File reader for Multi-IMU data log files. More...

Public Member Functions
void	guiConfig () override
	ImGui config window which is shown on double click.
const ImuPos &	imuPosition () const
	Position and rotation information for conversion from platform to body frame.
	MultiImuFile ()
	Default constructor.
	MultiImuFile (const MultiImuFile &)=delete
	Copy constructor.
	MultiImuFile (MultiImuFile &&)=delete
	Move constructor.
MultiImuFile &	operator= (const MultiImuFile &)=delete
	Copy assignment operator.
MultiImuFile &	operator= (MultiImuFile &&)=delete
	Move assignment operator.
bool	resetNode () override
	Resets the node. Moves the read cursor to the start.
void	restore (const json &j) override
	Restores the node from a json object.
json	save () const override
	Saves the node into a json object.
std::string	type () const override
	String representation of the Class Type.
	~MultiImuFile () override
	Destructor.
Public Member Functions inherited from NAV::Node
virtual void	afterCreateLink (OutputPin &startPin, InputPin &endPin)
	Called when a new link was established.
virtual void	afterDeleteLink (OutputPin &startPin, InputPin &endPin)
	Called when a link was deleted.
template<std::derived_from< Node > T>
InputPin *	CreateInputPin (const char name, Pin::Type pinType, const std::vector< std::string > &dataIdentifier, void(T::notifyFunc)(const InsTime &, size_t), int idx=-1)
	Create an Input Pin object for data pins. The additional notify function gets called when the connected data was changed and the connected node calls NAV::Node::notifyOutputValueChanged.
InputPin *	CreateInputPin (const char *name, Pin::Type pinType, const std::vector< std::string > &dataIdentifier={}, InputPin::Callback callback=static_cast< InputPin::FlowFirableCallbackFunc >(nullptr), InputPin::FlowFirableCheckFunc firable=nullptr, int priority=0, int idx=-1)
	Create an Input Pin object.
template<std::derived_from< Node > T>
InputPin *	CreateInputPin (const char name, Pin::Type pinType, const std::vector< std::string > &dataIdentifier={}, void(T::callback)(InputPin::NodeDataQueue &, size_t)=nullptr, InputPin::FlowFirableCheckFunc firable=nullptr, int priority=0, int idx=-1)
	Create an Input Pin object.
OutputPin *	CreateOutputPin (const char name, Pin::Type pinType, const std::vector< std::string > &dataIdentifier, OutputPin::PinData data=static_cast< void >(nullptr), int idx=-1)
	Create an Output Pin object.
template<std::derived_from< Node > T>
OutputPin *	CreateOutputPin (const char name, Pin::Type pinType, const std::vector< std::string > &dataIdentifier, std::shared_ptr< const NAV::NodeData >(T::peekPollDataFunc)(size_t, bool)=nullptr, int idx=-1)
	Create an Output Pin object for Flow Pins.
template<std::derived_from< Node > T>
OutputPin *	CreateOutputPin (const char name, Pin::Type pinType, const std::vector< std::string > &dataIdentifier, std::shared_ptr< const NAV::NodeData >(T::pollDataFunc)()=nullptr, int idx=-1)
	Create an Output Pin object for Flow Pins.
bool	DeleteInputPin (size_t pinIndex)
	Deletes the input pin. Invalidates the pin reference given.
bool	DeleteOutputPin (size_t pinIndex)
	Deletes the output pin. Invalidates the pin reference given.
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 bool	onCreateLink (OutputPin &startPin, InputPin &endPin)
	Called when a new link is to be established.
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.
Public Member Functions inherited from NAV::FileReader
	FileReader (const FileReader &)=delete
	Copy constructor.
	FileReader (FileReader &&)=delete
	Move constructor.
FileReader &	operator= (const FileReader &)=delete
	Copy assignment operator.
FileReader &	operator= (FileReader &&)=delete
	Move assignment operator.
virtual	~FileReader ()=default
	Destructor.

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

Protected Attributes
ImuPos	_imuPos
	Position and rotation information for conversion from platform to body frame.
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.
Protected Attributes inherited from NAV::FileReader
FileType	_fileType
	File Type.
std::vector< std::string >	_headerColumns
	Header Columns of a CSV file.
std::string	_path
	Path to the file.

Private Types
enum class	NmeaType : uint8_t { GPGGA , GPZDA , COUNT }
	Types of NMEA messages available. More...

