| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | #include "Combiner.hpp" | ||
| 10 | #include "NodeRegistry.hpp" | ||
| 11 | #include "Navigation/Time/InsTime.hpp" | ||
| 12 | #include "Navigation/Time/TimeSystem.hpp" | ||
| 13 | #include "internal/Node/Pin.hpp" | ||
| 14 | #include "internal/gui/NodeEditorApplication.hpp" | ||
| 15 | |||
| 16 | #include <algorithm> | ||
| 17 | #include <cmath> | ||
| 18 | #include <cstddef> | ||
| 19 | #include <imgui.h> | ||
| 20 | #include <imgui_internal.h> | ||
| 21 | #include <limits> | ||
| 22 | #include <vector> | ||
| 23 | #include <spdlog/common.h> | ||
| 24 | |||
| 25 | #include "internal/gui/widgets/imgui_ex.hpp" | ||
| 26 | #include "util/Assert.h" | ||
| 27 | #include "util/Logger.hpp" | ||
| 28 | |||
| 29 | #include "internal/NodeManager.hpp" | ||
| 30 | #include <fmt/core.h> | ||
| 31 | namespace nm = NAV::NodeManager; | ||
| 32 | #include "internal/FlowManager.hpp" | ||
| 33 | |||
| 34 | #include "internal/gui/widgets/HelpMarker.hpp" | ||
| 35 | |||
| 36 | #include "NodeData/General/DynamicData.hpp" | ||
| 37 | |||
| 38 | namespace NAV | ||
| 39 | { | ||
| 40 | |||
| 41 | /// @brief Write info to a json object | ||
| 42 | /// @param[out] j Json output | ||
| 43 | /// @param[in] data Object to read info from | ||
| 44 | ✗ | void to_json(json& j, const Combiner::Combination::Term& data) | |
| 45 | { | ||
| 46 | ✗ | j = json{ | |
| 47 | ✗ | { "factor", data.factor }, | |
| 48 | ✗ | { "pinIndex", data.pinIndex }, | |
| 49 | ✗ | { "dataSelection", data.dataSelection }, | |
| 50 | ✗ | }; | |
| 51 | ✗ | } | |
| 52 | /// @brief Read info from a json object | ||
| 53 | /// @param[in] j Json variable to read info from | ||
| 54 | /// @param[out] data Output object | ||
| 55 | 12 | void from_json(const json& j, Combiner::Combination::Term& data) | |
| 56 | { | ||
| 57 |
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12 | if (j.contains("factor")) { j.at("factor").get_to(data.factor); } |
| 58 |
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12 | if (j.contains("pinIndex")) { j.at("pinIndex").get_to(data.pinIndex); } |
| 59 |
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12 | if (j.contains("dataSelection")) { j.at("dataSelection").get_to(data.dataSelection); } |
| 60 | 12 | } | |
| 61 | |||
| 62 | /// @brief Write info to a json object | ||
| 63 | /// @param[out] j Json output | ||
| 64 | /// @param[in] data Object to read info from | ||
| 65 | ✗ | void to_json(json& j, const Combiner::Combination& data) | |
| 66 | { | ||
| 67 | ✗ | j = json{ | |
| 68 | ✗ | { "terms", data.terms }, | |
| 69 | ✗ | }; | |
| 70 | ✗ | } | |
| 71 | /// @brief Read info from a json object | ||
| 72 | /// @param[in] j Json variable to read info from | ||
| 73 | /// @param[out] data Output object | ||
| 74 | 6 | void from_json(const json& j, Combiner::Combination& data) | |
| 75 | { | ||
| 76 |
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6 | if (j.contains("terms")) { j.at("terms").get_to(data.terms); } |
| 77 | 6 | } | |
| 78 | |||
| 79 | 113 | Combiner::Combiner() | |
| 80 |
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452 | : Node(typeStatic()) |
| 81 | { | ||
| 82 | LOG_TRACE("{}: called", name); | ||
| 83 | |||
| 84 | 113 | _hasConfig = true; | |
| 85 | 113 | _guiConfigDefaultWindowSize = { 430, 410 }; | |
| 86 | |||
| 87 |
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113 | _dynamicInputPins.addPin(this); |
| 88 |
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113 | _dynamicInputPins.addPin(this); |
| 89 |
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452 | nm::CreateOutputPin(this, "Comb", Pin::Type::Flow, { DynamicData::type() }); |
| 90 | 339 | } | |
| 91 | |||
| 92 | 228 | Combiner::~Combiner() | |
| 93 | { | ||
| 94 | LOG_TRACE("{}: called", nameId()); | ||
| 95 | 228 | } | |
| 96 | |||
| 97 | 225 | std::string Combiner::typeStatic() | |
| 98 | { | ||
| 99 |
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450 | return "Combiner"; |
| 100 | } | ||
| 101 | |||
| 102 | ✗ | std::string Combiner::type() const | |
| 103 | { | ||
| 104 | ✗ | return typeStatic(); | |
| 105 | } | ||
| 106 | |||
| 107 | 112 | std::string Combiner::category() | |
| 108 | { | ||
| 109 |
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224 | return "Utility"; |
| 110 | } | ||
| 111 | |||
| 112 | ✗ | void Combiner::guiConfig() | |
| 113 | { | ||
| 114 | ✗ | ImGui::SetNextItemWidth(150.0F * gui::NodeEditorApplication::windowFontRatio()); | |
| 115 | ✗ | if (ImGui::BeginCombo(fmt::format("Reference pin##{}", size_t(id)).c_str(), inputPins.at(_refPinIdx).name.c_str())) | |
| 116 | { | ||
| 117 | ✗ | for (size_t i = 0; i < inputPins.size(); i++) | |
| 118 | { | ||
| 119 | ✗ | const bool is_selected = _refPinIdx == i; | |
| 120 | ✗ | if (ImGui::Selectable(inputPins.at(i).name.c_str(), is_selected)) | |
| 121 | { | ||
| 122 | ✗ | _refPinIdx = i; | |
| 123 | ✗ | flow::ApplyChanges(); | |
| 124 | } | ||
| 125 | ✗ | if (is_selected) { ImGui::SetItemDefaultFocus(); } | |
| 126 | } | ||
| 127 | ✗ | ImGui::EndCombo(); | |
| 128 | } | ||
| 129 | ✗ | ImGui::SameLine(); | |
| 130 | ✗ | gui::widgets::HelpMarker("Outputs will be sent at epochs of this input pin"); | |
| 131 | |||
| 132 | ✗ | ImGui::SameLine(); | |
