#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)

void	Startup (void)

void	Run (void)

void	Cleanup (void)

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)

double	GetPeriodicity (void) const

bool	IsPeriodic (void) const

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)

void	Start (void)

void	Kill (void)

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)

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

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	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)

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)

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

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 < mtsStateTable >	StateTableMapType

typedef cmnNamedMap < mtsInterfaceProvided >	InterfacesProvidedMapType

typedef cmnNamedMap < mtsInterfaceOutput >	InterfacesOutputMapType

typedef cmnNamedMap < mtsInterfaceRequired >	InterfacesRequiredMapType

typedef cmnNamedMap < mtsInterfaceInput >	InterfacesInputMapType

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
virtual void *	RunInternal (void *argument)

void	StartupInternal (void)

void	CleanupInternal (void)

void	StartInternal (void)

Protected Member Functions inherited from mtsTask
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)

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
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

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
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

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

protected

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

protected

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

protected

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

protected

Constructor & Destructor Documentation

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

mtsComponentAddLatency::mtsComponentAddLatency ( const mtsTaskPeriodicConstructorArg & arg )

virtual mtsComponentAddLatency::~mtsComponentAddLatency ( )

virtual

Member Function Documentation

template<class _element1Type , class _element2Type >

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

protected

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.

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

protected

template<class _elementType >

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

protected

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

protected

template<class _elementType >

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

protected

void mtsComponentAddLatency::Cleanup ( void )

virtual

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

Reimplemented from mtsComponent.

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

virtual

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

Reimplemented from mtsComponent.

void mtsComponentAddLatency::Run ( void )

virtual

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

Implements mtsTask.

double mtsComponentAddLatency::SetLatency ( double latencyInSeconds )

void mtsComponentAddLatency::Startup ( void )

virtual

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

Reimplemented from mtsComponent.

Member Data Documentation

DelayedQualifiedReadList mtsComponentAddLatency::DelayedQualifiedReads

protected

DelayedReadList mtsComponentAddLatency::DelayedReads

protected

DelayedVoidList mtsComponentAddLatency::DelayedVoids

protected

DelayedWriteList mtsComponentAddLatency::DelayedWrites

protected

double mtsComponentAddLatency::Latency

protected

mtsStateTable mtsComponentAddLatency::LatencyStateTable

protected

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

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

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation