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|---|---|---|---|
| 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 | /// @file NodeManager.hpp | ||
| 10 | /// @brief Manages all Nodes | ||
| 11 | /// @author T. Topp (topp@ins.uni-stuttgart.de) | ||
| 12 | /// @date 2020-12-14 | ||
| 13 | |||
| 14 | #pragma once | ||
| 15 | |||
| 16 | #include <imgui_node_editor.h> | ||
| 17 | |||
| 18 | #include "internal/Node/Node.hpp" | ||
| 19 | #include "internal/Node/Pin.hpp" | ||
| 20 | #include "util/Assert.h" | ||
| 21 | |||
| 22 | #include "NodeData/NodeData.hpp" | ||
| 23 | |||
| 24 | #include <vector> | ||
| 25 | #include <functional> | ||
| 26 | |||
| 27 | namespace NAV::NodeManager | ||
| 28 | { | ||
| 29 | /// Flag if invokeCallbacks triggers a GUI Flow event | ||
| 30 | extern bool showFlowWhenInvokingCallbacks; | ||
| 31 | |||
| 32 | /// Flag if notifyOutputValueChanged & notifyInputValueChanged triggers a GUI Flow event | ||
| 33 | extern bool showFlowWhenNotifyingValueChange; | ||
| 34 | |||
| 35 | /// @brief List of all registered Nodes | ||
| 36 | const std::vector<Node*>& m_Nodes(); | ||
| 37 | |||
| 38 | /// @brief Add the provided node object to the list of nodes | ||
| 39 | /// @param[in] node Node object to add to the list | ||
| 40 | void AddNode(Node* node); | ||
| 41 | |||
| 42 | /// @brief Update the provided node object | ||
| 43 | /// @param[in] node Node object to add to the list | ||
| 44 | void UpdateNode(Node* node); | ||
| 45 | |||
| 46 | /// @brief Delete the node provided by id | ||
| 47 | /// @param[in] nodeId Unique Id of the Node to delete | ||
| 48 | /// @return True if delete was successful, false if NodeId does not exist | ||
| 49 | bool DeleteNode(ax::NodeEditor::NodeId nodeId); | ||
| 50 | |||
| 51 | /// @brief Delete all nodes | ||
| 52 | void DeleteAllNodes(); | ||
| 53 | |||
| 54 | /// @brief Adds the link | ||
| 55 | /// @param[in] linkId Unique Id of the link | ||
| 56 | void AddLink(ax::NodeEditor::LinkId linkId); | ||
| 57 | |||
| 58 | /// @brief Create an Input Pin object | ||
| 59 | /// @param[in] node Node to register the Pin for | ||
| 60 | /// @param[in] name Display name of the Pin | ||
| 61 | /// @param[in] pinType Type of the pin | ||
| 62 | /// @param[in] dataIdentifier Identifier of the data which is represented by the pin | ||
| 63 | /// @param[in] callback Callback to register with the pin | ||
| 64 | /// @param[in] firable Function to check whether the callback is firable | ||
| 65 | /// @param[in] priority Priority when checking firable condition related to other pins (higher priority gets triggered first) | ||
| 66 | /// @param[in] idx Index where to put the new pin (-1 means at the end) | ||
| 67 | /// @return Pointer to the created pin | ||
| 68 | InputPin* CreateInputPin(Node* node, const char* name, Pin::Type pinType, const std::vector<std::string>& dataIdentifier = {}, | ||
| 69 | InputPin::Callback callback = static_cast<InputPin::FlowFirableCallbackFunc>(nullptr), | ||
| 70 | InputPin::FlowFirableCheckFunc firable = nullptr, | ||
| 71 | int priority = 0, int idx = -1); | ||
| 72 | |||
| 73 | /// @brief Create an Input Pin object | ||
| 74 | /// @tparam T Node Class where the function is member of | ||
| 75 | /// @param[in] node Node to register the Pin for | ||
| 76 | /// @param[in] name Display name of the Pin | ||
| 77 | /// @param[in] pinType Type of the pin | ||
| 78 | /// @param[in] dataIdentifier Identifier of the data which is represented by the pin | ||
| 79 | /// @param[in] callback Flow firable callback function to register with the pin | ||
