def make_cmd_ao(subdev, dt, chlist, nchans, nsamples):
dt_ns = int(1.0e6 * dt)
cmd = c.comedi_cmd_struct()
cmd.subdev = subdev
cmd.flags = 0 # c.TRIG_WAKE_EOS
cmd.start_src = c.TRIG_INT
cmd.start_arg = 0
cmd.scan_begin_src = c.TRIG_TIMER
cmd.scan_begin_arg = dt_ns # ns
cmd.convert_src = c.TRIG_NOW
cmd.convert_arg = 0 #dt_ns/nchans
cmd.scan_end_src = c.TRIG_COUNT
cmd.scan_end_arg = nchans
cmd.stop_src = c.TRIG_NONE # continuous acquisition
cmd.stop_arg = 0
cmd.chanlist = chlist
cmd.chanlist_len = nchans
return cmd
def make_cmd_ao(subdev, dt, chlist, nchans, nsamples):
dt_ns = int(1.0e6*dt)
cmd = c.comedi_cmd_struct()
cmd.subdev = subdev
cmd.flags = 0 # c.TRIG_WAKE_EOS
cmd.start_src = c.TRIG_INT
cmd.start_arg = 0
cmd.scan_begin_src = c.TRIG_TIMER
cmd.scan_begin_arg = dt_ns # ns
cmd.convert_src = c.TRIG_NOW
cmd.convert_arg = 0 #dt_ns/nchans
cmd.scan_end_src = c.TRIG_COUNT
cmd.scan_end_arg = nchans
cmd.stop_src = c.TRIG_NONE # continuous acquisition
cmd.stop_arg = 0
cmd.chanlist = chlist
cmd.chanlist_len = nchans
return cmd
def get_command_stuff(dev, s):
buf = ""
cmd = c.comedi_cmd_struct()
if (c.comedi_get_cmd_src_mask(dev, s, cmd) < 0):
print "\tnot supported"
else:
print "\tstart: %s" % (cmd_src(cmd.start_src, buf))
print "\tscan_begin: %s" % (cmd_src(cmd.scan_begin_src, buf))
print "\tconvert begin: %s" % (cmd_src(cmd.convert_src, buf))
print "\tscan_end: %s" % (cmd_src(cmd.scan_end_src, buf))
print "\tstop: %s" % (cmd_src(cmd.stop_src, buf))
probe_max_1chan(dev, s)
def probe_max_1chan(dev,s):
buf=""
cmd=c.comedi_cmd_struct()
print("\tcommand fast 1chan:")
if(c.comedi_get_cmd_generic_timed(dev,s,cmd,1,1)<0):
print("\t\tnot supported")
else:
print("\tstart: %s %d" % (cmd_src(cmd.start_src,buf),cmd.start_arg))
print("\tscan_begin: %s %d" % (cmd_src(cmd.scan_begin_src,buf),cmd.scan_begin_arg))
print("\tconvert begin: %s %d" % (cmd_src(cmd.convert_src,buf),cmd.convert_arg))
print("\tscan_end: %s %d" % (cmd_src(cmd.scan_end_src,buf),cmd.scan_end_arg))
print("\tstop: %s %d" % (cmd_src(cmd.stop_src,buf),cmd.stop_arg))
def get_command_stuff(dev,s):
buf = ""
cmd = c.comedi_cmd_struct()
if (c.comedi_get_cmd_src_mask(dev,s,cmd)<0):
print("\tnot supported")
else:
print("\tstart: %s" % (cmd_src(cmd.start_src,buf)))
print("\tscan_begin: %s" % (cmd_src(cmd.scan_begin_src,buf)))
print("\tconvert begin: %s" % (cmd_src(cmd.convert_src,buf)))
print("\tscan_end: %s" % (cmd_src(cmd.scan_end_src,buf)))
print("\tstop: %s" % (cmd_src(cmd.stop_src,buf)))
probe_max_1chan(dev,s)
def probe_max_1chan(dev, s):
buf = ""
cmd = c.comedi_cmd_struct()
print "\tcommand fast 1chan:"
if (c.comedi_get_cmd_generic_timed(dev, s, cmd, 1, 1) < 0):
print "\t\tnot supported"
else:
print "\tstart: %s %d" % (cmd_src(cmd.start_src, buf), cmd.start_arg)
print "\tscan_begin: %s %d" % (cmd_src(cmd.scan_begin_src,
buf), cmd.scan_begin_arg)
print "\tconvert begin: %s %d" % (cmd_src(cmd.convert_src,
buf), cmd.convert_arg)
