endl;
using Lck = std::scoped_lock<std::mutex>;
using rte = std::runtime_error;
ClipHandler::ClipHandler(StreamMgr &mgr)
ClipHandler::ClipHandler(SmgrHandle mgr)
: ThreadedInDataHandler(mgr){
DEBUGTRACE_ENTER;
startThread();
}
bool ClipHandler::inCallback_threaded(const DaqData &d) {
void ClipHandler::inCallback(const DaqData &d) {
DEBUGTRACE_ENTER;
Lck lck(_mtx);
@ -49,7 +52,6 @@ bool ClipHandler::inCallback_threaded(const DaqData &d) {
_clip_time(i) += _dt;
}
}
return true;
}
arma::uvec ClipHandler::getCurrentValue() const {
@ -89,6 +91,5 @@ void ClipHandler::reset(const Daq *daq) {
ClipHandler::~ClipHandler() {
DEBUGTRACE_ENTER;
Lck lck(_mtx);
stop();
stopThread();
}

8
src/lasp/dsp/lasp_clip.h
View File

@ -21,7 +21,7 @@
/**
* @brief Clipping detector (Clip). Detects when a signal overdrives the input
* */
class ClipHandler: public ThreadedInDataHandler {
class ClipHandler: public ThreadedInDataHandler<ClipHandler> {
/**
* @brief Assuming full scale of a signal is +/- 1.0. If a value is found
@ -58,7 +58,7 @@ class ClipHandler: public ThreadedInDataHandler {
*
* @param mgr Stream Mgr to operate on
*/
ClipHandler(StreamMgr& mgr);
ClipHandler(SmgrHandle mgr);
~ClipHandler();
/**
@ -68,8 +68,8 @@ class ClipHandler: public ThreadedInDataHandler {
*/
arma::uvec getCurrentValue() const;
bool inCallback_threaded(const DaqData& ) override final;
void reset(const Daq*) override final;
void inCallback(const DaqData& );
void reset(const Daq*);
};

17
src/lasp/dsp/lasp_ppm.cpp
View File

@ -1,6 +1,8 @@
/* #define DEBUGTRACE_ENABLED */
#include "debugtrace.hpp"
#include "lasp_ppm.h"
#include "lasp_daqdata.h"
#include "lasp_daq.h"
#include <mutex>
using std::cerr;
@ -9,13 +11,14 @@ using std::endl;
using Lck = std::scoped_lock<std::mutex>;
using rte = std::runtime_error;
PPMHandler::PPMHandler(StreamMgr &mgr, const d decay_dBps)
: ThreadedInDataHandler(mgr), _decay_dBps(decay_dBps) {
PPMHandler::PPMHandler(SmgrHandle mgr, const d decay_dBps)
: ThreadedInDataHandler<PPMHandler>(mgr), _decay_dBps(decay_dBps) {
DEBUGTRACE_ENTER;
startThread();
}
bool PPMHandler::inCallback_threaded(const DaqData &d) {
void PPMHandler::inCallback(const DaqData &d) {
DEBUGTRACE_ENTER;
Lck lck(_mtx);
@ -61,12 +64,11 @@ bool PPMHandler::inCallback_threaded(const DaqData &d) {
_cur_max(i) *= _alpha;
}
}
return true;
}
std::tuple<vd, arma::uvec> PPMHandler::getCurrentValue() const {
DEBUGTRACE_ENTER;
/* DEBUGTRACE_ENTER; */
Lck lck(_mtx);
arma::uvec clips(_clip_time.size(), arma::fill::zeros);
@ -82,9 +84,11 @@ void PPMHandler::reset(const Daq *daq) {
if (daq) {
DEBUGTRACE_PRINT("New daq found");
_cur_max.fill(1e-80);
const us nchannels = daq->neninchannels();
DEBUGTRACE_PRINT(nchannels);
_max_range.resize(nchannels);
dvec ranges = daq->inputRangeForEnabledChannels();
@ -106,6 +110,5 @@ void PPMHandler::reset(const Daq *daq) {
PPMHandler::~PPMHandler() {
DEBUGTRACE_ENTER;
Lck lck(_mtx);
stop();
stopThread();
}

