Feature: Implementing Algorithm Superclass by MahirEmran · Pull Request #47 · UWCubeSat/found

MahirEmran · 2025-10-28T20:20:29Z

Description

Resolves #23

Added EdgeFilteringAlgorithm into DistancePipelineExecutor constructor
Edited DistancePipeline to have 4 items
Added edge_filters.hpp w/ ProvideEdgeFilteringAlgorithm and ModifyingPipeline
Added OPT_ASSIGN flags

Artifacts for PR #47 (DO NOT CHANGE)

nguy8tri · 2025-11-04T03:14:29Z

Hi, so you may notice that your coverage is failing for unapparent reasons. A recent bug that was introduced into Linux is the likely culprit, but unfortunately, we don't know what the bug is or how to fix it. However, we do know a way to go around it. I have noticed that you've added some new tests to pipeline-tests.cpp. You should try moving them to nominal-pipeline-test.cpp to see if it fixes the issue. If that doesn't work, try making all the pipeline tests in one file.

Note

For reference, there seems to be an issue where instantiating templates across multiple locations makes for uncombined or incomplete coverage data. Thus, the solution to this issue is to only test a particular instantiation in one file. Attempting to test them in both files (as you've done for DistancePipeline) will for some reason make gcovr believe that some things are not fully covered.

Also, I highly encourage you to work with mocks instead of instantiating new objects. This may seem odd at first, but it is a very robust way to mock behavior instead of making full on implementations, however small it looks. For instance, all your test stages within sequential-pipeline can easily be reformed into:

EXPECT_CALL(mock, function(args...)).WillOnce(testing::Return(your stuff))

As odd as it seems, it is an industry essential in nominal software development, but also just a good way to not worry about making test classes. This whole thing about mocking falls under something called Dependency Injection, used everywhere in the real world. To learn more about it, please look here: Mocking and Dependency Injection. You should also look at the purpose of the providers folder, detailed in Executor Injection, which is NEVER to be used directly in test cases (only indirectly through integration tests) :).

For reference the two functions that were not called (and why your coverage is failing in Github) are (there is almost no logic to this by the way):

[found::SequentialPipeline<std::pair<found::EulerAngles, found::EulerAngles>, found::Quaternion, 1ul>::Run(std::pair<found::EulerAngles, found::EulerAngles> const&) (line 222)]
[found::SequentialPipeline<std::vector<found::LocationRecord, std::allocatorfound::LocationRecord >, std::vector<found::LocationRecord, std::allocatorfound::LocationRecord >, 2ul>::Run(std::vector<found::LocationRecord, std::allocatorfound::LocationRecord > const&) (line 222)]

nguy8tri

I was going to leave this to Josh, but I realized some confusion and tough issues warrant my input on this.

I want to first commend you on doing all this, its not easy to pick up a new code space and to run with it. That being said, there are many things that must be corrected. I think you will see that a lot of this could've been avoided by looking over the thourough documentation in FOUND (but who does that am I right haha?).

A summary of what I saw:

I saw many opportunities for Dependency Mocking. Trust me, its worth your time, so take some time to learn how its used via the links in the comments.
I also saw a lack of understanding around Dependency Injection Framework that's used in the code. No worries, that's not even taught in the 4 years (in my case 5) that you're at UW.
Confusion around the coverage. That's understandable, we'll work through it together (for reference, we faced the same issue before, and it took me 3 months to figure it out)
Unnecessary code that is good in theory but useless/unoptimized in production. That will take a while to shake itself out (I'm still doing that myself)
Nitpicky style things to help you conform to the rest of the code.
(Were you using AI? No pressure, I'm not your professor, and I use it a lot in my work as a software dev. However, some things seemed out of place so I thought I'd ask for curiosity sake.)

Anyways, I hope the comments here will be helpful! Please ask me any questions you might have!

