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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 | #include "NodeRegistry.hpp" | ||
| 10 | |||
| 11 | #include "util/Logger.hpp" | ||
| 12 | |||
| 13 | #include "internal/Node/Node.hpp" | ||
| 14 | #include "NodeData/NodeData.hpp" | ||
| 15 | |||
| 16 | #include <string> | ||
| 17 | |||
| 18 | /* -------------------------------------------------------------------------------------------------------- */ | ||
| 19 | /* Private Members */ | ||
| 20 | /* -------------------------------------------------------------------------------------------------------- */ | ||
| 21 | |||
| 22 | namespace NAV::NodeRegistry | ||
| 23 | { | ||
| 24 | namespace | ||
| 25 | { | ||
| 26 | |||
| 27 | /// List of all registered nodes. | ||
| 28 | /// Key: category, Value: Nodes | ||
| 29 | std::map<std::string, std::vector<NodeInfo>> _registeredNodes; | ||
| 30 | |||
| 31 | /// List of all registered node data types. | ||
| 32 | /// Key: NodeData.type(), Value: parentTypes() | ||
| 33 | std::map<std::string, std::vector<std::string>> _registeredNodeDataTypes; | ||
| 34 | |||
| 35 | /* -------------------------------------------------------------------------------------------------------- */ | ||
| 36 | /* Private Function Declarations */ | ||
| 37 | /* -------------------------------------------------------------------------------------------------------- */ | ||
| 38 | |||
| 39 | /// @brief Registers a Node with the NodeManager | ||
| 40 | /// @tparam T Node Class to register | ||
| 41 | template<std::derived_from<Node> T> | ||
| 42 | 12096 | void registerNodeType() | |
| 43 | { | ||
| 44 | 12096 | NodeInfo info; | |
| 45 | 12442 | info.constructor = []() { return new T(); }; // NOLINT(cppcoreguidelines-owning-memory) | |
| 46 |
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12096 | info.type = T::typeStatic(); |
| 47 | |||
| 48 |
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12096 | T obj; |
| 49 |
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22176 | for (const InputPin& pin : obj.inputPins) |
| 50 | { | ||
| 51 |
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10080 | info.pinInfoList.emplace_back(pin.kind, pin.type, pin.dataIdentifier); |
| 52 | } | ||
| 53 |
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26208 | for (const OutputPin& pin : obj.outputPins) |
| 54 | { | ||
| 55 |
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14112 | info.pinInfoList.emplace_back(pin.kind, pin.type, pin.dataIdentifier); |
| 56 | } | ||
| 57 | |||
| 58 |
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12096 | _registeredNodes[T::category()].push_back(info); |
| 59 | 12096 | } | |
| 60 | |||
| 61 | /// @brief Register a NodeData with the NodeManager | ||
| 62 | /// @tparam T NodeData Class to register | ||
| 63 | template<std::derived_from<NodeData> T> | ||
| 64 | 4480 | void registerNodeDataType() | |
| 65 | { | ||
| 66 |
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4480 | _registeredNodeDataTypes[T::type()] = T::parentTypes(); |
| 67 | 4480 | } | |
| 68 | |||
| 69 | } // namespace | ||
| 70 | } // namespace NAV::NodeRegistry | ||
| 71 | |||
| 72 | /* -------------------------------------------------------------------------------------------------------- */ | ||
| 73 | /* Function Definitions */ | ||
| 74 | /* -------------------------------------------------------------------------------------------------------- */ | ||
