From 903404a2234197c556df89a82b33008cdf44f40e Mon Sep 17 00:00:00 2001
From: John <john@viam.com>
Date: Thu, 23 May 2024 14:04:12 -0400
Subject: [PATCH] fix sensor validation

---
 cartofacade/capi_test.go                             |  2 +-
 viam-cartographer/src/carto_facade/carto_facade.cc   | 12 +++++++++++-
 .../src/carto_facade/carto_facade_test.cc            |  2 +-
 3 files changed, 13 insertions(+), 3 deletions(-)

diff --git a/cartofacade/capi_test.go b/cartofacade/capi_test.go
index 0faab712..d579cead 100644
--- a/cartofacade/capi_test.go
+++ b/cartofacade/capi_test.go
@@ -214,7 +214,7 @@ func TestCGoAPIWithoutMovementSensor(t *testing.T) {
 		cfgBad := GetBadTestConfig()
 		vc, err = NewCarto(cfgBad, algoCfg, &pvcl)
 		// initialize viam_carto incorrectly
-		test.That(t, err, test.ShouldResemble, errors.New("VIAM_CARTO_COMPONENT_REFERENCE_INVALID"))
+		test.That(t, err, test.ShouldResemble, errors.New("VIAM_CARTO_LIDAR_CONFIG_INVALID"))
 		test.That(t, vc, test.ShouldNotBeNil)
 
 		algoCfg = GetTestAlgoConfig(false)
diff --git a/viam-cartographer/src/carto_facade/carto_facade.cc b/viam-cartographer/src/carto_facade/carto_facade.cc
index 58188598..8b463d63 100644
--- a/viam-cartographer/src/carto_facade/carto_facade.cc
+++ b/viam-cartographer/src/carto_facade/carto_facade.cc
@@ -117,7 +117,7 @@ config from_viam_carto_config(viam_carto_config vcc) {
     c.lidar_config = vcc.lidar_config;
 
     if (c.camera.empty()) {
-        throw VIAM_CARTO_COMPONENT_REFERENCE_INVALID;
+        throw VIAM_CARTO_LIDAR_CONFIG_INVALID;
     }
     validate_lidar_config(c.lidar_config);
 
@@ -640,6 +640,16 @@ void CartoFacade::AddLidarReading(const viam_carto_lidar_reading *sr) {
                    << CartoFacadeState::STARTED;
         throw VIAM_CARTO_NOT_IN_STARTED_STATE;
     }
+
+    bstring camera_sensor = to_bstring(config.camera);
+    bool known_sensor = biseq(camera_sensor, sr->lidar);
+    bdestroy(camera_sensor);
+     if (!known_sensor) {
+        VLOG(1) << "expected sensor: " << to_std_string(sr->lidar) << " to be "
+                << config.camera;
+        throw VIAM_CARTO_UNKNOWN_SENSOR_NAME;
+    }
+    
     std::string lidar_reading = to_std_string(sr->lidar_reading);
     if (lidar_reading.length() == 0) {
         throw VIAM_CARTO_LIDAR_READING_EMPTY;
diff --git a/viam-cartographer/src/carto_facade/carto_facade_test.cc b/viam-cartographer/src/carto_facade/carto_facade_test.cc
index cc40cfcc..16ec7445 100644
--- a/viam-cartographer/src/carto_facade/carto_facade_test.cc
+++ b/viam-cartographer/src/carto_facade/carto_facade_test.cc
@@ -185,7 +185,7 @@ BOOST_AUTO_TEST_CASE(CartoFacade_init_validate) {
         VIAM_CARTO_THREE_D, no_camera, no_movement_sensor, true, "");
 
     BOOST_TEST(viam_carto_init(&vc, lib, vcc_empty_component_ref, ac) ==
-               VIAM_CARTO_COMPONENT_REFERENCE_INVALID);
+               VIAM_CARTO_LIDAR_CONFIG_INVALID);
 
     ac = viam_carto_algo_config_setup(true);
     // Test config validation with invalid lidar config