INSTINCT Code Coverage Report

Directory: src/
File: internal/NodeManager.cpp
Date: 2025-07-19 10:51:51
Exec Total Coverage
Lines: 170 189 89.9%
Functions: 29 31 93.5%
Branches: 163 276 59.1%
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 "internal/NodeManager.hpp"
10
11 #include "internal/Node/Node.hpp"
12 #include "internal/Node/Pin.hpp"
13
14 #include "internal/FlowManager.hpp"
15
16 #include "util/Assert.h"
17
18 #include <algorithm>
19 #include <thread>
20 #include <deque>
21
22 #include "NodeRegistry.hpp"
23
24 namespace NAV::NodeManager
25 {
26 /* -------------------------------------------------------------------------------------------------------- */
27 /* Private Members */
28 /* -------------------------------------------------------------------------------------------------------- */
29
30 namespace
31 {
32 std::vector<NAV::Node*> m_nodes;
33 size_t m_NextId = 1;
34
35 } // namespace
36
37 /* -------------------------------------------------------------------------------------------------------- */
38 /* Public Members */
39 /* -------------------------------------------------------------------------------------------------------- */
40
41 #if !defined(WIN32) && !defined(_WIN32) && !defined(__WIN32)
42 bool showFlowWhenInvokingCallbacks = true;
43 bool showFlowWhenNotifyingValueChange = true;
44 #else
45 bool showFlowWhenInvokingCallbacks = false;
46 bool showFlowWhenNotifyingValueChange = false;
47 #endif
48
49 } // namespace NAV::NodeManager
50
51 /* -------------------------------------------------------------------------------------------------------- */
52 /* Function Definitions */
53 /* -------------------------------------------------------------------------------------------------------- */
54
55 1371 const std::vector<NAV::Node*>& NAV::NodeManager::m_Nodes()
56 {
57 1371 return m_nodes;
58 }
59
60 357 void NAV::NodeManager::AddNode(NAV::Node* node)
61 {
62
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 357 if (!node->id)
63 {
64 357 node->id = GetNextNodeId();
65 }
66 357 m_nodes.push_back(node);
67
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 357 LOG_DEBUG("Creating node: {}", node->nameId());
68
69
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 573 for (auto& pin : node->inputPins)
70 {
71 216 pin.parentNode = node;
72 }
73
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 630 for (auto& pin : node->outputPins)
74 {
75 273 pin.parentNode = node;
76 }
77
78
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 357 m_NextId = std::max(m_NextId, size_t(node->id) + 1);
79
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 573 for (const auto& pin : node->inputPins)
80 {
81
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 216 m_NextId = std::max(m_NextId, size_t(pin.id) + 1);
82 }
83
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 630 for (const auto& pin : node->outputPins)
84 {
85
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 273 m_NextId = std::max(m_NextId, size_t(pin.id) + 1);
86 }
87
88 357 flow::ApplyChanges();
89 357 }
90
91 357 void NAV::NodeManager::UpdateNode(Node* node)
92 {
93 LOG_TRACE("called for node: {}", node->nameId());
94
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 659 for (auto& pin : node->inputPins)
95 {
96 302 pin.parentNode = node;
97 }
98
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 651 for (auto& pin : node->outputPins)
99 {
100 294 pin.parentNode = node;
101 }
102
103
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 659 for (const auto& pin : node->inputPins)
104 {
105
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 302 m_NextId = std::max(m_NextId, size_t(pin.id) + 1);
106 }
107
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 651 for (const auto& pin : node->outputPins)
108 {
109
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 294 m_NextId = std::max(m_NextId, size_t(pin.id) + 1);
110 }
111 357 }
112
113 355 bool NAV::NodeManager::DeleteNode(ax::NodeEditor::NodeId nodeId)
114 {
115 LOG_TRACE("called for node with id {}", size_t(nodeId));
116
117
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 1474 auto it = std::ranges::find_if(m_nodes, [nodeId](const auto& node) { return node->id == nodeId; });
118
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 355 if (it != m_nodes.end())
119 {
120 355 Node* node = *it;
121
