General signal target to store incoming signals for post-processing. More...

#include <common_signal_target.h>

Inheritance diagram for corbo::CommonSignalTarget:

Classes
struct	SignalGroup
	Tree node containing a group of signals and a set of child tree nodes. More...

Public Types
using	Ptr = std::shared_ptr< CommonSignalTarget >
	Virtual destructor. More...

Public Types inherited from corbo::SignalTargetInterface
using	Ptr = std::shared_ptr< SignalTargetInterface >

Public Member Functions
void	clear ()
	Erase stored signals. More...

SignalGroup *	getGroup (const std::string &full_group_name)

SignalInterface::Ptr	getSignal (const std::string &full_signal_name)

const SignalGroup &	getSignals () const
	Retrieve read-only-access to the underlying signal-tree. More...

SignalGroup &	getSignalsRef ()

bool	isEmpty ()

void	registerMeasurement (const std::string &, int, const std::vector< std::string > &={}, bool zero_order_hold=false) override
	Register a measurement type at current target. More...

void	registerTimeSeries (const std::string &, int, bool zero_order_hold=false) override
	Register a time series type at current target. More...

void	removeSignal (const std::string &name)

void	sendIndexedValues (IndexedValuesSignal::Ptr indexed_values) override
	Send signal containing values indexed by a single integer. More...

void	sendIndexedValuesSet (IndexedValuesSetSignal::Ptr indexed_values_set) override
	Send signal containing a set of values indexed by integers (int to double[] map) More...

void	sendMatrix (MatrixSignal::Ptr matrix) override
	Send a matrix to the target. More...

void	sendMeasurement (Measurement::ConstPtr measurement) override
	Send a measurement to the target. More...

void	sendTimeSeries (TimeSeriesSignal::Ptr time_series) override
	Send a time series to the target. More...

void	setTopLevelGroupName (const std::string &name)

virtual	~CommonSignalTarget ()

Public Member Functions inherited from corbo::SignalTargetInterface
virtual void	sendIndexedValues (const std::string &unique_name, int index, const std::vector< double > &values)
	Send signal containing values indexed by a single integer. More...

virtual void	sendIndexedValues (const std::string &unique_name, int index, const Eigen::Ref< const Eigen::VectorXd > &values)
	Send signal containing values indexed by a single integer. More...

virtual void	sendMatrix (const std::string &unique_name, const Eigen::Ref< const Eigen::MatrixXd > &matrix, const std::string &label="")
	Send a matrix to the target. More...

virtual void	sendMeasurement (const std::string &unique_name, double time, const std::vector< double > &values, const std::vector< std::string > &value_labels={})
	Send a measurement to the target. More...

virtual void	sendMeasurement (const std::string &unique_name, double time, const Eigen::Ref< const Eigen::VectorXd > &values, const std::vector< std::string > &value_labels={})
	Send a measurement to the target. More...

virtual void	sendTimeSeries (const std::string &unique_name, TimeSeries::Ptr time_series)
	Send a time series to the target. More...

virtual	~SignalTargetInterface ()
	Virtual destructor. More...

Protected Member Functions
SignalGroup *	expandGroups (const std::string full_signal_name, std::string signal_name_out=nullptr, SignalInterface::Ptr signal=nullptr)
	Parse full signal name, create tree-sub-groups if not found and return related signal group. More...

Private Attributes
SignalGroup	_signals
	Root element of the signal tree. More...

Detailed Description

General signal target to store incoming signals for post-processing.

Signals are stored into an internal tree structure according to their namespaces/groups (refer to SignalInterface for a description of signal namespaces). These signals are then available for any post-processing purposes or file export.

See also: SignalTargetInterface SignalTargetRPC YamlExporter

Author: Christoph Rösmann (chris.nosp@m.toph.nosp@m..roes.nosp@m.mann.nosp@m.@tu-d.nosp@m.ortm.nosp@m.und.d.nosp@m.e)

Todo:: Add possibility to reserve space for data (e.g. for TimeSeries object)

Definition at line 53 of file common_signal_target.h.

Member Typedef Documentation

◆ Ptr

using corbo::CommonSignalTarget::Ptr = std::shared_ptr<CommonSignalTarget>

Virtual destructor.

Definition at line 67 of file common_signal_target.h.

Constructor & Destructor Documentation

◆ ~CommonSignalTarget()

virtual corbo::CommonSignalTarget::~CommonSignalTarget ( )

inlinevirtual

Definition at line 68 of file common_signal_target.h.

