#include <mtsMedtronicStealthlink.h>

Inheritance diagram for mtsMedtronicStealthlink:

Classes
class	ExamInformation

class	Registration

class	Tool

Public Member Functions
	mtsMedtronicStealthlink (const std::string &taskName, const double &periodInSeconds)

	mtsMedtronicStealthlink (const mtsTaskPeriodicConstructorArg &arg)

	~mtsMedtronicStealthlink ()

void	Startup (void)

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

void	Run (void)

void	Cleanup (void)

	mtsMedtronicStealthlink (const std::string &taskName)

	~mtsMedtronicStealthlink ()

void	Startup (void)

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

void	Run (void)

void	Cleanup (void)

Public Member Functions inherited from mtsTaskFromSignal
	mtsTaskFromSignal (const std::string &name, unsigned int sizeStateTable=256)

virtual	~mtsTaskFromSignal ()

void	Kill (void)

mtsInterfaceRequired *	AddInterfaceRequiredWithoutSystemEventHandlers (const std::string &interfaceRequiredName, mtsRequiredType required=MTS_REQUIRED)

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

Public Member Functions inherited from mtsTaskContinuous
	mtsTaskContinuous (const std::string &name, unsigned int sizeStateTable=256, bool newThread=true)

	mtsTaskContinuous (const mtsTaskContinuousConstructorArg &arg)

virtual	~mtsTaskContinuous ()

void	Create (void *data=0)

void	Start (void)

Public Member Functions inherited from mtsTask
	mtsTask (const std::string &name, unsigned int sizeStateTable=256)

virtual	~mtsTask ()

virtual void	OnStartupException (const std::exception &excp)

virtual void	OnRunException (const std::exception &excp)

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

void	SetInitializationDelay (double delay)

void	Create (void)

double	GetAveragePeriod (void) const

const std::string	GetDefaultStateTableName (void) const

mtsStateTable *	GetDefaultStateTable (void)

virtual bool	WaitToStart (double timeout)

virtual bool	WaitToTerminate (double timeout)

virtual void	WaitForWakeup (void)

virtual void	Wakeup (void)

void	ProcessManagerCommandsIfNotActive ()

bool	CheckForOwnThread (void) const

virtual bool	IsOverranPeriod (void) const

virtual void	ResetOverranPeriod (void)

Public Member Functions inherited from mtsComponent
	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)

bool	CreateAndWait (double timeoutInSeconds)

bool	StartAndWait (double timeoutInSeconds)

bool	KillAndWait (double timeoutInSeconds)

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

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)

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

Public Member Functions inherited from mtsTaskPeriodic
	mtsTaskPeriodic (const std::string &name, double periodicityInSeconds, bool isHardRealTime=false, unsigned int sizeStateTable=256, bool newThread=true)

	mtsTaskPeriodic (const std::string &name, const osaAbsoluteTime &periodicity, bool isHardRealTime=false, unsigned int sizeStateTable=256, bool newThread=true)

	mtsTaskPeriodic (const mtsTaskPeriodicConstructorArg &arg)

virtual	~mtsTaskPeriodic ()

void	Suspend (void)

double	GetPeriodicity (void) const

bool	IsPeriodic (void) const

Protected Types
enum	{ MAX_MULT_TOOLS = 5 }

typedef std::vector< Tool * >	ToolsContainer

Protected Types inherited from mtsTaskFromSignal
typedef mtsTaskContinuous	BaseType

Protected Types inherited from mtsComponent
typedef cmnNamedMap < mtsStateTable >	StateTableMapType

typedef cmnNamedMap < mtsInterfaceProvided >	InterfacesProvidedMapType

typedef cmnNamedMap < mtsInterfaceOutput >	InterfacesOutputMapType

typedef cmnNamedMap < mtsInterfaceRequired >	InterfacesRequiredMapType

typedef cmnNamedMap < mtsInterfaceInput >	InterfacesInputMapType

Protected Member Functions
void	RequestExamInformation (void)

void	RequestSurgicalPlan (void)

void	GetSurgicalPlan (mtsDoubleVec &plan) const

void	ResetAllTools (void)

Tool *	FindTool (const std::string &stealthName) const

Tool *	AddTool (const std::string &stealthName, const std::string &interfaceName)

void	Init (void)

void	operator() (MNavStealthLink::Instrument &instrument_in)

void	operator() (const MNavStealthLink::Frame &frame_in)

void	operator() (const MNavStealthLink::Registration &registration_in)

void	operator() (const MNavStealthLink::Exam &exam_in)

void	operator() (MNavStealthLink::SurgicalPlan &surgicalPlan_in)

Protected Member Functions inherited from mtsTaskFromSignal
void *	RunInternal (void *argument)

void	PostCommandQueuedMethod (void)

Protected Member Functions inherited from mtsTask
void	RunEventHandler (void)

void	ChangeStateEventHandler (const mtsComponentState &newState)

mtsExecutionResult	RunEvent (bool check=true)

void	DoRunInternal (void)

void	Sleep (double timeInSeconds)

mtsStateIndex::TimeTicksType	GetTick (void) const

virtual void	SaveThreadStartData (void *data)

virtual void	SetThreadReturnValue (void *returnValue)

void	ChangeState (mtsComponentState::Enum newState)

bool	WaitForState (mtsComponentState desiredState, double timeout)

