sm2mm: Add optional flag --permit-missing-externals

[jlblancoc]

Summary by CodeRabbit

• New Features

  • Added a CLI flag (--permit-missing-externals) that, when enabled, treats missing external files as warnings and continues processing.

• Behavior

  • Processing now catches missing-external errors and logs a warning (showing brief context) instead of aborting when the new flag is set.

• Documentation

  • Updated command usage and help text to document the new option.

[coderabbitai]

Caution

Review failed

The pull request is closed.

📝 Walkthrough

Walkthrough

A new CLI flag --permit-missing-externals was added and wired into sm2mm_options_t as throw_on_missing_external_files. The processing loop in sm2mm.cpp now catches missing-external-file errors, logs a warning, and continues when the flag is set false.

Changes

Cohort / File(s)	Summary
CLI apps/sm2mm/main.cpp	Added TCLAP::SwitchArg argDontThrowOnMissingExternals (--permit-missing-externals) and wire to options to control missing-external behavior.
Docs docs/source/app_sm2mm.rst	Added --permit-missing-externals to usage and options with help text; minor reflow of nearby options.
Options struct mp2p_icp_filters/include/mp2p_icp_filters/sm2mm.h	Added bool throw_on_missing_external_files = true; to mp2p_icp_filters::sm2mm_options_t.
Processing / Error handling mp2p_icp_filters/src/sm2mm.cpp	Added first_n_lines() helper; wrapped frame processing in try-catch. On "Assert file existence failed" and when throw_on_missing_external_files is false, log a warning (first 3 lines) and continue; otherwise rethrow. Minor reorganization of observation load/unload and pipeline application.

Sequence Diagram(s)

mermaid
sequenceDiagram
participant CLI
participant sm2mm as sm2mm Process
participant FS as External Files Checker
participant Logger
CLI->>sm2mm: parse args (permit-missing-externals)
sm2mm->>sm2mm: for each frame: load observations
sm2mm->>FS: validate external files
alt files present
FS-->>sm2mm: ok
sm2mm->>sm2mm: run generators & pipeline
else missing files
FS-->>sm2mm: throw "Assert file existence failed"
alt throw_on_missing_external_files == true
sm2mm-->>CLI: propagate exception (abort)
else throw_on_missing_external_files == false
sm2mm->>Logger: log warning with snippet
sm2mm-->>sm2mm: continue to next frame
end
end

Estimated code review effort

🎯 3 (Moderate) | ⏱️ ~20 minutes

Possibly related PRs

• sm2mm: Add optional flag --permit-missing-externals #39 — touches the same CLI flag, options struct, docs, and similar missing-external error handling in sm2mm.cpp.
• Feat/sm2mm-new-options #33 — modifies sm2mm CLI/options and the frame-processing loop; overlaps with the changes here.

Poem

🐰 A hop, a sniff, a gentle nudge,

When externals wander off the ledge,
I log a warning, skip the fray,
And bound along to map the day.

🚥 Pre-merge checks | ✅ 2 | ❌ 1

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 25.00% which is insufficient. The required threshold is 80.00%.	Write docstrings for the functions missing them to satisfy the coverage threshold.

✅ Passed checks (2 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title clearly and accurately summarizes the main change: adding a new CLI flag --permit-missing-externals to the sm2mm application.

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✨ Finishing touches

• 📝 Generate docstrings

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Post copyable unit tests in a comment
• Commit unit tests in branch feat/permit-missing-externals

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[coderabbitai]

Actionable comments posted: 1

🤖 Fix all issues with AI agents

In `@mp2p_icp_filters/src/sm2mm.cpp`:
- Around line 245-255: The observation object loaded for processing is not
always unloaded: when apply_generators(generators, *obs, mm, robotPose) returns
false the code continues without calling obs->unload(), and the same omission
exists in the exception handler; fix by ensuring obs->unload() is called on
every exit path (e.g., call obs->unload() immediately before the early continue
and also in the catch block before rethrow/continue), or preferably wrap the
load/process block with a RAII/scope-guard that calls obs->unload() in its
destructor to guarantee unload regardless of normal return or exceptions
(references: apply_generators, apply_filter_pipeline, obs->unload()).