FOUND Coverage Report

src/
File: command-line/execution/executors.cpp
Date: 2025-11-20 21:57:26
Lines:
73/73
100.0%
Functions:
11/11
100.0%
Branches:
86/86
100.0%
Line Branch Exec Source
1 #include "command-line/execution/executors.hpp"
2
3 #include <memory>
4 #include <utility>
5 #include <cstring>
6
7 #include "common/logging.hpp"
8 #include "common/time/time.hpp"
9
10 namespace found {
11
12 8 CalibrationPipelineExecutor::CalibrationPipelineExecutor(CalibrationOptions &&options,
13 8 std::unique_ptr<CalibrationAlgorithm> calibrationAlgorithm)
14
1/1
✓ Branch 4 taken 8 times.
 8 : options_(std::move(options)) {
15
1/1
✓ Branch 4 taken 8 times.
 8 this->pipeline_.Complete(std::move(calibrationAlgorithm));
16 8 }
17
18 8 void CalibrationPipelineExecutor::ExecutePipeline() {
19 // Results are stored within the pipeline, can also be accessed
20 // via this function call
21
1/1
✓ Branch 3 taken 8 times.
 16 this->pipeline_.Run({this->options_.lclOrientation,
22 8 this->options_.refOrientation});
23 8 }
24
25 8 void CalibrationPipelineExecutor::OutputResults() {
26 // Output the results of the calibration
27 8 Quaternion *&calibrationQuaternion = this->pipeline_.GetProduct();
28
16/16
✓ Branch 3 taken 8 times.
✓ Branch 10 taken 8 times.
✓ Branch 13 taken 8 times.
✓ Branch 16 taken 8 times.
✓ Branch 20 taken 8 times.
✓ Branch 23 taken 8 times.
✓ Branch 26 taken 8 times.
✓ Branch 29 taken 8 times.
✓ Branch 32 taken 8 times.
✓ Branch 35 taken 8 times.
✓ Branch 38 taken 8 times.
✓ Branch 41 taken 8 times.
✓ Branch 44 taken 8 times.
✓ Branch 47 taken 8 times.
✓ Branch 50 taken 8 times.
✓ Branch 53 taken 8 times.
 24 LOG_INFO("Calibration Quaternion: (" << calibrationQuaternion->real << ", "
29 << calibrationQuaternion->i << ", "
30 << calibrationQuaternion->j << ", "
31 << calibrationQuaternion->k << ")");
32 8 DataFile outputDF{};
33 8 outputDF.relative_attitude = *calibrationQuaternion;
34
1/1
✓ Branch 2 taken 8 times.
 8 std::ofstream outputFile(this->options_.outputFile);
35
1/1
✓ Branch 1 taken 8 times.
 8 serializeDataFile(outputDF, outputFile);
36 16 }
37
38 64 DistancePipelineExecutor::~DistancePipelineExecutor() {
39 24 stbi_image_free(this->options_.image.image);
40 40 }
41
42 7 DistancePipelineExecutor::DistancePipelineExecutor(DistanceOptions &&options,
43 std::unique_ptr<EdgeDetectionAlgorithm> edgeDetectionAlgorithm,
44 std::unique_ptr<DistanceDeterminationAlgorithm> distanceAlgorithm,
45 7 std::unique_ptr<VectorGenerationAlgorithm> vectorizationAlgorithm)
46 7 : options_(std::move(options)) {
47
1/1
✓ Branch 3 taken 7 times.
 14 this->pipeline_.AddStage(std::move(edgeDetectionAlgorithm))
48
1/1
✓ Branch 3 taken 7 times.
 14 .AddStage(std::move(distanceAlgorithm))
49
1/1
✓ Branch 6 taken 7 times.
 21 .Complete(std::move(vectorizationAlgorithm));
50 7 }
51
52
53 5 DistancePipelineExecutor::DistancePipelineExecutor(DistanceOptions &&options,
54 std::unique_ptr<EdgeDetectionAlgorithm> edgeDetectionAlgorithm,
55 std::unique_ptr<EdgeFilteringAlgorithms> filters,
56 std::unique_ptr<DistanceDeterminationAlgorithm> distanceAlgorithm,
57 5 std::unique_ptr<VectorGenerationAlgorithm> vectorizationAlgorithm)
58 5 : options_(std::move(options)) {
59
1/1
✓ Branch 3 taken 5 times.
 10 this->pipeline_.AddStage(std::move(edgeDetectionAlgorithm))
60
1/1
✓ Branch 3 taken 5 times.
 10 .AddStage(std::move(filters))
61
1/1
✓ Branch 3 taken 5 times.
 10 .AddStage(std::move(distanceAlgorithm))
62
1/1
✓ Branch 7 taken 5 times.
 20 .Complete(std::move(vectorizationAlgorithm));
63 5 }
64
65 12 void DistancePipelineExecutor::ExecutePipeline() {
66 // Results are stored within the pipeline, can also be accessed
67 // via this function call
68
1/1
✓ Branch 2 taken 12 times.
 12 this->pipeline_.Run(this->options_.image);
69 12 }
70
71 12 void DistancePipelineExecutor::OutputResults() {
72 12 PositionVector *&positionVector = this->pipeline_.GetProduct();
73
14/14
✓ Branch 3 taken 12 times.
✓ Branch 10 taken 12 times.
✓ Branch 13 taken 12 times.
✓ Branch 16 taken 12 times.
✓ Branch 20 taken 12 times.
✓ Branch 23 taken 12 times.
✓ Branch 26 taken 12 times.
✓ Branch 29 taken 12 times.
✓ Branch 32 taken 12 times.
✓ Branch 35 taken 12 times.
✓ Branch 38 taken 12 times.
✓ Branch 41 taken 12 times.
✓ Branch 44 taken 12 times.
✓ Branch 47 taken 12 times.
 36 LOG_INFO("Calculated Position: (" << positionVector->x << ", "
74 << positionVector->y << ", "
75 << positionVector->z << ") m");
76
11/11
✓ Branch 3 taken 12 times.
✓ Branch 10 taken 12 times.
✓ Branch 13 taken 12 times.
✓ Branch 16 taken 12 times.
✓ Branch 20 taken 12 times.
✓ Branch 23 taken 12 times.
✓ Branch 26 taken 12 times.
✓ Branch 29 taken 12 times.
✓ Branch 32 taken 12 times.
✓ Branch 35 taken 12 times.
✓ Branch 38 taken 12 times.
 36 LOG_INFO("Distance from Earth: " << positionVector->Magnitude() << " m");
77 // TODO: Figure out a much more optimized way of doing this please, especially
78 // since we're saving it into the exact same file, there should be an easy way
79 // to simply modify the file directly instead of this mess.
80 12 DataFile outputDF{};
81
2/2
✓ Branch 0 taken 6 times.
✓ Branch 1 taken 6 times.
 12 if (this->options_.calibrationData.header.version != emptyDFVer) {
82 6 outputDF.header = this->options_.calibrationData.header;
83 6 outputDF.relative_attitude = this->options_.calibrationData.relative_attitude;
84
1/1
✓ Branch 2 taken 6 times.
 6 outputDF.positions = std::make_unique<LocationRecord[]>(outputDF.header.num_positions + 1);
85 6 std::memcpy(outputDF.positions.get(),
86 6 this->options_.calibrationData.positions.get(),
87 6 outputDF.header.num_positions);
88 } else {
89
1/1
✓ Branch 1 taken 6 times.
 6 outputDF.relative_attitude = SphericalToQuaternion(this->options_.relOrientation);
90
1/1
✓ Branch 2 taken 6 times.
 6 outputDF.positions = std::make_unique<LocationRecord[]>(1);
91 }
92
1/1
✓ Branch 3 taken 12 times.
 12 outputDF.positions[outputDF.header.num_positions++] = {static_cast<uint64_t>(getUT1Time().epochs), *positionVector};
93
3/3
✓ Branch 1 taken 12 times.
✓ Branch 3 taken 9 times.
✓ Branch 4 taken 3 times.
 12 if (this->options_.outputFile != "") {
94
1/1
✓ Branch 2 taken 9 times.
 9 std::ofstream outputFile(this->options_.outputFile);
95
1/1
✓ Branch 1 taken 9 times.
 9 serializeDataFile(outputDF, outputFile);
96 9 } else {
97
1/1
✓ Branch 2 taken 3 times.
 3 std::ofstream outputFile(this->options_.calibrationData.path);
98
1/1
✓ Branch 1 taken 3 times.
 3 serializeDataFile(outputDF, outputFile);
99 3 }
100 24 }
101
102 4 OrbitPipelineExecutor::OrbitPipelineExecutor(OrbitOptions &&options,
103 4 std::unique_ptr<OrbitPropagationAlgorithm> orbitPropagationAlgorithm)
104 4 : options_(std::move(options)) {
105
1/1
✓ Branch 4 taken 4 times.
 4 this->pipeline_.Complete(std::move(orbitPropagationAlgorithm));
106 4 }
107
108 4 void OrbitPipelineExecutor::ExecutePipeline() {
109 // Results are stored within the pipeline, can also be accessed
110 // via this function call
111
1/1
✓ Branch 2 taken 4 times.
 4 this->pipeline_.Run(this->options_.positionData);
112 4 }
113
114 4 void OrbitPipelineExecutor::OutputResults() {
115 // TODO: Output this somewhere
116 4 [[maybe_unused]] LocationRecord &futurePosition = this->pipeline_.GetProduct()->back();
117
17/17
✓ Branch 3 taken 4 times.
✓ Branch 10 taken 4 times.
✓ Branch 13 taken 4 times.
✓ Branch 16 taken 4 times.
✓ Branch 20 taken 4 times.
✓ Branch 23 taken 4 times.
✓ Branch 26 taken 4 times.
✓ Branch 29 taken 4 times.
✓ Branch 32 taken 4 times.
✓ Branch 35 taken 4 times.
✓ Branch 38 taken 4 times.
✓ Branch 41 taken 4 times.
✓ Branch 44 taken 4 times.
✓ Branch 47 taken 4 times.
✓ Branch 50 taken 4 times.
✓ Branch 53 taken 4 times.
✓ Branch 56 taken 4 times.
 12 LOG_INFO("Calculated Future Position: (" << futurePosition.position.x << ", "
118 << futurePosition.position.y << ", "
119 << futurePosition.position.z << ") m"
120 << " at time "
121 << futurePosition.timestamp << " s");
122 4 }
123
124 } // namespace found
125