#include <mtsIntuitiveDaVinci.h>

Inheritance diagram for mtsIntuitiveDaVinci:

Classes
class	ArmData

class	ConsoleData

class	EventData

class	MasterArmData

class	SlaveArmData

Public Types
enum	ManipulatorIndexType { MTML1 = 0, MTMR1, MTML2, MTMR2, PSM1, PSM2, PSM3, ECM1, CONSOLE1, CONSOLE2, CORE, NUMBER_MANIPULATORS }

enum	ManipulatorType { MTM_TYPE = 0, PSM_TYPE, ECM_TYPE, CONSOLE_TYPE, NUMBER_MANIPULATOR_TYPES }

Public Types inherited from mtsTaskPeriodic
typedef mtsTaskContinuous	BaseType

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 Member Functions
	mtsIntuitiveDaVinci (const std::string &name, unsigned int rateInHz)

	~mtsIntuitiveDaVinci ()

void	SetSourceHost (const std::string _ipaddress, const unsigned int _port=5002, const unsigned int _password=0x1111)

void	SetSourceLogFile (const std::string _filename)

void	SetOutputLogFile (const std::string filename)

void	StartLogging (void)

void	StopLogging (void)

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

void	Startup (void)

void	Run (void)

void	Cleanup (void)

bool	IsAPIConnected (void) const

vctDynamicVector< std::string >	GetEventNames (void)

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

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	Kill (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)

void	SetInitializationDelay (double delay)

void	Create (void)

double	GetAveragePeriod (void) const

const std::string	GetDefaultStateTableName (void) const

mtsStateTable *	GetDefaultStateTable (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)

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)

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

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

Static Public Member Functions
static const std::string &	ManipulatorIndexToString (ManipulatorIndexType manipulatorIndex)

static size_t	GetNumberOfJoints (ManipulatorIndexType manipulatorIndex)

static size_t	GetNumberOfSetupJoints (ManipulatorIndexType manipulatorIndex)

static ManipulatorType	GetManipulatorType (ManipulatorIndexType manipulatorIndex)

Protected Member Functions
bool	Connect (void)

bool	Disconnect (void)

bool	ConfigureStream (void)

void	StreamCallback (void)

bool	ConfigureEvents (void)

void	EventCallback (ManipulatorIndexType index, int eventId, int *eventArgs)

bool	StartStream (void)

void	StopStream (void)

void	LogSystemConfiguration (cmnLogLevel logLevel=CMN_LOG_LEVEL_INIT_VERBOSE) const

void	LogManipulatorConfiguration (ManipulatorIndexType index, cmnLogLevel logLevel=CMN_LOG_LEVEL_INIT_VERBOSE) const

void	LogToolConfiguration (ManipulatorIndexType index, cmnLogLevel logLevel=CMN_LOG_LOD_INIT_VERBOSE) const

void	LogManipulatorsAndToolsConfiguration (cmnLogLevel logLevel=CMN_LOG_LOD_INIT_VERBOSE) const


void	SetupEventInterfaces (void)

void	SetupArmsInterfaces (void)

void	SetupMastersInterfaces (void)

void	SetupSlavesInterfaces (void)

void	SetupCameraInterfaces (void)

void	SetupConsoleInterfaces (void)

void	SetupAllInterfaces (void)

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

void	StartupInternal (void)

void	CleanupInternal (void)

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)

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
ArmData *	Arms [(ECM1-MTML1)+1]

MasterArmData *	MasterArms [(MTMR2-MTML1)+1]

SlaveArmData *	SlaveArms [(ECM1-PSM1)+1]

SlaveArmData *	CameraArms [(ECM1-ECM1)+1]

ConsoleData	Console

ConsoleData *	Consoles [(CONSOLE2-CONSOLE1)+1]