11
src/lasp/dsp/lasp_ppm.h
View File

@ -4,7 +4,6 @@
//
// Description: Peak Programme Meter
#pragma once
#include <memory>
#include "lasp_filter.h"
#include "lasp_mathtypes.h"
#include "lasp_threadedindatahandler.h"
@ -23,7 +22,7 @@
* with a certain amount of dB/s. If a new peak is found, it goes up again.
* Also detects clipping.
* */
class PPMHandler: public ThreadedInDataHandler {
class PPMHandler : public ThreadedInDataHandler<PPMHandler> {
/**
* @brief Assuming full scale of a signal is +/- 1.0. If a value is found
@ -69,11 +68,11 @@ class PPMHandler: public ThreadedInDataHandler {
/**
* @brief Constructs Peak Programme Meter
*
* @param mgr Stream Mgr to operate on
* @param mgr Stream Mgr to install callbacks for
* @param decay_dBps The level decay in units dB/s, after a peak has been
* hit.
*/
PPMHandler(StreamMgr& mgr,const d decay_dBps = 20.0);
PPMHandler(SmgrHandle mgr,const d decay_dBps = 20.0);
~PPMHandler();
/**
@ -91,8 +90,8 @@ class PPMHandler: public ThreadedInDataHandler {
*
* @return true when stream should continue.
*/
bool inCallback_threaded(const DaqData& d) override final;
void reset(const Daq*) override final;
void inCallback(const DaqData& d);
void reset(const Daq*);
};

13
src/lasp/dsp/lasp_rtaps.cpp
View File

@ -1,5 +1,7 @@
/* #define DEBUGTRACE_ENABLED */
#include "lasp_rtaps.h"
#include "lasp_daqdata.h"
#include "lasp_daq.h"
#include "debugtrace.hpp"
#include <mutex>
@ -7,7 +9,7 @@ using std::cerr;
using std::endl;
using Lck = std::scoped_lock<std::mutex>;
RtAps::RtAps(StreamMgr &mgr, const Filter *freqWeightingFilter,
RtAps::RtAps(SmgrHandle mgr, const Filter *freqWeightingFilter,
const us nfft,
const Window::WindowType w,
const d overlap_percentage, const d time_constant)
@ -18,12 +20,12 @@ RtAps::RtAps(StreamMgr &mgr, const Filter *freqWeightingFilter,
_filterPrototype = freqWeightingFilter->clone();
}
startThread();
}
RtAps::~RtAps() {
Lck lck(_ps_mtx);
stop();
stopThread();
}
bool RtAps::inCallback_threaded(const DaqData &data) {
void RtAps::inCallback(const DaqData &data) {
DEBUGTRACE_ENTER;
@ -33,7 +35,7 @@ bool RtAps::inCallback_threaded(const DaqData &data) {
const us nchannels = fltdata.n_cols;
if(nchannels != _sens.size()) {
cerr << "**** Error: sensitivity size does not match! *****" << endl;
return false;
return;
}
fltdata.each_row() %= _sens.as_row();
@ -61,7 +63,6 @@ bool RtAps::inCallback_threaded(const DaqData &data) {
_ps.compute(fltdata);
return true;
}
void RtAps::reset(const Daq *daq) {

8
src/lasp/dsp/lasp_rtaps.h
View File

@ -23,7 +23,7 @@
* @brief Real time spectral estimator using Welch method of spectral
* estimation.
*/
class RtAps : public ThreadedInDataHandler {
class RtAps : public ThreadedInDataHandler<RtAps> {
std::unique_ptr<Filter> _filterPrototype;
std::vector<std::unique_ptr<Filter>> _freqWeightingFilters;
@ -49,7 +49,7 @@ public:
*
* For all other arguments, see constructor of AvPowerSpectra
*/
RtAps(StreamMgr &mgr, const Filter *freqWeightingFilter, const us nfft = 2048,
RtAps(SmgrHandle mgr, const Filter *freqWeightingFilter, const us nfft = 2048,
const Window::WindowType w = Window::WindowType::Hann,
const d overlap_percentage = 50., const d time_constant = -1);
~RtAps();
@ -69,8 +69,8 @@ public:
*
* @return true if stream should continue.
*/
bool inCallback_threaded(const DaqData & d) override final;
void reset(const Daq *) override final;
void inCallback(const DaqData & d);
void reset(const Daq *);
};
/** @} */

