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--- for_developers:signal_probe_block [2017/09/24 15:36] – [How the signal probe block works] graf
+++ for_developers:signal_probe_block [2017/09/24 15:36] (current) – removed graf
@@ Line 1: / Line 1: @@
-====== Signal probe block ======
-===== How the signal probe block works =====
-===== How to implement the signalProbeBlock =====
-To use the //signalProbeBlock// code has to be implemented at three different places. If the measurement should be stopped by a level change of the safety system, some lines of code have to be added to the safety system.
-==== Declaration ====
-Because only single signals and not vectors can be connected to the block, a //DeMux// block is also used in this example. For each signal type a different block has to be declared. In this example a block for 10 float-signals is declared.
-In ControlSystem.hpp:
-<code cpp>
-...
-eeros::control::DeMux<2,double> demux_SPB;
-parallelscara::SignalProbeBlock<10, double, bufferSize> signalProbeDouble;
-...
-</code>
-==== Connection with signals ====
-The //signalProbeBlock// can be connected like every other block. If a vector signal should be probed, a //DeMux// block is needed.
-In ControlSystem.cpp:
-<code cpp>
-..
-// connect the signal to the DeMux
-demux_SPB.getIn().connect(robotController.get_dacOut());
-// connect the DeMux to the signalProbeBlock
-signalProbeDouble.getIn(0).connect(demux_SPB.getOut(0));
-signalProbeDouble.getIn(1).connect(demux_SPB.getOut(1));
-// name the signals
-signalProbeDouble.setName(0, "Robot Controller DAC 0");
-signalProbeDouble.setName(1, "Robot Controller DAC 1");
-...
-// run the blocks
-timedomain.addBlock(&demux_SPB);
-timedomain.addBlock(&signalProbeDouble);
-</code>
-==== Write the buffered data to a file ====
-When the application is terminated, the data has to be written to a file.
-In Main.cpp
-<code cpp>
-...
-	std::cout << "start writing file 'signalProbePC.csv'" << std::endl;
-	std::ofstream fileSPPC;
-	fileSPPC.open("/tmp/signalProbePC.csv");
-	fileSPPC << controlSystem.pendulumController.signalProbePC.getMetaInfoStr();
-	fileSPPC << controlSystem.pendulumController.signalProbePC.getDataStr();
-	fileSPPC.close();
-	std::cout << "file 'signalProbePC' written" << std::endl;
-	while(safetySystem.getCurrentLevel().getId() ==  off) usleep(100000);
-	log.trace() << "SCARA Robot Control Application finished";
-	return 0;
-}
-</code>
-If the //signalProbeBlock// is contained in an other block, following lines can be used:
-<code cpp>
-...
-fileSPPC << controlSystem.pendulumController.signalProbePC.getMetaInfoStr();
-fileSPPC << controlSystem.pendulumController.signalProbePC.getDataStr();
-...
-</code>
-==== Stop measurement in case of a level change ====
-The measurement can be stopped, when a certain safety level is reached. This can be useful, to find a reason for a emergency stop. In this example 1'000 additional measuring points are safed, after the safety level //emergency// is called.
-In SafetyProporties.cpp:
-<code cpp>
-...
-	level(emergency).setLevelAction([this](SafetyContext* privateContext) {
-		static bool firstCall = true;
-		if (firstCall) {
-			firstCall = false;
-			controlSys->signalProbeDouble.stopLogging(1000);	// nrOfMeasurementsAfterStop = 1'000
-		}
-	}
-...
-</code>
-===== The csv file =====
-The csv file is saved in a style, which easily can be opened with Excel or Matlab.
-This is an example for two signals:
-<code>
-TS: Signal 0,Value: Signal 0,TS: Signal 0,Value: Signal 0,
-.0,3.66,1.0,5.812,
-.1002,3.72,1.1002,5.92,
-...
-</code>