fixup

tesseract-robotics · Jul 13, 2024 · ddfa930 · ddfa930
1 parent 3182ef5
commit ddfa930
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Showing 25 changed files with 136 additions and 132 deletions.
diff --git a/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node_ports.h b/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node_ports.h
@@ -40,11 +40,17 @@ namespace tesseract_planning
  */
 struct TaskComposerNodePorts
 {
-  std::unordered_map<std::string, bool> input_required;
-  std::unordered_map<std::string, bool> input_optional;
+  enum Type
+  {
+    SINGLE = 0,
+    MULTIPLE = 1
+  };
 
-  std::unordered_map<std::string, bool> output_required;
-  std::unordered_map<std::string, bool> output_optional;
+  std::unordered_map<std::string, Type> input_required;
+  std::unordered_map<std::string, Type> input_optional;
+
+  std::unordered_map<std::string, Type> output_required;
+  std::unordered_map<std::string, Type> output_optional;
 
   std::string toString() const;
 

diff --git a/tesseract_task_composer/core/src/nodes/has_data_storage_entry_task.cpp b/tesseract_task_composer/core/src/nodes/has_data_storage_entry_task.cpp
@@ -37,7 +37,7 @@ HasDataStorageEntryTask::HasDataStorageEntryTask(std::string name,
 TaskComposerNodePorts HasDataStorageEntryTask::ports()
 {
   TaskComposerNodePorts ports;
-  ports.input_required[INPUT_KEYS_PORT] = true;
+  ports.input_required[INPUT_KEYS_PORT] = TaskComposerNodePorts::MULTIPLE;
   return ports;
 }
 

diff --git a/tesseract_task_composer/core/src/task_composer_node.cpp b/tesseract_task_composer/core/src/task_composer_node.cpp
@@ -154,7 +154,7 @@ void TaskComposerNode::validatePorts() const
   const auto& output_keys = output_keys_.data();
 
   // Check for required ports
-  for (const auto& [port, container] : ports_.input_required)
+  for (const auto& [port, type] : ports_.input_required)
   {
     auto it = input_keys.find(port);
     if (it == input_keys.end())
@@ -164,38 +164,38 @@ void TaskComposerNode::validatePorts() const
       msg.append(", missing required input port '");
       msg.append(port);
       msg.append(":");
-      msg.append((container) ? "Multiple" : "Single");
+      msg.append((static_cast<bool>(type)) ? "Multiple" : "Single");
       msg.append("'. Supported Ports:\n");
       msg.append(ports_.toString());
       throw std::runtime_error(msg);
     }
 
-    if (static_cast<bool>(it->second.index()) != container)
+    if (it->second.index() != type)
     {
       std::string msg;
       msg.append(name_);
       msg.append(", required input port is wrong type'");
       msg.append(port);
       msg.append(":");
-      msg.append((container) ? "Multiple" : "Single");
+      msg.append((static_cast<bool>(type)) ? "Multiple" : "Single");
       msg.append("'. Supported Ports:\n");
       msg.append(ports_.toString());
       throw std::runtime_error(msg);
     }
 
-    if (container && std::get<std::vector<std::string>>(it->second).empty())
+    if (static_cast<bool>(type) && std::get<std::vector<std::string>>(it->second).empty())
     {
       std::string msg;
       msg.append(name_);
       msg.append(", required input port container is empty'");
       msg.append(port);
-      msg.append(":Container'. Supported Ports:\n");
+      msg.append(":Multiple'. Supported Ports:\n");
       msg.append(ports_.toString());
       throw std::runtime_error(msg);
     }
   }
 
-  for (const auto& [port, container] : ports_.output_required)
+  for (const auto& [port, type] : ports_.output_required)
   {
     auto it = output_keys.find(port);
     if (it == output_keys.end())
@@ -205,32 +205,32 @@ void TaskComposerNode::validatePorts() const
       msg.append(", missing required output port '");
       msg.append(port);
       msg.append(":");
-      msg.append((container) ? "Multiple" : "Single");
+      msg.append((static_cast<bool>(type)) ? "Multiple" : "Single");
       msg.append("'. Supported Ports:\n");
       msg.append(ports_.toString());
       throw std::runtime_error(msg);
     }
 
