Abstract parent class for all nodes. More...

Data Structures
struct	Kind
	Kind information class. More...

Public Types
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
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.
virtual void	deinitialize ()
	Deinitialize the Node.
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.
virtual void	guiConfig ()
	ImGui config window which is shown on double click.
bool	hasInputPinWithSameTime (const InsTime &insTime) const
	Checks wether there is an input pin with the same time.
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.

Data Fields
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.

Private Member Functions
bool	workerDeinitializeNode ()
	Called by the worker to deinitialize the node.
bool	workerInitializeNode ()
	Called by the worker to initialize the node.
virtual void	workerTimeoutHandler ()
	Handler which gets triggered if the worker runs into a periodic timeout.

Static Private Member Functions
static void	workerThread (Node *node)
	Worker thread.

Private Attributes
bool	_configWindowFocus
	Flag if the config window should be focused.
bool	_configWindowForceCollapse
	Flag if the config window should be forced collapsed.
bool	_configWindowIsCollapsed
	Flag if the config window is collapsed.
std::mutex	_configWindowMutex
	Mutex to show the config window (prevents initialization to modify values within the config window)
bool	_disable
	Flag if the node should be disabled after deinitializing.
std::atomic< Mode >	_mode
	Mode the node is currently running in.
bool	_reinitialize
	Flag if the node should be reinitialize after deinitializing.
bool	_showConfig
	Flag if the config window is shown.
ImVec2	_size
	Size of the node in pixels.
State	_state
	Current state of the node.
std::mutex	_stateMutex
	Mutex to interact with the worker state variable.
std::thread	_worker
	Worker handling initialization and processing of data.
std::condition_variable	_workerConditionVariable
	Condition variable to signal the worker thread to do something.
std::mutex	_workerMutex
	Mutex to interact with the worker condition variable.
std::chrono::duration< int64_t >	_workerTimeout
	Periodic timeout of the worker to check if new data available.
bool	_workerWakeup
	Variable to prevent the worker from sleeping.

Static Private Attributes
static bool	_autostartWorker
	Flag which prevents the worker to be autostarted if false.

Friends
void	gui::menus::ShowRunMenu ()
	Show the run menu dropdown.
class	gui::NodeEditorApplication
void	NAV::FlowExecutor::deinitialize ()
	Deinitialize all Nodes.
void	NAV::FlowExecutor::execute ()
	Main task of the FlowExecutor thread.
void	NAV::from_json (const json &j, Node &node)
	Converts the provided json object into a node object.
class	NAV::GroupBox
void	NAV::NodeRegistry::RegisterNodeTypes ()
	Register all available Node types for the program.
void	NAV::to_json (json &j, const Node &node)
	Converts the provided node into a json object.

Detailed Description

Abstract parent class for all nodes.

Definition at line 91 of file Node.hpp.

Member Enumeration Documentation

◆ Mode

enum class NAV::Node::Mode : uint8_t

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.

Definition at line 189 of file Node.hpp.

◆ State

enum class NAV::Node::State : uint8_t

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.

Definition at line 175 of file Node.hpp.

Constructor & Destructor Documentation

◆ Node() [1/3]

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

explicit

Constructor.

Parameters

[in] name Name of the node

Definition at line 29 of file Node.cpp.

◆ ~Node()

NAV::Node::~Node ( )

virtual

Destructor.

Definition at line 39 of file Node.cpp.

◆ Node() [2/3]

NAV::Node::Node ( const Node & )

delete

Copy constructor.

◆ Node() [3/3]

NAV::Node::Node ( Node && )

delete

Move constructor.

Member Function Documentation

◆ afterCreateLink()

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::ErrorModel, NAV::LowPassFilter, NAV::Plot, and NAV::TimeWindow.

Definition at line 88 of file Node.cpp.

◆ afterDeleteLink()

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::Demo, NAV::ErrorModel, NAV::LowPassFilter, NAV::Merger, and NAV::TimeWindow.

Definition at line 90 of file Node.cpp.

