int cbpy_set_trial_config(int nInstance, const cbSdkConfigParam * pcfg_param)
{
cbSdkResult sdkres = cbSdkSetTrialConfig(nInstance, pcfg_param->bActive,
pcfg_param->Begchan,pcfg_param->Begmask, pcfg_param->Begval,
pcfg_param->Endchan, pcfg_param->Endmask, pcfg_param->Endval,
pcfg_param->bDouble, pcfg_param->uWaveforms,
pcfg_param->uConts, pcfg_param->uEvents, pcfg_param->uComments,
pcfg_param->uTrackings,
pcfg_param->bAbsolute);
return sdkres;
}
int main(int argc, char **argv)
{
ros::Time::init();
cbSdkResult res = testOpen();
if (res < 0)
ROS_INFO("testOpen failed (%d)!\n", res);
else
ROS_INFO("testOpen succeeded\n");
UINT16 uBegChan = 0;
UINT32 uBegMask = 0;
UINT32 uBegVal = 0;
UINT16 uEndChan = 0;
UINT32 uEndMask = 0;
UINT32 uEndVal = 0;
bool bDouble = false;
bool bAbsolute = false;
UINT32 uWaveforms = 0;
UINT32 uConts = cbSdk_CONTINUOUS_DATA_SAMPLES;
UINT32 uEvents = cbSdk_EVENT_DATA_SAMPLES;
UINT32 uComments = 0;
UINT32 uTrackings = 0;
UINT32 bWithinTrial = false;
// test cbSdkGet/Set Trial Config
UINT32 bActive = 1;
res = cbSdkSetTrialConfig(INST, bActive, uBegChan, uBegMask, uBegVal, uEndChan, uEndMask, uEndVal,
bDouble, uWaveforms, uConts, uEvents, uComments, uTrackings, bAbsolute);
ros::Duration(.1).sleep();
UINT32 bValid = 1;
cbSdkTrialCont trialcont = cbSdkTrialCont();
cbPKT_CHANINFO chan_info = cbPKT_CHANINFO();
res = cbSdkInitTrialData(INST, NULL, &trialcont, NULL, NULL);
int num_channels = trialcont.count;
blackrock_interface::blackrock_data br_data_msg;
br_data_msg.num_samples.resize(trialcont.count);
br_data_msg.data.resize(trialcont.count);
br_data_msg.channel_labels.resize(trialcont.count);
for (int ii=0; ii<num_channels; ii++)
{
cbSdkGetChannelConfig(INST, trialcont.chan[ii], &chan_info); // Get a full channel configuration packet
br_data_msg.channel_labels[ii].assign(chan_info.label);
}
ros::init(argc, argv, "br_data_stream");
ros::NodeHandle n;
ros::Publisher chatter_pub = n.advertise<blackrock_interface::blackrock_data>("blackrock_data", 1);
ros::Rate loop_rate(STREAM_FREQ);
while (ros::ok())
{
// 1 - Get how many samples are waiting
bool bTrialDouble = false;
res = cbSdkGetTrialConfig(INST, NULL, NULL, NULL, NULL, NULL, NULL, NULL, &bTrialDouble, NULL, &uConts, &uEvents);
res = cbSdkInitTrialData(INST, NULL, &trialcont, NULL, NULL);
// 2 - Allocate buffer
for (UINT32 channel = 0; channel < trialcont.count; channel++)
{
trialcont.samples[channel] = NULL;
UINT32 num_samples = trialcont.num_samples[channel];
if (bTrialDouble)
trialcont.samples[channel] = calloc(num_samples,sizeof(double));
else
trialcont.samples[channel] = calloc(num_samples,sizeof(UINT16));
}
// 3 - get the data
int bFlushBuffer = 1;
INT16 **data = (INT16 **)trialcont.samples;
res = cbSdkGetTrialData(INST, bFlushBuffer, NULL, &trialcont, NULL, NULL);
data = (INT16 **)trialcont.samples;
// 4 - forward the data
for (UINT32 channel = 0; channel < trialcont.count; channel++)
{
blackrock_interface::blackrock_channel_data br_channel_data; // holds single chan data
br_channel_data.channel_data.insert(
br_channel_data.channel_data.begin(),
data[channel],
data[channel]+trialcont.num_samples[channel]);
br_data_msg.data[channel] = br_channel_data;
br_data_msg.num_samples[channel] = trialcont.num_samples[channel];
}
chatter_pub.publish(br_data_msg);
loop_rate.sleep();
}
return 0;
}
