Demonstrates the basic GUI functionality of nodes. More...

Data Structures
struct	DemoData
	Data struct transmitted over an output port. More...

Public Types
enum class	DemoPins : uint8_t { Delegate , Flow , Bool , Int , Float , Double , String , Object , Matrix }
	Pin types used in this demo. More...

Public Types inherited from NAV::Node
enum class	Mode : uint8_t { REAL_TIME , POST_PROCESSING }
	Different Modes the Node can work in. More...

enum class	State : uint8_t { Disabled , Deinitialized , DoInitialize , Initializing , Initialized , DoDeinitialize , Deinitializing , DoShutdown , Shutdown }
	Possible states of the node. More...

Public Member Functions
void	afterDeleteLink (OutputPin &startPin, InputPin &endPin) override
	Called when a link was deleted.

void	deinitialize () override
	Deinitialize the node.

	Demo ()
	Default constructor.

	Demo (const Demo &)=delete
	Copy constructor.

	Demo (Demo &&)=delete
	Move constructor.

std::optional< size_t >	getPinIdx (DemoPins pinType) const
	Calculates the pin index for the given type.

void	guiConfig () override
	ImGui config window which is shown on double click.

bool	initialize () override
	Initialize the node.

bool	onCreateLink (OutputPin &startPin, InputPin &endPin) override
	Called when a new link is to be established.

Demo &	operator= (const Demo &)=delete
	Copy assignment operator.

Demo &	operator= (Demo &&)=delete
	Move assignment operator.

std::shared_ptr< const NodeData >	peekPollData (bool peek=false)
	Polls data from the file. This function is needed, if we have multiple output pins, polling data.

std::shared_ptr< const NodeData >	pollData ()
	Polls data from the file.

void	receiveData (InputPin::NodeDataQueue &queue, size_t pinIdx)
	Receive callback on the Flow pin.

bool	resetNode () override
	Resets the node. It is guaranteed that the node is initialized when this is called.

void	restore (const json &j) override
	Restores the node from a json object.

json	save () const override
	Saves the node into a json object.

void	stringUpdatedNotifyFunction (const InsTime &insTime, size_t pinIdx)
	Function to call when the string is updated.

std::string	type () const override
	String representation of the Class Type.

void	updateOutputFlowPin ()
	Updates the output flow pin depending on the GUI selection.

void	updatePins ()
	Update the pins depending on the GUI.

	~Demo () override
	Destructor.

Public Member Functions inherited from NAV::Node
virtual void	afterCreateLink (OutputPin &startPin, InputPin &endPin)
	Called when a new link was established.

bool	doDeinitialize (bool wait=false)
	Asks the node worker to deinitialize the node.

bool	doDisable (bool wait=false)
	Asks the node worker to disable the node.

bool	doEnable ()
	Enable the node.

bool	doInitialize (bool wait=false)
	Asks the node worker to initialize the node.

bool	doReinitialize (bool wait=false)
	Asks the node worker to reinitialize the node.

virtual void	flush ()
	Function called by the flow executer after finishing to flush out remaining data.

template<typename T>
std::optional< InputPin::IncomingLink::ValueWrapper< T > >	getInputValue (size_t portIndex) const
	Get Input Value connected on the pin. Only const data types.

Mode	getMode () const
	Get the current mode of the node.

const ImVec2 &	getSize () const
	Get the size of the node.

State	getState () const
	Get the current state of the node.

bool	hasInputPinWithSameTime (const InsTime &insTime) const
	Checks wether there is an input pin with the same time.

InputPin &	inputPinFromId (ax::NodeEditor::PinId pinId)
	Returns the pin with the given id.

size_t	inputPinIndexFromId (ax::NodeEditor::PinId pinId) const
	Returns the index of the pin.

void	invokeCallbacks (size_t portIndex, const std::shared_ptr< const NodeData > &data)
	Calls all registered callbacks on the specified output port.

bool	isDisabled () const
	Checks if the node is disabled.

bool	isInitialized () const
	Checks if the node is initialized.

bool	isOnlyRealtime () const
	Checks if the node is only working in real time (sensors, network interfaces, ...)

bool	isTransient () const
	Checks if the node is changing its state currently.

std::string	nameId () const
	Node name and id.