| 133 | ✗ | if (ImGui::Checkbox(fmt::format("Output missing as NaN##{}", size_t(id)).c_str(), &_outputMissingAsNaN)) | |
| 134 | { | ||
| 135 | ✗ | flow::ApplyChanges(); | |
| 136 | } | ||
| 137 | |||
| 138 | ✗ | if (ImGui::Checkbox(fmt::format("##_noOutputIfTimeDiffLarge{}", size_t(id)).c_str(), &_noOutputIfTimeDiffLarge)) | |
| 139 | { | ||
| 140 | ✗ | flow::ApplyChanges(); | |
| 141 | } | ||
| 142 | ✗ | ImGui::SameLine(); | |
| 143 | ✗ | if (!_noOutputIfTimeDiffLarge) { ImGui::BeginDisabled(); } | |
| 144 | ✗ | ImGui::SetNextItemWidth(200.0F * gui::NodeEditorApplication::windowFontRatio()); | |
| 145 | ✗ | if (ImGui::DragDouble(fmt::format("Max time diff to interpolate##{}", size_t(id)).c_str(), | |
| 146 | &_maxTimeDiffMultiplierFrequency, 1.0F, 0.0, std::numeric_limits<double>::max(), "%.1f * dt_min")) | ||
| 147 | { | ||
| 148 | ✗ | flow::ApplyChanges(); | |
| 149 | } | ||
| 150 | ✗ | if (!_noOutputIfTimeDiffLarge) { ImGui::EndDisabled(); } | |
| 151 | |||
| 152 | ✗ | if (ImGui::Checkbox(fmt::format("##_noOutputIfTimeStepLarge{}", size_t(id)).c_str(), &_noOutputIfTimeStepLarge)) | |
| 153 | { | ||
| 154 | ✗ | flow::ApplyChanges(); | |
| 155 | } | ||
| 156 | ✗ | ImGui::SameLine(); | |
| 157 | ✗ | if (!_noOutputIfTimeStepLarge) { ImGui::BeginDisabled(); } | |
| 158 | ✗ | ImGui::SetNextItemWidth(200.0F * gui::NodeEditorApplication::windowFontRatio()); | |
| 159 | ✗ | if (ImGui::DragDouble(fmt::format("Max observation time diff##{}", size_t(id)).c_str(), | |
| 160 | &_maxTimeStepMultiplierFrequency, 1.0F, 0.0, std::numeric_limits<double>::max(), "%.1f * dt_min")) | ||
| 161 | { | ||
| 162 | ✗ | flow::ApplyChanges(); | |
| 163 | } | ||
| 164 | ✗ | if (!_noOutputIfTimeStepLarge) { ImGui::EndDisabled(); } | |
| 165 | |||
| 166 | ✗ | if (CommonLog::ShowOriginInput(nameId().c_str())) | |
| 167 | { | ||
| 168 | ✗ | flow::ApplyChanges(); | |
| 169 | } | ||
| 170 | |||
| 171 | ✗ | ImGui::SetNextItemOpen(false, ImGuiCond_FirstUseEver); | |
| 172 | ✗ | if (ImGui::CollapsingHeader(fmt::format("Pins##{}", size_t(id)).c_str())) | |
| 173 | { | ||
| 174 | ✗ | std::vector<size_t> pinIds; | |
| 175 | ✗ | pinIds.reserve(inputPins.size()); | |
| 176 | ✗ | for (const auto& pin : inputPins) { pinIds.push_back(size_t(pin.id)); } | |
| 177 | ✗ | if (_dynamicInputPins.ShowGuiWidgets(size_t(id), inputPins, this)) | |
| 178 | { | ||
| 179 | ✗ | if (_refPinIdx > inputPins.size()) { _refPinIdx--; } | |
| 180 | ✗ | std::vector<size_t> inputPinIds; | |
| 181 | ✗ | inputPinIds.reserve(inputPins.size()); | |
| 182 | ✗ | for (const auto& pin : inputPins) { inputPinIds.push_back(size_t(pin.id)); } | |
| 183 | LOG_DATA("{}: old Input pin ids {}", nameId(), fmt::join(pinIds, ", ")); | ||
| 184 | LOG_DATA("{}: new Input pin ids {}", nameId(), fmt::join(inputPinIds, ", ")); | ||
| 185 | ✗ | if (inputPins.size() == pinIds.size()) // Reorder performed | |
| 186 | { | ||
| 187 | ✗ | for (size_t i = 0; i < pinIds.size(); i++) | |
| 188 | { | ||
| 189 | ✗ | auto pinId = pinIds.at(i); | |
| 190 | ✗ | const auto& inputPinId = size_t(inputPins.at(i).id); | |
| 191 | ✗ | if (pinId != inputPinId) | |
| 192 | { | ||
| 193 | ✗ | size_t newPinIdx = inputPinIndexFromId(pinId); | |
| 194 | LOG_DATA("{}: Pin {} moved index {} -> {}", nameId(), pinId, i, newPinIdx); | ||
| 195 | ✗ | for (auto& comb : _combinations) | |
| 196 | { | ||
| 197 | ✗ | for (auto& term : comb.terms) | |
| 198 | { | ||
| 199 | ✗ | if (term.pinIndex == i) { term.pinIndex = newPinIdx + 10000; } | |
| 200 | } | ||
| 201 | } | ||
| 202 | ✗ | if (_refPinIdx == i) { _refPinIdx = newPinIdx + 10000; } | |
| 203 | } | ||
| 204 | } | ||
| 205 | ✗ | for (auto& comb : _combinations) | |
| 206 | { | ||
| 207 | ✗ | for (auto& term : comb.terms) | |
| 208 | { | ||
| 209 | ✗ | if (term.pinIndex >= 10000) { term.pinIndex -= 10000; } | |
| 210 | } | ||
| 211 | } | ||
| 212 | ✗ | if (_refPinIdx >= 10000) { _refPinIdx -= 10000; } | |
| 213 | } | ||
| 214 | ✗ | flow::ApplyChanges(); | |
| 215 | ✗ | } | |
| 216 | ✗ | } | |
| 217 | |||
| 218 | ✗ | std::vector<size_t> combToDelete; | |
| 219 | ✗ | for (size_t c = 0; c < _combinations.size(); c++) | |
| 220 | { | ||
| 221 | ✗ | auto& comb = _combinations.at(c); | |
| 222 | |||
| 223 | ✗ | bool keepCombination = true; | |
| 224 | ✗ | if (ImGui::CollapsingHeader(fmt::format("{}##id{} c{}", comb.description(this), size_t(id), c).c_str(), | |
| 225 | ✗ | _combinations.size() > 1 ? &keepCombination : nullptr, ImGuiTreeNodeFlags_DefaultOpen)) | |
| 226 | { | ||
| 227 | ✗ | constexpr int COL_PER_TERM = 3; | |
| 228 | ✗ | const float COL_SIGN_WIDTH = 50.0F * gui::NodeEditorApplication::windowFontRatio(); | |
| 229 | ✗ | const float COL_PIN_WIDTH = 100.0F * gui::NodeEditorApplication::windowFontRatio(); | |
| 230 | |||
| 231 | ✗ | std::vector<size_t> termToDelete; | |
| 232 | ✗ | bool addTerm = false; | |
| 233 | ✗ | if (ImGui::BeginTable(fmt::format("##Table id{} c{}", size_t(id), c).c_str(), COL_PER_TERM * static_cast<int>(comb.terms.size()), | |
| 234 | ImGuiTableFlags_NoHostExtendX | ImGuiTableFlags_SizingFixedFit | ImGuiTableFlags_ScrollX, | ||
| 235 | ✗ | ImVec2(0, 70.0F * gui::NodeEditorApplication::windowFontRatio()))) | |
| 236 | { | ||
| 237 | ✗ | ImGui::TableNextRow(); | |
| 238 | |||
| 239 | ✗ | for (size_t t = 0; t < comb.terms.size(); t++) | |
