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

#include <output_node.h>

Inheritance diagram for OutputNode< DATA >:

Public Member Functions
	OutputNode (const std::string &id, OutputNodePolicies::PublishFormatPolicy publishFormatPolicy=OutputNodePolicies::PublishFormatPolicy::SERIES, bool publishFromCache=false, int maxPortConnections=0, unsigned int computePeriod=1)
	Constructor. More...

template<class T_IN >
InputPort< T_IN, DATA > *	getOrRegisterInput (const std::string &id)
	Gets or register input port to this node and returns a pointer to it. More...

unsigned int	getComputePeriod ()

void	setComputePeriod (unsigned int computePeriod)

bool	publishFromCache ()

virtual bool	doCompute () const override final
	Tells if this node should be executed in this graph execution cycle, used in some graph execution modes. More...

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...

Protected Member Functions
void	configure () override
	Configures the node making it ready to execute 'compute'. More...

virtual void	compute () override final
	Requests the node to execute its computation. More...

void	graphCycleStartCB () override final
	Function called by the Computational Graph at the beginning of a new execution cycle. More...

void	storeMsg (const std::string &id, const DATA *data)
	Stores a new msg in _storedMsgs['id']. More...

void	sendMsgs (const std::string &id)
	Sends all msgs stored in _storedMsgs['id'] and clears the storage. More...

virtual void	sendSingleMsg (const std::string &id, const DATA *data)=0
	Sends out a single msg, to be implemented by derived classes. More...

virtual void	sendBatchMsg (const std::string &id, const std::vector< const DATA * > &data)=0
	Sends out a vector of msg as a single batch, to be implemented by derived classes. More...

Protected Member Functions inherited from ComputationalNode
virtual void	graphLoadedCB ()
	Function called by the Computational Graph to nodes that the graph has been completely loaded. More...

Protected Attributes
std::map< std::string, std::shared_ptr< Port > >	_inputPorts
	List of ports owned by this node. More...

std::map< std::string, std::vector< const DATA * > >	_storedMsgs
	List of msgs stored in this node. More...

OutputNodePolicies::PublishFormatPolicy	_publishFormatPolicy
	Send policy used by this node. More...

bool	_publishFromCache
	Publish frequency policy used by this node. More...

int	_maxPortConnections
	Maximum number of subscriptions of ports in this node. More...

bool	_isConfigured = false
	true if the node has been configured, false otherwise More...

unsigned int	_computePeriod
	Property specifying the number of loops that passes between executions of this node. More...

unsigned int	_nLoop = 0
	Variable counting the number of times this nodes has been asked to execute (1 per loop) More...

Friends
class	ComputationalNodes_OUTPUT_NODE_Test

class	ComputationalGraphPythonNodes_PYTHON_DECORATORS_BASIC_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 OutputNode< DATA >

Implementation of an output node in the computation graph.

Output nodes are the connection point to send data out of the computation graph. In its 'compute' operation all messages received since last 'compute' are sent using the 'sendSingleMsg' implemented by derived classes.

Constructor & Destructor Documentation

◆ OutputNode()

template<class DATA >

OutputNode< DATA >::OutputNode	(	const std::string &	id,
		OutputNodePolicies::PublishFormatPolicy	publishFormatPolicy = `OutputNodePolicies::PublishFormatPolicy::SERIES`,
		bool	publishFromCache = `false`,
		int	maxPortConnections = `0`,
		unsigned int	computePeriod = `1`
	)

inline

Constructor.

Member Function Documentation

◆ compute()

template<class DATA >

virtual void OutputNode< DATA >::compute ( )

inlinefinaloverrideprotectedvirtual

Requests the node to execute its computation.

Implements ComputationalNode.

◆ configure()

template<class DATA >

void OutputNode< DATA >::configure ( )

inlineoverrideprotectedvirtual

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

Implements ComputationalNode.

◆ doCompute()

template<class DATA >

virtual bool OutputNode< DATA >::doCompute ( ) const

inlinefinaloverridevirtual

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 from ComputationalNode.

◆ getComputePeriod()

template<class DATA >

unsigned int OutputNode< DATA >::getComputePeriod ( )

inline

◆ getOrRegisterInput()

template<class DATA >

template<class T_IN >

InputPort<T_IN, DATA>* OutputNode< DATA >::getOrRegisterInput ( const std::string & id )

inline

Gets or register input port to this node and returns a pointer to it.

◆ graphCycleStartCB()

template<class DATA >

void OutputNode< DATA >::graphCycleStartCB ( )

inlinefinaloverrideprotectedvirtual

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

Reimplemented from ComputationalNode.

