Abstract parent class for all nodes. More...

Classes
struct	Kind
	Kind information class. More...

Public Types
enum class	Mode { REAL_TIME , POST_PROCESSING }
	Different Modes the Node can work in. More...

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

Public Member Functions
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.

virtual void	deinitialize ()
	Deinitialize the Node.

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.

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

virtual bool	initialize ()
	Initialize the Node.

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

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

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

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

virtual std::string	type () const =0
	String representation of the Class Type.

void	wakeWorker ()
	Wakes the worker thread.

virtual	~Node ()
	Destructor.

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

Public Attributes
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 Attributes
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

Abstract parent class for all nodes.

Member Enumeration Documentation

◆ Mode

enum class NAV::Node::Mode

strong

Different Modes the Node can work in.

Enumerator
REAL_TIME	Node running in real-time mode.
POST_PROCESSING	Node running in post-processing mode.

◆ State

enum class NAV::Node::State

strong

Possible states of the node.

Enumerator
Disabled	Node is disabled and won't be initialized.
Deinitialized	Node is deinitialized (red)
DoInitialize	Node should be initialized.
Initializing	Node is currently initializing.
Initialized	Node is initialized (green)
DoDeinitialize	Node should be deinitialized.
Deinitializing	Node is currently deinitializing.
DoShutdown	Node should shut down.
Shutdown	Node is shutting down.

Constructor & Destructor Documentation

◆ Node()

NAV::Node::Node ( std::string name )

explicit

Constructor.

Parameters

[in] name Name of the node

Member Function Documentation

◆ afterCreateLink()

virtual void NAV::Node::afterCreateLink	(	OutputPin &	startPin,
		InputPin &	endPin )

virtual

Called when a new link was established.

Parameters

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

Reimplemented in NAV::Plot.

◆ afterDeleteLink()

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

virtual

Called when a link was deleted.

Parameters

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

Reimplemented in NAV::Merger.

◆ doDeinitialize()

bool NAV::Node::doDeinitialize ( bool wait = false )

Asks the node worker to deinitialize the node.

Parameters

[in] wait Wait for the worker to complete the request

Returns: True if the worker accepted the request

◆ doDisable()

bool NAV::Node::doDisable ( bool wait = false )

Asks the node worker to disable the node.

Parameters

[in] wait Wait for the worker to complete the request

Returns: True if the worker accepted the request

◆ doEnable()

bool NAV::Node::doEnable ( )

Enable the node.

Returns: True if enabling was successful

◆ doInitialize()

bool NAV::Node::doInitialize ( bool wait = false )

Asks the node worker to initialize the node.

Parameters

[in] wait Wait for the worker to complete the request

Returns: True if not waiting and the worker accepted the request otherwise if waiting only true if the node initialized correctly

◆ doReinitialize()

bool NAV::Node::doReinitialize ( bool wait = false )

Asks the node worker to reinitialize the node.

Parameters

[in] wait Wait for the worker to complete the request

Returns: True if not waiting and the worker accepted the request otherwise if waiting only true if the node initialized correctly

◆ getInputValue()

template<typename T >

std::optional< InputPin::IncomingLink::ValueWrapper< T > > NAV::Node::getInputValue ( size_t portIndex ) const

inline

Get Input Value connected on the pin. Only const data types.

Template Parameters

T	Type of the connected object

Parameters

[in] portIndex Input port where to retrieve the data from

Returns: Pointer to the object

◆ guiConfig()

virtual void NAV::Node::guiConfig ( )

virtual

ImGui config window which is shown on double click.

Attention: Don't forget to set hasConfig to true

Reimplemented in NAV::UartPacketConverter, NAV::VectorNavBinaryConverter, NAV::UdpRecv, NAV::UdpSend, NAV::CsvLogger, NAV::KmlLogger, NAV::MatrixLogger, NAV::RinexObsLogger, NAV::UartDataLogger, NAV::VectorNavDataLogger, NAV::ErrorModel, NAV::GnssAnalyzer, NAV::SinglePointPositioning, NAV::ImuIntegrator, NAV::LooselyCoupledKF, NAV::TightlyCoupledKF, NAV::ImuFusion, NAV::CsvFile, NAV::EmlidFile, NAV::NmeaFile, NAV::RinexNavFile, NAV::RinexObsFile, NAV::RtklibPosFile, NAV::UbloxFile, NAV::EmlidSensor, NAV::UbloxSensor, NAV::ImuFile, NAV::KvhFile, NAV::MultiImuFile, NAV::UlogFile, NAV::VectorNavFile, NAV::Imu, NAV::KvhSensor, NAV::Navio2Sensor, NAV::VectorNavSensor, NAV::ImuSimulator, NAV::PosVelAttFile, NAV::experimental::ARMA, NAV::experimental::SkydelNetworkStream, NAV::experimental::Delay, NAV::Plot, NAV::PosVelAttInitializer, NAV::Combiner, NAV::Demo, and NAV::TimeWindow.

◆ inputPinFromId()

InputPin & NAV::Node::inputPinFromId ( ax::NodeEditor::PinId pinId )

Returns the pin with the given id.

Parameters

[in] pinId Id of the Pin

Returns: The input pin

◆ inputPinIndexFromId()

size_t NAV::Node::inputPinIndexFromId ( ax::NodeEditor::PinId pinId ) const

Returns the index of the pin.