| 240 | { | ||
| 241 | ✗ | auto& term = comb.terms.at(t); | |
| 242 | |||
| 243 | ✗ | ImGui::TableSetColumnIndex(static_cast<int>(t) * COL_PER_TERM); | |
| 244 | ✗ | ImGui::SetNextItemWidth(COL_SIGN_WIDTH); | |
| 245 | ✗ | if (ImGui::InputDouble(fmt::format("##factor id{} c{} t{}", size_t(id), c, t).c_str(), &term.factor, 0.0, 0.0, "%.2f")) | |
| 246 | { | ||
| 247 | ✗ | flow::ApplyChanges(); | |
| 248 | } | ||
| 249 | ✗ | ImGui::SameLine(); | |
| 250 | ✗ | ImGui::TextUnformatted("*"); | |
| 251 | |||
| 252 | ✗ | ImGui::SameLine(); | |
| 253 | ✗ | ImGui::SetNextItemWidth(COL_PIN_WIDTH); | |
| 254 | ✗ | if (ImGui::BeginCombo(fmt::format("##pinIndex id{} c{} t{}", size_t(id), c, t).c_str(), inputPins.at(term.pinIndex).name.c_str())) | |
| 255 | { | ||
| 256 | ✗ | for (size_t i = 0; i < inputPins.size(); i++) | |
| 257 | { | ||
| 258 | ✗ | const bool is_selected = term.pinIndex == i; | |
| 259 | ✗ | if (ImGui::Selectable(inputPins.at(i).name.c_str(), is_selected)) | |
| 260 | { | ||
| 261 | ✗ | term.pinIndex = i; | |
| 262 | ✗ | term.dataSelection = size_t(0); | |
| 263 | ✗ | flow::ApplyChanges(); | |
| 264 | } | ||
| 265 | ✗ | if (is_selected) { ImGui::SetItemDefaultFocus(); } | |
| 266 | } | ||
| 267 | ✗ | ImGui::EndCombo(); | |
| 268 | } | ||
| 269 | |||
| 270 | ✗ | ImGui::TableSetColumnIndex(static_cast<int>(t) * COL_PER_TERM + 1); | |
| 271 | ✗ | ImGui::SetCursorPosX(ImGui::GetCursorPosX() + 2.0F); | |
| 272 | ✗ | float radius = 8.0F * gui::NodeEditorApplication::windowFontRatio(); | |
| 273 | ✗ | ImGui::GetWindowDrawList()->AddCircleFilled(ImGui::GetCursorScreenPos() + ImVec2(radius, ImGui::GetTextLineHeight() / 2.0F + 2.0F), radius, | |
| 274 | ✗ | term.polyReg.empty() ? IM_COL32(255, 0, 0, 255) : IM_COL32(0, 255, 0, 255)); | |
| 275 | ✗ | ImGui::Dummy(ImVec2(radius * 2.0F, ImGui::GetTextLineHeight())); | |
| 276 | ✗ | if (ImGui::IsItemHovered()) { ImGui::SetTooltip(term.polyReg.empty() ? "Signal was not received" : "Signal was received"); } | |
| 277 | |||
| 278 | ✗ | ImGui::TableSetColumnIndex(static_cast<int>(t) * COL_PER_TERM + 2); | |
| 279 | ✗ | if (static_cast<int>(t) * COL_PER_TERM + 2 == COL_PER_TERM * static_cast<int>(comb.terms.size()) - 1) | |
| 280 | { | ||
| 281 | ✗ | addTerm |= ImGui::Button(fmt::format("+## Add Term id{} c{}", size_t(id), c).c_str()); | |
| 282 | ✗ | if (ImGui::IsItemHovered()) { ImGui::SetTooltip("Add Term?"); } | |
| 283 | } | ||
| 284 | else | ||
| 285 | { | ||
| 286 | ✗ | ImGui::TextUnformatted("+"); | |
| 287 | } | ||
| 288 | } | ||
| 289 | |||
| 290 | ✗ | ImGui::TableNextRow(); | |
| 291 | ✗ | for (size_t t = 0; t < comb.terms.size(); t++) | |
| 292 | { | ||
| 293 | ✗ | auto& term = comb.terms.at(t); | |
| 294 | |||
| 295 | ✗ | ImGui::TableSetColumnIndex(static_cast<int>(t) * COL_PER_TERM); | |
| 296 | ✗ | auto dataDescriptors = getDataDescriptors(term.pinIndex); | |
| 297 | ✗ | if ((std::holds_alternative<size_t>(term.dataSelection) && std::get<size_t>(term.dataSelection) < dataDescriptors.size()) | |
| 298 | ✗ | || std::holds_alternative<std::string>(term.dataSelection)) | |
| 299 | { | ||
| 300 | ✗ | std::string previewText = std::holds_alternative<size_t>(term.dataSelection) | |
| 301 | ✗ | ? dataDescriptors.at(std::get<size_t>(term.dataSelection)) | |
| 302 | ✗ | : std::get<std::string>(term.dataSelection); | |
| 303 | ✗ | float comboWidth = COL_SIGN_WIDTH + COL_PIN_WIDTH + ImGui::CalcTextSize("*").x + 2.0F * ImGui::GetStyle().ItemSpacing.x; | |
| 304 | ✗ | ImGui::SetNextItemWidth(comboWidth); | |
| 305 | ✗ | if (ImGui::BeginCombo(fmt::format("##dataIndex id{} c{} t{}", size_t(id), c, t).c_str(), previewText.c_str())) | |
| 306 | { | ||
| 307 | ✗ | for (size_t i = 0; i < dataDescriptors.size(); i++) | |
| 308 | { | ||
| 309 | ✗ | const bool is_selected = std::holds_alternative<size_t>(term.dataSelection) | |
| 310 | ✗ | ? std::get<size_t>(term.dataSelection) == i | |
| 311 | ✗ | : dataDescriptors.at(i) == previewText; | |
| 312 | ✗ | if (ImGui::Selectable(dataDescriptors.at(i).c_str(), is_selected)) | |
| 313 | { | ||
| 314 | ✗ | if (dataDescriptors.size() - i <= _pinData.at(term.pinIndex).dynDataDescriptors.size()) | |
| 315 | { | ||
| 316 | ✗ | term.dataSelection = dataDescriptors.at(i); | |
| 317 | } | ||
| 318 | else | ||
| 319 | { | ||
| 320 | ✗ | term.dataSelection = i; | |
| 321 | } | ||
| 322 | ✗ | for (size_t t2 = 0; t2 < comb.terms.size(); t2++) // Set other terms to same data if possible | |
| 323 | { | ||
| 324 | ✗ | if (t2 == t) { continue; } | |
| 325 | ✗ | auto& term2 = comb.terms.at(t2); | |
| 326 | ✗ | auto dataDescriptors2 = getDataDescriptors(term2.pinIndex); | |
| 327 | ✗ | auto iter = std::ranges::find(dataDescriptors2, | |
| 328 | ✗ | std::holds_alternative<size_t>(term.dataSelection) | |
| 329 | ✗ | ? dataDescriptors.at(std::get<size_t>(term.dataSelection)) | |
| 330 | ✗ | : std::get<std::string>(term.dataSelection)); | |
| 331 | ✗ | if (iter != dataDescriptors2.end()) | |
| 332 | { | ||
| 333 | ✗ | if (std::holds_alternative<size_t>(term.dataSelection)) | |
| 334 | { | ||
| 335 | ✗ | term2.dataSelection = static_cast<size_t>(std::distance(dataDescriptors2.begin(), iter)); | |
| 336 | } | ||
| 337 | else | ||
| 338 | { | ||
| 339 | ✗ | term2.dataSelection = term.dataSelection; | |
| 340 | } | ||
| 341 | } | ||
