#include <mtsStateTable.h>

Inheritance diagram for mtsStateTable:

Classes
class	Accessor

class	AccessorBase

class	DataCollectionInfo

class	IndexRange

Public Member Functions
	mtsStateTable (size_t size, const std::string &name)

	~mtsStateTable ()

bool	SetSize (const size_t size)

mtsStateIndex	GetIndexReader (void) const

void	GetIndexReader (mtsStateIndex &timeIndex) const

mtsStateIndex	GetIndexDelayed (void) const

size_t	SetDelay (size_t newDelay)

bool	ValidateReadIndex (const mtsStateIndex &timeIndex) const

const bool &	AutomaticAdvance (void) const

void	SetAutomaticAdvance (bool automaticAdvance)

int	GetStateVectorID (const std::string &dataName) const

template<class _elementType >
mtsStateDataId	NewElement (const std::string &name="", _elementType *element=0)

template<class _elementType >
void	AddData (_elementType &element, const std::string &name="")

template<class _elementType >
_elementType *	GetStateDataElement (mtsStateDataId id) const

mtsGenericObject *	GetStateVectorElement (size_t id) const

template<class _elementType >
mtsStateTable::AccessorBase *	GetAccessor (const _elementType &element) const

mtsStateTable::AccessorBase *	GetAccessor (const std::string &name) const

mtsStateTable::AccessorBase *	GetAccessor (const char *name) const

mtsStateTable::AccessorBase *	GetAccessor (const size_t id) const

mtsStateIndex	GetIndexWriter (void) const

void	Start (void)

void	StartIfAutomatic (void)

void	Advance (void)

void	AdvanceIfAutomatic (void)

bool	ReplayAdvance (void)

void	Cleanup (void)

double	GetTic (void) const

double	GetToc (void) const

size_t	GetHistoryLength (void) const

size_t	GetNumberOfElements (void) const

double	GetAveragePeriod (void) const

void	ToStream (std::ostream &out) const

void	Debug (std::ostream &out, unsigned int *listColumn, unsigned int number) const

void	CSVWrite (std::ostream &out, bool nonZeroOnly=false)

void	CSVWrite (std::ostream &out, unsigned int *listColumn, unsigned int number, bool nonZeroOnly=false)

void	CSVWrite (std::ostream &out, mtsGenericObject **listColumn, unsigned int number, bool nonZeroOnly=false)

const std::string &	GetName (void) const

void	DataCollectionEventTriggeringRatio (const mtsDouble &eventTriggeringRatio)

template<class _elementType >
mtsStateTable::AccessorBase *	GetAccessor (const _elementType &element) const


void	DataCollectionStart (const mtsDouble &delay)

void	DataCollectionStop (const mtsDouble &delay)

Public Member Functions inherited from cmnGenericObject
virtual	~cmnGenericObject (void)

virtual const cmnClassServicesBase *	Services (void) const =0

bool	ReconstructFrom (const cmnGenericObject &other)

std::string	ToString (void) const

virtual void	ToStreamRaw (std::ostream &outputStream, const char delimiter= ' ', bool headerOnly=false, const std::string &headerPrefix="") const

virtual bool	FromStreamRaw (std::istream &inputStream, const char delimiter= ' ')

virtual void	SerializeRaw (std::ostream &outputStream) const

virtual void	DeSerializeRaw (std::istream &inputStream)

virtual cmnLogger::StreamBufType *	GetLogMultiplexer (void) const

virtual size_t	ScalarNumber (void) const

virtual bool	ScalarNumberIsFixed (void) const

virtual double	Scalar (const size_t CMN_UNUSED(index)) const throw (std::out_of_range)

virtual std::string	ScalarDescription (const size_t CMN_UNUSED(index), const std::string &CMN_UNUSED(userDescription)) const

Public Attributes
mtsDouble	Tic

mtsDouble	Toc

mtsDouble	Period

mtsIntervalStatistics	PeriodStats

Protected Member Functions
bool	Write (mtsStateDataId id, const mtsGenericObject &obj)

Protected Attributes
size_t	HistoryLength

size_t	IndexWriter

size_t	IndexReader

size_t	IndexDelayed

size_t	Delay

bool	AutomaticAdvanceFlag

std::vector< mtsStateArrayBase * >	StateVector

std::vector< mtsGenericObject * >	StateVectorElements

std::vector< std::string >	StateVectorDataNames

std::vector< AccessorBase * >	StateVectorAccessors

std::vector < mtsStateIndex::TimeTicksType >	Ticks

mtsStateDataId	TicId

mtsStateDataId	TocId

mtsStateDataId	PeriodId

const osaTimeServer *	TimeServer

double	SumOfPeriods

double	AveragePeriod

std::string	Name

DataCollectionInfo	DataCollection

Friends
class	mtsCollectorState

class	mtsComponent

class	mtsTaskTest

class	mtsStateTableTest

class	mtsCollectorBaseTest

Detailed Description

The state data table is the storage for the state of the task that the table is associated with. It is a heterogenous circular buffer and can contain data of any type so long as it is derived from mtsGenericObject. The state data table also resolves conflicts between reads and writes to the state, by ensuring that the reader head is always one behind the write head. To ensure this we have an assumption here that there is only one writer, though there can be multiple readers. State Data Table is also refered as Data Table or State Table elsewhere in the documentation.

