#include <mtsStateTable.h>

Inheritance diagram for mtsStateTable:

Classes
class	IndexRange
class	DataCollectionInfo
class	AccessorBase
class	Accessor

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 *	GetAccessorByInstance (const _elementType &element) const
mtsStateTable::AccessorBase *	GetAccessorByName (const std::string &name) const
mtsStateTable::AccessorBase *	GetAccessorByName (const char *name) const
mtsStateTable::AccessorBase *	GetAccessorById (const size_t id) const
template<class _elementType>
CISST_DEPRECATED mtsStateTable::AccessorBase *	GetAccessor (const _elementType &element) const
CISST_DEPRECATED mtsStateTable::AccessorBase *	GetAccessor (const std::string &name) const
CISST_DEPRECATED mtsStateTable::AccessorBase *	GetAccessor (const char *name) const
CISST_DEPRECATED mtsStateTable::AccessorBase *	GetAccessor (const size_t id) const
mtsStateIndex	GetIndexWriter (void) const
void	Start (void)
void	StartIfAutomatic (void)
bool	Started (void) const
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
const std::vector< std::string > &	GetDataNames (void) const
double	GetAveragePeriod (void) const
void	ToStream (std::ostream &out) const override
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)
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 CISST_THROW(std
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
bool	mStarted
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::mtsStateTable	(	size_t	size,
		const std::string &	name )

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

◆ ~mtsStateTable()

mtsStateTable::~mtsStateTable ( )

Default destructor.

Member Function Documentation

◆ AddData()

template<class _elementType>

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

inline

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

◆ Advance()

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.

◆ AdvanceIfAutomatic()

void mtsStateTable::AdvanceIfAutomatic ( void )

Advance if automatic advance is set and does nothing otherwise.

◆ AutomaticAdvance()

const bool & mtsStateTable::AutomaticAdvance ( void ) const

inline

Get method for auto advance flag. See AutomaticAdvanceFlag

◆ Cleanup()

void mtsStateTable::Cleanup ( void )

Cleanup called when the task is being stopped.

◆ CSVWrite() [1/3]

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.

◆ CSVWrite() [2/3]

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

◆ CSVWrite() [3/3]

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

◆ DataCollectionEventTriggeringRatio()

void mtsStateTable::DataCollectionEventTriggeringRatio ( const mtsDouble & eventTriggeringRatio )

Determine a ratio to generate a data collection event.

◆ DataCollectionStart()

void mtsStateTable::DataCollectionStart ( const mtsDouble & delay )

Methods used to control the data collection start/stop

◆ DataCollectionStop()

void mtsStateTable::DataCollectionStop ( const mtsDouble & delay )

◆ Debug()

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.

◆ GetAccessor() [1/4]

template<class _elementType>

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

inline

◆ GetAccessor() [2/4]

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

inline

◆ GetAccessor() [3/4]

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

inline

◆ GetAccessor() [4/4]

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

inline

◆ GetAccessorById()

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

Return pointer to accessor functions for the state data element.

Parameters

id	Id of state data element

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

◆ GetAccessorByInstance()

template<class _elementType>

mtsStateTable::AccessorBase * mtsStateTable::GetAccessorByInstance ( 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)

◆ GetAccessorByName() [1/2]

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

◆ GetAccessorByName() [2/2]

mtsStateTable::AccessorBase * mtsStateTable::GetAccessorByName ( 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)

◆ GetAveragePeriod()

double mtsStateTable::GetAveragePeriod ( void ) const

inline

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

◆ GetDataNames()

const std::vector< std::string > & mtsStateTable::GetDataNames ( void ) const

inline

◆ GetHistoryLength()

size_t mtsStateTable::GetHistoryLength ( void ) const

inline

◆ GetIndexDelayed()

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.

◆ GetIndexReader() [1/2]

void mtsStateTable::GetIndexReader ( mtsStateIndex & timeIndex ) const

inline

◆ GetIndexReader() [2/2]

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.

◆ GetIndexWriter()

mtsStateIndex mtsStateTable::GetIndexWriter ( void ) const

Get a handle for data to be used by a writer

◆ GetName()

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

inline

Return the name of this state table.

◆ GetNumberOfElements()

size_t mtsStateTable::GetNumberOfElements ( void ) const

inline

◆ GetStateDataElement()

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.

◆ GetStateVectorElement()

mtsGenericObject * mtsStateTable::GetStateVectorElement ( size_t id ) const

inline

◆ GetStateVectorID()

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

Check if the signal has been registered.

◆ GetTic()

double mtsStateTable::GetTic ( void ) const

inline

◆ GetToc()

double mtsStateTable::GetToc ( void ) const

inline

◆ NewElement()

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.

◆ ReplayAdvance()

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.

◆ SetAutomaticAdvance()

void mtsStateTable::SetAutomaticAdvance ( bool automaticAdvance )

inline

Set method for auto advance flag. See AutoAdvanceFlag.

◆ SetDelay()

size_t mtsStateTable::SetDelay ( size_t newDelay )

Set delay in number of rows.