Protected Member Functions inherited from mtsComponent
	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)

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 Member Functions inherited from mtsTaskPeriodic
virtual void *	RunInternal (void *argument)

void	StartupInternal (void)

void	CleanupInternal (void)

void	StartInternal (void)

Protected Attributes
AsCL_Client *	Client

MNavStealthLink::StealthServer *	StealthServerProxy

mtsMedtronicStealthlink_AsCL_Utils *	Utils

mtsStealthTool	ToolData

mtsStealthTool	MultToolData

mtsStealthFrame	FrameData

mtsStealthRegistration	RegistrationData

mtsStealthProbeCal	ProbeCal

mtsDoubleVec	SurgicalPlan

bool	StealthlinkPresent

ToolsContainer	Tools

Tool *	CurrentTool

Tool *	CurrentFrame

bool	TrackMultTools

Tool *	CurrentMultTool [MAX_MULT_TOOLS]

Registration	RegistrationMember

ExamInformation	ExamInformationMember

MNavStealthLink::Subscription < MNavStealthLink::Instrument > *	instrumentSubscription

MNavStealthLink::Subscription < MNavStealthLink::Frame > *	frameSubscription

MNavStealthLink::Subscription < MNavStealthLink::Registration > *	registrationSubscription

MNavStealthLink::Subscription < MNavStealthLink::Exam > *	examSubscription

MNavStealthLink::Subscription < MNavStealthLink::SurgicalPlan > *	surgicalPlanSubscription

Protected Attributes inherited from mtsTaskFromSignal
mtsCallableVoidBase *	PostCommandQueuedCallable

Protected Attributes inherited from mtsTaskContinuous
bool	NewThread

bool	CaptureThread

Protected Attributes inherited from mtsTask
osaThread	Thread

double	InitializationDelay

osaMutex	StateChange

osaThreadSignal	StateChangeSignal

mtsStateTable	StateTable

bool	OverranPeriod

void *	ThreadStartData

void *	ReturnValue

mtsCallableVoidBase *	InterfaceProvidedToManagerCallable

mtsInterfaceRequired *	ExecIn

mtsInterfaceProvided *	ExecOut

mtsFunctionVoid	RunEventInternal

bool	RunEventCalled

mtsFunctionWrite	ChangeStateEvent

Protected Attributes inherited from mtsComponent
std::string	Name

mtsComponentState	State

mtsInterfaceProvided *	InterfaceProvidedToManager

bool	UseSeparateLogFileFlag

cmnLogger::StreamBufType *	LoDMultiplexerStreambuf

std::ofstream *	LogFile

StateTableMapType	StateTables

mtsManagerComponentServices *	ManagerComponentServices

mtsFunctionWrite	EventGeneratorChangeState

bool	ReplayMode

InterfacesProvidedMapType	InterfacesProvided

InterfacesOutputMapType	InterfacesOutput

InterfacesRequiredMapType	InterfacesRequired

InterfacesInputMapType	InterfacesInput

Protected Attributes inherited from mtsTaskPeriodic
osaThreadBuddy	ThreadBuddy

double	Period

osaAbsoluteTime	AbsoluteTimePeriod

bool	IsHardRealTime

Friends
template<typename T >
class	MNavStealthLink::Subscription

Additional Inherited Members
Public Types inherited from mtsTaskContinuous
typedef mtsTask	BaseType

Public Types inherited from mtsTask
typedef mtsComponent	BaseType

Public Types inherited from mtsComponent
typedef mtsComponent	ThisType

Public Types inherited from mtsTaskPeriodic
typedef mtsTaskContinuous	BaseType

Static Public Attributes inherited from mtsTask
static std::runtime_error	UnknownException

Member Typedef Documentation

typedef std::vector<Tool *> mtsMedtronicStealthlink::ToolsContainer

protected

Member Enumeration Documentation

anonymous enum

protected

Enumerator
MAX_MULT_TOOLS

Constructor & Destructor Documentation

mtsMedtronicStealthlink::mtsMedtronicStealthlink	(	const std::string &	taskName,
		const double &	periodInSeconds
	)

mtsMedtronicStealthlink::mtsMedtronicStealthlink ( const mtsTaskPeriodicConstructorArg & arg )

mtsMedtronicStealthlink::~mtsMedtronicStealthlink ( )

mtsMedtronicStealthlink::mtsMedtronicStealthlink ( const std::string & taskName )

mtsMedtronicStealthlink::~mtsMedtronicStealthlink ( )

Member Function Documentation

Tool* mtsMedtronicStealthlink::AddTool	(	const std::string &	stealthName,
		const std::string &	interfaceName
	)

protected

Add a tool using its stealth name and the name of the corresponding provided interface

void mtsMedtronicStealthlink::Cleanup ( void )

virtual

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

Reimplemented from mtsComponent.

void mtsMedtronicStealthlink::Cleanup ( void )

virtual

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

Reimplemented from mtsComponent.