| 342 | ✗ | } | |
| 343 | |||
| 344 | ✗ | flow::ApplyChanges(); | |
| 345 | } | ||
| 346 | ✗ | if (is_selected) { ImGui::SetItemDefaultFocus(); } | |
| 347 | } | ||
| 348 | ✗ | ImGui::EndCombo(); | |
| 349 | } | ||
| 350 | ✗ | if (ImGui::IsItemHovered() && ImGui::CalcTextSize(previewText.c_str()).x > comboWidth - 15.0F) | |
| 351 | { | ||
| 352 | ✗ | ImGui::SetTooltip("%s", previewText.c_str()); | |
| 353 | } | ||
| 354 | ✗ | } | |
| 355 | ✗ | else if (inputPins.at(term.pinIndex).isPinLinked()) | |
| 356 | { | ||
| 357 | ✗ | ImGui::TextUnformatted("Please run the flow"); | |
| 358 | ✗ | ImGui::SameLine(); | |
| 359 | ✗ | gui::widgets::HelpMarker("Available data is collected when running the flow"); | |
| 360 | } | ||
| 361 | |||
| 362 | ✗ | if (comb.terms.size() > 1) | |
| 363 | { | ||
| 364 | ✗ | ImGui::TableSetColumnIndex(static_cast<int>(t) * COL_PER_TERM + 1); | |
| 365 | ✗ | if (ImGui::Button(fmt::format("X##id{} c{} t{}", size_t(id), c, t).c_str())) | |
| 366 | { | ||
| 367 | ✗ | flow::ApplyChanges(); | |
| 368 | ✗ | termToDelete.push_back(t); | |
| 369 | } | ||
| 370 | ✗ | if (ImGui::IsItemHovered()) { ImGui::SetTooltip("Remove Term?"); } | |
| 371 | } | ||
| 372 | ✗ | } | |
| 373 | |||
| 374 | ✗ | ImGui::EndTable(); | |
| 375 | } | ||
| 376 | |||
| 377 | ✗ | for (const auto& t : termToDelete) { comb.terms.erase(std::next(comb.terms.begin(), static_cast<std::ptrdiff_t>(t))); } | |
| 378 | ✗ | if (addTerm) | |
| 379 | { | ||
| 380 | ✗ | flow::ApplyChanges(); | |
| 381 | ✗ | comb.terms.emplace_back(); | |
| 382 | } | ||
| 383 | ✗ | } | |
| 384 | |||
| 385 | ✗ | if (!keepCombination) { combToDelete.push_back(c); } | |
| 386 | } | ||
| 387 | ✗ | for (const auto& c : combToDelete) { _combinations.erase(std::next(_combinations.begin(), static_cast<std::ptrdiff_t>(c))); } | |
| 388 | |||
| 389 | ✗ | ImGui::Separator(); | |
| 390 | ✗ | if (ImGui::Button(fmt::format("Add Combination##id{}", size_t(id)).c_str())) | |
| 391 | { | ||
| 392 | ✗ | flow::ApplyChanges(); | |
| 393 | ✗ | _combinations.emplace_back(); | |
| 394 | } | ||
| 395 | ✗ | } | |
| 396 | |||
| 397 | ✗ | [[nodiscard]] json Combiner::save() const | |
| 398 | { | ||
| 399 | LOG_TRACE("{}: called", nameId()); | ||
| 400 | |||
| 401 | return { | ||
| 402 | ✗ | { "dynamicInputPins", _dynamicInputPins }, | |
| 403 | ✗ | { "combinations", _combinations }, | |
| 404 | ✗ | { "refPinIdx", _refPinIdx }, | |
| 405 | ✗ | { "outputMissingAsNaN", _outputMissingAsNaN }, | |
| 406 | ✗ | { "noOutputIfTimeDiffLarge", _noOutputIfTimeDiffLarge }, | |
| 407 | ✗ | { "maxTimeDiffMultiplierFrequency", _maxTimeDiffMultiplierFrequency }, | |
| 408 | ✗ | { "noOutputIfTimeStepLarge", _noOutputIfTimeStepLarge }, | |
| 409 | ✗ | { "maxTimeStepMultiplierFrequency", _maxTimeStepMultiplierFrequency }, | |
| 410 | ✗ | }; | |
| 411 | ✗ | } | |
| 412 | |||
| 413 | 1 | void Combiner::restore(json const& j) | |
| 414 | { | ||
| 415 | LOG_TRACE("{}: called", nameId()); | ||
| 416 | |||
| 417 |
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1 | if (j.contains("dynamicInputPins")) { NAV::gui::widgets::from_json(j.at("dynamicInputPins"), _dynamicInputPins, this); } |
| 418 |
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1 | if (j.contains("combinations")) { j.at("combinations").get_to(_combinations); } |
| 419 |
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1 | if (j.contains("refPinIdx")) { j.at("refPinIdx").get_to(_refPinIdx); } |
| 420 |
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1 | if (j.contains("outputMissingAsNaN")) { j.at("outputMissingAsNaN").get_to(_outputMissingAsNaN); } |
| 421 |
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1 | if (j.contains("noOutputIfTimeDiffLarge")) { j.at("noOutputIfTimeDiffLarge").get_to(_noOutputIfTimeDiffLarge); } |
| 422 |
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1 | if (j.contains("maxTimeDiffMultiplierFrequency")) { j.at("maxTimeDiffMultiplierFrequency").get_to(_maxTimeDiffMultiplierFrequency); } |
| 423 |
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1 | if (j.contains("noOutputIfTimeStepLarge")) { j.at("noOutputIfTimeStepLarge").get_to(_noOutputIfTimeStepLarge); } |
| 424 |
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1 | if (j.contains("maxTimeStepMultiplierFrequency")) { j.at("maxTimeStepMultiplierFrequency").get_to(_maxTimeStepMultiplierFrequency); } |
| 425 | 1 | } | |
| 426 | |||
| 427 | 227 | void Combiner::pinAddCallback(Node* node) | |
| 428 | { | ||
| 429 | 227 | auto* combiner = static_cast<Combiner*>(node); // NOLINT(cppcoreguidelines-pro-type-static-cast-downcast) | |
| 430 | 227 | combiner->_pinData.emplace_back(); | |
| 431 |
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454 | nm::CreateInputPin(node, fmt::format("Pin {}", node->inputPins.size() + 1).c_str(), Pin::Type::Flow, _dataIdentifier, &Combiner::receiveData); |
| 432 | 227 | } | |
| 433 | |||
| 434 | ✗ | void Combiner::pinDeleteCallback(Node* node, size_t pinIdx) | |
| 435 | { | ||
| 436 | ✗ | auto* combiner = static_cast<Combiner*>(node); // NOLINT(cppcoreguidelines-pro-type-static-cast-downcast) | |
| 437 | ✗ | if (pinIdx == combiner->_refPinIdx && combiner->_refPinIdx && combiner->_refPinIdx >= combiner->inputPins.size()) { combiner->_refPinIdx--; } | |
