mtsComponent Class Reference

#include <mtsComponent.h>

Inheritance diagram for mtsComponent:

Public Types
typedef mtsComponent	ThisType

Public Member Functions
	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="")
virtual void	Create (void)
bool	CreateAndWait (double timeoutInSeconds)
virtual void	Start (void)
bool	StartAndWait (double timeoutInSeconds)
virtual void	Suspend (void)
virtual void	Kill (void)
bool	KillAndWait (double timeoutInSeconds)
virtual void	Startup (void)
virtual void	Cleanup (void)
mtsInterfaceProvided *	AddInterfaceProvided (const std::string &interfaceProvidedName, mtsInterfaceQueueingPolicy queueingPolicy=MTS_COMPONENT_POLICY)
virtual mtsInterfaceProvided *	AddInterfaceProvidedWithoutSystemEvents (const std::string &interfaceProvidedName, mtsInterfaceQueueingPolicy queueingPolicy=MTS_COMPONENT_POLICY, bool isProxy=false)
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)
virtual mtsInterfaceRequired *	AddInterfaceRequiredWithoutSystemEventHandlers (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 cmnNamedMap < mtsStateTable >	StateTableMapType

Protected Member Functions
	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)
virtual bool	WaitForState (mtsComponentState desiredState, double timeout)
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
std::string	Name
mtsComponentState	State
mtsInterfaceProvided *	InterfaceProvidedToManager
bool	UseSeparateLogFileFlag
cmnLogger::StreamBufType *	LoDMultiplexerStreambuf
std::ofstream *	LogFile
StateTableMapType	StateTables
mtsManagerComponentServices *	ManagerComponentServices
mtsFunctionWrite	EventGeneratorChangeState
bool	ReplayMode

Friends
class	mtsManagerLocal
class	mtsComponentProxy
typedef cmnNamedMap < mtsInterfaceProvided >	InterfacesProvidedMapType
typedef cmnNamedMap < mtsInterfaceOutput >	InterfacesOutputMapType
InterfacesProvidedMapType	InterfacesProvided
InterfacesOutputMapType	InterfacesOutput
typedef cmnNamedMap < mtsInterfaceRequired >	InterfacesRequiredMapType
typedef cmnNamedMap < mtsInterfaceInput >	InterfacesInputMapType
InterfacesRequiredMapType	InterfacesRequired
InterfacesInputMapType	InterfacesInput

Detailed Description

mtsComponent should be used to write wrappers around existing devices or resources. This class allows to interact with existing devices as one would interact with a task (as in mtsTask and mtsTaskPeriodic). To do so, the component maintains a list of provided interfaces (of type mtsInterfaceProvided) which contains commands.

The main differences are that the base component class doesn't have a thread and is stateless. Since the component doesn't have any thread, the commands are not queued and the class doesn't add any thread safety mechanism. The component class doesn't maintain a state as it relies on the underlying device to do so. It is basically a pass-thru or wrapper.

Member Typedef Documentation

typedef cmnNamedMap<mtsInterfaceInput> mtsComponent::InterfacesInputMapType

protected

typedef cmnNamedMap<mtsInterfaceOutput> mtsComponent::InterfacesOutputMapType

protected

typedef cmnNamedMap<mtsInterfaceProvided> mtsComponent::InterfacesProvidedMapType

protected

Map of provided and output interfaces. Used to store pointers on all provided interfaces. Separate lists of provided and output interfaces are maintained for efficiency.

typedef cmnNamedMap<mtsInterfaceRequired> mtsComponent::InterfacesRequiredMapType

protected

Map of required interfaces. Used to store pointers on all required interfaces. Separate lists of required and input interfaces are maintained for efficiency.

typedef cmnNamedMap<mtsStateTable> mtsComponent::StateTableMapType

protected

Map of state tables, includes the default StateTable under the name "StateTable"

typedef mtsComponent mtsComponent::ThisType

Constructor & Destructor Documentation

mtsComponent::mtsComponent ( void  )

protected

Default constructor. Protected to prevent creation of a component without a name.

mtsComponent::mtsComponent ( const mtsComponent &  other )

protected

Default copy constructor. Protected to prevent copy as it is not supported yet. It is not clear why one would use a copy constructor on a component anyway.

mtsComponent::mtsComponent

(

const std::string &

deviceName

)

Default constructor. Sets the name.

virtual mtsComponent::~mtsComponent ( )

virtual

Default destructor. Does nothing.

