#include <mtsComponentAddLatency.h>

Inheritance diagram for mtsComponentAddLatency:

Public Member Functions
	mtsComponentAddLatency (const std::string &componentName, double periodInSeconds)
	mtsComponentAddLatency (const mtsTaskPeriodicConstructorArg &arg)
virtual	~mtsComponentAddLatency ()
void	Configure (const std::string &filename) override
void	Startup (void) override
void	Run (void) override
void	Cleanup (void) override
double	SetLatency (double latencyInSeconds)
Public Member Functions inherited from mtsTaskPeriodic
	mtsTaskPeriodic (const std::string &name, double periodicityInSeconds, bool isHardRealTime=false, unsigned int sizeStateTable=256, bool newThread=true)
	mtsTaskPeriodic (const std::string &name, const osaAbsoluteTime &periodicity, bool isHardRealTime=false, unsigned int sizeStateTable=256, bool newThread=true)
	mtsTaskPeriodic (const mtsTaskPeriodicConstructorArg &arg)
virtual	~mtsTaskPeriodic ()
void	Suspend (void) override
double	GetPeriodicity (void) const
bool	IsPeriodic (void) const override
Public Member Functions inherited from mtsTaskContinuous
	mtsTaskContinuous (const std::string &name, unsigned int sizeStateTable=256, bool newThread=true)
	mtsTaskContinuous (const mtsTaskContinuousConstructorArg &arg)
virtual	~mtsTaskContinuous ()
void	Create (void *data=0) override
void	Start (void) override
void	Kill (void) override
virtual bool	CreatesThread (void) const
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	Configure (const std::string &CMN_UNUSED(filename)="") override
void	SetInitializationDelay (double delay)
void	Create (void) override
double	GetAveragePeriod (void) const
const std::string	GetDefaultStateTableName (void) const
mtsStateTable *	GetDefaultStateTable (void)
mtsInterfaceRequired *	AddInterfaceRequiredWithoutSystemEventHandlers (const std::string &interfaceRequiredName, mtsRequiredType required=MTS_REQUIRED) override
mtsInterfaceProvided *	AddInterfaceProvidedWithoutSystemEvents (const std::string &newInterfaceName, mtsInterfaceQueueingPolicy queueingPolicy=MTS_COMPONENT_POLICY) override
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	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	AddTag (const std::string &tag)
const std::set< std::string > &	GetTags (void) const
void	SetName (const std::string &componentName)
bool	CreateAndWait (double timeoutInSeconds)
bool	StartAndWait (double timeoutInSeconds)
bool	KillAndWait (double timeoutInSeconds)
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)
std::vector< std::string >	GetNamesOfInterfacesProvidedOrOutput (void) const
std::vector< std::string >	GetNamesOfInterfacesProvided (void) const
std::vector< std::string >	GetNamesOfInterfacesOutput (void) const
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)
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)
std::vector< std::string >	GetNamesOfInterfacesRequiredOrInput (void) const
std::vector< std::string >	GetNamesOfInterfacesRequired (void) const
std::vector< std::string >	GetNamesOfInterfacesInput (void) const
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)
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 override
bool	AreAllInterfacesRequiredConnected (const bool log=false)
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 override
bool	SetReplayMode (void)
bool	SetReplayData (const std::string &stateTableName, const std::string &fileName)
bool	SetReplayTime (const double time)
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 CISST_THROW(std
virtual std::string	ScalarDescription (const size_t CMN_UNUSED(index), const std::string &CMN_UNUSED(userDescription)) const

Protected Types
typedef std::list< mtsComponentAddLatencyDelayedRead * >	DelayedReadList
typedef std::list< mtsComponentAddLatencyDelayedQualifiedRead * >	DelayedQualifiedReadList
typedef std::list< mtsComponentAddLatencyDelayedVoid * >	DelayedVoidList
typedef std::list< mtsComponentAddLatencyDelayedWrite * >	DelayedWriteList
Protected Types inherited from mtsComponent
typedef cmnNamedMap< mtsInterfaceProvided >	InterfacesProvidedMapType
typedef cmnNamedMap< mtsInterfaceOutput >	InterfacesOutputMapType
typedef cmnNamedMap< mtsInterfaceRequired >	InterfacesRequiredMapType
typedef cmnNamedMap< mtsInterfaceInput >	InterfacesInputMapType
typedef cmnNamedMap< mtsStateTable >	StateTableMapType