EventData	Events

bool	Connected

unsigned int	RateInHz

std::string	IPAddress

unsigned int	Port

unsigned int	Password

std::string	SourceLogFileName

bool	UseLogFile

std::string	OutputLogFileName

Protected Attributes inherited from mtsTaskPeriodic
osaThreadBuddy	ThreadBuddy

double	Period

osaAbsoluteTime	AbsoluteTimePeriod

bool	IsHardRealTime

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
void	mtsIntuitiveDaVinciUtilities::StreamCallbackInternal (void *userData)

void	mtsIntuitiveDaVinciUtilities::EventCallbackInternal (int manipulatorId, int eventId, int arguments, void userData)

Additional Inherited Members
Static Public Attributes inherited from mtsTask
static std::runtime_error	UnknownException

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

Member Enumeration Documentation

enum mtsIntuitiveDaVinci::ManipulatorIndexType

Type of manipulator. Note that indices are contiguous by type of manipulator.

Enumerator
MTML1
MTMR1	Master Left 1
MTML2	Master Right 1
MTMR2	Master Left 2
PSM1	Master Right 2
PSM2	Patient side 1
PSM3	Patient side 2
ECM1	Patient side 3
CONSOLE1	Endoscopic camera
CONSOLE2	Console
CORE	Dual Console
NUMBER_MANIPULATORS	In Si system events are generated from Core as well Number of manipulators

enum mtsIntuitiveDaVinci::ManipulatorType

Enumerator
MTM_TYPE
PSM_TYPE	Master Tool Manipulator
ECM_TYPE	Patient Side Manipulator
CONSOLE_TYPE	Endoscopic Camera Manipulator
NUMBER_MANIPULATOR_TYPES	Surgeon-Side Console Number of manipulator types

Constructor & Destructor Documentation

mtsIntuitiveDaVinci::mtsIntuitiveDaVinci	(	const std::string &	name,
		unsigned int	rateInHz
	)

Constructor.

mtsIntuitiveDaVinci::~mtsIntuitiveDaVinci ( )

Default destructor. Does nothing.

Member Function Documentation

void mtsIntuitiveDaVinci::Cleanup ( void )

virtual

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

Reimplemented from mtsComponent.

void mtsIntuitiveDaVinci::Configure ( const std::string & CMN_UNUSEDfilename = "" )

inlinevirtual

Virtual method that gets called when the task/interface needs to be configured. Should it take XML info??

Reimplemented from mtsTask.

bool mtsIntuitiveDaVinci::ConfigureEvents ( void )

protected

bool mtsIntuitiveDaVinci::ConfigureStream ( void )

protected

bool mtsIntuitiveDaVinci::Connect ( void )

protected

Connect to the daVinci system.

bool mtsIntuitiveDaVinci::Disconnect ( void )

protected

Disconnect from the daVinci system.

void mtsIntuitiveDaVinci::EventCallback	(	ManipulatorIndexType	index,
		int	eventId,
		int *	eventArgs
	)

protected

vctDynamicVector<std::string> mtsIntuitiveDaVinci::GetEventNames ( void )

inline

static ManipulatorType mtsIntuitiveDaVinci::GetManipulatorType ( ManipulatorIndexType manipulatorIndex )

static

Get manipulator type from manipulator index

static size_t mtsIntuitiveDaVinci::GetNumberOfJoints ( ManipulatorIndexType manipulatorIndex )

static

Get number of joints per arm

static size_t mtsIntuitiveDaVinci::GetNumberOfSetupJoints ( ManipulatorIndexType manipulatorIndex )

static

Get number of setup joints for the specified manipulator index

bool mtsIntuitiveDaVinci::IsAPIConnected ( void ) const

inline

Provided for compatibility with mtsIntuitiveDaVinci and C example

void mtsIntuitiveDaVinci::LogManipulatorConfiguration	(	ManipulatorIndexType	index,
		cmnLogLevel	logLevel = `CMN_LOG_LEVEL_INIT_VERBOSE`
	)		const

protected

void mtsIntuitiveDaVinci::LogManipulatorsAndToolsConfiguration ( cmnLogLevel logLevel = CMN_LOG_LOD_INIT_VERBOSE ) const

protected

void mtsIntuitiveDaVinci::LogSystemConfiguration ( cmnLogLevel logLevel = CMN_LOG_LEVEL_INIT_VERBOSE ) const

protected

Log system information

void mtsIntuitiveDaVinci::LogToolConfiguration	(	ManipulatorIndexType	index,
		cmnLogLevel	logLevel = `CMN_LOG_LOD_INIT_VERBOSE`
	)		const

protected

static const std::string& mtsIntuitiveDaVinci::ManipulatorIndexToString ( ManipulatorIndexType manipulatorIndex )

static

Conversion from manipulator index to string

void mtsIntuitiveDaVinci::Run ( void )

virtual

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

Implements mtsTask.