Private Member Functions
void	deinitialize () override
	Deinitialize the node.
NAV::FileReader::FileType	determineFileType () override
	Function to determine the File Type.
bool	initialize () override
	Initialize the node.
std::shared_ptr< const NodeData >	pollData (size_t pinIdx, bool peek)
	Polls data from the file.
void	readHeader () override
	Function to read the Header of a file.
void	updateNumberOfOutputPins ()
	Adds/Deletes Output Pins depending on the variable _nOutputPins.

Private Attributes
std::vector< std::string >	_columns
	Container of column names.
char	_delim
	Delimiter: ',' for GPZDA and ' ' for GPGGA messages (NMEA)
bool	_gpggaFound
	Flag that indicates whether a 'GPGGA' message was found in the Multi-IMU-Logs header.
double	_gpsRate
	GPS data rate [Hz].
bool	_gpzdaFound
	Flag that indicates whether a 'GPZDA' message was found in the Multi-IMU-Logs header.
std::vector< std::string >	_headerColumns
	Container of header column names.
std::vector< ImuPos >	_imuPosAll
	Container for individual sensor orientations of a Multi-IMU.
InsTime	_lastFiltObs
	Previous observation (for timestamp)
size_t	_lineCounter
	Counter for lines.
std::vector< size_t >	_messageCnt
	Counter for messages.
std::vector< std::map< InsTime, std::shared_ptr< ImuObs > > >	_messages
	Read messages. Vector idx: Sensor Id,.
NmeaType	_nmeaType
	Selected NMEA type in the GUI.
size_t	_nSensors
	Number of connected sensors.
InsTime	_startTime
	Absolute start time.
gui::widgets::TimeEditFormat	_startTimeEditFormat
	Time Format to input the init time with.
double	_startupGpsSecond
	First 'gpsSecond', s.t. measurements start at time = 0.

Static Private Attributes
static constexpr size_t	OUTPUT_PORT_INDEX_IMU_OBS
	Flow (ImuObs)

Friends
constexpr const char *	to_string (NmeaType value)
	Converts the enum to a string.

Additional Inherited Members
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 Types inherited from NAV::FileReader
enum	FileType : uint8_t { NONE , BINARY , ASCII }
	File Type Enumeration. More...
enum	GuiResult : uint8_t { PATH_UNCHANGED , PATH_CHANGED , PATH_CHANGED_INVALID }
	Results enum for the gui config. More...
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)
Protected Member Functions inherited from NAV::FileReader
void	deinitialize ()
	Deinitialize the file reader.
auto	eof () const
	Check whether the end of file is reached.
	FileReader ()=default
	Default constructor.
size_t	getCurrentLineNumber () const
	Get the current line number.
std::filesystem::path	getFilepath ()
	Returns the path of the file.
auto &	getline (std::string &str)
	Reads a line from the filestream.
bool	good () const
	Fast error checking.
GuiResult	guiConfig (const char *vFilters, const std::vector< std::string > &extensions, size_t id, const std::string &nameId)
	ImGui config.
auto &	ignore (std::streamsize count, int delim)
	Extracts and discards characters from the input stream until and including delim.
bool	initialize ()
	Initialize the file reader.
auto	peek ()
	Looking ahead in the stream.
auto &	read (char *__s, std::streamsize __n)
	Extraction without delimiters.
auto	readsome (char *s, std::streamsize count)
	Extracts up to count immediately available characters from the input stream. The extracted characters are stored into the character array pointed to by s.
void	resetReader ()
	Moves the read cursor to the start.
void	restore (const json &j)
	Restores the node from a json object.
json	save () const
	Saves the node into a json object.
auto &	seekg (std::streamoff pos, std::ios_base::seekdir dir)
	Changing the current read position.
std::streampos	tellg ()
	Getting the current read position.

Detailed Description

File reader for Multi-IMU data log files.

Definition at line 26 of file MultiImuFile.hpp.

Member Enumeration Documentation

◆ NmeaType

enum class NAV::MultiImuFile::NmeaType : uint8_t

strongprivate

Types of NMEA messages available.

Enumerator
GPGGA	NMEA message type.
GPZDA	NMEA message type.
COUNT	Number of items in the enum.

Definition at line 145 of file MultiImuFile.hpp.

Constructor & Destructor Documentation

◆ MultiImuFile() [1/3]

NAV::MultiImuFile::MultiImuFile ( )

Default constructor.

Definition at line 21 of file MultiImuFile.cpp.

◆ ~MultiImuFile()

NAV::MultiImuFile::~MultiImuFile ( )

override

Destructor.