Protected Member Functions
template<class _elementType>
bool	AddCommandReadDelayed (mtsInterfaceRequired interfaceRequired, const std::string &commandRequiredName, mtsInterfaceProvided interfaceProvided, const std::string &commandProvidedName="")
template<class _element1Type, class _element2Type>
bool	AddCommandQualifiedReadDelayed (mtsInterfaceRequired interfaceRequired, const std::string &commandRequiredName, mtsInterfaceProvided interfaceProvided, const std::string &commandProvidedName="")
bool	AddCommandVoidDelayed (mtsInterfaceRequired interfaceRequired, const std::string &commandRequiredName, mtsInterfaceProvided interfaceProvided, const std::string &commandProvidedName="")
template<class _elementType>
bool	AddCommandWriteDelayed (mtsInterfaceRequired interfaceRequired, const std::string &commandRequiredName, mtsInterfaceProvided interfaceProvided, const std::string &commandProvidedName="")
bool	AddEventVoidDelayed (mtsInterfaceRequired interfaceRequired, const std::string &eventRequiredName, mtsInterfaceProvided interfaceProvided, const std::string &eventProvidedName="")
template<class _elementType>
bool	AddEventWriteDelayed (mtsInterfaceRequired interfaceRequired, const std::string &eventRequiredName, mtsInterfaceProvided interfaceProvided, const std::string &eventProvidedName="")
Protected Member Functions inherited from mtsTaskPeriodic
void *	RunInternal (void *argument) override
void	StartupInternal (void) override
void	CleanupInternal (void) override
void	StartInternal (void) override
Protected Member Functions inherited from mtsTask
virtual const mtsManagerComponentServices *	GetManagerComponentServices (void) const override
void	RunEventHandler (void)
void	ChangeStateEventHandler (const mtsComponentState &newState)
mtsExecutionResult	RunEvent (bool check=true)
void	DoRunInternal (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) override
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.
bool	AddInterfaceInternal (const bool useMangerComponentServices=false)
	Add internal interfaces.
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)

Protected Attributes
DelayedReadList	DelayedReads
DelayedQualifiedReadList	DelayedQualifiedReads
DelayedVoidList	DelayedVoids
DelayedWriteList	DelayedWrites
double	Latency
mtsStateTable	LatencyStateTable
Protected Attributes inherited from mtsTaskPeriodic
osaThreadBuddy	ThreadBuddy
double	Period
osaAbsoluteTime	AbsoluteTimePeriod
bool	IsHardRealTime
Protected Attributes inherited from mtsTaskContinuous
bool	NewThread
bool	CaptureThread
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
std::set< std::string >	mTags
mtsInterfaceProvided *	InterfaceProvidedToManager
bool	UseSeparateLogFileFlag
cmnLogger::StreamBufType *	LoDMultiplexerStreambuf
std::ofstream *	LogFile
InterfacesProvidedMapType	InterfacesProvided
InterfacesOutputMapType	InterfacesOutput
InterfacesRequiredMapType	InterfacesRequired
InterfacesInputMapType	InterfacesInput
StateTableMapType	StateTables
mtsManagerComponentServices *	ManagerComponentServices
mtsFunctionWrite	EventGeneratorChangeState
bool	ReplayMode

Additional Inherited Members
Public Types inherited from mtsTaskPeriodic
typedef mtsTaskContinuous	BaseType
Public Types inherited from mtsTaskContinuous
typedef mtsTask	BaseType
Public Types inherited from mtsTask
typedef mtsComponent	BaseType
Public Types inherited from mtsComponent
typedef mtsComponent	ThisType
Static Public Attributes inherited from mtsTask
static std::runtime_error	UnknownException

Detailed Description

Base class for component with latency. This class can be used to create a component that delays all commands and events. For example, one might want to simulate the latency introduced by the network between a master and a slave for a tele-operation task. The delay component can then be inserted between the client and server. It must replicate the server provided interface(s) so that the client will connect its required interface(s) as if it was the server itself. Let Cs the server component, Cc the client component and Cd the delay component. Cd will need to be created with the same provided interfaces as Cs. Then, instead of connecting Cc to Cs, we will connect Cc to Cd and Cd to Cs.

The derived component needs to create its required and provided interfaces using the methods AddInterfaceRequired and AddInterfaceProvided. Once the interfaces are created, commands can be added using AddCommandVoidDelayed, AddCommandReadDelayed, ...

At runtime, the delay component will continuously read from the server and buffer the results in a state table. It is important to set the periodicity of the delay component so that enough data is collected but make sure the frequency is not too high either. For void and write commands as well as events, the component buffers all requests and periodically checks which commands/events should be forwarded. Therefore the actual latency will be impacted by the period used by the delay component.

Member Typedef Documentation

◆ DelayedQualifiedReadList

typedef std::list<mtsComponentAddLatencyDelayedQualifiedRead *> mtsComponentAddLatency::DelayedQualifiedReadList

protected

◆ DelayedReadList

typedef std::list<mtsComponentAddLatencyDelayedRead *> mtsComponentAddLatency::DelayedReadList

protected

◆ DelayedVoidList

typedef std::list<mtsComponentAddLatencyDelayedVoid *> mtsComponentAddLatency::DelayedVoidList

protected

◆ DelayedWriteList

typedef std::list<mtsComponentAddLatencyDelayedWrite *> mtsComponentAddLatency::DelayedWriteList

protected

Constructor & Destructor Documentation

◆ mtsComponentAddLatency() [1/2]

mtsComponentAddLatency::mtsComponentAddLatency	(	const std::string &	componentName,
		double	periodInSeconds )

◆ mtsComponentAddLatency() [2/2]

mtsComponentAddLatency::mtsComponentAddLatency ( const mtsTaskPeriodicConstructorArg & arg )

◆ ~mtsComponentAddLatency()

virtual mtsComponentAddLatency::~mtsComponentAddLatency ( )

virtual

Member Function Documentation

◆ AddCommandQualifiedReadDelayed()

template<class _element1Type, class _element2Type>

bool mtsComponentAddLatency::AddCommandQualifiedReadDelayed	(	mtsInterfaceRequired *	interfaceRequired,
		const std::string &	commandRequiredName,
		mtsInterfaceProvided *	interfaceProvided,
		const std::string &	commandProvidedName = "" )

protected

◆ AddCommandReadDelayed()

template<class _elementType>

bool mtsComponentAddLatency::AddCommandReadDelayed	(	mtsInterfaceRequired *	interfaceRequired,
		const std::string &	commandRequiredName,
		mtsInterfaceProvided *	interfaceProvided,
		const std::string &	commandProvidedName = "" )

protected

Add a read command with latency. The provided and required interfaces must be created before using the methods AddInterfaceRequired and AddInterfaceProvided. The command name should match the command name from the source component provided interface. By default the provided interface with delay will use the same command name.

◆ AddCommandVoidDelayed()

bool mtsComponentAddLatency::AddCommandVoidDelayed	(	mtsInterfaceRequired *	interfaceRequired,
		const std::string &	commandRequiredName,
		mtsInterfaceProvided *	interfaceProvided,
		const std::string &	commandProvidedName = "" )

protected

◆ AddCommandWriteDelayed()

template<class _elementType>

bool mtsComponentAddLatency::AddCommandWriteDelayed	(	mtsInterfaceRequired *	interfaceRequired,
		const std::string &	commandRequiredName,
		mtsInterfaceProvided *	interfaceProvided,
		const std::string &	commandProvidedName = "" )

protected

◆ AddEventVoidDelayed()

bool mtsComponentAddLatency::AddEventVoidDelayed	(	mtsInterfaceRequired *	interfaceRequired,
		const std::string &	eventRequiredName,
		mtsInterfaceProvided *	interfaceProvided,
		const std::string &	eventProvidedName = "" )

protected

◆ AddEventWriteDelayed()

template<class _elementType>

bool mtsComponentAddLatency::AddEventWriteDelayed	(	mtsInterfaceRequired *	interfaceRequired,
		const std::string &	eventRequiredName,
		mtsInterfaceProvided *	interfaceProvided,
		const std::string &	eventProvidedName = "" )

protected

◆ Cleanup()

void mtsComponentAddLatency::Cleanup ( void )

overridevirtual

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

Reimplemented from mtsComponent.

◆ Configure()

void mtsComponentAddLatency::Configure ( const std::string & filename )

overridevirtual

The virtual method so that the interface or tasks can configure themselves

Reimplemented from mtsComponent.

◆ Run()

void mtsComponentAddLatency::Run ( void )

overridevirtual

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

Implements mtsTask.

◆ SetLatency()

double mtsComponentAddLatency::SetLatency ( double latencyInSeconds )

◆ Startup()

void mtsComponentAddLatency::Startup ( void )

overridevirtual

Virtual method that gets overloaded, and is run before the component is started.

Reimplemented from mtsComponent.

Member Data Documentation

◆ DelayedQualifiedReads

DelayedQualifiedReadList mtsComponentAddLatency::DelayedQualifiedReads

protected

◆ DelayedReads

DelayedReadList mtsComponentAddLatency::DelayedReads

protected

◆ DelayedVoids

DelayedVoidList mtsComponentAddLatency::DelayedVoids

protected

◆ DelayedWrites

DelayedWriteList mtsComponentAddLatency::DelayedWrites

protected

◆ Latency

double mtsComponentAddLatency::Latency

protected

◆ LatencyStateTable

mtsStateTable mtsComponentAddLatency::LatencyStateTable

protected

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

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

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ DelayedQualifiedReadList

◆ DelayedReadList

◆ DelayedVoidList

◆ DelayedWriteList

Constructor & Destructor Documentation

◆ mtsComponentAddLatency() [1/2]

◆ mtsComponentAddLatency() [2/2]

◆ ~mtsComponentAddLatency()

Member Function Documentation

◆ AddCommandQualifiedReadDelayed()

◆ AddCommandReadDelayed()

◆ AddCommandVoidDelayed()

◆ AddCommandWriteDelayed()

◆ AddEventVoidDelayed()

◆ AddEventWriteDelayed()

◆ Cleanup()

◆ Configure()

◆ Run()

◆ SetLatency()

◆ Startup()

Member Data Documentation

◆ DelayedQualifiedReads

◆ DelayedReads

◆ DelayedVoids

◆ DelayedWrites

◆ Latency

◆ LatencyStateTable