| 75 | |||
| 76 | ✗ | bool NAV::NodeRegistry::NodeInfo::hasCompatiblePin(const Pin* pin) const | |
| 77 | { | ||
| 78 | ✗ | if (pin == nullptr) | |
| 79 | { | ||
| 80 | ✗ | return true; | |
| 81 | } | ||
| 82 | |||
| 83 | ✗ | Pin::Kind searchPinKind = pin->kind == Pin::Kind::Input ? Pin::Kind::Output : Pin::Kind::Input; | |
| 84 | ✗ | for (const auto& pinInfo : this->pinInfoList) | |
| 85 | { | ||
| 86 | ✗ | const std::vector<std::string>& startPinDataIdentifier = pin->kind == Pin::Kind::Input ? pinInfo.dataIdentifier : pin->dataIdentifier; | |
| 87 | ✗ | const std::vector<std::string>& endPinDataIdentifier = pin->kind == Pin::Kind::Input ? pin->dataIdentifier : pinInfo.dataIdentifier; | |
| 88 | ✗ | const std::string& startPinParentNodeType = pin->kind == Pin::Kind::Input ? this->type : pin->parentNode->type(); | |
| 89 | |||
| 90 | ✗ | if (pinInfo.kind == searchPinKind && pinInfo.type == pin->type) | |
| 91 | { | ||
| 92 | ✗ | if ((pinInfo.type == Pin::Type::Flow | |
| 93 | ✗ | && NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(startPinDataIdentifier, endPinDataIdentifier)) | |
| 94 | ✗ | || (pinInfo.type == Pin::Type::Delegate | |
| 95 | ✗ | && std::ranges::find(endPinDataIdentifier, startPinParentNodeType) != endPinDataIdentifier.end()) | |
| 96 | ✗ | || ((pinInfo.type == Pin::Type::Object || pinInfo.type == Pin::Type::Matrix) // NOLINT(misc-redundant-expression) - false positive warning | |
| 97 | ✗ | && Pin::dataIdentifierHaveCommon(startPinDataIdentifier, endPinDataIdentifier)) | |
| 98 | ✗ | || pinInfo.type == Pin::Type::Bool || pinInfo.type == Pin::Type::Int || pinInfo.type == Pin::Type::Float || pinInfo.type == Pin::Type::String) | |
| 99 | { | ||
| 100 | ✗ | return true; | |
| 101 | } | ||
| 102 | } | ||
| 103 | ✗ | } | |
| 104 | |||
| 105 | ✗ | return false; | |
| 106 | } | ||
| 107 | |||
| 108 | 346 | const std::map<std::string, std::vector<NAV::NodeRegistry::NodeInfo>>& NAV::NodeRegistry::RegisteredNodes() | |
| 109 | { | ||
| 110 | 346 | return _registeredNodes; | |
| 111 | } | ||
| 112 | |||
| 113 | 66359244 | bool NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(const std::vector<std::string>& childTypes, const std::vector<std::string>& parentTypes) | |
| 114 | { | ||
| 115 |
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132070861 | for (const auto& childType : childTypes) |
| 116 | { | ||
| 117 |
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131851516 | for (const auto& parentType : parentTypes) |
| 118 | { | ||
| 119 |
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66360237 | if (childType == parentType) |
| 120 | { | ||
| 121 | 643383 | return true; | |
| 122 | } | ||
| 123 |
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1378969980 | for (const auto& [dataType, parentTypes] : _registeredNodeDataTypes) |
| 124 | { | ||
| 125 |
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1312709353 | if (dataType == childType) |
| 126 | { | ||
| 127 |
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125837330 | for (const auto& parentTypeOfChild : parentTypes) |
| 128 | { | ||
| 129 |
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360717160 | if (NodeDataTypeAnyIsChildOf({ parentTypeOfChild }, { parentType })) |
| 130 | { | ||
| 131 | 922 | return true; | |
| 132 | } | ||
| 133 | } | ||
| 134 | } | ||
| 135 | } | ||