Parameters

[in] pinId Id of the Pin

Returns: The index of the pin

◆ invokeCallbacks()

void NAV::Node::invokeCallbacks	(	size_t	portIndex,
		const std::shared_ptr< const NodeData > &	data )

Calls all registered callbacks on the specified output port.

Parameters

[in]	portIndex	Output port where to call the callbacks
[in]	data	The data to pass to the callback targets

◆ notifyOutputValueChanged()

void NAV::Node::notifyOutputValueChanged	(	size_t	pinIdx,
		const InsTime &	insTime,
		const std::scoped_lock< std::mutex > &	guard )

Notifies connected nodes about the change.

Parameters

[in]	pinIdx	Output Port index where to set the value
[in]	insTime	Time the value was generated
[in]	guard	Lock guard of the output data

◆ onCreateLink()

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

virtual

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 in NAV::VectorNavDataLogger, NAV::experimental::Delay, NAV::Demo, and NAV::Merger.

◆ onDeleteLink()

virtual void NAV::Node::onDeleteLink	(	OutputPin &	startPin,
		InputPin &	endPin )

virtual

Called when a link is to be deleted.

Parameters

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

Reimplemented in NAV::Demo.

◆ outputPinFromId()

OutputPin & NAV::Node::outputPinFromId ( ax::NodeEditor::PinId pinId )

Returns the pin with the given id.

Parameters

[in] pinId Id of the Pin

Returns: The output pin

◆ outputPinIndexFromId()

size_t NAV::Node::outputPinIndexFromId ( ax::NodeEditor::PinId pinId ) const

Returns the index of the pin.

Parameters

[in] pinId Id of the Pin

Returns: The index of the pin

◆ releaseInputValue()

void NAV::Node::releaseInputValue ( size_t portIndex )

Unblocks the connected node. Has to be called when the input value should be released and getInputValue was not called.

Parameters

[in] portIndex Input port where the data should be released

◆ requestOutputValueLock()

std::scoped_lock< std::mutex > NAV::Node::requestOutputValueLock ( size_t pinIdx )

Blocks the thread till the output values was read by all connected nodes.

Parameters

[in] pinIdx Output Pin index where to request the lock

◆ restore()

virtual void NAV::Node::restore ( const json & j )

virtual

Restores the node from a json object.

Parameters

[in] j Json object with the node state

Reimplemented in NAV::UartPacketConverter, NAV::VectorNavBinaryConverter, NAV::UdpRecv, NAV::UdpSend, NAV::CsvLogger, NAV::KmlLogger, NAV::MatrixLogger, NAV::RinexObsLogger, NAV::UartDataLogger, NAV::VectorNavDataLogger, NAV::ErrorModel, NAV::GnssAnalyzer, NAV::SinglePointPositioning, NAV::ImuIntegrator, NAV::LooselyCoupledKF, NAV::TightlyCoupledKF, NAV::ImuFusion, NAV::CsvFile, NAV::EmlidFile, NAV::NmeaFile, NAV::RinexNavFile, NAV::RinexObsFile, NAV::RtklibPosFile, NAV::UbloxFile, NAV::EmlidSensor, NAV::UbloxSensor, NAV::ImuFile, NAV::KvhFile, NAV::MultiImuFile, NAV::UlogFile, NAV::VectorNavFile, NAV::Imu, NAV::KvhSensor, NAV::Navio2Sensor, NAV::VectorNavSensor, NAV::ImuSimulator, NAV::PosVelAttFile, NAV::experimental::ARMA, NAV::experimental::Delay, NAV::Plot, NAV::PosVelAttInitializer, NAV::Combiner, NAV::Demo, NAV::GroupBox, and NAV::TimeWindow.

◆ restoreAtferLink()

virtual void NAV::Node::restoreAtferLink ( const json & j )

virtual

Restores link related properties of the node from a json object.

Parameters

[in] j Json object with the node state

◆ toString()

static std::string NAV::Node::toString ( State state )

static

Converts the state into a printable text.

Parameters

[in] state State to convert

Returns: String representation of the state

Member Data Documentation

◆ _guiConfigDefaultWindowSize

ImVec2 NAV::Node::_guiConfigDefaultWindowSize

protected

The Default Window size for new config windows. Only set the variable if the object/window has no persistently saved data (no entry in .ini file)

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

/home/runner/work/INSTINCT/INSTINCT/src/internal/Node/Node.hpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ Mode

◆ State

Constructor & Destructor Documentation

◆ Node()

Member Function Documentation

◆ afterCreateLink()

◆ afterDeleteLink()

◆ doDeinitialize()

◆ doDisable()

◆ doEnable()

◆ doInitialize()

◆ doReinitialize()

◆ getInputValue()

◆ guiConfig()

◆ inputPinFromId()

◆ inputPinIndexFromId()

◆ invokeCallbacks()

◆ notifyOutputValueChanged()

◆ onCreateLink()

◆ onDeleteLink()

◆ outputPinFromId()

◆ outputPinIndexFromId()

◆ releaseInputValue()

◆ requestOutputValueLock()

◆ restore()

◆ restoreAtferLink()

◆ toString()

Member Data Documentation

◆ _guiConfigDefaultWindowSize