12
src/lasp/dsp/lasp_rtsignalviewer.cpp
View File

@ -1,5 +1,7 @@
/* #define DEBUGTRACE_ENABLED */
#include "debugtrace.hpp"
#include "lasp_daqdata.h"
#include "lasp_daq.h"
#include "lasp_rtsignalviewer.h"
#include <algorithm>
#include <mutex>
@ -9,7 +11,7 @@ using std::endl;
using Lck = std::scoped_lock<std::mutex>;
using rte = std::runtime_error;
RtSignalViewer::RtSignalViewer(StreamMgr &mgr, const d approx_time_hist,
RtSignalViewer::RtSignalViewer(SmgrHandle mgr, const d approx_time_hist,
const us resolution, const us channel)
: ThreadedInDataHandler(mgr), _approx_time_hist(approx_time_hist),
_resolution(resolution), _channel(channel) {
@ -22,9 +24,10 @@ RtSignalViewer::RtSignalViewer(StreamMgr &mgr, const d approx_time_hist,
if (resolution <= 1) {
throw rte("Invalid resolution. Should be > 1");
}
startThread();
}
bool RtSignalViewer::inCallback_threaded(const DaqData &data) {
void RtSignalViewer::inCallback(const DaqData &data) {
DEBUGTRACE_ENTER;
@ -49,13 +52,10 @@ bool RtSignalViewer::inCallback_threaded(const DaqData &data) {
_dat(_resolution-1, 1) = newmin;
_dat(_resolution-1, 2) = newmax;
}
return true;
}
RtSignalViewer::~RtSignalViewer() {
Lck lck(_sv_mtx);
stop();
stopThread();
}
void RtSignalViewer::reset(const Daq *daq) {

8
src/lasp/dsp/lasp_rtsignalviewer.h
View File

@ -24,7 +24,7 @@
* @brief Real time signal viewer. Shows envelope of the signal based on amount
* of history shown.
*/
class RtSignalViewer : public ThreadedInDataHandler {
class RtSignalViewer : public ThreadedInDataHandler<RtSignalViewer> {
/**
* @brief Storage for sensitivity values
@ -71,7 +71,7 @@ public:
* @param resolution Number of time points
* @param channel The channel number
*/
RtSignalViewer(StreamMgr &mgr, const d approx_time_hist, const us resolution,
RtSignalViewer(SmgrHandle mgr, const d approx_time_hist, const us resolution,
const us channel);
~RtSignalViewer();
@ -85,8 +85,8 @@ public:
*/
dmat getCurrentValue() const;
bool inCallback_threaded(const DaqData &) override final;
void reset(const Daq *) override final;
void inCallback(const DaqData &);
void reset(const Daq *);
};
/** @} */

3
src/lasp/dsp/lasp_slm.cpp
View File

@ -37,9 +37,6 @@ SLM::SLM(const d fs, const d Lref, const us downsampling_fac, const d tau,
DEBUGTRACE_ENTER;
DEBUGTRACE_PRINT(_alpha);
// Make sure thread pool is running
getPool();
if (Lref <= 0) {
throw rte("Invalid reference level");
}

2
src/lasp/dsp/lasp_slm.h
View File

@ -1,6 +1,7 @@
#pragma once
#include "lasp_biquadbank.h"
#include "lasp_filter.h"
#include "lasp_thread.h"
#include <memory>
#include <optional>
@ -14,6 +15,7 @@
* channel. A channel is the result of a filtered signal
*/
class SLM {
ThreadSafeThreadPool _pool;
/**
* @brief A, C or Z weighting, depending on the pre-filter installed.
*/

