INSTINCT Code Coverage Report

Directory: src/
File: NodeRegistry.cpp
Date: 2025-11-25 23:34:18
Exec Total Coverage
Lines: 157 206 76.2%
Functions: 88 90 97.8%
Branches: 189 588 32.1%
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 "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
40 /// @tparam T Node Class to register
41 template<std::derived_from<Node> T>
42 13224 void registerNodeType()
43 {
44 13224 NodeInfo info;
45 13581 info.constructor = []() { return new T(); }; // NOLINT(cppcoreguidelines-owning-memory)
46
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 13224 info.type = T::typeStatic();
47
48
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 13224 T obj;
49
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 23028 for (const InputPin& pin : obj.inputPins)
50 {
51
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 9804 info.pinInfoList.emplace_back(pin.kind, pin.type, pin.dataIdentifier);
52 }
53
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 26676 for (const OutputPin& pin : obj.outputPins)
54 {
55
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 13452 info.pinInfoList.emplace_back(pin.kind, pin.type, pin.dataIdentifier);
56 }
57
58
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 13224 _registeredNodes[T::category()].push_back(info);
59 13224 }
60
61 /// @brief Register a NodeData
62 /// @tparam T NodeData Class to register
63 template<std::derived_from<NodeData> T>
64 5244 void registerNodeDataType()
65 {
66
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 5244 _registeredNodeDataTypes[T::type()] = T::parentTypes();
67 5244 }
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
108 357 const std::map<std::string, std::vector<NAV::NodeRegistry::NodeInfo>>& NAV::NodeRegistry::RegisteredNodes()
109 {
110 357 return _registeredNodes;
111 }
112
113 70184705 bool NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(const std::vector<std::string>& childTypes, const std::vector<std::string>& parentTypes)
114 {
115
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 139680210 for (const auto& childType : childTypes)
116 {
117
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 139469596 for (const auto& parentType : parentTypes)
118 {
119
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 70185251 if (childType == parentType)
120 {
121 683505 return true;
122 }
123
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 1666602829 for (const auto& [dataType, parentTypes] : _registeredNodeDataTypes)
124 {
125
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 1596792792 if (dataType == childType)
126 {
127
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 132934909 for (const auto& parentTypeOfChild : parentTypes)
128 {
129
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 380588538 if (NodeDataTypeAnyIsChildOf({ parentTypeOfChild }, { parentType }))
130 {
131 141 return true;
132 }
133 }
134 }
135 }
136 }
137 }
138
139 69504931 return false;
140 126865039 }
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 {
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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 {
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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 {
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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/RealTimeKinematic.hpp"
201 #include "Nodes/DataProcessor/GNSS/SinglePointPositioning.hpp"
202 #include "Nodes/DataProcessor/Integrator/ImuIntegrator.hpp"
203 #include "Nodes/DataProcessor/KalmanFilter/LooselyCoupledKF.hpp"
204 #include "Nodes/DataProcessor/SensorCombiner/ImuFusion.hpp"
205 #include "Nodes/DataProcessor/WiFi/WiFiPositioning.hpp"
206 #include "Nodes/DataProcessor/Filter/LowPassFilter.hpp"