◆ CreateInputPin() [1/3]

template<std::derived_from< Node > T>

InputPin * NAV::Node::CreateInputPin	(	const char *	name,
		Pin::Type	pinType,
		const std::vector< std::string > &	dataIdentifier,
		void(T::*	notifyFunc )(const InsTime &, size_t),
		int	idx = -1 )

inline

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.

Template Parameters

T	Node Class where the function is member of

Parameters

[in]	name	Display name of the Pin
[in]	pinType	Type of the pin
[in]	dataIdentifier	Identifier of the data which is represented by the pin
[in]	notifyFunc	Function to call when the data is updated
[in]	idx	Index where to put the new pin (-1 means at the end)

Returns: Pointer to the created pin

Definition at line 372 of file Node.hpp.

◆ CreateInputPin() [2/3]

NAV::InputPin * NAV::Node::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.

Parameters

[in]	name	Display name of the Pin
[in]	pinType	Type of the pin
[in]	dataIdentifier	Identifier of the data which is represented by the pin
[in]	callback	Callback to register with the pin
[in]	firable	Function to check whether the callback is firable
[in]	priority	Priority when checking firable condition related to other pins (higher priority gets triggered first)
[in]	idx	Index where to put the new pin (-1 means at the end)

Returns: Pointer to the created pin

Definition at line 252 of file Node.cpp.

◆ CreateInputPin() [3/3]

template<std::derived_from< Node > T>

InputPin * NAV::Node::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 )

inline

Create an Input Pin object.

Template Parameters

T	Node Class where the function is member of

Parameters

[in]	name	Display name of the Pin
[in]	pinType	Type of the pin
[in]	dataIdentifier	Identifier of the data which is represented by the pin
[in]	callback	Flow firable callback function to register with the pin
[in]	firable	Function to check whether the callback is firable
[in]	priority	Priority when checking firable condition related to other pins (higher priority gets triggered first)
[in]	idx	Index where to put the new pin (-1 means at the end)

Returns: Pointer to the created pin

Definition at line 353 of file Node.hpp.

◆ CreateOutputPin() [1/3]

NAV::OutputPin * NAV::Node::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.

Parameters

[in]	name	Display name of the Pin
[in]	pinType	Type of the pin
[in]	dataIdentifier	Identifier of the data which is represented by the pin
[in]	data	Pointer to data which is represented by the pin
[in]	idx	Index where to put the new pin (-1 means at the end)

Returns: Pointer to the created pin

Definition at line 278 of file Node.cpp.

◆ CreateOutputPin() [2/3]

template<std::derived_from< Node > T>

OutputPin * NAV::Node::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 )

inline

Create an Output Pin object for Flow Pins.

Template Parameters

T	Class where the function is member of

Parameters

[in]	name	Display name of the Pin
[in]	pinType	Type of the pin
[in]	dataIdentifier	Identifier of the data which is represented by the pin
[in]	peekPollDataFunc	Function to poll for data on this pin
[in]	idx	Index where to put the new pin (-1 means at the end)

Returns: Pointer to the created pin

Definition at line 398 of file Node.hpp.

◆ CreateOutputPin() [3/3]

template<std::derived_from< Node > T>

OutputPin * NAV::Node::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 )

inline

Create an Output Pin object for Flow Pins.

Template Parameters

T	Class where the function is member of

Parameters

[in]	name	Display name of the Pin
[in]	pinType	Type of the pin
[in]	dataIdentifier	Identifier of the data which is represented by the pin
[in]	pollDataFunc	Function to poll for data on this pin
[in]	idx	Index where to put the new pin (-1 means at the end)

Returns: Pointer to the created pin

Definition at line 418 of file Node.hpp.

◆ deinitialize()

void NAV::Node::deinitialize ( )

virtual

Deinitialize the Node.