	Node (const Node &)=delete
	Copy constructor.

	Node (Node &&)=delete
	Move constructor.

	Node (std::string name)
	Constructor.

void	notifyOutputValueChanged (size_t pinIdx, const InsTime &insTime, const std::scoped_lock< std::mutex > &&guard)
	Notifies connected nodes about the change.

virtual void	onDeleteLink (OutputPin &startPin, InputPin &endPin)
	Called when a link is to be deleted.

Node &	operator= (const Node &)=delete
	Copy assignment operator.

Node &	operator= (Node &&)=delete
	Move assignment operator.

OutputPin &	outputPinFromId (ax::NodeEditor::PinId pinId)
	Returns the pin with the given id.

size_t	outputPinIndexFromId (ax::NodeEditor::PinId pinId) const
	Returns the index of the pin.

void	releaseInputValue (size_t portIndex)
	Unblocks the connected node. Has to be called when the input value should be released and getInputValue was not called.

std::scoped_lock< std::mutex >	requestOutputValueLock (size_t pinIdx)
	Blocks the thread till the output values was read by all connected nodes.

virtual void	restoreAtferLink (const json &j)
	Restores link related properties of the node from a json object.

void	wakeWorker ()
	Wakes the worker thread.

virtual	~Node ()
	Destructor.

Static Public Member Functions
static std::string	category ()
	String representation of the Class Category.

static void	readSensorDataThread (void *userData)
	Function which performs the async data reading.

static std::string	typeStatic ()
	String representation of the Class Type.

Static Public Member Functions inherited from NAV::Node
static std::string	toString (State state)
	Converts the state into a printable text.

Data Fields
bool	_enableBool
	Switch to enable the bool pin.

bool	_enableDelegate
	Switch to enable the delegate pin.

bool	_enableDouble
	Switch to enable the double pin.

bool	_enableFloat
	Switch to enable the float pin.

bool	_enableFlow
	Switch to enable the flow pin.

bool	_enableInt
	Switch to enable the int pin.

bool	_enableMatrix
	Switch to enable the matrix pin.

bool	_enableObject
	Switch to enable the object pin.

bool	_enableString
	Switch to enable the string pin.

bool	_fileReaderInsteadSensor
	Whether to have a file reader instead of a sensor output pin.

int	_iPollData
	Counter for data Reading.

int	_nPollData
	Amount of Observations to be read.

int	_outputFrequency
	Output frequency for the simulated sensor data.

int	_receivedDataCnt
	Counter how often data was received.

size_t	_stringUpdateCounter
	Counter of how often the string was updated.

CallbackTimer	_timer
	Timer object to handle async data requests.

bool	_valueBool
	Value which is represented over the Bool pin.

double	_valueDouble
	Value which is represented over the Double pin.

float	_valueFloat
	Value which is represented over the Float pin.

int	_valueInt
	Value which is represented over the Int pin.

Eigen::MatrixXd	_valueMatrix
	Value which is represented over the Matrix pin.

DemoData	_valueObject
	Value which is represented over the Object pin.

std::string	_valueString
	Value which is represented over the String pin.

Data Fields inherited from NAV::Node
bool	callbacksEnabled
	Enables the callbacks.

ax::NodeEditor::NodeId	id
	Unique Id of the Node.

std::vector< InputPin >	inputPins
	List of input pins.