36
src/lasp/dsp/lasp_thread.cpp
View File

@ -5,21 +5,31 @@
#include <memory>
/**
* @brief It seems to work much better in cooperation with Pybind11 when this
* singleton is implemented with a unique_ptr.
* @brief Store a global weak_ptr, that is used to create new shared pointers
* if any other shared pointers are still alive. If not, we create a new
* instance.
*/
std::unique_ptr<BS::thread_pool> _static_storage_threadpool;
std::weak_ptr<BS::thread_pool> _global_weak_pool;
void destroyThreadPool() {
/**
* @brief Static storage for the mutex.
*/
std::mutex ThreadSafeThreadPool::_mtx;
using Lck = std::scoped_lock<std::mutex>;
using rte = std::runtime_error;
ThreadSafeThreadPool::ThreadSafeThreadPool() {
DEBUGTRACE_ENTER;
_static_storage_threadpool = nullptr;
}
BS::thread_pool &getPool() {
/* DEBUGTRACE_ENTER; */
if (!_static_storage_threadpool) {
DEBUGTRACE_PRINT("Creating new thread pool");
_static_storage_threadpool = std::make_unique<BS::thread_pool>();
Lck lck(_mtx);
/// See if we can get it from the global ptr. If not, time to allocate it.
_pool = _global_weak_pool.lock();
if (!_pool) {
_pool = std::make_shared<BS::thread_pool>();
if (!_pool) {
throw rte("Fatal: could not allocate thread pool!");
}
// Update global weak pointer
_global_weak_pool = _pool;
}
return *_static_storage_threadpool;
}

60
src/lasp/dsp/lasp_thread.h
View File

@ -2,18 +2,54 @@
#include "BS_thread_pool.hpp"
/**
* @brief Return reference to global (singleton) thread pool. The threadpool is
* created using the default argument, which results in exactly
* hardware_concurrency() amount of threads.
*
* @return Thread pool ref.
* @brief Simple wrapper around BS::thread_pool that makes a BS::thread_pool a
* singleton, such that a thread pool can be used around in the code, and
* safely spawn threads also from other threads. Only wraps a submit() and
* push_task for now.
*/
BS::thread_pool& getPool();
class ThreadSafeThreadPool {
/**
* @brief Shared access to the thread pool.
*/
std::shared_ptr<BS::thread_pool> _pool;
/**
* @brief Global mutex, used to restrict pool access to a single thread at
* once.
*/
static std::mutex _mtx;
using Lck = std::scoped_lock<std::mutex>;
ThreadSafeThreadPool(const ThreadSafeThreadPool&) = delete;
ThreadSafeThreadPool &
operator=(const ThreadSafeThreadPool&) = delete;
public:
/**
* @brief Instantiate handle to the thread pool.
*/
ThreadSafeThreadPool();
/**
* @brief Wrapper around BS::thread_pool::submit(...)
*/
template <
typename F, typename... A,
typename R = std::invoke_result_t<std::decay_t<F>, std::decay_t<A>...>>
[[nodiscard]] std::future<R> submit(F &&task, A &&...args) {
/// Lock access to pool
Lck lck(_mtx);
return _pool->submit(task, args...);
}
/**
* @brief Wrapper around BS::thread_pool::push_task(...)
*/
template <typename F, typename... A> void push_task(F &&task, A &&...args) {
/// Lock access to pool
Lck lck(_mtx);
_pool->push_task(task, args...);
}
};
/**
* @brief The global thread pool is stored in a unique_ptr, so in normal C++
* code the thread pool is deleted at the end of main(). However this does not
* hold when LASP code is run
*/
void destroyThreadPool();

