mtsCollectorBase.h

Go to the documentation of this file.

/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */

/*

  Author(s):  Min Yang Jung, Anton Deguet
  Created on: 2009-02-25

  (C) Copyright 2009-2012 Johns Hopkins University (JHU), All Rights
  Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---

*/

#ifndef _mtsCollectorBase_h
#define _mtsCollectorBase_h

#include <cisstCommon/cmnUnits.h>
#include <cisstCommon/cmnNamedMap.h>
#include <cisstMultiTask/mtsTaskFromSignal.h>
#include <cisstMultiTask/mtsTaskManager.h>

#include <string>
#include <stdexcept>

// Always include last
#include <cisstMultiTask/mtsExport.h>

class CISST_EXPORT mtsCollectorBase: public mtsTaskFromSignal
{
    friend class mtsCollectorBaseTest;

    //-------------------- Auxiliary class definition -----------------------//
public:
    typedef enum {
        COLLECTOR_FILE_FORMAT_PLAIN_TEXT,
        COLLECTOR_FILE_FORMAT_BINARY,
        COLLECTOR_FILE_FORMAT_CSV,
        COLLECTOR_FILE_FORMAT_UNDEFINED
    } CollectorFileFormat;

    typedef enum {
        COLLECTOR_FILE_FLOATING_NOTATION_NONE,
        COLLECTOR_FILE_FLOATING_NOTATION_FIXED,
        COLLECTOR_FILE_FLOATING_NOTATION_SCIENTIFIC
    } CollectorFileFloatingNotation;

    //------------------------- Protected Members ---------------------------//
protected:

    typedef enum {
        COLLECTOR_STOP,         // nothing happens.
        COLLECTOR_WAIT_START,   // Start(void) has been called. Wait for some time elapsed.
        COLLECTOR_COLLECTING,   // Currently collecting data
        COLLECTOR_WAIT_STOP     // Stop(void) has been called. Wait for some time elapsed.
    } CollectorStatus;

    CollectorStatus Status;
    CollectorFileFormat FileFormat;

    class SignalMapElement {
    public:
        mtsTask * Task;

        SignalMapElement(void) {}
        ~SignalMapElement(void) {}
    };

    typedef cmnNamedMap<SignalMapElement> SignalMapType;
    typedef cmnNamedMap<SignalMapType> TaskMapType;
    TaskMapType TaskMap;

    static mtsComponentManager * ComponentManager;

    bool ConnectedFlag;

    bool FirstRunningFlag;

    unsigned int SampleCounter;

    unsigned int SampleCounterForEvent;

    double TimeIntervalForProgressEvent;

    double TimeOfLastProgressEvent;

    std::string OutputFileName;
    std::string OutputHeaderFileName;

    mtsStdString WorkingDirectoryMember;

    std::ostream * OutputStream;
    std::ofstream * OutputFile;
    // add header file stream
    std::ostream * OutputHeaderStream;
    std::ofstream * OutputHeaderFile;

    CollectorFileFloatingNotation FloatingNotation;

    std::streamsize Precision;

    std::streamsize Width;

    char FillCharacter;

    bool FileOpened;

    char Delimiter;

    std::stringstream StringStreamBufferForSerialization;

    cmnSerializer * Serializer;

    void SetDelimiter(void);

    void SetOutputStreamParams(void);

    mtsInterfaceProvided * ControlInterface;

    inline void StartCollectionCommand(void) {
        this->StartCollection(mtsDouble(0.0));
    }
    inline void StartCollectionInCommand(const mtsDouble & delayInSeconds) {
        this->StartCollection(delayInSeconds);
    }
    inline void StopCollectionCommand(void) {
        this->StopCollection(mtsDouble(0.0));
    }
    inline void StopCollectionInCommand(const mtsDouble & delayInSeconds) {
        this->StopCollection(delayInSeconds);
    }

    void Init(void);

    void Cleanup(void);

    void ClearTaskMap(void);

    virtual void Startup(void) = 0;

    void SetupControlInterface(void);

public:
    mtsCollectorBase(const std::string & collectorName, const CollectorFileFormat fileFormat);

    virtual ~mtsCollectorBase(void);

    virtual std::string GetDefaultOutputName(void) = 0;

    void SetOutput(const std::string & fileName, const CollectorFileFormat fileFormat);

    void SetOutput(std::ostream & outputStream, const CollectorFileFormat fileFormat);

    void SetOutput(std::ostream & outputStream);

    void SetOutputToDefault(const CollectorFileFormat fileFormat);

    void SetOutputToDefault(void);

    void CloseOutput(void);

    inline const std::string & GetOutputFileName(void) const {
        return this->OutputFileName;
    }

    void OpenFileIfNeeded(void);

    virtual void StartCollection(const mtsDouble & delayInSeconds) = 0;

    virtual void StopCollection(const mtsDouble & delayInSeconds) = 0;

    mtsFunctionVoid CollectionStartedEventTrigger;

    mtsFunctionWrite CollectionStoppedEventTrigger;

    mtsFunctionWrite ProgressEventTrigger;

    void SetWorkingDirectory(const mtsStdString & directory);

    void GetWorkingDirectory(mtsStdString & placeHolder) const;

    void SetOutputStreamFloatingNotation(const CollectorFileFloatingNotation floatingNotation);

    void SetOutputStreamPrecision(const int precision);

    void SetOutputStreamWidth(const int width);

    void SetOutputStreamFill(const char fillCharacter);
};

CMN_DECLARE_SERVICES_INSTANTIATION(mtsCollectorBase)

#endif // _mtsCollectorBase_h