…s, moving providers to stage_providers, removing autos (replacing w/ std::unique_ptr), reordering distancepipeline

nguy8tri

Good job on the changes. However there were a few changes thay weren't done, so I've explicitly marked them. Let me know if you have questions

…, updating pipelines to own stages (and modifying executors/pipeline tests accordingly), updating documentation

MahirEmran · 2025-11-20T21:59:45Z

I had to make a merge in executors-test.cpp because (maybe some commit between last commit and now) there was difference in how DistanceOptions obj was being constructed. I feel like the one that was there before was odd (set all the fields in constructor rather than initializing object, then explicitly setting fields after), so I just went with current changes.

Had to rerun documentation check because first check failed the juliandate time test both attempts.

nguy8tri

Great work (and sorry I didn't respond soon). I just requested a change to eliminate a redundant variable and another comment (I'm a bit tired writing this so I don't have more meaningful comments right now). Please resolve all comments that are no longer relavent.

nguy8tri · 2026-01-08T00:23:01Z

    /// The stages of this
    Action *stages[N];
+    /// Ownership storage for the stages
+    std::unique_ptr<Action> ownedStages[N];


Would it be easier to just get rid of Action *stages[N]; and just have std::unique_ptr<Action> ownedStages[N]

nguy8tri · 2026-01-08T00:37:00Z

+ * that are enabled in options and returns it. If no filter is enabled,
+ * returns nullptr to indicate "no filters".
+ */
+inline std::unique_ptr<EdgeFilteringAlgorithms> ProvideEdgeFilteringAlgorithm(const DistanceOptions &options) {


Should be under stage-providers

…s -> stage-providers, using rvalue in stage-providers

MahirEmran · 2026-02-03T18:49:47Z

I'm not sure how to see the changes that were requested, maybe issue on my end but Github just isn't showing me anything. Maybe I made the edits implicitly? Not sure.
Resolved comments resolved through previous commits, left the ones about rvalue unresolved and moving the provider to stage-providers since this commit should hopefully resolve them.

nguy8tri

Good job on the edits. I have now started moving towards stylistic edits (with a few programmatic ones too).

nguy8tri · 2026-02-05T23:03:27Z

-    /// The stages of this
-    Action *stages[N];
    /// Ownership storage for the stages
    std::unique_ptr<Action> ownedStages[N];


just change this to stages instead of ownedStages

nguy8tri · 2026-02-05T23:06:47Z

-     * and it throws an error if the image is not valid.
+     * Constructs a DistancePipelineExecutor (no edge-filters)
+     *
+     * @param options The DistanceOptions to configure the pipeline (moved into the executor)


no need for this comment (moved into the executor), we know this from reading the code, and its also an editorial change that no one would have context on years down the line.

nguy8tri · 2026-02-05T23:12:26Z

-    /// The stages of this
-    Action *stages[N];
+    /// Ownership storage for the stages
+    std::unique_ptr<Action> ownedStages[N];


call this stages

nguy8tri · 2026-02-05T23:13:56Z

-     * 
+     * Adds a stage to this pipeline, taking ownership of the provided stage.
+     *
+     * @param stage The stage to add to the pipeline (ownership transferred via unique_ptr)


You are stating a postcondition here. For this, you will use the @post annotation instead of appending this parenthetical here.

nguy8tri · 2026-02-05T23:16:22Z

+     *
+     * @param stage The stage to add to the pipeline (ownership transferred via unique_ptr)
+     *
+     * @throw std::invalid_argument iff this pipeline has already been completed


we use this to mean the class itself when we're not in the initial description (Top description of this multi line comment). Its odd, I know, but I want you to get used to the practice. After all, classes represent objects, so referring to ourselves as this makes sense.

nguy8tri · 2026-02-05T23:29:15Z

+                                    std::move(distAlg),
+                                    std::move(vecAlg));
+    } else {
+        return std::make_unique<DistancePipelineExecutor>(std::move(options),