Reimplemented in NAV::AllanDeviation, NAV::ArubaSensor, NAV::BaroSimulator, NAV::Combiner, NAV::CsvFile, NAV::CsvLogger, NAV::Demo, NAV::EmlidFile, NAV::EmlidSensor, NAV::EspressifSensor, NAV::experimental::ARMA, NAV::experimental::Delay, NAV::experimental::SkydelNetworkStream, NAV::GnssAnalyzer, NAV::ImuFile, NAV::ImuFusion, NAV::ImuIntegrator, NAV::ImuSimulator, NAV::KmlLogger, NAV::KvhFile, NAV::KvhSensor, NAV::Ln200Sensor, NAV::LooselyCoupledKF, NAV::MatrixLogger, NAV::MultiImuFile, NAV::Navio2Sensor, NAV::NmeaFile, NAV::Plot, NAV::PosVelAttFile, NAV::PosVelAttInitializer, NAV::PressToHgt, NAV::RealTimeKinematic, NAV::RinexNavFile, NAV::RinexObsFile, NAV::RinexObsLogger, NAV::RtklibPosFile, NAV::SinglePointPositioning, NAV::UartDataLogger, NAV::UbloxFile, NAV::UbloxSensor, NAV::UdpRecv, NAV::UdpSend, NAV::UlogFile, NAV::VectorNavDataLogger, NAV::VectorNavFile, NAV::VectorNavSensor, NAV::WiFiObsFile, NAV::WiFiObsLogger, and NAV::WiFiPositioning.

Definition at line 70 of file Node.cpp.

◆ DeleteInputPin()

bool NAV::Node::DeleteInputPin ( size_t pinIndex )

Deletes the input pin. Invalidates the pin reference given.

Parameters

[in] pinIndex Index of the pin to delete

Returns: True if the pin was delete

Definition at line 310 of file Node.cpp.

◆ DeleteOutputPin()

bool NAV::Node::DeleteOutputPin ( size_t pinIndex )

Deletes the output pin. Invalidates the pin reference given.

Parameters

[in] pinIndex Index of the pin to delete

Returns: True if the pin was delete

Definition at line 298 of file Node.cpp.

◆ 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

Definition at line 465 of file Node.cpp.

◆ 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

Definition at line 506 of file Node.cpp.

◆ doEnable()

bool NAV::Node::doEnable ( )

Enable the node.

Returns: True if enabling was successful

Definition at line 548 of file Node.cpp.

◆ 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

Definition at line 370 of file Node.cpp.

◆ 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

Definition at line 420 of file Node.cpp.

◆ flush()

void NAV::Node::flush ( )

virtual

Function called by the flow executer after finishing to flush out remaining data.

Reimplemented in NAV::CsvLogger, NAV::KmlLogger, NAV::MatrixLogger, NAV::RinexObsLogger, NAV::UartDataLogger, NAV::VectorNavDataLogger, and NAV::WiFiObsLogger.

Definition at line 72 of file Node.cpp.

◆ getInputValue()

template<typename T>

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

inlinenodiscard

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

Definition at line 290 of file Node.hpp.

◆ getMode()

NAV::Node::Mode NAV::Node::getMode ( ) const

nodiscard

Get the current mode of the node.

Definition at line 365 of file Node.cpp.

◆ getSize()

const ImVec2 & NAV::Node::getSize ( ) const

nodiscard

Get the size of the node.

Definition at line 328 of file Node.cpp.

◆ getState()

NAV::Node::State NAV::Node::getState ( ) const

nodiscard

Get the current state of the node.

Definition at line 359 of file Node.cpp.

◆ guiConfig()

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::AllanDeviation, NAV::ArubaSensor, NAV::BaroSimulator, NAV::Combiner, NAV::CsvFile, NAV::CsvLogger, NAV::Demo, NAV::EmlidFile, NAV::EmlidSensor, NAV::ErrorModel, NAV::EspressifSensor, NAV::experimental::ARMA, NAV::experimental::Delay, NAV::experimental::SkydelNetworkStream, NAV::GnssAnalyzer, NAV::Imu, NAV::ImuFile, NAV::ImuFusion, NAV::ImuIntegrator, NAV::ImuSimulator, NAV::KmlLogger, NAV::KvhFile, NAV::KvhSensor, NAV::Ln200Sensor, NAV::LooselyCoupledKF, NAV::LowPassFilter, NAV::MatrixLogger, NAV::MultiImuFile, NAV::Navio2Sensor, NAV::NmeaFile, NAV::Plot, NAV::PosVelAttFile, NAV::PosVelAttInitializer, NAV::PressToHgt, NAV::RealTimeKinematic, NAV::RinexNavFile, NAV::RinexObsFile, NAV::RinexObsLogger, NAV::RtklibPosFile, NAV::SinglePointPositioning, NAV::TimeWindow, NAV::UartDataLogger, NAV::UartPacketConverter, NAV::UbloxFile, NAV::UbloxGnssOrbitCollector, NAV::UbloxSensor, NAV::UdpRecv, NAV::UdpSend, NAV::UlogFile, NAV::VectorNavBinaryConverter, NAV::VectorNavDataLogger, NAV::VectorNavFile, NAV::VectorNavSensor, NAV::WiFiObsFile, NAV::WiFiObsLogger, and NAV::WiFiPositioning.