| 136 | } | ||
| 137 | } | ||
| 138 | |||
| 139 | 65719664 | return false; | |
| 140 | 120241293 | } | |
| 141 | |||
| 142 | 12 | std::vector<std::string> NAV::NodeRegistry::GetParentNodeDataTypes(const std::string& type) | |
| 143 | { | ||
| 144 | 12 | std::vector<std::string> returnTypes; | |
| 145 |
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12 | if (_registeredNodeDataTypes.contains(type)) |
| 146 | { | ||
| 147 |
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12 | const auto& parentTypes = _registeredNodeDataTypes.at(type); |
| 148 | |||
| 149 | // Add all the immediate parents | ||
| 150 |
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12 | if (!parentTypes.empty()) |
| 151 | { | ||
| 152 |
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8 | returnTypes.insert(returnTypes.end(), parentTypes.begin(), parentTypes.end()); |
| 153 | } | ||
| 154 | |||
| 155 | // Add parents of parents | ||
| 156 |
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22 | for (const auto& parentType : parentTypes) |
| 157 | { | ||
| 158 |
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10 | auto parentParentTypes = GetParentNodeDataTypes(parentType); |
| 159 |
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10 | if (!parentParentTypes.empty()) |
| 160 | { | ||
| 161 |
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6 | returnTypes.insert(returnTypes.end(), parentParentTypes.begin(), parentParentTypes.end()); |
| 162 | } | ||
| 163 | 10 | } | |
| 164 | } | ||
| 165 | |||
| 166 | 12 | return returnTypes; | |
| 167 | ✗ | } | |
| 168 | |||
| 169 | // Utility | ||
| 170 | #include "Nodes/Utility/Combiner.hpp" | ||
| 171 | #include "Nodes/Utility/Demo.hpp" | ||
| 172 | #include "Nodes/Utility/GroupBox.hpp" | ||
| 173 | #include "Nodes/Utility/Merger.hpp" | ||
| 174 | #include "Nodes/Utility/Terminator.hpp" | ||
| 175 | #include "Nodes/Utility/TimeWindow.hpp" | ||
| 176 | // Converter | ||
| 177 | #include "Nodes/Converter/GNSS/RtklibPosConverter.hpp" | ||
| 178 | #include "Nodes/Converter/GNSS/UartPacketConverter.hpp" | ||
| 179 | #include "Nodes/Converter/GNSS/UbloxGnssObsConverter.hpp" | ||
| 180 | #include "Nodes/Converter/GNSS/UbloxGnssOrbitCollector.hpp" | ||
| 181 | #include "Nodes/Converter/IMU/VectorNavBinaryConverter.hpp" | ||
| 182 | // Data Link | ||
| 183 | #if __linux__ || __APPLE__ | ||
| 184 | #include "Nodes/DataLink/mavlinkSend.hpp" | ||
| 185 | #endif | ||
| 186 | #include "Nodes/DataLink/udpSend.hpp" | ||
| 187 | #include "Nodes/DataLink/udpRecv.hpp" | ||
| 188 | // Data Logger | ||
| 189 | #include "Nodes/DataLogger/General/CsvLogger.hpp" | ||
| 190 | #include "Nodes/DataLogger/General/KmlLogger.hpp" | ||
| 191 | #include "Nodes/DataLogger/General/MatrixLogger.hpp" | ||
| 192 | #include "Nodes/DataLogger/GNSS/RinexObsLogger.hpp" | ||
| 193 | #include "Nodes/DataLogger/GNSS/UartDataLogger.hpp" | ||
| 194 | #include "Nodes/DataLogger/IMU/VectorNavDataLogger.hpp" | ||
| 195 | #include "Nodes/DataLogger/WiFi/WiFiObsLogger.hpp" | ||
| 196 | // Data Processor | ||
| 197 | #include "Nodes/DataProcessor/ErrorModel/AllanDeviation.hpp" | ||
| 198 | #include "Nodes/DataProcessor/ErrorModel/ErrorModel.hpp" | ||
| 199 | #include "Nodes/DataProcessor/GNSS/GnssAnalyzer.hpp" | ||
| 200 | #include "Nodes/DataProcessor/GNSS/SinglePointPositioning.hpp" | ||
| 201 | #include "Nodes/DataProcessor/Integrator/ImuIntegrator.hpp" | ||