| 80 | /// @param[in] firable Function to check whether the callback is firable | ||
| 81 | /// @param[in] priority Priority when checking firable condition related to other pins (higher priority gets triggered first) | ||
| 82 | /// @param[in] idx Index where to put the new pin (-1 means at the end) | ||
| 83 | /// @return Pointer to the created pin | ||
| 84 | template<std::derived_from<Node> T> | ||
| 85 | 4182 | InputPin* CreateInputPin(Node* node, const char* name, Pin::Type pinType, const std::vector<std::string>& dataIdentifier = {}, | |
| 86 | void (T::*callback)(InputPin::NodeDataQueue&, size_t) = nullptr, | ||
| 87 | InputPin::FlowFirableCheckFunc firable = nullptr, | ||
| 88 | int priority = 0, int idx = -1) | ||
| 89 | { | ||
| 90 |
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4182 | assert(pinType == Pin::Type::Flow); |
| 91 | |||
| 92 |
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4182 | return CreateInputPin(node, name, pinType, dataIdentifier, InputPin::Callback(static_cast<InputPin::FlowFirableCallbackFunc>(callback)), firable, priority, idx); |
| 93 | } | ||
| 94 | |||
| 95 | /// @brief Create an Input Pin object | ||
| 96 | /// @tparam T Node Class where the function is member of | ||
| 97 | /// @param[in] node Node to register the Pin for | ||
| 98 | /// @param[in] name Display name of the Pin | ||
| 99 | /// @param[in] pinType Type of the pin | ||
| 100 | /// @param[in] dataIdentifier Identifier of the data which is represented by the pin | ||
| 101 | /// @param[in] notifyFunc Function to call when the data is updated | ||
| 102 | /// @param[in] idx Index where to put the new pin (-1 means at the end) | ||
| 103 | /// @return Pointer to the created pin | ||
| 104 | template<std::derived_from<Node> T> | ||
| 105 | 224 | InputPin* CreateInputPin(Node* node, const char* name, Pin::Type pinType, const std::vector<std::string>& dataIdentifier, | |
| 106 | void (T::*notifyFunc)(const InsTime&, size_t), int idx = -1) | ||
| 107 | { | ||
| 108 |
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224 | assert(pinType != Pin::Type::Flow && pinType != Pin::Type::Delegate); |
| 109 | |||
| 110 |
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224 | return CreateInputPin(node, name, pinType, dataIdentifier, InputPin::Callback(static_cast<InputPin::DataChangedNotifyFunc>(notifyFunc)), nullptr, 0, idx); |
| 111 | } | ||
| 112 | |||
| 113 | /// @brief Create an Output Pin object | ||
| 114 | /// @param[in] node Node to register the Pin for | ||
| 115 | /// @param[in] name Display name of the Pin | ||
| 116 | /// @param[in] pinType Type of the pin | ||
| 117 | /// @param[in] dataIdentifier Identifier of the data which is represented by the pin | ||
| 118 | /// @param[in] data Pointer to data which is represented by the pin | ||
| 119 | /// @param[in] idx Index where to put the new pin (-1 means at the end) | ||
| 120 | /// @return Pointer to the created pin | ||
| 121 | OutputPin* CreateOutputPin(Node* node, const char* name, Pin::Type pinType, const std::vector<std::string>& dataIdentifier, OutputPin::PinData data = static_cast<void*>(nullptr), int idx = -1); | ||
| 122 | |||
| 123 | /// @brief Create an Output Pin object for Flow Pins | ||
| 124 | /// @tparam T Class where the function is member of | ||
| 125 | /// @param[in] node Node to register the Pin for | ||
| 126 | /// @param[in] name Display name of the Pin | ||
| 127 | /// @param[in] pinType Type of the pin | ||
| 128 | /// @param[in] dataIdentifier Identifier of the data which is represented by the pin | ||
| 129 | /// @param[in] peekPollDataFunc Function to poll for data on this pin | ||
