src/ObstaclePerceptionContext.cpp - GCC Code Coverage Report

Directory:	./
Coverage:	low: ≥ 0% medium: ≥ 75.0% high: ≥ 90.0%

	Coverage	Exec / Excl / Total
Lines:	94.2%	81 / 0 / 86
Functions:	100.0%	3 / 0 / 3
Branches:	86.4%	19 / 0 / 22

    src/ObstaclePerceptionContext.cpp
    
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        #include "rvc/ObstaclePerceptionContext.hpp"
      
        #include "rvc/NavigationAndEscapeCoordinator.hpp"
      
        namespace rvc {
      
        13
        ObstaclePerceptionContext::ObstaclePerceptionContext(NavigationAndEscapeCoordinator& navigation)
      
        13
            : navigation_(navigation) {}
      
        18
        FusedObstacleSnapshot ObstaclePerceptionContext::ObstacleStateChanged(const ObstacleEvent& event) {
      
        18
            lastUpdateTime_ = event.sampleTime;
      
        18
            const auto snapshot = fuse(event);
      
        18
            navigation_.FusedObstacleSnapshot(snapshot);
      
        18
            return snapshot;
      
        }
      
        18
        FusedObstacleSnapshot ObstaclePerceptionContext::fuse(const ObstacleEvent& event) {
      
        18
            FusedObstacleSnapshot snapshot{};
      
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        18
            switch (event.kind) {
      
        3
            case ObstacleEventKind::frame:
      
            case ObstacleEventKind::forwardSafe:
      
            case ObstacleEventKind::forwardSafeAfterManeuver:
      
            case ObstacleEventKind::recovered:
      
        3
                frontObstacle_ = false;
      
        3
                leftObstacle_ = false;
      
        3
                rightObstacle_ = false;
      
        6
                snapshot.kind = event.kind == ObstacleEventKind::recovered
      
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        3
                                    ? FusedObstacleSnapshotKind::valid
      
                                    : FusedObstacleSnapshotKind::forwardSafe;
      
        3
                snapshot.forwardSafe = true;
      
        3
                snapshot.valid = true;
      
        3
                break;
      
        1
            case ObstacleEventKind::forwardBlocked:
      
            case ObstacleEventKind::forwardBlockedNotSurrounded:
      
            case ObstacleEventKind::frontUpdate:
      
        1
                frontObstacle_ = true;
      
        2
                snapshot.kind = event.kind == ObstacleEventKind::forwardBlockedNotSurrounded
      
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        1
                                    ? FusedObstacleSnapshotKind::notSurrounded
      
                                    : FusedObstacleSnapshotKind::forwardBlocked;
      
        1
                snapshot.forwardBlocked = true;
      
        1
                snapshot.rightTurnViable = !rightObstacle_;
      
        1
                snapshot.leftTurnViable = !leftObstacle_;
      
        1
                break;
      
        2
            case ObstacleEventKind::surrounded:
      
        2
                frontObstacle_ = true;
      
        2
                leftObstacle_ = true;
      
        2
                rightObstacle_ = true;
      
        2
                snapshot.kind = FusedObstacleSnapshotKind::surrounded;
      
        2
                snapshot.forwardBlocked = true;
      
        2
                snapshot.surrounded = true;
      
        2
                break;
      
        ✗
            case ObstacleEventKind::lateralOpening:
      
        ✗
                snapshot.kind = FusedObstacleSnapshotKind::rightTurnViable;
      
        ✗
                snapshot.lateralOpening = true;
      
        ✗
                snapshot.rightTurnViable = true;
      
        ✗
                break;
      
        2
            case ObstacleEventKind::rightInvalidForOpening:
      
            case ObstacleEventKind::rightBlocked:
      
        2
                rightObstacle_ = true;
      
        4
                snapshot.kind = event.kind == ObstacleEventKind::rightBlocked
      
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        2
                                    ? FusedObstacleSnapshotKind::rightTurnInvalid
      
                                    : FusedObstacleSnapshotKind::leftTurnViable;
      
        2
                snapshot.forwardBlocked = event.kind == ObstacleEventKind::rightBlocked;
      
        2
                snapshot.lateralOpening = true;
      
        2
                snapshot.leftTurnViable = true;
      
        2
                break;
      