| 202 | #include "Nodes/DataProcessor/KalmanFilter/LooselyCoupledKF.hpp" | ||
| 203 | #include "Nodes/DataProcessor/SensorCombiner/ImuFusion.hpp" | ||
| 204 | #include "Nodes/DataProcessor/WiFi/WiFiPositioning.hpp" | ||
| 205 | #include "Nodes/DataProcessor/Filter/LowPassFilter.hpp" | ||
| 206 | // Data Provider | ||
| 207 | #include "Nodes/DataProvider/CSV/CsvFile.hpp" | ||
| 208 | #include "Nodes/DataProvider/GNSS/FileReader/RinexNavFile.hpp" | ||
| 209 | #include "Nodes/DataProvider/GNSS/FileReader/RinexObsFile.hpp" | ||
| 210 | #include "Nodes/DataProvider/GNSS/FileReader/EmlidFile.hpp" | ||
| 211 | #include "Nodes/DataProvider/GNSS/FileReader/RtklibPosFile.hpp" | ||
| 212 | #include "Nodes/DataProvider/GNSS/FileReader/NmeaFile.hpp" | ||
| 213 | #include "Nodes/DataProvider/GNSS/FileReader/UbloxFile.hpp" | ||
| 214 | #include "Nodes/DataProvider/GNSS/Sensors/EmlidSensor.hpp" | ||
| 215 | #include "Nodes/DataProvider/GNSS/Sensors/UbloxSensor.hpp" | ||
| 216 | #include "Nodes/DataProvider/IMU/FileReader/ImuFile.hpp" | ||
| 217 | #include "Nodes/DataProvider/IMU/FileReader/KvhFile.hpp" | ||
| 218 | #include "Nodes/DataProvider/IMU/FileReader/VectorNavFile.hpp" | ||
| 219 | #include "Nodes/DataProvider/IMU/Sensors/KvhSensor.hpp" | ||
| 220 | #include "Nodes/DataProvider/IMU/Sensors/Navio2Sensor.hpp" | ||
| 221 | #include "Nodes/DataProvider/IMU/Sensors/VectorNavSensor.hpp" | ||
| 222 | #include "Nodes/DataProvider/IMU/FileReader/UlogFile.hpp" | ||
| 223 | #include "Nodes/DataProvider/State/PosVelAttFile.hpp" | ||
| 224 | #include "Nodes/DataProvider/IMU/FileReader/MultiImuFile.hpp" | ||
| 225 | #include "Nodes/DataProvider/WiFi/Sensors/EspressifSensor.hpp" | ||
| 226 | #include "Nodes/DataProvider/WiFi/Sensors/ArubaSensor.hpp" | ||
| 227 | #include "Nodes/DataProvider/WiFi/FileReader/WiFiObsFile.hpp" | ||
| 228 | // Data Simulator | ||
| 229 | #include "Nodes/DataProvider/IMU/Simulators/ImuSimulator.hpp" | ||
| 230 | // Plotting | ||
| 231 | #include "Nodes/Plotting/Plot.hpp" | ||
| 232 | // State | ||
| 233 | #include "Nodes/State/PosVelAttInitializer.hpp" | ||
| 234 | // Experimental | ||
| 235 | #include "Nodes/Experimental/DataProcessor/ARMA.hpp" | ||
| 236 | #include "Nodes/Experimental/DataProvider/IMU/NetworkStream/SkydelNetworkStream.hpp" | ||
| 237 | #include "Nodes/Experimental/Simple/Delay.hpp" | ||
| 238 | |||
| 239 | 112 | void NAV::NodeRegistry::RegisterNodeTypes() | |
| 240 | { | ||
| 241 | LOG_TRACE("called"); | ||
| 242 | |||
| 243 | 112 | Node::_autostartWorker = false; | |
| 244 | |||
| 245 | // Utility | ||
| 246 | 112 | registerNodeType<Combiner>(); | |
| 247 | 112 | registerNodeType<Demo>(); | |
| 248 | 112 | registerNodeType<GroupBox>(); | |
| 249 | 112 | registerNodeType<Merger>(); | |
| 250 | 112 | registerNodeType<Terminator>(); | |
| 251 | 112 | registerNodeType<TimeWindow>(); | |
| 252 | // Converter | ||
| 253 | 112 | registerNodeType<RtklibPosConverter>(); | |
| 254 | 112 | registerNodeType<UartPacketConverter>(); | |
| 255 | 112 | registerNodeType<UbloxGnssObsConverter>(); | |
| 256 | 112 | registerNodeType<UbloxGnssOrbitCollector>(); | |
| 257 | 112 | registerNodeType<VectorNavBinaryConverter>(); | |
| 258 | // Data Link | ||
| 259 | #if __linux__ || __APPLE__ | ||
| 260 | 112 | registerNodeType<MavlinkSend>(); | |
| 261 | #endif | ||
| 262 | 112 | registerNodeType<UdpSend>(); | |
