/home/breidi/Dropbox/signalserver/src/hardware/g_mobilab.cpp

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/*
    This file is part of the TOBI SignalServer.

    Commercial Usage
    Licensees holding valid Graz University of Technology Commercial
    licenses may use this file in accordance with the Graz University
    of Technology Commercial License Agreement provided with the
    Software or, alternatively, in accordance with the terms contained in
    a written agreement between you and Graz University of Technology.

    --------------------------------------------------

    GNU General Public License Usage
    Alternatively, this file may be used under the terms of the GNU
    General Public License version 3.0 as published by the Free Software
    Foundation and appearing in the file gpl.txt included in the
    packaging of this file.  Please review the following information to
    ensure the GNU General Public License version 3.0 requirements will be
    met: http://www.gnu.org/copyleft/gpl.html.

    In case of GNU General Public License Usage ,the TOBI SignalServer
    is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with the TOBI SignalServer. If not, see <http://www.gnu.org/licenses/>.

    Copyright 2010 Graz University of Technology
    Contact: SignalServer@tobi-project.org
*/

#include "hardware/g_mobilab.h"
#include "hardware/hw_thread_builder.h"

#include <vector>
#include <boost/bind.hpp>
#include <boost/lexical_cast.hpp>

namespace tobiss
{

using std::vector;
using std::string;
using std::map;

using std::cout;
using std::cerr;
using std::endl;
using std::flush;

using boost::uint16_t;
using boost::uint32_t;

static const unsigned int MOBILAB_MAX_NR_OF_CHANNELS    = 8;
static const double MOBILAB_DAQ_RESOLUTION_BIT    = 16;
static const unsigned int MOBILAB_DAQ_RESOLUTION_BYTE   = 2;
static const unsigned int MOBILAB_SAMPLING_RATE  = 256;  // Hz

static const float MOBILAB_EEG_SENSITIVITY =       500;  //micro volts
static const float MOBILAB_EOG_SENSITIVITY =      2000;  //micro volts
static const float MOBILAB_EMG_SENSITIVITY =      5000;  //micro volts
static const float MOBILAB_ANALOG_SENSITIVITY = 250000;  //micro volts

static const double MOBILAB_COMMON_LOWPASS  =  100;  // Hz
static const double MOBILAB_EEG_HIGHPASS    =  0.5;  // Hz
static const double MOBILAB_EOG_HIGHPASS    =  0.01;  // Hz
static const double MOBILAB_EMG_HIGHPASS    =  0.5;  // Hz

static const unsigned int MOBILAB_BAUD_RATE    = 57600;
static const unsigned int MOBILAB_CHAR_SIZE    = 8;
static const std::string  MOBILAB_FLOW_CONTROL = "none";
static const std::string  MOBILAB_STOP_BITS    = "1";
static const std::string  MOBILAB_PARITY       = "none";


const string GMobilab::hw_mobilab_serial_port_("serial_port");
const string GMobilab::hw_mobilab_type_("mobilab_type");
const string GMobilab::hw_mobilab_eeg_("eeg");
const string GMobilab::hw_mobilab_multi_("multi");

//-----------------------------------------------------------------------------

#ifndef WIN32

  #include <termios.h>

  // very very bad hack ... taken from ttylog
  // don't know if something similar has to be done for windows
  // if this code is not executed, the mobilab does not respond
  // don't know why
  // only starting ttylog before the sigserver was enough, otherwise
  // the mobilab did not respond
  // maybe some pins have to be set manually
  void DO_BAD_SERIAL_PORT_HACK(std::string dev)
  {
    unsigned int count = 2;
    while(count)
    {
      FILE *logfile;
      int fd;
      fd_set rfds;
      struct termios oldtio, newtio;

      logfile = fopen (dev.c_str(), "rb");

      fd = fileno (logfile);

      tcgetattr (fd, &oldtio); /* save current serial port settings */
      bzero (&newtio, sizeof (newtio)); /* clear struct for new port settings */

      newtio.c_cflag = B57600 | CRTSCTS | CS8 | CLOCAL | CREAD;
      newtio.c_iflag = IGNPAR | IGNCR;
      newtio.c_oflag = 0;
      newtio.c_lflag = ICANON;

      tcflush (fd, TCIFLUSH);
      tcsetattr (fd, TCSANOW, &newtio);

      /* Clear the device */
      FD_ZERO (&rfds);
      FD_SET (fd, &rfds);

      fclose (logfile);
      tcsetattr (fd, TCSANOW, &oldtio);

      count--;
      usleep(20000);
    }
  }

#endif

const HWThreadBuilderTemplateRegistrator<GMobilab> GMobilab::factory_registrator_ ("mobilab", "mobilab+", "g.mobilab", "g.mobilab+");

//-----------------------------------------------------------------------------
GMobilab::GMobilab(boost::asio::io_service& io, ticpp::Iterator<ticpp::Element> hw)
  : SerialPortBase(io), HWThread(), mobilab_type_(MOBILAB_EEG), async_acqu_thread_(0)
{
  setType("g.Mobilab");
  setHardware(hw);

  checkNrOfChannels();
  setScalingValues();

#ifndef WIN32
  DO_BAD_SERIAL_PORT_HACK(getSerialPortName());
#endif

  open();
  setBaudRate(MOBILAB_BAUD_RATE);
  setFlowControl(MOBILAB_FLOW_CONTROL);
  setParity(MOBILAB_PARITY);
  setStopBits(MOBILAB_STOP_BITS);
  setCharacterSize(MOBILAB_CHAR_SIZE);

  raw_data_.resize(nr_ch_, 0);

  samples_.reserve(4 * nr_ch_);
  samples_.resize(nr_ch_, 0);

  if(blocks_ != 1)
    throw(std::invalid_argument("Blocksize > 1 not supported yet!") );

  std::vector<unsigned char> command;
  std::vector<unsigned char> reply(1,0);

  unsigned char channel_code = getChannelCode();

  // command to set channels ... sniffed from serial communication
  command.push_back(0x63);
  command.push_back(channel_code);
  command.push_back(0x20);

  sync_write(command);
  sync_read(reply);

  // response from mobilab if channel setting was ok -- don't know other messages
  if(reply[0] != 0x63)
    throw(std::runtime_error("GMobilab::Constructor -- Wrong hardware response from mobilab!") );

  data_.init(blocks_ , nr_ch_ , channel_types_);

}

//-----------------------------------------------------------------------------

void GMobilab::run()
{

  // command to start data transmission
  std::vector<unsigned char> command(1, 0x61);
  sync_write(command);

  if(mode_ == SLAVE)
    async_acqu_thread_ = new boost::thread( boost::bind(&GMobilab::acquireData, this) );

  running_ = true;
}

//-----------------------------------------------------------------------------

GMobilab::~GMobilab()
{
  async_acqu_thread_->join();
  close();
  if(async_acqu_thread_)
    delete async_acqu_thread_;
}

//-----------------------------------------------------------------------------

void GMobilab::stop()
{
  running_ = false;
  boost::unique_lock<boost::shared_mutex> lock(rw_);

  // command to stop data transmission
  std::vector<unsigned char> command(1,0x62);
  sync_write(command);

}

//-----------------------------------------------------------------------------

SampleBlock<double> GMobilab::getSyncData()
{
  if(running_)
  {
    boost::unique_lock<boost::shared_mutex> lock(rw_);

    sync_read(raw_data_);

    for(unsigned int n = 0; n < raw_data_.size(); n++)
      samples_[n] = raw_data_[n]* scaling_factors_[n];

    data_.setSamples(samples_);
  }
  return(data_);
}

//-----------------------------------------------------------------------------

SampleBlock<double> GMobilab::getAsyncData()
{
  if(running_)
  {
    boost::unique_lock<boost::shared_mutex> lock(rw_);

    data_.setSamples(samples_);

  }

  return(data_);
}

//-----------------------------------------------------------------------------

void GMobilab::setHardware(ticpp::Iterator<ticpp::Element>const &hw)
{
  #ifdef DEBUG
    std::cout << "GMobilab: setHardware" << std::endl;
  #endif

  checkMandatoryHardwareTags(hw);
  ticpp::Iterator<ticpp::Element> ds(hw->FirstChildElement(hw_devset_, true));

  setDeviceSettings(ds);

  ticpp::Iterator<ticpp::Element> cs(hw->FirstChildElement(hw_chset_, false));
  if (cs != cs.end())
  {
    for(ticpp::Iterator<ticpp::Element> it(cs); ++it != it.end(); )
      if(it->Value() == hw_chset_)
      {
        string ex_str(type_ + " -- ");
        ex_str += "Multiple channel_settings found!";
        throw(std::invalid_argument(ex_str));
      }
      setChannelSettings(cs);
  }
}

//-----------------------------------------------------------------------------

void GMobilab::setDeviceSettings(ticpp::Iterator<ticpp::Element>const &father)
{
  #ifdef DEBUG
    std::cout << "GMobilab: setDeviceSettings" << std::endl;
  #endif

  fs_ = MOBILAB_SAMPLING_RATE;

  ticpp::Iterator<ticpp::Element>elem = father->FirstChildElement(hw_mobilab_serial_port_,true);
  setPortName(elem->GetText(true));

  elem = father->FirstChildElement(hw_mobilab_type_,true);
  if(elem->GetText(true) == hw_mobilab_eeg_)
    mobilab_type_ = MOBILAB_EEG;
  else if(elem->GetText(true) == hw_mobilab_multi_)
    mobilab_type_ = MOBILAB_MULTI;
  else
    throw(std::invalid_argument(
        "GMobilab::setDeviceSettings() -- type not supported or wrong:") );

  elem = father->FirstChildElement(hw_channels_,false);
  if(elem != elem.end())
    setDeviceChannels(elem);

  elem = father->FirstChildElement(hw_blocksize_,false);
  if(elem != elem.end())
    setBlocks(elem);
}