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

virtual

Configure the Stealthlink interface using an XML file. If the XML file is not found, the system uses a default IP address (192.168.0.1) and does not predefine any provided interfaces for the tools. Note that if a tool is not pre-defined via the XML file, it can still be discovered at runtime and a provided interface will be dynamically added.

Reimplemented from mtsComponent.

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

virtual

Configure the Stealthlink interface using an XML file. If the XML file is not found, the system uses a default IP address (192.168.0.1) and does not predefine any provided interfaces for the tools. Note that if a tool is not pre-defined via the XML file, it can still be discovered at runtime and a provided interface will be dynamically added.

Reimplemented from mtsComponent.

Tool* mtsMedtronicStealthlink::FindTool ( const std::string & stealthName ) const

protected

Find a tool using the stealh name

void mtsMedtronicStealthlink::GetSurgicalPlan ( mtsDoubleVec & plan ) const

protected

void mtsMedtronicStealthlink::Init ( void )

protected

void mtsMedtronicStealthlink::operator() ( MNavStealthLink::Instrument & instrument_in )

protected

void mtsMedtronicStealthlink::operator() ( const MNavStealthLink::Frame & frame_in )

protected

void mtsMedtronicStealthlink::operator() ( const MNavStealthLink::Registration & registration_in )

protected

void mtsMedtronicStealthlink::operator() ( const MNavStealthLink::Exam & exam_in )

protected

void mtsMedtronicStealthlink::operator() ( MNavStealthLink::SurgicalPlan & surgicalPlan_in )

protected

void mtsMedtronicStealthlink::RequestExamInformation ( void )

protected

void mtsMedtronicStealthlink::RequestSurgicalPlan ( void )

protected

void mtsMedtronicStealthlink::ResetAllTools ( void )

protected

Mark all tool data as invalid

void mtsMedtronicStealthlink::Run ( void )

virtual

Pure virtual method that gets overloaded to run the actual task.

Implements mtsTask.

void mtsMedtronicStealthlink::Run ( void )

virtual

Pure virtual method that gets overloaded to run the actual task.

Implements mtsTask.

void mtsMedtronicStealthlink::Startup ( void )

inlinevirtual

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

Reimplemented from mtsComponent.

void mtsMedtronicStealthlink::Startup ( void )

virtual

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

Reimplemented from mtsComponent.

Friends And Related Function Documentation

template<typename T >

friend class MNavStealthLink::Subscription

friend

Member Data Documentation

AsCL_Client* mtsMedtronicStealthlink::Client

protected

Tool * mtsMedtronicStealthlink::CurrentFrame

protected

Tool* mtsMedtronicStealthlink::CurrentMultTool[MAX_MULT_TOOLS]

protected

Tool* mtsMedtronicStealthlink::CurrentTool

protected

ExamInformation mtsMedtronicStealthlink::ExamInformationMember

protected

MNavStealthLink::Subscription<MNavStealthLink::Exam>* mtsMedtronicStealthlink::examSubscription

protected

mtsStealthFrame mtsMedtronicStealthlink::FrameData

protected

MNavStealthLink::Subscription< MNavStealthLink::Frame > * mtsMedtronicStealthlink::frameSubscription

protected

MNavStealthLink::Subscription< MNavStealthLink::Instrument > * mtsMedtronicStealthlink::instrumentSubscription

protected

mtsStealthTool mtsMedtronicStealthlink::MultToolData

protected

mtsStealthProbeCal mtsMedtronicStealthlink::ProbeCal

protected

mtsStealthRegistration mtsMedtronicStealthlink::RegistrationData

protected

Registration mtsMedtronicStealthlink::RegistrationMember

protected

MNavStealthLink::Subscription< MNavStealthLink::Registration > * mtsMedtronicStealthlink::registrationSubscription

protected

bool mtsMedtronicStealthlink::StealthlinkPresent

protected

MNavStealthLink::StealthServer * mtsMedtronicStealthlink::StealthServerProxy

protected

mtsDoubleVec mtsMedtronicStealthlink::SurgicalPlan

protected

MNavStealthLink::Subscription< MNavStealthLink::SurgicalPlan > * mtsMedtronicStealthlink::surgicalPlanSubscription

protected

mtsStealthTool mtsMedtronicStealthlink::ToolData

protected

ToolsContainer mtsMedtronicStealthlink::Tools

protected

bool mtsMedtronicStealthlink::TrackMultTools

protected

mtsMedtronicStealthlink_AsCL_Utils* mtsMedtronicStealthlink::Utils

protected

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

/home/adeguet1/catkin_ws/src/cisst-saw/sawMedtronicStealthlink/include/sawMedtronicStealthlink/mtsMedtronicStealthlink.h
/home/adeguet1/catkin_ws/src/cisst-saw/sawMedtronicStealthlink/include/sawMedtronicStealthlink/mtsMedtronicStealthlink2.h

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation