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Minor improvements and debug info in task composer #378

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merged 2 commits into from
Sep 16, 2023
Merged

Minor improvements and debug info in task composer #378

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313526a
Minor improvements and debug info in task composer
Levi-Armstrong Sep 14, 2023
0c0ae48
Merge branch 'master' into feat/MinorImprovementsTaskComposer
Levi-Armstrong Sep 16, 2023
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10 changes: 9 additions & 1 deletion tesseract_task_composer/core/src/task_composer_graph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -132,7 +132,15 @@ TaskComposerGraph::TaskComposerGraph(std::string name,
throw std::runtime_error("Task Composer Graph '" + name_ + "' edge is missing 'source' entry");

if (YAML::Node n = edge["destinations"])
destinations = n.as<std::vector<std::string>>();
{
if (n.IsSequence())
destinations = n.as<std::vector<std::string>>();
else if (n.IsScalar())
destinations.push_back(n.as<std::string>());
else
throw std::runtime_error("Task Composer Graph '" + name_ +
"' entry 'destinations' must be a scalar or sequence");
}
else
throw std::runtime_error("Task Composer Graph '" + name_ + "' edge is missing 'destinations' entry");

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12 changes: 8 additions & 4 deletions tesseract_task_composer/taskflow/src/taskflow_task_composer_executor.cpp
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Expand Up @@ -26,6 +26,7 @@

#include <tesseract_task_composer/taskflow/taskflow_task_composer_executor.h>
#include <tesseract_task_composer/taskflow/taskflow_task_composer_future.h>
#include <tesseract_common/utils.h>
#include <taskflow/taskflow.hpp>

namespace tesseract_planning
Expand Down Expand Up @@ -80,10 +81,13 @@ TaskComposerFuture::UPtr TaskflowTaskComposerExecutor::run(const TaskComposerNod
else
throw std::runtime_error("TaskComposerExecutor, unsupported node type!");

// std::ofstream out_data;
// out_data.open(tesseract_common::getTempPath() + "task_composer_example.dot");
// taskflow.top->dump(out_data); // dump the graph including dynamic tasks
// out_data.close();
#ifndef NDEBUG
std::ofstream out_data;
out_data.open(tesseract_common::getTempPath() + "taskflow_task_executor_" + tesseract_common::getTimestampString() +
".dot");
taskflow->front()->dump(out_data); // dump the graph including dynamic tasks
out_data.close();
#endif

std::shared_future<void> f = executor_->run(*(taskflow->front()));
return std::make_unique<TaskflowTaskComposerFuture>(f, std::move(taskflow));
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