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refactor: modify the return type of the process function using tl_expected #24

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refactor: modify the return type of the process function using tl_expected #24

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101e399
refactor: modify the return type of the process function using tl_exp…
ktro2828 Jan 17, 2026
393d30f
test: resolve test errors
ktro2828 Jan 17, 2026
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5 changes: 2 additions & 3 deletions src/accelerated_image_processor_common/CMakeLists.txt
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Expand Up @@ -18,14 +18,13 @@ add_library(${PROJECT_NAME} INTERFACE)
target_include_directories(
${PROJECT_NAME}
INTERFACE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
$<INSTALL_INTERFACE:include> /opt/ros/$ENV{ROS_DISTRO}/include)

install(TARGETS ${PROJECT_NAME} EXPORT export_${PROJECT_NAME})
install(DIRECTORY include/${PROJECT_NAME} DESTINATION include)

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()

endif()

ament_export_targets(export_${PROJECT_NAME})
Expand Down
21 changes: 12 additions & 9 deletions ...celerated_image_processor_common/include/accelerated_image_processor_common/processor.hpp
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Expand Up @@ -17,7 +17,8 @@
#include "accelerated_image_processor_common/datatype.hpp"
#include "accelerated_image_processor_common/parameter.hpp"

#include <optional>
#include <tl_expected/expected.hpp>

#include <string>
#include <type_traits>
#include <utility>
Expand Down Expand Up @@ -66,6 +67,12 @@ class BaseProcessor
}

public:
/**
* @brief Output result type of processed image. If successful, returns the processed image.
* Otherwise, returns an error message.
*/
using result_t = tl::expected<Image, std::string>;

/**
* @brief Constructor.
*/
Expand Down Expand Up @@ -95,22 +102,18 @@ class BaseProcessor
/**
* @brief Process the input image.
* @param image The input image.
* @return The processed image if the process is successful, otherwise std::nullopt.
* @return The processed image or an error message.
*/
std::optional<common::Image> process(const Image & image)
result_t process(const Image & image)
{
if (!is_ready()) {
// TODO(ktro2828): Update to return a type that describes if the process success or not
// instead of void
return std::nullopt;
return tl::make_unexpected("Failed to process: process is not ready");
}

auto processed = this->process_impl(image);

if (!processed.is_valid()) {
// TODO(ktro2828): Update to return a type that describes if the process success or not
// instead of void
return std::nullopt;
return tl::make_unexpected("Failed to process: invalid processed image");
}

std::visit(
Expand Down
2 changes: 2 additions & 0 deletions src/accelerated_image_processor_common/package.xml
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Expand Up @@ -9,6 +9,8 @@

<buildtool_depend>ament_cmake</buildtool_depend>

<depend>tl_expected</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>

Expand Down
9 changes: 6 additions & 3 deletions src/accelerated_image_processor_compression/test/cpu_jpeg_compressor.cpp
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Expand Up @@ -24,7 +24,8 @@ TEST_F(TestJPEGCompressor, CpuCompressionDefault)
{
auto compressor = make_cpujpeg_compressor();
compressor->register_postprocess<TestJPEGCompressor, &TestJPEGCompressor::check>(this);
compressor->process(get_image());
const auto result = compressor->process(get_image());
EXPECT_TRUE(result);
}

TEST_F(TestJPEGCompressor, CpuCompressionWithLowQuality)
Expand All @@ -37,7 +38,8 @@ TEST_F(TestJPEGCompressor, CpuCompressionWithLowQuality)
}
}
EXPECT_EQ(compressor->parameter_value<int>("quality"), 10);
compressor->process(get_image());
const auto result = compressor->process(get_image());
EXPECT_TRUE(result);
}

