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Better error handling when loading chains #90

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Merged
jonbinney merged 2 commits into from
Jul 17, 2025
+117 −0
Merged

Better error handling when loading chains #90

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cf2107f
Added chain length getter with tests
OscarMrZ Jul 17, 2025
67890ab
Added throw on unconfigured update call
OscarMrZ Jul 17, 2025
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23 changes: 23 additions & 0 deletions include/filters/filter_chain.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@
#define FILTERS__FILTER_CHAIN_HPP_

#include <algorithm>
#include <cstddef>
#include <sstream>
#include <string>
#include <utility>
Expand Down Expand Up @@ -190,6 +191,9 @@ class FilterChain
*/
bool update(const T & data_in, T & data_out)
{
if (!configured_) {

@jonbinney jonbinney Jul 17, 2025

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Thank you for adding these checks for configured_!

throw std::runtime_error("The update cannot be called without configuring the filter chain!");
}
bool result;
size_t list_size = reference_pointers_.size();
if (list_size == 0) {
Expand Down Expand Up @@ -294,6 +298,14 @@ class FilterChain
return true;
}

/**
* \brief Get the length of the chain (number of configured filters)
*/
size_t get_length()
{
return reference_pointers_.size();
}

rcl_interfaces::msg::SetParametersResult reconfigureCB(std::vector<rclcpp::Parameter> parameters)
{
auto result = rcl_interfaces::msg::SetParametersResult();
Expand Down Expand Up @@ -352,6 +364,9 @@ class MultiChannelFilterChain
*/
bool update(const std::vector<T> & data_in, std::vector<T> & data_out)
{
if (!configured_) {
throw std::runtime_error("The update cannot be called without configuring the filter chain!");
}
bool result;
size_t list_size = reference_pointers_.size();

Expand Down Expand Up @@ -470,6 +485,14 @@ class MultiChannelFilterChain
return true;
}

/**
* \brief Get the length of the chain (number of configured filters)
*/
size_t get_length()
{
return reference_pointers_.size();
}

rcl_interfaces::msg::SetParametersResult reconfigureCB(std::vector<rclcpp::Parameter> parameters)
{
auto result = rcl_interfaces::msg::SetParametersResult();
Expand Down
94 changes: 94 additions & 0 deletions test/test_chain.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -438,3 +438,97 @@ TEST_F(ChainTest, TenMultiChannelIncrementChains) {
EXPECT_EQ(11, v1a[i]);
}
}

TEST_F(ChainTest, TestChainLength) {
filters::FilterChain<int> chain("int");

std::vector<rclcpp::Parameter> overrides;
overrides.emplace_back("OneIncrements.filter1.name", std::string("increment1"));
overrides.emplace_back("OneIncrements.filter1.type", std::string("filters/IncrementFilterInt"));

overrides.emplace_back("TwoIncrements.filter1.name", std::string("increment1"));
overrides.emplace_back("TwoIncrements.filter1.type", std::string("filters/IncrementFilterInt"));
overrides.emplace_back("TwoIncrements.filter2.name", std::string("increment2"));
overrides.emplace_back("TwoIncrements.filter2.type", std::string("filters/IncrementFilterInt"));

overrides.emplace_back("FiveIncrements.filter1.name", std::string("increment1"));
overrides.emplace_back("FiveIncrements.filter1.type", std::string("filters/IncrementFilterInt"));
overrides.emplace_back("FiveIncrements.filter2.name", std::string("increment2"));
overrides.emplace_back("FiveIncrements.filter2.type", std::string("filters/IncrementFilterInt"));
overrides.emplace_back("FiveIncrements.filter3.name", std::string("increment3"));
overrides.emplace_back("FiveIncrements.filter3.type", std::string("filters/IncrementFilterInt"));
overrides.emplace_back("FiveIncrements.filter4.name", std::string("increment4"));
overrides.emplace_back("FiveIncrements.filter4.type", std::string("filters/IncrementFilterInt"));
overrides.emplace_back("FiveIncrements.filter5.name", std::string("increment5"));
overrides.emplace_back("FiveIncrements.filter5.type", std::string("filters/IncrementFilterInt"));
auto node = make_node_with_params(overrides);

ASSERT_TRUE(
chain.configure(
"ZeroFilters", node->get_node_logging_interface(), node->get_node_parameters_interface()));
EXPECT_EQ(chain.get_length(), 0);
chain.clear();

ASSERT_TRUE(
chain.configure(
"TwoIncrements", node->get_node_logging_interface(), node->get_node_parameters_interface()));
EXPECT_EQ(chain.get_length(), 2);
chain.clear();

ASSERT_TRUE(
chain.configure(
"FiveIncrements", node->get_node_logging_interface(), node->get_node_parameters_interface()));
EXPECT_EQ(chain.get_length(), 5);
}

TEST_F(ChainTest, TestMultiChannelChainLength) {
filters::MultiChannelFilterChain<int> chain("int");

std::vector<rclcpp::Parameter> overrides;
overrides.emplace_back("OneIncrements.filter1.name", std::string("increment1"));
overrides.emplace_back(
"OneIncrements.filter1.type", std::string("filters/MultiChannelIncrementFilterInt"));

overrides.emplace_back("TwoIncrements.filter1.name", std::string("increment1"));
overrides.emplace_back(
"TwoIncrements.filter1.type", std::string("filters/MultiChannelIncrementFilterInt"));
overrides.emplace_back("TwoIncrements.filter2.name", std::string("increment2"));
overrides.emplace_back(
"TwoIncrements.filter2.type", std::string("filters/MultiChannelIncrementFilterInt"));

overrides.emplace_back("FiveIncrements.filter1.name", std::string("increment1"));
overrides.emplace_back(
"FiveIncrements.filter1.type", std::string("filters/MultiChannelIncrementFilterInt"));
overrides.emplace_back("FiveIncrements.filter2.name", std::string("increment2"));
overrides.emplace_back(
"FiveIncrements.filter2.type", std::string("filters/MultiChannelIncrementFilterInt"));
overrides.emplace_back("FiveIncrements.filter3.name", std::string("increment3"));
overrides.emplace_back(
"FiveIncrements.filter3.type", std::string("filters/MultiChannelIncrementFilterInt"));
overrides.emplace_back("FiveIncrements.filter4.name", std::string("increment4"));
overrides.emplace_back(
"FiveIncrements.filter4.type", std::string("filters/MultiChannelIncrementFilterInt"));
overrides.emplace_back("FiveIncrements.filter5.name", std::string("increment5"));
overrides.emplace_back(
"FiveIncrements.filter5.type", std::string("filters/MultiChannelIncrementFilterInt"));
auto node = make_node_with_params(overrides);

ASSERT_TRUE(
chain.configure(
3, "ZeroFilters", node->get_node_logging_interface(), node->get_node_parameters_interface()));
EXPECT_EQ(chain.get_length(), 0);
chain.clear();

ASSERT_TRUE(
chain.configure(
3, "TwoIncrements", node->get_node_logging_interface(),
node->get_node_parameters_interface()));
EXPECT_EQ(chain.get_length(), 2);
chain.clear();

ASSERT_TRUE(
chain.configure(
3, "FiveIncrements", node->get_node_logging_interface(),
node->get_node_parameters_interface()));
EXPECT_EQ(chain.get_length(), 5);
}