98
src/lasp/dsp/lasp_threadedindatahandler.cpp
View File

@ -1,24 +1,27 @@
/* #define DEBUGTRACE_ENABLED */
#include "lasp_threadedindatahandler.h"
#include "debugtrace.hpp"
#include "lasp_daqdata.h"
#include "lasp_thread.h"
#include <future>
#include <thread>
#include <queue>
#include <optional>
#include <queue>
#include <thread>
using namespace std::literals::chrono_literals;
using lck = std::scoped_lock<std::mutex>;
using rte = std::runtime_error;
using std::cerr;
using std::endl;
using std::placeholders::_1;
class SafeQueue {
std::queue<DaqData> _queue;
std::mutex _mtx;
std::atomic_int32_t _contents {0};
public:
void push(const DaqData& d) {
std::atomic_int32_t _contents{0};
public:
void push(const DaqData &d) {
DEBUGTRACE_ENTER;
lck lock(_mtx);
_queue.push(d);
@ -47,38 +50,49 @@ class SafeQueue {
bool empty() const { return _contents == 0; }
};
ThreadedInDataHandler::ThreadedInDataHandler(StreamMgr &mgr)
: InDataHandler(mgr), _queue(std::make_unique<SafeQueue>()) {
ThreadedInDataHandlerBase::ThreadedInDataHandlerBase(SmgrHandle mgr,
InCallbackType cb,
InResetType reset)
: _indatahandler(
mgr,
std::bind(&ThreadedInDataHandlerBase::_inCallbackFromInDataHandler, this,
_1),
reset),
_queue(std::make_unique<SafeQueue>()), inCallback(cb) {
DEBUGTRACE_ENTER;
// Initialize thread pool, if not already done
getPool();
}
bool ThreadedInDataHandler::inCallback(const DaqData &daqdata) {
DEBUGTRACE_ENTER;
if (!_lastCallbackResult) {
return false;
}
_queue->push(daqdata);
if (!_thread_running && (!_stopThread) && _lastCallbackResult) {
auto &pool = getPool();
DEBUGTRACE_PRINT("Pushing new thread in pool");
_thread_running = true;
pool.push_task(&ThreadedInDataHandler::threadFcn, this);
}
return _lastCallbackResult;
}
void ThreadedInDataHandlerBase::startThread() {
DEBUGTRACE_ENTER;
_thread_can_safely_run = true;
_indatahandler.start();
}
ThreadedInDataHandler::~ThreadedInDataHandler() {
void ThreadedInDataHandlerBase::_inCallbackFromInDataHandler(
const DaqData &daqdata) {
DEBUGTRACE_ENTER;
_stopThread = true;
std::scoped_lock lck(_mtx);
// Early return in case object is under DESTRUCTION
if (!_thread_can_safely_run)
return;
_queue->push(daqdata);
if (!_thread_running) {
DEBUGTRACE_PRINT("Pushing new thread in pool");
_thread_running = true;
_pool.push_task(&ThreadedInDataHandlerBase::threadFcn, this);
}
}
void ThreadedInDataHandlerBase::stopThread() {
DEBUGTRACE_ENTER;
// Make sure inCallback is no longer called
_thread_can_safely_run = false;
_indatahandler.stop();
std::scoped_lock lck(_mtx);
// Then wait in steps for the thread to stop running.
while (_thread_running) {
@ -86,18 +100,26 @@ ThreadedInDataHandler::~ThreadedInDataHandler() {
}
}
void ThreadedInDataHandler::threadFcn() {
ThreadedInDataHandlerBase::~ThreadedInDataHandlerBase() {
DEBUGTRACE_ENTER;
if (_thread_can_safely_run) {
stopThread();
cerr << "*** BUG: InDataHandlers have not been all stopped, while "
"StreamMgr destructor is called. This is a misuse BUG."
<< endl;
abort();
}
}
void ThreadedInDataHandlerBase::threadFcn() {
DEBUGTRACE_ENTER;
while(!_queue->empty() && !_stopThread) {
while (!_queue->empty() && _thread_can_safely_run) {
// Call inCallback_threaded
if (!inCallback_threaded(_queue->pop())) {
cerr << "*********** Callback result returned false! *************"
<< endl;
_lastCallbackResult = false;
}
inCallback(_queue->pop());
}
_thread_running = false;
}