//---------------------------------------------------------------------------------------

void GMobilab::setChannelSettings(ticpp::Iterator<ticpp::Element>const &father)
{
  #ifdef DEBUG
    std::cout << "GMobilab: setChannelSettings" << std::endl;
  #endif

  ticpp::Iterator<ticpp::Element> elem(father->FirstChildElement(hw_chset_sel_,false));
  if (elem != elem.end())
    setChannelSelection(elem);
}

//---------------------------------------------------------------------------------------

void GMobilab::setScalingValues()
{
  // use only 50% of the sensitivity to get a correct scaling

  if(mobilab_type_ == MOBILAB_EEG)
  {
    std::map<boost::uint16_t, std::pair<std::string, boost::uint32_t> >::iterator it;
    for(it = channel_info_.begin(); it != channel_info_.end(); it++)
    {
      scaling_factors_.push_back(
          MOBILAB_EEG_SENSITIVITY/(2.0 * pow(2.0 ,MOBILAB_DAQ_RESOLUTION_BIT) ) );
    }
  }
  if(mobilab_type_ == MOBILAB_MULTI)
  {
    double scaling = 0;
    double sensitivity = 0;
    boost::uint16_t channel = 0;

    std::map<boost::uint16_t, std::pair<std::string, boost::uint32_t> >::iterator it;
    for(it = channel_info_.begin(); it != channel_info_.end(); it++)
    {
      channel = (*it).first;

      std::cout << " GMobilab::setScalingValues() -- channel numbers: ";
      std::cout <<  channel << std::flush << std::endl;

      if(channel == 1 || channel == 2)
        sensitivity = MOBILAB_EEG_SENSITIVITY;
      if(channel == 3 || channel == 4)
        sensitivity = MOBILAB_EOG_SENSITIVITY;
      if(channel == 5 || channel == 6)
        sensitivity = MOBILAB_EMG_SENSITIVITY;
      if(channel == 7 || channel == 8)
        sensitivity = MOBILAB_ANALOG_SENSITIVITY;

      scaling = sensitivity/pow(2.0 ,MOBILAB_DAQ_RESOLUTION_BIT);
      scaling_factors_.push_back(scaling/2.0);

    }
  }
}

//---------------------------------------------------------------------------------------

unsigned char GMobilab::getChannelCode()
{
  // binary channel coding for the mobilab
  channel_coding_[1] = 0x80;
  channel_coding_[2] = 0x40;
  channel_coding_[3] = 0x20;
  channel_coding_[4] = 0x10;
  channel_coding_[5] = 0x08;
  channel_coding_[6] = 0x04;
  channel_coding_[7] = 0x02;
  channel_coding_[8] = 0x01;

  unsigned char code = 0;
  std::map<boost::uint16_t, std::pair<std::string, boost::uint32_t> >::iterator it;
  for(it = channel_info_.begin(); it != channel_info_.end(); it++)
    code |= channel_coding_[ (*it).first ];

  return(code);
}

//---------------------------------------------------------------------------------------

void GMobilab::checkNrOfChannels()
{
  #ifdef DEBUG
    cout << "USBamp: checkNrOfChannels" << endl;
  #endif

  if(nr_ch_ > MOBILAB_MAX_NR_OF_CHANNELS )
    throw(std::invalid_argument("Too many channels defined -- maximum nr of channels: "\
                                +boost::lexical_cast<string>(MOBILAB_MAX_NR_OF_CHANNELS)) );

  map<uint16_t, std::pair<string, uint32_t> >::iterator it(channel_info_.begin());

  for(  ; it != channel_info_.end(); it++ )
    if(it->first > MOBILAB_MAX_NR_OF_CHANNELS )
      throw(std::invalid_argument("Channel number too high -- maximum nr of channels: "\
      +boost::lexical_cast<string>(MOBILAB_MAX_NR_OF_CHANNELS)) );
}

//---------------------------------------------------------------------------------------

void GMobilab::acquireData()
{
  while(running_)
  {
    sync_read(raw_data_);

    boost::unique_lock<boost::shared_mutex> lock(rw_);
    for(unsigned int n = 0; n < raw_data_.size(); n++)
      samples_[n] = raw_data_[n]* scaling_factors_[n];
    lock.unlock();
  }
}

//---------------------------------------------------------------------------------------

} // Namespace tobiss