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 355 m_nodes.erase(it);
122
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 355 LOG_DEBUG("Deleting node: {}", node->nameId());
123
124
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 355 if (node->isInitialized())
125 {
126
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 347 node->doDeinitialize(true);
127 }
128
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 656 for (auto& inputPin : node->inputPins)
129 {
130
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 301 if (inputPin.isPinLinked())
131 {
132
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 188 inputPin.deleteLink();
133 }
134 }
135
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 648 for (auto& outputPin : node->outputPins)
136 {
137
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 293 if (outputPin.isPinLinked())
138 {
139
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 75 outputPin.deleteLinks();
140 }
141 }
142
143
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 355 delete node; // NOLINT(cppcoreguidelines-owning-memory)
144
145
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 355 flow::ApplyChanges();
146
147 355 return true;
148 }
149
150 ✗ return false;
151 }
152
153 227 void NAV::NodeManager::DeleteAllNodes()
154 {
155 LOG_TRACE("called");
156
157 227 bool saveLastActionsValue = NAV::flow::saveLastActions;
158 227 NAV::flow::saveLastActions = false;
159
160
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 582 while (!m_nodes.empty())
161 {
162 355 NodeManager::DeleteNode(m_nodes.back()->id);
163 }
164
165 227 m_NextId = 1;
166
167 227 NAV::flow::saveLastActions = saveLastActionsValue;
168 227 flow::ApplyChanges();
169 227 }
170
171 293 void NAV::NodeManager::AddLink(ax::NodeEditor::LinkId linkId)
172 {
173
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 293 m_NextId = std::max(m_NextId, size_t(linkId) + 1);
174 293 }
175
176 5207 NAV::InputPin* NAV::NodeManager::CreateInputPin(NAV::Node* node, const char* name, NAV::Pin::Type pinType, const std::vector<std::string>& dataIdentifier,
177 InputPin::Callback callback, InputPin::FlowFirableCheckFunc firable, int priority, int idx)
178 {
179 LOG_TRACE("called for pin ({}) of type ({}) for node [{}]", name, std::string(pinType), node->nameId());
180
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 5207 if (idx < 0)
181 {
182 5058 idx = static_cast<int>(node->inputPins.size());
183 }
184 5207 idx = std::min(idx, static_cast<int>(node->inputPins.size()));
185 5207 auto iter = std::next(node->inputPins.begin(), idx);
186
187
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 5207 node->inputPins.emplace(iter, GetNextPinId(), name, pinType, node);
188
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 5207 node->inputPins.at(static_cast<size_t>(idx)).callback = callback;
190
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 5207 if (firable != nullptr)
191 {
192
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 377 node->inputPins.at(static_cast<size_t>(idx)).firable = firable;
193 }
194
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 5207 node->inputPins.at(static_cast<size_t>(idx)).dataIdentifier = dataIdentifier;
195
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 5207 node->inputPins.at(static_cast<size_t>(idx)).priority = priority;
196
197
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 5207 flow::ApplyChanges();
198
199
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 10414 return &node->inputPins.at(static_cast<size_t>(idx));
200 }
201
202 6913 NAV::OutputPin* NAV::NodeManager::CreateOutputPin(NAV::Node* node, const char* name, NAV::Pin::Type pinType, const std::vector<std::string>& dataIdentifier, OutputPin::PinData data, int idx)
203 {
204 LOG_TRACE("called for pin ({}) of type ({}) for node [{}]", name, std::string(pinType), node->nameId());
205
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 6913 if (idx < 0)
206 {
207 6890 idx = static_cast<int>(node->outputPins.size());
208 }
209 6913 idx = std::min(idx, static_cast<int>(node->outputPins.size()));
210 6913 auto iter = std::next(node->outputPins.begin(), idx);
211
212
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 6913 node->outputPins.emplace(iter, GetNextPinId(), name, pinType, node);
213
214
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 6913 node->outputPins.at(static_cast<size_t>(idx)).data = data;