-    if (static_cast<bool>(it->second.index()) != container)
+    if (it->second.index() != type)
     {
       std::string msg;
       msg.append(name_);
       msg.append(", required output port is wrong type'");
       msg.append(port);
       msg.append(":");
-      msg.append((container) ? "Multiple" : "Single");
+      msg.append((static_cast<bool>(type)) ? "Multiple" : "Single");
       msg.append("'. Supported Ports:\n");
       msg.append(ports_.toString());
       throw std::runtime_error(msg);
     }
 
-    if (container && std::get<std::vector<std::string>>(it->second).empty())
+    if (static_cast<bool>(type) && std::get<std::vector<std::string>>(it->second).empty())
     {
       std::string msg;
       msg.append(name_);
       msg.append(", required output port container is empty'");
       msg.append(port);
-      msg.append(":Container'. Supported Ports:\n");
+      msg.append(":Multiple'. Supported Ports:\n");
       msg.append(ports_.toString());
       throw std::runtime_error(msg);
     }
@@ -241,17 +241,16 @@ void TaskComposerNode::validatePorts() const
   {
     {
       auto it = ports_.input_required.find(port);
-      if ((it != ports_.input_required.end()) &&
-          ((key.index() == 0 && !it->second) || (key.index() == 1 && it->second)))
+      if ((it != ports_.input_required.end()) && (key.index() == it->second))
         continue;
     }
 
     {
       auto it = ports_.input_optional.find(port);
-      if ((it != ports_.input_optional.end()) &&
-          ((key.index() == 0 && !it->second) || (key.index() == 1 && it->second)))
+      if ((it != ports_.input_optional.end()) && (key.index() == it->second))
       {
-        if ((it != ports_.input_optional.end()) && it->second && std::get<std::vector<std::string>>(key).empty())
+        if ((it != ports_.input_optional.end()) && static_cast<bool>(it->second) &&
+            std::get<std::vector<std::string>>(key).empty())
         {
           std::string msg;
           msg.append(name_);
@@ -281,17 +280,16 @@ void TaskComposerNode::validatePorts() const
   {
     {
       auto it = ports_.output_required.find(port);
-      if ((it != ports_.output_required.end()) &&
-          ((key.index() == 0 && !it->second) || (key.index() == 1 && it->second)))
+      if ((it != ports_.output_required.end()) && (key.index() == it->second))
         continue;
     }
 
     {
       auto it = ports_.output_optional.find(port);
-      if ((it != ports_.output_optional.end()) &&
-          ((key.index() == 0 && !it->second) || (key.index() == 1 && it->second)))
+      if ((it != ports_.output_optional.end()) && (key.index() == it->second))
       {
-        if ((it != ports_.output_optional.end()) && it->second && std::get<std::vector<std::string>>(key).empty())
+        if ((it != ports_.output_optional.end()) && static_cast<bool>(it->second) &&
+            std::get<std::vector<std::string>>(key).empty())
         {
           std::string msg;
           msg.append(name_);

diff --git a/tesseract_task_composer/core/src/task_composer_node_ports.cpp b/tesseract_task_composer/core/src/task_composer_node_ports.cpp
@@ -40,9 +40,9 @@ std::string TaskComposerNodePorts::toString() const
   {
     std::string temp = "    required: [";
     std::size_t cnt{ 0 };
-    for (const auto& [port, container] : input_required)
+    for (const auto& [port, type] : input_required)
     {
-      std::string bool_str = (container) ? "Multiple" : "Single";
+      std::string bool_str = (static_cast<bool>(type)) ? "Multiple" : "Single";
       temp.append(port);
       temp.append(":");
       temp.append(bool_str);
@@ -64,9 +64,9 @@ std::string TaskComposerNodePorts::toString() const
   {
     std::string temp = "    optional: [";
     std::size_t cnt{ 0 };
-    for (const auto& [port, container] : input_optional)
+    for (const auto& [port, type] : input_optional)
     {
-      std::string bool_str = (container) ? "Multiple" : "Single";
+      std::string bool_str = (static_cast<bool>(type)) ? "Multiple" : "Single";
       temp.append(port);
       temp.append(":");
       temp.append(bool_str);
@@ -89,9 +89,9 @@ std::string TaskComposerNodePorts::toString() const
   {
     std::string temp = "    required: [";
     std::size_t cnt{ 0 };
-    for (const auto& [port, container] : output_required)
+    for (const auto& [port, type] : output_required)
     {
-      std::string bool_str = (container) ? "Multiple" : "Single";
+      std::string bool_str = (static_cast<bool>(type)) ? "Multiple" : "Single";
       temp.append(port);
       temp.append(":");
       temp.append(bool_str);
@@ -113,9 +113,9 @@ std::string TaskComposerNodePorts::toString() const
   {
     std::string temp = "    optional: [";
     std::size_t cnt{ 0 };
-    for (const auto& [port, container] : output_optional)
+    for (const auto& [port, type] : output_optional)
     {
-      std::string bool_str = (container) ? "Multiple" : "Single";
+      std::string bool_str = (static_cast<bool>(type)) ? "Multiple" : "Single";
       temp.append(port);
       temp.append(":");
       temp.append(bool_str);

