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/.
 
/// @file Merger.hpp
/// @brief Merger Node
/// @author T. Topp (topp@ins.uni-stuttgart.de)
/// @date 2021-02-01
 
#pragma once
 
#include "internal/Node/Node.hpp"
 
#include "util/Eigen.hpp"
 
namespace NAV
{
/// @brief Merges two input ports into a single output port
class Merger : public Node
{
  public:
    /// @brief Default constructor
    Merger();
    /// @brief Destructor
    ~Merger() override;
    /// @brief Copy constructor
    Merger(const Merger&) = delete;
    /// @brief Move constructor
    Merger(Merger&&) = delete;
    /// @brief Copy assignment operator
    Merger& operator=(const Merger&) = delete;
    /// @brief Move assignment operator
    Merger& operator=(Merger&&) = delete;
 
    /// @brief String representation of the Class Type
    [[nodiscard]] static std::string typeStatic();
 
    /// @brief String representation of the Class Type
    [[nodiscard]] std::string type() const override;
 
    /// @brief String representation of the Class Category
    [[nodiscard]] static std::string category();
 
    /// @brief Called when a new link is to be established
    /// @param[in] startPin Pin where the link starts
    /// @param[in] endPin Pin where the link ends
    /// @return True if link is allowed, false if link is rejected
    bool onCreateLink(OutputPin& startPin, InputPin& endPin) override;
 
    /// @brief Called when a link was deleted
    /// @param[in] startPin Pin where the link starts
    /// @param[in] endPin Pin where the link ends
    void afterDeleteLink(OutputPin& startPin, InputPin& endPin) override;
 
  private:
    constexpr static size_t OUTPUT_PORT_INDEX_FLOW = 0;       ///< @brief Flow
    constexpr static size_t INPUT_PORT_INDEX_FLOW_FIRST = 0;  ///< @brief Flow
    constexpr static size_t INPUT_PORT_INDEX_FLOW_SECOND = 1; ///< @brief Flow
 
    /// @brief Set the Pin Identifiers for the other pin depending on the connected pin
    /// @param[in] connectedPinIndex The connected pin
    /// @param[in] otherPinIndex The unconnected pin which needs the identifiers to be set
    /// @param[in] dataIdentifiers The data Identifier to be considered
    void setPinIdentifiers(size_t connectedPinIndex, size_t otherPinIndex, const std::vector<std::string>& dataIdentifiers);
 
    /// @brief Checks if link on the pin is still valid and refreshes if so
    /// @param[in] oldDataIdentifiers Data identifiers which were previously set
    void updateOutputPin(const std::vector<std::string>& oldDataIdentifiers);
 
    /// @brief Receive data
    /// @param[in] queue Queue with all the received data messages
    /// @param[in] pinIdx Index of the pin the data is received on
    void receiveData(InputPin::NodeDataQueue& queue, size_t pinIdx);
};
 
} // namespace NAV