215
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 6913 node->outputPins.at(static_cast<size_t>(idx)).dataIdentifier = dataIdentifier;
216
217
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 6913 flow::ApplyChanges();
218
219
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 13826 return &node->outputPins.at(static_cast<size_t>(idx));
220 }
221
222 7 bool NAV::NodeManager::DeleteOutputPin(NAV::OutputPin& pin)
223 {
224 LOG_TRACE("called for pin ({})", size_t(pin.id));
225
226 7 pin.deleteLinks();
227
228 7 size_t pinIndex = pin.parentNode->outputPinIndexFromId(pin.id);
229
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 7 pin.parentNode->outputPins.erase(pin.parentNode->outputPins.begin() + static_cast<int64_t>(pinIndex));
230
231 7 return true;
232 }
233
234 3 bool NAV::NodeManager::DeleteInputPin(NAV::InputPin& pin)
235 {
236 LOG_TRACE("called for pin ({})", size_t(pin.id));
237
238
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 3 pin.deleteLink();
239
240
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 3 size_t pinIndex = pin.parentNode->inputPinIndexFromId(pin.id);
241
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 3 LOG_DEBUG("Erasing pin at idx {}", pinIndex);
242
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 3 pin.parentNode->inputPins.erase(pin.parentNode->inputPins.begin() + static_cast<int64_t>(pinIndex));
243
244 3 return true;
245 }
246
247 namespace NAV::NodeManager
248 {
249 namespace
250 {
251
252 12480 size_t GetNextId()
253 {
254 12480 return m_NextId++;
255 }
256
257 } // namespace
258 } // namespace NAV::NodeManager
259
260 357 ax::NodeEditor::NodeId NAV::NodeManager::GetNextNodeId()
261 {
262
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 357 return { GetNextId() };
263 }
264
265 3 ax::NodeEditor::LinkId NAV::NodeManager::GetNextLinkId()
266 {
267
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 3 return { GetNextId() };
268 }
269
270 12120 ax::NodeEditor::PinId NAV::NodeManager::GetNextPinId()
271 {
272
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 12120 return { GetNextId() };
273 }
274
275 222 NAV::Node* NAV::NodeManager::FindNode(ax::NodeEditor::NodeId id)
276 {
277
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 330 for (auto& node : m_nodes)
278 {
279
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 330 if (node->id == id)
280 {
281 222 return node;
282 }
283 }
284
285 ✗ return nullptr;
286 }
287
288 39 NAV::OutputPin* NAV::NodeManager::FindOutputPin(ax::NodeEditor::PinId id)
289 {
290
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 39 if (!id) { return nullptr; }
291
292
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 42 for (auto& node : m_nodes)
293 {
294
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 42 if (!node || node->kind == Node::Kind::GroupBox) { continue; }
295
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 45 for (auto& pin : node->outputPins)
296 {
297
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 42 if (pin.id == id) { return &pin; }
298 }
299 }
300
301 ✗ return nullptr;
302 }
303
304 ✗ NAV::InputPin* NAV::NodeManager::FindInputPin(ax::NodeEditor::PinId id)
305 {
306 ✗ if (!id) { return nullptr; }
307
308 ✗ for (auto& node : m_nodes)
309 {
310 ✗ if (!node || node->kind == Node::Kind::GroupBox) { continue; }
311 ✗ for (auto& pin : node->inputPins)
312 {
313 ✗ if (pin.id == id) { return &pin; }
314 }
315 }
316
317 ✗ return nullptr;
318 }
319
320 113 void NAV::NodeManager::EnableAllCallbacks()
321 {
322 LOG_TRACE("called");
323
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 468 for (auto* node : m_nodes)
324 {
325
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 355 if (node && !node->isDisabled() && node->kind != Node::Kind::GroupBox)
326 {
327 350 node->callbacksEnabled = true;
328 }
329 }
330 113 }
331
332 226 void NAV::NodeManager::DisableAllCallbacks()
333 {
334 LOG_TRACE("called");
335
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 936 for (auto* node : m_nodes)
336 {
337 710 node->callbacksEnabled = false;
338 }
339 226 }
340
341 113 void NAV::NodeManager::ClearAllNodeQueues()
342 {
343 LOG_TRACE("called");
344
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 468 for (auto* node : m_nodes)
345 {
346
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 656 for (auto& inputPin : node->inputPins)