| 263 | 112 | registerNodeType<UdpRecv>(); | |
| 264 | // Data Logger | ||
| 265 | 112 | registerNodeType<CsvLogger>(); | |
| 266 | 112 | registerNodeType<KmlLogger>(); | |
| 267 | 112 | registerNodeType<MatrixLogger>(); | |
| 268 | 112 | registerNodeType<RinexObsLogger>(); | |
| 269 | 112 | registerNodeType<UartDataLogger>(); | |
| 270 | 112 | registerNodeType<VectorNavDataLogger>(); | |
| 271 | 112 | registerNodeType<WiFiObsLogger>(); | |
| 272 | // Data Processor | ||
| 273 | 112 | registerNodeType<AllanDeviation>(); | |
| 274 | 112 | registerNodeType<ErrorModel>(); | |
| 275 | 112 | registerNodeType<GnssAnalyzer>(); | |
| 276 | 112 | registerNodeType<SinglePointPositioning>(); | |
| 277 | 112 | registerNodeType<ImuIntegrator>(); | |
| 278 | 112 | registerNodeType<LooselyCoupledKF>(); | |
| 279 | 112 | registerNodeType<LowPassFilter>(); | |
| 280 | 112 | registerNodeType<ImuFusion>(); | |
| 281 | 112 | registerNodeType<WiFiPositioning>(); | |
| 282 | // Data Provider | ||
| 283 | 112 | registerNodeType<CsvFile>(); | |
| 284 | 112 | registerNodeType<RinexNavFile>(); | |
| 285 | 112 | registerNodeType<RinexObsFile>(); | |
| 286 | 112 | registerNodeType<EmlidFile>(); | |
| 287 | 112 | registerNodeType<RtklibPosFile>(); | |
| 288 | 112 | registerNodeType<NmeaFile>(); | |
| 289 | 112 | registerNodeType<UbloxFile>(); | |
| 290 | 112 | registerNodeType<EmlidSensor>(); | |
| 291 | 112 | registerNodeType<UbloxSensor>(); | |
| 292 | 112 | registerNodeType<ImuFile>(); | |
| 293 | 112 | registerNodeType<KvhFile>(); | |
| 294 | 112 | registerNodeType<VectorNavFile>(); | |
| 295 | 112 | registerNodeType<KvhSensor>(); | |
| 296 | 112 | registerNodeType<Navio2Sensor>(); | |
| 297 | 112 | registerNodeType<VectorNavSensor>(); | |
| 298 | 112 | registerNodeType<UlogFile>(); | |
| 299 | 112 | registerNodeType<PosVelAttFile>(); | |
| 300 | 112 | registerNodeType<MultiImuFile>(); | |
| 301 | 112 | registerNodeType<EspressifSensor>(); | |
| 302 | 112 | registerNodeType<ArubaSensor>(); | |
| 303 | 112 | registerNodeType<WiFiObsFile>(); | |
| 304 | // Data Simulator | ||
| 305 | 112 | registerNodeType<ImuSimulator>(); | |
| 306 | // Experimental | ||
| 307 | // registerNodeType<NAV::experimental::ARMA>(); | ||
| 308 | // registerNodeType<NAV::experimental::SkydelNetworkStream>(); | ||
| 309 | // registerNodeType<NAV::experimental::Delay>(); | ||
| 310 | // Plotting | ||
| 311 | 112 | registerNodeType<Plot>(); | |
| 312 | // State | ||
| 313 | 112 | registerNodeType<PosVelAttInitializer>(); | |
| 314 | |||
| 315 | 112 | Node::_autostartWorker = true; | |
| 316 | 112 | } | |
| 317 | |||
| 318 | #include "NodeData/General/DynamicData.hpp" | ||
| 319 | #include "NodeData/General/StringObs.hpp" | ||
| 320 | #include "NodeData/GNSS/EmlidObs.hpp" | ||
| 321 | #include "NodeData/GNSS/GnssCombination.hpp" | ||
| 322 | #include "NodeData/GNSS/GnssObs.hpp" | ||
| 323 | #include "NodeData/GNSS/RtklibPosObs.hpp" | ||
| 324 | #include "NodeData/GNSS/SppSolution.hpp" | ||
| 325 | #include "NodeData/GNSS/UbloxObs.hpp" | ||
| 326 | #include "NodeData/IMU/ImuObs.hpp" | ||
| 327 | #include "NodeData/IMU/ImuObsSimulated.hpp" | ||
| 328 | #include "NodeData/IMU/ImuObsWDelta.hpp" | ||
| 329 | #include "NodeData/IMU/KvhObs.hpp" | ||
| 330 | #include "NodeData/IMU/VectorNavBinaryOutput.hpp" | ||
| 331 | #include "NodeData/State/InsGnssLCKFSolution.hpp" | ||
