Plot node which plots all kind of observations. More...

Classes
struct	PinData
	Information needed to plot the data on a certain pin. More...

struct	PlotInfo
	Information specifying the look of each plot. More...

Public Member Functions
void	afterCreateLink (OutputPin &startPin, InputPin &endPin) override
	Called when a new link was established.

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

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

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

	Plot ()
	Default constructor.

	Plot (const Plot &)=delete
	Copy constructor.

	Plot (Plot &&)=delete
	Move constructor.

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.

	~Plot () override
	Destructor.

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

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.

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	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::CommonLog
	CommonLog (CommonLog &&)=delete
	Move constructor.

	CommonLog (const CommonLog &)=delete
	Copy constructor.

void	initialize () const
	Initialize the common log variables.

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

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

virtual	~CommonLog ()
	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.

Static Public Member Functions inherited from NAV::CommonLog
static LocalPosition	calcLocalPosition (const Eigen::Vector3d &lla_position)
	Calculate the local position offset from a reference point.

static double	calcTimeIntoRun (const InsTime &insTime)
	Calculates the relative time into he run.

static void	restore (const json &j)
	Read info from a json object.

static json	save ()
	Returns a json object of the common log.

static bool	ShowOriginInput (const char *id)
	Shows a GUI to input a origin location.

Private Member Functions
void	addData (size_t pinIndex, size_t dataIndex, double value)
	Add Data to the buffer of the pin.

size_t	addData (size_t pinIndex, std::string displayName, double value)
	Add Data to the buffer of the pin.

void	addEvent (size_t pinIndex, InsTime insTime, const std::string &text, int32_t dataIndex)
	Adds a event to a certain point in time.

CommonLog::LocalPosition	calcLocalPosition (const Eigen::Vector3d &lla_position)
	Calculate the local position offset from the plot origin.

void	deinitialize () override
	Deinitialize the node.

bool	initialize () override
	Initialize the node.

void	plotBoolean (const InsTime &insTime, size_t pinIdx)
	Plots the data on this port.

template<typename T >
void	plotData (const std::shared_ptr< const T > &obs, size_t pinIndex, size_t &plotIndex, size_t startIndex=0)
	Plot the data.

void	plotFloat (const InsTime &insTime, size_t pinIdx)
	Plots the data on this port.

void	plotFlowData (InputPin::NodeDataQueue &queue, size_t pinIdx)
	Plot the data on this port.

void	plotInteger (const InsTime &insTime, size_t pinIdx)
	Plots the data on this port.

void	plotMatrix (const InsTime &insTime, size_t pinIdx)
	Plots the data on this port.

void	updateNumberOfPlots ()
	Adds/Deletes Plots depending on the variable nPlots.

Static Private Member Functions
static void	pinAddCallback (Node *node)
	Function to call to add a new pin.

static void	pinDeleteCallback (Node *node, size_t pinIdx)
	Function to call to delete a pin.

Private Attributes
std::vector< std::string >	_dataIdentifier
	Possible data identifiers to connect.

int	_dragAndDropHeaderIndex
	Index of the Collapsible Header currently being dragged.

gui::widgets::DynamicInputPins	_dynamicInputPins
	Dynamic input pins.

std::pair< std::unordered_set< size_t >, ImPlotRange >	_forceXaxisRange
	Values to force the x axis range to and a set of plotIdx to force.

size_t	_nPlots
	Amount of plot windows (should equal _plots.size())

std::optional< gui::widgets::PositionWithFrame >	_originPosition
	Start position for the calculation of relative North-South and East-West.

bool	_overridePositionStartValues
	Flag, whether to override the North/East startValues in the GUI.

std::vector< PinData >	_pinData
	Data storage for each pin.

std::vector< PlotInfo >	_plots
	Info for each plot window.

size_t	_screenshotFrameCnt
	Frame counter for taking screenshots (> 0 when screenshot in progress)

size_t	_screenShotPlotIdx
	Plot index a screenshot is taken of.

size_t	GPST_PLOT_IDX
	Index of the GPST data (unix timestamp)

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 Attributes 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::CommonLog
	CommonLog ()
	Default constructor.

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.

Static Protected Attributes inherited from NAV::CommonLog
static std::optional< gui::widgets::PositionWithFrame >	_originPosition
	Origin for calculation of relative position.

static InsTime	_startTime
	Start Time for calculation of relative time.

static bool	_useGuiInputs
	Use GUI inputs.

Detailed Description

Plot node which plots all kind of observations.

Member Function Documentation

◆ addData() [1/2]

void NAV::Plot::addData	(	size_t	pinIndex,
		size_t	dataIndex,
		double	value )

private

Add Data to the buffer of the pin.

