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Merged
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Oct 18, 2025
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RB-410 MovingSum and LessThanOrEqualToReplace #94

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14 changes: 12 additions & 2 deletions libs/api/include/rtbot/OperatorJson.h
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,9 @@
#include "rtbot/std/InfiniteImpulseResponse.h"
#include "rtbot/std/Linear.h"
#include "rtbot/std/MovingAverage.h"
#include "rtbot/std/MovingSum.h"
#include "rtbot/std/PeakDetector.h"
#include "rtbot/std/Replace.h"
#include "rtbot/std/ResamplerConstant.h"
#include "rtbot/std/ResamplerHermite.h"
#include "rtbot/std/StandardDeviation.h"
Expand Down Expand Up @@ -73,6 +75,8 @@ class OperatorJson {
return make_output(id, parsed["portTypes"].get<std::vector<std::string>>());
} else if (type == "MovingAverage") {
return make_moving_average(id, parsed["window_size"].get<size_t>());
} else if (type == "MovingSum") {
return make_moving_sum(id, parsed["window_size"].get<size_t>());
} else if (type == "StandardDeviation") {
return make_std_dev(id, parsed["window_size"].get<size_t>());
} else if (type == "FiniteImpulseResponse") {
Expand Down Expand Up @@ -131,6 +135,8 @@ class OperatorJson {
return make_constant_boolean_to_number(id, parsed["value"].get<double>());
} else if (type == "LessThan") {
return make_less_than(id, parsed["value"].get<double>());
} else if (type == "LessThanOrEqualToReplace") {
return make_less_than_or_equal_to_replace(id, parsed["value"].get<double>(), parsed["replaceBy"].get<double>());
} else if (type == "EqualTo") {
return make_equal_to(id, parsed["value"].get<double>(), parsed.value("epsilon", 1e-10));
} else if (type == "NotEqualTo") {
Expand Down Expand Up @@ -264,6 +270,8 @@ class OperatorJson {
j["portTypes"] = std::dynamic_pointer_cast<Output>(op)->get_port_types();
} else if (type == "MovingAverage") {
j["window_size"] = std::dynamic_pointer_cast<MovingAverage>(op)->window_size();
} else if (type == "MovingSum") {
j["window_size"] = std::dynamic_pointer_cast<MovingSum>(op)->window_size();
} else if (type == "StandardDeviation") {
j["window_size"] = std::dynamic_pointer_cast<StandardDeviation>(op)->window_size();
} else if (type == "FiniteImpulseResponse") {
Expand Down Expand Up @@ -305,8 +313,9 @@ class OperatorJson {
j["epsilon"] = std::dynamic_pointer_cast<SyncNotEqual>(op)->get_epsilon();
} else if (type == "GreaterThan") {
j["value"] = std::dynamic_pointer_cast<GreaterThan>(op)->get_threshold();
} else if (type == "LessThan") {
j["value"] = std::dynamic_pointer_cast<LessThan>(op)->get_threshold();
} else if (type == "LessThanOrEqualToReplace") {
j["value"] = std::dynamic_pointer_cast<LessThanOrEqualToReplace>(op)->get_threshold();
j["replaceBy"] = std::dynamic_pointer_cast<LessThanOrEqualToReplace>(op)->get_replace_by();
} else if (type == "LogicalAnd" || type == "LogicalOr" || type == "LogicalXor" || type == "LogicalNand" ||
type == "LogicalNor" || type == "LogicalImplication") {
j["numPorts"] = std::dynamic_pointer_cast<BooleanSync>(op)->get_num_ports();
Expand Down Expand Up @@ -369,6 +378,7 @@ class OperatorJson {
} else {
throw std::runtime_error("Unknown operator type: " + type);
}
return j.dump();
}
};

Expand Down
277 changes: 277 additions & 0 deletions libs/api/test/test_program.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -441,6 +441,283 @@ SCENARIO("Program handles Pipeline operators and resets", "[program][pipeline]")
}
}