Definition at line 57 of file Node.cpp.

◆ hasInputPinWithSameTime()

bool NAV::Node::hasInputPinWithSameTime ( const InsTime & insTime ) const

Checks wether there is an input pin with the same time.

Parameters

[in] insTime Time to check

Definition at line 172 of file Node.cpp.

◆ initialize()

bool NAV::Node::initialize ( )

virtual

Initialize the Node.

Here a node can do things like

connecting to a sensor
read a static data file which needs to be read completely (e.g. RINEX nav files)
reset variables in case the NAV::Node::resetNode() is not used
Attention
This function is called in the default implementation of the NAV::Node::resetNode() function. If the initialize function should not be called more than once, make sure to override the NAV::Node::resetNode() function.

Reimplemented in NAV::AllanDeviation, NAV::ArubaSensor, NAV::BaroSimulator, NAV::Combiner, NAV::CsvFile, NAV::CsvLogger, NAV::Demo, NAV::EmlidFile, NAV::EmlidSensor, NAV::EspressifSensor, NAV::experimental::ARMA, NAV::experimental::Delay, NAV::experimental::SkydelNetworkStream, NAV::GnssAnalyzer, NAV::ImuFile, NAV::ImuFusion, NAV::ImuIntegrator, NAV::ImuSimulator, NAV::KmlLogger, NAV::KvhFile, NAV::KvhSensor, NAV::Ln200Sensor, NAV::LooselyCoupledKF, NAV::MatrixLogger, NAV::MultiImuFile, NAV::Navio2Sensor, NAV::NmeaFile, NAV::Plot, NAV::PosVelAttFile, NAV::PosVelAttInitializer, NAV::PressToHgt, NAV::RealTimeKinematic, NAV::RinexNavFile, NAV::RinexObsFile, NAV::RinexObsLogger, NAV::RtklibPosConverter, NAV::RtklibPosFile, NAV::SinglePointPositioning, NAV::TimeWindow, NAV::UartDataLogger, NAV::UartPacketConverter, NAV::UbloxFile, NAV::UbloxGnssObsConverter, NAV::UbloxGnssOrbitCollector, NAV::UbloxSensor, NAV::UdpRecv, NAV::UdpSend, NAV::UlogFile, NAV::VectorNavBinaryConverter, NAV::VectorNavDataLogger, NAV::VectorNavFile, NAV::VectorNavSensor, NAV::WiFiObsFile, NAV::WiFiObsLogger, and NAV::WiFiPositioning.

Definition at line 65 of file Node.cpp.

◆ inputPinFromId()

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

nodiscard

Returns the pin with the given id.

Parameters

[in] pinId Id of the Pin

Returns: The input pin

Definition at line 212 of file Node.cpp.

◆ inputPinIndexFromId()

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

nodiscard

Returns the index of the pin.

Parameters

[in] pinId Id of the Pin

Returns: The index of the pin

Definition at line 232 of file Node.cpp.

◆ 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

Definition at line 179 of file Node.cpp.

◆ isDisabled()

bool NAV::Node::isDisabled ( ) const

nodiscard

Checks if the node is disabled.

Definition at line 569 of file Node.cpp.

◆ isInitialized()

bool NAV::Node::isInitialized ( ) const

nodiscard

Checks if the node is initialized.

Definition at line 574 of file Node.cpp.

◆ isOnlyRealtime()

bool NAV::Node::isOnlyRealtime ( ) const

nodiscard

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

Definition at line 599 of file Node.cpp.

