SurgSim::Input::InputComponent Class Reference

InputComponents connect devices to SceneElements, facilitating data transfer from a device to SceneElements and other Components. More...

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

Inheritance diagram for SurgSim::Input::InputComponent:

## Public Member Functions

| InputComponent (const std::string &name)
| Constructor. More...
virtual | ~InputComponent ()
| Destructor. More...
| SURGSIM_CLASSNAME (SurgSim::Input::InputComponent)
void | setDeviceName (const std::string &deviceName)
| Set name of the device this input component connects to. More...
std::string | getDeviceName () const
| Gets device name. More...
void | getData (SurgSim::DataStructures::DataGroup *dataGroup)
| Gets the input data. More...
bool | doInitialize () override
| Interface to be implemented by derived classes. More...
bool | doWakeUp () override
| Interface to be implemented by derived classes. More...
void | initializeInput (const std::string &device, const SurgSim::DataStructures::DataGroup &initialData) override
| Set the initial input data group. More...
void | handleInput (const std::string &device, const SurgSim::DataStructures::DataGroup &inputData) override
| Notifies the consumer that the application input coming from the device has been updated. 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::InputConsumerInterface
virtual | ~InputConsumerInterface ()
| Virtual destructor (empty). More...

## Private Attributes

std::string | m_deviceName
| Name of the device to which this input component connects. More...
SurgSim::Framework::LockedContainer< SurgSim::DataStructures::DataGroup > | m_lastInput
| Thread safe container of most recent input data. More...
std::atomic< bool > | m_hasInput

## 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

InputComponents connect devices to SceneElements, facilitating data transfer from a device to SceneElements and other Components.

## Constructor & Destructor Documentation

## InputComponent()

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

explicit

Constructor.

Parameters

  name | Name of this input component

## ~InputComponent()

SurgSim::Input::InputComponent::~InputComponent | ( |  | ) |

virtual

Destructor.

## Member Function Documentation

## doInitialize()

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

override virtual

Interface to be implemented by derived classes.

Returns
  True if component is initialized successfully; otherwise, false.

Reimplemented from SurgSim::Framework::Representation.

## doWakeUp()

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

override virtual

Interface to be implemented by derived classes.

Returns
  True if component is woken up successfully; otherwise, false.

Reimplemented from SurgSim::Framework::Representation.

## getData()

void SurgSim::Input::InputComponent::getData | ( | SurgSim::DataStructures::DataGroup * | dataGroup | ) |

Gets the input data.

Parameters

  [out] | dataGroup | The location to write the data. The pointer must be non-null.

Exceptions

  Asserts | if the InputComponent is not connected to a device.

## getDeviceName()

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

Gets device name.

Returns
  The device name.

## handleInput()

void SurgSim::Input::InputComponent::handleInput | ( | const std::string & | device,
|  | const SurgSim::DataStructures::DataGroup & | inputData
| ) |  |

override virtual

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).

Other possible contents includes:

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

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.

## initializeInput()

void SurgSim::Input::InputComponent::initializeInput | ( | const std::string & | device,
|  | const SurgSim::DataStructures::DataGroup & | inputData
| ) |  |

override virtual

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.

## setDeviceName()

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

Set name of the device this input component connects to.

Parameters

  deviceName | Name of the device this input component connects

## SURGSIM_CLASSNAME()

SurgSim::Input::InputComponent::SURGSIM_CLASSNAME | ( | SurgSim::Input::InputComponent |  | ) |

## Member Data Documentation

## m_deviceName

std::string SurgSim::Input::InputComponent::m_deviceName

private

Name of the device to which this input component connects.

## m_hasInput

std::atomic<bool> SurgSim::Input::InputComponent::m_hasInput

private

## m_lastInput

SurgSim::Framework::LockedContainer<SurgSim::DataStructures::DataGroup> SurgSim::Input::InputComponent::m_lastInput

private

Thread safe container of most recent input data.

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

- SurgSim/Input/InputComponent.h
- SurgSim/Input/InputComponent.cpp