print "\tscan_end: %s %d" % (cmd_src(cmd.scan_end_src,
buf), cmd.scan_end_arg)
print "\tstop: %s %d" % (cmd_src(cmd.stop_src, buf), cmd.stop_arg)
def prepare_cmd(self,channels,gains,aref,freq):
#First create the channel setup
nchans = size(channels)
channel_config = c.chanlist(nchans) #create a chanlist of length nchans
print channel_config
print channels
for index in range(nchans):
channel_config[index]=c.cr_pack(channels[index], gains[index], aref[index])
#Then create the command
cmd = c.comedi_cmd_struct()
cmd.subdev = self.subdevice
cmd.flags = 0
cmd.start_src = c.TRIG_NOW
cmd.start_arg = 0
cmd.scan_begin_src = c.TRIG_TIMER
cmd.scan_begin_arg = int(1e9/freq)
cmd.convert_src = c.TRIG_TIMER
cmd.convert_arg = 0
cmd.scan_end_src = c.TRIG_COUNT
cmd.scan_end_arg = nchans
cmd.stop_src = c.TRIG_NONE
cmd.stop_arg = 0
cmd.chanlist = channel_config
cmd.chanlist_len = nchans
ret = self.test_cmd(cmd)
if ret !=0:
self.logger.error("Error preparing command")
return -1
return cmd
def streamer(device,subdevice,chans,comedi_range,shared_array):
''' read the channels defined in chans, on the device/subdevice, and streams the values in the shared_array.
The shared_array has a lock, to avoid reading and writing at the same time and it's process-proof.
device: '/dev/comedi0'
subdevice : 0=in, 1=out
chans : [0,1,2,3,4....] : BE AWARE the reading is done crescendo, no matter the order given here. It means that [0,1,2] and [2,0,1] will both have [0,1,2] as result, but you can ask for [0,1,5].
comedi_range: same size as chans, with the proper range for each chan. If unknown, try [0,0,0,....].
shared_array: same size as chans, must be defined before with multiprocess.Array: shared_array= Array('f', np.arange(len(chans)))
'''
dev=c.comedi_open(device)
if not dev: raise "Error openning Comedi device"
fd = c.comedi_fileno(dev) #get a file-descriptor for use later
BUFSZ = 10000 #buffer size
freq=8000# acquisition frequency: if too high, set frequency to maximum.
nchans = len(chans) #number of channels
aref =[c.AREF_GROUND]*nchans
mylist = c.chanlist(nchans) #create a chanlist of length nchans
maxdata=[0]*(nchans)
range_ds=[0]*(nchans)
for index in range(nchans): #pack the channel, gain and reference information into the chanlist object
mylist[index]=c.cr_pack(chans[index], comedi_range[index], aref[index])
maxdata[index]=c.comedi_get_maxdata(dev,subdevice,chans[index])
range_ds[index]=c.comedi_get_range(dev,subdevice,chans[index],comedi_range[index])
cmd = c.comedi_cmd_struct()
period = int(1.0e9/freq) # in nanoseconds
ret = c.comedi_get_cmd_generic_timed(dev,subdevice,cmd,nchans,period)
if ret: raise "Error comedi_get_cmd_generic failed"
cmd.chanlist = mylist # adjust for our particular context
cmd.chanlist_len = nchans
cmd.scan_end_arg = nchans
cmd.stop_arg=0
cmd.stop_src=c.TRIG_NONE
t0 = time.time()
j=0
ret = c.comedi_command(dev,cmd)
if ret !=0: raise "comedi_command failed..."
