Compute Graph Framework SDK Reference  5.12
Node.hpp
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30
31#ifndef DW_FRAMEWORK_BASECLASS_NODE_HPP_
32#define DW_FRAMEWORK_BASECLASS_NODE_HPP_
33
34#include <map>
35
36#include <dw/core/base/Types.h>
37#include <dw/core/context/ObjectExtra.h>
38
39#include <dwcgf/Types.hpp>
41#include <dwcgf/pass/Pass.hpp>
42#include <dwshared/dwfoundation/dw/core/logger/Logger.hpp>
44#include <dwshared/dwfoundation/dw/core/container/VectorFixed.hpp>
45#include <dwshared/dwfoundation/dw/core/container/BaseString.hpp>
46#include <dwcgf/port/Port.hpp>
47
48#include <string>
49#include <memory>
50#include <atomic>
51
52namespace dw
53{
54namespace framework
55{
56using dw::core::FixedString;
57using dw::core::VectorFixed;
58// coverity[autosar_cpp14_a0_1_6_violation]
59class ParameterProvider;
60
61#define DW_CGF_STRINGIFY(x) #x
62// std::char_traits<char8_t>::length() is not constexpr before C++17, use "sizeof() - 1" as WAR
63#define STRING_VIEW_OF_FIXED_STRING_TEMPLATE_TYPE(x) dw::core::StringView("dw::core::FixedString<" DW_CGF_STRINGIFY(x) ">", sizeof("dw::core::FixedString<" DW_CGF_STRINGIFY(x) ">") - 1)
64
65class Node
66{
67public:
68 // coverity[autosar_cpp14_a0_1_1_violation] FP: nvbugs/2813925
69 // coverity[autosar_cpp14_a5_1_1_violation]
70 // coverity[autosar_cpp14_m0_1_4_violation]
71 static constexpr const size_t MAX_NAME_LEN{128U};
72 // coverity[autosar_cpp14_a0_1_6_violation]
73 using Name_t = FixedString<MAX_NAME_LEN>;
74
75 // coverity[autosar_cpp14_a0_1_1_violation]
76 // coverity[autosar_cpp14_m0_1_4_violation] RFD Pending: TID-2055
77 static constexpr const uint32_t MAX_PORT_COUNT{256U};
78
79 // coverity[autosar_cpp14_a0_1_1_violation]
80 // coverity[autosar_cpp14_m0_1_4_violation]
81 static constexpr const uint32_t MAX_PASS_COUNT{256U};
82
83 virtual ~Node() = default;
84
89 virtual dwStatus reset() = 0;
90
97 virtual dwStatus setInputChannel(ChannelObject* channel, uint8_t portID) = 0;
98
106 virtual dwStatus setInputChannel(ChannelObject* channel, uint8_t portID, dwSerializationType dataType) = 0;
107
114 virtual dwStatus setOutputChannel(ChannelObject* channel, uint8_t portID) = 0;
115
125 virtual dwStatus validate() = 0;
126
131 virtual dwStatus run() = 0;
132
137 virtual size_t getPassCount() const noexcept = 0;
138
144 virtual dwStatus runPass(size_t passIndex) = 0;
145
154 virtual dwStatus getPass(Pass** pass, uint8_t index) = 0;
155
161 // coverity[autosar_cpp14_a2_10_5_violation] RFD Pending: TID-2053
162 virtual dwStatus getPasses(VectorFixed<Pass*>& passList) = 0;
163
170 // coverity[autosar_cpp14_a2_10_5_violation] RFD Pending: TID-2053
171 virtual dwStatus getPasses(VectorFixed<Pass*>& passList,
172 dwProcessorType processorType) = 0;
173
179 virtual dwStatus setName(const char* name) = 0;
180
186 virtual dwStatus getName(const char** name) = 0;
187
196 virtual dwStatus getErrorSignal(dwGraphErrorSignal& sehErrorSignal, dwGraphErrorSignal*& errorSignal, uint16_t const sourceId, char8_t const* instanceName = nullptr) = 0;
197
204 virtual dwStatus getHealthSignal(dwGraphHealthSignal*& healthSignals, bool updateFromModule = false) = 0;
205
210 virtual dwStatus clearErrorSignal() = 0;
211
216 virtual dwStatus clearHealthSignal() = 0;
217
226 virtual dwStatus updateCurrentErrorSignal(dwGraphErrorSignal& signal) = 0;
227
236 virtual dwStatus updateCurrentHealthSignal(dwGraphHealthSignal& signal) = 0;
237
243 virtual dwStatus setIterationCount(uint32_t iterationCount) = 0;
244
252 virtual dwStatus setState(const char* state) = 0;
253
259 virtual dwStatus setNodePeriod(uint32_t period) = 0;
260
264 virtual void resetPorts() = 0;
265
272 virtual dwStatus getInputChannel(const uint8_t portID, ChannelObject*& channel) const = 0;
273
280 virtual dwStatus getOutputChannel(const uint8_t portID, ChannelObject*& channel) const = 0;
281
289 virtual dwStatus getInputPort(const uint8_t portID, dw::framework::PortBase*& port) const = 0;
