From 224b068fe99c59d08c05ab09d6964f1bc4a560b0 Mon Sep 17 00:00:00 2001
From: Damon Kohler <damonkohler@google.com>
Date: Thu, 27 Oct 2016 11:45:27 +0200
Subject: [PATCH] CHECKs that all queues are finished on destruction. (#106)

---
 cartographer/sensor/ordered_multi_queue.h | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/cartographer/sensor/ordered_multi_queue.h b/cartographer/sensor/ordered_multi_queue.h
index fc4e313..321c84b 100644
--- a/cartographer/sensor/ordered_multi_queue.h
+++ b/cartographer/sensor/ordered_multi_queue.h
@@ -50,15 +50,19 @@ inline std::ostream& operator<<(std::ostream& out, const QueueKey& key) {
 }
 
 // Maintains multiple queues of sorted sensor data and dispatches it in merge
-// sorted order. This class is thread-compatible.
+// sorted order. It will wait to see at least one value for each unfinished queue before
+// dispatching the next time ordered value across all queues. This class is thread-compatible.
 class OrderedMultiQueue {
  public:
   using Callback = std::function<void(std::unique_ptr<Data>)>;
 
-  // Will wait to see at least one value for each unfinished queue before
-  // dispatching the next smallest value across all queues.
   OrderedMultiQueue() {}
-  ~OrderedMultiQueue() {}
+
+  ~OrderedMultiQueue() {
+    for (auto& entry : queues_) {
+      CHECK(entry.second.finished);
+    }
+  }
 
   void AddQueue(const QueueKey& queue_key, Callback callback) {
     CHECK(FindOrNull(queue_key) == nullptr);