#Lines below are for initializing the format, depending on the comedi-card.
data = os.read(fd,BUFSZ) # read buffer and returns binary data
data_length=len(data)
#print maxdata
#print data_length
if maxdata[0]<=65536: # case for usb-dux-D
n = data_length/2 # 2 bytes per 'H'
format = `n`+'H'
elif maxdata[0]>65536: #case for usb-dux-sigma
n = data_length/4 # 2 bytes per 'H'
format = `n`+'I'
#print struct.unpack(format,data)
# init is over, start acquisition and stream
last_t=time.time()
try:
while True:
#t_now=time.time()
#while (t_now-last_t)<(1./frequency):
#t_now=time.time()
##print t_now-last_t
#last_t=t_now
data = os.read(fd,BUFSZ) # read buffer and returns binary data
#print len(data), data_length
if len(data)==data_length:
datastr = struct.unpack(format,data) # convert binary data to digital value
if len(datastr)==nchans: #if data not corrupted for some reason
#shared_array.acquire()
for i in range(nchans):
shared_array[i]=c.comedi_to_phys((datastr[i]),range_ds[i],maxdata[i])
#print datastr
#shared_array.release()
#j+=1
#print j
#print "Frequency= ",(j/(time.time()-t0))
#print np.transpose(shared_array[:])
except (KeyboardInterrupt):
c.comedi_cancel(dev,subdevice)
ret = c.comedi_close(dev)
if ret !=0: raise "comedi_close failed..."
C.stop_arg = 0
C.chanlist = mylist
C.chanlist_len = nchans
## ret = c.comedi_get_buffer_size(dev, subdevice)
## if ret==-1:
## raise "Error fetching comedi buffer size"
## else:
## print "buffer size = ", ret
## ret = c.comedi_get_max_buffer_size(dev, subdevice)
## if ret==-1:
## raise "Error fetching comedi max buff size"
## else:
## print "max buff size = ", ret
#construct a comedi command
cmd = c.comedi_cmd_struct()
cmd.chanlist = mylist # adjust for our particular context
cmd.chanlist_len = nchans
cmd.scan_end_arg = nchans
prepare_cmd(dev,subdevice,cmd)
print "command before testing"
dump_cmd(cmd)
#test our comedi command a few times.
ret = c.comedi_command_test(dev,cmd)
print "first cmd test returns ", ret, cmdtest_messages[ret]
if ret<0:
raise "comedi_command_test failed"
dump_cmd(cmd)
def streamer(device, subdevice, chans, comedi_range, shared_array):
''' read the channels defined in chans, on the device/subdevice, and streams the values in the shared_array.
The shared_array has a lock, to avoid reading and writing at the same time and it's process-proof.
device: '/dev/comedi0'
subdevice : 0=in, 1=out
chans : [0,1,2,3,4....] : BE AWARE the reading is done crescendo, no matter the order given here. It means that [0,1,2] and [2,0,1] will both have [0,1,2] as result, but you can ask for [0,1,5].
comedi_range: same size as chans, with the proper range for each chan. If unknown, try [0,0,0,....].
shared_array: same size as chans, must be defined before with multiprocess.Array: shared_array= Array('f', np.arange(len(chans)))
'''
dev = c.comedi_open(device)
if not dev: raise "Error openning Comedi device"
fd = c.comedi_fileno(dev) #get a file-descriptor for use later
BUFSZ = 10000 #buffer size
freq = 8000 # acquisition frequency: if too high, set frequency to maximum.
nchans = len(chans) #number of channels
aref = [c.AREF_GROUND] * nchans
mylist = c.chanlist(nchans) #create a chanlist of length nchans
maxdata = [0] * (nchans)
range_ds = [0] * (nchans)
for index in range(
nchans
): #pack the channel, gain and reference information into the chanlist object
mylist[index] = c.cr_pack(chans[index], comedi_range[index],
aref[index])
maxdata[index] = c.comedi_get_maxdata(dev, subdevice, chans[index])
range_ds[index] = c.comedi_get_range(dev, subdevice, chans[index],
comedi_range[index])
cmd = c.comedi_cmd_struct()
period = int(1.0e9 / freq) # in nanoseconds
ret = c.comedi_get_cmd_generic_timed(dev, subdevice, cmd, nchans, period)
if ret: raise "Error comedi_get_cmd_generic failed"
cmd.chanlist = mylist # adjust for our particular context
cmd.chanlist_len = nchans
cmd.scan_end_arg = nchans
cmd.stop_arg = 0
cmd.stop_src = c.TRIG_NONE
t0 = time.time()
j = 0
ret = c.comedi_command(dev, cmd)
if ret != 0: raise "comedi_command failed..."