| 130 | /// @param[in] idx Index where to put the new pin (-1 means at the end) | ||
| 131 | /// @return Pointer to the created pin | ||
| 132 | template<std::derived_from<Node> T> | ||
| 133 | 810 | OutputPin* CreateOutputPin(Node* node, const char* name, Pin::Type pinType, const std::vector<std::string>& dataIdentifier, | |
| 134 | std::shared_ptr<const NAV::NodeData> (T::*peekPollDataFunc)(size_t, bool) = nullptr, int idx = -1) | ||
| 135 | { | ||
| 136 |
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810 | assert(pinType == Pin::Type::Flow); |
| 137 |
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2070 | INS_ASSERT_USER_ERROR(std::none_of(node->outputPins.begin(), node->outputPins.end(), |
| 138 | [](const OutputPin& outputPin) { return std::holds_alternative<OutputPin::PollDataFunc>(outputPin.data); }), | ||
| 139 | "You cannot mix PollDataFunc and PeekPollDataFunc output pins. Use only PeekPollDataFunc pins if multiple pins are needed."); | ||
| 140 | |||
| 141 |
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810 | return CreateOutputPin(node, name, pinType, dataIdentifier, OutputPin::PinData(static_cast<OutputPin::PeekPollDataFunc>(peekPollDataFunc)), idx); |
| 142 | } | ||
| 143 | |||
| 144 | /// @brief Create an Output Pin object for Flow Pins | ||
| 145 | /// @tparam T Class where the function is member of | ||
| 146 | /// @param[in] node Node to register the Pin for | ||
| 147 | /// @param[in] name Display name of the Pin | ||
| 148 | /// @param[in] pinType Type of the pin | ||
| 149 | /// @param[in] dataIdentifier Identifier of the data which is represented by the pin | ||
| 150 | /// @param[in] pollDataFunc Function to poll for data on this pin | ||
| 151 | /// @param[in] idx Index where to put the new pin (-1 means at the end) | ||
| 152 | /// @return Pointer to the created pin | ||
| 153 | template<std::derived_from<Node> T> | ||
| 154 | 1343 | OutputPin* CreateOutputPin(Node* node, const char* name, Pin::Type pinType, const std::vector<std::string>& dataIdentifier, | |
| 155 | std::shared_ptr<const NAV::NodeData> (T::*pollDataFunc)() = nullptr, int idx = -1) | ||
| 156 | { | ||
| 157 |
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1343 | assert(pinType == Pin::Type::Flow); |
| 158 |
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1343 | INS_ASSERT_USER_ERROR(std::none_of(node->outputPins.begin(), node->outputPins.end(), |
| 159 | [](const OutputPin& outputPin) { return std::holds_alternative<OutputPin::PeekPollDataFunc>(outputPin.data) | ||
| 160 | || std::holds_alternative<OutputPin::PollDataFunc>(outputPin.data); }), | ||
| 161 | "There can only be one poll pin if the poll only data function is chosen. If multiple are needed, create PeekPollDataFunc pins."); | ||
| 162 | |||
| 163 |
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1343 | return CreateOutputPin(node, name, pinType, dataIdentifier, OutputPin::PinData(static_cast<OutputPin::PollDataFunc>(pollDataFunc)), idx); |
| 164 | } | ||
| 165 | |||
| 166 | /// @brief Deletes the output pin. Invalidates the pin reference given. | ||
| 167 | /// @param[in, out] pin Output Pin to delete | ||
| 168 | /// @return True if the pin was delete | ||
| 169 | bool DeleteOutputPin(OutputPin& pin); | ||
| 170 | |||
| 171 | /// @brief Deletes the input pin. Invalidates the pin reference given. | ||
| 172 | /// @param[in, out] pin Input Pin to delete | ||
| 173 | /// @return True if the pin was delete | ||
| 174 | bool DeleteInputPin(InputPin& pin); | ||
| 175 | |||
| 176 | /// @brief Finds the Node for the NodeId | ||
| 177 | /// @param[in] id Unique Id of the Node to search for | ||