Parameters

[in]	pinIndex	Index of the input pin where the data was received
[in]	dataIndex	Index of the data to insert
[in]	value	The value to insert

◆ addData() [2/2]

size_t NAV::Plot::addData	(	size_t	pinIndex,
		std::string	displayName,
		double	value )

private

Add Data to the buffer of the pin.

Parameters

[in]	pinIndex	Index of the input pin where the data was received
[in]	displayName	Display name of the data
[in]	value	The value to insert

Returns: Data Index where data were inserted

◆ addEvent()

void NAV::Plot::addEvent	(	size_t	pinIndex,
		InsTime	insTime,
		const std::string &	text,
		int32_t	dataIndex )

private

Adds a event to a certain point in time.

Parameters

[in]	pinIndex	Index of the input pin where the data was received
	insTime	Absolute time
	text	Text to display
	dataIndex	Data Index to add the event for (-1 means all)

◆ afterCreateLink()

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

overridevirtual

Called when a new link was established.

Parameters

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

Reimplemented from NAV::Node.

◆ calcLocalPosition()

CommonLog::LocalPosition NAV::Plot::calcLocalPosition ( const Eigen::Vector3d & lla_position )

private

Calculate the local position offset from the plot origin.

Parameters

[in] lla_position [𝜙, λ, h] Latitude, Longitude, Altitude in [rad, rad, m]

Returns: Local positions in north/south and east/west directions in [m]

◆ deinitialize()

void NAV::Plot::deinitialize ( )

overrideprivatevirtual

Deinitialize the node.

Reimplemented from NAV::Node.

◆ guiConfig()

void NAV::Plot::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.

◆ initialize()

bool NAV::Plot::initialize ( )

overrideprivatevirtual

Initialize the node.

Reimplemented from NAV::Node.

◆ pinAddCallback()

static void NAV::Plot::pinAddCallback ( Node * node )

staticprivate

Function to call to add a new pin.

Parameters

[in,out] node Pointer to this node

◆ pinDeleteCallback()

static void NAV::Plot::pinDeleteCallback	(	Node *	node,
		size_t	pinIdx )

staticprivate

Function to call to delete a pin.

Parameters

[in,out]	node	Pointer to this node
[in]	pinIdx	Input pin index to delete

◆ plotBoolean()

void NAV::Plot::plotBoolean	(	const InsTime &	insTime,
		size_t	pinIdx )

private

Plots the data on this port.

Parameters

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

◆ plotData()

template<typename T >

void NAV::Plot::plotData	(	const std::shared_ptr< const T > &	obs,
		size_t	pinIndex,
		size_t &	plotIndex,
		size_t	startIndex = 0 )

inlineprivate

Plot the data.

Parameters

[in]	obs	Observation to plot
[in]	pinIndex	Index of the input pin where the data was received
[in,out]	plotIndex	Index for inserting the data into the plot data vector
[in]	startIndex	Data descriptor start index

◆ plotFloat()

void NAV::Plot::plotFloat	(	const InsTime &	insTime,
		size_t	pinIdx )

private

Plots the data on this port.

Parameters

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

◆ plotFlowData()

void NAV::Plot::plotFlowData	(	InputPin::NodeDataQueue &	queue,
		size_t	pinIdx )

private

Plot the data on this port.

Parameters

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

◆ plotInteger()

void NAV::Plot::plotInteger	(	const InsTime &	insTime,
		size_t	pinIdx )

private

Plots the data on this port.

Parameters

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

◆ plotMatrix()

void NAV::Plot::plotMatrix	(	const InsTime &	insTime,
		size_t	pinIdx )

private

Plots the data on this port.

Parameters

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

◆ restore()

void NAV::Plot::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.

◆ save()

json NAV::Plot::save ( ) const

nodiscardoverridevirtual

Saves the node into a json object.

Reimplemented from NAV::Node.

◆ type()

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

nodiscardoverridevirtual

String representation of the Class Type.

Implements NAV::Node.

Member Data Documentation

◆ _dynamicInputPins

gui::widgets::DynamicInputPins NAV::Plot::_dynamicInputPins

private

Dynamic input pins.

Attention: This should always be the last variable in the header, because it accesses others through the function callbacks

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

/home/runner/work/INSTINCT/INSTINCT/src/Nodes/Plotting/Plot.hpp

Classes

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ addData() [1/2]

◆ addData() [2/2]

◆ addEvent()

◆ afterCreateLink()

◆ calcLocalPosition()

◆ deinitialize()

◆ guiConfig()

◆ initialize()

◆ pinAddCallback()

◆ pinDeleteCallback()

◆ plotBoolean()

◆ plotData()

◆ plotFloat()

◆ plotFlowData()

◆ plotInteger()

◆ plotMatrix()

◆ restore()

◆ save()

◆ type()

Member Data Documentation

◆ _dynamicInputPins