InputEngineNode Class Reference

Input node used to connect an EngineClient with the computational graph. More...

#include <input_node.h>

Inheritance diagram for InputEngineNode:

Public Member Functions
	InputEngineNode (const std::string &id, const std::string &engineName)
std::string	typeStr () const override
	Returns the node 'type' as a string. More...
const std::set< DataPackIdentifier > &	requestedDataPacks () const
void	setDataPacks (datapacks_vector_t dpacks)
Public Member Functions inherited from InputNode< DataPackInterface >
	InputNode (const std::string &id, InputNodePolicies::MsgPublishPolicy msgPublishPolicy=InputNodePolicies::MsgPublishPolicy::LAST, InputNodePolicies::MsgCachePolicy msgCachePolicy=InputNodePolicies::MsgCachePolicy::KEEP_CACHE, size_t queue_size=10)
	Constructor. More...
void	registerOutput (const std::string &id)
	Registers an Output port with id 'id' with this node. More...
OutputPort< DataPackInterface > *	getSinglePort (const std::string &id)
	Returns a pointer to single output port if the port is registered, nullptr otherwise. More...
OutputPort< std::vector< const DataPackInterface * > > *	getListPort (const std::string &id)
	Returns a pointer to list output port if the port is registered, nullptr otherwise. More...
InputNodePolicies::MsgPublishPolicy	msgPublishPolicy ()
InputNodePolicies::MsgCachePolicy	msgCachePolicy ()
void	setMsgPublishPolicy (InputNodePolicies::MsgPublishPolicy msgPublishPolicy)
void	setMsgCachePolicy (InputNodePolicies::MsgCachePolicy msgCachePolicy)
Public Member Functions inherited from ComputationalNode
	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...
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...

Protected Member Functions
void	configure () override
	Configures the node making it ready to execute 'compute'. More...
bool	updatePortData (const std::string &id) override
	Updates pointers stored in _portMap for port 'id'. More...
Protected Member Functions inherited from InputNode< DataPackInterface >
void	compute () override final
	Compute. Updates and sends stored msgs. More...
Protected Member Functions inherited from ComputationalNode
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...

Additional Inherited Members
Public Types inherited from ComputationalNode
enum	NodeType { Input, Output, Functional }
	All the possible node types. More...
Static Public Member Functions inherited from ComputationalNode
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 inherited from ComputationalNode
const static std::map< NodeType, std::string >	nodeTypeStr
Protected Attributes inherited from InputNode< DataPackInterface >
InputNodePolicies::MsgPublishPolicy	_msgPublishPolicy
	Send policy used by this node. More...
InputNodePolicies::MsgCachePolicy	_msgCachePolicy
	Msg cache policy used by this node. More...
std::map< std::string, DataPortHandle< DataPackInterface > >	_portMap
	Map containing data to handle topics. Data is guaranteed to be unchanged between 'compute' calls More...
size_t	_queueSize
	Maximum number of msgs that the node can store per port. More...

Detailed Description

Input node used to connect an EngineClient with the computational graph.

It has two methods 'requestedDataPacks' and 'setDataPacks' which allows to update the node externally with the latest datapacks

Constructor & Destructor Documentation

InputEngineNode()

InputEngineNode::InputEngineNode ( const std::string &  id, const std::string &  engineName  )

inline

Constructor

Member Function Documentation

configure()

void InputEngineNode::configure ( )

inlineoverrideprotectedvirtual

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

Implements ComputationalNode.

requestedDataPacks()

const std::set<DataPackIdentifier>& InputEngineNode::requestedDataPacks ( ) const

inline

Get the set of DataPackInterfaces that this node requests

setDataPacks()

void InputEngineNode::setDataPacks ( datapacks_vector_t  dpacks )

inline

Set datapacks to be published into the graph in the next call to 'compute'

typeStr()

std::string InputEngineNode::typeStr ( ) const

inlineoverridevirtual

Returns the node 'type' as a string.

Reimplemented from ComputationalNode.

updatePortData()

bool InputEngineNode::updatePortData ( const std::string &  id )

inlineoverrideprotectedvirtual

Updates pointers stored in _portMap for port 'id'.

Expected behavior: Implementations of this function must guarantee that data pointers stored in _portMap[id] are valid and will not change between calls to this function. Even after the function is called again, pointers in _portMap[id] should still be valid and remain unchanged if the function returns false, i.e., if port 'id' data wasn't changed.

Parameters

id	key in _portMap which data is asked to be updated

Returns

true if port 'id' has new data, false otherwise

Implements InputNode< DataPackInterface >.

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

• nrp_event_loop/nrp_event_loop/nodes/engine/input_node.h