#Lines below are for initializing the format, depending on the comedi-card.
data = os.read(fd, BUFSZ) # read buffer and returns binary data
data_length = len(data)
#print maxdata
#print data_length
if maxdata[0] <= 65536: # case for usb-dux-D
n = data_length / 2 # 2 bytes per 'H'
format = ` n ` + 'H'
elif maxdata[0] > 65536: #case for usb-dux-sigma
n = data_length / 4 # 2 bytes per 'H'
format = ` n ` + 'I'
#print struct.unpack(format,data)
# init is over, start acquisition and stream
last_t = time.time()
try:
while True:
#t_now=time.time()
#while (t_now-last_t)<(1./frequency):
#t_now=time.time()
##print t_now-last_t
#last_t=t_now
data = os.read(fd, BUFSZ) # read buffer and returns binary data
#print len(data), data_length
if len(data) == data_length:
datastr = struct.unpack(
format, data) # convert binary data to digital value
if len(datastr
) == nchans: #if data not corrupted for some reason
#shared_array.acquire()
for i in range(nchans):
shared_array[i] = c.comedi_to_phys(
(datastr[i]), range_ds[i], maxdata[i])
#print datastr
#shared_array.release()
#j+=1
#print j
#print "Frequency= ",(j/(time.time()-t0))
#print np.transpose(shared_array[:])
except (KeyboardInterrupt):
c.comedi_cancel(dev, subdevice)
ret = c.comedi_close(dev)
if ret != 0: raise "comedi_close failed..."
C.chanlist = mylist
C.chanlist_len = nchans
## ret = c.comedi_get_buffer_size(dev, subdevice)
## if ret==-1:
## raise Exception("Error fetching comedi buffer size")
## else:
## print("buffer size = ", ret)
## ret = c.comedi_get_max_buffer_size(dev, subdevice)
## if ret==-1:
## raise Exception("Error fetching comedi max buff size")
## else:
## print("max buff size = ", ret)
#construct a comedi command
cmd = c.comedi_cmd_struct()
cmd.chanlist = mylist # adjust for our particular context
cmd.chanlist_len = nchans
cmd.scan_end_arg = nchans
prepare_cmd(dev, subdevice, cmd)
print("command before testing")
dump_cmd(cmd)
#test our comedi command a few times.
ret = c.comedi_command_test(dev, cmd)
print "first cmd test returns ", ret, cmdtest_messages[ret]
if ret < 0:
raise Exception("comedi_command_test failed")
def pci_6033e_init(self, dev_name):
self.dev = c.comedi_open(dev_name)
if not(self.dev):
self.warn_dialog("Unable to open device: " + dev_name)
return(-1)
ret = c.comedi_lock(self.dev, SUBDEVICE)
if (ret < 0):
self.warn_dialog("Could not lock comedi device")
return(-1)
# get a file-descriptor for use later
self.fd = c.comedi_fileno(self.dev)
if (self.fd <= 0):
self.warn_dialog("Error obtaining Comedi device file descriptor")
c.comedi_close(self.dev)
return(-1)
# Channel range (0-5V)
if (c.comedi_range_is_chan_specific(self.dev, SUBDEVICE) != 0):
self.warn_dialog("Comedi range is channel specific!")
c.comedi_close(self.dev)
return(-1)
self.comedi_range = c.comedi_get_range(self.dev, SUBDEVICE, 0, CHAN_RANGE)
self.comedi_maxdata = c.comedi_get_maxdata(self.dev, SUBDEVICE, 0)
board_name = c.comedi_get_board_name(self.dev)
if (board_name != "pci-6033e"):
print("Opened wrong device!")
# Prepare channels, gains, refs
self.comedi_num_chans = NUM_CHANNELS
chans = range(self.comedi_num_chans)
gains = [0]*self.comedi_num_chans
aref = [c.AREF_GROUND]*self.comedi_num_chans
chan_list = c.chanlist(self.comedi_num_chans)