207 #include "Nodes/DataProcessor/Barometer/PressToHgt.hpp"
208 // Data Provider
209 #include "Nodes/DataProvider/CSV/CsvFile.hpp"
210 #include "Nodes/DataProvider/GNSS/FileReader/RinexNavFile.hpp"
211 #include "Nodes/DataProvider/GNSS/FileReader/RinexObsFile.hpp"
212 #include "Nodes/DataProvider/GNSS/FileReader/EmlidFile.hpp"
213 #include "Nodes/DataProvider/GNSS/FileReader/RtklibPosFile.hpp"
214 #include "Nodes/DataProvider/GNSS/FileReader/NmeaFile.hpp"
215 #include "Nodes/DataProvider/GNSS/FileReader/UbloxFile.hpp"
216 #include "Nodes/DataProvider/GNSS/Sensors/EmlidSensor.hpp"
217 #include "Nodes/DataProvider/GNSS/Sensors/UbloxSensor.hpp"
218 #include "Nodes/DataProvider/IMU/FileReader/ImuFile.hpp"
219 #include "Nodes/DataProvider/IMU/FileReader/KvhFile.hpp"
220 #include "Nodes/DataProvider/IMU/FileReader/VectorNavFile.hpp"
221 #include "Nodes/DataProvider/IMU/Sensors/KvhSensor.hpp"
222 #include "Nodes/DataProvider/IMU/Sensors/Navio2Sensor.hpp"
223 #include "Nodes/DataProvider/IMU/Sensors/VectorNavSensor.hpp"
224 #include "Nodes/DataProvider/IMU/Sensors/Ln200Sensor.hpp"
225 #include "Nodes/DataProvider/IMU/FileReader/UlogFile.hpp"
226 #include "Nodes/DataProvider/State/PosVelAttFile.hpp"
227 #include "Nodes/DataProvider/IMU/FileReader/MultiImuFile.hpp"
228 #include "Nodes/DataProvider/WiFi/Sensors/EspressifSensor.hpp"
229 #include "Nodes/DataProvider/WiFi/Sensors/ArubaSensor.hpp"
230 #include "Nodes/DataProvider/WiFi/FileReader/WiFiObsFile.hpp"
231 // Data Simulator
232 #include "Nodes/DataProvider/IMU/Simulators/ImuSimulator.hpp"
233 #include "Nodes/DataProvider/Barometer/Simulators/BaroSimulator.hpp"
234 // Plotting
235 #include "Nodes/Plotting/Plot.hpp"
236 // State
237 #include "Nodes/State/PosVelAttInitializer.hpp"
238 // Experimental
239 #include "Nodes/Experimental/DataProcessor/ARMA.hpp"
240 #include "Nodes/Experimental/DataProvider/IMU/NetworkStream/SkydelNetworkStream.hpp"
241 #include "Nodes/Experimental/Simple/Delay.hpp"
242
243 114 void NAV::NodeRegistry::RegisterNodeTypes()
244 {
245 LOG_TRACE("called");
246
247 114 Node::_autostartWorker = false;
248
249 // Utility
250 114 registerNodeType<Combiner>();
251 114 registerNodeType<Demo>();
252 114 registerNodeType<GroupBox>();
253 114 registerNodeType<Merger>();
254 114 registerNodeType<Terminator>();
255 114 registerNodeType<TimeWindow>();
256 // Converter
257 114 registerNodeType<RtklibPosConverter>();
258 114 registerNodeType<UartPacketConverter>();
259 114 registerNodeType<UbloxGnssObsConverter>();
260 114 registerNodeType<UbloxGnssOrbitCollector>();
261 114 registerNodeType<VectorNavBinaryConverter>();
262 // Data Link
263 #if __linux__ || __APPLE__
264 114 registerNodeType<MavlinkSend>();
265 #endif
266 114 registerNodeType<UdpSend>();
267 114 registerNodeType<UdpRecv>();
268 // Data Logger
269 114 registerNodeType<CsvLogger>();
270 114 registerNodeType<KmlLogger>();
271 114 registerNodeType<MatrixLogger>();
272 114 registerNodeType<RinexObsLogger>();
273 114 registerNodeType<UartDataLogger>();
274 114 registerNodeType<VectorNavDataLogger>();
275 114 registerNodeType<WiFiObsLogger>();
276 // Data Processor
277 114 registerNodeType<AllanDeviation>();
278 114 registerNodeType<ErrorModel>();
279 114 registerNodeType<GnssAnalyzer>();
280 114 registerNodeType<RealTimeKinematic>();
281 114 registerNodeType<SinglePointPositioning>();
282 114 registerNodeType<ImuIntegrator>();
283 114 registerNodeType<LooselyCoupledKF>();
284 114 registerNodeType<LowPassFilter>();
285 114 registerNodeType<PressToHgt>();
286 114 registerNodeType<ImuFusion>();
287 114 registerNodeType<WiFiPositioning>();
288 // Data Provider
289 114 registerNodeType<CsvFile>();
290 114 registerNodeType<RinexNavFile>();
291 114 registerNodeType<RinexObsFile>();
292 114 registerNodeType<EmlidFile>();
293 114 registerNodeType<RtklibPosFile>();
294 114 registerNodeType<NmeaFile>();
295 114 registerNodeType<UbloxFile>();
296 114 registerNodeType<EmlidSensor>();
297 114 registerNodeType<UbloxSensor>();
298 114 registerNodeType<ImuFile>();
299 114 registerNodeType<KvhFile>();
300 114 registerNodeType<VectorNavFile>();
301 114 registerNodeType<KvhSensor>();
302 114 registerNodeType<Navio2Sensor>();
303 114 registerNodeType<VectorNavSensor>();
304 114 registerNodeType<Ln200Sensor>();
305 114 registerNodeType<UlogFile>();
306 114 registerNodeType<PosVelAttFile>();
307 114 registerNodeType<MultiImuFile>();
308 114 registerNodeType<EspressifSensor>();
309 114 registerNodeType<ArubaSensor>();
310 114 registerNodeType<WiFiObsFile>();
311 // Data Simulator
312 114 registerNodeType<ImuSimulator>();
313 114 registerNodeType<BaroSimulator>();
314 // Experimental
315 // registerNodeType<NAV::experimental::ARMA>();
316 // registerNodeType<NAV::experimental::SkydelNetworkStream>();
317 // registerNodeType<NAV::experimental::Delay>();
318 // Plotting
319 114 registerNodeType<Plot>();
320 // State
321 114 registerNodeType<PosVelAttInitializer>();
322
323 114 Node::_autostartWorker = true;
324 114 }
325
326 #include "NodeData/General/DynamicData.hpp"
327 #include "NodeData/General/StringObs.hpp"
328 #include "NodeData/GNSS/EmlidObs.hpp"
329 #include "NodeData/GNSS/GnssCombination.hpp"
330 #include "NodeData/GNSS/GnssObs.hpp"
331 #include "NodeData/GNSS/RtklibPosObs.hpp"
332 #include "NodeData/GNSS/RtkSolution.hpp"
333 #include "NodeData/GNSS/SppSolution.hpp"
334 #include "NodeData/GNSS/UbloxObs.hpp"
335 #include "NodeData/IMU/ImuObs.hpp"
336 #include "NodeData/IMU/ImuObsSimulated.hpp"
337 #include "NodeData/IMU/ImuObsWDelta.hpp"
338 #include "NodeData/IMU/KvhObs.hpp"
339 #include "NodeData/IMU/VectorNavBinaryOutput.hpp"
340 #include "NodeData/State/InsGnssLCKFSolution.hpp"
341 #include "NodeData/State/InsGnssTCKFSolution.hpp"
342 #include "NodeData/State/Pos.hpp"
343 #include "NodeData/State/PosVel.hpp"
344 #include "NodeData/State/PosVelAtt.hpp"
345 #include "NodeData/Baro/BaroPressObs.hpp"
346 #include "NodeData/Baro/BaroHgt.hpp"
347
348 #include "NodeData/WiFi/WiFiObs.hpp"
349 #include "NodeData/WiFi/WiFiPositioningSolution.hpp"
350
351 114 void NAV::NodeRegistry::RegisterNodeDataTypes()
352 {
353 114 registerNodeDataType<NodeData>();
354 // General
355 114 registerNodeDataType<DynamicData>();
356 114 registerNodeDataType<StringObs>();
357 // GNSS
358 114 registerNodeDataType<EmlidObs>();
359 114 registerNodeDataType<GnssCombination>();
360 114 registerNodeDataType<GnssObs>();
361 114 registerNodeDataType<RtklibPosObs>();
362 114 registerNodeDataType<RtkSolution>();
363 114 registerNodeDataType<SppSolution>();
364 114 registerNodeDataType<UbloxObs>();
365 // IMU
366 114 registerNodeDataType<ImuObs>();
367 114 registerNodeDataType<ImuObsSimulated>();
368 114 registerNodeDataType<ImuObsWDelta>();
369 114 registerNodeDataType<KvhObs>();
370 114 registerNodeDataType<VectorNavBinaryOutput>();
371 // State
372 114 registerNodeDataType<InsGnssLCKFSolution>();
373 114 registerNodeDataType<Pos>();
374 114 registerNodeDataType<PosVel>();
375 114 registerNodeDataType<PosVelAtt>();
376 // WiFi
377 114 registerNodeDataType<WiFiObs>();
378 114 registerNodeDataType<WiFiPositioningSolution>();
379 // Barometer
380 114 registerNodeDataType<BaroPressObs>();
381 114 registerNodeDataType<BaroHgt>();
382 114 }
383
384 624654 std::vector<std::string> NAV::NodeRegistry::GetStaticDataDescriptors(const std::vector<std::string>& dataIdentifier)
385 {
386 // ATTENTION: Entries need to be in correct inheritance order (deepest inheritance first)
387
388 // NodeData
389