Kind	kind
	Kind of the Node.

std::string	name
	Name of the Node.

std::vector< OutputPin >	outputPins
	List of output pins.

std::multimap< InsTime, std::pair< OutputPin *, size_t > >	pollEvents
	Map with callback events (sorted by time)

Additional Inherited Members
Protected Attributes inherited from NAV::Node
ImVec2	_guiConfigDefaultWindowSize

bool	_hasConfig
	Flag if the config window should be shown.

bool	_lockConfigDuringRun
	Lock the config when executing post-processing.

bool	_onlyRealTime
	Whether the node can run in post-processing or only real-time.

Detailed Description

Demonstrates the basic GUI functionality of nodes.

Definition at line 27 of file Demo.hpp.

Member Enumeration Documentation

◆ DemoPins

enum class NAV::Demo::DemoPins : uint8_t

strong

Pin types used in this demo.

Enumerator
Delegate	Delegate pins giving access to the complete connected node.
Flow	Flow pins transmitting data as timestamped shared pointers.
Bool	Booleans.
Int	Integer numbers.
Float	Float numbers.
Double	Double numbers.
String	Strings.
Object	Custom objects.
Matrix	Matrix objects.

Definition at line 96 of file Demo.hpp.

Constructor & Destructor Documentation

◆ Demo() [1/3]

NAV::Demo::Demo ( )

Default constructor.

Definition at line 75 of file Demo.cpp.

◆ ~Demo()

NAV::Demo::~Demo ( )

override

Destructor.

Definition at line 93 of file Demo.cpp.

◆ Demo() [2/3]

NAV::Demo::Demo ( const Demo & )

delete

Copy constructor.

◆ Demo() [3/3]

NAV::Demo::Demo ( Demo && )

delete

Move constructor.

Member Function Documentation

◆ afterDeleteLink()

void NAV::Demo::afterDeleteLink	(	OutputPin &	startPin,
		InputPin &	endPin )

overridevirtual

Called when a link was deleted.

Parameters

[in]	startPin	Pin where the link starts
[in]	endPin	Pin where the link ends

Reimplemented from NAV::Node.

Definition at line 676 of file Demo.cpp.

◆ category()

std::string NAV::Demo::category ( )

staticnodiscard

String representation of the Class Category.

Definition at line 108 of file Demo.cpp.

◆ deinitialize()

void NAV::Demo::deinitialize ( )

overridevirtual

Deinitialize the node.

Reimplemented from NAV::Node.

Definition at line 496 of file Demo.cpp.

◆ getPinIdx()

std::optional< size_t > NAV::Demo::getPinIdx ( DemoPins pinType ) const

Calculates the pin index for the given type.

Parameters

[in] pinType Pin type to use

Returns: Index of the pin (input and output pins have same indices)

Definition at line 586 of file Demo.cpp.

◆ guiConfig()

void NAV::Demo::guiConfig ( )

overridevirtual

ImGui config window which is shown on double click.

Attention: Don't forget to set _hasConfig to true in the constructor of the node

Reimplemented from NAV::Node.

Definition at line 113 of file Demo.cpp.

◆ initialize()

bool NAV::Demo::initialize ( )

overridevirtual

Initialize the node.

Reimplemented from NAV::Node.

Definition at line 475 of file Demo.cpp.

◆ onCreateLink()

bool NAV::Demo::onCreateLink	(	OutputPin &	startPin,
		InputPin &	endPin )

overridevirtual

Called when a new link is to be established.

Parameters

[in]	startPin	Pin where the link starts
[in]	endPin	Pin where the link ends

Returns: True if link is allowed, false if link is rejected

Reimplemented from NAV::Node.

Definition at line 664 of file Demo.cpp.

◆ operator=() [1/2]

Demo & NAV::Demo::operator= ( const Demo & )

delete

Copy assignment operator.

◆ operator=() [2/2]

Demo & NAV::Demo::operator= ( Demo && )

delete

Move assignment operator.

◆ peekPollData()

std::shared_ptr< const NAV::NodeData > NAV::Demo::peekPollData ( bool peek = false )

nodiscard

Polls data from the file. This function is needed, if we have multiple output pins, polling data.