Definition at line 32 of file MultiImuFile.cpp.

◆ MultiImuFile() [2/3]

NAV::MultiImuFile::MultiImuFile ( const MultiImuFile & )

delete

Copy constructor.

◆ MultiImuFile() [3/3]

NAV::MultiImuFile::MultiImuFile ( MultiImuFile && )

delete

Move constructor.

Member Function Documentation

◆ category()

std::string NAV::MultiImuFile::category ( )

staticnodiscard

String representation of the Class Category.

Definition at line 47 of file MultiImuFile.cpp.

◆ deinitialize()

void NAV::MultiImuFile::deinitialize ( )

overrideprivatevirtual

Deinitialize the node.

Reimplemented from NAV::Node.

Definition at line 172 of file MultiImuFile.cpp.

◆ determineFileType()

NAV::FileReader::FileType NAV::MultiImuFile::determineFileType ( )

overrideprivatevirtual

Function to determine the File Type.

Returns: The File path which was recognized

Reimplemented from NAV::FileReader.

Definition at line 210 of file MultiImuFile.cpp.

◆ guiConfig()

void NAV::MultiImuFile::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 52 of file MultiImuFile.cpp.

◆ imuPosition()

const ImuPos & NAV::MultiImuFile::imuPosition ( ) const

inlinenodiscard

Position and rotation information for conversion from platform to body frame.

Definition at line 66 of file MultiImuFile.hpp.

◆ initialize()

bool NAV::MultiImuFile::initialize ( )

overrideprivatevirtual

Initialize the node.

Reimplemented from NAV::Node.

Definition at line 165 of file MultiImuFile.cpp.

◆ operator=() [1/2]

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

delete

Copy assignment operator.

◆ operator=() [2/2]

MultiImuFile & NAV::MultiImuFile::operator= ( MultiImuFile && )

delete

Move assignment operator.

◆ pollData()

std::shared_ptr< const NAV::NodeData > NAV::MultiImuFile::pollData	(	size_t	pinIdx,
		bool	peek )

nodiscardprivate

Polls data from the file.

Parameters

[in]	pinIdx	Index of the pin the data is requested on
[in]	peek	Specifies if the data should be peeked (without moving the read cursor) or read

Returns: The read observation

Definition at line 329 of file MultiImuFile.cpp.

◆ readHeader()

void NAV::MultiImuFile::readHeader ( )

overrideprivatevirtual

Function to read the Header of a file.

Reimplemented from NAV::FileReader.

Definition at line 223 of file MultiImuFile.cpp.

◆ resetNode()

bool NAV::MultiImuFile::resetNode ( )

overridevirtual

Resets the node. Moves the read cursor to the start.

Reimplemented from NAV::Node.

Definition at line 179 of file MultiImuFile.cpp.

◆ restore()

void NAV::MultiImuFile::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 139 of file MultiImuFile.cpp.

◆ save()

json NAV::MultiImuFile::save ( ) const

nodiscardoverridevirtual

Saves the node into a json object.

Reimplemented from NAV::Node.

Definition at line 124 of file MultiImuFile.cpp.

◆ type()

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

nodiscardoverridevirtual

String representation of the Class Type.

Implements NAV::Node.

Definition at line 42 of file MultiImuFile.cpp.

◆ typeStatic()

std::string NAV::MultiImuFile::typeStatic ( )

staticnodiscard

String representation of the Class Type.

Definition at line 37 of file MultiImuFile.cpp.

◆ updateNumberOfOutputPins()

void NAV::MultiImuFile::updateNumberOfOutputPins ( )

private

Adds/Deletes Output Pins depending on the variable _nOutputPins.

Definition at line 198 of file MultiImuFile.cpp.

◆ to_string

const char * to_string ( NmeaType value )

friend

Converts the enum to a string.

Parameters

[in] value Enum value to convert into text

Returns: String representation of the enum

Definition at line 163 of file MultiImuFile.hpp.

Field Documentation

◆ _columns

std::vector<std::string> NAV::MultiImuFile::_columns

private

Container of column names.

Definition at line 128 of file MultiImuFile.hpp.

◆ _delim

char NAV::MultiImuFile::_delim

private

Delimiter: ',' for GPZDA and ' ' for GPGGA messages (NMEA)

Definition at line 116 of file MultiImuFile.hpp.

◆ _gpggaFound

bool NAV::MultiImuFile::_gpggaFound

private

Flag that indicates whether a 'GPGGA' message was found in the Multi-IMU-Logs header.