        1
            case ObstacleEventKind::readingsDuringReverse:
      
            case ObstacleEventKind::reverseReadings:
      
            case ObstacleEventKind::flickerFrame:
      
        1
                snapshot.kind = FusedObstacleSnapshotKind::reverseReadings;
      
        1
                snapshot.surrounded = true;
      
        1
                break;
      
        1
            case ObstacleEventKind::reverseCycleSample:
      
        1
                snapshot.kind = FusedObstacleSnapshotKind::reverseCycleSample;
      
        1
                snapshot.surrounded = true;
      
        1
                break;
      
        1
            case ObstacleEventKind::maxBackupNoLateralOpening:
      
            case ObstacleEventKind::noLateralOpeningWithinLimits:
      
        1
                snapshot.kind = FusedObstacleSnapshotKind::noLateralOpening;
      
        1
                snapshot.surrounded = true;
      
        1
                break;
      
        1
            case ObstacleEventKind::partialStale:
      
        1
                snapshot.kind = FusedObstacleSnapshotKind::partialStale;
      
        1
                snapshot.valid = true;
      
        1
                break;
      
        1
            case ObstacleEventKind::invalidOrStale:
      
            case ObstacleEventKind::dropoutDuringReverse:
      
        1
                snapshot.kind = FusedObstacleSnapshotKind::invalid;
      
        1
                snapshot.valid = false;
      
        1
                break;
      
        1
            case ObstacleEventKind::oscillatingLateralReadings:
      
        1
                snapshot.kind = FusedObstacleSnapshotKind::unstable;
      
        1
                snapshot.valid = true;
      
        1
                break;
      
        1
            case ObstacleEventKind::ambiguous:
      
        1
                snapshot.kind = FusedObstacleSnapshotKind::ambiguous;
      
        1
                snapshot.valid = true;
      
        1
                break;
      
        1
            case ObstacleEventKind::rawUpdates:
      
        1
                snapshot.kind = FusedObstacleSnapshotKind::consistencyApplied;
      
        1
                break;
      
        1
            case ObstacleEventKind::sideUpdate:
      
        1
                snapshot.kind = FusedObstacleSnapshotKind::alignedSnapshotTBD;
      
        1
                break;
      
        1
            case ObstacleEventKind::sensorSnapshot:
      
            case ObstacleEventKind::TBD:
      
        1
                snapshot.kind = FusedObstacleSnapshotKind::snapshot;
      
        1
                break;
      
            }
      
        18
            return snapshot;
      
