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Change dropping data before start to be idempotent. (#133) 

We drop as much data from each queue as possible without changing the
start time that would be determined if we only saw the dispatched
data, i.e. we retain one piece of data not beyond the common start time.
This makes the process idempotent.
master
Wolfgang Hess 2016-11-18 12:49:33 +01:00 committed by GitHub
parent e703b1cea3
commit 7dc3ab1e9e
3 changed files with 24 additions and 8 deletions
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1
cartographer/common/CMakeLists.txt
View File

@ -175,6 +175,7 @@ google_test(common_configuration_files_test
SRCS
configuration_files_test.cc
DEPENDS
common_config
common_configuration_file_resolver
common_lua_parameter_dictionary
mapping_map_builder

5
cartographer/common/configuration_files_test.cc
View File

@ -33,8 +33,9 @@ TEST(ConfigurationFilesTest, ValidateMapBuilderOptions) {
return MAP_BUILDER)text";
EXPECT_NO_FATAL_FAILURE({
auto file_resolver = ::cartographer::common::make_unique<
::cartographer::common::ConfigurationFileResolver>(std::vector<string>{
string(::cartographer::common::kSourceDirectory) + "/configuration_files"});
::cartographer::common::ConfigurationFileResolver>(
std::vector<string>{string(::cartographer::common::kSourceDirectory) +
"/configuration_files"});
::cartographer::common::LuaParameterDictionary lua_parameter_dictionary(
kCode, std::move(file_resolver));
::cartographer::mapping::CreateMapBuilderOptions(&lua_parameter_dictionary);

24
cartographer/sensor/ordered_multi_queue.h
View File

@ -168,13 +168,27 @@ class OrderedMultiQueue {
<< common_start_time_ << "'.";
}
if (next_data->time < common_start_time_) {
next_queue->queue.Pop();
continue;
}
if (next_data->time >= common_start_time_) {
// Happy case, we are beyond the 'common_start_time_' already.
last_dispatched_time_ = next_data->time;
next_queue->callback(next_queue->queue.Pop());
} else if (next_queue->queue.Size() < 2) {
if (!next_queue->finished) {
// We cannot decide whether to drop or dispatch this yet.
return;
}
last_dispatched_time_ = next_data->time;
next_queue->callback(next_queue->queue.Pop());
} else {
// We take a peek at the time after next data. If it also is not beyond
// 'common_start_time_' we drop 'next_data', otherwise we just found the
// first packet to dispatch from this queue.
std::unique_ptr<Data> next_data_owner = next_queue->queue.Pop();
if (next_queue->queue.Peek<Data>()->time > common_start_time_) {
last_dispatched_time_ = next_data->time;
next_queue->callback(std::move(next_data_owner));
}
}
}
}