101
src/lasp/dsp/lasp_threadedindatahandler.h
View File

@ -1,9 +1,14 @@
#pragma once
#include "lasp_streammgr.h"
#include "debugtrace.hpp"
#include "lasp_indatahandler.h"
#include "lasp_thread.h"
#include <atomic>
#include <memory>
#include <mutex>
using std::placeholders::_1;
const us RINGBUFFER_SIZE = 1024;
/**
* \addtogroup dsp
* @{
@ -14,51 +19,99 @@ const us RINGBUFFER_SIZE = 1024;
class SafeQueue;
/**
* @brief Threaded in data handler. Buffers inCallback data and calls a
* callback with the same signature on a different thread.
* @brief Threaded in data handler base. Buffers inCallback data and calls a
* callback with the same signature on a different thread. The main function of
* this is to offload the thread that handles the stream, such that expensive
* computations do not result in stream buffer xruns.
*/
class ThreadedInDataHandler: public InDataHandler {
class ThreadedInDataHandlerBase {
/**
* @brief The queue used to push elements to the handling thread.
*/
InDataHandler _indatahandler;
std::unique_ptr<SafeQueue> _queue;
mutable std::recursive_mutex _mtx;
std::atomic<bool> _thread_running{false};
std::atomic<bool> _stopThread{false};
std::atomic<bool> _lastCallbackResult{true};
std::atomic<bool> _thread_can_safely_run{false};
ThreadSafeThreadPool _pool;
/**
* @brief Function pointer that is called when new DaqData arrives.
*/
const InCallbackType inCallback;
void threadFcn();
public:
/**
* @brief Initialize a ThreadedInDataHandler
*
* @param mgr StreamMgr singleton reference
*/
ThreadedInDataHandler(StreamMgr& mgr);
~ThreadedInDataHandler();
/**
* @brief Pushes a copy of the daqdata to the thread queue and returns
* @brief Pushes a copy of the daqdata to the thread queue and returns.
* Adds a thread to handle the queue, whihc will call inCallback();
*
* @param daqdata the daq info to push
*
* @return true, to continue with sampling.
*/
virtual bool inCallback(const DaqData &daqdata) override final;
void _inCallbackFromInDataHandler(const DaqData &daqdata);
public:
ThreadedInDataHandlerBase(SmgrHandle mgr, InCallbackType cb, InResetType reset);
~ThreadedInDataHandlerBase();
/**
* @brief This function should be overridden with an actual implementation,
* of what should happen on a different thread.
*
* @param d Input daq data
*
* @return true on succes. False when an error occured.
* @brief This method should be called from the derived class' constructor,
* to start the thread and data is incoming.
*/
virtual bool inCallback_threaded(const DaqData& d) = 0;
void startThread();
/**
* @brief This method SHOULD be called from all classes that derive on
* ThreadedInDataHandler. It is to make sure the inCallback_threaded()
* function is no longer called when the destructor of the derived class is
* called. Not calling this function is regarded as a BUG.
*/
void stopThread();
};
/**
* @brief A bit of curiously recurring template pattern, to connect the
* specific handlers and connect the proper callbacks in a type-agnostic way.
* Using this class, each threaded handler should just implement its reset()
* and inCallback() method. Ellides the virtual method calls.
*
* Usage: class XHandler: public ThreadedInDataHandler<XHandler> {
* public:
* XHandler(streammgr) : ThreadedInDataHandler(streammgr) {}
* void inCallback(const DaqData& d) { ... do something with d }
* void reset(const Daq* daq) { ... do something with daq }
* };
*
* For examples, see PPMHandler, etc.
*
* @tparam Derived The
*/
template <typename Derived>
class ThreadedInDataHandler : public ThreadedInDataHandlerBase {
public:
ThreadedInDataHandler(SmgrHandle mgr):
ThreadedInDataHandlerBase(mgr,
std::bind(&ThreadedInDataHandler::_inCallback, this, _1),
std::bind(&ThreadedInDataHandler::_reset, this, _1))
{
}
void _reset(const Daq* daq) {
DEBUGTRACE_ENTER;
return static_cast<Derived*>(this)->reset(daq);
}
void _inCallback(const DaqData& data) {
DEBUGTRACE_ENTER;
return static_cast<Derived*>(this)->inCallback(data);
}
};
/** @} */
/** @} */

9
src/lasp/lasp_record.py
View File

@ -19,7 +19,9 @@ class RecordStatus:
class Recording:
"""
Class used to perform a recording.
Class used to perform a recording. Recording data can come in from a
different thread, that is supposed to call the `inCallback` method, with
audio data as an argument.
"""
def __init__(
@ -99,7 +101,6 @@ class Recording:
logging.debug("Starting record....")
self.indh = InDataHandler(streammgr, self.inCallback, self.resetCallback)
self.indh.start()
if wait:
logging.debug("Stop recording with CTRL-C")
@ -218,6 +219,10 @@ class Recording:
# from StreamMgr.
self.indh = None
# Remove handle to dataset otherwise the h5 file is not closed
# properly.
self.ad = None
try:
# Close the recording file
self.f.close()