diff --git a/tesseract_task_composer/core/src/test_suite/test_task.cpp b/tesseract_task_composer/core/src/test_suite/test_task.cpp
@@ -70,10 +70,10 @@ TestTask::TestTask(std::string name, const YAML::Node& config, const TaskCompose
 TaskComposerNodePorts TestTask::ports()
 {
   TaskComposerNodePorts ports;
-  ports.input_required[INOUT_PORT1_PORT] = false;
-  ports.input_required[INOUT_PORT2_PORT] = true;
-  ports.output_required[INOUT_PORT1_PORT] = false;
-  ports.output_required[INOUT_PORT2_PORT] = true;
+  ports.input_required[INOUT_PORT1_PORT] = TaskComposerNodePorts::SINGLE;
+  ports.input_required[INOUT_PORT2_PORT] = TaskComposerNodePorts::MULTIPLE;
+  ports.output_required[INOUT_PORT1_PORT] = TaskComposerNodePorts::SINGLE;
+  ports.output_required[INOUT_PORT2_PORT] = TaskComposerNodePorts::MULTIPLE;
   return ports;
 }
 

diff --git a/tesseract_task_composer/examples/task_composer_example.cpp b/tesseract_task_composer/examples/task_composer_example.cpp
@@ -33,9 +33,9 @@ class AddTaskComposerNode : public TaskComposerTask
   static TaskComposerNodePorts ports()
   {
     TaskComposerNodePorts ports;
-    ports.input_required[INPUT_LEFT_PORT] = false;
-    ports.input_required[INPUT_RIGHT_PORT] = false;
-    ports.output_required[OUTPUT_RESULT_PORT] = false;
+    ports.input_required[INPUT_LEFT_PORT] = TaskComposerNodePorts::SINGLE;
+    ports.input_required[INPUT_RIGHT_PORT] = TaskComposerNodePorts::SINGLE;
+    ports.output_required[OUTPUT_RESULT_PORT] = TaskComposerNodePorts::SINGLE;
     return ports;
   }
 
@@ -76,9 +76,9 @@ class MultiplyTaskComposerNode : public TaskComposerTask
   static TaskComposerNodePorts ports()
   {
     TaskComposerNodePorts ports;
-    ports.input_required[INPUT_LEFT_PORT] = false;
-    ports.input_required[INPUT_RIGHT_PORT] = false;
-    ports.output_required[OUTPUT_RESULT_PORT] = false;
+    ports.input_required[INPUT_LEFT_PORT] = TaskComposerNodePorts::SINGLE;
+    ports.input_required[INPUT_RIGHT_PORT] = TaskComposerNodePorts::SINGLE;
+    ports.output_required[OUTPUT_RESULT_PORT] = TaskComposerNodePorts::SINGLE;
     return ports;
   }
 

diff --git a/..._composer/planning/include/tesseract_task_composer/planning/nodes/motion_planner_task.hpp b/..._composer/planning/include/tesseract_task_composer/planning/nodes/motion_planner_task.hpp
@@ -126,15 +126,15 @@ class MotionPlannerTask : public TaskComposerTask
   static TaskComposerNodePorts ports()
   {
     TaskComposerNodePorts ports;
-    ports.input_required[INOUT_PROGRAM_PORT] = false;
-    ports.input_required[INPUT_ENVIRONMENT_PORT] = false;
-    ports.input_required[INPUT_PROFILES_PORT] = false;
+    ports.input_required[INOUT_PROGRAM_PORT] = TaskComposerNodePorts::SINGLE;
+    ports.input_required[INPUT_ENVIRONMENT_PORT] = TaskComposerNodePorts::SINGLE;
+    ports.input_required[INPUT_PROFILES_PORT] = TaskComposerNodePorts::SINGLE;
 
-    ports.input_optional[INPUT_MANIP_INFO_PORT] = false;
-    ports.input_optional[INPUT_COMPOSITE_PROFILE_REMAPPING_PORT] = false;
-    ports.input_optional[INPUT_MOVE_PROFILE_REMAPPING_PORT] = false;
+    ports.input_optional[INPUT_MANIP_INFO_PORT] = TaskComposerNodePorts::SINGLE;
+    ports.input_optional[INPUT_COMPOSITE_PROFILE_REMAPPING_PORT] = TaskComposerNodePorts::SINGLE;
+    ports.input_optional[INPUT_MOVE_PROFILE_REMAPPING_PORT] = TaskComposerNodePorts::SINGLE;
 
-    ports.output_required[INOUT_PROGRAM_PORT] = false;
+    ports.output_required[INOUT_PROGRAM_PORT] = TaskComposerNodePorts::SINGLE;
     return ports;
   }
 

diff --git a/tesseract_task_composer/planning/src/nodes/continuous_contact_check_task.cpp b/tesseract_task_composer/planning/src/nodes/continuous_contact_check_task.cpp
@@ -93,12 +93,12 @@ ContinuousContactCheckTask::ContinuousContactCheckTask(std::string name,
 TaskComposerNodePorts ContinuousContactCheckTask::ports()
 {
   TaskComposerNodePorts ports;
-  ports.input_required[INPUT_PROGRAM_PORT] = false;
-  ports.input_required[INPUT_ENVIRONMENT_PORT] = false;
-  ports.input_required[INPUT_PROFILES_PORT] = false;
+  ports.input_required[INPUT_PROGRAM_PORT] = TaskComposerNodePorts::SINGLE;
+  ports.input_required[INPUT_ENVIRONMENT_PORT] = TaskComposerNodePorts::SINGLE;
+  ports.input_required[INPUT_PROFILES_PORT] = TaskComposerNodePorts::SINGLE;
 
-  ports.input_optional[INPUT_MANIP_INFO_PORT] = false;
-  ports.input_optional[INPUT_COMPOSITE_PROFILE_REMAPPING_PORT] = false;
+  ports.input_optional[INPUT_MANIP_INFO_PORT] = TaskComposerNodePorts::SINGLE;
+  ports.input_optional[INPUT_COMPOSITE_PROFILE_REMAPPING_PORT] = TaskComposerNodePorts::SINGLE;
   return ports;
 }
 

diff --git a/tesseract_task_composer/planning/src/nodes/discrete_contact_check_task.cpp b/tesseract_task_composer/planning/src/nodes/discrete_contact_check_task.cpp
@@ -93,12 +93,12 @@ DiscreteContactCheckTask::DiscreteContactCheckTask(std::string name,
 TaskComposerNodePorts DiscreteContactCheckTask::ports()
 {
   TaskComposerNodePorts ports;
-  ports.input_required[INPUT_PROGRAM_PORT] = false;
-  ports.input_required[INPUT_ENVIRONMENT_PORT] = false;
-  ports.input_required[INPUT_PROFILES_PORT] = false;
+  ports.input_required[INPUT_PROGRAM_PORT] = TaskComposerNodePorts::SINGLE;
+  ports.input_required[INPUT_ENVIRONMENT_PORT] = TaskComposerNodePorts::SINGLE;
+  ports.input_required[INPUT_PROFILES_PORT] = TaskComposerNodePorts::SINGLE;
 
-  ports.input_optional[INPUT_MANIP_INFO_PORT] = false;
-  ports.input_optional[INPUT_COMPOSITE_PROFILE_REMAPPING_PORT] = false;
+  ports.input_optional[INPUT_MANIP_INFO_PORT] = TaskComposerNodePorts::SINGLE;
+  ports.input_optional[INPUT_COMPOSITE_PROFILE_REMAPPING_PORT] = TaskComposerNodePorts::SINGLE;
   return ports;
 }
 

diff --git a/tesseract_task_composer/planning/src/nodes/fix_state_bounds_task.cpp b/tesseract_task_composer/planning/src/nodes/fix_state_bounds_task.cpp
@@ -83,14 +83,14 @@ FixStateBoundsTask::FixStateBoundsTask(std::string name,
 TaskComposerNodePorts FixStateBoundsTask::ports()
 {
   TaskComposerNodePorts ports;
-  ports.input_required[INOUT_PROGRAM_PORT] = false;
-  ports.input_required[INPUT_ENVIRONMENT_PORT] = false;
-  ports.input_required[INPUT_PROFILES_PORT] = false;
+  ports.input_required[INOUT_PROGRAM_PORT] = TaskComposerNodePorts::SINGLE;
+  ports.input_required[INPUT_ENVIRONMENT_PORT] = TaskComposerNodePorts::SINGLE;
+  ports.input_required[INPUT_PROFILES_PORT] = TaskComposerNodePorts::SINGLE;
 