Member Function Documentation

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

virtual

Add an input interface.

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

protected

bool mtsComponent::AddInterfaceInternal ( const bool  useMangerComponentServices = false )

protected

Add internal interfaces.

Parameters

useMangerComponentServices

True to allow this component to use dynamic component control services through mts command pattern to control other components. If true, the internal required interface is added to this component (the internal provided interface is added by default)

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

virtual

Method to add an output interface to the component.

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

protected

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

Method to add a provided interface to the component.

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

protected

Create and add a provided interface with an existing mailbox. If the creation or addition failed (name already exists), the caller must make sure he/she deletes the unused mailbox.

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

virtual

Method to add a bare provided interface, i.e. without all the system events. This method should not be used by regular users as it might break things like blocking commands.

This method is virtual so that mtsTask can redefine it and create a provided interface that includes queues for thread safety.

Reimplemented in mtsTask, and mtsTaskFromSignal.

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

Remove an output interface identified by its name

Add a required interface. This interface will later on be connected to another task and use the provided interface of the other task. The required interface created also contains a list of event handlers to be used as observers.

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

protected

Add an already existing interface required to the interface, the user must pay attention to mailbox (or lack of) used to create the required interface. By default, mtsComponent uses a required interface without mailbox (i.e. doesn't queue), mtsTask uses an interface with a mailbox and mtsTaskFromSignal uses an interface with a mailbox with a post command queued command.

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

protected

Create and add a required interface with an existing mailbox. If the creation or addition failed (name already exists), the caller must make sure he/she deletes the unused mailbox.

virtual mtsInterfaceRequired* mtsComponent::AddInterfaceRequiredWithoutSystemEventHandlers ( const std::string &  interfaceRequiredName, mtsRequiredType  isRequired = MTS_REQUIRED  )

virtual

Reimplemented in mtsTask, and mtsTaskFromSignal.

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

inline

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

inline

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

Add an existing state table to the list of known state tables in this task. This method will add a provided interface for the state table using the name "StateTable" + existingStateTable->GetName() unless the caller specifies that no interface should be created.

By default, all state tables added will advance at each call of the Run method. To avoid the automatic advance, use the method mtsStateTable::SetAutomaticAdvance(false).

virtual void mtsComponent::Cleanup ( void  )

inlinevirtual

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

Reimplemented in mtsManagerComponentClient, mtsManagerComponentBase, mtsPID, mtsMedtronicStealthlink, mtsCollectorBase, mtsSocketProxyServer, mtsMedtronicStealthlink, mtsIntuitiveResearchKitConsole, mtsCMUSphinx4, mtsManagerComponentServer, mtsSensableHD, mtsSocketProxyClient, mtsOpenALRecord, mtsNovintHDL, mtsComponentViewer, mtsOpenALPlay, mtsNDISerial, mtsGLUTManipulator, ireTask, mtsMicronTracker, mtsComponentAddLatency, mtsIntuitiveDaVinci, mtsOSGCameraTask, mtsSartoriusSerial, mts3Dconnexion, mtsOpenIGTLink, mtsWAM, mtsTrajectory, mtsRobotIO1394, mtsOSGManipulatorTask, mtsIntuitiveResearchKitUDPStreamer, mtsODEManipulatorTask, mtsOSGImage, mtsTextToSpeech, mtsATINetFTQtWidget, mtsPDGC, mtsODEWorld, mtsATINetFTSensor, mtsRobotIO1394QtWidget, mtsCollectorQtFactory, mtsIntuitiveDaVinciArmQtWidget, mtsTeleOperation, mtsPIDQtWidget, mtsCollectorFactory, mtsIntuitiveResearchKitArm, mtsGravityCompensation, mtsKeyboard, mtsIntuitiveResearchKitSUJ, mtsTeleOperationQtWidget, mtsIntuitiveResearchKitArmQtWidget, and mtsIntuitiveResearchKitConsoleQtWidget.

