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keep sweeps in acquisition order through history replays

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The processor appended sweeps the GUI fed back to its own history, so its next replay
published them twice and out of order, and the B-scan came out with rotated columns.
Fed-back sweeps now stay out of that history, results are kept in timestamp order,
picking the displayed combo only redraws and only new sweeps are recorded to disk.
This commit is contained in:
Ayzen
2026-10-02 16:05:32 +03:00
parent 45861f4047
commit d283ecfdf1
11 changed files with 421 additions and 91 deletions
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data_acq_and_processing/processing/data_processor/src/data_processor.cpp
+24 -6
View File
@@ -129,19 +129,37 @@ void DataProcessor::run(const std::atomic<bool>& stop_requested) {
if (preprocessed_ring_.pop(bytes)) {
auto preprocessed = ipc::deserialize_preprocessed_collection(bytes);
preprocessed_history.push_back(std::move(preprocessed));
while (preprocessed_history.size() > history_limit) {
preprocessed_history.erase(preprocessed_history.begin());
// Sweeps the GUI feeds back to recompute its B-scan keep their original
// timestamps, so they are no newer than the newest retained sweep. They
// are processed like any other but stay out of the history, which must
// remain the acquisition in order (later sweeps take their aperture and
// background from it), and away from the locator, which reports the
// current scene.
const bool fed_back = !preprocessed_history.empty() &&
preprocessed.monotonic_ns <= preprocessed_history.back().monotonic_ns;
if (!fed_back) {
preprocessed_history.push_back(std::move(preprocessed));
while (preprocessed_history.size() > history_limit) {
preprocessed_history.erase(preprocessed_history.begin());
}
}
const auto& current = fed_back ? preprocessed : preprocessed_history.back();
const auto earlier = std::partition_point(
preprocessed_history.begin(),
preprocessed_history.end(),
[&](const ipc::PreprocessedCollection& retained) { return retained.monotonic_ns < current.monotonic_ns; }
);
const auto result_collection = process_collection(
preprocessed_history.back(),
std::span<const ipc::PreprocessedCollection>(preprocessed_history.data(), preprocessed_history.size() - 1U),
current,
std::span<const ipc::PreprocessedCollection>(preprocessed_history.begin(), earlier),
processor,
live_config
);
publish_result_collection(result_collection, results_ring_);
publish_locator(result_collection, live_config);
if (!fed_back) {
publish_locator(result_collection, live_config);
}
consecutive_errors = 0; // made progress; reset the escalation counter
continue;
}