KmlLogger.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 <memory>
#include "internal/Node/Node.hpp"
#include "internal/gui/widgets/DynamicInputPins.hpp"
#include "Nodes/DataLogger/Protocol/FileWriter.hpp"
#include <Eigen/src/Core/Matrix.h>
 
namespace NAV
{
class NodeData;

class KmlLogger : public Node, public FileWriter
{
  public:
    KmlLogger();
    ~KmlLogger() override;
    KmlLogger(const KmlLogger&) = delete;
    KmlLogger(KmlLogger&&) = delete;
    KmlLogger& operator=(const KmlLogger&) = delete;
    KmlLogger& operator=(KmlLogger&&) = 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;

    void flush() override;
 
  private:
    bool initialize() override;

    void deinitialize() override;

    static void pinAddCallback(Node* node);
    static void pinDeleteCallback(Node* node, size_t pinIdx);

    std::vector<std::vector<Eigen::Vector3d>> _positionData;

    void writeObservation(InputPin::NodeDataQueue& queue, size_t pinIdx);

    gui::widgets::DynamicInputPins _dynamicInputPins{ 0, this, pinAddCallback, pinDeleteCallback, 1 };
};
 
} // namespace NAV