347 {
348 301 inputPin.queue.clear();
349 }
350 }
351 113 }
352
353 227 bool NAV::NodeManager::InitializeAllNodes()
354 {
355 LOG_TRACE("called");
356 227 bool nodeCouldNotInitialize = false;
357
358 227 InitializeAllNodesAsync();
359
360
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 939 for (auto* node : m_nodes)
361 {
362
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 712 if (node && node->kind != Node::Kind::GroupBox && !node->isDisabled() && !node->isInitialized())
363 {
364
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 159 if (!node->doInitialize(true))
365 {
366
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 1 LOG_ERROR("Node '{}' could not initialize.", node->nameId());
367 1 nodeCouldNotInitialize = true;
368 }
369 }
370 }
371
372 227 return !nodeCouldNotInitialize;
373 }
374
375 227 void NAV::NodeManager::InitializeAllNodesAsync()
376 {
377 LOG_TRACE("called");
378
379
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 939 for (auto* node : m_nodes)
380 {
381
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 712 if (node && node->kind != Node::Kind::GroupBox && !node->isDisabled() && !node->isInitialized())
382 {
383
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 352 node->doInitialize();
384 }
385 }
386 227 }
387
388 #ifdef TESTING
389
390 namespace
391 {
392 std::vector<std::pair<ax::NodeEditor::PinId, NAV::InputPin::WatcherCallback>> watcherPinList;
393 std::vector<std::pair<ax::NodeEditor::LinkId, NAV::InputPin::WatcherCallback>> watcherLinkList;
394
395 std::function<void()> preInitCallback = nullptr;
396 std::function<void()> cleanupCallback = nullptr;
397
398 } // namespace
399
400 144 void NAV::NodeManager::RegisterWatcherCallbackToInputPin(ax::NodeEditor::PinId id, const InputPin::WatcherCallback& callback)
401 {
402 144 watcherPinList.emplace_back(id, callback);
403 144 }
404
405 ✗ void NAV::NodeManager::RegisterWatcherCallbackToLink(ax::NodeEditor::LinkId id, const InputPin::WatcherCallback& callback)
406 {
407 ✗ watcherLinkList.emplace_back(id, callback);
408 ✗ }
409
410 113 void NAV::NodeManager::ApplyWatcherCallbacks()
411 {
412
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 113 for (auto& [linkId, callback] : watcherLinkList)
413 {
414 ✗ for (auto& node : m_nodes)
415 {
416 ✗ for (size_t pinIdx = 0; pinIdx < node->inputPins.size(); pinIdx++)
417 {
418 ✗ auto& pin = node->inputPins[pinIdx];
419 ✗ if (pin.isPinLinked() && pin.link.linkId == linkId)
420 {
421 ✗ LOG_DEBUG("Adding watcher callback on node '{}' on pin with index {}", pin.parentNode->nameId(), pinIdx);
422 ✗ pin.watcherCallbacks.emplace_back(callback);
423 }
424 }
425 }
426 }
427
428
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 257 for (auto& [id, callback] : watcherPinList)
429 {
430
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 886 for (auto& node : m_nodes)
431 {
432
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 1468 for (size_t pinIdx = 0; pinIdx < node->inputPins.size(); pinIdx++)
433 {
434 726 auto& pin = node->inputPins[pinIdx];
435
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 726 if (pin.id == id)
436 {
437
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 144 LOG_DEBUG("Adding watcher callback on node '{}' on pin with index {}", pin.parentNode->nameId(), pinIdx);
438
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 144 pin.watcherCallbacks.emplace_back(callback);
439 }
440 }
441 }
442 }
443 113 }
444
445 104 void NAV::NodeManager::RegisterPreInitCallback(std::function<void()> callback)
446 {
447 104 preInitCallback = std::move(callback);
448 104 }
449
450 114 void NAV::NodeManager::CallPreInitCallback()
451 {
452
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 114 if (preInitCallback)
453 {
454 104 preInitCallback();
455 }
456 114 }
457
458 38 void NAV::NodeManager::RegisterCleanupCallback(std::function<void()> callback)
459 {
460 38 cleanupCallback = std::move(callback);
461 38 }
462 113 void NAV::NodeManager::CallCleanupCallback()
463 {
464
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 113 if (cleanupCallback)
465 {
466 38 cleanupCallback();
467 }
468 113 }
469
470 114 void NAV::NodeManager::ClearRegisteredCallbacks()
471 {
472 114 watcherPinList.clear();
473 114 watcherLinkList.clear();
474 114 preInitCallback = nullptr;
475 114 cleanupCallback = nullptr;
476 114 }
477
478 #endif
479