.. index:: pair: class; OutputNode
.. _doxid-class_output_node:

template class OutputNode
=========================

.. toctree::
	:hidden:

Overview
~~~~~~~~

Implementation of an output node in the computation graph. :ref:`More...<details-class_output_node>`


.. ref-code-block:: cpp
	:class: doxyrest-overview-code-block

	#include <output_node.h>
	
	template <class DATA>
	class OutputNode: public :ref:`ComputationalNode<doxid-class_computational_node>` {
	public:
		// construction
	
		:ref:`OutputNode<doxid-class_output_node_1a35ad2464116f596ef94c2314b83c3ce2>`(
			const std::string& id,
			:ref:`OutputNodePolicies::PublishFormatPolicy<doxid-namespace_output_node_policies_1a92445027731a0eeb5b113134b737119b>` publishFormatPolicy = OutputNodePolicies::PublishFormatPolicy::SERIES,
			bool publishFromCache = false,
			int maxPortConnections = 0,
			unsigned int computePeriod = 1
		);

		// methods
	
		template <class T_IN>
		:ref:`InputPort<doxid-class_input_port>`<T_IN, DATA>* :ref:`getOrRegisterInput<doxid-class_output_node_1a833d82862c1d613aab1448c3e0157237>`(const std::string& id);
	
		unsigned int :target:`getComputePeriod<doxid-class_output_node_1aa5e7ba3ccf908b41f6aa2098bbc55fb4>`();
		void :target:`setComputePeriod<doxid-class_output_node_1a9045756afaff996c182e7d755ae85406>`(unsigned int computePeriod);
		bool :target:`publishFromCache<doxid-class_output_node_1ae78fef42c7bdbb8a3f7c1b9b31dd3344>`();
		virtual bool :ref:`doCompute<doxid-class_output_node_1a813b1573231b6a3d5e97b16b90360fd5>`() const;
	};

	// direct descendants

	class :ref:`OutputDummy<doxid-class_output_dummy>`;
	class :ref:`OutputEngineNode<doxid-class_output_engine_node>`;

	template <class MSG_TYPE>
	class :ref:`OutputMQTTNode<doxid-class_output_m_q_t_t_node>`;

	template <class MSG_TYPE>
	class :ref:`OutputROSNode<doxid-class_output_r_o_s_node>`;

	class :ref:`OutputSpinnakerNode<doxid-class_output_spinnaker_node>`;

Inherited Members
-----------------

.. ref-code-block:: cpp
	:class: doxyrest-overview-inherited-code-block

	public:
		// enums
	
		enum :ref:`NodeType<doxid-class_computational_node_1a6af2021042070fa763b8f2a0d879a4c0>`;

		// fields
	
		static const static std::map<:ref:`NodeType<doxid-class_computational_node_1a6af2021042070fa763b8f2a0d879a4c0>`, std::string> :ref:`nodeTypeStr<doxid-class_computational_node_1a8dcb2d5fce4a03992f54d01cec8b8350>` = {{:ref:`ComputationalNode::Input<doxid-class_computational_node_1a6af2021042070fa763b8f2a0d879a4c0a6f802cd82eb406c67acf68827a7f12c6>`, "Input"},                                                                                            {ComputationalNode::Output, "Output"},                                                                                            {ComputationalNode::Functional, "Functional"}};

		// methods
	
		const std::string& :ref:`id<doxid-class_computational_node_1aeab0953471cf02647c0264c8b474afb5>`() const;
		:ref:`NodeType<doxid-class_computational_node_1a6af2021042070fa763b8f2a0d879a4c0>` :ref:`type<doxid-class_computational_node_1a4cb10cde56ec02dd5e31c5b5498388ed>`() const;
		virtual std::string :ref:`typeStr<doxid-class_computational_node_1a7f3ac66b0ba01255d3b4614d8451a11a>`() const;
		void :ref:`setVisited<doxid-class_computational_node_1a4d75c538b8bbc2f9c26278d27ad8a434>`(bool visited);
		bool :ref:`isVisited<doxid-class_computational_node_1aa657870e632df5c4ed11470d10e65d5f>`() const;
		void :ref:`setDoCompute<doxid-class_computational_node_1a42173436871d42cf1b3142a742541b82>`(bool doCompute);
		virtual bool :ref:`doCompute<doxid-class_computational_node_1aa48b20e4dd19b5923f47d4d4a39d19af>`() const;
	
		static std::pair<std::string, std::string> :ref:`parseNodeAddress<doxid-class_computational_node_1aa0ee3c31cff004eb3ca6c44a21b11fc5>`(
			const std::string& address,
			bool hasPort = true
		);

.. _details-class_output_node:

Detailed Documentation
~~~~~~~~~~~~~~~~~~~~~~

Implementation of an output node in the computation graph.

Output nodes are the connection point to send data out of the computation graph. In its 'compute' operation all messages received since last 'compute' are sent using the 'sendSingleMsg' implemented by derived classes.

Construction
------------

.. index:: pair: function; OutputNode
.. _doxid-class_output_node_1a35ad2464116f596ef94c2314b83c3ce2:

.. ref-code-block:: cpp
	:class: doxyrest-title-code-block

	OutputNode(
		const std::string& id,
		:ref:`OutputNodePolicies::PublishFormatPolicy<doxid-namespace_output_node_policies_1a92445027731a0eeb5b113134b737119b>` publishFormatPolicy = OutputNodePolicies::PublishFormatPolicy::SERIES,
		bool publishFromCache = false,
		int maxPortConnections = 0,
		unsigned int computePeriod = 1
	)

Constructor.

Methods
-------

.. index:: pair: function; getOrRegisterInput
.. _doxid-class_output_node_1a833d82862c1d613aab1448c3e0157237:

.. ref-code-block:: cpp
	:class: doxyrest-title-code-block

	template <class T_IN>
	:ref:`InputPort<doxid-class_input_port>`<T_IN, DATA>* getOrRegisterInput(const std::string& id)

Gets or register input port to this node and returns a pointer to it.

.. index:: pair: function; doCompute
.. _doxid-class_output_node_1a813b1573231b6a3d5e97b16b90360fd5:

.. ref-code-block:: cpp
	:class: doxyrest-title-code-block

	virtual bool doCompute() const

Tells if this node should be executed in this graph execution cycle, used in some graph execution modes.

:ref:`ComputationalNode <doxid-class_computational_node>` returns the value of its 'doCompute' property. Subclasses of :ref:`ComputationalNode <doxid-class_computational_node>` can implement further logic that can override this value