Forward options

nguy8tri · 2026-02-05T23:32:09Z

     */
-    template<typename I, typename O> SequentialPipeline &AddStage(FunctionStage<I, O> &stage) {
+    template<typename StageType>
+    SequentialPipeline &AddStage(std::unique_ptr<StageType> stage) {


If you want, you can change AddStage and Complete to accept && parameters to save space, but I'll let you decide.

nguy8tri · 2026-02-05T23:33:56Z

    MOCK_METHOD(PositionVector, Run, (const PositionVector& points), (override));
 };

+class MockEdgeFilteringAlgorithm : public EdgeFilteringAlgorithm {


Place in order (so below edge detection)

nguy8tri · 2026-02-05T23:35:57Z

@@ -0,0 +1,44 @@
+#include <gtest/gtest.h>


Not sure what this is here for, perhaps you should put tests in here for NoOpEdgeFilter instead, because you're testing pipeline behavior as opposed to actual filter behavior. In other words, a test for using the no op edge filtering algorithm will suffice here.

nguy8tri · 2026-02-05T23:36:32Z

+}
+
+// TODO: Remove/replace when noop-edge-filter is not needed.
+TEST_F(IntegrationTest, TestMainDistanceNoOpEdgeFilterDisabled) {


Doesn't one of the other tests cover not using the filter? In that case you could get rid of this.

nguy8tri

Everything looks good, congratulations on doing this

MahirEmran added 4 commits October 28, 2025 12:14

Adding the algorihtm superclass

63e64b8

more changes - mainly implementing OPT_ASSIGN

719dbbf

first attempt at fixing coverage (still not complete)

5c6d4a5

One function call isn't owrking in pipelines.hpp, not sure why

b2a7b9b

nguy8tri requested changes Nov 4, 2025

View reviewed changes

nguy8tri reviewed Nov 4, 2025

View reviewed changes

Comment thread src/distance/edge-filters.hpp Outdated

nguy8tri and others added 5 commits November 4, 2025 11:02

Fixed Coverage

59a98e7

changing tests to use mocks, adding integration tests for edge filter…

35f4729

…s, moving providers to stage_providers, removing autos (replacing w/ std::unique_ptr), reordering distancepipeline

Update pipelines.hpp

db0e9aa

Forgot some comments

8fed43f

Ignoring a line for coverage in pipelines.hpp

0351c0b

MahirEmran requested a review from nguy8tri November 5, 2025 22:54

nguy8tri changed the title ~~Implementing Algorithm Superclass~~ Feature: Implementing Algorithm Superclass Nov 9, 2025

nguy8tri requested changes Nov 9, 2025

View reviewed changes

MahirEmran and others added 2 commits November 20, 2025 13:33

Removing unneeded tests in edge-filters-test, removing redundant mock…

04b4265

…, updating pipelines to own stages (and modifying executors/pipeline tests accordingly), updating documentation

Merge branch 'main' into algorithm-superclass

0a7de4b

MahirEmran requested a review from nguy8tri November 20, 2025 22:00

nguy8tri requested changes Jan 8, 2026

View reviewed changes

Only using ownedStages in pipelines, moving provider from edge-filter…

5d41334

…s -> stage-providers, using rvalue in stage-providers

MahirEmran requested a review from nguy8tri February 3, 2026 18:56

MahirEmran mentioned this pull request Feb 5, 2026

Feature: CCSDS123.0-B-2 Image Compression #63

Closed

nguy8tri requested changes Feb 5, 2026

View reviewed changes

Implementing feedback (I completely forgot about this)

8ac070b

MahirEmran requested a review from nguy8tri March 27, 2026 23:21

nguy8tri approved these changes Apr 17, 2026

View reviewed changes

MahirEmran merged commit 3713b37 into main Apr 17, 2026
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Artifacts for PR #47 (DO NOT CHANGE)

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MahirEmran commented Oct 28, 2025 •

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