SCENARIO("Program handles complex Pipeline operators and resets", "[program][pipeline]") {
GIVEN("A complex program with a Pipeline") {
std::string program_json = R"({
"apiVersion": "v1",
"operators": [
{
"id": "input",
"type": "Input",
"portTypes": [
"number",
"number"
]
},
{
"id": "hi_input_cutoff",
"type": "LessThanOrEqualToReplace",
"value": 0.5,
"replaceBy": 0.0
},
{
"id": "lo_input_cutoff",
"type": "LessThanOrEqualToReplace",
"value": 0.5,
"replaceBy": 0.0
},
{
"id": "hiresampler",
"type": "ResamplerConstant",
"interval": 5000
},
{
"id": "loresampler",
"type": "ResamplerConstant",
"interval": 5000
},
{
"id": "hiresampler_cutoff",
"type": "LessThanOrEqualToReplace",
"value": 0.5,
"replaceBy": 0.0
},
{
"id": "loresampler_cutoff",
"type": "LessThanOrEqualToReplace",
"value": 0.5,
"replaceBy": 0.0
},
{
"id": "power1",
"type": "Scale",
"value": 220
},
{
"id": "power2",
"type": "Scale",
"value": 220
},
{
"id": "power1_cutoff",
"type": "LessThanOrEqualToReplace",
"value": 0.5,
"replaceBy": 0.0
},
{
"id": "power2_cutoff",
"type": "LessThanOrEqualToReplace",
"value": 0.5,
"replaceBy": 0.0
},
{
"id": "total_power",
"type": "Addition"
},
{
"id": "total_power_cutoff",
"type": "LessThanOrEqualToReplace",
"value": 0.5,
"replaceBy": 0.0
},
{
"id": "hourly",
"type": "Pipeline",
"input_port_types": [
"number"
],
"output_port_types": [
"number"
],
"operators": [
{
"id": "trapezoid",
"type": "MovingAverage",
"window_size": 2
},
{
"id": "trapezoid_cutoff",
"type": "LessThanOrEqualToReplace",
"value": 0.5,
"replaceBy": 0.0
},
{
"id": "wh",
"type": "Scale",
"value": 0.00138888888
},
{
"id": "wh_cutoff",
"type": "LessThanOrEqualToReplace",
"value": 0.5,
"replaceBy": 0.0
},
{
"id": "hourly_ms",
"type": "MovingSum",
"window_size": 720
}
],
"connections": [
{
"from": "trapezoid",
"to": "trapezoid_cutoff"
},
{
"from": "trapezoid_cutoff",
"to": "wh"
},
{
"from": "wh",
"to": "wh_cutoff"
},
{
"from": "wh_cutoff",
"to": "hourly_ms"
}
],
"entryOperator": "trapezoid",
"outputMappings": {
"hourly_ms": {
"o1": "o1"
}
}
},
{
"id": "output",
"type": "Output",
"portTypes": [
"number"
]
}
],
"connections": [
{
"from": "input",
"to": "hi_input_cutoff",
"fromPort": "o1",
"toPort": "i1"
},
{
"from": "input",
"to": "lo_input_cutoff",
"fromPort": "o2",
"toPort": "i1"
},
{
"from": "hi_input_cutoff",
"to": "hiresampler"
},
{
"from": "lo_input_cutoff",
"to": "loresampler"
},
{
"from": "hiresampler",
"to": "hiresampler_cutoff"
},
{
"from": "hiresampler_cutoff",
"to": "power1"
},
{
"from": "loresampler",
"to": "loresampler_cutoff"
},
{
"from": "loresampler_cutoff",
"to": "power2"
},
{
"from": "power1",
"to": "power1_cutoff"
},
{
"from": "power2",
"to": "power2_cutoff"
},
{
"from": "power1_cutoff",
"to": "total_power",
"fromPort": "o1",
"toPort": "i1"
},
{
"from": "power2_cutoff",
"to": "total_power",
"fromPort": "o1",
"toPort": "i2"
},
{
"from": "total_power",
"to": "total_power_cutoff"
},
{
"from": "total_power_cutoff",
"to": "hourly"
},
{
"from": "hourly",
"to": "output",
"fromPort": "o1",
"toPort": "i1"
}
],
"entryOperator": "input",
"output": {
"output": [
"o1"
]
},
"title": "Power Consumption Monitor with Multiple Averages",
"description": "Calculates hourly power consumption from two current inputs"
})";

Program program(program_json);

WHEN("Processing messages") {
int t = 5000;
for (int h = 1; h <= 20; h++) {
ProgramMsgBatch final_batch;
// int iterations = 0;
if (h % 2 == 1) {
while (final_batch.size() == 0) {
program.receive({t, NumberData{30.23}}, "i1");
final_batch = program.receive({t, NumberData{10.5802}}, "i2");
t = t + 5000;
// iterations++;
}
} else {
while (final_batch.size() == 0) {
program.receive({t, NumberData{0.01}}, "i1");
final_batch = program.receive({t, NumberData{0.01}}, "i2");
t = t + 5000;
// iterations++;
}
}

if (final_batch.size() == 1 && h % 2 == 1) {
const auto* out_msg = dynamic_cast<const Message<NumberData>*>(final_batch["output"]["o1"].back().get());
REQUIRE(out_msg->data.value > 0.0);
/*std::cout << " time " << out_msg->time << std::endl;
std::cout << " value " << out_msg->data.value << std::endl;
std::cout << " iterations " << iterations << std::endl;
std::cout << " ----------------------------- " << std::endl;*/
} else if (final_batch.size() == 1 && h % 2 == 0) {
const auto* out_msg = dynamic_cast<const Message<NumberData>*>(final_batch["output"]["o1"].back().get());
REQUIRE(out_msg->data.value == 0.0);
/*std::cout << " time " << out_msg->time << std::endl;
std::cout << " value " << out_msg->data.value << std::endl;
std::cout << " iterations " << iterations << std::endl;
std::cout << " ----------------------------- " << std::endl;*/
} else {
FAIL(true);
}
}
}
}
}

SCENARIO("Program handles Pipeline serialization", "[program][pipeline]") {
GIVEN("A program with a stateful Pipeline") {
std::string program_json = R"({
Expand Down
9 changes: 4 additions & 5 deletions libs/core/include/rtbot/Pipeline.h
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Original file line number Diff line number Diff line change
Expand Up @@ -129,7 +129,7 @@ class Pipeline : public Operator {
entry_operator_->execute();
input_queue.pop_front();
// Process output mappings
bool was_reseted = false;
bool was_reset = false;
for (const auto& [op_id, mappings] : output_mappings_) {
auto it = operators_.find(op_id);
if (it != operators_.end()) {
Expand All @@ -139,23 +139,22 @@ class Pipeline : public Operator {
const auto& source_queue = op->get_output_queue(operator_port);
// Only forward if source operator has produced output on the mapped port
if (!source_queue.empty()) {
was_reseted = false;
auto& target_queue = get_output_queue(pipeline_port);
for (const auto& msg : source_queue) {
RTBOT_LOG_DEBUG("Forwarding message ", msg->to_string(), " from ", op_id, " -> ", pipeline_port);
target_queue.push_back(msg->clone());
reset();
was_reseted = true;
was_reset = true;
break;
}
}
}
if (was_reseted) {
if (was_reset) {
break;
}
}
}
if (was_reseted) {
if (was_reset) {
break;
}
}
Expand Down
20 changes: 0 additions & 20 deletions libs/std/include/rtbot/std/Collector.h
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