Constructor & Destructor Documentation

mtsStateTable::mtsStateTable	(	size_t	size,
		const std::string &	name
	)

Constructor. Constructs a state table with a default size of 256 rows.

mtsStateTable::~mtsStateTable ( )

Default destructor.

Member Function Documentation

template<class _elementType >

void mtsStateTable::AddData	(	_elementType &	element,
		const std::string &	name = `""`
	)

inline

Add an element to the table (alternative to NewElement).

void mtsStateTable::Advance ( void )

Advance the pointers of the circular buffer. Note that since there is only a single writer, it is not necessary to use mutual exclusion primitives; the critical section can be handled by updating (incrementing) the write index before the read index.

void mtsStateTable::AdvanceIfAutomatic ( void )

Advance if automatic advance is set and does nothing otherwise.

const bool& mtsStateTable::AutomaticAdvance ( void ) const

inline

Get method for auto advance flag. See AutomaticAdvanceFlag

void mtsStateTable::Cleanup ( void )

Cleanup called when the task is being stopped.

void mtsStateTable::CSVWrite	(	std::ostream &	out,
		bool	nonZeroOnly = `false`
	)

This method is to dump the state data table in the csv format, allowing easy import into matlab. Assumes that individual columns are also printed in csv format. By default print all rows, if nonZeroOnly == true then print only those rows which have a nonzero Ticks value i.e, those rows that have been written to at least once.

void mtsStateTable::CSVWrite	(	std::ostream &	out,
		unsigned int *	listColumn,
		unsigned int	number,
		bool	nonZeroOnly = `false`
	)

void mtsStateTable::CSVWrite	(	std::ostream &	out,
		mtsGenericObject **	listColumn,
		unsigned int	number,
		bool	nonZeroOnly = `false`
	)

void mtsStateTable::DataCollectionEventTriggeringRatio ( const mtsDouble & eventTriggeringRatio )

Determine a ratio to generate a data collection event.

void mtsStateTable::DataCollectionStart ( const mtsDouble & delay )

Methods used to control the data collection start/stop

void mtsStateTable::DataCollectionStop ( const mtsDouble & delay )

void mtsStateTable::Debug	(	std::ostream &	out,
		unsigned int *	listColumn,
		unsigned int	number
	)		const

For debugging, dumps some values of the current data table to output stream.

template<class _elementType >

mtsStateTable::AccessorBase* mtsStateTable::GetAccessor ( const _elementType & element ) const

Return pointer to accessor functions for the state data element.

Parameters

element Pointer to state data element (i.e., working copy)

Returns: Pointer to accessor class (0 if not found)

Note: This method is overloaded to accept the element pointer or string name.

mtsStateTable::AccessorBase* mtsStateTable::GetAccessor ( const std::string & name ) const

Return pointer to accessor functions for the state data element.

Parameters

name	Name of state data element

Returns: Pointer to accessor class (0 if not found)

Note: This method is overloaded to accept the element pointer or string name.

mtsStateTable::AccessorBase* mtsStateTable::GetAccessor ( const char * name ) const

mtsStateTable::AccessorBase* mtsStateTable::GetAccessor ( const size_t id ) const

template<class _elementType >

mtsStateTable::AccessorBase* mtsStateTable::GetAccessor ( const _elementType & element ) const

double mtsStateTable::GetAveragePeriod ( void ) const

inline

Return the moving average of the measured period (i.e., average of last HistoryLength values).

size_t mtsStateTable::GetHistoryLength ( void ) const

inline

mtsStateIndex mtsStateTable::GetIndexDelayed ( void ) const

Get a handle for data to be used by a reader with a given delay. All the const methods, that can be called from a reader and writer.

mtsStateIndex mtsStateTable::GetIndexReader ( void ) const

Get a handle for data to be used by a reader. All the const methods, that can be called from a reader and writer.

void mtsStateTable::GetIndexReader ( mtsStateIndex & timeIndex ) const

inline

mtsStateIndex mtsStateTable::GetIndexWriter ( void ) const

Get a handle for data to be used by a writer

const std::string& mtsStateTable::GetName ( void ) const

inline

Return the name of this state table.

size_t mtsStateTable::GetNumberOfElements ( void ) const

inline

template<class _elementType >

_elementType* mtsStateTable::GetStateDataElement ( mtsStateDataId id ) const

inline

Return pointer to the state data element specified by the id. This element is the same type as the state data table entry.

