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 2009-2026 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/cmnNamedMap.h>
#include <cisstMultiTask/mtsTaskFromSignal.h>
#include <cisstMultiTask/mtsManagerComponentServices.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:
        mtsComponent * Component;
 
        SignalMapElement(void) {}
        ~SignalMapElement(void) {}
    };

    typedef cmnNamedMap<SignalMapElement> SignalMapType;
    typedef cmnNamedMap<SignalMapType> ComponentMapType;
    ComponentMapType ComponentMap;

    bool ConnectedFlag;

    bool FirstRunningFlag;

    size_t SampleCounter;

    size_t SampleCounterForEvent;

    double TimeIntervalForProgressEvent;

    double TimeOfLastProgressEvent;

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

    std::string 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 = nullptr;

    void SetDelimiter(void);

    void SetOutputStreamParams(void);

    mtsInterfaceProvided * ControlInterface;

    inline void StartCollectionCommand(const double & delayInSeconds) {
        this->StartCollection(delayInSeconds);
    }
    inline void StopCollectionCommand(const double & delayInSeconds) {
        this->StopCollection(delayInSeconds);
    }
    inline void SetWorkingDirectoryCommand(const std::string & directory) {
        this->SetWorkingDirectory(directory);
    }
    inline void SetOutputToDefaultCommand(void) {
        this->SetOutputToDefault();
    }


    void Init(void);

    void Cleanup(void);

    void ClearComponentMap(void);

    void SetupControlInterface(void);
 
public:
    mtsCollectorBase(const std::string & collectorName, const CollectorFileFormat fileFormat);
 
    virtual ~mtsCollectorBase(void);

    inline virtual std::string GetDefaultOutputName(void) { return ""; }

    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);

    virtual void SetOutputToDefault(void);

    void CloseOutput(void);

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

    void OpenFileIfNeeded(void);

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

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

    mtsFunctionWrite CollectionStartedEventTrigger;

    mtsFunctionWrite ProgressEventTrigger;

    virtual void SetWorkingDirectory(const std::string & directory);

    void GetWorkingDirectory(std::string & placeHolder) const;

    void SetOutputStreamFloatingNotation(const CollectorFileFloatingNotation floatingNotation);

    void SetOutputStreamPrecision(const int precision);

    void SetOutputStreamWidth(const int width);

    void SetOutputStreamFill(const char fillCharacter);

    virtual bool Connect(void) = 0;
};
 
CMN_DECLARE_SERVICES_INSTANTIATION(mtsCollectorBase)
 
#endif // _mtsCollectorBase_h