INSTINCT Code Coverage Report

Directory: src/
File: Nodes/Utility/Merger.cpp
Date: 2025-11-25 23:34:18
Exec Total Coverage
Lines: 57 92 62.0%
Functions: 9 10 90.0%
Branches: 58 204 28.4%
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 "Merger.hpp"
10
11 #include "internal/FlowManager.hpp"
12
13 #include "NodeRegistry.hpp"
14
15 #include "NodeData/NodeData.hpp"
16
17 116 NAV::Merger::Merger()
18
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 116 : Node(typeStatic())
19 {
20 LOG_TRACE("{}: called", name);
21
22 116 _hasConfig = false;
23 116 kind = Kind::Simple;
24
25
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 348 CreateInputPin("", Pin::Type::Flow, { NodeData::type() }, &Merger::receiveData);
26
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 348 CreateInputPin("", Pin::Type::Flow, { NodeData::type() }, &Merger::receiveData);
27
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 464 CreateOutputPin("", Pin::Type::Flow, { NodeData::type() });
28 464 }
29
30 236 NAV::Merger::~Merger()
31 {
32 LOG_TRACE("{}: called", nameId());
33 236 }
34
35 230 std::string NAV::Merger::typeStatic()
36 {
37
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 460 return "Merger";
38 }
39
40 ✗ std::string NAV::Merger::type() const
41 {
42 ✗ return typeStatic();
43 }
44
45 114 std::string NAV::Merger::category()
46 {
47
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 228 return "Utility";
48 }
49
50 2 void NAV::Merger::setPinIdentifiers(size_t connectedPinIndex, size_t otherPinIndex, const std::vector<std::string>& dataIdentifiers)
51 {
52
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 2 LOG_DEBUG("{}: Setting DataIdentifier on pinIndex {}", nameId(), otherPinIndex);
53
54 2 inputPins.at(connectedPinIndex).dataIdentifier = dataIdentifiers;
55
56
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 2 if (!inputPins.at(otherPinIndex).isPinLinked())
57 {
58 2 inputPins.at(otherPinIndex).dataIdentifier = dataIdentifiers;
59
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 4 for (const auto& dataIdentifier : dataIdentifiers)
60 {
61
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 2 auto parentIdentifiers = NodeRegistry::GetParentNodeDataTypes(dataIdentifier);
62
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 2 std::erase(parentIdentifiers, NodeData::type());
63
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 2 inputPins.at(otherPinIndex).dataIdentifier.insert(inputPins.at(otherPinIndex).dataIdentifier.end(), parentIdentifiers.rbegin(), parentIdentifiers.rend());
64 2 }
65
66 // Update the dataIdentifier of the output pin to the same as input pin
67 2 outputPins.at(OUTPUT_PORT_INDEX_FLOW).dataIdentifier = dataIdentifiers;
68 }
69 else
70 {
71 ✗ std::vector<std::string> combinedIdentifiers;
72 ✗ for (const auto& dataIdentifier : inputPins.at(connectedPinIndex).dataIdentifier)
73 {
74 ✗ if (auto iter = std::find(inputPins.at(otherPinIndex).dataIdentifier.begin(), inputPins.at(otherPinIndex).dataIdentifier.end(), dataIdentifier);
75 ✗ iter != inputPins.at(otherPinIndex).dataIdentifier.end())
76 {
77 ✗ combinedIdentifiers.push_back(*iter);
78 }
79 }
80 ✗ if (!combinedIdentifiers.empty())
81 {
82 ✗ outputPins.at(OUTPUT_PORT_INDEX_FLOW).dataIdentifier = combinedIdentifiers;
83 ✗ return;
84 }
85
86 ✗ std::vector<std::string> connectedPinParents;
87 ✗ for (const auto& dataIdentifier : inputPins.at(connectedPinIndex).dataIdentifier)
88 {
89 ✗ auto parentIdentifiers = NodeRegistry::GetParentNodeDataTypes(dataIdentifier);
90 ✗ std::erase(parentIdentifiers, NodeData::type());
91 ✗ connectedPinParents.insert(connectedPinParents.begin(), parentIdentifiers.begin(), parentIdentifiers.end());
92 ✗ }
93
94 ✗ for (const auto& dataIdentifier : inputPins.at(otherPinIndex).dataIdentifier)
95 {
96 ✗ if (std::ranges::find(connectedPinParents, dataIdentifier) != connectedPinParents.end())
97 {
98 ✗ outputPins.at(OUTPUT_PORT_INDEX_FLOW).dataIdentifier = inputPins.at(otherPinIndex).dataIdentifier;
99 }
100 else
101 {
102 ✗ outputPins.at(OUTPUT_PORT_INDEX_FLOW).dataIdentifier = inputPins.at(connectedPinIndex).dataIdentifier;
103 }
104 }
105 ✗ }
106 }
107
108 2 void NAV::Merger::updateOutputPin(const std::vector<std::string>& oldDataIdentifiers)