        }
      
        } // namespace rvc

Line	Branch	Exec	Source
1			#include "rvc/ObstaclePerceptionContext.hpp"
2
3			#include "rvc/NavigationAndEscapeCoordinator.hpp"
4
5			namespace rvc {
6
7		13	ObstaclePerceptionContext::ObstaclePerceptionContext(NavigationAndEscapeCoordinator& navigation)
8		13	: navigation_(navigation) {}
9
10		18	FusedObstacleSnapshot ObstaclePerceptionContext::ObstacleStateChanged(const ObstacleEvent& event) {
11		18	lastUpdateTime_ = event.sampleTime;
12		18	const auto snapshot = fuse(event);
13		18	navigation_.FusedObstacleSnapshot(snapshot);
14		18	return snapshot;
15			}
16
17		18	FusedObstacleSnapshot ObstaclePerceptionContext::fuse(const ObstacleEvent& event) {
18		18	FusedObstacleSnapshot snapshot{};
19
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21		3	case ObstacleEventKind::frame:
22			case ObstacleEventKind::forwardSafe:
23			case ObstacleEventKind::forwardSafeAfterManeuver:
24			case ObstacleEventKind::recovered:
25		3	frontObstacle_ = false;
26		3	leftObstacle_ = false;
27		3	rightObstacle_ = false;
28		6	snapshot.kind = event.kind == ObstacleEventKind::recovered
29	2/2 ✓ Branch 3 → 4 taken 1 time. ✓ Branch 3 → 5 taken 2 times.	3	? FusedObstacleSnapshotKind::valid
30			: FusedObstacleSnapshotKind::forwardSafe;
31		3	snapshot.forwardSafe = true;
32		3	snapshot.valid = true;
33		3	break;
34		1	case ObstacleEventKind::forwardBlocked:
35			case ObstacleEventKind::forwardBlockedNotSurrounded:
36			case ObstacleEventKind::frontUpdate:
37		1	frontObstacle_ = true;
38		2	snapshot.kind = event.kind == ObstacleEventKind::forwardBlockedNotSurrounded
39	1/2 ✓ Branch 7 → 8 taken 1 time. ✗ Branch 7 → 9 not taken.	1	? FusedObstacleSnapshotKind::notSurrounded
40			: FusedObstacleSnapshotKind::forwardBlocked;
41		1	snapshot.forwardBlocked = true;
42		1	snapshot.rightTurnViable = !rightObstacle_;
43		1	snapshot.leftTurnViable = !leftObstacle_;
44		1	break;
45		2	case ObstacleEventKind::surrounded:
46		2	frontObstacle_ = true;
47		2	leftObstacle_ = true;
48		2	rightObstacle_ = true;
49		2	snapshot.kind = FusedObstacleSnapshotKind::surrounded;
50		2	snapshot.forwardBlocked = true;
51		2	snapshot.surrounded = true;
52		2	break;
53		✗	case ObstacleEventKind::lateralOpening:
54		✗	snapshot.kind = FusedObstacleSnapshotKind::rightTurnViable;
55		✗	snapshot.lateralOpening = true;
56		✗	snapshot.rightTurnViable = true;
57		✗	break;
58		2	case ObstacleEventKind::rightInvalidForOpening:
59			case ObstacleEventKind::rightBlocked:
60		2	rightObstacle_ = true;
61		4	snapshot.kind = event.kind == ObstacleEventKind::rightBlocked
62	2/2 ✓ Branch 13 → 14 taken 1 time. ✓ Branch 13 → 15 taken 1 time.	2	? FusedObstacleSnapshotKind::rightTurnInvalid
63			: FusedObstacleSnapshotKind::leftTurnViable;
64		2	snapshot.forwardBlocked = event.kind == ObstacleEventKind::rightBlocked;
65		2	snapshot.lateralOpening = true;
66		2	snapshot.leftTurnViable = true;
67		2	break;
68		1	case ObstacleEventKind::readingsDuringReverse:
69			case ObstacleEventKind::reverseReadings:
70			case ObstacleEventKind::flickerFrame:
71		1	snapshot.kind = FusedObstacleSnapshotKind::reverseReadings;
72		1	snapshot.surrounded = true;
73		1	break;
74		1	case ObstacleEventKind::reverseCycleSample:
75		1	snapshot.kind = FusedObstacleSnapshotKind::reverseCycleSample;
76		1	snapshot.surrounded = true;
77		1	break;
78		1	case ObstacleEventKind::maxBackupNoLateralOpening:
79			case ObstacleEventKind::noLateralOpeningWithinLimits:
80		1	snapshot.kind = FusedObstacleSnapshotKind::noLateralOpening;
81		1	snapshot.surrounded = true;
82		1	break;
83		1	case ObstacleEventKind::partialStale:
84		1	snapshot.kind = FusedObstacleSnapshotKind::partialStale;
85		1	snapshot.valid = true;
86		1	break;
87		1	case ObstacleEventKind::invalidOrStale:
88			case ObstacleEventKind::dropoutDuringReverse:
89		1	snapshot.kind = FusedObstacleSnapshotKind::invalid;
90		1	snapshot.valid = false;
91		1	break;
92		1	case ObstacleEventKind::oscillatingLateralReadings:
93		1	snapshot.kind = FusedObstacleSnapshotKind::unstable;
94		1	snapshot.valid = true;
95		1	break;
96		1	case ObstacleEventKind::ambiguous:
97		1	snapshot.kind = FusedObstacleSnapshotKind::ambiguous;
98		1	snapshot.valid = true;
99		1	break;
100		1	case ObstacleEventKind::rawUpdates:
101		1	snapshot.kind = FusedObstacleSnapshotKind::consistencyApplied;
102		1	break;
103		1	case ObstacleEventKind::sideUpdate:
104		1	snapshot.kind = FusedObstacleSnapshotKind::alignedSnapshotTBD;
105		1	break;
106		1	case ObstacleEventKind::sensorSnapshot:
107			case ObstacleEventKind::TBD:
108		1	snapshot.kind = FusedObstacleSnapshotKind::snapshot;
109		1	break;
110			}
111
112		18	return snapshot;
113			}
114
115			} // namespace rvc
116