Merger.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"
 
namespace NAV
{
class Merger : public Node
{
  public:
    Merger();
    ~Merger() override;
    Merger(const Merger&) = delete;
    Merger(Merger&&) = delete;
    Merger& operator=(const Merger&) = delete;
    Merger& operator=(Merger&&) = delete;
 
    [[nodiscard]] static std::string typeStatic();
 
    [[nodiscard]] std::string type() const override;
 
    [[nodiscard]] static std::string category();
 
    bool onCreateLink(OutputPin& startPin, InputPin& endPin) override;
 
    void afterDeleteLink(OutputPin& startPin, InputPin& endPin) override;
 
  private:
    constexpr static size_t OUTPUT_PORT_INDEX_FLOW = 0;       
    constexpr static size_t INPUT_PORT_INDEX_FLOW_FIRST = 0;  
    constexpr static size_t INPUT_PORT_INDEX_FLOW_SECOND = 1; 
 
    void setPinIdentifiers(size_t connectedPinIndex, size_t otherPinIndex, const std::vector<std::string>& dataIdentifiers);
 
    void updateOutputPin(const std::vector<std::string>& oldDataIdentifiers);
 
    void receiveData(InputPin::NodeDataQueue& queue, size_t pinIdx);
};
 
} // namespace NAV