void mtsIntuitiveDaVinci::SetOutputLogFile ( const std::string filename )

Set filename to log the API to in the bin format

void mtsIntuitiveDaVinci::SetSourceHost	(	const std::string	_ipaddress,
		const unsigned int	_port = `5002`,
		const unsigned int	_password = `0x1111`
	)

void mtsIntuitiveDaVinci::SetSourceLogFile ( const std::string _filename )

void mtsIntuitiveDaVinci::SetupAllInterfaces ( void )

protected

void mtsIntuitiveDaVinci::SetupArmsInterfaces ( void )

protected

void mtsIntuitiveDaVinci::SetupCameraInterfaces ( void )

protected

void mtsIntuitiveDaVinci::SetupConsoleInterfaces ( void )

protected

void mtsIntuitiveDaVinci::SetupEventInterfaces ( void )

protected

Setup all interfaces and populate them with commands and events

void mtsIntuitiveDaVinci::SetupMastersInterfaces ( void )

protected

void mtsIntuitiveDaVinci::SetupSlavesInterfaces ( void )

protected

void mtsIntuitiveDaVinci::StartLogging ( void )

Start logging to bin file.

bool mtsIntuitiveDaVinci::StartStream ( void )

protected

void mtsIntuitiveDaVinci::Startup ( void )

virtual

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

Reimplemented from mtsComponent.

void mtsIntuitiveDaVinci::StopLogging ( void )

Stop logging to bin file.

void mtsIntuitiveDaVinci::StopStream ( void )

protected

void mtsIntuitiveDaVinci::StreamCallback ( void )

protected

Friends And Related Function Documentation

void mtsIntuitiveDaVinciUtilities::EventCallbackInternal	(	int	manipulatorId,
		int	eventId,
		int *	arguments,
		void *	userData
	)

friend

void mtsIntuitiveDaVinciUtilities::StreamCallbackInternal ( void * userData )

friend

Member Data Documentation

ArmData* mtsIntuitiveDaVinci::Arms[(ECM1-MTML1)+1]

protected

Info for all arms, this container is the primary one

SlaveArmData* mtsIntuitiveDaVinci::CameraArms[(ECM1-ECM1)+1]

protected

Camera arm ECM1

bool mtsIntuitiveDaVinci::Connected

protected

ConsoleData mtsIntuitiveDaVinci::Console

protected

Console data

ConsoleData* mtsIntuitiveDaVinci::Consoles[(CONSOLE2-CONSOLE1)+1]

protected

EventData mtsIntuitiveDaVinci::Events

protected

Event data

std::string mtsIntuitiveDaVinci::IPAddress

protected

MasterArmData* mtsIntuitiveDaVinci::MasterArms[(MTMR2-MTML1)+1]

protected

Info for all master arms, different way to access masters only

std::string mtsIntuitiveDaVinci::OutputLogFileName

protected

unsigned int mtsIntuitiveDaVinci::Password

protected

unsigned int mtsIntuitiveDaVinci::Port

protected

unsigned int mtsIntuitiveDaVinci::RateInHz

protected

SlaveArmData* mtsIntuitiveDaVinci::SlaveArms[(ECM1-PSM1)+1]

protected

Info for all slave arms, including camera

std::string mtsIntuitiveDaVinci::SourceLogFileName

protected

bool mtsIntuitiveDaVinci::UseLogFile

protected

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

/home/adeguet1/catkin_ws/src/cisst-saw/sawIntuitiveDaVinci/include/sawIntuitiveDaVinci/mtsIntuitiveDaVinci.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation