mtsStateData.h

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/* -*- 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):  Peter Kazanzides
 
  (C) Copyright 2007-2020 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 _mtsStateData_h
#define _mtsStateData_h
 
#include <cisstMultiTask/mtsStateTable.h>
#include <cisstMultiTask/mtsInterfaceProvided.h>
#include <cisstMultiTask/mtsInterfaceProvided.h>
#include <cisstMultiTask/mtsTask.h>
#include <cisstMultiTask/mtsVector.h>
 
// PKAZ 3/17/09:  this entire class is deprecated and exists just for backward compatibility.
//
// This class handles the interface to the state table. Note that there are a few things mixed
// in here that could be separated:
//
// 1) The class can be used for variables that just need to be set (write-only). In this case, the
//    the Id and Table fields are not used, and AddToStateTable() would not be called. It would
//    only be necessary to call AddWriteCommandToInterface(). This functionality could be moved
//    to a base class.
//
// 2) The reading of data from the state table does not need to use the Data field.
//
// Also, it would be better to have a return value for a null table pointer. In general, we
// should rethink whether the underlying command methods (such as Get, GetLatest, Set) should
// return void.
 
template <class _elementType>
class mtsStateData {
protected:
    typedef mtsStateData<_elementType> ThisType;
    typedef mtsStateTable::Accessor<_elementType> AccessorType;
    typedef _elementType value_type;
    mtsStateDataId Id;
    mtsStateTable * Table;
    const AccessorType * Accessor;
 
public:  // PKAZ (was protected, but needed access for daVinci example)
    void Get(const mtsStateIndex & when, value_type & data) const {
        //if (!Table) return mtsExecutionResult::DEV_NOT_OK;
        //return Table->ReadFromReader(Id, when, data)?mtsExecutionResult::DEV_OK:mtsExecutionResult::DEV_NOT_OK;
        //if (Table) Table->ReadFromReader(Id, when, data);
        if (Accessor) Accessor->Get(when, data);
    }
 
    void GetLatest(value_type & obj) const {
        //if (!Table) return mtsExecutionResult::DEV_NOT_OK;
        //return Get(Table->GetIndexReader(), obj);
        //if (Table) Get(Table->GetIndexReader(), obj);
        if (Accessor) Accessor->GetLatest(obj);
    }
 
    // Get a vector of data, starting and ending at the specified time indices (inclusive).
    // For now, set the start index based on the vector size. In the future, we
    // should define a new parameter type that consists of a pair of mtsStateIndex.
    void GetHistory(const mtsStateIndex & end, mtsVector<value_type> & data) const {
        if (data.size() > 0) {
            //mtsStateIndex start = end;
            //start -= (data.size()-1);
            //if (Table) Table->ReadVectorFromReader(Id, start, end, data);
            if (Accessor) Accessor->GetHistory(end, data);
        }
    }
 
    void Set(const value_type & obj) {
        Data = obj;
    }
 
public:
    value_type Data;
 
    mtsStateData() : Id(-1), Table(0), Accessor(0) {}
    ~mtsStateData() {}

    inline ThisType & operator=(value_type data) {
        Data = data;
        return *this;
    }

    inline operator value_type & (void) {
        return Data;
    }

    void AddToStateTable(mtsStateTable & table, const std::string & dataName = "") {
        Table = &table;
        Id = Table->NewElement(dataName, &Data);
        Accessor = dynamic_cast<const AccessorType *>(table.GetAccessorByName(dataName));
        if (!Accessor) {
            CMN_LOG_INIT_ERROR << "mtsStateData: could not get data accessor for " << dataName << std::endl;
        }
    }

    void AddReadCommandToInterface(mtsInterfaceProvided * interfaceProvided,
                                   const std::string & commandName) {
        interfaceProvided->AddCommandRead(&ThisType::GetLatest, this, commandName, this->Data);
        interfaceProvided->AddCommandQualifiedRead(&ThisType::Get, this, commandName, mtsStateIndex(), this->Data);
#ifdef CISST_GETVECTOR
        // PK: fix the following
        interfaceProvided->AddCommandQualifiedRead(&ThisType::GetHistory, this, commandName+"History", mtsStateIndex(), mtsVector<value_type>());
#endif
    }

    void AddWriteCommandToInterface(mtsInterfaceProvided * interfaceProvided,
                                    const std::string & commandName) {
        interfaceProvided->AddCommandWrite(&ThisType::Set, this, commandName);
    }
 
};
 
 
// overload mtsObjectName to provide the class name
template <class _elementType>
std::string mtsObjectName(const mtsStateData<_elementType> * CMN_UNUSED(object))
{
    return "mtsStateData";
}
 
 
#endif // _mtsStateData_h