◆ SetSize()

bool mtsStateTable::SetSize ( const size_t size )

Method to change the size of the table

◆ Start()

void mtsStateTable::Start ( void )

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

◆ Started()

bool mtsStateTable::Started ( void ) const

inline

Check if state table is "started", i.e. between Start() and Advance() calls.

◆ StartIfAutomatic()

void mtsStateTable::StartIfAutomatic ( void )

Start if automatic advance is set and does nothing otherwise.

◆ ToStream()

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

overridevirtual

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

Reimplemented from cmnGenericObject.

◆ ValidateReadIndex()

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

inline

Verifies if the data is valid.

◆ Write()

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

protected

Write specified data.

◆ mtsCollectorBaseTest

friend class mtsCollectorBaseTest

friend

◆ mtsCollectorState

friend class mtsCollectorState

friend

◆ mtsComponent

friend class mtsComponent

friend

◆ mtsStateTableTest

friend class mtsStateTableTest

friend

◆ mtsTaskTest

friend class mtsTaskTest

friend

Member Data Documentation

◆ AutomaticAdvanceFlag

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.

◆ AveragePeriod

double mtsStateTable::AveragePeriod

protected

The average period over the last HistoryLength samples.

◆ DataCollection

DataCollectionInfo mtsStateTable::DataCollection

protected

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

◆ Delay

size_t mtsStateTable::Delay

protected

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

◆ HistoryLength

size_t mtsStateTable::HistoryLength

protected

The number of rows of the state data table.

◆ IndexDelayed

size_t mtsStateTable::IndexDelayed

protected

The index of the delayed reader in the table.

◆ IndexReader

size_t mtsStateTable::IndexReader

protected

The index of the reader in the table.

◆ IndexWriter

size_t mtsStateTable::IndexWriter

protected

The index of the writer in the data table.

◆ mStarted

bool mtsStateTable::mStarted

protected

Flag to indicate if the table has started. True between Start() and Advance() calls, false otherwise.

◆ Name

std::string mtsStateTable::Name

protected

The name of this state table.

◆ Period

mtsDouble mtsStateTable::Period

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

◆ PeriodId

mtsStateDataId mtsStateTable::PeriodId

protected

◆ PeriodStats

mtsIntervalStatistics mtsStateTable::PeriodStats

Periodicist Statistics

◆ StateVector

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

protected

The vector contains pointers to individual columns.

◆ StateVectorAccessors

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

protected

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

◆ StateVectorDataNames

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

protected

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

◆ StateVectorElements

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.

◆ SumOfPeriods

double mtsStateTable::SumOfPeriods

protected

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

◆ Tic

mtsDouble mtsStateTable::Tic

◆ TicId

mtsStateDataId mtsStateTable::TicId

protected

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

◆ Ticks

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.

◆ TimeServer

const osaTimeServer* mtsStateTable::TimeServer

protected

The time server used to provide absolute and relative times.

◆ Toc

mtsDouble mtsStateTable::Toc

◆ TocId

mtsStateDataId mtsStateTable::TocId

protected

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

tmp/cisst-saw/cisst/cisstMultiTask/mtsStateTable.h

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ mtsStateTable()

◆ ~mtsStateTable()

Member Function Documentation

◆ AddData()

◆ Advance()

◆ AdvanceIfAutomatic()

◆ AutomaticAdvance()

◆ Cleanup()

◆ CSVWrite() [1/3]

◆ CSVWrite() [2/3]

◆ CSVWrite() [3/3]

◆ DataCollectionEventTriggeringRatio()

◆ DataCollectionStart()

◆ DataCollectionStop()

◆ Debug()

◆ GetAccessor() [1/4]

◆ GetAccessor() [2/4]

◆ GetAccessor() [3/4]

◆ GetAccessor() [4/4]

◆ GetAccessorById()

◆ GetAccessorByInstance()

◆ GetAccessorByName() [1/2]

◆ GetAccessorByName() [2/2]

◆ GetAveragePeriod()

◆ GetDataNames()

◆ GetHistoryLength()

◆ GetIndexDelayed()

◆ GetIndexReader() [1/2]

◆ GetIndexReader() [2/2]

◆ GetIndexWriter()

◆ GetName()

◆ GetNumberOfElements()

◆ GetStateDataElement()

◆ GetStateVectorElement()

◆ GetStateVectorID()

◆ GetTic()

◆ GetToc()

◆ NewElement()

◆ ReplayAdvance()

◆ SetAutomaticAdvance()

◆ SetDelay()

◆ SetSize()

◆ Start()

◆ Started()

◆ StartIfAutomatic()

◆ ToStream()

◆ ValidateReadIndex()

◆ Write()

Friends And Related Symbol Documentation

◆ mtsCollectorBaseTest

◆ mtsCollectorState

◆ mtsComponent

◆ mtsStateTableTest

◆ mtsTaskTest

Member Data Documentation

◆ AutomaticAdvanceFlag

◆ AveragePeriod

◆ DataCollection

◆ Delay

◆ HistoryLength

◆ IndexDelayed

◆ IndexReader

◆ IndexWriter

◆ mStarted

◆ Name

◆ Period

◆ PeriodId

◆ PeriodStats

◆ StateVector

◆ StateVectorAccessors

◆ StateVectorDataNames

◆ StateVectorElements