| 332 | #include "NodeData/State/InsGnssTCKFSolution.hpp" | ||
| 333 | #include "NodeData/State/Pos.hpp" | ||
| 334 | #include "NodeData/State/PosVel.hpp" | ||
| 335 | #include "NodeData/State/PosVelAtt.hpp" | ||
| 336 | #include "NodeData/WiFi/WiFiObs.hpp" | ||
| 337 | #include "NodeData/WiFi/WiFiPositioningSolution.hpp" | ||
| 338 | |||
| 339 | 112 | void NAV::NodeRegistry::RegisterNodeDataTypes() | |
| 340 | { | ||
| 341 | 112 | registerNodeDataType<NodeData>(); | |
| 342 | // General | ||
| 343 | 112 | registerNodeDataType<DynamicData>(); | |
| 344 | 112 | registerNodeDataType<StringObs>(); | |
| 345 | // GNSS | ||
| 346 | 112 | registerNodeDataType<EmlidObs>(); | |
| 347 | 112 | registerNodeDataType<GnssCombination>(); | |
| 348 | 112 | registerNodeDataType<GnssObs>(); | |
| 349 | 112 | registerNodeDataType<RtklibPosObs>(); | |
| 350 | 112 | registerNodeDataType<SppSolution>(); | |
| 351 | 112 | registerNodeDataType<UbloxObs>(); | |
| 352 | // IMU | ||
| 353 | 112 | registerNodeDataType<ImuObs>(); | |
| 354 | 112 | registerNodeDataType<ImuObsSimulated>(); | |
| 355 | 112 | registerNodeDataType<ImuObsWDelta>(); | |
| 356 | 112 | registerNodeDataType<KvhObs>(); | |
| 357 | 112 | registerNodeDataType<VectorNavBinaryOutput>(); | |
| 358 | // State | ||
| 359 | 112 | registerNodeDataType<InsGnssLCKFSolution>(); | |
| 360 | 112 | registerNodeDataType<Pos>(); | |
| 361 | 112 | registerNodeDataType<PosVel>(); | |
| 362 | 112 | registerNodeDataType<PosVelAtt>(); | |
| 363 | // WiFi | ||
| 364 | 112 | registerNodeDataType<WiFiObs>(); | |
| 365 | 112 | registerNodeDataType<WiFiPositioningSolution>(); | |
| 366 | 112 | } | |
| 367 | |||
| 368 | 581401 | std::vector<std::string> NAV::NodeRegistry::GetStaticDataDescriptors(const std::vector<std::string>& dataIdentifier) | |
| 369 | { | ||
| 370 | // ATTENTION: Entries need to be in correct inheritance order (deepest inheritance first) | ||
| 371 | |||
| 372 | // NodeData | ||
| 373 |
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1744203 | if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { DynamicData::type() })) { return DynamicData::GetStaticDataDescriptors(); } |
| 374 |
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1744200 | if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { StringObs::type() })) { return StringObs::GetStaticDataDescriptors(); } |
| 375 |
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1744200 | if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { GnssCombination::type() })) { return GnssCombination::GetStaticDataDescriptors(); } |
| 376 |
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1744200 | if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { GnssObs::type() })) { return GnssObs::GetStaticDataDescriptors(); } |
| 377 |
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1744200 | if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { VectorNavBinaryOutput::type() })) { return VectorNavBinaryOutput::GetStaticDataDescriptors(); } |
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1744182 | if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { EmlidObs::type() })) { return EmlidObs::GetStaticDataDescriptors(); } |
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1744182 | if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { UbloxObs::type() })) { return UbloxObs::GetStaticDataDescriptors(); } |