Note: Not used in the node as only one output flow pin which does not need peeking and therefore utilizes the NAV::Demo::pollData() function

Parameters

[in] peek Specifies if the data should be peeked (without moving the read cursor) or read

Returns: The read observation

Definition at line 741 of file Demo.cpp.

◆ pollData()

std::shared_ptr< const NAV::NodeData > NAV::Demo::pollData ( )

nodiscard

Polls data from the file.

Returns: The read observation

Definition at line 766 of file Demo.cpp.

◆ readSensorDataThread()

void NAV::Demo::readSensorDataThread ( void * userData )

static

Function which performs the async data reading.

Parameters

[in] userData Pointer to the object

Definition at line 694 of file Demo.cpp.

◆ receiveData()

void NAV::Demo::receiveData	(	InputPin::NodeDataQueue &	queue,
		size_t	pinIdx )

Receive callback on the Flow pin.

Parameters

[in]	queue	Queue with all the received data messages
[in]	pinIdx	Index of the pin the data is received on

Definition at line 686 of file Demo.cpp.

◆ resetNode()

bool NAV::Demo::resetNode ( )

overridevirtual

Resets the node. It is guaranteed that the node is initialized when this is called.

Reimplemented from NAV::Node.

Definition at line 625 of file Demo.cpp.

◆ restore()

void NAV::Demo::restore ( const json & j )

overridevirtual

Restores the node from a json object.

Parameters

[in] j Json object with the node state

Reimplemented from NAV::Node.

Definition at line 445 of file Demo.cpp.

◆ save()

json NAV::Demo::save ( ) const

nodiscardoverridevirtual

Saves the node into a json object.

Reimplemented from NAV::Node.

Definition at line 416 of file Demo.cpp.

◆ stringUpdatedNotifyFunction()

void NAV::Demo::stringUpdatedNotifyFunction	(	const InsTime &	insTime,
		size_t	pinIdx )

Function to call when the string is updated.

Parameters

[in]	insTime	Time the data was received
[in]	pinIdx	Index of the pin the data is received on

Definition at line 782 of file Demo.cpp.

◆ type()

std::string NAV::Demo::type ( ) const

nodiscardoverridevirtual

String representation of the Class Type.

Implements NAV::Node.

Definition at line 103 of file Demo.cpp.

◆ typeStatic()

std::string NAV::Demo::typeStatic ( )

staticnodiscard

String representation of the Class Type.

Definition at line 98 of file Demo.cpp.

◆ updateOutputFlowPin()

void NAV::Demo::updateOutputFlowPin ( )

Updates the output flow pin depending on the GUI selection.

Definition at line 635 of file Demo.cpp.

◆ updatePins()

void NAV::Demo::updatePins ( )

Update the pins depending on the GUI.

Definition at line 509 of file Demo.cpp.

Field Documentation

◆ _enableBool

bool NAV::Demo::_enableBool

Switch to enable the bool pin.

Definition at line 154 of file Demo.hpp.

◆ _enableDelegate

bool NAV::Demo::_enableDelegate

Switch to enable the delegate pin.

Definition at line 152 of file Demo.hpp.

◆ _enableDouble

bool NAV::Demo::_enableDouble

Switch to enable the double pin.

Definition at line 157 of file Demo.hpp.

◆ _enableFloat

bool NAV::Demo::_enableFloat

Switch to enable the float pin.

Definition at line 156 of file Demo.hpp.

◆ _enableFlow

bool NAV::Demo::_enableFlow

Switch to enable the flow pin.

Definition at line 153 of file Demo.hpp.

◆ _enableInt

bool NAV::Demo::_enableInt

Switch to enable the int pin.

Definition at line 155 of file Demo.hpp.

◆ _enableMatrix

bool NAV::Demo::_enableMatrix

Switch to enable the matrix pin.

Definition at line 160 of file Demo.hpp.

◆ _enableObject

bool NAV::Demo::_enableObject

Switch to enable the object pin.

