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Fix PR comments
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@kkufieta
kkufieta committed Nov 27, 2023
1 parent c23c845 commit fa8b90a
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Showing 6 changed files with 20 additions and 21 deletions.
2 changes: 1 addition & 1 deletion cartofacade/carto_facade.go
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Original file line number Diff line number Diff line change
Expand Up @@ -320,7 +320,7 @@ func (r *Request) doWork(

reading, ok := r.requestParams[reading].(s.TimedLidarReadingResponse)
if !ok {
return nil, errors.New("could not cast inputted byte to type sensors.TimedLidarSensorReadingResponse")
return nil, errors.New("could not cast inputted reading to type sensors.TimedLidarSensorReadingResponse")
}

return nil, cf.carto.addLidarReading(lidar, reading)
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4 changes: 2 additions & 2 deletions sensorprocess/lidarsensorprocess.go
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ func (config *Config) StartLidar(ctx context.Context) bool {
// addLidarReading adds a lidar reading to the cartofacade, using the lidar's data rate to determine whether to run in
// offline or online mode.
func (config *Config) addLidarReading(ctx context.Context) bool {
if config.Online {
if config.IsOnline {
return config.addLidarReadingsInOnline(ctx)
}
return config.addLidarReadingsInOffline(ctx)
Expand Down Expand Up @@ -149,7 +149,7 @@ func getTimedLidarReading(ctx context.Context, config *Config) (s.TimedLidarRead
if err != nil {
config.Logger.Warn(err)
// only end the sensor process if we are in offline mode
if !config.Online {
if !config.IsOnline {
return tsr, strings.Contains(err.Error(), replaypcd.ErrEndOfDataset.Error()), err
}
return tsr, false, err
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4 changes: 2 additions & 2 deletions sensorprocess/movementsensorprocess.go
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@ func (config *Config) StartIMU(ctx context.Context) bool {
// addIMUReading adds an IMU reading to the cartofacade, using the lidar's data rate to determine whether to run in
// offline or online mode.
func (config *Config) addIMUReading(ctx context.Context) bool {
if config.Online {
if config.IsOnline {
return config.addIMUReadingInOnline(ctx)
}
return config.addIMUReadingInOffline(ctx)
Expand Down Expand Up @@ -140,7 +140,7 @@ func getTimedIMUSensorReading(ctx context.Context, config *Config) (s.TimedMovem
if err != nil {
config.Logger.Warn(err)
// only end the sensor process if we are in offline mode
if !config.Online {
if !config.IsOnline {
return tsr, strings.Contains(err.Error(), replaymovementsensor.ErrEndOfDataset.Error()), err
}
return tsr, false, err
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2 changes: 1 addition & 1 deletion sensorprocess/sensorprocess.go
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ var defaultTime = time.Time{}
type Config struct {
CartoFacade cartofacade.Interface
sensorProcessStartTime time.Time
Online bool
IsOnline bool

Lidar s.TimedLidar
currentLidarData *s.TimedLidarReadingResponse
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27 changes: 13 additions & 14 deletions sensorprocess/sensorprocess_test.go
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Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,7 @@ func TestAddLidarReadingOffline(t *testing.T) {
config := Config{
Logger: logger,
CartoFacade: &cf,
Online: injectLidar.DataFrequencyHzFunc() != 0,
IsOnline: injectLidar.DataFrequencyHzFunc() != 0,
Lidar: &injectLidar,
Timeout: 10 * time.Second,
RunFinalOptimizationFunc: runFinalOptimizationFunc,
Expand Down Expand Up @@ -169,7 +169,7 @@ func TestAddIMUReadingOffline(t *testing.T) {
config := Config{
Logger: logger,
CartoFacade: &cf,
Online: false,
IsOnline: false,
IMU: &injectImu,
Timeout: 10 * time.Second,
}
Expand Down Expand Up @@ -268,7 +268,7 @@ func TestAddLidarReadingOnline(t *testing.T) {
config := Config{
Logger: logger,
CartoFacade: &cf,
Online: injectLidar.DataFrequencyHzFunc() != 0,
IsOnline: injectLidar.DataFrequencyHzFunc() != 0,
Lidar: &injectLidar,
Timeout: 10 * time.Second,
RunFinalOptimizationFunc: cf.RunFinalOptimization,
Expand Down Expand Up @@ -387,7 +387,7 @@ func TestAddIMUReadingOnline(t *testing.T) {
config := Config{
Logger: logger,
CartoFacade: &cf,
Online: injectLidar.DataFrequencyHzFunc() != 0,
IsOnline: injectLidar.DataFrequencyHzFunc() != 0,
Lidar: &injectLidar,
IMU: &injectImu,
Timeout: 10 * time.Second,
Expand Down Expand Up @@ -522,7 +522,7 @@ func onlineModeLidarTestHelper(