100
src/lasp/pybind11/lasp_pyindatahandler.cpp
View File

@ -1,8 +1,10 @@
/* #define DEBUGTRACE_ENABLED */
#include "arma_npy.h"
#include "debugtrace.hpp"
#include "lasp_ppm.h"
#include "lasp_clip.h"
#include "lasp_daq.h"
#include "lasp_daqdata.h"
#include "lasp_ppm.h"
#include "lasp_rtaps.h"
#include "lasp_rtsignalviewer.h"
#include "lasp_streammgr.h"
@ -94,35 +96,68 @@ py::array_t<d> dmat_to_ndarray(const DaqData &d) {
}
/**
* @brief Wraps the InDataHandler such that it calls a Python callback with a
* buffer of sample data. The Python callback is called from a different
* thread, using a Numpy array as argument.
* @brief Wraps the ThreadedInDataHandler such that it calls a Python callback with a
* buffer of sample data. Converts DaqData objects to Numpy arrays and calls
* Python given as argument to the constructor
*/
class PyIndataHandler : public ThreadedInDataHandler {
class PyIndataHandler : public ThreadedInDataHandler<PyIndataHandler> {
/**
* @brief The callback functions that is called.
*/
py::function cb, reset_callback;
public:
PyIndataHandler(StreamMgr &mgr, py::function cb, py::function reset_callback)
/**
* @brief Initialize PyIndataHandler
*
* @param mgr StreamMgr handle
* @param cb Python callback that is called with Numpy input data from device
* @param reset_callback Python callback that is called with a Daq pointer.
* Careful: do not store this handle, as it is only valid as long as reset()
* is called, when a stream stops, this pointer / handle will dangle.
*/
PyIndataHandler(SmgrHandle mgr, py::function cb, py::function reset_callback)
: ThreadedInDataHandler(mgr), cb(cb), reset_callback(reset_callback) {
DEBUGTRACE_ENTER;
/// Start should be called externally, as at constructor time no virtual
/// functions should be called.
/* start(); */
startThread();
}
~PyIndataHandler() {
DEBUGTRACE_ENTER;
stop();
stopThread();
}
/**
* @brief Calls the reset callback in Python.
*
* @param daq Daq device, or nullptr in case no input stream is running.
*/
void reset(const Daq *daq) {
DEBUGTRACE_ENTER;
py::gil_scoped_acquire acquire;
try {
if (daq) {
reset_callback(daq);
} else {
reset_callback(py::none());
}
} catch (py::error_already_set &e) {
cerr << "*************** Error calling reset callback!\n";
cerr << e.what() << endl;
cerr << "*************** \n";
/// Throwing a runtime error here does not work out one way or another.
/// Therefore, it is better to dive out and prevent undefined behaviour
abort();
/* throw std::runtime_error(e.what()); */
}
}
void reset(const Daq *daq) override final { reset_callback(daq); }
/**
* @brief Reads from the buffer
* @brief Calls the Python callback method / function with a Numpy array of
* stream data.
*/
bool inCallback_threaded(const DaqData &d) override final {
void inCallback(const DaqData &d) {
/* DEBUGTRACE_ENTER; */
@ -152,39 +187,29 @@ public:
} // End of switch
bool res = bool_val.cast<bool>();
if (!res)
return false;
} catch (py::error_already_set &e) {
cerr << "ERROR: Python raised exception from callback function: ";
cerr << e.what() << endl;
return false;
abort();
} catch (py::cast_error &e) {
cerr << e.what() << endl;
cerr << "ERROR: Python callback does not return boolean value." << endl;
return false;
abort();
}
return true;
}
};
void init_datahandler(py::module &m) {
py::class_<InDataHandler> idh(m, "InDataHandler_base");
idh.def("start", &InDataHandler::start);
idh.def("stop", &InDataHandler::stop);
py::class_<ThreadedInDataHandler, InDataHandler> tidh(
m, "ThreadedInDataHandler");
/// The C++ class is PyIndataHandler, but for Python, it is called
/// InDataHandler
py::class_<PyIndataHandler, ThreadedInDataHandler> pyidh(m, "InDataHandler");
pyidh.def(py::init<StreamMgr &, py::function, py::function>());
py::class_<PyIndataHandler> pyidh(m, "InDataHandler");
pyidh.def(py::init<SmgrHandle, py::function, py::function>());
/// Peak Programme Meter
py::class_<PPMHandler, ThreadedInDataHandler> ppm(m, "PPMHandler");
ppm.def(py::init<StreamMgr &, const d>());
ppm.def(py::init<StreamMgr &>());
py::class_<PPMHandler> ppm(m, "PPMHandler");
ppm.def(py::init<SmgrHandle, const d>());
ppm.def(py::init<SmgrHandle>());
ppm.def("getCurrentValue", [](const PPMHandler &ppm) {
std::tuple<vd, arma::uvec> tp = ppm.getCurrentValue();
@ -194,11 +219,10 @@ void init_datahandler(py::module &m) {
});
/// Clip Detector
py::class_<ClipHandler, ThreadedInDataHandler> clip(m, "ClipHandler");
clip.def(py::init<StreamMgr &>());
py::class_<ClipHandler> clip(m, "ClipHandler");
clip.def(py::init<SmgrHandle>());
clip.def("getCurrentValue", [](const ClipHandler &clip) {
arma::uvec cval = clip.getCurrentValue();
return ColToNpy<arma::uword>(cval); // something goes wrong here
@ -206,8 +230,8 @@ void init_datahandler(py::module &m) {
/// Real time Aps
///
py::class_<RtAps, ThreadedInDataHandler> rtaps(m, "RtAps");
rtaps.def(py::init<StreamMgr &, // StreamMgr
py::class_<RtAps> rtaps(m, "RtAps");
rtaps.def(py::init<SmgrHandle, // StreamMgr
Filter *const, // FreqWeighting filter
const us, // Nfft
const Window::WindowType, // Window
@ -233,11 +257,11 @@ void init_datahandler(py::module &m) {
/// Real time Signal Viewer
///
py::class_<RtSignalViewer, ThreadedInDataHandler> rtsv(m, "RtSignalViewer");
rtsv.def(py::init<StreamMgr &, // StreamMgr
const d, // Time history
const us, // Resolution
const us // Channel number
py::class_<RtSignalViewer> rtsv(m, "RtSignalViewer");
rtsv.def(py::init<SmgrHandle, // StreamMgr
const d, // Time history
const us, // Resolution
const us // Channel number
>());
rtsv.def("getCurrentValue", [](RtSignalViewer &rt) {