Definition at line 159 of file Demo.hpp.

◆ _enableString

bool NAV::Demo::_enableString

Switch to enable the string pin.

Definition at line 158 of file Demo.hpp.

◆ _fileReaderInsteadSensor

bool NAV::Demo::_fileReaderInsteadSensor

Whether to have a file reader instead of a sensor output pin.

Definition at line 133 of file Demo.hpp.

◆ _iPollData

int NAV::Demo::_iPollData

Counter for data Reading.

Definition at line 148 of file Demo.hpp.

◆ _nPollData

int NAV::Demo::_nPollData

Amount of Observations to be read.

Definition at line 150 of file Demo.hpp.

◆ _outputFrequency

int NAV::Demo::_outputFrequency

Output frequency for the simulated sensor data.

Definition at line 143 of file Demo.hpp.

◆ _receivedDataCnt

int NAV::Demo::_receivedDataCnt

Counter how often data was received.

Definition at line 145 of file Demo.hpp.

◆ _stringUpdateCounter

size_t NAV::Demo::_stringUpdateCounter

Counter of how often the string was updated.

Definition at line 169 of file Demo.hpp.

◆ _timer

CallbackTimer NAV::Demo::_timer

Timer object to handle async data requests.

Definition at line 136 of file Demo.hpp.

◆ _valueBool

bool NAV::Demo::_valueBool

Value which is represented over the Bool pin.

Definition at line 162 of file Demo.hpp.

◆ _valueDouble

double NAV::Demo::_valueDouble

Value which is represented over the Double pin.

Definition at line 165 of file Demo.hpp.

◆ _valueFloat

float NAV::Demo::_valueFloat

Value which is represented over the Float pin.

Definition at line 164 of file Demo.hpp.

◆ _valueInt

int NAV::Demo::_valueInt

Value which is represented over the Int pin.

Definition at line 163 of file Demo.hpp.

◆ _valueMatrix

Eigen::MatrixXd NAV::Demo::_valueMatrix

Value which is represented over the Matrix pin.

Definition at line 168 of file Demo.hpp.

◆ _valueObject

DemoData NAV::Demo::_valueObject

Value which is represented over the Object pin.

Definition at line 167 of file Demo.hpp.

◆ _valueString

std::string NAV::Demo::_valueString

Value which is represented over the String pin.

Definition at line 166 of file Demo.hpp.

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

/home/runner/work/INSTINCT/INSTINCT/src/Nodes/Utility/Demo.hpp
/home/runner/work/INSTINCT/INSTINCT/src/Nodes/Utility/Demo.cpp

Data Structures

Public Types

Public Member Functions

Static Public Member Functions

Data Fields

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ DemoPins

Constructor & Destructor Documentation

◆ Demo() [1/3]

◆ ~Demo()

◆ Demo() [2/3]

◆ Demo() [3/3]

Member Function Documentation

◆ afterDeleteLink()

◆ category()

◆ deinitialize()

◆ getPinIdx()

◆ guiConfig()

◆ initialize()

◆ onCreateLink()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ peekPollData()

◆ pollData()

◆ readSensorDataThread()

◆ receiveData()

◆ resetNode()

◆ restore()

◆ save()

◆ stringUpdatedNotifyFunction()

◆ type()

◆ typeStatic()

◆ updateOutputFlowPin()

◆ updatePins()

Field Documentation

◆ _enableBool

◆ _enableDelegate

◆ _enableDouble

◆ _enableFloat

◆ _enableFlow

◆ _enableInt

◆ _enableMatrix

◆ _enableObject

◆ _enableString

◆ _fileReaderInsteadSensor

◆ _iPollData

◆ _nPollData

◆ _outputFrequency

◆ _receivedDataCnt

◆ _stringUpdateCounter

◆ _timer

◆ _valueBool

◆ _valueDouble

◆ _valueFloat

◆ _valueInt

◆ _valueMatrix

◆ _valueObject

◆ _valueString