◆ publishFromCache()

template<class DATA >

bool OutputNode< DATA >::publishFromCache ( )

inline

◆ sendBatchMsg()

template<class DATA >

virtual void OutputNode< DATA >::sendBatchMsg	(	const std::string &	id,
		const std::vector< const DATA * > &	data
	)

protectedpure virtual

Sends out a vector of msg as a single batch, to be implemented by derived classes.

Implemented in OutputDummy, OutputSpinnakerNode, OutputROSNode< MSG_TYPE >, OutputMQTTNode< MSG_TYPE >, and OutputMQTTNode< DataPack< MSG_TYPE > * >.

◆ sendMsgs()

template<class DATA >

void OutputNode< DATA >::sendMsgs ( const std::string & id )

inlineprotected

Sends all msgs stored in _storedMsgs['id'] and clears the storage.

◆ sendSingleMsg()

template<class DATA >

virtual void OutputNode< DATA >::sendSingleMsg	(	const std::string &	id,
		const DATA *	data
	)

protectedpure virtual

Sends out a single msg, to be implemented by derived classes.

Implemented in OutputSpinnakerNode, OutputMQTTNode< MSG_TYPE >, OutputROSNode< MSG_TYPE >, OutputMQTTNode< DataPack< MSG_TYPE > * >, and OutputDummy.

◆ setComputePeriod()

template<class DATA >

void OutputNode< DATA >::setComputePeriod ( unsigned int computePeriod )

inline

◆ storeMsg()

template<class DATA >

void OutputNode< DATA >::storeMsg	(	const std::string &	id,
		const DATA *	data
	)

inlineprotected

Stores a new msg in _storedMsgs['id'].

Friends And Related Function Documentation

◆ ComputationalGraphPythonNodes_PYTHON_DECORATORS_BASIC_Test

template<class DATA >

friend class ComputationalGraphPythonNodes_PYTHON_DECORATORS_BASIC_Test

friend

◆ ComputationalNodes_OUTPUT_NODE_Test

template<class DATA >

friend class ComputationalNodes_OUTPUT_NODE_Test

friend

Member Data Documentation

◆ _computePeriod

template<class DATA >

unsigned int OutputNode< DATA >::_computePeriod

protected

Property specifying the number of loops that passes between executions of this node.

If '_computePeriod' is 1, the node is executed every loop, if 2, every 2 loops, and so on. If 0, the node would never execute unless 'setDoCompute(true)' is called

◆ _inputPorts

template<class DATA >

std::map< std::string, std::shared_ptr<Port> > OutputNode< DATA >::_inputPorts

protected

List of ports owned by this node.

◆ _isConfigured

template<class DATA >

bool OutputNode< DATA >::_isConfigured = false

protected

true if the node has been configured, false otherwise

◆ _maxPortConnections

template<class DATA >

int OutputNode< DATA >::_maxPortConnections

protected

Maximum number of subscriptions of ports in this node.

◆ _nLoop

template<class DATA >

unsigned int OutputNode< DATA >::_nLoop = 0

protected

Variable counting the number of times this nodes has been asked to execute (1 per loop)

◆ _publishFormatPolicy

template<class DATA >

OutputNodePolicies::PublishFormatPolicy OutputNode< DATA >::_publishFormatPolicy

protected

Send policy used by this node.

◆ _publishFromCache

template<class DATA >

bool OutputNode< DATA >::_publishFromCache

protected

Publish frequency policy used by this node.

◆ _storedMsgs

template<class DATA >

std::map< std::string, std::vector<const DATA*> > OutputNode< DATA >::_storedMsgs

protected

List of msgs stored in this node.

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

nrp_event_loop/nrp_event_loop/computational_graph/output_node.h

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

template<class DATA> class OutputNode< DATA >

Constructor & Destructor Documentation

◆ OutputNode()

Member Function Documentation

◆ compute()

◆ configure()

◆ doCompute()

◆ getComputePeriod()

◆ getOrRegisterInput()

◆ graphCycleStartCB()

◆ publishFromCache()

◆ sendBatchMsg()

◆ sendMsgs()

◆ sendSingleMsg()

◆ setComputePeriod()

◆ storeMsg()

Friends And Related Function Documentation

◆ ComputationalGraphPythonNodes_PYTHON_DECORATORS_BASIC_Test

◆ ComputationalNodes_OUTPUT_NODE_Test

Member Data Documentation

◆ _computePeriod

◆ _inputPorts

◆ _isConfigured

◆ _maxPortConnections

◆ _nLoop

◆ _publishFormatPolicy

◆ _publishFromCache

◆ _storedMsgs

template<class DATA>
class OutputNode< DATA >