TEST_F(TestJPEGCompressor, CpuCompressionWithHighQuality)
Expand All @@ -50,7 +52,8 @@ TEST_F(TestJPEGCompressor, CpuCompressionWithHighQuality)
}
}
EXPECT_EQ(compressor->parameter_value<int>("quality"), 90);
compressor->process(get_image());
const auto result = compressor->process(get_image());
EXPECT_TRUE(result);
}
} // namespace accelerated_image_processor::compression
#else
Expand Down
9 changes: 6 additions & 3 deletions src/accelerated_image_processor_compression/test/jetson_jpeg_compressor.cpp
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Expand Up @@ -24,7 +24,8 @@ TEST_F(TestJPEGCompressor, JetsonCompressionDefault)
{
auto compressor = make_jetsonjpeg_compressor();
compressor->register_postprocess<TestJPEGCompressor, &TestJPEGCompressor::check>(this);
compressor->process(get_image());
const auto result = compressor->process(get_image());
EXPECT_TRUE(result);
}

TEST_F(TestJPEGCompressor, JetsonCompressionWithLowQuality)
Expand All @@ -37,7 +38,8 @@ TEST_F(TestJPEGCompressor, JetsonCompressionWithLowQuality)
}
}
EXPECT_EQ(compressor->parameter_value<int>("quality"), 10);
compressor->process(get_image());
const auto result = compressor->process(get_image());
EXPECT_TRUE(result);
}

TEST_F(TestJPEGCompressor, JetsonCompressionWithHighQuality)
Expand All @@ -50,7 +52,8 @@ TEST_F(TestJPEGCompressor, JetsonCompressionWithHighQuality)
}
}
EXPECT_EQ(compressor->parameter_value<int>("quality"), 90);
compressor->process(get_image());
const auto result = compressor->process(get_image());
EXPECT_TRUE(result);
}
} // namespace accelerated_image_processor::compression
#else
Expand Down
9 changes: 6 additions & 3 deletions src/accelerated_image_processor_compression/test/nv_jpeg_compressor.cpp
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Expand Up @@ -24,7 +24,8 @@ TEST_F(TestJPEGCompressor, NvJPEGCompressionDefault)
{
auto compressor = make_nvjpeg_compressor();
compressor->register_postprocess<TestJPEGCompressor, &TestJPEGCompressor::check>(this);
compressor->process(get_image());
const auto result = compressor->process(get_image());
EXPECT_TRUE(result);
}

TEST_F(TestJPEGCompressor, NvJPEGCompressionWithLowQuality)
Expand All @@ -37,7 +38,8 @@ TEST_F(TestJPEGCompressor, NvJPEGCompressionWithLowQuality)
}
}
EXPECT_EQ(compressor->parameter_value<int>("quality"), 10);
compressor->process(get_image());
const auto result = compressor->process(get_image());
EXPECT_TRUE(result);
}

TEST_F(TestJPEGCompressor, NvJPEGCompressionWithHighQuality)
Expand All @@ -50,7 +52,8 @@ TEST_F(TestJPEGCompressor, NvJPEGCompressionWithHighQuality)
}
}
EXPECT_EQ(compressor->parameter_value<int>("quality"), 90);
compressor->process(get_image());
const auto result = compressor->process(get_image());
EXPECT_TRUE(result);
}
} // namespace accelerated_image_processor::compression
#else
Expand Down
9 changes: 6 additions & 3 deletions src/accelerated_image_processor_pipeline/test/cpu_rectifier.cpp
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Expand Up @@ -24,7 +24,8 @@ TEST_F(TestRectifier, CpuRectificationDefault)
auto rectifier = make_cpu_rectifier();
rectifier->register_postprocess<TestRectifier, &TestRectifier::check>(this);
rectifier->set_camera_info(get_camera_info());
rectifier->process(get_image());
const auto result = rectifier->process(get_image());
EXPECT_TRUE(result);
}