Member Function Documentation

◆ clear()

void corbo::CommonSignalTarget::clear ( )

Erase stored signals.

Definition at line 320 of file common_signal_target.cpp.

◆ expandGroups()

CommonSignalTarget::SignalGroup * corbo::CommonSignalTarget::expandGroups	(	const std::string	full_signal_name,
		std::string *	signal_name_out = `nullptr`,
		SignalInterface::Ptr *	signal = `nullptr`
	)

protected

Parse full signal name, create tree-sub-groups if not found and return related signal group.

This methods parses the provded signal name and expands the tree according to the signal namespaces/groups. The signal is not added to its corresponding group in the tree yet, but a pointer to its lowest containing group is returned.

Remarks: Make sure to check whether a signal with the same identifier is already present (refer to the third argument).

Parameters

[in]	full_signal_name	Signal name containing all namespaces (separated by '/').
[out]	signal_name_out	Signal name without preceding namespaces/groups [optional]
[out]	signal	Retrieve a previous signal with the same identifier if any, otherwise return null [optional].

Returns: Pointer to the lowest containing group/namespace of the signal (which might be newly created during expansion).

Definition at line 265 of file common_signal_target.cpp.

◆ getGroup()

CommonSignalTarget::SignalGroup * corbo::CommonSignalTarget::getGroup ( const std::string & full_group_name )

Definition at line 199 of file common_signal_target.cpp.

◆ getSignal()

SignalInterface::Ptr corbo::CommonSignalTarget::getSignal ( const std::string & full_signal_name )

Definition at line 232 of file common_signal_target.cpp.

◆ getSignals()

const SignalGroup& corbo::CommonSignalTarget::getSignals ( ) const

inline

Retrieve read-only-access to the underlying signal-tree.

Returns: Signal tree structure starting with the root node of type CommonSignalTarget::SignalGroup

Definition at line 109 of file common_signal_target.h.

◆ getSignalsRef()

SignalGroup& corbo::CommonSignalTarget::getSignalsRef ( )

inline

Definition at line 111 of file common_signal_target.h.

◆ isEmpty()

bool corbo::CommonSignalTarget::isEmpty ( )

inline

Definition at line 103 of file common_signal_target.h.

◆ registerMeasurement()

void corbo::CommonSignalTarget::registerMeasurement	(	const std::string &	unique_name,
		int	value_dimension,
		const std::vector< std::string > &	value_labels = `{}`,
		bool	zero_order_hold = `false`
	)

inlineoverridevirtual

Register a measurement type at current target.

A measurement is meant to represent a vector of floating point numbers at a specified point in time. Hence, targets might store measurements of the same type (unique_name) into a TimeSeries object in order to record the whole sequence for batch-processing or visualization.

Remarks: Signal registration is optional (at least for the current set of targets), but it is recommended for pre-memory-allocation purposes and e.g. for online plotting support in the GUI.

See also: Measurement sendMeasurement

Parameters

[in]	unique_name	Identifier for the current streams of measurements (same type, but different time-stamps allowed).
[in]	value_dimension	Dimension of the measurement vector (number of floating point values).
[in]	value_labels	Labels for individual components of the measurement vector, e.g. for data export or plotting (axes labels).
[in]	zero_order_hold	Specify whether the signal is intended to be holded (zero order hold) between two consecutive values.

Implements corbo::SignalTargetInterface.

Definition at line 71 of file common_signal_target.h.

◆ registerTimeSeries()

void corbo::CommonSignalTarget::registerTimeSeries	(	const std::string &	unique_name,
		int	value_dimension,
		bool	zero_order_hold = `false`
	)

inlineoverridevirtual

Register a time series type at current target.

A TimeSeries is meant to represent a sequence of value vectors or measurements.

The channel associated with unique_name might be used to send a single TimeSeriesSignal or a stream of TimeSeriesSignal objects. Hence, targets might store signals of the same type (unique_name) into a collection of TimeSeries objects in order to record the whole sequence for batch-processing or visualization.

Remarks: Make sure to set TimeSeries::setTimeFromStart() in order to specify a valid sequence of TimeSeries objects w.r.t. time. The SignalHeader time stamp is currently not in use for this purpose.; Signal registration is optional (at least for the current set of targets), but it is recommended for pre-memory-allocation purposes and e.g. for online plotting support in the GUI.

