Create an enum for sender errors
Will replace usages of bools, and will now currently only be used
for indicating that messages were sent too fast
After we merge this commit we will replace this enum with a general
Status class for all of aos, similar to absl::Status.
Change-Id: I4b5b2e7685744b3c6826a241cd3c84190eaa96ee
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
diff --git a/y2020/vision/camera_reader.cc b/y2020/vision/camera_reader.cc
index e908a47..b13c19c 100644
--- a/y2020/vision/camera_reader.cc
+++ b/y2020/vision/camera_reader.cc
@@ -165,6 +165,7 @@
std::vector<cv::FlannBasedMatcher> matchers_;
aos::Sender<CameraImage> image_sender_;
aos::Sender<sift::ImageMatchResult> result_sender_;
+ aos::SendFailureCounter result_failure_counter_;
aos::Sender<sift::ImageMatchResult> detailed_result_sender_;
// We schedule this immediately to read an image. Having it on a timer means
// other things can run on the event loop in between.
@@ -289,10 +290,11 @@
result_builder.add_image_monotonic_timestamp_ns(
image.monotonic_timestamp_ns());
result_builder.add_camera_calibration(camera_calibration_offset);
+ result_builder.add_send_failures(result_failure_counter_.failures());
// TODO<Jim>: Need to add target point computed from matches and
// mapped by homography
- builder.Send(result_builder.Finish());
+ result_failure_counter_.Count(builder.Send(result_builder.Finish()));
}
void CameraReader::ProcessImage(const CameraImage &image) {
@@ -713,7 +715,8 @@
{
aos::Sender<sift::TrainingData> training_data_sender =
event_loop.MakeSender<sift::TrainingData>("/camera");
- training_data_sender.Send(training_data);
+ CHECK_EQ(training_data_sender.Send(training_data),
+ aos::RawSender::Error::kOk);
}
V4L2Reader v4l2_reader(&event_loop, "/dev/video0");