7
src/lasp/pybind11/lasp_streammgr.cpp
View File

@ -1,4 +1,5 @@
#include "lasp_streammgr.h"
#include "lasp_indatahandler.h"
#include <pybind11/numpy.h>
#include <pybind11/pybind11.h>
#include <pybind11/stl.h>
@ -12,7 +13,7 @@ void init_streammgr(py::module &m) {
/// The stream manager is a singleton, and the lifetime is managed elsewhere.
// It should not be deleted.
py::class_<StreamMgr, std::unique_ptr<StreamMgr, py::nodelete>> smgr(
py::class_<StreamMgr, std::shared_ptr<StreamMgr>> smgr(
m, "StreamMgr");
py::enum_<StreamMgr::StreamType>(smgr, "StreamType")
@ -22,8 +23,8 @@ void init_streammgr(py::module &m) {
smgr.def("startStream", &StreamMgr::startStream);
smgr.def("stopStream", &StreamMgr::stopStream);
smgr.def_static("getInstance", []() {
return std::unique_ptr<StreamMgr, py::nodelete>(&StreamMgr::getInstance());
}, py::return_value_policy::reference_internal);
return StreamMgr::getInstance();
});
smgr.def("stopAllStreams", &StreamMgr::stopAllStreams);
smgr.def("setSiggen", &StreamMgr::setSiggen);

2
third_party/gsl-lite vendored

@ -1 +1 @@
Subproject commit 4720a2980a30da085b4ddb4a0ea2a71af7351a48
Subproject commit a8c7e5bbbd08841836f9b92d72747fb8769dbec4