◆ isTransient()

bool NAV::Node::isTransient ( ) const

nodiscard

Checks if the node is changing its state currently.

Definition at line 579 of file Node.cpp.

◆ nameId()

std::string NAV::Node::nameId ( ) const

nodiscard

Node name and id.

Definition at line 323 of file Node.cpp.

◆ 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

Definition at line 92 of file Node.cpp.

◆ onCreateLink()

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

Definition at line 81 of file Node.cpp.

◆ onDeleteLink()

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::UbloxGnssOrbitCollector.

Definition at line 86 of file Node.cpp.

◆ operator=() [1/2]

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

delete

Copy assignment operator.

◆ operator=() [2/2]

Node & NAV::Node::operator= ( Node && )

delete

Move assignment operator.

◆ outputPinFromId()

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

nodiscard

Returns the pin with the given id.

Parameters

[in] pinId Id of the Pin

Returns: The output pin

Definition at line 222 of file Node.cpp.

◆ outputPinIndexFromId()

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

nodiscard

Returns the index of the pin.

Parameters

[in] pinId Id of the Pin

Returns: The index of the pin

Definition at line 242 of file Node.cpp.

◆ 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

Definition at line 147 of file Node.cpp.

◆ requestOutputValueLock()

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

nodiscard

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

Parameters

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

Definition at line 132 of file Node.cpp.

◆ resetNode()

bool NAV::Node::resetNode ( )

virtual

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

Reimplemented in NAV::ArubaSensor, NAV::CsvFile, NAV::Demo, NAV::EmlidFile, NAV::EmlidSensor, NAV::ErrorModel, NAV::EspressifSensor, NAV::experimental::SkydelNetworkStream, NAV::ImuFile, NAV::ImuSimulator, NAV::KvhFile, NAV::KvhSensor, NAV::Ln200Sensor, NAV::LowPassFilter, NAV::MultiImuFile, NAV::Navio2Sensor, NAV::NmeaFile, NAV::PosVelAttFile, NAV::RinexNavFile, NAV::RinexObsFile, NAV::RtklibPosFile, NAV::UbloxFile, NAV::UbloxSensor, NAV::UdpRecv, NAV::UdpSend, NAV::UlogFile, NAV::VectorNavFile, NAV::VectorNavSensor, and NAV::WiFiObsFile.

Definition at line 74 of file Node.cpp.

◆ restore()

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::AllanDeviation, NAV::ArubaSensor, NAV::BaroSimulator, NAV::Combiner, NAV::CsvFile, NAV::CsvLogger, NAV::Demo, NAV::EmlidFile, NAV::EmlidSensor, NAV::ErrorModel, NAV::EspressifSensor, NAV::experimental::ARMA, NAV::experimental::Delay, NAV::GnssAnalyzer, NAV::GroupBox, NAV::Imu, NAV::ImuFile, NAV::ImuFusion, NAV::ImuIntegrator, NAV::ImuSimulator, NAV::KmlLogger, NAV::KvhFile, NAV::KvhSensor, NAV::Ln200Sensor, NAV::LooselyCoupledKF, NAV::LowPassFilter, NAV::MatrixLogger, NAV::MultiImuFile, NAV::Navio2Sensor, NAV::NmeaFile, NAV::Plot, NAV::PosVelAttFile, NAV::PosVelAttInitializer, NAV::PressToHgt, NAV::RealTimeKinematic, NAV::RinexNavFile, NAV::RinexObsFile, NAV::RinexObsLogger, NAV::RtklibPosFile, NAV::SinglePointPositioning, NAV::TimeWindow, NAV::UartDataLogger, NAV::UartPacketConverter, NAV::UbloxFile, NAV::UbloxSensor, NAV::UdpRecv, NAV::UdpSend, NAV::UlogFile, NAV::VectorNavBinaryConverter, NAV::VectorNavDataLogger, NAV::VectorNavFile, NAV::VectorNavSensor, NAV::WiFiObsFile, NAV::WiFiObsLogger, and NAV::WiFiPositioning.

Definition at line 61 of file Node.cpp.

◆ restoreAtferLink()

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

Definition at line 63 of file Node.cpp.

