ComputationalNode Class Reference

Base class implementing a node in the computational graph. More...

#include <computational_node.h>

Inheritance diagram for ComputationalNode:

Public Types
enum	NodeType { Input, Output, Functional }
	All the possible node types. More...

Public Member Functions
	ComputationalNode ()=delete
virtual	~ComputationalNode ()=default
	ComputationalNode (std::string id, NodeType type)
	Constructor. More...
const std::string &	id () const
	Returns the node 'id'. More...
NodeType	type () const
	Returns the node 'type'. More...
virtual std::string	typeStr () const
	Returns the node 'type' as a string. More...
void	setVisited (bool visited)
	Sets a value for the node 'visited' property, used for graph traversing. More...
bool	isVisited () const
	Returns true if the node has been marked as visited, false otherwise. More...
void	setDoCompute (bool doCompute)
	Sets a value for the node 'doCompute' property, used in some graph execution modes. More...
virtual bool	doCompute () const
	Tells if this node should be executed in this graph execution cycle, used in some graph execution modes. More...

Static Public Member Functions
static std::pair< std::string, std::string >	parseNodeAddress (const std::string &address, bool hasPort=true)
	Parses a computational node address returning the node id and the port (if any) contained in the address. More...

Static Public Attributes
const static std::map< NodeType, std::string >	nodeTypeStr

Protected Member Functions
virtual void	configure ()=0
	Configures the node making it ready to execute 'compute'. More...
virtual void	compute ()=0
	Requests the node to execute its computation. More...
virtual void	graphCycleStartCB ()
	Function called by the Computational Graph at the beginning of a new execution cycle. More...
virtual void	graphLoadedCB ()
	Function called by the Computational Graph to nodes that the graph has been completely loaded. More...

Friends
class	ComputationalGraph
class	ComputationalGraphManager
class	ComputationalGraphPythonNodes_PYTHON_DECORATORS_BASIC_Test

Detailed Description

Base class implementing a node in the computational graph.

Member Enumeration Documentation

NodeType

enum ComputationalNode::NodeType

All the possible node types.

Enumerator
Input	only can be source in edges
Output	only can be target in edges
Functional	can be source and target, ie. can receive inputs and send outputs

Constructor & Destructor Documentation

ComputationalNode() [1/2]

ComputationalNode::ComputationalNode ( )

delete

~ComputationalNode()

virtual ComputationalNode::~ComputationalNode ( )

virtualdefault

ComputationalNode() [2/2]

ComputationalNode::ComputationalNode ( std::string  id, NodeType  type  )

inline

Constructor.

Member Function Documentation

compute()

virtual void ComputationalNode::compute ( )

protectedpure virtual

Requests the node to execute its computation.

Implemented in FunctionalNode< std::tuple< INPUT_TYPES... >, std::tuple< OUTPUT_TYPES... > >, InputNode< DATA >, InputNode< MSG_TYPE >, InputNode< ulong >, InputNode< boost::python::object >, InputNode< nlohmann::json >, InputNode< DataPack< MSG_TYPE > >, InputNode< DataPackInterface >, OutputNode< DATA >, OutputNode< DataPack< MSG_TYPE > * >, OutputNode< MSG_TYPE >, OutputNode< boost::python::object >, OutputNode< nlohmann::json >, OutputNode< DataPackInterface * >, and FunctionalNodeBase.

configure()

virtual void ComputationalNode::configure ( )

protectedpure virtual

Configures the node making it ready to execute 'compute'.

Implemented in FunctionalNode< std::tuple< INPUT_TYPES... >, std::tuple< OUTPUT_TYPES... > >, OutputNode< DATA >, OutputNode< DataPack< MSG_TYPE > * >, OutputNode< MSG_TYPE >, OutputNode< boost::python::object >, OutputNode< nlohmann::json >, OutputNode< DataPackInterface * >, InputEngineNode, InputSpinnakerNode, FunctionalNodeBase, OutputSpinnakerNode, InputMQTTNode< MSG_TYPE >, InputMQTTNode< DataPack< MSG_TYPE > >, InputROSNode< MSG_TYPE >, InputTimeBaseNode, and InputDummy.

doCompute()

virtual bool ComputationalNode::doCompute ( ) const

inlinevirtual

Tells if this node should be executed in this graph execution cycle, used in some graph execution modes.

ComputationalNode returns the value of its 'doCompute' property. Subclasses of ComputationalNode can implement further logic that can override this value

Reimplemented in OutputNode< DATA >.

graphCycleStartCB()

virtual void ComputationalNode::graphCycleStartCB ( )

inlineprotectedvirtual

Function called by the Computational Graph at the beginning of a new execution cycle.

Reimplemented in OutputNode< DATA >, OutputNode< DataPack< MSG_TYPE > * >, OutputNode< MSG_TYPE >, OutputNode< boost::python::object >, OutputNode< nlohmann::json >, and OutputNode< DataPackInterface * >.

graphLoadedCB()

virtual void ComputationalNode::graphLoadedCB ( )

inlineprotectedvirtual

Function called by the Computational Graph to nodes that the graph has been completely loaded.

Reimplemented in FunctionalNodeBase.

id()

const std::string& ComputationalNode::id ( ) const

inline

Returns the node 'id'.

isVisited()

bool ComputationalNode::isVisited ( ) const

inline

Returns true if the node has been marked as visited, false otherwise.

parseNodeAddress()

static std::pair<std::string, std::string> ComputationalNode::parseNodeAddress ( const std::string &  address, bool  hasPort = true  )

inlinestatic

Parses a computational node address returning the node id and the port (if any) contained in the address.

Parameters

address	string containing a computational graph connection address with the format /node_id/port_id
hasPort	if the address contains a port id or just a node id

Returns

a pair with the node and port ids parsed from 'address'

setDoCompute()

void ComputationalNode::setDoCompute ( bool  doCompute )

inline

Sets a value for the node 'doCompute' property, used in some graph execution modes.

setVisited()

void ComputationalNode::setVisited ( bool  visited )

inline

Sets a value for the node 'visited' property, used for graph traversing.

type()

NodeType ComputationalNode::type ( ) const

inline

Returns the node 'type'.

typeStr()

virtual std::string ComputationalNode::typeStr ( ) const

inlinevirtual

Returns the node 'type' as a string.

Reimplemented in OutputMQTTNode< MSG_TYPE >, InputMQTTNode< MSG_TYPE >, OutputEngineNode, OutputROSNode< MSG_TYPE >, InputEngineNode, InputROSNode< MSG_TYPE >, InputSpinnakerNode, and OutputSpinnakerNode.

Friends And Related Function Documentation

ComputationalGraph

friend class ComputationalGraph

friend

ComputationalGraphManager

friend class ComputationalGraphManager

friend

ComputationalGraphPythonNodes_PYTHON_DECORATORS_BASIC_Test

friend class ComputationalGraphPythonNodes_PYTHON_DECORATORS_BASIC_Test

friend

Member Data Documentation

nodeTypeStr

const std::map< ComputationalNode::NodeType, std::string > ComputationalNode::nodeTypeStr

static

Initial value:

= {{ComputationalNode::Input, "Input"},
                                                                                           {ComputationalNode::Output, "Output"},
                                                                                           {ComputationalNode::Functional, "Functional"}}

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The documentation for this class was generated from the following files:

• nrp_event_loop/nrp_event_loop/computational_graph/computational_node.h
• nrp_event_loop/nrp_event_loop/computational_graph/computational_node.cpp