pass by reference

Author: Edwardius

deep_core/include/deep_core/deep_node_base.hpp

@@ -138,7 +138,7 @@ class DeepNodeBase : public rclcpp_lifecycle::LifecycleNode
    * @param inputs Input tensor for inference
    * @return Output tensor from inference
    */
-  Tensor run_inference(Tensor && inputs);
+  Tensor run_inference(const Tensor & inputs);
 
   /**
    * @brief Check if a backend plugin is loaded

deep_core/include/deep_core/plugin_interfaces/backend_inference_executor.hpp

@@ -50,7 +50,7 @@ class BackendInferenceExecutor
    * @throws std::invalid_argument if input tensor is invalid
    * @throws std::runtime_error if no model is loaded
    */
-  Tensor run_inference(Tensor && input);
+  Tensor run_inference(const Tensor & input);
 
   /**
    * @brief Unload the currently loaded model
@@ -81,7 +81,7 @@ class BackendInferenceExecutor
   /**
    * @brief Implementation of run_inference (to be overridden by backends)
    */
-  virtual Tensor run_inference_impl(Tensor && input) = 0;
+  virtual Tensor run_inference_impl(const Tensor & input) = 0;
 
   /**
    * @brief Implementation of unload_model (to be overridden by backends)

deep_core/src/backend_inference_executor.cpp

@@ -34,7 +34,7 @@ bool BackendInferenceExecutor::load_model(const std::filesystem::path & model_pa
   return success;
 }
 
-Tensor BackendInferenceExecutor::run_inference(Tensor && input)
+Tensor BackendInferenceExecutor::run_inference(const Tensor & input)
 {
   // Validate input tensor
   if (input.data() == nullptr) {
@@ -55,7 +55,7 @@ Tensor BackendInferenceExecutor::run_inference(Tensor && input)
     throw std::runtime_error("No model loaded for inference");
   }
 
-  return run_inference_impl(std::move(input));
+  return run_inference_impl(input);
 }
 
 void BackendInferenceExecutor::unload_model()

deep_core/src/deep_node_base.cpp

@@ -191,7 +191,7 @@ void DeepNodeBase::unload_model()
   }
 }
 
-Tensor DeepNodeBase::run_inference(Tensor && inputs)
+Tensor DeepNodeBase::run_inference(const Tensor & inputs)
 {
   if (!plugin_) {
     throw std::runtime_error("No plugin loaded");
@@ -206,7 +206,7 @@ Tensor DeepNodeBase::run_inference(Tensor && inputs)
     throw std::runtime_error("No inference executor available");
   }
 
-  return executor->run_inference(std::move(inputs));
+  return executor->run_inference(inputs);
 }
 
 std::string DeepNodeBase::get_backend_name() const

deep_test/src/mock_plugin/mock_plugin.cpp

@@ -80,9 +80,10 @@ class MockInferenceExecutor : public BackendInferenceExecutor
     return true;
   }
 
-  Tensor run_inference_impl(Tensor && input) override
+  Tensor run_inference_impl(const Tensor & input) override
   {
-    return std::move(input);
+    // For testing, just return a copy of the input tensor
+    return input;
   }
 
   void unload_model_impl() override