dwGlobalEgomotionNode.hpp

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#ifndef DW_FRAMEWORK_GLOBAL_EGOMOTION_NODE_HPP_
#define DW_FRAMEWORK_GLOBAL_EGOMOTION_NODE_HPP_
 
#include <dwcgf/node/Node.hpp>
#include <dwcgf/port/Port.hpp>
#include <dwcgf/pass/Pass.hpp>
#include <dwcgf/channel/Channel.hpp>
 
#include <dwcgf/parameter/ParameterDescriptor.hpp>
#include <dwcgf/parameter/SemanticParameterTypes.hpp>
#include <dwcgf/port/PortDescriptor.hpp>
#include <dwcgf/pass/PassDescriptor.hpp>
/* Need to include the appropriate ChannelPacketTypes.hpp since port initialization requires
   the parameter_trait overrides. Otherwise, it will be considered as a packet of generic type. */
#include <dwframework/dwnodes/common/ChannelPacketTypes.hpp>
 
#include <dw/egomotion/Egomotion.h>
#include <dw/egomotion/global/GlobalEgomotion.h>
#include <dw/egomotion/global/GlobalEgomotionSerialization.h>
#include <dwframework/dwnodes/common/GlobalEgomotionCommonTypes.hpp>
#include <dw/roadcast/base_types/RoadCastPacketTypes.hpp>
 
namespace dw
{
namespace framework
{
 
struct dwGlobalEgomotionNodeInitParams
{
    dwConstRigHandle_t rigHandle;
    const char* gpsSensorName;
    uint32_t historySize;
};
 
class dwGlobalEgomotionNode : public ExceptionSafeProcessNode, public IAsyncResetable, public IContainsPreShutdownAction
{
public:
    static constexpr auto describeInputPorts()
    {
        return describePortCollection(
            DW_DESCRIBE_PORT(dwGPSFrame, "GPS_FRAME"_sv),
            DW_DESCRIBE_PORT(dwEgomotionStateHandle_t, "EGOMOTION_STATE"_sv));
    };
    static constexpr auto describeOutputPorts()
    {
        return describePortCollection(
            DW_DESCRIBE_PORT(dwGlobalEgomotionState, "GLOBAL_EGOMOTION"_sv),
            DW_DESCRIBE_PORT(dwGlobalEgomotionResultPayload, "GLOBAL_EGOMOTION_RESULT_PAYLOAD"_sv));
    };
    static constexpr auto describePasses()
    {
        return describePassCollection(
            describePass("SETUP"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("ADD_GPS"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("ADD_RELATIVE_EGOMOTION"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("SEND_STATE"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("TEARDOWN"_sv, DW_PROCESSOR_TYPE_CPU));
    };
 
    static std::unique_ptr<dwGlobalEgomotionNode> create(ParameterProvider& provider);
 
    dwGlobalEgomotionNode(const dwGlobalEgomotionNodeInitParams& params,
                          const dwContextHandle_t ctx);
 
    dwStatus setAsyncReset() override
    {
        return Exception::guardWithReturn([&]() {
            auto asyncResetNode = dynamic_cast<IAsyncResetable*>(m_impl.get());
            if (asyncResetNode != nullptr)
            {
                return asyncResetNode->setAsyncReset();
            }
            return DW_FAILURE;
        });
    }
 
    dwStatus executeAsyncReset() override
    {
        return Exception::guardWithReturn([&]() {
            auto asyncResetNode = dynamic_cast<IAsyncResetable*>(m_impl.get());
            if (asyncResetNode != nullptr)
            {
                return asyncResetNode->executeAsyncReset();
            }
            return DW_FAILURE;
        });
    }
 
    static constexpr auto describeParameters()
    {
        return describeConstructorArguments<dwGlobalEgomotionNodeInitParams, dwContextHandle_t>(
            describeConstructorArgument(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwConstRigHandle_t,
                    &dwGlobalEgomotionNodeInitParams::rigHandle),
                DW_DESCRIBE_UNNAMED_PARAMETER_WITH_SEMANTIC(
                    const char*,
                    semantic_parameter_types::GpsName,
                    &dwGlobalEgomotionNodeInitParams::gpsSensorName),
                DW_DESCRIBE_PARAMETER(
                    uint32_t,
                    "historySize"_sv,
                    &dwGlobalEgomotionNodeInitParams::historySize)),
            describeConstructorArgument(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwContextHandle_t)));
    }
 
    dwStatus preShutdown() override
    {
        auto* preShutdownNode = dynamic_cast<IContainsPreShutdownAction*>(m_impl.get());
        if (preShutdownNode)
        {
            return preShutdownNode->preShutdown();
        }
        return DW_NOT_SUPPORTED;
    }
};
}
}
 
#endif //DW_FRAMEWORK_EGOMOTION_NODE_HPP_