| 438 | ✗ | combiner->_pinData.erase(std::next(combiner->_pinData.begin(), static_cast<int64_t>(pinIdx))); | |
| 439 | ✗ | nm::DeleteInputPin(node->inputPins.at(pinIdx)); | |
| 440 | |||
| 441 | ✗ | for (auto& comb : combiner->_combinations) | |
| 442 | { | ||
| 443 | ✗ | for (int64_t t = 0; t < static_cast<int64_t>(comb.terms.size()); ++t) | |
| 444 | { | ||
| 445 | ✗ | auto& term = comb.terms.at(static_cast<size_t>(t)); | |
| 446 | ✗ | if (term.pinIndex == pinIdx) // The index we want to delete | |
| 447 | { | ||
| 448 | ✗ | comb.terms.erase(comb.terms.begin() + t); | |
| 449 | ✗ | --t; | |
| 450 | } | ||
| 451 | ✗ | else if (term.pinIndex > pinIdx) // Index higher -> Decrement | |
| 452 | { | ||
| 453 | ✗ | --(term.pinIndex); | |
| 454 | } | ||
| 455 | } | ||
| 456 | } | ||
| 457 | ✗ | } | |
| 458 | |||
| 459 | 3 | bool Combiner::initialize() | |
| 460 | { | ||
| 461 | LOG_TRACE("{}: called", nameId()); | ||
| 462 | |||
| 463 | 3 | CommonLog::initialize(); | |
| 464 | |||
| 465 |
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21 | for (auto& comb : _combinations) |
| 466 | { | ||
| 467 |
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54 | for (auto& term : comb.terms) |
| 468 | { | ||
| 469 |
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36 | term.polyReg.reset(); |
| 470 | } | ||
| 471 | } | ||
| 472 | |||
| 473 |
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12 | for (auto& pinData : _pinData) |
| 474 | { | ||
| 475 | 9 | pinData.lastTime.reset(); | |
| 476 | 9 | pinData.minTimeStep = std::numeric_limits<double>::infinity(); | |
| 477 | 9 | pinData.dynDataDescriptors.clear(); | |
| 478 | } | ||
| 479 | |||
| 480 | 3 | _sendRequests.clear(); | |
| 481 | |||
| 482 | 3 | return true; | |
| 483 | } | ||
| 484 | |||
| 485 | 1 | void Combiner::deinitialize() | |
| 486 | { | ||
| 487 | LOG_TRACE("{}: called", nameId()); | ||
| 488 | 1 | } | |
| 489 | |||
| 490 | 581328 | std::vector<std::string> Combiner::getDataDescriptors(size_t pinIndex) const | |
| 491 | { | ||
| 492 | 581328 | std::vector<std::string> dataDescriptors; | |
| 493 |
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581328 | if (OutputPin* sourcePin = inputPins.at(pinIndex).link.getConnectedPin()) |
| 494 | { | ||
| 495 |
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581328 | dataDescriptors = NAV::NodeRegistry::GetStaticDataDescriptors(sourcePin->dataIdentifier); |
| 496 | } | ||
| 497 |
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581328 | if (!_pinData.at(pinIndex).dynDataDescriptors.empty()) |
| 498 | { | ||
| 499 | ✗ | dataDescriptors.reserve(dataDescriptors.size() + _pinData.at(pinIndex).dynDataDescriptors.size()); | |
| 500 | ✗ | std::copy(_pinData.at(pinIndex).dynDataDescriptors.begin(), _pinData.at(pinIndex).dynDataDescriptors.end(), std::back_inserter(dataDescriptors)); | |
| 501 | } | ||
| 502 | 581328 | return dataDescriptors; | |
| 503 | ✗ | } | |
| 504 | |||
| 505 | 48444 | void Combiner::receiveData(InputPin::NodeDataQueue& queue, size_t pinIdx) | |
| 506 | { | ||
| 507 |
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48444 | auto nodeData = queue.extract_front(); |
| 508 |
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48444 | auto nodeDataTimeIntoRun = math::round(calcTimeIntoRun(nodeData->insTime), 8); |
| 509 | LOG_DATA("{}: [{:.3f}s][{} ({})] Received obs for time [{} GPST] ", nameId(), | ||
| 510 | nodeDataTimeIntoRun, inputPins.at(pinIdx).name, pinIdx, nodeData->insTime.toYMDHMS(GPST)); | ||
| 511 | |||
| 512 |
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48444 | if (!_pinData.at(pinIdx).lastTime.empty()) |
| 513 | { | ||
| 514 |
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48442 | auto dt = static_cast<double>((nodeData->insTime - _pinData.at(pinIdx).lastTime).count()); |
| 515 |
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48442 | if (dt > 1e-6) { _pinData.at(pinIdx).minTimeStep = std::min(_pinData.at(pinIdx).minTimeStep, dt); } |
| 516 | } | ||
| 517 |
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48444 | _pinData.at(pinIdx).lastTime = nodeData->insTime; |
| 518 | |||
| 519 |
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48444 | if (pinIdx == _refPinIdx) |
| 520 | { | ||
| 521 | 24222 | std::vector<SendRequest> requests; | |
| 522 |
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169554 | for (size_t c = 0; c < _combinations.size(); ++c) |
| 523 | { | ||
| 524 |
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145332 | if (std::any_of(_combinations.at(c).terms.begin(), |
| 525 |
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145332 | _combinations.at(c).terms.end(), |
| 526 | 290664 | [&](const Combination::Term& term) { return _pinData.at(term.pinIndex).lastTime.empty() | |
| 527 |
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290664 | && (inputPins.at(term.pinIndex).queue.empty() || inputPins.at(term.pinIndex).queue.front()->insTime != nodeData->insTime); })) |
| 528 | { | ||
| 529 | ✗ | continue; // We cannot add a term when the first data appears later | |
| 530 | } | ||
| 531 | 145332 | SendRequest sr{ | |
| 532 | .combIndex = c, | ||
| 533 | .termIndices = {}, | ||
| 534 | .result = 0.0, | ||
| 535 | .rawData = {}, | ||
| 536 | 145332 | }; | |
| 537 |
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145332 | requests.push_back(sr); |
| 538 | 145332 | } | |
| 539 |
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24222 | if (!requests.empty()) |
| 540 | { | ||
| 541 | LOG_DATA("{}: Adding new send request with", nameId(), nodeDataTimeIntoRun, nodeData->insTime.toYMDHMS(GPST)); | ||
| 542 |
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169554 | for ([[maybe_unused]] const auto& request : requests) |
| 543 | { | ||
| 544 | LOG_DATA("{}: Combination: {}", nameId(), _combinations.at(request.combIndex).description(this)); | ||
| 545 | } | ||
| 546 |
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24222 | _sendRequests.emplace(nodeData->insTime, requests); |
| 547 | } | ||
| 548 | 24222 | } | |
| 549 | |||
| 550 | // Add dynamic data descriptors to display in GUI | ||
| 551 |
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48444 | auto& dataDescriptors = _pinData.at(pinIdx).dynDataDescriptors; |
| 552 |
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48444 | const std::vector<std::string> nodeDataDescriptors = nodeData->dynamicDataDescriptors(); |
| 553 |
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48444 | for (const auto& desc : nodeDataDescriptors) |
| 554 | { | ||
| 555 | ✗ | if (std::ranges::find(dataDescriptors, desc) == dataDescriptors.end()) | |
| 556 | { | ||
| 557 | ✗ | dataDescriptors.push_back(desc); | |
| 558 | } | ||
| 559 | } | ||
| 560 | |||
| 561 |
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48444 | auto* sourcePin = inputPins.at(pinIdx).link.getConnectedPin(); |
| 562 |
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48444 | if (sourcePin == nullptr) { return; } |
| 563 | |||
| 564 |
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339108 | for (size_t c = 0; c < _combinations.size(); ++c) |
| 565 | { | ||
| 566 |
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290664 | auto& comb = _combinations.at(c); |
| 567 | LOG_DATA("{}: Combination: {}", nameId(), comb.description(this)); | ||
| 568 |
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871992 | for (size_t t = 0; t < comb.terms.size(); ++t) |
| 569 | { | ||
| 570 |
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581328 | auto& term = comb.terms.at(t); |
| 571 |
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581334 | if (term.pinIndex != pinIdx) { continue; } |
| 572 |
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581328 | if (std::holds_alternative<size_t>(term.dataSelection) && nodeData->staticDescriptorCount() <= std::get<size_t>(term.dataSelection) |
| 573 |
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581328 | && std::get<size_t>(term.dataSelection) < dataDescriptors.size()) |
| 574 | { | ||
| 575 | ✗ | term.dataSelection = dataDescriptors.at(std::get<size_t>(term.dataSelection)); | |
| 576 | ✗ | flow::ApplyChanges(); | |
| 577 | } | ||
| 578 | |||
| 579 |
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290664 | auto value = std::holds_alternative<size_t>(term.dataSelection) ? nodeData->getValueAt(std::get<size_t>(term.dataSelection)) |
| 580 | ✗ | : nodeData->getDynamicDataAt(std::get<std::string>(term.dataSelection)); | |
| 581 |
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290664 | if (!value) { continue; } |
| 582 | |||
| 583 | LOG_DATA("{}: Term '{}': {:.3g}", nameId(), term.description(this, getDataDescriptors(term.pinIndex)), *value); | ||
| 584 |
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290664 | term.polyReg.push_back(std::make_pair(nodeDataTimeIntoRun, *value)); |
| 585 |
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290664 | term.rawData.push_back(nodeData); |
| 586 | LOG_DATA("{}: Adding NodeData to the end of term.rawData. It now includes:", nameId()); | ||
| 587 |
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871980 | for ([[maybe_unused]] const auto& data : term.rawData) |
| 588 | { | ||
| 589 | LOG_DATA("{}: {}", nameId(), data->insTime.toYMDHMS(GPST)); | ||
| 590 | } | ||
| 591 | |||
| 592 | // Check for all combinations with new info: | ||
| 593 | |||
| 594 |
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290664 | if (std::ranges::any_of(comb.terms, [&](const auto& t) { |
| 595 |
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581328 | bool termHasNoData = t.polyReg.empty(); |
| 596 | 581328 | if (termHasNoData) | |
| 597 | { | ||
| 598 | LOG_DATA("{}: Skipping, because no data on other term '{}' yet", nameId(), t.description(this, getDataDescriptors(t.pinIndex))); | ||
| 599 | } | ||
| 600 | 581328 | return termHasNoData; | |
| 601 | })) | ||
| 602 | { | ||
| 603 | 6 | continue; | |
| 604 | } | ||
| 605 | |||
| 606 | 290658 | if (!_sendRequests.empty()) { LOG_DATA("{}: Checking if term is in a send request", nameId()); } | |
| 607 |
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581322 | for (auto& [sendRequestTime, sendRequests] : _sendRequests) |
| 608 | { | ||
| 609 | 290664 | std::set<size_t> combsToRemove; | |
| 610 |
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2034648 | for (auto& sendRequest : sendRequests) |
| 611 | { | ||
| 612 |
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1743984 | if (sendRequest.combIndex != c) { continue; } |
| 613 |
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290664 | const auto& srComb = _combinations.at(sendRequest.combIndex); |