| 178 | /// @return Pointer to the node or nullptr if the NodeId does not exist | ||
| 179 | Node* FindNode(ax::NodeEditor::NodeId id); | ||
| 180 | |||
| 181 | /// @brief Finds the Pin for the PinId | ||
| 182 | /// @param[in] id Unique Id of the Pin to search for | ||
| 183 | /// @return Pointer to the pin or nullptr if the PinId does not exist | ||
| 184 | OutputPin* FindOutputPin(ax::NodeEditor::PinId id); | ||
| 185 | |||
| 186 | /// @brief Finds the Pin for the PinId | ||
| 187 | /// @param[in] id Unique Id of the Pin to search for | ||
| 188 | /// @return Pointer to the pin or nullptr if the PinId does not exist | ||
| 189 | InputPin* FindInputPin(ax::NodeEditor::PinId id); | ||
| 190 | |||
| 191 | /// @brief Enables all Node callbacks | ||
| 192 | void EnableAllCallbacks(); | ||
| 193 | |||
| 194 | /// @brief Disables all Node callbacks | ||
| 195 | void DisableAllCallbacks(); | ||
| 196 | |||
| 197 | /// @brief Clears all nodes queues | ||
| 198 | void ClearAllNodeQueues(); | ||
| 199 | |||
| 200 | /// @brief Initializes all nodes. | ||
| 201 | /// @return Returns false if one of the nodes could not initialize | ||
| 202 | bool InitializeAllNodes(); | ||
| 203 | |||
| 204 | /// @brief Initializes all nodes in a separate thread | ||
| 205 | void InitializeAllNodesAsync(); | ||
| 206 | |||
| 207 | /// @brief Generates a new node id | ||
| 208 | ax::NodeEditor::NodeId GetNextNodeId(); | ||
| 209 | |||
| 210 | /// @brief Generates a new link id | ||
| 211 | ax::NodeEditor::LinkId GetNextLinkId(); | ||
| 212 | |||
| 213 | /// @brief Generates a new pin id | ||
| 214 | ax::NodeEditor::PinId GetNextPinId(); | ||
| 215 | |||
| 216 | #ifdef TESTING | ||
| 217 | |||
| 218 | /// @brief Registers the callback function to the watcher list | ||
| 219 | /// @param[in] id Output pin id to add the callback to | ||
| 220 | /// @param[in] callback Callback function | ||
| 221 | /// @attention ApplyWatcherCallbacks() needs to be called after loading the flow to apply the list to the pins. | ||
| 222 | void RegisterWatcherCallbackToInputPin(ax::NodeEditor::PinId id, const InputPin::WatcherCallback& callback); | ||
| 223 | |||
| 224 | /// @brief Registers the callback function to the watcher list | ||
| 225 | /// @param[in] id Link id to add the callback to | ||
| 226 | /// @param[in] callback Callback function | ||
| 227 | /// @attention ApplyWatcherCallbacks() needs to be called after loading the flow to apply the list to the pins. | ||
| 228 | void RegisterWatcherCallbackToLink(ax::NodeEditor::LinkId id, const InputPin::WatcherCallback& callback); | ||
| 229 | |||
| 230 | /// @brief Applies the watcher lists to the node pins | ||
| 231 | void ApplyWatcherCallbacks(); | ||
| 232 | |||
| 233 | /// @brief Registers a callback function which gets called before the nodes are initialized. Used to change node settings. | ||
| 234 | /// @param[in] callback Callback function | ||
| 235 | void RegisterPreInitCallback(std::function<void()> callback); | ||
| 236 | |||
| 237 | /// @brief Calls the pre-init callback | ||
| 238 | void CallPreInitCallback(); | ||
| 239 | |||
| 240 | /// @brief Registers a callback which gets called after flow execution before cleanup | ||
| 241 | /// @param[in] callback Callback function | ||
| 242 | void RegisterCleanupCallback(std::function<void()> callback); | ||
| 243 | |||
| 244 | /// @brief Calls the cleanup callback | ||
| 245 | void CallCleanupCallback(); | ||
| 246 | |||
| 247 | /// @brief Clears the watcher list | ||
| 248 | void ClearRegisteredCallbacks(); | ||
| 249 | |||
| 250 | #endif | ||
| 251 | |||
| 252 | } // namespace NAV::NodeManager | ||
| 253 |