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1744182 | if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { WiFiObs::type() })) { return WiFiObs::GetStaticDataDescriptors(); } |
| 381 | // Pos | ||
| 382 |
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1744182 | if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { InsGnssTCKFSolution::type() })) { return InsGnssTCKFSolution::GetStaticDataDescriptors(); } |
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1744182 | if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { InsGnssLCKFSolution::type() })) { return InsGnssLCKFSolution::GetStaticDataDescriptors(); } |
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872118 | if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { PosVelAtt::type() })) { return PosVelAtt::GetStaticDataDescriptors(); } |
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66 | if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { SppSolution::type() })) { return SppSolution::GetStaticDataDescriptors(); } |
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57 | if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { RtklibPosObs::type() })) { return RtklibPosObs::GetStaticDataDescriptors(); } |
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36 | if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { WiFiPositioningSolution::type() })) { return WiFiPositioningSolution::GetStaticDataDescriptors(); } |
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36 | if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { PosVel::type() })) { return PosVel::GetStaticDataDescriptors(); } |
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36 | if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { Pos::type() })) { return Pos::GetStaticDataDescriptors(); } |
| 390 | // ImuObs | ||
| 391 |
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36 | if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { ImuObsSimulated::type() })) { return ImuObsSimulated::GetStaticDataDescriptors(); } |
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24 | if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { ImuObsWDelta::type() })) { return ImuObsWDelta::GetStaticDataDescriptors(); } |
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24 | if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { KvhObs::type() })) { return KvhObs::GetStaticDataDescriptors(); } |
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24 | if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { ImuObs::type() })) { return ImuObs::GetStaticDataDescriptors(); } |
| 395 | |||
| 396 | ✗ | return {}; | |
| 397 | 6104790 | } | |
| 398 | |||
| 399 | 73 | bool NAV::NodeRegistry::TypeHasDynamicData(const std::string& type) | |
| 400 | { | ||
| 401 |
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73 | return type == DynamicData::type() |
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145 | || type == GnssCombination::type() |
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145 | || type == GnssObs::type() |
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218 | || type == SppSolution::type(); |
| 405 | } | ||
| 406 | |||
| 407 | ✗ | std::shared_ptr<NAV::NodeData> NAV::NodeRegistry::CopyNodeData(const std::shared_ptr<const NodeData>& nodeData) | |
| 408 | { | ||
| 409 | ✗ | if (nodeData == nullptr) { return nullptr; } | |
| 410 | |||
| 411 | // General | ||
