UDP Client. More...

Public Member Functions
void	guiConfig () override
	ImGui config window which is shown on double click.
UdpSend &	operator= (const UdpSend &)=delete
	Copy assignment operator.
UdpSend &	operator= (UdpSend &&)=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.
	UdpSend ()
	Default constructor.
	UdpSend (const UdpSend &)=delete
	Copy constructor.
	UdpSend (UdpSend &&)=delete
	Move constructor.
	~UdpSend () 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.
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.

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.

Private Member Functions
void	deinitialize () override
	Deinitialize the node.
bool	initialize () override
	Initialize the node.
void	receiveData (InputPin::NodeDataQueue &queue, size_t pinIdx)
	Callback when receiving data on a port.
void	setMsgTypeAndTime (std::vector< char > &data2send, const InsTime &insTime)
	Set the Msg Type And Time object.

Private Attributes
boost::asio::ip::udp::resolver::results_type	_endpoints
	Boost udp endpoint.
boost::asio::io_context	_io_context
	Asynchronous receive fct.
std::array< int, 4 >	_ip
	IPv4 address.
UdpUtil::MessageType	_msgType
	Message Type: 0 = posVelAtt, 1 = gnssObs.
int	_port
	UDP port number.
boost::asio::ip::udp::resolver	_resolver
	Boost udp resolver.
boost::asio::ip::udp::socket	_socket
	Boost udp socket.

Static Private Attributes
static constexpr size_t	INPUT_PORT_INDEX_NODE_DATA
	Object (NodeData)
static constexpr std::array< int, 2 >	IP_LIMITS
	Range an IPv4 address can be in [0, 2^8-1].

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...
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 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

UDP Client.

Definition at line 37 of file udpSend.hpp.

Constructor & Destructor Documentation

◆ UdpSend() [1/3]

NAV::UdpSend::UdpSend ( )

Default constructor.

Definition at line 43 of file udpSend.cpp.

◆ ~UdpSend()

NAV::UdpSend::~UdpSend ( )

override

Destructor.

Definition at line 54 of file udpSend.cpp.

◆ UdpSend() [2/3]

NAV::UdpSend::UdpSend ( const UdpSend & )

delete

Copy constructor.

◆ UdpSend() [3/3]

NAV::UdpSend::UdpSend ( UdpSend && )

delete

Move constructor.

Member Function Documentation

◆ category()

std::string NAV::UdpSend::category ( )

staticnodiscard

String representation of the Class Category.

Definition at line 69 of file udpSend.cpp.

◆ deinitialize()

void NAV::UdpSend::deinitialize ( )

overrideprivatevirtual

Deinitialize the node.

Reimplemented from NAV::Node.

Definition at line 134 of file udpSend.cpp.

◆ guiConfig()

void NAV::UdpSend::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 74 of file udpSend.cpp.

◆ initialize()

bool NAV::UdpSend::initialize ( )

overrideprivatevirtual

Initialize the node.

Reimplemented from NAV::Node.

Definition at line 118 of file udpSend.cpp.

◆ operator=() [1/2]

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

delete

Copy assignment operator.

◆ operator=() [2/2]

UdpSend & NAV::UdpSend::operator= ( UdpSend && )

delete

Move assignment operator.

◆ receiveData()

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

private

Callback when receiving data on a port.

Parameters

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

Definition at line 141 of file udpSend.cpp.

◆ resetNode()

bool NAV::UdpSend::resetNode ( )

overridevirtual

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

Reimplemented from NAV::Node.

Definition at line 88 of file udpSend.cpp.

◆ restore()

void NAV::UdpSend::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 105 of file udpSend.cpp.

◆ save()

json NAV::UdpSend::save ( ) const

nodiscardoverridevirtual

Saves the node into a json object.

Reimplemented from NAV::Node.

Definition at line 93 of file udpSend.cpp.

◆ setMsgTypeAndTime()

void NAV::UdpSend::setMsgTypeAndTime	(	std::vector< char > &	data2send,
		const InsTime &	insTime )

private

Set the Msg Type And Time object.

Parameters

[in]	data2send	Reference to the data that is to be sent
[in]	insTime	InsTime of the nodeData

Definition at line 214 of file udpSend.cpp.

◆ type()

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

nodiscardoverridevirtual

String representation of the Class Type.

Implements NAV::Node.

Definition at line 64 of file udpSend.cpp.

◆ typeStatic()

std::string NAV::UdpSend::typeStatic ( )

staticnodiscard

String representation of the Class Type.

Definition at line 59 of file udpSend.cpp.

Field Documentation

◆ _endpoints

boost::asio::ip::udp::resolver::results_type NAV::UdpSend::_endpoints

private

Boost udp endpoint.

Definition at line 114 of file udpSend.hpp.

◆ _io_context

boost::asio::io_context NAV::UdpSend::_io_context

private

Asynchronous receive fct.

Definition at line 108 of file udpSend.hpp.

◆ _ip

std::array<int, 4> NAV::UdpSend::_ip

private

IPv4 address.

Definition at line 96 of file udpSend.hpp.

◆ _msgType

UdpUtil::MessageType NAV::UdpSend::_msgType

private

Message Type: 0 = posVelAtt, 1 = gnssObs.

Definition at line 102 of file udpSend.hpp.

◆ _port

int NAV::UdpSend::_port

private

UDP port number.

Definition at line 99 of file udpSend.hpp.

◆ _resolver

boost::asio::ip::udp::resolver NAV::UdpSend::_resolver

private

Boost udp resolver.

Definition at line 112 of file udpSend.hpp.

◆ _socket

boost::asio::ip::udp::socket NAV::UdpSend::_socket

private

Boost udp socket.

Definition at line 110 of file udpSend.hpp.

◆ INPUT_PORT_INDEX_NODE_DATA

size_t NAV::UdpSend::INPUT_PORT_INDEX_NODE_DATA

staticconstexprprivate

Object (NodeData)

Definition at line 77 of file udpSend.hpp.

◆ IP_LIMITS

std::array<int, 2> NAV::UdpSend::IP_LIMITS

staticconstexprprivate

Range an IPv4 address can be in [0, 2^8-1].

Definition at line 105 of file udpSend.hpp.

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

/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataLink/udpSend.hpp
/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataLink/udpSend.cpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ UdpSend() [1/3]

◆ ~UdpSend()

◆ UdpSend() [2/3]

◆ UdpSend() [3/3]

Member Function Documentation

◆ category()

◆ deinitialize()

◆ guiConfig()

◆ initialize()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ receiveData()

◆ resetNode()

◆ restore()

◆ save()

◆ setMsgTypeAndTime()

◆ type()

◆ typeStatic()

Field Documentation

◆ _endpoints

◆ _io_context

◆ _ip

◆ _msgType

◆ _port

◆ _resolver

◆ _socket

◆ INPUT_PORT_INDEX_NODE_DATA

◆ IP_LIMITS