Definition at line 142 of file MultiImuFile.hpp.

◆ _gpsRate

double NAV::MultiImuFile::_gpsRate

private

GPS data rate [Hz].

Definition at line 101 of file MultiImuFile.hpp.

◆ _gpzdaFound

bool NAV::MultiImuFile::_gpzdaFound

private

Flag that indicates whether a 'GPZDA' message was found in the Multi-IMU-Logs header.

Definition at line 140 of file MultiImuFile.hpp.

◆ _headerColumns

std::vector<std::string> NAV::MultiImuFile::_headerColumns

private

Container of header column names.

Definition at line 131 of file MultiImuFile.hpp.

◆ _imuPos

ImuPos NAV::MultiImuFile::_imuPos

protected

Position and rotation information for conversion from platform to body frame.

Definition at line 70 of file MultiImuFile.hpp.

◆ _imuPosAll

std::vector<ImuPos> NAV::MultiImuFile::_imuPosAll

private

Container for individual sensor orientations of a Multi-IMU.

Definition at line 134 of file MultiImuFile.hpp.

◆ _lastFiltObs

InsTime NAV::MultiImuFile::_lastFiltObs

private

Previous observation (for timestamp)

Definition at line 137 of file MultiImuFile.hpp.

◆ _lineCounter

size_t NAV::MultiImuFile::_lineCounter

private

Counter for lines.

Definition at line 110 of file MultiImuFile.hpp.

◆ _messageCnt

std::vector<size_t> NAV::MultiImuFile::_messageCnt

private

Counter for messages.

Definition at line 113 of file MultiImuFile.hpp.

◆ _messages

std::vector<std::map<InsTime, std::shared_ptr<ImuObs> > > NAV::MultiImuFile::_messages

private

Read messages. Vector idx: Sensor Id,.

Map Key: InsTime
Map Value: IMU Observation

Definition at line 107 of file MultiImuFile.hpp.

◆ _nmeaType

NmeaType NAV::MultiImuFile::_nmeaType

private

Selected NMEA type in the GUI.

Definition at line 157 of file MultiImuFile.hpp.

◆ _nSensors

size_t NAV::MultiImuFile::_nSensors

private

Number of connected sensors.

Definition at line 98 of file MultiImuFile.hpp.

◆ _startTime

InsTime NAV::MultiImuFile::_startTime

private

Absolute start time.

Definition at line 125 of file MultiImuFile.hpp.

◆ _startTimeEditFormat

gui::widgets::TimeEditFormat NAV::MultiImuFile::_startTimeEditFormat

private

Time Format to input the init time with.

Definition at line 122 of file MultiImuFile.hpp.

◆ _startupGpsSecond

double NAV::MultiImuFile::_startupGpsSecond

private

First 'gpsSecond', s.t. measurements start at time = 0.

Definition at line 119 of file MultiImuFile.hpp.

◆ OUTPUT_PORT_INDEX_IMU_OBS

size_t NAV::MultiImuFile::OUTPUT_PORT_INDEX_IMU_OBS

staticconstexprprivate

Flow (ImuObs)

Definition at line 73 of file MultiImuFile.hpp.

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

/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProvider/IMU/FileReader/MultiImuFile.hpp
/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProvider/IMU/FileReader/MultiImuFile.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ NmeaType

Constructor & Destructor Documentation

◆ MultiImuFile() [1/3]

◆ ~MultiImuFile()

◆ MultiImuFile() [2/3]

◆ MultiImuFile() [3/3]

Member Function Documentation

◆ category()

◆ deinitialize()

◆ determineFileType()

◆ guiConfig()

◆ imuPosition()

◆ initialize()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ pollData()

◆ readHeader()

◆ resetNode()

◆ restore()

◆ save()

◆ type()

◆ typeStatic()

◆ updateNumberOfOutputPins()

Friends And Related Symbol Documentation

◆ to_string

Field Documentation

◆ _columns

◆ _delim

◆ _gpggaFound

◆ _gpsRate

◆ _gpzdaFound

◆ _headerColumns

◆ _imuPos

◆ _imuPosAll

◆ _lastFiltObs

◆ _lineCounter

◆ _messageCnt

◆ _messages

◆ _nmeaType

◆ _nSensors

◆ _startTime

◆ _startTimeEditFormat

◆ _startupGpsSecond

◆ OUTPUT_PORT_INDEX_IMU_OBS