◆ save()

json NAV::Node::save ( ) const

nodiscardvirtual

Saves the node into a json object.

Reimplemented in NAV::AllanDeviation, NAV::ArubaSensor, NAV::BaroSimulator, NAV::Combiner, NAV::CsvFile, NAV::CsvLogger, NAV::Demo, NAV::EmlidFile, NAV::EmlidSensor, NAV::ErrorModel, NAV::EspressifSensor, NAV::experimental::ARMA, NAV::experimental::Delay, NAV::GnssAnalyzer, NAV::GroupBox, NAV::Imu, NAV::ImuFile, NAV::ImuFusion, NAV::ImuIntegrator, NAV::ImuSimulator, NAV::KmlLogger, NAV::KvhFile, NAV::KvhSensor, NAV::Ln200Sensor, NAV::LooselyCoupledKF, NAV::LowPassFilter, NAV::MatrixLogger, NAV::MultiImuFile, NAV::Navio2Sensor, NAV::NmeaFile, NAV::Plot, NAV::PosVelAttFile, NAV::PosVelAttInitializer, NAV::PressToHgt, NAV::RealTimeKinematic, NAV::RinexNavFile, NAV::RinexObsFile, NAV::RinexObsLogger, NAV::RtklibPosFile, NAV::SinglePointPositioning, NAV::TimeWindow, NAV::UartDataLogger, NAV::UartPacketConverter, NAV::UbloxFile, NAV::UbloxSensor, NAV::UdpRecv, NAV::UdpSend, NAV::UlogFile, NAV::VectorNavBinaryConverter, NAV::VectorNavDataLogger, NAV::VectorNavFile, NAV::VectorNavSensor, NAV::WiFiObsFile, NAV::WiFiObsLogger, and NAV::WiFiPositioning.

Definition at line 59 of file Node.cpp.

◆ toString()

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

Definition at line 333 of file Node.cpp.

◆ type()

virtual std::string NAV::Node::type ( ) const

nodiscardpure virtual

String representation of the Class Type.

Implemented in NAV::AllanDeviation, NAV::ArubaSensor, NAV::BaroSimulator, NAV::Combiner, NAV::CsvFile, NAV::CsvLogger, NAV::Demo, NAV::EmlidFile, NAV::EmlidSensor, NAV::ErrorModel, NAV::EspressifSensor, NAV::experimental::ARMA, NAV::experimental::Delay, NAV::experimental::SkydelNetworkStream, NAV::GnssAnalyzer, NAV::GroupBox, NAV::ImuFile, NAV::ImuFusion, NAV::ImuIntegrator, NAV::ImuSimulator, NAV::KmlLogger, NAV::KvhFile, NAV::KvhSensor, NAV::Ln200Sensor, NAV::LooselyCoupledKF, NAV::LowPassFilter, NAV::MatrixLogger, NAV::Merger, NAV::MultiImuFile, NAV::Navio2Sensor, NAV::NmeaFile, NAV::Plot, NAV::PosVelAttFile, NAV::PosVelAttInitializer, NAV::PressToHgt, NAV::RealTimeKinematic, NAV::RinexNavFile, NAV::RinexObsFile, NAV::RinexObsLogger, NAV::RtklibPosConverter, NAV::RtklibPosFile, NAV::SinglePointPositioning, NAV::Terminator, NAV::TimeWindow, NAV::UartDataLogger, NAV::UartPacketConverter, NAV::UbloxFile, NAV::UbloxGnssObsConverter, NAV::UbloxGnssOrbitCollector, NAV::UbloxSensor, NAV::UdpRecv, NAV::UdpSend, NAV::UlogFile, NAV::VectorNavBinaryConverter, NAV::VectorNavDataLogger, NAV::VectorNavFile, NAV::VectorNavSensor, NAV::WiFiObsFile, NAV::WiFiObsLogger, and NAV::WiFiPositioning.

◆ wakeWorker()

void NAV::Node::wakeWorker ( )

Wakes the worker thread.

Definition at line 560 of file Node.cpp.

◆ workerDeinitializeNode()

bool NAV::Node::workerDeinitializeNode ( )

private

Called by the worker to deinitialize the node.

