dw::framework::dwRigNode Class Reference

Detailed Description

dwRigNode receives extrinsic calibrations from sensors in the system, and maintains that state to update the vehicle's rig file on program exit.

Definition at line 83 of file dwRigNode.hpp.

Inheritance diagram for dw::framework::dwRigNode:

Collaboration diagram for dw::framework::dwRigNode:

Public Member Functions
	dwRigNode (const dwRigNode &other)=default
	dwRigNode (dwRigNode &&other)=default
	dwRigNode (dwRigNodeParams const &params, dwContextHandle_t const ctx)
dwRigNode &	operator= (const dwRigNode &)=default
dwRigNode &	operator= (dwRigNode &&)=default
dwStatus	preShutdown () override
	~dwRigNode () override=default
Public Member Functions inherited from dw::framework::ExceptionSafeProcessNode
	ExceptionSafeProcessNode (std::unique_ptr< Node > impl)
dwStatus	getErrorSignal (dwGraphErrorSignal *&errorSignal) override
dwStatus	getHealthSignal (dwGraphHealthSignal *&healthSignal, bool updateFromModule=false) override
dwStatus	getInputChannel (const uint8_t portID, ChannelObject *&channel) const override
dwStatus	getInputPort (const uint8_t portID, dw::framework::PortBase *&port) const override
dwStatus	getName (const char **name) override
dwStatus	getOutputChannel (const uint8_t portID, ChannelObject *&channel) const override
dwStatus	getOutputPort (const uint8_t portID, dw::framework::PortBase *&port) const override
dwStatus	getPass (Pass **pass, uint8_t index) override
size_t	getPassCount () const noexcept override
dwStatus	getPasses (VectorFixed< Pass * > &passList) override
dwStatus	getPasses (VectorFixed< Pass * > &passList, dwProcessorType processorType, dwProcessType processType) override
dwStatus	reportCurrentErrorSignal (dwGraphErrorSignal &signal) override
dwStatus	reportCurrentHealthSignal (dwGraphHealthSignal &signal) override
dwStatus	reset () override
void	resetPorts () override
dwStatus	run () override
dwStatus	runPass (size_t passIndex) override
dwStatus	setInputChannel (ChannelObject *channel, uint8_t portID) override
dwStatus	setInputChannel (ChannelObject *channel, uint8_t portID, dwSerializationType dataType) override
dwStatus	setIterationCount (uint32_t iterationCount) override final
dwStatus	setName (const char *name) override
dwStatus	setNodePeriod (uint32_t period) override final
dwStatus	setOutputChannel (ChannelObject *channel, uint8_t portID) override
dwStatus	setState (const char *state) override
dwStatus	validate () override
	~ExceptionSafeProcessNode () override=default
Public Member Functions inherited from dw::framework::Node
virtual dwStatus	getErrorSignal (dwGraphErrorSignal *&errorSignal)=0
	Get the pointer to the error signal for this node. More...
virtual dwStatus	getHealthSignal (dwGraphHealthSignal *&healthSignals, bool updateFromModule=false)=0
	Get the pointer to the health signal for this node. More...
virtual dwStatus	getInputChannel (const uint8_t portID, ChannelObject *&channel) const =0
	Gets the input channel associated with the input port. More...
virtual dwStatus	getInputPort (const uint8_t portID, dw::framework::PortBase *&port) const =0
	Gets the input port associated with the port id. More...
virtual dwStatus	getName (const char **name)=0
	Get the name of the node. More...
virtual dwStatus	getOutputChannel (const uint8_t portID, ChannelObject *&channel) const =0
	Gets the output channel associated with the output port. More...
virtual dwStatus	getOutputPort (const uint8_t portID, dw::framework::PortBase *&port) const =0
	Gets the output port associated with the port id. More...
virtual dwStatus	getPass (Pass **pass, uint8_t index)=0
	Get a const pointer to the pass at a specific index. More...
virtual size_t	getPassCount () const noexcept=0
	Get number of passes in the node. More...
virtual dwStatus	getPasses (VectorFixed< Pass * > &passList)=0
	Get all the passes in the node. More...
virtual dwStatus	getPasses (VectorFixed< Pass * > &passList, dwProcessorType processorType, dwProcessType processType)=0
	Get node passes filtered by processor type and process type. More...
virtual dwStatus	reportCurrentErrorSignal (dwGraphErrorSignal &signal)=0
	A function that allows user override to update error signal It is automatically called by dwFramework when getErrorSignal is called and when pass returns non-success return code. More...
virtual dwStatus	reportCurrentHealthSignal (dwGraphHealthSignal &signal)=0
	A function that allows user override to update health signal It is automatically called by dwFramework during teardown and when pass returns non-success return code. More...
virtual dwStatus	reset ()=0
	Resets the state of the node. More...
virtual void	resetPorts ()=0
	Resets all the ports in the node. More...
virtual dwStatus	run ()=0
	Runs all the passes in the node. More...
virtual dwStatus	runPass (size_t passIndex)=0
	Run one pass by index as defined by the pass descriptors. More...
virtual dwStatus	setInputChannel (ChannelObject *channel, uint8_t portID)=0
	Sets an input channel for this node with an accompanying port. More...
virtual dwStatus	setInputChannel (ChannelObject *channel, uint8_t portID, dwSerializationType dataType)=0
	Sets an input channel for this node with an accompanying port. More...
virtual dwStatus	setIterationCount (uint32_t iterationCount)=0
	Sets the node's iteration count. More...
virtual dwStatus	setName (const char *name)=0
	Set the name of the node. More...
virtual dwStatus	setNodePeriod (uint32_t period)=0
	Set the node's period. More...
virtual dwStatus	setOutputChannel (ChannelObject *channel, uint8_t portID)=0
	Sets an output channel for this node with an accompanying port. More...
virtual dwStatus	setState (const char *state)=0
	Set the current state in node. Node implementation of this API need to be thread-safe. More...
virtual dwStatus	validate ()=0
	Checks that all mandatory ports are bound. The implementation should validate that all the ports are bound to the appropriate channels (any required ports, that is). For example, a camera node may have processed output and raw output ports, but only one is required to be bound. More...
virtual	~Node ()=default
Public Member Functions inherited from dw::framework::IContainsPreShutdownAction
virtual dwStatus	preShutdown ()=0
	actions to be taken before node shutdown More...
virtual	~IContainsPreShutdownAction ()=default

