#include <mtsNovintHDL.h>

Inheritance diagram for mtsNovintHDL:

Classes
struct	DeviceData

Public Types
enum	{ NB_JOINTS = 3 }

Public Types inherited from mtsTask
typedef mtsComponent	BaseType

Public Types inherited from mtsComponent
typedef mtsComponent	ThisType

Public Member Functions
	mtsNovintHDL (const std::string &taskName, const std::string &firstDeviceName)

	~mtsNovintHDL ()

void	Configure (const std::string &CMN_UNUSED(filename)="")

void	Create (void *data=0)

void	Run ()

void	Start (void)

void	Kill (void)

void	Cleanup (void)

virtual void	UserControl (void)


	mtsNovintHDL (const std::string &taskName, const std::string &firstDeviceName, const std::string &secondDeviceName)

	mtsNovintHDL (const char taskName, const char firstDeviceName, const char *secondDeviceName)

Public Member Functions inherited from mtsTaskFromCallbackAdapter
	mtsTaskFromCallbackAdapter (const std::string &name, unsigned int sizeStateTable=256)

	~mtsTaskFromCallbackAdapter ()

virtual void *	GetCallbackParameter ()

Public Member Functions inherited from mtsTaskFromCallback
	mtsTaskFromCallback (const std::string &name, unsigned int sizeStateTable=256)

virtual	~mtsTaskFromCallback ()

void	Suspend (void)

virtual void *	DoCallback (void *data=0)

Public Member Functions inherited from mtsTask
	mtsTask (const std::string &name, unsigned int sizeStateTable=256)

virtual	~mtsTask ()

virtual void	OnStartupException (const std::exception &excp)

virtual void	OnRunException (const std::exception &excp)

void	SetInitializationDelay (double delay)

void	Create (void)

double	GetAveragePeriod (void) const

const std::string	GetDefaultStateTableName (void) const

mtsStateTable *	GetDefaultStateTable (void)

mtsInterfaceRequired *	AddInterfaceRequiredWithoutSystemEventHandlers (const std::string &interfaceRequiredName, mtsRequiredType required=MTS_REQUIRED)

mtsInterfaceProvided *	AddInterfaceProvidedWithoutSystemEvents (const std::string &newInterfaceName, mtsInterfaceQueueingPolicy queueingPolicy=MTS_COMPONENT_POLICY, bool isProxy=false)

virtual bool	WaitToStart (double timeout)

virtual bool	WaitToTerminate (double timeout)

virtual void	WaitForWakeup (void)

virtual void	Wakeup (void)

void	ProcessManagerCommandsIfNotActive ()

bool	CheckForOwnThread (void) const

virtual bool	IsPeriodic (void) const

virtual bool	IsOverranPeriod (void) const

virtual void	ResetOverranPeriod (void)

Public Member Functions inherited from mtsComponent
	mtsComponent (const std::string &deviceName)

virtual	~mtsComponent ()

const std::string &	GetName (void) const

void	GetName (std::string &placeHolder) const

void	SetName (const std::string &componentName)

virtual void	Configure (const std::string &filename="")

bool	CreateAndWait (double timeoutInSeconds)

bool	StartAndWait (double timeoutInSeconds)

bool	KillAndWait (double timeoutInSeconds)

virtual void	Startup (void)

mtsInterfaceProvided *	AddInterfaceProvided (const std::string &interfaceProvidedName, mtsInterfaceQueueingPolicy queueingPolicy=MTS_COMPONENT_POLICY)

CISST_DEPRECATED mtsInterfaceProvided *	AddProvidedInterface (const std::string &interfaceProvidedName)

virtual mtsInterfaceOutput *	AddInterfaceOutput (const std::string &interfaceOutputName)

bool	InterfaceExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const

bool	InterfaceProvidedOrOutputExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const

bool	InterfaceRequiredOrInputExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const

mtsInterfaceProvided *	GetInterfaceProvided (const std::string &interfaceProvidedName) const

mtsInterfaceOutput *	GetInterfaceOutput (const std::string &interfaceOutputName) const

size_t	GetNumberOfInterfacesProvided (void) const

size_t	GetNumberOfInterfacesOutput (void) const

bool	RemoveInterfaceProvided (const std::string &interfaceProvidedName, const bool skipDisconnect=false)

mtsInterfaceRequired *	AddInterfaceRequired (const std::string &interfaceRequiredName, mtsRequiredType isRequired=MTS_REQUIRED)

