SurgSim::Input::OutputComponent Class Reference

OutputComponents connect SceneElements to devices, facilitating data transfer from a SceneElement to a device. More...

`#include <SurgSim/Input/OutputComponent.h>`

Inheritance diagram for SurgSim::Input::OutputComponent:

## Public Member Functions

| OutputComponent (const std::string &name)
| Constructor. More...
virtual | ~OutputComponent ()
| Destructor. More...
| SURGSIM_CLASSNAME (SurgSim::Input::OutputComponent)
void | setDeviceName (const std::string &deviceName)
| Set name of the device of output component. More...
std::string | getDeviceName () const
| Gets device name. More...
virtual void | setData (const SurgSim::DataStructures::DataGroup &dataGroup)
| Sets the output data. More...
virtual bool | doInitialize ()
| Overridden from Component, do nothing. More...
virtual bool | doWakeUp ()
| Overridden from Component, do nothing. More...
bool | requestOutput (const std::string &device, SurgSim::DataStructures::DataGroup *outputData) override
| Asks the producer to provide output state to the device. More...
Public Member Functions inherited from SurgSim::Framework::Representation
| Representation (const std::string &name)
| Constructor. More...
virtual | ~Representation ()
| Destructor. More...
virtual void | setLocalPose (const SurgSim::Math::RigidTransform3d &pose)
| Set the pose of the representation with respect to the Scene Element. More...
virtual SurgSim::Math::RigidTransform3d | getLocalPose () const
| Get the pose of the representation with respect to the Scene Element. More...
virtual SurgSim::Math::RigidTransform3d | getPose () const
| Get the pose of the representation in world coordinates. More...
Public Member Functions inherited from SurgSim::Framework::Component
| Component (const std::string &name)
| Constructor. More...
virtual | ~Component ()
| Destructor. More...
std::string | getName () const
| Gets component name. More...
std::string | getFullName () const
| Gets a string containing the name of the Component and (if it has one) its SceneElement. More...
void | setName (const std::string &name)
| Sets the name of component. More...
boost::uuids::uuid | getUuid () const
| Gets the id of the component. More...
bool | isInitialized () const
bool | initialize (const std::weak_ptr< Runtime > &runtime)
| Initialize this component, this needs to be called before wakeUp() can be called. More...
bool | isAwake () const
bool | wakeUp ()
| Wakeup this component, this will be called when the component is inserted into the ComponentManager that is responsible for handling this component. More...
void | retire ()
| Retire this component, this will be called when the component is removed from the ComponentManager that is responsible for handling this component. More...
void | setScene (std::weak_ptr< Scene > scene)
| Sets the scene. More...
std::shared_ptr< Scene > | getScene ()
| Gets the scene. More...
void | setSceneElement (std::weak_ptr< SceneElement > sceneElement)
| Sets the scene element. More...
std::shared_ptr< SceneElement > | getSceneElement ()
| Gets the scene element. More...
std::shared_ptr< const SceneElement > | getSceneElement () const
| Gets the scene element, constant version. More...
std::shared_ptr< Runtime > | getRuntime () const
| Get the runtime which contains this component. More...
virtual std::string | getClassName () const
| The class name for this class, this being the base class it should return SurgSim::Framework::Component but this would make missing implemenentations of this hard to catch, therefore this calls SURGSIM_FAILURE. More...
std::shared_ptr< Component > | getSharedPtr ()
| Gets a shared pointer to this component. More...
virtual void | doRetire ()
| Interface to be implemented by derived classes Has a default implementation, does nothing. More...
bool | isActive () const
virtual void | setLocalActive (bool val)
| Set the component's active state. More...
bool | isLocalActive () const
Public Member Functions inherited from SurgSim::Framework::Accessible
| Accessible ()
| Default Constructor. More...
| ~Accessible ()
| Destructor. More...
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...
template<>
boost::any | getValue (const std::string &name) const
Public Member Functions inherited from SurgSim::Input::OutputProducerInterface
virtual | ~OutputProducerInterface ()
| Virtual destructor (empty). More...

## Private Attributes

std::string | m_deviceName
| Name of the device to which this output component connects. More...
SurgSim::Framework::LockedContainer< SurgSim::DataStructures::DataGroup > | m_lastOutput
| Thread safe container of most recent output data. More...
bool | m_haveData
| True if there is data available. More...

## 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< Component, std::string >
typedef ObjectFactory1< Component, std::string > | FactoryType
Static Public Member Functions inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
static FactoryType & | getFactory ()
Protected Member Functions inherited from SurgSim::Framework::Component
virtual std::shared_ptr< PoseComponent > | getPoseComponent ()
| Get the PoseComponent for this component. More...
virtual std::shared_ptr< const PoseComponent > | getPoseComponent () const
| Get the PoseComponent for this component, constant access. More...

## Detailed Description

OutputComponents connect SceneElements to devices, facilitating data transfer from a SceneElement to a device.

## Constructor & Destructor Documentation

## OutputComponent()

SurgSim::Input::OutputComponent::OutputComponent | ( | const std::string & | name | ) |

explicit

Constructor.

Parameters

  name | Name of this output component

## ~OutputComponent()

SurgSim::Input::OutputComponent::~OutputComponent | ( |  | ) |

virtual

Destructor.

## Member Function Documentation

## doInitialize()

bool SurgSim::Input::OutputComponent::doInitialize | ( |  | ) |

virtual

Overridden from Component, do nothing.

Reimplemented from SurgSim::Framework::Representation.

## doWakeUp()

bool SurgSim::Input::OutputComponent::doWakeUp | ( |  | ) |

virtual

Overridden from Component, do nothing.

Reimplemented from SurgSim::Framework::Representation.

## getDeviceName()

std::string SurgSim::Input::OutputComponent::getDeviceName | ( |  | ) | const

Gets device name.

Returns
  The device name.

## requestOutput()

bool SurgSim::Input::OutputComponent::requestOutput | ( | const std::string & | device,
|  | SurgSim::DataStructures::DataGroup * | outputData
| ) |  |

override virtual

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.

Other possible contents includes:

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.

Parameters

  | 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.

Returns
  true if the producer has provided some output, false if it refuses to do so. A producer that returns false should leave outputData unmodified.

Implements SurgSim::Input::OutputProducerInterface.

## setData()

void SurgSim::Input::OutputComponent::setData | ( | const SurgSim::DataStructures::DataGroup & | dataGroup | ) |

virtual

Sets the output data.

Parameters

  dataGroup | The data to output.

Reimplemented in SurgSim::Input::CombiningOutputComponent.

## setDeviceName()

void SurgSim::Input::OutputComponent::setDeviceName | ( | const std::string & | deviceName | ) |

Set name of the device of output component.

Parameters

  deviceName | The name of the device that will receive the output data.

## SURGSIM_CLASSNAME()

SurgSim::Input::OutputComponent::SURGSIM_CLASSNAME | ( | SurgSim::Input::OutputComponent |  | ) |

## Member Data Documentation

## m_deviceName

std::string SurgSim::Input::OutputComponent::m_deviceName

private

Name of the device to which this output component connects.

## m_haveData

bool SurgSim::Input::OutputComponent::m_haveData

private

True if there is data available.

## m_lastOutput

SurgSim::Framework::LockedContainer<SurgSim::DataStructures::DataGroup> SurgSim::Input::OutputComponent::m_lastOutput

private

Thread safe container of most recent output data.

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

- SurgSim/Input/OutputComponent.h
- SurgSim/Input/OutputComponent.cpp