| 412 | ✗ | if (nodeData->getType() == DynamicData::type()) { return std::make_shared<DynamicData>(*std::static_pointer_cast<const DynamicData>(nodeData)); } | |
| 413 | ✗ | if (nodeData->getType() == StringObs::type()) { return std::make_shared<StringObs>(*std::static_pointer_cast<const StringObs>(nodeData)); } | |
| 414 | // GNSS | ||
| 415 | ✗ | if (nodeData->getType() == EmlidObs::type()) { return std::make_shared<EmlidObs>(*std::static_pointer_cast<const EmlidObs>(nodeData)); } | |
| 416 | ✗ | if (nodeData->getType() == GnssCombination::type()) { return std::make_shared<GnssCombination>(*std::static_pointer_cast<const GnssCombination>(nodeData)); } | |
| 417 | ✗ | if (nodeData->getType() == GnssObs::type()) { return std::make_shared<GnssObs>(*std::static_pointer_cast<const GnssObs>(nodeData)); } | |
| 418 | ✗ | if (nodeData->getType() == RtklibPosObs::type()) { return std::make_shared<RtklibPosObs>(*std::static_pointer_cast<const RtklibPosObs>(nodeData)); } | |
| 419 | ✗ | if (nodeData->getType() == SppSolution::type()) { return std::make_shared<SppSolution>(*std::static_pointer_cast<const SppSolution>(nodeData)); } | |
| 420 | ✗ | if (nodeData->getType() == UbloxObs::type()) { return std::make_shared<UbloxObs>(*std::static_pointer_cast<const UbloxObs>(nodeData)); } | |
| 421 | // IMU | ||
| 422 | ✗ | if (nodeData->getType() == ImuObs::type()) { return std::make_shared<ImuObs>(*std::static_pointer_cast<const ImuObs>(nodeData)); } | |
| 423 | ✗ | if (nodeData->getType() == ImuObsSimulated::type()) { return std::make_shared<ImuObsSimulated>(*std::static_pointer_cast<const ImuObsSimulated>(nodeData)); } | |
| 424 | ✗ | if (nodeData->getType() == ImuObsWDelta::type()) { return std::make_shared<ImuObsWDelta>(*std::static_pointer_cast<const ImuObsWDelta>(nodeData)); } | |
| 425 | ✗ | if (nodeData->getType() == KvhObs::type()) { return std::make_shared<KvhObs>(*std::static_pointer_cast<const KvhObs>(nodeData)); } | |
| 426 | ✗ | if (nodeData->getType() == VectorNavBinaryOutput::type()) { return std::make_shared<VectorNavBinaryOutput>(*std::static_pointer_cast<const VectorNavBinaryOutput>(nodeData)); } | |
| 427 | // State | ||
| 428 | ✗ | if (nodeData->getType() == InsGnssLCKFSolution::type()) { return std::make_shared<InsGnssLCKFSolution>(*std::static_pointer_cast<const InsGnssLCKFSolution>(nodeData)); } | |
| 429 | ✗ | if (nodeData->getType() == InsGnssTCKFSolution::type()) { return std::make_shared<InsGnssTCKFSolution>(*std::static_pointer_cast<const InsGnssTCKFSolution>(nodeData)); } | |
| 430 | ✗ | if (nodeData->getType() == Pos::type()) { return std::make_shared<Pos>(*std::static_pointer_cast<const Pos>(nodeData)); } | |
| 431 | ✗ | if (nodeData->getType() == PosVel::type()) { return std::make_shared<PosVel>(*std::static_pointer_cast<const PosVel>(nodeData)); } | |
| 432 | ✗ | if (nodeData->getType() == PosVelAtt::type()) { return std::make_shared<PosVelAtt>(*std::static_pointer_cast<const PosVelAtt>(nodeData)); } | |
| 433 | // WiFi | ||
| 434 | ✗ | if (nodeData->getType() == WiFiObs::type()) { return std::make_shared<WiFiObs>(*std::static_pointer_cast<const WiFiObs>(nodeData)); } | |
| 435 | ✗ | if (nodeData->getType() == WiFiPositioningSolution::type()) { return std::make_shared<WiFiPositioningSolution>(*std::static_pointer_cast<const WiFiPositioningSolution>(nodeData)); } | |
| 436 | |||
| 437 | ✗ | return nullptr; | |
| 438 | } | ||
| 439 |