config.CartoFacade = &cf
config.Lidar = lidar
config.Online = lidar.DataFrequencyHz() != 0
config.IsOnline = lidar.DataFrequencyHz() != 0

jobDone := config.addLidarReading(ctx)
test.That(t, len(calls), test.ShouldEqual, 1)
Expand Down Expand Up @@ -594,8 +594,7 @@ func onlineModeIMUTestHelper(
config.CartoFacade = &cf
config.IMU = imu

config.Online = true
// config.currentLidarData.ReadingTime = time.Now().UTC().Add(-10 * time.Second)
config.IsOnline = true
config.sensorProcessStartTime = time.Time{}.Add(time.Millisecond)

jobDone := config.addIMUReading(ctx)
Expand Down Expand Up @@ -728,7 +727,7 @@ func TestAddLidarReading(t *testing.T) {
ctx := context.Background()

t.Run("returns error in online mode when lidar GetData returns error, doesn't try to add lidar data", func(t *testing.T) {
config.Online = true
config.IsOnline = true
invalidLidarTestHelper(
ctx,
t,
Expand All @@ -740,7 +739,7 @@ func TestAddLidarReading(t *testing.T) {
})

t.Run("returns error in online mode when replay sensor timestamp is invalid, doesn't try to add sensor data", func(t *testing.T) {
config.Online = true
config.IsOnline = true
invalidLidarTestHelper(
ctx,
t,
Expand All @@ -752,7 +751,7 @@ func TestAddLidarReading(t *testing.T) {
})

t.Run("replay sensor adds sensor data until success in offline mode", func(t *testing.T) {
config.Online = false
config.IsOnline = false
lidar, imu := s.ReplayLidar, s.NoMovementSensor
dataFrequencyHz := 0
replaySensor, err := s.NewLidar(context.Background(), s.SetupDeps(lidar, imu), string(lidar), dataFrequencyHz, logger)
Expand Down Expand Up @@ -797,17 +796,17 @@ func TestAddLidarReading(t *testing.T) {
})

t.Run("online replay lidar adds sensor reading once and ignores errors", func(t *testing.T) {
config.Online = true
config.IsOnline = true
onlineModeLidarTestHelper(ctx, t, config, cf, s.ReplayLidar)
})

t.Run("online lidar adds sensor reading once and ignores errors", func(t *testing.T) {
config.Online = true
config.IsOnline = true
onlineModeLidarTestHelper(ctx, t, config, cf, s.GoodLidar)
})

t.Run("returns true when lidar returns an error that it reached end of dataset and optimization function succeeds", func(t *testing.T) {
config.Online = false
config.IsOnline = false
lidar, imu := s.FinishedReplayLidar, s.NoMovementSensor
dataFrequencyHz := 0
replaySensor, err := s.NewLidar(context.Background(), s.SetupDeps(lidar, imu), string(lidar), dataFrequencyHz, logger)
Expand All @@ -820,7 +819,7 @@ func TestAddLidarReading(t *testing.T) {
})

t.Run("returns true when lidar returns an error that it reached end of dataset and optimization function fails", func(t *testing.T) {
config.Online = false
config.IsOnline = false
runFinalOptimizationFunc = func(context.Context, time.Duration) error {
return errors.New("test error")
}
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2 changes: 1 addition & 1 deletion viam_cartographer.go
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Original file line number Diff line number Diff line change
Expand Up @@ -116,7 +116,7 @@ func TerminateCartoLib() error {
func initSensorProcesses(cancelCtx context.Context, cartoSvc *CartographerService) {
spConfig := sensorprocess.Config{
CartoFacade: cartoSvc.cartofacade,
Online: cartoSvc.lidar.DataFrequencyHz() != 0,
IsOnline: cartoSvc.lidar.DataFrequencyHz() != 0,
Lidar: cartoSvc.lidar,
IMU: cartoSvc.movementSensor,
Timeout: cartoSvc.cartoFacadeTimeout,
Expand Down

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