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 1873962 if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { DynamicData::type() })) { return DynamicData::GetStaticDataDescriptors(); }
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 1873956 if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { StringObs::type() })) { return StringObs::GetStaticDataDescriptors(); }
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 1873956 if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { GnssCombination::type() })) { return GnssCombination::GetStaticDataDescriptors(); }
392
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 1873956 if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { GnssObs::type() })) { return GnssObs::GetStaticDataDescriptors(); }
393
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 1873956 if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { VectorNavBinaryOutput::type() })) { return VectorNavBinaryOutput::GetStaticDataDescriptors(); }
394
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 1873935 if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { EmlidObs::type() })) { return EmlidObs::GetStaticDataDescriptors(); }
395
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 1873935 if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { UbloxObs::type() })) { return UbloxObs::GetStaticDataDescriptors(); }
396
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 1873935 if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { WiFiObs::type() })) { return WiFiObs::GetStaticDataDescriptors(); }
397 // Pos
398
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 1873935 if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { InsGnssTCKFSolution::type() })) { return InsGnssTCKFSolution::GetStaticDataDescriptors(); }
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 1873935 if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { InsGnssLCKFSolution::type() })) { return InsGnssLCKFSolution::GetStaticDataDescriptors(); }
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 1001907 if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { PosVelAtt::type() })) { return PosVelAtt::GetStaticDataDescriptors(); }
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 64977 if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { RtkSolution::type() })) { return RtkSolution::GetStaticDataDescriptors(); }
402
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 43338 if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { SppSolution::type() })) { return SppSolution::GetStaticDataDescriptors(); }
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 21696 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(); }
407 // ImuObs
408
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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(); }
412 // Barometer
413 ✗ if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { BaroPressObs::type() })) { return BaroPressObs::GetStaticDataDescriptors(); }
414 ✗ if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(dataIdentifier, { BaroHgt::type() })) { return BaroHgt::GetStaticDataDescriptors(); }
415
416 ✗ return {};
417 6623865 }
418
419 78 bool NAV::NodeRegistry::TypeHasDynamicData(const std::string& type)
420 {
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 78 return type == DynamicData::type()
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 154 || type == GnssCombination::type()
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 154 || type == GnssObs::type()
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 154 || type == RtkSolution::type()
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 153 || type == SppSolution::type()
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 232 || type == VectorNavBinaryOutput::type();
427 }
428
