cristhian
c1a7d70ba6
dora-image-view takes std/media/v1/Image, and dora's compatibility graph has no edge from std/core/v1/UInt8 to it, so wiring the two failed `dora validate` whatever the node actually sent. Its flat-buffer fallback would not have decoded these frames either: it reads width/height metadata, and this node only published shape. image and depth now go out as the Image struct, camera_info and point_cloud as Float32 arrays and camera_state as a string, all built against the Arrow C data interface in src/arrow so the node still links no Arrow C++. Shape, dtype and encoding metadata are dropped where the payload describes itself; intrinsics, frame_id and both timestamps are unchanged. tests/run.sh covers the packing without a camera or the SDK, round-tripping each array through pyarrow and rebuilding it under the sanitizers. Breaking: image_bgr is renamed to image and every payload changes shape. dataflow_plot.yml is replaced by dataflow_view.yml, which wires the viewer from a tag and repeats its contract in input_types so validate checks both sides of the wiring.
30 lines
1.1 KiB
Bash
Executable File
30 lines
1.1 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Build and run the payload tests.
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#
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# They cover src/arrow only, which is the part of the node that has no ZED SDK,
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# no CUDA and no dora dependency - so this runs anywhere, and is what CI runs.
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set -euo pipefail
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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REPO_DIR="$(dirname "$SCRIPT_DIR")"
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OUT_DIR="${REPO_DIR}/build/tests"
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mkdir -p "$OUT_DIR"
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# Sanitized: the release callbacks have to free the whole exported tree, and a
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# leak there would be one per frame.
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g++ -std=c++17 -Wall -Wextra -Werror -g -fsanitize=address,undefined \
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-I "${REPO_DIR}/src" \
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-o "${OUT_DIR}/arrow_test" \
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"${REPO_DIR}/src/arrow/array.cc" "${REPO_DIR}/tests/arrow_test.cc"
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"${OUT_DIR}/arrow_test"
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echo "ok arrow_test"
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# Unsanitized: pyarrow is the consumer standing in for dora, and loads the same
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# code as a shared library.
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g++ -std=c++17 -Wall -Wextra -Werror -O2 -shared -fPIC \
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-I "${REPO_DIR}/src" \
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-o "${OUT_DIR}/libzed_arrow.so" \
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"${REPO_DIR}/src/arrow/array.cc" "${REPO_DIR}/tests/arrow_export.cc"
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uv run --no-project --with pyarrow python "${REPO_DIR}/tests/test_arrow.py"
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