NAV::VectorNavSensor Class Reference

Vector Nav Sensor Class. More...

Classes
struct	TimeSync
	Information needed to sync Master/Slave sensors. More...

Public Member Functions
void	guiConfig () override
	ImGui config window which is shown on double click.
VectorNavSensor &	operator= (const VectorNavSensor &)=delete
	Copy assignment operator.
VectorNavSensor &	operator= (VectorNavSensor &&)=delete
	Move assignment operator.
bool	resetNode () override
	Resets the node. It is guaranteed that the node is initialized when this is called.
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.
	VectorNavSensor ()
	Default constructor.
	VectorNavSensor (const VectorNavSensor &)=delete
	Copy constructor.
	VectorNavSensor (VectorNavSensor &&)=delete
	Move constructor.
	~VectorNavSensor () override
	Destructor.
Public Member Functions inherited from NAV::Imu
	Imu (const Imu &)=delete
	Copy constructor.
	Imu (Imu &&)=delete
	Move constructor.
const ImuPos &	imuPosition () const
	Position and rotation information for conversion from platform to body frame.
Imu &	operator= (const Imu &)=delete
	Copy assignment operator.
Imu &	operator= (Imu &&)=delete
	Move assignment operator.
	~Imu () override=default
	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.
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::UartSensor
UartSensor &	operator= (const UartSensor &)=delete
	Copy assignment operator.
UartSensor &	operator= (UartSensor &&)=delete
	Move assignment operator.
	UartSensor (const UartSensor &)=delete
	Copy constructor.
	UartSensor (UartSensor &&)=delete
	Move constructor.
	~UartSensor ()=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.

Additional Inherited Members
Public Types inherited from NAV::Node
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 Types inherited from NAV::UartSensor
enum	Baudrate {   BAUDRATE_FASTEST ,   BAUDRATE_9600 ,   BAUDRATE_19200 ,   BAUDRATE_38400 ,   BAUDRATE_57600 ,   BAUDRATE_115200 ,   BAUDRATE_128000 ,   BAUDRATE_230400 ,   BAUDRATE_460800 ,   BAUDRATE_921600 }
	Available Baudrates. 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::Imu
	Imu (std::string name)
	Constructor.
Protected Member Functions inherited from NAV::UartSensor
void	restore (const json &j)
	Restores the node from a json object.
json	save () const
	Saves the node into a json object.
Baudrate	sensorBaudrate () const
	Returns the Baudrate for the element Selected by the GUI.
	UartSensor ()=default
	Default constructor.
Static Protected Member Functions inherited from NAV::UartSensor
static int	baudrate2Selection (Baudrate baud)
	Returns the guiSelection for the given baudrate.
Protected Attributes inherited from NAV::Imu
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::UartSensor
int	_selectedBaudrate
	Baudrate for the sensor.
std::string	_sensorPort

Detailed Description

Vector Nav Sensor Class.

Member Function Documentation

guiConfig()

void NAV::VectorNavSensor::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::Imu.

restore()

void NAV::VectorNavSensor::restore ( const json & j )

overridevirtual

Restores the node from a json object.

Parameters

[in]

j

Json object with the node state

Reimplemented from NAV::Imu.

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

• /home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProvider/IMU/Sensors/VectorNavSensor.hpp