TEST_F(TestRectifier, CpuRectificationLowAlpha)
Expand All @@ -38,7 +39,8 @@ TEST_F(TestRectifier, CpuRectificationLowAlpha)
}
EXPECT_EQ(rectifier->parameter_value<double>("alpha"), 0.0);
rectifier->set_camera_info(get_camera_info());
rectifier->process(get_image());
const auto result = rectifier->process(get_image());
EXPECT_TRUE(result);
}

TEST_F(TestRectifier, CpuRectificationHighAlpha)
Expand All @@ -52,7 +54,8 @@ TEST_F(TestRectifier, CpuRectificationHighAlpha)
}
EXPECT_EQ(rectifier->parameter_value<double>("alpha"), 1.0);
rectifier->set_camera_info(get_camera_info());
rectifier->process(get_image());
const auto result = rectifier->process(get_image());
EXPECT_TRUE(result);
}
} // namespace accelerated_image_processor::pipeline

Expand Down
9 changes: 6 additions & 3 deletions src/accelerated_image_processor_pipeline/test/npp_rectifier.cpp
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Expand Up @@ -25,7 +25,8 @@ TEST_F(TestRectifier, NppRectificationDefault)
auto rectifier = make_npp_rectifier();
rectifier->register_postprocess<TestRectifier, &TestRectifier::check>(this);
rectifier->set_camera_info(get_camera_info());
rectifier->process(get_image());
const auto result = rectifier->process(get_image());
EXPECT_TRUE(result);
}

TEST_F(TestRectifier, NppRectificationLowAlpha)
Expand All @@ -39,7 +40,8 @@ TEST_F(TestRectifier, NppRectificationLowAlpha)
}
EXPECT_EQ(rectifier->parameter_value<double>("alpha"), 0.0);
rectifier->set_camera_info(get_camera_info());
rectifier->process(get_image());
const auto result = rectifier->process(get_image());
EXPECT_TRUE(result);
}

TEST_F(TestRectifier, NppRectificationHighAlpha)
Expand All @@ -53,7 +55,8 @@ TEST_F(TestRectifier, NppRectificationHighAlpha)
}
EXPECT_EQ(rectifier->parameter_value<double>("alpha"), 1.0);
rectifier->set_camera_info(get_camera_info());
rectifier->process(get_image());
const auto result = rectifier->process(get_image());
EXPECT_TRUE(result);
}
} // namespace accelerated_image_processor::pipeline
#else
Expand Down
9 changes: 6 additions & 3 deletions src/accelerated_image_processor_pipeline/test/opencv_cuda_rectifier.cpp
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Expand Up @@ -25,7 +25,8 @@ TEST_F(TestRectifier, OpenCvCudaRectificationDefault)
auto rectifier = make_opencv_cuda_rectifier();
rectifier->register_postprocess<TestRectifier, &TestRectifier::check>(this);
rectifier->set_camera_info(get_camera_info());
rectifier->process(get_image());
const auto result = rectifier->process(get_image());
EXPECT_TRUE(result);
}

TEST_F(TestRectifier, OpenCvCudaRectificationLowAlpha)
Expand All @@ -39,7 +40,8 @@ TEST_F(TestRectifier, OpenCvCudaRectificationLowAlpha)
}
EXPECT_EQ(rectifier->parameter_value<double>("alpha"), 0.0);
rectifier->set_camera_info(get_camera_info());
rectifier->process(get_image());
const auto result = rectifier->process(get_image());
EXPECT_TRUE(result);
}

TEST_F(TestRectifier, OpenCvCudaRectificationHighAlpha)
Expand All @@ -53,7 +55,8 @@ TEST_F(TestRectifier, OpenCvCudaRectificationHighAlpha)
}
EXPECT_EQ(rectifier->parameter_value<double>("alpha"), 1.0);
rectifier->set_camera_info(get_camera_info());
rectifier->process(get_image());
const auto result = rectifier->process(get_image());
EXPECT_TRUE(result);
}
} // namespace accelerated_image_processor::pipeline
#else
Expand Down