mtsGenericObject* mtsStateTable::GetStateVectorElement ( size_t id ) const

inline

int mtsStateTable::GetStateVectorID ( const std::string & dataName ) const

Check if the signal has been registered.

double mtsStateTable::GetTic ( void ) const

inline

double mtsStateTable::GetToc ( void ) const

inline

template<class _elementType >

mtsStateDataId mtsStateTable::NewElement	(	const std::string &	name = `""`,
		_elementType *	element = `0`
	)

Add an element to the table. Should be called during startup of a real time loop. All the non-const methods, that can be called from a writer only. Returns index of data within state data table.

bool mtsStateTable::ReplayAdvance ( void )

Advance for replay mode, be very careful this should only be used in replay mode as this method only increments the reader index.

void mtsStateTable::SetAutomaticAdvance ( bool automaticAdvance )

inline

Set method for auto advance flag. See AutoAdvanceFlag.

size_t mtsStateTable::SetDelay ( size_t newDelay )

Set delay in number of rows.

bool mtsStateTable::SetSize ( const size_t size )

Method to change the size of the table

void mtsStateTable::Start ( void )

Start the current cycle. This just records the starting timestamp (Tic).

void mtsStateTable::StartIfAutomatic ( void )

Start if automatic advance is set and does nothing otherwise.

void mtsStateTable::ToStream ( std::ostream & out ) const

virtual

For debugging, dumps the current data table to output stream.

Reimplemented from cmnGenericObject.

bool mtsStateTable::ValidateReadIndex ( const mtsStateIndex & timeIndex ) const

inline

Verifies if the data is valid.

bool mtsStateTable::Write	(	mtsStateDataId	id,
		const mtsGenericObject &	obj
	)

protected

Write specified data.

Friends And Related Function Documentation

friend class mtsCollectorBaseTest

friend

friend class mtsCollectorState

friend

friend class mtsComponent

friend

friend class mtsStateTableTest

friend

friend class mtsTaskTest

friend

Member Data Documentation

bool mtsStateTable::AutomaticAdvanceFlag

protected

Automatic advance flag. This flag is used by the method AdvanceIfAutomatic to decide if this state table should advance or not. The method AdvanceIsAutomatic is used by mtsTask on all the registered state tables. If a user wishes to Advance the state table manually, he or she will have to set this flag to false (see SetAutomaticAdvance). This flag is set to true by default.

double mtsStateTable::AveragePeriod

protected

The average period over the last HistoryLength samples.

DataCollectionInfo mtsStateTable::DataCollection

protected

Information used for the state table data collection, see also mtsCollectorState.

size_t mtsStateTable::Delay

protected

Delay used for GetIndexDelayed and GetDelayed. In number of rows in state tables.

size_t mtsStateTable::HistoryLength

protected

The number of rows of the state data table.

size_t mtsStateTable::IndexDelayed

protected

The index of the delayed reader in the table.

size_t mtsStateTable::IndexReader

protected

The index of the reader in the table.

size_t mtsStateTable::IndexWriter

protected

The index of the writer in the data table.

std::string mtsStateTable::Name

protected

The name of this state table.

mtsDouble mtsStateTable::Period

The measured task period (difference between current Tic and previous Tic).

mtsStateDataId mtsStateTable::PeriodId

protected

mtsIntervalStatistics mtsStateTable::PeriodStats

Periodicist Statistics

std::vector<mtsStateArrayBase *> mtsStateTable::StateVector

protected

The vector contains pointers to individual columns.

std::vector<AccessorBase *> mtsStateTable::StateVectorAccessors

protected

The vector contains pointers to the accessor methods (e.g., Get, GetLatest) from which command objects are created.

std::vector<std::string> mtsStateTable::StateVectorDataNames

protected

The columns entries can be accessed by name. This vector stores the names corresponding to the columns.

std::vector<mtsGenericObject *> mtsStateTable::StateVectorElements

protected

The vector contains pointers to the current values of elements that are to be added to the state when we advance.

double mtsStateTable::SumOfPeriods

protected

The sum of all the periods (time differences between consecutive Tic values); used to compute average period.

mtsDouble mtsStateTable::Tic

mtsStateDataId mtsStateTable::TicId

protected

The state table indices for Tic, Toc, and Period.

std::vector<mtsStateIndex::TimeTicksType> mtsStateTable::Ticks

protected

The vector contains the time stamp in counts or ticks per period of the task that the state table is associated with.

const osaTimeServer* mtsStateTable::TimeServer

protected

The time server used to provide absolute and relative times.

mtsDouble mtsStateTable::Toc

mtsStateDataId mtsStateTable::TocId

protected

The documentation for this class was generated from the following file:

/home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstMultiTask/mtsStateTable.h

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation