Porting Guide from CGF 5.4 to CGF 5.6

Table of Contents

• Channel {#channel-changes-5.6}
  • OnDataReady {#ondataready-5.6}
  • IChannelPacketFactory {#ichannelpacketfactory-5.6}
• Node API {#node-api-changes-5.6}
  • Node and Sensor Interface {#node-and-sensor-interface-5.6}
  • SimpleNode {#simplenode-5.6}
  • ExceptionSafeSensorNode {#exceptionsafesensornode-5.6}
  • SimpleNodeT {#simplenodet-5.6}
  • Pass {#pass-5.6}
• Graph Health API {#graph-health-api-5.6}

This document will help you port your applications from DriveWorks CGF 5.4 to DriveWorks CGF 5.6.

Channel {#channel-changes-5.6}

OnDataReady {#ondataready-5.6}

The type OnDataReady has been moved from dw::framework::IChannelPacketFactory to dw::framework::ChannelObject::PacketPool.

IChannelPacketFactory {#ichannelpacketfactory-5.6}

The interface of dw::framework::IChannelPacketFactory has been reduced and the removed API is now an implementation detail.

Node API {#node-api-changes-5.6}

Node and Sensor Interface {#node-and-sensor-interface-5.6}

Previously ProcessNode and SensorNode were both inheriting from Node and the latter implemented additional functions. Instead of these two separate subclasses only dw::framework::Node continues to exist.

The additional API for sensor nodes is defined in dw::framework::ISensorNode. The new dw::framework::SensorNode class doesn't inherit from Node anymore but is a composition with getters to access the node interface as well as the sensor interface of an instance.

SimpleNode {#simplenode-5.6}

The signature of the method dw::framework::SimpleNode::addPass() has been removed. The previous std::function arguments to create the setup and teardown passes were obsolete.

The following methods have been removed from the dw::framework::SimpleNode class:

• dw::framework::SimpleNode::make_pass_with_node()
• dw::framework::SimpleNode::registerPassWithNode()

The following method has been added as a replacement:

• dw::framework::SimpleNode::registerPass()

ExceptionSafeSensorNode {#exceptionsafesensornode-5.6}

Following the restructuring of the node class and the sensor interface, the class dw::framework::ExceptionSafeSensorNode doesn't inherit from the now removed SensorNode class anymore. Instead it inherits from dw::framework::Node as well as dw::framework::ISensorNode.

SimpleNodeT {#simplenodet-5.6}

Following the restructuring of the node class and the sensor interface, the classes dw::framework::SimpleProcessNodeT and dw::framework::SimpleSensorNodeT are being marked deprecated and will be removed in the future.

The class dw::framework::SimpleNodeT can now be used for either of the two use cases.

Pass {#pass-5.6}

The node dw::framework::Pass and dw::framework::PassImpl API uses references of nodes instead of pointers.

Graph Health API {#graph-health-api-5.6}

The graph health related API has been redesigned. The new API consists of the following functions and methods:

• dw::framework::convertToGraphErrorSignal()
• dw::framework::convertToGraphHealthSignal()
• dw::framework::convertToGraphHealthSignalArray()
• dw::framework::Node::getErrorSignal()
• dw::framework::Node::getHealthSignal()
• dw::framework::Node::reportCurrentErrorSignal()
• dw::framework::Node::reportCurrentHealthSignal()