290
298 virtual dwStatus getOutputPort(const uint8_t portID, dw::framework::PortBase*& port) const = 0;
299};
300
302{
303public:
308 virtual dwStatus start() = 0;
309
314 virtual dwStatus stop() = 0;
315
320 virtual dwStatus setAffinityMask(uint) = 0;
321
326 virtual dwStatus setThreadPriority(int) = 0;
327
332 virtual dwStatus setStartTime(dwTime_t) = 0;
333
338 virtual dwStatus setEndTime(dwTime_t) = 0;
339
344 virtual dwStatus isVirtual(bool* isVirtualBool) = 0;
345
346 enum class DataEventType
347 {
348 PRODUCE, // sensor node produces data for a node-run
349 DROP, // sensor node drops data in the next node-run
350 NONE, // sensor node does not produce data for a node-run
351 };
352
357 {
369 dwStatus status;
374 dwTime_t timestamp;
375 };
376
377 using DataEventReadCallback = dw::core::Function<bool(DataEvent&)>;
385
386 using DataEventWriteCallback = dw::core::Function<void(DataEvent)>;
394
402 virtual dwStatus setLockstepDeterministicMode(bool enable) = 0;
403
409 virtual dwStatus getNextTimestamp(dwTime_t& nextTimestamp) = 0;
410};
411
413{
414public:
416 : m_node(node)
417 , m_sensorNode(dynamic_cast<ISensorNode*>(node))
418 {
419 if (m_sensorNode != nullptr)
420 {
421 throw ExceptionWithStatus(DW_INVALID_ARGUMENT, "Passed node pointer does not implement ISensorNode.");
422 }
423 }
424
426 {
427 return m_node;
428 }
429
430 Node const* getNode() const
431 {
432 return m_node;
433 }
434
436 {
437 return m_sensorNode;
438 }
439
441 {
442 return m_sensorNode;
443 }
444
445private:
446 Node* m_node{};
447 ISensorNode* m_sensorNode{};
448};
449
457// coverity[autosar_cpp14_a0_1_6_violation]
459{
460public:
461 virtual ~IContainsPreShutdownAction() = default;
462
467 virtual dwStatus preShutdown() = 0;
468};
469
470// TODO(ajayawardane) WAR: When there is a single SSM pass in the graph, reset could potentially
471// be called while node passes are running. Until STM schedule re-entry is supported, we reset the
472// supported nodes in the setup pass.
473// deprecated and Replaced by IResetable, which has an improved reset interface
474// coverity[autosar_cpp14_a0_1_6_violation]
476{
477public:
478 virtual ~IAsyncResetable() = default;
479
484 virtual dwStatus setAsyncReset() = 0;
489 virtual dwStatus executeAsyncReset() = 0;
490};
491
496// coverity[autosar_cpp14_a0_1_6_violation]
498{
499public:
500 virtual ~IChannelsConnectedListener() = default;
501
505 virtual void onChannelsConnected() = 0;
506};
507
512// coverity[autosar_cpp14_a0_1_6_violation]
514{
515public:
516 virtual ~IResetable() = default;
517
522 virtual dwStatus reset() = 0;
523};
524
527
528} // namespace framework
529} // namespace dw
530
532
533#endif // DW_FRAMEWORK_BASECLASS_NODE_HPP_
Basic error signal that gets reported only when there is an error.
Basic health signal that describes the health status of the graph.
virtual dwStatus setAsyncReset()=0
Set the async reset flag.
virtual dwStatus executeAsyncReset()=0
Executes a reset if the async reset flag is set.
virtual ~IAsyncResetable()=default
virtual void onChannelsConnected()=0
Callback received after channels are connected.
virtual dwStatus preShutdown()=0
actions to be taken before node shutdown
virtual dwStatus reset()=0
Executes reset of the node.
virtual ~IResetable()=default
virtual dwStatus setAffinityMask(uint)=0
Sets the affinity mask of the sensor.
virtual dwStatus setLockstepDeterministicMode(bool enable)=0
Set whether replay is running in lockstep deterministic mode.
virtual dwStatus setDataEventReadCallback(DataEventReadCallback cb)=0
Set read timestamp function for dataset replay. Timestamps not in the sequence returned by the callba...
virtual dwStatus setDataEventWriteCallback(DataEventWriteCallback cb)=0
Set write timestamp function for live case. Each timestamp of data output from the node will be passe...
virtual dwStatus start()=0
Start the sensor.
