A device filter can be connected between a device and the InputConsumerInterface (e.g., InputComponent) and/or the OutputProducerInterface (e.g., OutputComponent), and can alter the data being passed from/to the device. More...

#include <DeviceFilter.h>

Inheritance diagram for SurgSim::Devices::DeviceFilter:

Public Member Functions
	DeviceFilter (const std::string &name)
	Constructor. More...

	SURGSIM_CLASSNAME (SurgSim::Devices::DeviceFilter)

bool	initialize () override
	Fully initialize the device. More...

bool	isInitialized () const override

void	initializeInput (const std::string &device, const DataStructures::DataGroup &inputData) override
	Set the initial input data group. More...

void	handleInput (const std::string &device, const DataStructures::DataGroup &inputData) override
	Notifies the consumer that the application input coming from the device has been updated. More...

bool	requestOutput (const std::string &device, DataStructures::DataGroup *outputData) override
	Asks the producer to provide output state to the device. More...

Public Member Functions inherited from SurgSim::Input::CommonDevice
	CommonDevice (const std::string &name)
	Constructor. More...

	CommonDevice (const std::string &name, const DataStructures::DataGroup &inputData)
	Constructor. More...

	CommonDevice (const std::string &name, DataStructures::DataGroup &&inputData)
	Constructor. More...

virtual	~CommonDevice ()
	Destructor.

std::string	getName () const override
	Return a (hopefully unique) device name.

std::string	getClassName () const override
	The class name for this class. More...

void	setNameForCallback (const std::string &name)
	Set the name used for calling the input consumers and output producer. More...

std::string	getNameForCallback () const
	Get the name used for calling the input consumers and output producer. More...

bool	addInputConsumer (std::shared_ptr< InputConsumerInterface > inputConsumer) override
	Adds an input consumer that will be notified when the application input state is updated. More...

bool	removeInputConsumer (std::shared_ptr< InputConsumerInterface > inputConsumer) override
	Removes an input consumer previously added via addInputConsumer. More...

void	clearInputConsumers () override
	Removes all InputConsumers.

bool	setOutputProducer (std::shared_ptr< OutputProducerInterface > outputProducer) override
	Sets an output producer that will be asked for application output state when the device needs it. More...

bool	removeOutputProducer (std::shared_ptr< OutputProducerInterface > outputProducer) override
	Removes an output producer previously added via setOutputProducer. More...

bool	hasOutputProducer () override
	Query if this object has output producer. More...

void	clearOutputProducer () override
	Removes any OutputProducer.

Public Member Functions inherited from SurgSim::Input::DeviceInterface
virtual	~DeviceInterface ()
	Virtual destructor (empty).

Public Member Functions inherited from SurgSim::Framework::Accessible
	Accessible ()
	Default Constructor.

	~Accessible ()
	Destructor.

template<class T >
T	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...

boost::any	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found. More...

template<class T >
bool	getValue (const std::string &name, T *value) const
	Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...

void	setValue (const std::string &name, const boost::any &value)
	Sets a value of a property that has setter. More...

bool	isReadable (const std::string &name) const
	Check whether a property is readable. More...

bool	isWriteable (const std::string &name) const
	Check whether a property is writable. More...

void	setGetter (const std::string &name, GetterType func)
	Sets a getter for a given property. More...

void	setSetter (const std::string &name, SetterType func)
	Sets a setter for a given property. More...

void	setAccessors (const std::string &name, GetterType getter, SetterType setter)
	Sets the accessors getter and setter in one function. More...

void	removeAccessors (const std::string &name)
	Removes all the accessors (getter and setter) for a given property. More...

void	forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
	Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...

void	setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
	Sets the functions used to convert data from and to a YAML::Node. More...

void	setDecoder (const std::string &name, DecoderType decoder)
	Sets the functions used to convert data from a YAML::Node. More...

YAML::Node	encode () const
	Encode this Accessible to a YAML::Node. More...

void	decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
	Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...

std::vector< std::string >	getProperties ()

template<>
boost::any	getValue (const std::string &name) const

Public Member Functions inherited from SurgSim::Input::InputConsumerInterface
virtual	~InputConsumerInterface ()
	Virtual destructor (empty).

Public Member Functions inherited from SurgSim::Input::OutputProducerInterface
virtual	~OutputProducerInterface ()
	Virtual destructor (empty).

Protected Member Functions
virtual void	filterInput (const std::string &device, const DataStructures::DataGroup &dataToFilter, DataStructures::DataGroup *result)
	Filter the input data. More...

virtual void	filterOutput (const std::string &device, const DataStructures::DataGroup &dataToFilter, DataStructures::DataGroup *result)
	Filter the output data. More...

bool	finalize () override
	Finalize (de-initialize) the device.

Protected Member Functions inherited from SurgSim::Input::CommonDevice
virtual void	pushInput ()
	Push application input to consumers.

virtual bool	pullOutput ()
	Pull application output from a producer.

DataStructures::DataGroup &	getInputData ()
	Getter for the input data DataGroup. More...

const DataStructures::DataGroup &	getOutputData () const
	Getter for the output data DataGroup. More...

Protected Attributes
bool	m_initialized
	true if initialized and not finalized.

Additional Inherited Members
Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)>	GetterType

typedef std::function< void(boost::any)>	SetterType

typedef std::function< YAML::Node(void)>	EncoderType

typedef std::function< void(const YAML::Node *)>	DecoderType

Public Types inherited from SurgSim::Framework::FactoryBase1< DeviceInterface, std::string >
typedef ObjectFactory1< DeviceInterface, std::string >	FactoryType

Static Public Member Functions inherited from SurgSim::Framework::FactoryBase1< DeviceInterface, std::string >
static FactoryType &	getFactory ()

Detailed Description

A device filter can be connected between a device and the InputConsumerInterface (e.g., InputComponent) and/or the OutputProducerInterface (e.g., OutputComponent), and can alter the data being passed from/to the device.

Constructor & Destructor Documentation

§ DeviceFilter()

SurgSim::Devices::DeviceFilter::DeviceFilter ( const std::string & name )

explicit

Constructor.

Parameters

name	Name of this device filter.

Member Function Documentation

§ filterInput()

void SurgSim::Devices::DeviceFilter::filterInput	(	const std::string &	device,
		const DataStructures::DataGroup &	dataToFilter,
		DataStructures::DataGroup *	result
	)

protectedvirtual

Filter the input data.

Parameters

	device	The name of the device pushing the input data.
	dataToFilter	The data that will be filtered.
[in,out]	result	A pointer to a DataGroup object that must be assignable to by the dataToFilter object. Will contain the filtered data.

Reimplemented in LabJackToPoseFilter, and SurgSim::Devices::BoolToScalar.

§ filterOutput()

void SurgSim::Devices::DeviceFilter::filterOutput	(	const std::string &	device,
		const DataStructures::DataGroup &	dataToFilter,
		DataStructures::DataGroup *	result
	)

protectedvirtual

Filter the output data.

Parameters

	device	The name of the device pulling the output data.
	dataToFilter	The data that will be filtered.
[in,out]	result	A pointer to a DataGroup object that must be assignable to by the dataToFilter object. Will contain the filtered data.

Reimplemented in LabJackToPoseFilter, and SurgSim::Devices::PoseIntegrator.

§ handleInput()

void SurgSim::Devices::DeviceFilter::handleInput	(	const std::string &	device,
		const DataStructures::DataGroup &	inputData
	)

overridevirtual

Notifies the consumer that the application input coming from the device has been updated.

Typical input data contents (but note that individual devices may do things differently):

type	name
pose	"pose"	Device pose (units are meters).
bool	"button1"	State of the first device button.
bool	"button2"	State of the second device button (and so on).

§ initialize()

bool SurgSim::Devices::DeviceFilter::initialize ( )

overridevirtual

Fully initialize the device.

When the manager object creates the device, the internal state of the device usually isn't fully initialized yet. This method performs any needed initialization.

Implements SurgSim::Input::DeviceInterface.

§ initializeInput()

void SurgSim::Devices::DeviceFilter::initializeInput	(	const std::string &	device,
		const DataStructures::DataGroup &	inputData
	)

overridevirtual

Set the initial input data group.

Parameters

device	The name of the device that is producing the input. This should only be used to identify the device (e.g. if the consumer is listening to several devices at once).
inputData	The application input state coming from the device.

Implements SurgSim::Input::InputConsumerInterface.

Reimplemented in LabJackToPoseFilter, SurgSim::Devices::PoseIntegrator, and SurgSim::Devices::RecordPose.

§ isInitialized()

bool SurgSim::Devices::DeviceFilter::isInitialized ( ) const

overridevirtual

Returns: true if the device has been initialized and has not yet been finalized.

Implements SurgSim::Input::DeviceInterface.

§ requestOutput()

bool SurgSim::Devices::DeviceFilter::requestOutput	(	const std::string &	device,
		DataStructures::DataGroup *	outputData
	)

overridevirtual

Asks the producer to provide output state to the device.

Note that devices may never call this method, e.g. because the device doesn't actually have any output capability.

Typical output data contents (but note that individual devices may do things differently):

type	name
vector	"force"	Commanded force for the device (units are newtons).
vector	"torque"	Commanded torque for the device (units are newton-meters).
bool	"isEnabled"	Safety switch input.

type	name
bool	"isHomed"	Device homing status.
bool	"isHomedX"	Individual homing status for the X axis (and so on).
bool	"isHeld"	Safety sensor etc. status.
string	"model"	Device model description.
string	"serial"	Serial number string.
(any)	"debug:*"	Various debugging information

type	name
bool	"led0"	Desired state for LED 0.
bool	"led1"	Desired state for LED 1.
string	"toolId"	Calibration ID to use, e.g. for camera devices.

	device	The name of the device that is requesting the output. This should only be used to identify the device (e.g. if the producer is listening to several devices at once).
[out]	outputData	The application output state being fed into the device.

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

§ DeviceFilter()

Member Function Documentation

§ filterInput()

§ filterOutput()

§ handleInput()

§ initialize()

§ initializeInput()

§ isInitialized()

§ requestOutput()