-  ports.input_optional[INPUT_MANIP_INFO_PORT] = false;
-  ports.input_optional[INPUT_COMPOSITE_PROFILE_REMAPPING_PORT] = false;
+  ports.input_optional[INPUT_MANIP_INFO_PORT] = TaskComposerNodePorts::SINGLE;
+  ports.input_optional[INPUT_COMPOSITE_PROFILE_REMAPPING_PORT] = TaskComposerNodePorts::SINGLE;
 
-  ports.output_required[INOUT_PROGRAM_PORT] = false;
+  ports.output_required[INOUT_PROGRAM_PORT] = TaskComposerNodePorts::SINGLE;
 
   return ports;
 }

diff --git a/tesseract_task_composer/planning/src/nodes/fix_state_collision_task.cpp b/tesseract_task_composer/planning/src/nodes/fix_state_collision_task.cpp
@@ -376,14 +376,14 @@ FixStateCollisionTask::FixStateCollisionTask(std::string name,
 TaskComposerNodePorts FixStateCollisionTask::ports()
 {
   TaskComposerNodePorts ports;
-  ports.input_required[INOUT_PROGRAM_PORT] = false;
-  ports.input_required[INPUT_ENVIRONMENT_PORT] = false;
-  ports.input_required[INPUT_PROFILES_PORT] = false;
+  ports.input_required[INOUT_PROGRAM_PORT] = TaskComposerNodePorts::SINGLE;
+  ports.input_required[INPUT_ENVIRONMENT_PORT] = TaskComposerNodePorts::SINGLE;
+  ports.input_required[INPUT_PROFILES_PORT] = TaskComposerNodePorts::SINGLE;
 
-  ports.input_optional[INPUT_MANIP_INFO_PORT] = false;
-  ports.input_optional[INPUT_COMPOSITE_PROFILE_REMAPPING_PORT] = false;
+  ports.input_optional[INPUT_MANIP_INFO_PORT] = TaskComposerNodePorts::SINGLE;
+  ports.input_optional[INPUT_COMPOSITE_PROFILE_REMAPPING_PORT] = TaskComposerNodePorts::SINGLE;
 
-  ports.output_required[INOUT_PROGRAM_PORT] = false;
+  ports.output_required[INOUT_PROGRAM_PORT] = TaskComposerNodePorts::SINGLE;
 
   return ports;
 }

diff --git a/tesseract_task_composer/planning/src/nodes/format_as_input_task.cpp b/tesseract_task_composer/planning/src/nodes/format_as_input_task.cpp
@@ -79,10 +79,10 @@ FormatAsInputTask::FormatAsInputTask(std::string name,
 TaskComposerNodePorts FormatAsInputTask::ports()
 {
   TaskComposerNodePorts ports;
-  ports.input_required[INPUT_PRE_PLANNING_PROGRAM_PORT] = false;
-  ports.input_required[INPUT_POST_PLANNING_PROGRAM_PORT] = false;
+  ports.input_required[INPUT_PRE_PLANNING_PROGRAM_PORT] = TaskComposerNodePorts::SINGLE;
+  ports.input_required[INPUT_POST_PLANNING_PROGRAM_PORT] = TaskComposerNodePorts::SINGLE;
 
-  ports.output_required[OUTPUT_PROGRAM_PORT] = false;
+  ports.output_required[OUTPUT_PROGRAM_PORT] = TaskComposerNodePorts::SINGLE;
 
   return ports;
 }

diff --git a/tesseract_task_composer/planning/src/nodes/format_as_result_task.cpp b/tesseract_task_composer/planning/src/nodes/format_as_result_task.cpp
@@ -47,8 +47,8 @@ FormatAsResultTask::FormatAsResultTask(std::string name,
 TaskComposerNodePorts FormatAsResultTask::ports()
 {
   TaskComposerNodePorts ports;
-  ports.input_required[INOUT_PROGRAMS_PORT] = true;
-  ports.output_required[INOUT_PROGRAMS_PORT] = true;
+  ports.input_required[INOUT_PROGRAMS_PORT] = TaskComposerNodePorts::MULTIPLE;
+  ports.output_required[INOUT_PROGRAMS_PORT] = TaskComposerNodePorts::MULTIPLE;
   return ports;
 }