virtual dwStatus setEndTime(dwTime_t)=0
Set end timestamp for dataset replay.
dw::core::Function< bool(DataEvent &)> DataEventReadCallback
Definition: Node.hpp:377
virtual dwStatus stop()=0
Stop the sensor.
virtual dwStatus isVirtual(bool *isVirtualBool)=0
distinguishes between a live and virtual sensor
virtual dwStatus getNextTimestamp(dwTime_t &nextTimestamp)=0
Get the next timestamp of the sensor.
dw::core::Function< void(DataEvent)> DataEventWriteCallback
Definition: Node.hpp:386
virtual dwStatus setThreadPriority(int)=0
Sets the thread priority of the sensor.
virtual dwStatus setStartTime(dwTime_t)=0
Set start timestamp for dataset replay.
virtual dwStatus validate()=0
Checks that all mandatory ports are bound. The implementation should validate that all the ports are ...
virtual dwStatus setNodePeriod(uint32_t period)=0
Set the node's period.
virtual dwStatus setOutputChannel(ChannelObject *channel, uint8_t portID)=0
Sets an output channel for this node with an accompanying port.
static constexpr const uint32_t MAX_PORT_COUNT
Definition: Node.hpp:77
virtual dwStatus getInputPort(const uint8_t portID, dw::framework::PortBase *&port) const =0
Gets the input port associated with the port id.
virtual dwStatus runPass(size_t passIndex)=0
Run one pass by index as defined by the pass descriptors.
virtual dwStatus setInputChannel(ChannelObject *channel, uint8_t portID)=0
Sets an input channel for this node with an accompanying port.
virtual dwStatus getInputChannel(const uint8_t portID, ChannelObject *&channel) const =0
Gets the input channel associated with the input port.
virtual dwStatus run()=0
Runs all the passes in the node.
virtual ~Node()=default
FixedString< MAX_NAME_LEN > Name_t
Definition: Node.hpp:73
virtual dwStatus getPass(Pass **pass, uint8_t index)=0
Get a const pointer to the pass at a specific index.
virtual size_t getPassCount() const noexcept=0
Get number of passes in the node.
virtual dwStatus getHealthSignal(dwGraphHealthSignal *&healthSignals, bool updateFromModule=false)=0
Get the pointer to the health signal for this node.
virtual dwStatus setIterationCount(uint32_t iterationCount)=0
Sets the node's iteration count.
virtual dwStatus updateCurrentHealthSignal(dwGraphHealthSignal &signal)=0
A function that allows user override to update health signal It is automatically called by dwFramewor...
virtual void resetPorts()=0
Resets all the ports in the node.
virtual dwStatus getPasses(VectorFixed< Pass * > &passList)=0
Get all the passes in the node.
virtual dwStatus setName(const char *name)=0
Set the name of the node.
virtual dwStatus getOutputPort(const uint8_t portID, dw::framework::PortBase *&port) const =0
Gets the output port associated with the port id.
virtual dwStatus getErrorSignal(dwGraphErrorSignal &sehErrorSignal, dwGraphErrorSignal *&errorSignal, uint16_t const sourceId, char8_t const *instanceName=nullptr)=0
Get the pointer to the error signal for this node.
virtual dwStatus getName(const char **name)=0
Get the name of the node.
static constexpr const size_t MAX_NAME_LEN
Definition: Node.hpp:71
virtual dwStatus updateCurrentErrorSignal(dwGraphErrorSignal &signal)=0
A function that allows user override to update error signal It is automatically called by dwFramework...
virtual dwStatus clearHealthSignal()=0
Clear the health signal for this node.
virtual dwStatus clearErrorSignal()=0
Clear the error signal for this node.
virtual dwStatus reset()=0
Resets the state of the node.
virtual dwStatus setInputChannel(ChannelObject *channel, uint8_t portID, dwSerializationType dataType)=0
Sets an input channel for this node with an accompanying port.
virtual dwStatus getOutputChannel(const uint8_t portID, ChannelObject *&channel) const =0
Gets the output channel associated with the output port.
virtual dwStatus setState(const char *state)=0
Set the current state in node. Node implementation of this API need to be thread-safe.
static constexpr const uint32_t MAX_PASS_COUNT
Definition: Node.hpp:81
Pass is a runnable describes the metadata of a pass.
Definition: Pass.hpp:49
SensorNode(Node *node)
Definition: Node.hpp:415
Node const * getNode() const
Definition: Node.hpp:430
ISensorNode * getSensorNode()
Definition: Node.hpp:435
ISensorNode const * getSensorNode() const
Definition: Node.hpp:440
dwSerializationType
Definition: Types.hpp:43
constexpr size_t passIndex(dw::core::StringView identifier)
Get the the pass index for a pass identified by name.
dwTrivialDataType dataType
Number of levels in the pyramid.
Definition: Buffer.hpp:40