429 ✗ std::shared_ptr<NAV::NodeData> NAV::NodeRegistry::CopyNodeData(const std::shared_ptr<const NodeData>& nodeData)
430 {
431 ✗ if (nodeData == nullptr) { return nullptr; }
432
433 // General
434 ✗ if (nodeData->getType() == DynamicData::type()) { return std::make_shared<DynamicData>(*std::static_pointer_cast<const DynamicData>(nodeData)); }
435 ✗ if (nodeData->getType() == StringObs::type()) { return std::make_shared<StringObs>(*std::static_pointer_cast<const StringObs>(nodeData)); }
436 // GNSS
437 ✗ if (nodeData->getType() == EmlidObs::type()) { return std::make_shared<EmlidObs>(*std::static_pointer_cast<const EmlidObs>(nodeData)); }
438 ✗ if (nodeData->getType() == GnssCombination::type()) { return std::make_shared<GnssCombination>(*std::static_pointer_cast<const GnssCombination>(nodeData)); }
439 ✗ if (nodeData->getType() == GnssObs::type()) { return std::make_shared<GnssObs>(*std::static_pointer_cast<const GnssObs>(nodeData)); }
440 ✗ if (nodeData->getType() == RtklibPosObs::type()) { return std::make_shared<RtklibPosObs>(*std::static_pointer_cast<const RtklibPosObs>(nodeData)); }
441 ✗ if (nodeData->getType() == RtkSolution::type()) { return std::make_shared<RtkSolution>(*std::static_pointer_cast<const RtkSolution>(nodeData)); }
442 ✗ if (nodeData->getType() == SppSolution::type()) { return std::make_shared<SppSolution>(*std::static_pointer_cast<const SppSolution>(nodeData)); }
443 ✗ if (nodeData->getType() == UbloxObs::type()) { return std::make_shared<UbloxObs>(*std::static_pointer_cast<const UbloxObs>(nodeData)); }
444 // IMU
445 ✗ if (nodeData->getType() == ImuObs::type()) { return std::make_shared<ImuObs>(*std::static_pointer_cast<const ImuObs>(nodeData)); }
446 ✗ if (nodeData->getType() == ImuObsSimulated::type()) { return std::make_shared<ImuObsSimulated>(*std::static_pointer_cast<const ImuObsSimulated>(nodeData)); }
447 ✗ if (nodeData->getType() == ImuObsWDelta::type()) { return std::make_shared<ImuObsWDelta>(*std::static_pointer_cast<const ImuObsWDelta>(nodeData)); }
448 ✗ if (nodeData->getType() == KvhObs::type()) { return std::make_shared<KvhObs>(*std::static_pointer_cast<const KvhObs>(nodeData)); }
449 ✗ if (nodeData->getType() == VectorNavBinaryOutput::type()) { return std::make_shared<VectorNavBinaryOutput>(*std::static_pointer_cast<const VectorNavBinaryOutput>(nodeData)); }
450 // State
451 ✗ if (nodeData->getType() == InsGnssLCKFSolution::type()) { return std::make_shared<InsGnssLCKFSolution>(*std::static_pointer_cast<const InsGnssLCKFSolution>(nodeData)); }
452 ✗ if (nodeData->getType() == InsGnssTCKFSolution::type()) { return std::make_shared<InsGnssTCKFSolution>(*std::static_pointer_cast<const InsGnssTCKFSolution>(nodeData)); }
453 ✗ if (nodeData->getType() == Pos::type()) { return std::make_shared<Pos>(*std::static_pointer_cast<const Pos>(nodeData)); }
454 ✗ if (nodeData->getType() == PosVel::type()) { return std::make_shared<PosVel>(*std::static_pointer_cast<const PosVel>(nodeData)); }
455 ✗ if (nodeData->getType() == PosVelAtt::type()) { return std::make_shared<PosVelAtt>(*std::static_pointer_cast<const PosVelAtt>(nodeData)); }
456 // WiFi
457 ✗ if (nodeData->getType() == WiFiObs::type()) { return std::make_shared<WiFiObs>(*std::static_pointer_cast<const WiFiObs>(nodeData)); }
458 ✗ if (nodeData->getType() == WiFiPositioningSolution::type()) { return std::make_shared<WiFiPositioningSolution>(*std::static_pointer_cast<const WiFiPositioningSolution>(nodeData)); }
459 // Barometer
460 ✗ if (nodeData->getType() == BaroPressObs::type()) { return std::make_shared<BaroPressObs>(*std::static_pointer_cast<const BaroPressObs>(nodeData)); }
461 ✗ if (nodeData->getType() == BaroHgt::type()) { return std::make_shared<BaroHgt>(*std::static_pointer_cast<const BaroHgt>(nodeData)); }
462
463 ✗ return nullptr;
464 }
465