# Configure all the channels!
for i in range(self.comedi_num_chans):
chan_list[i] = c.cr_pack(chans[i], gains[i], aref[i])
# The comedi command
self.cmd = c.comedi_cmd_struct()
# 1.0e9 because this number is in nanoseconds for some reason
period = int(1.0e9/float(SCAN_FREQ))
# Init cmd
ret = c.comedi_get_cmd_generic_timed(self.dev, SUBDEVICE, self.cmd, self.comedi_num_chans, period)
if (ret):
self.warn_dialog("Could not initiate command")
c.comedi_close(self.dev)
return(-1)
# Populate command
self.cmd.chanlist = chan_list
self.cmd.chanlist_len = self.comedi_num_chans
self.cmd.scan_end_arg = self.comedi_num_chans
self.cmd.stop_src = c.TRIG_NONE
self.cmd.stop_arg = 0
print("real timing: %d ns" % self.cmd.convert_arg)
print("Real scan freq: %d Hz" % (1.0/(float(self.cmd.convert_arg)*32.0*1.0e-9)))
#print("period: %d ns" % period)
print_cmd(self.cmd)
# Test command out.
ret = c.comedi_command_test(self.dev, self.cmd)
if (ret < 0):
self.warn_dialog("Comedi command test failed!")
c.comedi_close(self.dev)
return(-1)
print("Command test passed")
return(0)
def acquire_data(config):
"""
Acquire data from data acquisition device.
"""
#Open a comedi device
dev = c.comedi_open(config['device'])
if not dev:
err_msg = "%s: error: unable to open openning Comedi device" % (
PROG_NAME, )
sys.stderr.write(err_msg)
sys.exit(1)
# Get a file-descriptor to access data
fd = c.comedi_fileno(dev)
# Setup channels
nchans = len(config['channels'])
aref_str = config['aref'].lower()
if aref_str == 'diff':
aref = [c.AREF_DIFF] * nchans
elif aref_str == 'common':
aref = [c.AREF_COMMON] * nchans
elif aref_str == 'ground':
aref = [c.AREF_GROUND] * nchans
else:
raise ValueError, 'unknown aref'
#nchans = len(config['channels'])
#aref =[c.AREF_GROUND]*nchans
# Pack the channel, gain and reference information into the chanlist object
channel_list = c.chanlist(nchans)
for i in range(nchans):
channel_list[i] = c.cr_pack(config['channels'][i], config['gains'][i],
aref[i])
# Construct a comedi command
cmd = c.comedi_cmd_struct()
cmd.subdev = config['subdev']
cmd.flags = DEFAULT_CMD_FLAGS
cmd.start_src = c.TRIG_NOW
cmd.sart_arg = DEFAULT_CMD_SART_ARG
cmd.scan_begin_src = c.TRIG_TIMER
cmd.scan_begin_arg = int(NANO_SEC / config['sample_freq'])
cmd.convert_src = c.TRIG_TIMER
cmd.convert_arg = DEFAULT_CMD_CONVERT_ARG
cmd.scan_end_src = c.TRIG_COUNT
cmd.scan_end_arg = nchans
cmd.stop_src = c.TRIG_COUNT
cmd.stop_arg = config['sample_num']
cmd.chanlist = channel_list
cmd.chanlist_len = nchans
# Test comedi command
if config['verbose']:
print 'Testing comedi command'
print
for i in range(0, DEFAULT_CMD_TEST_NUM):
if config['verbose']:
print_cmd(cmd)
ret = c.comedi_command_test(dev, cmd)
if config['verbose']:
print
print '\t*** test %d returns %s' % (i, CMD_TEST_MSG[ret])
print
if not ret == 0:
msg_data = (PROG_NAME, CMD_TEST_MSG[ret])
err_msg = '%s: error: unable to configure daq device - %s' % msg_data
sys.stderr.write(err_msg)
# Acquire data
if config['verbose']:
print 'acquiring data'
print
sys.stdout.flush()
ret = c.comedi_command(dev, cmd) # non blocking
if not ret == 0:
err_msg = '%s: error: unable to execute comedi command' % (PROG_NAME, )
sys.stderr.write(err_msg)
sys.exit(1)
# Read data from buffer - may want to add a timeout here
read_done = False
bytes_total = 2 * config['sample_num'] * nchans
bytes_read = 0
datastr = ''
while not read_done:
try:
buffstr = os.read(fd, bytes_total)
except OSError, err:
if err.args[0] == 4:
continue
raise
datastr += buffstr
bytes_read += len(buffstr)
if config['verbose']:
print '\tread:', bytes_read, 'of', 2 * config[
'sample_num'] * nchans, 'bytes'
if bytes_read == bytes_total:
read_done = True