Returns: True if the deinitialization was successful

Definition at line 997 of file Node.cpp.

◆ workerInitializeNode()

bool NAV::Node::workerInitializeNode ( )

private

Called by the worker to initialize the node.

Returns: True if the initialization was successful

Definition at line 907 of file Node.cpp.

◆ workerThread()

void NAV::Node::workerThread ( Node * node )

staticprivate

Worker thread.

Parameters

[in,out] node The node where the thread belongs to

Definition at line 604 of file Node.cpp.

◆ workerTimeoutHandler()

void NAV::Node::workerTimeoutHandler ( )

privatevirtual

Handler which gets triggered if the worker runs into a periodic timeout.

Definition at line 1055 of file Node.cpp.

◆ gui::menus::ShowRunMenu

void gui::menus::ShowRunMenu ( )

friend

Show the run menu dropdown.

◆ gui::NodeEditorApplication

friend class gui::NodeEditorApplication

friend

Definition at line 586 of file Node.hpp.

◆ NAV::FlowExecutor::deinitialize

void NAV::FlowExecutor::deinitialize ( )

friend

Deinitialize all Nodes.

◆ NAV::FlowExecutor::execute

void NAV::FlowExecutor::execute ( )

friend

Main task of the FlowExecutor thread.

◆ NAV::from_json

void NAV::from_json	(	const json &	j,
		Node &	node )

friend

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	node	Object to fill from the json

◆ NAV::GroupBox

friend class NAV::GroupBox

friend

Definition at line 587 of file Node.hpp.

◆ NAV::NodeRegistry::RegisterNodeTypes

void NAV::NodeRegistry::RegisterNodeTypes ( )

friend

Register all available Node types for the program.

◆ NAV::to_json

void NAV::to_json	(	json &	j,
		const Node &	node )

friend

Converts the provided node into a json object.

Parameters

[out]	j	Json object which gets filled with the info
[in]	node	Node to convert into json

Field Documentation

◆ _autostartWorker

bool NAV::Node::_autostartWorker

inlinestaticprivate

Flag which prevents the worker to be autostarted if false.

Definition at line 563 of file Node.hpp.

◆ _configWindowFocus

bool NAV::Node::_configWindowFocus

private

Flag if the config window should be focused.

Definition at line 557 of file Node.hpp.

◆ _configWindowForceCollapse

bool NAV::Node::_configWindowForceCollapse

private

Flag if the config window should be forced collapsed.

Definition at line 552 of file Node.hpp.

◆ _configWindowIsCollapsed

bool NAV::Node::_configWindowIsCollapsed

private

Flag if the config window is collapsed.

Definition at line 554 of file Node.hpp.

◆ _configWindowMutex

std::mutex NAV::Node::_configWindowMutex

private

Mutex to show the config window (prevents initialization to modify values within the config window)

Definition at line 550 of file Node.hpp.

◆ _disable

bool NAV::Node::_disable

private

Flag if the node should be disabled after deinitializing.

Definition at line 544 of file Node.hpp.

◆ _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)

Definition at line 522 of file Node.hpp.

◆ _hasConfig

bool NAV::Node::_hasConfig

protected

Flag if the config window should be shown.

Definition at line 525 of file Node.hpp.

◆ _lockConfigDuringRun

bool NAV::Node::_lockConfigDuringRun

protected

Lock the config when executing post-processing.

Definition at line 528 of file Node.hpp.

◆ _mode

std::atomic<Mode> NAV::Node::_mode

private

Mode the node is currently running in.

Definition at line 538 of file Node.hpp.

◆ _onlyRealTime

bool NAV::Node::_onlyRealTime

protected

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

Definition at line 531 of file Node.hpp.

◆ _reinitialize

bool NAV::Node::_reinitialize

private

Flag if the node should be reinitialize after deinitializing.

Definition at line 541 of file Node.hpp.

◆ _showConfig

bool NAV::Node::_showConfig

private

Flag if the config window is shown.

Definition at line 547 of file Node.hpp.

◆ _size

ImVec2 NAV::Node::_size

private

Size of the node in pixels.

Definition at line 560 of file Node.hpp.

◆ _state

State NAV::Node::_state

private

Current state of the node.