See also: TimeSeriesSignal TimeSeries sendTimeSeries

Parameters

[in]	unique_name	Identifier for the current streams of measurements (same type, but different time-stamps allowed).
[in]	value_dimension	Dimension of the measurement vector (number of floating point values).
[in]	zero_order_hold	Specify whether the signal is intended to be holded (zero order hold) between two consecutive values.

Implements corbo::SignalTargetInterface.

Definition at line 77 of file common_signal_target.h.

◆ removeSignal()

void corbo::CommonSignalTarget::removeSignal ( const std::string & name )

Definition at line 176 of file common_signal_target.cpp.

◆ sendIndexedValues()

void corbo::CommonSignalTarget::sendIndexedValues ( IndexedValuesSignal::Ptr indexed_values )

overridevirtual

Send signal containing values indexed by a single integer.

Warning: Make sure to provide a valid SignalHeader including a unique name or use on of the method overloads for a more convenient usage.

See also: IndexedValuesSignal IndexedValuesSetSignal

Parameters

[in] indexed_values IndexedValuesSignal object with valid header to be sent.

Implements corbo::SignalTargetInterface.

Definition at line 92 of file common_signal_target.cpp.

◆ sendIndexedValuesSet()

void corbo::CommonSignalTarget::sendIndexedValuesSet ( IndexedValuesSetSignal::Ptr indexed_values_set )

overridevirtual

Send signal containing a set of values indexed by integers (int to double[] map)

Warning: Make sure to provide a valid SignalHeader including a unique name or use on of the method overloads for a more convenient usage.

See also: IndexedValuesSetSignal IndexedValuesSignal

Parameters

[in] indexed_values_set IndexedValuesSetSignal object with valid header to be sent.

Implements corbo::SignalTargetInterface.

Definition at line 123 of file common_signal_target.cpp.

◆ sendMatrix()

void corbo::CommonSignalTarget::sendMatrix ( MatrixSignal::Ptr matrix )

overridevirtual

Send a matrix to the target.

Warning: Make sure to provide a valid SignalHeader including a unique name or use on of the method overloads for a more convenient usage.

See also: TimeSeriesSignal TimeSeries registerTimeSeries

Parameters

[in] time_series TimeSeriesSignal object with valid header to be sent.

Implements corbo::SignalTargetInterface.

Definition at line 145 of file common_signal_target.cpp.

◆ sendMeasurement()

void corbo::CommonSignalTarget::sendMeasurement ( Measurement::ConstPtr measurement )

overridevirtual

Send a measurement to the target.

Refer to registerMeasurement() for a detailed description.

Warning: Make sure to provide a valid SignalHeader including a unique name or use on of the method overloads for a more convenient usage.

See also: Measurement registerMeasurement

Parameters

[in] measurement Measurement object with valid header to be sent.

Implements corbo::SignalTargetInterface.

Definition at line 34 of file common_signal_target.cpp.

◆ sendTimeSeries()

void corbo::CommonSignalTarget::sendTimeSeries ( TimeSeriesSignal::Ptr time_series )

overridevirtual

Send a time series to the target.

Refer to registerTimeSeries() for a detailed description.

Warning: Make sure to provide a valid SignalHeader including a unique name or use on of the method overloads for a more convenient usage.

See also: TimeSeriesSignal TimeSeries registerTimeSeries

Parameters

[in] time_series TimeSeriesSignal object with valid header to be sent.

Implements corbo::SignalTargetInterface.

Definition at line 65 of file common_signal_target.cpp.

◆ setTopLevelGroupName()

void corbo::CommonSignalTarget::setTopLevelGroupName ( const std::string & name )

inline

Definition at line 94 of file common_signal_target.h.

Member Data Documentation

◆ _signals

SignalGroup corbo::CommonSignalTarget::_signals

private

Root element of the signal tree.

Definition at line 135 of file common_signal_target.h.

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ Ptr

Constructor & Destructor Documentation

◆ ~CommonSignalTarget()

Member Function Documentation

◆ clear()

◆ expandGroups()

◆ getGroup()

◆ getSignal()

◆ getSignals()

◆ getSignalsRef()

◆ isEmpty()

◆ registerMeasurement()

◆ registerTimeSeries()

◆ removeSignal()

◆ sendIndexedValues()

◆ sendIndexedValuesSet()

◆ sendMatrix()

◆ sendMeasurement()

◆ sendTimeSeries()

◆ setTopLevelGroupName()

Member Data Documentation

◆ _signals