mtsCollectorState.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):  Min Yang Jung, Anton Deguet
  Created on: 2009-03-20
 
  (C) Copyright 2009-2025 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 _mtsCollectorState_h
#define _mtsCollectorState_h
 
#include <cisstMultiTask/mtsTaskPeriodic.h>
#include <cisstMultiTask/mtsCollectorBase.h>
#include <cisstMultiTask/mtsCommandVoid.h>
#include <cisstMultiTask/mtsStateTable.h>
 
#include <string>
 
// Always include last
#include <cisstMultiTask/mtsExport.h>

class CISST_EXPORT mtsCollectorState : public mtsCollectorBase
{
    friend class mtsCollectorStateTest;
    friend class mtsStateTable;
 
    CMN_DECLARE_SERVICES(CMN_NO_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT);

    typedef struct {
        std::string Name;
        unsigned int ID;
    } SignalElement;
 
    typedef std::vector<SignalElement> RegisteredSignalElementType;
    RegisteredSignalElementType RegisteredSignalElements;

    size_t OffsetForNextRead;

    ptrdiff_t LastReadIndex;

    size_t TableHistoryLength;

    size_t SamplingInterval;

    mtsComponent * TargetComponent;
    mtsStateTable * TargetStateTable;

    void Run(void) override;

    void Initialize(void);
 
    // documented in base class
    virtual std::string GetDefaultOutputName(void) override;
 
    mtsFunctionWrite StateTableStartCollection;
    mtsFunctionWrite StateTableStopCollection;

    bool IsRegisteredSignal(const std::string & signalName) const;

    bool AddSignalElement(const std::string & signalName, const unsigned int signalID);

    bool FetchStateTableData(const mtsStateTable * table,
                             const size_t startIdx,
                             const size_t endIdx);

    void PrintHeader(const CollectorFileFormat & fileFormat);

    void MarkHeaderEnd(std::ostream & logFile);

    static bool IsHeaderEndMark(const char * buffer);

    void BatchReadyHandler(const mtsStateTable::IndexRange & range);

    void CollectionStartedHandler(void);

    void CollectionStoppedHandler(const size_t & count);

    void ProgressHandler(const size_t & count);

    void BatchCollect(const mtsStateTable::IndexRange & range);
 
public:
    mtsCollectorState(const std::string & collectorName);

    mtsCollectorState(const std::string & targetComponentName,
                      const std::string & targetStateTableName,
                      const CollectorFileFormat fileFormat);
 
    ~mtsCollectorState(void);

    bool SetStateTable(const std::string & componentName,
                       const std::string & stateTableName = "");

    bool AddSignal(const std::string & signalName = "");

    void SetSamplingInterval(const size_t samplingInterval) {
        SamplingInterval = (samplingInterval > 0 ? samplingInterval : 1);
    }

    bool Connect(void) override;

    bool Disconnect(void);

    static bool ConvertBinaryToText(const std::string sourceBinaryLogFileName,
                                    const std::string targetPlainTextLogFileName,
                                    const char delimiter = ',');

    void StartCollection(const double & delayInSeconds) override;
    void StopCollection(const double & delayInSeconds) override;
};
 
CMN_DECLARE_SERVICES_INSTANTIATION(mtsCollectorState)
 
#endif // _mtsCollectorState_h