109 {
110 // Check if connected links on output port are still valid
111
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 2 for (auto& link : outputPins.at(OUTPUT_PORT_INDEX_FLOW).links)
112 {
113 ✗ if (auto* endPin = link.getConnectedPin())
114 {
115 ✗ if (outputPins.at(OUTPUT_PORT_INDEX_FLOW).canCreateLink(*endPin))
116 {
117 ✗ continue;
118 }
119
120 // If the link is not valid anymore, delete it
121 ✗ outputPins.at(OUTPUT_PORT_INDEX_FLOW).deleteLink(*endPin);
122 }
123 }
124
125 // Refresh all links connected to the output pin if the type changed
126
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 2 if (outputPins.at(OUTPUT_PORT_INDEX_FLOW).dataIdentifier != oldDataIdentifiers)
127 {
128
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 2 for (auto& link : outputPins.at(OUTPUT_PORT_INDEX_FLOW).links)
129 {
130 ✗ if (auto* connectedPin = link.getConnectedPin())
131 {
132 ✗ outputPins.at(OUTPUT_PORT_INDEX_FLOW).recreateLink(*connectedPin);
133 }
134 }
135 }
136 2 }
137
138 4 bool NAV::Merger::onCreateLink(OutputPin& startPin, InputPin& endPin)
139 {
140 LOG_TRACE("{}: called for {} ==> {}", nameId(), size_t(startPin.id), size_t(endPin.id));
141
142
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 4 if (endPin.parentNode->id != id) // Link on Output Port
143 {
144
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 2 if (!inputPins.at(INPUT_PORT_INDEX_FLOW_FIRST).isPinLinked()
145
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 2 && !inputPins.at(INPUT_PORT_INDEX_FLOW_SECOND).isPinLinked())
146 {
147 ✗ outputPins.at(OUTPUT_PORT_INDEX_FLOW).dataIdentifier = endPin.dataIdentifier;
148 }
149 2 return true;
150 }
151
152
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 2 size_t connectedPinIndex = inputPinIndexFromId(endPin.id);
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 2 size_t otherPinIndex = connectedPinIndex == INPUT_PORT_INDEX_FLOW_FIRST ? INPUT_PORT_INDEX_FLOW_SECOND : INPUT_PORT_INDEX_FLOW_FIRST;
154
155
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 2 auto outputPinIdentifier = outputPins.at(OUTPUT_PORT_INDEX_FLOW).dataIdentifier;
156
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 2 setPinIdentifiers(connectedPinIndex, otherPinIndex, startPin.dataIdentifier);
158
159
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 2 updateOutputPin(outputPinIdentifier);
160
161 2 return true;
162 2 }
163
164 4 void NAV::Merger::afterDeleteLink([[maybe_unused]] OutputPin& startPin, InputPin& endPin)
165 {
166 LOG_TRACE("{}: called for {} ==> {}", nameId(), size_t(startPin.id), size_t(endPin.id));
167
168
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 4 if (endPin.parentNode->id != id) // Link on Output Pin
169 {
170 2 return;
171 }
172
173 // Link on Input Pin
174
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 4 for (size_t pinIdx = 0; pinIdx < inputPins.size(); pinIdx++)
175 {
176 4 auto& pin = inputPins[pinIdx];
177
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 4 if (endPin.id != pin.id) // The other pin (which is not deleted)
178 {
179
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 2 if (pin.isPinLinked())
180 {
181 ✗ size_t otherPinIndex = pinIdx == INPUT_PORT_INDEX_FLOW_FIRST ? INPUT_PORT_INDEX_FLOW_SECOND : INPUT_PORT_INDEX_FLOW_FIRST;
182
183 ✗ auto* otherNodePin = pin.link.getConnectedPin();
184
185 ✗ auto outputPinIdentifier = outputPins.at(OUTPUT_PORT_INDEX_FLOW).dataIdentifier;
186
187 ✗ setPinIdentifiers(pinIdx, otherPinIndex, otherNodePin->dataIdentifier);
188
189 ✗ updateOutputPin(outputPinIdentifier);
190 ✗ }
191 else
192 {
193
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 6 for (auto& pinReset : inputPins)
194 {
195
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 8 pinReset.dataIdentifier = { NodeData::type() };
196 }
197 }
198 2 break;
199 }
200 }
201 4 }
202
203 202 void NAV::Merger::receiveData(InputPin::NodeDataQueue& queue, size_t /* pinIdx */)
204 {
205
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 202 if (!(NAV::Node::callbacksEnabled))
206 {
207 ✗ NAV::Node::callbacksEnabled = true;
208 }
209
210
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 202 invokeCallbacks(OUTPUT_PORT_INDEX_FLOW, queue.extract_front());
211 202 }
212