| 614 | |||
| 615 |
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871992 | for (const auto& srTerm : srComb.terms) |
| 616 | { | ||
| 617 |
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1162656 | if (combsToRemove.contains(sendRequest.combIndex)) { continue; } |
| 618 |
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581328 | if (srTerm.pinIndex != term.pinIndex || srTerm.dataSelection != term.dataSelection) { continue; } |
| 619 | LOG_DATA("{}: [{:.3f}s] Term found in combination and term is {}", nameId(), math::round(calcTimeIntoRun(sendRequestTime), 8), | ||
| 620 | sendRequest.termIndices.contains(t) ? "already calculated." : "still missing"); | ||
| 621 | |||
| 622 |
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290664 | if (sendRequest.termIndices.contains(t)) { continue; } // The term was already calculated |
| 623 | |||
| 624 |
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290664 | if (auto dt = static_cast<double>((nodeData->insTime - sendRequestTime).count()); // Out of bounds (do not interpolate) |
| 625 |
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290664 | (_noOutputIfTimeDiffLarge && dt > _maxTimeDiffMultiplierFrequency * _pinData.at(pinIdx).minTimeStep) |
| 626 |
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871986 | || (_noOutputIfTimeStepLarge && srTerm.rawData.full() |
| 627 |
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581322 | && static_cast<double>((srTerm.rawData.back()->insTime - srTerm.rawData.front()->insTime).count()) |
| 628 |
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290658 | > _maxTimeStepMultiplierFrequency * _pinData.at(pinIdx).minTimeStep)) |
| 629 | { | ||
| 630 | ✗ | if (_outputMissingAsNaN) | |
| 631 | { | ||
| 632 | ✗ | sendRequest.result = std::nan(""); | |
| 633 | LOG_DATA("{}: Setting combination {} to NaN (({} && dt = {} > dt_min = {}) || ({} && dt_interp = {} > {}))", nameId(), | ||
| 634 | _combinations.at(sendRequest.combIndex).description(this), | ||
| 635 | _noOutputIfTimeDiffLarge, dt, _maxTimeDiffMultiplierFrequency * _pinData.at(pinIdx).minTimeStep, | ||
| 636 | _noOutputIfTimeStepLarge, | ||
| 637 | static_cast<double>((srTerm.rawData.back()->insTime - srTerm.rawData.front()->insTime).count()), | ||
| 638 | _maxTimeStepMultiplierFrequency * _pinData.at(pinIdx).minTimeStep); | ||
| 639 | } | ||
| 640 | else | ||
| 641 | { | ||
| 642 | ✗ | combsToRemove.emplace(sendRequest.combIndex); | |
| 643 | LOG_DATA("{}: Removing combination {} (({} && dt = {} > dt_min = {}) || ({} && dt_interp = {} > {}))", nameId(), | ||
| 644 | _combinations.at(sendRequest.combIndex).description(this), | ||
| 645 | _noOutputIfTimeDiffLarge, dt, _maxTimeDiffMultiplierFrequency * _pinData.at(pinIdx).minTimeStep, | ||
| 646 | _noOutputIfTimeStepLarge, | ||
| 647 | static_cast<double>((srTerm.rawData.back()->insTime - srTerm.rawData.front()->insTime).count()), | ||
| 648 | _maxTimeStepMultiplierFrequency * _pinData.at(pinIdx).minTimeStep); | ||
| 649 | ✗ | continue; | |
| 650 | } | ||
| 651 | } | ||
| 652 | |||
| 653 |
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290664 | auto poly = term.polyReg.calcPolynomial(); |
| 654 | LOG_DATA("{}: Updating send request: {} += {:.2f} * {:.3g} (by interpolating to time [{:.3f}s])", nameId(), | ||
| 655 | sendRequest.result, term.factor, poly.f(math::round(calcTimeIntoRun(sendRequestTime), 8)), | ||
| 656 | math::round(calcTimeIntoRun(sendRequestTime), 8)); | ||
| 657 |
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290664 | sendRequest.termIndices.insert(t); |
| 658 |
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290664 | sendRequest.result += term.factor * poly.f(math::round(calcTimeIntoRun(sendRequestTime), 8)); |
| 659 | |||
| 660 | 290664 | bool exactTimeFound = false; | |
| 661 |
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871968 | for (const auto& rawData : term.rawData) |
| 662 | { | ||
| 663 |
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581316 | if (rawData->insTime == sendRequestTime) |
| 664 | { | ||
| 665 | LOG_DATA("{}: Adding rawData [{}] {}", nameId(), | ||
| 666 | rawData->insTime.toYMDHMS(GPST), | ||
| 667 | term.description(this, getDataDescriptors(term.pinIndex))); | ||
| 668 | |||
| 669 |
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290664 | sendRequest.rawData.emplace_back(term.description(this, getDataDescriptors(term.pinIndex)), |
| 670 | rawData); | ||
| 671 | 290664 | exactTimeFound = true; | |
| 672 | 290664 | break; | |
| 673 | } | ||
| 674 | } | ||
| 675 |
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290664 | if (exactTimeFound) { continue; } |
| 676 | ✗ | for (const auto& rawData : term.rawData) | |
| 677 | { | ||
| 678 | LOG_DATA("{}: Adding rawData [{}] {}", nameId(), | ||
| 679 | rawData->insTime.toYMDHMS(GPST), | ||
| 680 | term.description(this, getDataDescriptors(term.pinIndex))); | ||
| 681 | |||
| 682 | ✗ | sendRequest.rawData.emplace_back(term.description(this, getDataDescriptors(term.pinIndex)), | |
| 683 | rawData); | ||
| 684 | } | ||
| 685 | 290664 | } | |
| 686 | } | ||
| 687 |
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290664 | for (const auto& comb : combsToRemove) |
| 688 | { | ||