Static Public Member Functions
static std::unique_ptr< dwRigNode >	create (ParameterProvider const &provider)
static constexpr auto	describeInputPorts ()
static constexpr auto	describeOutputPorts ()
static constexpr auto	describeParameters ()
static constexpr auto	describePasses ()

Additional Inherited Members
Public Types inherited from dw::framework::Node
using	Name_t = FixedString< MAX_NAME_LEN >
Static Public Attributes inherited from dw::framework::Node
static constexpr size_t	MAX_NAME_LEN = 128
static constexpr uint32_t	MAX_PASS_COUNT = 256
static constexpr uint32_t	MAX_PORT_COUNT = 256
Protected Attributes inherited from dw::framework::ExceptionSafeProcessNode
std::unique_ptr< Node >	m_impl

Constructor & Destructor Documentation

dwRigNode() [1/3]

dw::framework::dwRigNode::dwRigNode	(	dwRigNodeParams const &	params,
		dwContextHandle_t const	ctx
	)

~dwRigNode()

dw::framework::dwRigNode::~dwRigNode ( )

overridedefault

dwRigNode() [2/3]

dw::framework::dwRigNode::dwRigNode ( const dwRigNode &  other )

default

dwRigNode() [3/3]

dw::framework::dwRigNode::dwRigNode ( dwRigNode &&  other )

default

Member Function Documentation

create()

static std::unique_ptr< dwRigNode > dw::framework::dwRigNode::create ( ParameterProvider const &  provider )

static

describeInputPorts()

static constexpr auto dw::framework::dwRigNode::describeInputPorts ( )

inlinestaticconstexpr

Definition at line 88 of file dwRigNode.hpp.

References dw::framework::describePortCollection(), DW_DESCRIBE_PORT, DW_DESCRIBE_PORT_ARRAY, dw::framework::OPTIONAL, dw::framework::REQUIRED, dw::framework::SELF_CALIBRATION_NODE_MAX_CAMERAS, dw::framework::SELF_CALIBRATION_NODE_MAX_LIDARS, and dw::framework::SELF_CALIBRATION_NODE_MAX_RADARS.

describeOutputPorts()

static constexpr auto dw::framework::dwRigNode::describeOutputPorts ( )

inlinestaticconstexpr

Definition at line 105 of file dwRigNode.hpp.

References dw::framework::describePortCollection().

describeParameters()

static constexpr auto dw::framework::dwRigNode::describeParameters ( )

inlinestaticconstexpr

Definition at line 125 of file dwRigNode.hpp.

References dw::framework::calibrationOutputFileName, dw::framework::calibrationOverlayFileName, dw::framework::cameraSensorEnabled, dw::framework::cameraSensorRigIndices, dw::framework::describeConstructorArgument(), DW_DESCRIBE_PARAMETER, DW_DESCRIBE_UNNAMED_ARRAY_PARAMETER_WITH_SEMANTIC, DW_DESCRIBE_UNNAMED_PARAMETER, DW_DESCRIBE_UNNAMED_PARAMETER_WITH_SEMANTIC, dw::framework::imuSensorEnabled, dw::framework::imuSensorRigIndices, dw::framework::lidarSensorEnabled, dw::framework::lidarSensorRigIndices, dw::framework::radarSensorEnabled, dw::framework::radarSensorRigIndices, dw::framework::rigHandle, dw::framework::rigOutputFileName, dw::framework::SELF_CALIBRATION_NODE_MAX_CAMERAS, dw::framework::SELF_CALIBRATION_NODE_MAX_IMUS, dw::framework::SELF_CALIBRATION_NODE_MAX_LIDARS, and dw::framework::SELF_CALIBRATION_NODE_MAX_RADARS.

describePasses()

static constexpr auto dw::framework::dwRigNode::describePasses ( )

inlinestaticconstexpr

Definition at line 111 of file dwRigNode.hpp.

References dw::framework::describePass(), and dw::framework::describePassCollection().

operator=() [1/2]

dwRigNode & dw::framework::dwRigNode::operator= ( const dwRigNode &  )

default

operator=() [2/2]

dwRigNode & dw::framework::dwRigNode::operator= ( dwRigNode &&  )

default

preShutdown()

dwStatus dw::framework::dwRigNode::preShutdown ( )

overridevirtual

Implements dw::framework::IContainsPreShutdownAction.

---

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

• src/dwframework/dwnodes/dwrignode/dwRigNode.hpp