ExceptionSafeNode.hpp

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#ifndef DW_FRAMEWORK_EXCEPTIONSAFENODE_HPP_
#define DW_FRAMEWORK_EXCEPTIONSAFENODE_HPP_
 
#include <dwcgf/node/Node.hpp>
 
namespace dw
{
namespace framework
{
class ExceptionSafeProcessNode : public Node
{
public:
    explicit ExceptionSafeProcessNode(std::unique_ptr<Node> impl);
 
    ~ExceptionSafeProcessNode() override = default;
 
    dwStatus reset() override;
 
    dwStatus setInputChannel(ChannelObject* channel, uint8_t portID) override;
 
    dwStatus setInputChannel(ChannelObject* channel, uint8_t portID, dwSerializationType dataType) override;
 
    dwStatus setOutputChannel(ChannelObject* channel, uint8_t portID) override;
 
    dwStatus validate() override;
 
    dwStatus run() override;
 
    size_t getPassCount() const noexcept override;
 
    dwStatus runPass(size_t passIndex) override;
 
    dwStatus getPass(Pass** pass, uint8_t index) override;
 
    dwStatus getPasses(VectorFixed<Pass*>& passList) override;
 
    dwStatus getPasses(VectorFixed<Pass*>& passList,
                       dwProcessorType processorType,
                       dwProcessType processType) override;
 
    dwStatus setName(const char* name) override;
 
    dwStatus getName(const char** name) override;
 
    dwStatus getErrorSignal(dwGraphErrorSignal*& errorSignal) override;
 
    dwStatus getHealthSignal(dwGraphHealthSignal*& healthSignal, bool updateFromModule = false) override;
 
    dwStatus reportCurrentErrorSignal(dwGraphErrorSignal& signal) override;
 
    dwStatus reportCurrentHealthSignal(dwGraphHealthSignal& signal) override;
 
    dwStatus setIterationCount(uint32_t iterationCount) override final;
 
    dwStatus setNodePeriod(uint32_t period) override final;
 
    dwStatus setState(const char* state) override;
 
    void resetPorts() override;
 
    dwStatus getInputChannel(const uint8_t portID, ChannelObject*& channel) const override;
 
    dwStatus getOutputChannel(const uint8_t portID, ChannelObject*& channel) const override;
 
    dwStatus getInputPort(const uint8_t portID, dw::framework::PortBase*& port) const override;
 
    dwStatus getOutputPort(const uint8_t portID, dw::framework::PortBase*& port) const override;
 
protected:
    std::unique_ptr<Node> m_impl;
};
 
class ExceptionSafeSensorNode : public Node, public ISensorNode
{
public:
    explicit ExceptionSafeSensorNode(std::unique_ptr<Node> impl);
 
    ~ExceptionSafeSensorNode() override = default;
 
    dwStatus reset() override;
 
    dwStatus setInputChannel(ChannelObject* channel, uint8_t portID) override;
 
    dwStatus setInputChannel(ChannelObject* channel, uint8_t portID, dwSerializationType dataType) override;
 
    dwStatus setOutputChannel(ChannelObject* channel, uint8_t portID) override;
 
    dwStatus validate() override;
 
    dwStatus start() override;
 
    dwStatus stop() override;
 
    dwStatus setAffinityMask(uint mask) override;
 
    dwStatus setThreadPriority(int prio) override;
 
    dwStatus setStartTime(dwTime_t startTime) override;
 
    dwStatus setEndTime(dwTime_t endTime) override;
 
    dwStatus run() override;
 
    size_t getPassCount() const noexcept override;
 
    dwStatus runPass(size_t passIndex) override;
 
    dwStatus getPass(Pass** pass, uint8_t index) override;
 
    dwStatus getPasses(VectorFixed<Pass*>& passList) override;
 
    dwStatus getPasses(VectorFixed<Pass*>& passList,
                       dwProcessorType processorType,
                       dwProcessType processType) override;
 
    dwStatus setName(const char* name) override;
 
    dwStatus getName(const char** name) override;
 
    dwStatus isVirtual(bool* isVirtualBool) override;
 
    dwStatus setDataEventReadCallback(DataEventReadCallback cb) override;
 
    dwStatus setDataEventWriteCallback(DataEventWriteCallback cb) override;
 
    dwStatus getErrorSignal(dwGraphErrorSignal*& errorSignal) override;
 
    dwStatus getHealthSignal(dwGraphHealthSignal*& healthSignal, bool updateFromModule = false) override;
 
    dwStatus reportCurrentErrorSignal(dwGraphErrorSignal& signal) override;
 
    dwStatus reportCurrentHealthSignal(dwGraphHealthSignal& signal) override;
 
    dwStatus setIterationCount(uint32_t iterationCount) override final;
 
    dwStatus setNodePeriod(uint32_t period) override final;
 
    dwStatus setState(const char* state) override;
 
    void resetPorts() override;
 
    dwStatus getInputChannel(const uint8_t portID, ChannelObject*& channel) const override;
 
    dwStatus getOutputChannel(const uint8_t portID, ChannelObject*& channel) const override;
    void setNodeImple(std::unique_ptr<Node> impl);
 
    dwStatus getInputPort(const uint8_t portID, dw::framework::PortBase*& port) const override;
 
    dwStatus getOutputPort(const uint8_t portID, dw::framework::PortBase*& port) const override;
 
    dwStatus setLockstepDeterministicMode(bool enable) final;
 
    dwStatus getNextTimestamp(dwTime_t& nextTimestamp) final;
 
protected:
    std::unique_ptr<Node> m_impl;
    ISensorNode* m_sensorNodeImpl;
};
} // namespace framework
} // namespace dw
 
#endif // DW_FRAMEWORK_EXCEPTIONSAFENODE_HPP_