| 689 | ✗ | std::erase_if(sendRequests, [&](const SendRequest& sr) { return sr.combIndex == comb; }); | |
| 690 | } | ||
| 691 | 290664 | } | |
| 692 | } | ||
| 693 | } | ||
| 694 | |||
| 695 | 48444 | std::vector<InsTime> emptySendRequests; | |
| 696 |
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96889 | for (const auto& [sendRequestTime, sendRequests] : _sendRequests) |
| 697 | { | ||
| 698 |
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48445 | if (sendRequests.empty()) |
| 699 | { | ||
| 700 | LOG_DATA("{}: Discarding send request at [{}]", nameId(), sendRequestTime.toYMDHMS(GPST)); | ||
| 701 | ✗ | emptySendRequests.push_back(sendRequestTime); | |
| 702 | } | ||
| 703 | } | ||
| 704 |
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48444 | for (const auto& sendRequestTime : emptySendRequests) { _sendRequests.erase(sendRequestTime); } |
| 705 | |||
| 706 | 48444 | if (!_sendRequests.empty()) { LOG_DATA("{}: Send requests ({})", nameId(), _sendRequests.size()); } | |
| 707 |
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96889 | for (const auto& [sendRequestTime, sendRequests] : _sendRequests) |
| 708 | { | ||
| 709 | LOG_DATA("{}: [{:.3f}s] [{}]", nameId(), math::round(calcTimeIntoRun(sendRequestTime), 8), sendRequestTime.toYMDHMS(GPST)); | ||
| 710 |
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339115 | for (const auto& sendRequest : sendRequests) |
| 711 | { | ||
| 712 |
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290670 | const auto& comb = _combinations.at(sendRequest.combIndex); |
| 713 | LOG_DATA("{}: Combination: {}", nameId(), comb.description(this)); | ||
| 714 |
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872010 | for (size_t t = 0; t < comb.terms.size(); ++t) |
| 715 | { | ||
| 716 | LOG_DATA("{}: Term '{}' is {}", nameId(), comb.terms.at(t).description(this, getDataDescriptors(comb.terms.at(t).pinIndex)), | ||
| 717 | sendRequest.termIndices.contains(t) ? "added" : "missing"); | ||
| 718 | } | ||
| 719 | } | ||
| 720 | } | ||
| 721 | |||
| 722 | LOG_DATA("{}: [{:.3f}s] Checking wether a send request can be sent ({} requests)", nameId(), nodeDataTimeIntoRun, _sendRequests.size()); | ||
| 723 | 48444 | std::vector<InsTime> requestsToRemove; | |
| 724 |
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72666 | for (const auto& [sendRequestTime, sendRequests] : _sendRequests) |
| 725 | { | ||
| 726 | LOG_DATA("{}: [{:.3f}s] [{}]", nameId(), math::round(calcTimeIntoRun(sendRequestTime), 8), sendRequestTime.toYMDHMS(GPST)); | ||
| 727 | LOG_DATA("{}: Combinations (all terms in all combinations must be calculated)", nameId()); | ||
| 728 |
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48445 | if (std::ranges::all_of(sendRequests, [&](const auto& sendRequest) { |
| 729 | 169555 | const auto& comb = _combinations.at(sendRequest.combIndex); | |
| 730 | LOG_DATA("{}: '{}' has {}/{} terms set", nameId(), comb.description(this), sendRequest.termIndices.size(), comb.terms.size()); | ||
| 731 | 169555 | return comb.terms.size() == sendRequest.termIndices.size(); | |
| 732 | })) | ||
| 733 | { | ||
| 734 | // If all combinations for this send request epoch are calculated, send it out | ||
| 735 |
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24222 | auto dynData = std::make_shared<DynamicData>(); |
| 736 | 24222 | dynData->insTime = sendRequestTime; | |
| 737 | LOG_DATA("{}: Sending out dynamic data at [{}] and deleting send request", nameId(), dynData->insTime.toYMDHMS(GPST)); | ||
| 738 | |||
| 739 |
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169554 | for (const auto& sendRequest : sendRequests) |
| 740 | { | ||
| 741 |
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145332 | const auto& comb = _combinations.at(sendRequest.combIndex); |
| 742 | DynamicData::Data data{ | ||
| 743 | .description = comb.description(this), | ||
| 744 | 145332 | .value = sendRequest.result, | |
| 745 | 145332 | .rawData = sendRequest.rawData | |
| 746 |
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145332 | }; |
| 747 | LOG_DATA("{}: {} includes raw data", nameId(), data.description); | ||
| 748 |
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435996 | for ([[maybe_unused]] const auto& raw : data.rawData) |
| 749 | { | ||
| 750 | LOG_DATA("{}: [{}] from '{}'", nameId(), raw.second->insTime.toYMDHMS(GPST), raw.first); | ||
| 751 | } | ||
| 752 |
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145332 | dynData->data.push_back(data); |
| 753 | 145332 | } | |
| 754 | |||
| 755 |
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24222 | invokeCallbacks(OUTPUT_PORT_INDEX_DYN_DATA, dynData); |
| 756 | |||
| 757 |
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24222 | requestsToRemove.push_back(sendRequestTime); |
| 758 | 24222 | } | |
| 759 | else | ||
| 760 | { | ||
| 761 | // If not, break, because we always have to send out the first request first | ||
| 762 | 24223 | break; | |
| 763 | } | ||
| 764 | } | ||
| 765 |
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72666 | for (const auto& insTime : requestsToRemove) |
| 766 | { | ||
| 767 |
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24222 | _sendRequests.erase(insTime); |
| 768 | } | ||
| 769 | 48444 | } | |
| 770 | |||
| 771 | } // namespace NAV | ||
| 772 |