| 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 | /// @file NodeRegistry.hpp | ||
| 10 | /// @brief Utility class which specifies available nodes | ||
| 11 | /// @author T. Topp (topp@ins.uni-stuttgart.de) | ||
| 12 | /// @date 2020-12-20 | ||
| 13 | |||
| 14 | #pragma once | ||
| 15 | |||
| 16 | #include <string> | ||
| 17 | #include <memory> | ||
| 18 | #include <functional> | ||
| 19 | #include <vector> | ||
| 20 | #include <map> | ||
| 21 | |||
| 22 | #include "internal/Node/Pin.hpp" | ||
| 23 | |||
| 24 | namespace NAV | ||
| 25 | { | ||
| 26 | class Node; | ||
| 27 | |||
| 28 | namespace NodeRegistry | ||
| 29 | { | ||
| 30 | /// @brief Holds info of the pins of registered nodes | ||
| 31 | struct PinInfo | ||
| 32 | { | ||
| 33 | /// @brief Constructor | ||
| 34 | /// @param[in] kind Kind of the pin | ||
| 35 | /// @param[in] type Type of the pin | ||
| 36 | /// @param[in] dataIdentifier Identifiers supplied by the pin | ||
| 37 | 12096 | PinInfo(const Pin::Kind& kind, const Pin::Type& type, std::vector<std::string> dataIdentifier) | |
| 38 | 12096 | : kind(kind), type(type), dataIdentifier(std::move(dataIdentifier)) {} | |
| 39 | |||
| 40 | /// Kind of the Pin (Input/Output) | ||
| 41 | Pin::Kind kind = Pin::Kind::None; | ||
| 42 | /// Type of the Pin | ||
| 43 | Pin::Type type = Pin::Type::None; | ||
| 44 | /// One or multiple Data Identifiers (Unique name which is used for data flows) | ||
| 45 | std::vector<std::string> dataIdentifier; | ||
| 46 | }; | ||
| 47 | |||
| 48 | /// @brief Holds information for registered nodes | ||
| 49 | struct NodeInfo | ||
| 50 | { | ||
| 51 | /// Constructor | ||
| 52 | std::function<Node*()> constructor; | ||
| 53 | /// Class Type of the node | ||
| 54 | std::string type; | ||
| 55 | /// List of port data types | ||
| 56 | std::vector<PinInfo> pinInfoList; | ||
| 57 | |||
| 58 | /// @brief Checks if the node has a pin which can be linked | ||
| 59 | /// @param[in] pin Pin to link to | ||
| 60 | [[nodiscard]] bool hasCompatiblePin(const Pin* pin) const; | ||
| 61 | }; | ||
| 62 | |||
| 63 | /// @brief Reference to List of all registered Nodes | ||
| 64 | const std::map<std::string, std::vector<NodeInfo>>& RegisteredNodes(); | ||
| 65 | |||
| 66 | /// @brief Checks if any of the provided child types is a child of any of the provided parent types | ||
| 67 | /// @param[in] childTypes Child types to check parentship | ||
| 68 | /// @param[in] parentTypes Parent types to check parentship | ||
| 69 | /// @return True if any of the child types is a child of any of the parent types | ||
| 70 | bool NodeDataTypeAnyIsChildOf(const std::vector<std::string>& childTypes, const std::vector<std::string>& parentTypes); | ||
| 71 | |||
| 72 | /// @brief Get the Parent Node Data Types of the specified Node Data Type | ||
| 73 | /// @param[in] type The Child Node Data Type | ||
| 74 | std::vector<std::string> GetParentNodeDataTypes(const std::string& type); | ||
| 75 | |||
| 76 | /// @brief Register all available Node types for the program | ||
| 77 | void RegisterNodeTypes(); | ||
| 78 | |||
| 79 | /// @brief Register all available NodeData types for the program | ||
| 80 | void RegisterNodeDataTypes(); | ||
| 81 | |||
| 82 | /// @brief Returns a vector of data descriptors for the pin data identifiers | ||
| 83 | /// @param dataIdentifier List of data identifiers | ||
| 84 | /// @return List of data descriptors | ||
| 85 | std::vector<std::string> GetStaticDataDescriptors(const std::vector<std::string>& dataIdentifier); | ||
| 86 | |||
| 87 | /// @brief Wether the specified Node Data Type can have dynamic data | ||
| 88 | /// @param[in] type The Child Node Data Type | ||
| 89 | bool TypeHasDynamicData(const std::string& type); | ||
| 90 | |||
| 91 | /// @brief Creates a copy of the data | ||
| 92 | /// @param nodeData Node data to copy | ||
| 93 | /// @return Copied data | ||
| 94 | std::shared_ptr<NodeData> CopyNodeData(const std::shared_ptr<const NodeData>& nodeData); | ||
| 95 | |||
| 96 | } // namespace NodeRegistry | ||
| 97 | |||
| 98 | } // namespace NAV | ||
| 99 |