Definition at line 534 of file Node.hpp.

◆ _stateMutex

std::mutex NAV::Node::_stateMutex

mutableprivate

Mutex to interact with the worker state variable.

Definition at line 535 of file Node.hpp.

◆ _worker

std::thread NAV::Node::_worker

private

Worker handling initialization and processing of data.

Definition at line 566 of file Node.hpp.

◆ _workerConditionVariable

std::condition_variable NAV::Node::_workerConditionVariable

private

Condition variable to signal the worker thread to do something.

Definition at line 568 of file Node.hpp.

◆ _workerMutex

std::mutex NAV::Node::_workerMutex

private

Mutex to interact with the worker condition variable.

Definition at line 567 of file Node.hpp.

◆ _workerTimeout

std::chrono::duration<int64_t> NAV::Node::_workerTimeout

private

Periodic timeout of the worker to check if new data available.

Definition at line 565 of file Node.hpp.

◆ _workerWakeup

bool NAV::Node::_workerWakeup

private

Variable to prevent the worker from sleeping.

Definition at line 569 of file Node.hpp.

◆ callbacksEnabled

bool NAV::Node::callbacksEnabled

Enables the callbacks.

Definition at line 514 of file Node.hpp.

◆ id

ax::NodeEditor::NodeId NAV::Node::id

Unique Id of the Node.

Definition at line 503 of file Node.hpp.

◆ inputPins

std::vector<InputPin> NAV::Node::inputPins

List of input pins.

Definition at line 509 of file Node.hpp.

◆ kind

Kind NAV::Node::kind

Kind of the Node.

Definition at line 505 of file Node.hpp.

◆ name

std::string NAV::Node::name

Name of the Node.

Definition at line 507 of file Node.hpp.

◆ outputPins

std::vector<OutputPin> NAV::Node::outputPins

List of output pins.

Definition at line 511 of file Node.hpp.

◆ pollEvents

std::multimap<InsTime, std::pair<OutputPin*, size_t> > NAV::Node::pollEvents

Map with callback events (sorted by time)

Definition at line 517 of file Node.hpp.

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

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

Data Structures

Public Types

Public Member Functions

Static Public Member Functions

Data Fields

Protected Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ Mode

◆ State

Constructor & Destructor Documentation

◆ Node() [1/3]

◆ ~Node()

◆ Node() [2/3]

◆ Node() [3/3]

Member Function Documentation

◆ afterCreateLink()

◆ afterDeleteLink()

◆ CreateInputPin() [1/3]

◆ CreateInputPin() [2/3]

◆ CreateInputPin() [3/3]

◆ CreateOutputPin() [1/3]

◆ CreateOutputPin() [2/3]

◆ CreateOutputPin() [3/3]

◆ deinitialize()

◆ DeleteInputPin()

◆ DeleteOutputPin()

◆ doDeinitialize()

◆ doDisable()

◆ doEnable()

◆ doInitialize()

◆ doReinitialize()

◆ flush()

◆ getInputValue()

◆ getMode()

◆ getSize()

◆ getState()

◆ guiConfig()

◆ hasInputPinWithSameTime()

◆ initialize()

◆ inputPinFromId()

◆ inputPinIndexFromId()

◆ invokeCallbacks()

◆ isDisabled()

◆ isInitialized()

◆ isOnlyRealtime()

◆ isTransient()

◆ nameId()

◆ notifyOutputValueChanged()

◆ onCreateLink()

◆ onDeleteLink()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ outputPinFromId()

◆ outputPinIndexFromId()

◆ releaseInputValue()

◆ requestOutputValueLock()

◆ resetNode()

◆ restore()

◆ restoreAtferLink()

◆ save()

◆ toString()

◆ type()

◆ wakeWorker()

◆ workerDeinitializeNode()

◆ workerInitializeNode()

◆ workerThread()

◆ workerTimeoutHandler()

Friends And Related Symbol Documentation

◆ gui::menus::ShowRunMenu

◆ gui::NodeEditorApplication

◆ NAV::FlowExecutor::deinitialize

◆ NAV::FlowExecutor::execute

◆ NAV::from_json

◆ NAV::GroupBox