Demo.hpp

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// This file is part of INSTINCT, the INS Toolkit for Integrated
// Navigation Concepts and Training by the Institute of Navigation of
// the University of Stuttgart, Germany.
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
 
#pragma once
 
#include "internal/Node/Node.hpp"
 
#include "util/Eigen.hpp"
#include <array>
#include "util/CallbackTimer.hpp"
 
namespace NAV
{
class Demo : public Node
{
  public:
    Demo();
    ~Demo() override;
    Demo(const Demo&) = delete;
    Demo(Demo&&) = delete;
    Demo& operator=(const Demo&) = delete;
    Demo& operator=(Demo&&) = delete;
 
    [[nodiscard]] static std::string typeStatic();
 
    [[nodiscard]] std::string type() const override;
 
    [[nodiscard]] static std::string category();
 
    void guiConfig() override;
 
    [[nodiscard]] json save() const override;
 
    void restore(const json& j) override;
 
    bool resetNode() override;
 
    bool onCreateLink(OutputPin& startPin, InputPin& endPin) override;
 
    void onDeleteLink(OutputPin& startPin, InputPin& endPin) override;
 
    struct DemoData
    {
        std::array<int, 3> integer = { 12, -2, 2 }; 
        bool boolean = false;                       
    };
 
  private:
    constexpr static size_t OUTPUT_PORT_INDEX_FLOW = 1;      
    constexpr static size_t OUTPUT_PORT_INDEX_BOOL = 2;      
    constexpr static size_t OUTPUT_PORT_INDEX_INT = 3;       
    constexpr static size_t OUTPUT_PORT_INDEX_FLOAT = 4;     
    constexpr static size_t OUTPUT_PORT_INDEX_DOUBLE = 5;    
    constexpr static size_t OUTPUT_PORT_INDEX_STRING = 6;    
    constexpr static size_t OUTPUT_PORT_INDEX_DEMO_DATA = 7; 
    constexpr static size_t OUTPUT_PORT_INDEX_MATRIX = 8;    
    constexpr static size_t INPUT_PORT_INDEX_DEMO_NODE = 0;  
    constexpr static size_t INPUT_PORT_INDEX_FLOW = 1;       
    constexpr static size_t INPUT_PORT_INDEX_BOOL = 2;       
    constexpr static size_t INPUT_PORT_INDEX_INT = 3;        
    constexpr static size_t INPUT_PORT_INDEX_FLOAT = 4;      
    constexpr static size_t INPUT_PORT_INDEX_DOUBLE = 5;     
    constexpr static size_t INPUT_PORT_INDEX_STRING = 6;     
    constexpr static size_t INPUT_PORT_INDEX_DEMO_DATA = 7;  
    constexpr static size_t INPUT_PORT_INDEX_MATRIX = 8;     
 
    bool initialize() override;
 
    void deinitialize() override;
 
    void receiveData(InputPin::NodeDataQueue& queue, size_t pinIdx);
 
    [[nodiscard]] std::shared_ptr<const NodeData> peekPollData(bool peek = false);
 
    [[nodiscard]] std::shared_ptr<const NodeData> pollData();
 
    void updateOutputFlowPin();
 
    bool _fileReaderInsteadSensor = false;
 
    CallbackTimer _timer;
 
    static void readSensorDataThread(void* userData);
 
    int _outputFrequency = 1;
    int _receivedDataCnt = 0;
 
    int _iPollData = 0;
    int _nPollData = 20;
 
    bool _valueBool = true;                                         
    int _valueInt = -1;                                             
    float _valueFloat = 65.4F;                                      
    double _valueDouble = 1242.342;                                 
    std::string _valueString = "Demo";                              
    DemoData _valueObject;                                          
    Eigen::MatrixXd _valueMatrix = Eigen::MatrixXd::Identity(3, 3); 
    size_t _stringUpdateCounter = 0;                                
 
    void stringUpdatedNotifyFunction(const InsTime& insTime, size_t pinIdx);
};
 
} // namespace NAV