Tracker service v0.3.0: multiple scenes #943
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Pull request overview
This PR introduces support for multiple scenes in the tracker service (v0.3.0), enabling the system to handle camera-to-scene mappings and route detections accordingly. The changes move away from a hardcoded single scene model to a configurable multi-scene architecture.
Changes:
- Added
SceneRegistryclass to manage camera-to-scene mappings with duplicate detection - Enhanced configuration loader to parse scene definitions from JSON config
- Modified
MessageHandlerto subscribe to specific camera topics and route messages based on scene registry lookups - Updated test suite to reflect new multi-scene behavior and topic naming conventions
Reviewed changes
Copilot reviewed 15 out of 15 changed files in this pull request and generated 2 comments.
Show a summary per file
| File | Description |
|---|---|
| tracker/inc/scene_registry.hpp | New header defining SceneRegistry class and DuplicateCameraError exception for camera-scene mapping |
| tracker/inc/message_handler.hpp | Updated to accept SceneRegistry reference and changed from wildcard to per-camera topic subscriptions |
| tracker/inc/config_loader.hpp | Added structs for scenes, cameras, intrinsics, and distortion configuration |
| tracker/src/scene_registry.cpp | Implementation of scene registration and camera lookup logic |
| tracker/src/message_handler.cpp | Refactored to use scene registry for camera validation and per-category message publishing |
| tracker/src/main.cpp | Added scene registry initialization from config with duplicate camera error handling |
| tracker/src/config_loader.cpp | Added JSON parsing logic for scenes configuration section |
| tracker/config/tracker.json | Added inline scene definitions with two scenes (Queuing and Retail) and multiple cameras |
| tracker/test/unit/scene_registry_test.cpp | Comprehensive unit tests for scene registry functionality |
| tracker/test/unit/message_handler_test.cpp | Updated tests to use scene registry and validate new multi-scene behavior |
| tracker/test/unit/config_loader_test.cpp | Added tests for scene configuration loading and validation |
| tracker/test/unit/CMakeLists.txt | Added scene_registry_test.cpp and source file to build |
| tracker/test/service/test_mqtt.py | Updated topic constants to match new scene-specific topic format |
| tracker/CMakeLists.txt | Added scene_registry.cpp to build sources |
| tracker/.gitignore | Added docs/* to ignore list temporarily |
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📝 Description
For a description see #943 (review). Time Chunking & Tracking will be added in #946.
Related PRs
Testing
Controller service disabled
Tracker service enabled
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