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

virtual

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

Reimplemented in mtsPID, mtsMedtronicStealthlink, mtsSocketProxyServer, mtsMedtronicStealthlink, sawNoteRecorderQtComponent, mtsIntuitiveResearchKitConsole, mtsLoPoMoCo, mtsSocketProxyClient, mtsNDISerial, mtsMicronTracker, mtsComponentAddLatency, mtsOpenIGTLink, mtsTrajectory, mtsRobotIO1394, mtsIntuitiveResearchKitUDPStreamer, mtsOpenALRecordQtComponent, mtsOpenALPlayQtComponent, mtsATINetFTQtWidget, mtsPDGC, mtsRobotIO1394QtWidget, mtsIntuitiveDaVinciArmQtWidget, mtsPIDQtWidget, mtsTeleOperation, mtsCollectorFactory, mtsIntuitiveResearchKitArm, mtsGravityCompensation, mtsIntuitiveResearchKitSUJ, mtsTeleOperationQtWidget, mtsRobotIO1394QtWidgetFactory, mtsIntuitiveResearchKitPSM, mtsIntuitiveResearchKitArmQtWidget, and mtsIntuitiveResearchKitConsoleQtWidget.

virtual void mtsComponent::Create ( void  )

virtual

Virtual method to create the components, e.g. for tasks create the required threads. For other components, place initialization code.

Reimplemented in mtsTask.

bool mtsComponent::CreateAndWait

(

double

timeoutInSeconds

)

Call the Create method followed by WaitForState

mtsInterfaceRequired* mtsComponent::EnableDynamicComponentManagement ( void  )

protected

Enable support for dynamic component management services.

Returns

Pointer to internal required interface, if success. NULL otherwise.

Note

If user component needs dynamic component management services, this method should be called by user component's constructor

mtsInterfaceInput* mtsComponent::GetInterfaceInput

(

const std::string &

interfaceInputName

)

const

Get an input interface identified by its name

mtsInterfaceOutput* mtsComponent::GetInterfaceOutput

(

const std::string &

interfaceOutputName

)

const

Get an output interface identified by its name

mtsInterfaceProvided* mtsComponent::GetInterfaceProvided

(

const std::string &

interfaceProvidedName

)

const

Get a provided interface identified by its name

const mtsInterfaceProvided* mtsComponent::GetInterfaceProvidedFor

(

const std::string &

interfaceRequiredName

)

Get a pointer on the provided interface that has been connected to a given required interface (defined by its name). This method will return a null pointer if the required interface has not been connected. See mtsTaskManager::Connect.

mtsInterfaceRequired* mtsComponent::GetInterfaceRequired

(

const std::string &

interfaceRequiredName

)

Get a required interface identified by its name

cmnLogger::StreamBufType* mtsComponent::GetLogMultiplexer ( void  ) const

virtual

Overload GetLodMultiplexer. This method is used for all class level log (i.e. CMN_LOG_CLASS) and allows to redirect the log to a separate file for each component when activated by UseSeparateLogFile or UseSeparateLogFileDefault.

Reimplemented from cmnGenericObject.

const mtsManagerComponentServices* mtsComponent::GetManagerComponentServices ( void  ) const

inline

Remove an input interface identified by its name

Get pointer to manager component services, which extends the internal required interface to the Manager Component Client (MCC). This is used by the IRE (Python wrapping)

mtsManagerComponentServices* mtsComponent::GetManagerComponentServices ( void  )

inline

const std::string& mtsComponent::GetName

(

void

)

const

Returns the name of the component.

void mtsComponent::GetName

(

std::string &

placeHolder

)

const

std::vector<std::string> mtsComponent::GetNamesOfInterfacesInput

(

void

)

const

std::vector<std::string> mtsComponent::GetNamesOfInterfacesOutput

(

void

)

const

std::vector<std::string> mtsComponent::GetNamesOfInterfacesProvided

(

void

)

const

std::vector<std::string> mtsComponent::GetNamesOfInterfacesProvidedOrOutput

(

void

)

const

Return the list of provided interfaces. This returns a list of names. To retrieve the actual interface, use GetInterfaceProvided with the provided interface name.