CISST_DEPRECATED mtsInterfaceRequired *	AddRequiredInterface (const std::string &requiredInterfaceName)

virtual mtsInterfaceInput *	AddInterfaceInput (const std::string &interfaceInputName)

const mtsInterfaceProvided *	GetInterfaceProvidedFor (const std::string &interfaceRequiredName)

mtsInterfaceRequired *	GetInterfaceRequired (const std::string &interfaceRequiredName)

mtsInterfaceInput *	GetInterfaceInput (const std::string &interfaceInputName) const

size_t	GetNumberOfInterfacesRequired (void) const

size_t	GetNumberOfInterfacesInput (void) const

bool	RemoveInterfaceRequired (const std::string &interfaceRequiredName, const bool skipDisconnect=false)

const mtsManagerComponentServices *	GetManagerComponentServices (void) const

mtsManagerComponentServices *	GetManagerComponentServices (void)

mtsStateTable *	GetStateTable (const std::string &stateTableName)

bool	AddStateTable (mtsStateTable *existingStateTable, bool addInterfaceProvided=true)

void	UseSeparateLogFileDefault (bool forwardToLogger=true)

void	UseSeparateLogFileDefaultWithDate (bool forwardToLogger=true)

void	UseSeparateLogFile (const std::string &filename, bool forwardToLogger=true)

cmnLogger::StreamBufType *	GetLogMultiplexer (void) const

bool	IsRunning (void) const

bool CISST_DEPRECATED	Running (void) const

bool	IsStarted (void) const

bool	IsTerminated (void) const

bool	IsEndTask (void) const

const mtsComponentState &	GetState (void) const

void	GetState (mtsComponentState &state) const

void	ToStream (std::ostream &outputStream) const

bool	SetReplayMode (void)

bool	SetReplayData (const std::string &stateTableName, const std::string &fileName)

bool	SetReplayTime (const double time)

std::vector< std::string >	GetNamesOfInterfacesProvidedOrOutput (void) const

std::vector< std::string >	GetNamesOfInterfacesProvided (void) const

std::vector< std::string >	GetNamesOfInterfacesOutput (void) const

std::vector< std::string >	GetNamesOfInterfacesRequiredOrInput (void) const

std::vector< std::string >	GetNamesOfInterfacesRequired (void) const

std::vector< std::string >	GetNamesOfInterfacesInput (void) const

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 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
int	DeviceCount

Protected Member Functions
void	SetInterfaces (const std::string &firstDeviceName, const std::string &secondDeviceName)

void	SetupInterfaces (void)

Protected Member Functions inherited from mtsTaskFromCallback
void *	RunInternal (void *argument)

void	StartupInternal (void)

Protected Member Functions inherited from mtsTask
void	RunEventHandler (void)

void	ChangeStateEventHandler (const mtsComponentState &newState)

mtsExecutionResult	RunEvent (bool check=true)

void	DoRunInternal (void)

virtual void	CleanupInternal (void)

void	Sleep (double timeInSeconds)

mtsStateIndex::TimeTicksType	GetTick (void) const

virtual void	SaveThreadStartData (void *data)

virtual void	SetThreadReturnValue (void *returnValue)

void	ChangeState (mtsComponentState::Enum newState)

bool	WaitForState (mtsComponentState desiredState, double timeout)

Protected Member Functions inherited from mtsComponent
	mtsComponent (void)

	mtsComponent (const mtsComponent &other)

void	Initialize (void)

mtsInterfaceRequired *	AddInterfaceRequiredExisting (const std::string &interfaceRequiredName, mtsInterfaceRequired *interfaceRequired)

mtsInterfaceRequired *	AddInterfaceRequiredUsingMailbox (const std::string &interfaceRequiredName, mtsMailBox *mailBox, mtsRequiredType required)

mtsInterfaceProvided *	AddInterfaceProvidedUsingMailbox (const std::string &interfaceProvidedName, mtsMailBox *mailBox)

mtsInterfaceInput *	AddInterfaceInputExisting (const std::string &interfaceInputName, mtsInterfaceInput *interfaceInput)

mtsInterfaceOutput *	AddInterfaceOutputExisting (const std::string &interfaceOutputName, mtsInterfaceOutput *interfaceOutput)

void	KillSeparateLogFile (void)

size_t	ProcessMailBoxes (InterfacesProvidedMapType &interfaces)

size_t	ProcessQueuedCommands (void)

size_t	ProcessQueuedEvents (void)

mtsInterfaceRequired *	EnableDynamicComponentManagement (void)
	Enable support for dynamic component management services. More...

bool	AddInterfaceInternal (const bool useMangerComponentServices=false)
	Add internal interfaces. More...

void	InterfaceInternalCommands_GetEndUserInterface (const mtsEndUserInterfaceArg &argin, mtsEndUserInterfaceArg &argout)

void	InterfaceInternalCommands_AddObserverList (const mtsEventHandlerList &argin, mtsEventHandlerList &argout)

void	InterfaceInternalCommands_RemoveEndUserInterface (const mtsEndUserInterfaceArg &argin, mtsEndUserInterfaceArg &argout)

void	InterfaceInternalCommands_RemoveObserverList (const mtsEventHandlerList &argin, mtsEventHandlerList &argout)

void	InterfaceInternalCommands_ComponentCreate (const mtsDescriptionComponent &componentDescription, bool &result)

void	InterfaceInternalCommands_ComponentStartOther (const mtsComponentStatusControl &arg)

Protected Attributes
vctDynamicVector< DeviceData * >	DevicesVector

vctDynamicVector < mtsNovintHDLHandle * >	DevicesHandleVector

mtsNovintHDLDriverData *	Driver

Protected Attributes inherited from mtsTaskFromCallbackAdapter
CallbackData	callbackData

Protected Attributes inherited from mtsTaskFromCallback
bool	inRunInternal

Protected Attributes inherited from mtsTask
osaThread	Thread

double	InitializationDelay

osaMutex	StateChange

osaThreadSignal	StateChangeSignal

mtsStateTable	StateTable

bool	OverranPeriod

void *	ThreadStartData

void *	ReturnValue

mtsCallableVoidBase *	InterfaceProvidedToManagerCallable

mtsInterfaceRequired *	ExecIn

mtsInterfaceProvided *	ExecOut

mtsFunctionVoid	RunEventInternal

bool	RunEventCalled

mtsFunctionWrite	ChangeStateEvent

Protected Attributes inherited from mtsComponent
std::string	Name

mtsComponentState	State

mtsInterfaceProvided *	InterfaceProvidedToManager

bool	UseSeparateLogFileFlag

cmnLogger::StreamBufType *	LoDMultiplexerStreambuf

std::ofstream *	LogFile

StateTableMapType	StateTables

mtsManagerComponentServices *	ManagerComponentServices

mtsFunctionWrite	EventGeneratorChangeState

bool	ReplayMode

InterfacesProvidedMapType	InterfacesProvided

InterfacesOutputMapType	InterfacesOutput

InterfacesRequiredMapType	InterfacesRequired

InterfacesInputMapType	InterfacesInput

Additional Inherited Members
Static Public Member Functions inherited from mtsTaskFromCallbackAdapter
template<class _callbackReturnType >
static _callbackReturnType MTS_TASK_CALLBACK_CONVENTION	CallbackAdapter (void *obj)

Static Public Attributes inherited from mtsTask
static std::runtime_error	UnknownException

Protected Types inherited from mtsTaskFromCallbackAdapter
enum	SignatureType { INVALID = 0, VALID = 0x3242 }

typedef mtsTaskFromCallback	BaseType

Protected Types inherited from mtsTaskFromCallback
typedef mtsTask	BaseType

Protected Types inherited from mtsComponent
typedef cmnNamedMap < mtsStateTable >	StateTableMapType

typedef cmnNamedMap < mtsInterfaceProvided >	InterfacesProvidedMapType

typedef cmnNamedMap < mtsInterfaceOutput >	InterfacesOutputMapType

typedef cmnNamedMap < mtsInterfaceRequired >	InterfacesRequiredMapType

typedef cmnNamedMap < mtsInterfaceInput >	InterfacesInputMapType

Member Enumeration Documentation

anonymous enum

Enumerator
NB_JOINTS

Constructor & Destructor Documentation

mtsNovintHDL::mtsNovintHDL	(	const std::string &	taskName,
		const std::string &	firstDeviceName
	)

Constructor for a single arm with a user specified name. The name is used for interface naming. Force output initially disabled.

mtsNovintHDL::mtsNovintHDL	(	const std::string &	taskName,
		const std::string &	firstDeviceName,
		const std::string &	secondDeviceName
	)

Constructor for two arms with a user specified names. The names are used for interface naming. Which falcon will be used depends on its index. Force output initially disabled

mtsNovintHDL::mtsNovintHDL	(	const char *	taskName,
		const char *	firstDeviceName,
		const char *	secondDeviceName
	)

mtsNovintHDL::~mtsNovintHDL ( )

Member Function Documentation

void mtsNovintHDL::Cleanup ( void )

inlinevirtual

Virtual method that gets overloaded, and is run after the component gets killed using Kill() method.

Reimplemented from mtsComponent.

void mtsNovintHDL::Configure ( const std::string & CMN_UNUSEDfilename = "" )

inlinevirtual

Virtual method that gets called when the task/interface needs to be configured. Should it take XML info??

Reimplemented from mtsTask.

void mtsNovintHDL::Create ( void * data = 0 )

virtual

Reimplemented from mtsTaskFromCallback.

void mtsNovintHDL::Kill ( void )

virtual

End the task

Reimplemented from mtsTaskFromCallback.

void mtsNovintHDL::Run ( )

virtual

Pure virtual method that gets overloaded to run the actual task.

Implements mtsTask.

void mtsNovintHDL::SetInterfaces	(	const std::string &	firstDeviceName,
		const std::string &	secondDeviceName
	)

protected

void mtsNovintHDL::SetupInterfaces ( void )

protected

void mtsNovintHDL::Start ( void )

virtual

Start/resume execution of the task

Reimplemented from mtsTaskFromCallback.

virtual void mtsNovintHDL::UserControl ( void )

inlinevirtual

Member Data Documentation

int mtsNovintHDL::DeviceCount

vctDynamicVector<mtsNovintHDLHandle *> mtsNovintHDL::DevicesHandleVector

protected

vctDynamicVector<DeviceData *> mtsNovintHDL::DevicesVector

protected

mtsNovintHDLDriverData* mtsNovintHDL::Driver

protected

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

/home/adeguet1/catkin_ws/src/cisst-saw/sawNovintFalcon/include/sawNovintFalcon/mtsNovintHDL.h

Classes

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation