mtsStateIndex.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):  Ankur Kapoor, Peter Kazanzides
  Created on: 2004-04-30
 
  (C) Copyright 2004-2023 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 _mtsStateIndex_h
#define _mtsStateIndex_h
 
#include <cisstMultiTask/mtsGenericObject.h>
#include <cisstCommon/cmnSerializer.h>
#include <cisstCommon/cmnDeSerializer.h>
#include <cisstCommon/cmnGenericObjectProxy.h>
 
#include <cisstMultiTask/mtsExport.h>
 

class CISST_EXPORT mtsStateIndex : public mtsGenericObject {
 
    CMN_DECLARE_SERVICES(CMN_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT);
 
 public:
    typedef unsigned long long int TimeTicksType;

    typedef mtsGenericObject BaseType;
 
 private:
    int TimeIndex;

    TimeTicksType TimeTicks;

    int BufferLength;
 
public:
    inline mtsStateIndex():
        BaseType(), TimeIndex(0), TimeTicks(0), BufferLength(0)
    {}

    inline mtsStateIndex(double timestamp, int index, TimeTicksType ticks, int Length):
        BaseType(timestamp, false /* automatic timestamp */, true /* valid */),
        TimeIndex(index), TimeTicks(ticks), BufferLength(Length)
    {}

    ~mtsStateIndex() {}

    int Length(void) const {
        return BufferLength;
    }
 
    //*! Return the index into the circular buffer.*/
    int Index(void) const {
       return TimeIndex;
    }

    TimeTicksType Ticks(void) const {
        return TimeTicks;
    }

    mtsStateIndex& operator--() {
        TimeTicks--;
        TimeIndex--;
        if (TimeIndex<0) {
            TimeIndex = BufferLength-1;
        }
        return *this;
    }

    mtsStateIndex& operator-=(int number) {
        TimeTicks -= number;
        TimeIndex = static_cast<int>(TimeTicks % BufferLength);
        return *this;
    }

    mtsStateIndex operator-(int number) {
        mtsStateIndex tmp = *this;
        return (tmp -= number);
    }

    bool operator==(const mtsStateIndex & that) const {
        return (TimeIndex == that.TimeIndex && TimeTicks == that.TimeTicks);
    }

    bool operator!=(const mtsStateIndex & that) const {
        return !(*this == that);
    }

    void ToStream(std::ostream & outputStream) const override;

    void ToStreamRaw(std::ostream & outputStream, const char delimiter = ' ',
                     bool headerOnly = false, const std::string & headerPrefix = "") const override;

    void SerializeRaw(std::ostream & outputStream) const override;

    void DeSerializeRaw(std::istream & inputStream) override;
};
 
CMN_DECLARE_SERVICES_INSTANTIATION(mtsStateIndex)
 
#endif // _mtsStateIndex_h