std::vector<std::string> mtsComponent::GetNamesOfInterfacesRequired

(

void

)

const

std::vector<std::string> mtsComponent::GetNamesOfInterfacesRequiredOrInput

(

void

)

const

Provide a list of existing required interfaces (by names)

size_t mtsComponent::GetNumberOfInterfacesInput

(

void

)

const

Get the total number of input interfaces

size_t mtsComponent::GetNumberOfInterfacesOutput

(

void

)

const

Get the total number of output interfaces

size_t mtsComponent::GetNumberOfInterfacesProvided

(

void

)

const

Get the total number of provided interfaces

size_t mtsComponent::GetNumberOfInterfacesRequired

(

void

)

const

Get the total number of required interfaces

const mtsComponentState& mtsComponent::GetState

(

void

)

const

Return task state.

void mtsComponent::GetState

(

mtsComponentState &

state

)

const

mtsStateTable* mtsComponent::GetStateTable

(

const std::string &

stateTableName

)

Return a pointer to state table with the given name.

void mtsComponent::Initialize ( void  )

protected

Initializer

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

Check if there is any interface with the given name

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

protected

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

protected

void mtsComponent::InterfaceInternalCommands_ComponentStartOther ( const mtsComponentStatusControl &  arg )

protected

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

protected

Internal commands to process command execution request coming from LCM (by invoking class methods)

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

protected

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

protected

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

Check if there is any interface provided or output with the given name

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

Check if there is any interface required or input with the given name

bool mtsComponent::IsEndTask

(

void

)

const

Return true if task is marked for killing.

bool mtsComponent::IsRunning

(

void

)

const

Return true if task is active.

bool mtsComponent::IsStarted

(

void

)

const

Return true if task was started.

bool mtsComponent::IsTerminated

(

void

)

const

Return true if task is terminated.

virtual void mtsComponent::Kill ( void  )

virtual

Virtual method to stop the computations and message processing. See Start.

Reimplemented in mtsTask, mtsTaskContinuous, mtsTaskFromCallback, mtsSensableHD, mtsNovintHDL, and mtsTaskFromSignal.

bool mtsComponent::KillAndWait

(

double

timeoutInSeconds

)

Call the Kill method followed by WaitForState

void mtsComponent::KillSeparateLogFile ( void  )

protected

Kill all separate log, if any. This method should be used in the destructor. Once it has been called, any call to log might crash.

size_t mtsComponent::ProcessMailBoxes ( InterfacesProvidedMapType &  interfaces )

protected

Process all messages in mailboxes. Returns number of commands processed.

size_t mtsComponent::ProcessQueuedCommands ( void  )

inlineprotected

Process all queued commands. Returns number of events processed. These are the commands provided by all interfaces of the task.

size_t mtsComponent::ProcessQueuedEvents ( void  )

protected

Process all queued events. Returns number of events processed. These are the commands queued following events currently observed via the required interfaces.

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

Remove a provided interface identified by its name

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

Remove a required interface identified by its name

bool CISST_DEPRECATED mtsComponent::Running ( void  ) const

inline

void mtsComponent::SetName

(

const std::string &

componentName

)

Set name. This method is useful to perform dynamic creation using the default constructor and then set the name.

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

bool mtsComponent::SetReplayMode

(

void

)

Method to set replay mode

bool mtsComponent::SetReplayTime

(

const double

time

)

virtual void mtsComponent::Start ( void  )

virtual

Virtual method called after components are connected to start the computations and message processing.

Reimplemented in mtsTaskContinuous, mtsSensableHD, mtsTaskFromCallback, mtsNovintHDL, svlStreamManager, and mtsCMUSphinx4QtComponent.

bool mtsComponent::StartAndWait

(

double

timeoutInSeconds

)

Call the Start method followed by WaitForState

virtual void mtsComponent::Startup ( void  )

inlinevirtual

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

Reimplemented in mtsManagerComponentClient, mtsManagerComponentBase, mtsPID, mtsMedtronicStealthlink, mtsCollectorBase, mtsSocketProxyServer, mtsIntuitiveResearchKitConsole, mtsMedtronicStealthlink, mtsCollectorEvent, mtsCMUSphinx4, mtsManagerComponentServer, mtsSocketProxyClient, mtsOpenALRecord, mtsQtApplication, mtsComponentViewer, mtsNDISerial, mtsGLUTManipulator, ireTask, mtsMicronTracker, mtsComponentAddLatency, mtsIntuitiveDaVinci, mtsOpenALPlay, mtsOSGCameraTask, mtsSartoriusSerial, mts3Dconnexion, mtsOpenIGTLink, mtsWAM, mtsTrajectory, mtsRobotIO1394, mtsOSGManipulatorTask, mtsIntuitiveResearchKitUDPStreamer, prmQtWidgetEventButtonsComponent, mtsODEManipulatorTask, mtsOSGImage, mtsTextToSpeech, mtsATINetFTQtWidget, mtsPDGC, mtsRobotIO1394QtWidget, mtsATINetFTSensor, mtsIntuitiveDaVinciArmQtWidget, mtsODEWorld, mtsPIDQtWidget, mtsTeleOperation, mtsIntuitiveResearchKitArm, mtsGravityCompensation, mtsKeyboard, mtsIntuitiveResearchKitSUJ, mtsTeleOperationQtWidget, mtsRobotIO1394QtWidgetFactory, mtsIntuitiveResearchKitArmQtWidget, mtsIntuitiveResearchKitConsoleQtWidget, and mtsIntuitiveResearchKitSUJQtWidget.

virtual void mtsComponent::Suspend ( void  )

virtual

Virtual method to suspend the component (same as Stop).

Reimplemented in mtsTaskPeriodic, mtsTaskContinuous, mtsTaskFromCallback, and svlStreamManager.

void mtsComponent::ToStream ( std::ostream &  outputStream ) const

virtual

Send a human readable description of the component.

Reimplemented from cmnGenericObject.

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

Tells this component to use its own file for log. By default the messages are also sent to cmnLogger but this can be changed setting forwardToLogger to false.

void mtsComponent::UseSeparateLogFileDefault

(

bool

forwardToLogger = true

)

Tells this component to use its own file for log. By default the messages are also sent to cmnLogger but this can be changed setting forwardToLogger to false. The default file name is based on the component's name, followed by '-log.txt'

void mtsComponent::UseSeparateLogFileDefaultWithDate

(

bool

forwardToLogger = true

)

Tells this component to use its own file for log. By default the messages are also sent to cmnLogger but this can be changed setting forwardToLogger to false. The default file name is based on the component's name, followed by the date and '-log.txt'

virtual bool mtsComponent::WaitForState ( mtsComponentState  desiredState, double  timeout  )

protectedvirtual

Helper function to wait on a state change, with specified timeout in seconds.

Reimplemented in mtsTask.

Friends And Related Function Documentation

friend class mtsComponentProxy

friend

friend class mtsManagerLocal

friend

Member Data Documentation

mtsFunctionWrite mtsComponent::EventGeneratorChangeState

protected

Event generator to inform the manager component client of the state change of this component

mtsInterfaceProvided* mtsComponent::InterfaceProvidedToManager

protected

Provided interface for component management.

InterfacesInputMapType mtsComponent::InterfacesInput

protected

InterfacesOutputMapType mtsComponent::InterfacesOutput

protected

InterfacesProvidedMapType mtsComponent::InterfacesProvided

protected

InterfacesRequiredMapType mtsComponent::InterfacesRequired

protected

cmnLogger::StreamBufType* mtsComponent::LoDMultiplexerStreambuf

protected

Pointers on multiplexer used by this component for logging purposes. By default the file "LogFile" is the only output stream but a user can add any stream using mtsComponent::GetLogMultiplexer combined with cmnLODMultiplexerStreambuf::AddChannel.

std::ofstream* mtsComponent::LogFile

protected

Default log file used for this component logging

mtsManagerComponentServices* mtsComponent::ManagerComponentServices

protected

Dynamic component management service provider

std::string mtsComponent::Name

protected

A string identifying the 'Name' of the component.

bool mtsComponent::ReplayMode

protected

mtsComponentState mtsComponent::State

protected

Component state.

StateTableMapType mtsComponent::StateTables

protected

bool mtsComponent::UseSeparateLogFileFlag

protected

Flag to keep track of separate log file use

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

• /home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstMultiTask/mtsComponent.h