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mtsIntuitiveResearchKitConsole Class Reference

#include <mtsIntuitiveResearchKitConsole.h>

Inheritance diagram for mtsIntuitiveResearchKitConsole:
mtsTaskFromSignal mtsTaskContinuous mtsTask mtsComponent cmnGenericObject

Classes

class  Arm
 
class  TeleopPSM
 

Public Member Functions

 mtsIntuitiveResearchKitConsole (const std::string &componentName)
 
virtual ~mtsIntuitiveResearchKitConsole ()
 
void Configure (const std::string &filename)
 
const bool & Configured (void) const
 
void Startup (void)
 
void Run (void)
 
void Cleanup (void)
 
bool AddArm (Arm *newArm)
 
bool AddArm (mtsComponent *genericArm, const Arm::ArmType armType)
 
std::string GetArmIOComponentName (const std::string &armName)
 
bool AddTeleOperation (const std::string &name, const std::string &masterName, const std::string &slaveName)
 
bool AddFootpedalInterfaces (void)
 
bool ConnectFootpedalInterfaces (void)
 
bool Connect (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)
 
void Suspend (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 IsPeriodic (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
 

Protected Types

typedef std::map< std::string,
Arm * > 		ArmList
 
typedef std::map< std::string,
TeleopPSM * > 		TeleopList
 
- 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

bool ConfigureArmJSON (const Json::Value &jsonArm, const std::string &ioComponentName, const cmnPath &configPath)
 
bool AddArmInterfaces (Arm *arm)
 
bool ConfigurePSMTeleopJSON (const Json::Value &jsonTeleop)
 
bool AddTeleopInterfaces (TeleopPSM *teleop)
 
void SetRobotsControlState (const std::string &newState)
 
void TeleopEnable (const bool &enable)
 
void ClutchEventHandler (const prmEventButton &button)
 
void CameraEventHandler (const prmEventButton &button)
 
void OperatorPresentEventHandler (const prmEventButton &button)
 
void ErrorEventHandler (const std::string &message)
 
void WarningEventHandler (const std::string &message)
 
void StatusEventHandler (const std::string &message)
 
void ECMManipClutchEventHandler (const prmEventButton &button)
 
void SUJECMBaseFrameHandler (const prmPositionCartesianGet &baseFrameParam)
 
- Protected Member Functions inherited from mtsTaskFromSignal
void * RunInternal (void *argument)
 
void PostCommandQueuedMethod (void)
 
- Protected Member Functions inherited from mtsTaskContinuous
virtual void StartInternal (void)
 
- Protected Member Functions inherited from mtsTask
void RunEventHandler (void)
 
void ChangeStateEventHandler (const mtsComponentState &newState)
 
mtsExecutionResult RunEvent (bool check=true)
 
void DoRunInternal (void)
 
virtual void StartupInternal (void)
 
virtual void CleanupInternal (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 Attributes

bool mConfigured
 
ArmList mArms
 
TeleopList mTeleops
 
bool mHasFootpedals
 
struct {
   mtsFunctionWrite   Clutch
 
   mtsFunctionWrite   Camera
 
   mtsFunctionWrite   OperatorPresent
 
} ConsoleEvents
 
std::string mIOComponentName
 
std::string mOperatorPresentComponent
 
std::string mOperatorPresentInterface
 
struct {
   mtsFunctionWrite   Status
 
   mtsFunctionWrite   Warning
 
   mtsFunctionWrite   Error
 
} MessageEvents
 
mtsInterfaceRequired * mSUJECMInterfaceRequired
 
mtsInterfaceProvided * mECMBaseFrameInterfaceProvided
 
mtsFunctionRead mGetPositionCartesianLocalFromECM
 
mtsFunctionWrite mECMBaseFrameEvent
 
- 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
 

Friends

class mtsIntuitiveResearchKitConsoleQt
 
class dvrk::console
 

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

Member Typedef Documentation

typedef std::map<std::string, Arm *> mtsIntuitiveResearchKitConsole::ArmList
protected
typedef std::map<std::string, TeleopPSM *> mtsIntuitiveResearchKitConsole::TeleopList
protected

Constructor & Destructor Documentation

mtsIntuitiveResearchKitConsole::mtsIntuitiveResearchKitConsole ( const std::string &  componentName)
virtual mtsIntuitiveResearchKitConsole::~mtsIntuitiveResearchKitConsole ( )
inlinevirtual

