Implementation of an input node in the computation graph. More...

#include <input_node.h>

Inheritance diagram for InputNode< DATA >:

Public Member Functions
	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< DATA > *	getSinglePort (const std::string &id)
	Returns a pointer to single output port if the port is registered, nullptr otherwise. More...

OutputPort< std::vector< const DATA * > > *	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...

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...

Protected Member Functions
void	compute () override final
	Compute. Updates and sends stored msgs. More...

virtual bool	updatePortData (const std::string &id)=0
	Updates pointers stored in _portMap for port 'id'. More...

Protected Member Functions inherited from ComputationalNode
virtual void	configure ()=0
	Configures the node making it ready to execute 'compute'. 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...

Protected Attributes
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< DATA > >	_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...

Friends
class	ComputationalNodes_INPUT_NODE_UPDATE_POLICY_WITH_KEEP_CACHE_Test

class	ComputationalNodes_INPUT_NODE_UPDATE_POLICY_WITH_CLEAR_CACHE_Test

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

Detailed Description

template<class DATA>
class InputNode< DATA >

Implementation of an input node in the computation graph.

Input nodes are the connection points to feed data into the computation graph from outside. It owns output ports which are used to forward incoming data to other nodes. One node can handle multiple ports. The class is templated with the data type the node can handle. Each node implementation can handle only one data type.

Derived classes of InputNode remains responsible for the ownership of the data passed to InputNode through the updatePortData() virtual method.

Constructor & Destructor Documentation

◆ InputNode()

template<class DATA >

InputNode< DATA >::InputNode	(	const std::string &	id,
		InputNodePolicies::MsgPublishPolicy	msgPublishPolicy = `InputNodePolicies::MsgPublishPolicy::LAST`,
		InputNodePolicies::MsgCachePolicy	msgCachePolicy = `InputNodePolicies::MsgCachePolicy::KEEP_CACHE`,
		size_t	queue_size = `10`
	)

inline

Constructor.

Member Function Documentation

◆ compute()

template<class DATA >

void InputNode< DATA >::compute ( )

inlinefinaloverrideprotectedvirtual

Compute. Updates and sends stored msgs.

Implements ComputationalNode.

◆ getListPort()

template<class DATA >

OutputPort<std::vector<const DATA*> >* InputNode< DATA >::getListPort ( const std::string & id )

inline

Returns a pointer to list output port if the port is registered, nullptr otherwise.

◆ getSinglePort()

template<class DATA >

OutputPort<DATA>* InputNode< DATA >::getSinglePort ( const std::string & id )

inline

Returns a pointer to single output port if the port is registered, nullptr otherwise.

◆ msgCachePolicy()

template<class DATA >

InputNodePolicies::MsgCachePolicy InputNode< DATA >::msgCachePolicy ( )

inline

◆ msgPublishPolicy()

template<class DATA >

InputNodePolicies::MsgPublishPolicy InputNode< DATA >::msgPublishPolicy ( )

inline

◆ registerOutput()

template<class DATA >

void InputNode< DATA >::registerOutput ( const std::string & id )

inline

Registers an Output port with id 'id' with this node.

◆ setMsgCachePolicy()

template<class DATA >

void InputNode< DATA >::setMsgCachePolicy ( InputNodePolicies::MsgCachePolicy msgCachePolicy )

inline

◆ setMsgPublishPolicy()

template<class DATA >

void InputNode< DATA >::setMsgPublishPolicy ( InputNodePolicies::MsgPublishPolicy msgPublishPolicy )

inline

◆ updatePortData()

template<class DATA >

virtual bool InputNode< DATA >::updatePortData ( const std::string & id )

protectedpure virtual

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

Implemented in InputMQTTNode< MSG_TYPE >, InputMQTTNode< DataPack< MSG_TYPE > >, InputSpinnakerNode, InputROSNode< MSG_TYPE >, InputEngineNode, InputTimeBaseNode, and InputDummy.

Friends And Related Function Documentation

◆ ComputationalNodes_INPUT_NODE_UPDATE_POLICY_WITH_CLEAR_CACHE_Test

template<class DATA >

friend class ComputationalNodes_INPUT_NODE_UPDATE_POLICY_WITH_CLEAR_CACHE_Test

friend

◆ ComputationalNodes_INPUT_NODE_UPDATE_POLICY_WITH_KEEP_CACHE_Test

template<class DATA >

friend class ComputationalNodes_INPUT_NODE_UPDATE_POLICY_WITH_KEEP_CACHE_Test

friend

Member Data Documentation

◆ _msgCachePolicy

template<class DATA >

InputNodePolicies::MsgCachePolicy InputNode< DATA >::_msgCachePolicy

protected

Msg cache policy used by this node.

◆ _msgPublishPolicy

template<class DATA >

InputNodePolicies::MsgPublishPolicy InputNode< DATA >::_msgPublishPolicy

protected

Send policy used by this node.

◆ _portMap

template<class DATA >

std::map<std::string, DataPortHandle<DATA> > InputNode< DATA >::_portMap

protected

Map containing data to handle topics. Data is guaranteed to be unchanged between 'compute' calls

◆ _queueSize

template<class DATA >

size_t InputNode< DATA >::_queueSize

protected

Maximum number of msgs that the node can store per port.

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

nrp_event_loop/nrp_event_loop/computational_graph/input_node.h

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

template<class DATA> class InputNode< DATA >

Constructor & Destructor Documentation

◆ InputNode()

Member Function Documentation

◆ compute()

◆ getListPort()

◆ getSinglePort()

◆ msgCachePolicy()

◆ msgPublishPolicy()

◆ registerOutput()

◆ setMsgCachePolicy()

◆ setMsgPublishPolicy()

◆ updatePortData()

Friends And Related Function Documentation

◆ ComputationalNodes_INPUT_NODE_UPDATE_POLICY_WITH_CLEAR_CACHE_Test

◆ ComputationalNodes_INPUT_NODE_UPDATE_POLICY_WITH_KEEP_CACHE_Test

Member Data Documentation

◆ _msgCachePolicy

◆ _msgPublishPolicy

◆ _portMap

◆ _queueSize

template<class DATA>
class InputNode< DATA >