Member Function Documentation

bool mtsIntuitiveResearchKitConsole::AddArm ( Arm *  newArm)
bool mtsIntuitiveResearchKitConsole::AddArm ( mtsComponent *  genericArm,
const Arm::ArmType  armType 
)
bool mtsIntuitiveResearchKitConsole::AddArmInterfaces ( Arm *  arm)
protected
bool mtsIntuitiveResearchKitConsole::AddFootpedalInterfaces ( void  )
bool mtsIntuitiveResearchKitConsole::AddTeleOperation ( const std::string &  name,
const std::string &  masterName,
const std::string &  slaveName 
)
bool mtsIntuitiveResearchKitConsole::AddTeleopInterfaces ( TeleopPSM *  teleop)
protected
void mtsIntuitiveResearchKitConsole::CameraEventHandler ( const prmEventButton &  button)
protected
void mtsIntuitiveResearchKitConsole::Cleanup ( void  )
virtual

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

Reimplemented from mtsComponent.

void mtsIntuitiveResearchKitConsole::ClutchEventHandler ( const prmEventButton &  button)
protected
void mtsIntuitiveResearchKitConsole::Configure ( const std::string &  filename)
virtual

Configure console using JSON file. To test is the configuration succeeded, used method Configured().

Reimplemented from mtsComponent.

bool mtsIntuitiveResearchKitConsole::ConfigureArmJSON ( const Json::Value &  jsonArm,
const std::string &  ioComponentName,
const cmnPath &  configPath 
)
protected

Find all arm data from JSON configuration.

const bool& mtsIntuitiveResearchKitConsole::Configured ( void  ) const

Method to check if the configuration was successful, ideally called after a call to Configure.

bool mtsIntuitiveResearchKitConsole::ConfigurePSMTeleopJSON ( const Json::Value &  jsonTeleop)
protected
bool mtsIntuitiveResearchKitConsole::Connect ( void  )
bool mtsIntuitiveResearchKitConsole::ConnectFootpedalInterfaces ( void  )
void mtsIntuitiveResearchKitConsole::ECMManipClutchEventHandler ( const prmEventButton &  button)
protected
void mtsIntuitiveResearchKitConsole::ErrorEventHandler ( const std::string &  message)
protected
std::string mtsIntuitiveResearchKitConsole::GetArmIOComponentName ( const std::string &  armName)
void mtsIntuitiveResearchKitConsole::OperatorPresentEventHandler ( const prmEventButton &  button)
protected
void mtsIntuitiveResearchKitConsole::Run ( void  )
virtual

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

Implements mtsTask.

void mtsIntuitiveResearchKitConsole::SetRobotsControlState ( const std::string &  newState)
protected
void mtsIntuitiveResearchKitConsole::Startup ( void  )
virtual

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

Reimplemented from mtsComponent.

void mtsIntuitiveResearchKitConsole::StatusEventHandler ( const std::string &  message)
protected
void mtsIntuitiveResearchKitConsole::SUJECMBaseFrameHandler ( const prmPositionCartesianGet &  baseFrameParam)
protected
void mtsIntuitiveResearchKitConsole::TeleopEnable ( const bool &  enable)
protected
void mtsIntuitiveResearchKitConsole::WarningEventHandler ( const std::string &  message)
protected

Friends And Related Function Documentation

friend class dvrk::console
friend
friend class mtsIntuitiveResearchKitConsoleQt
friend

Member Data Documentation

mtsFunctionWrite mtsIntuitiveResearchKitConsole::Camera
mtsFunctionWrite mtsIntuitiveResearchKitConsole::Clutch
struct { ... } mtsIntuitiveResearchKitConsole::ConsoleEvents
mtsFunctionWrite mtsIntuitiveResearchKitConsole::Error
ArmList mtsIntuitiveResearchKitConsole::mArms
protected
bool mtsIntuitiveResearchKitConsole::mConfigured
protected
mtsFunctionWrite mtsIntuitiveResearchKitConsole::mECMBaseFrameEvent
protected
mtsInterfaceProvided* mtsIntuitiveResearchKitConsole::mECMBaseFrameInterfaceProvided
protected
struct { ... } mtsIntuitiveResearchKitConsole::MessageEvents
mtsFunctionRead mtsIntuitiveResearchKitConsole::mGetPositionCartesianLocalFromECM
protected
bool mtsIntuitiveResearchKitConsole::mHasFootpedals
protected
std::string mtsIntuitiveResearchKitConsole::mIOComponentName
protected
std::string mtsIntuitiveResearchKitConsole::mOperatorPresentComponent
protected
std::string mtsIntuitiveResearchKitConsole::mOperatorPresentInterface
protected
mtsInterfaceRequired* mtsIntuitiveResearchKitConsole::mSUJECMInterfaceRequired
protected
TeleopList mtsIntuitiveResearchKitConsole::mTeleops
protected
mtsFunctionWrite mtsIntuitiveResearchKitConsole::OperatorPresent
mtsFunctionWrite mtsIntuitiveResearchKitConsole::Status
mtsFunctionWrite mtsIntuitiveResearchKitConsole::Warning
The documentation for this class was generated from the following file:
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