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Add task composer task return value override #612

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Add task composer task return value override #612

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a007234
Added return value override to task composer node for debugging and t…
marip8 Apr 16, 2025
8c70c44
Merge branch 'master' into feature/task-composer-return-value-override
Levi-Armstrong Apr 18, 2025
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10 changes: 9 additions & 1 deletion tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node.h
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Original file line number Diff line number Diff line change
Expand Up @@ -73,7 +73,8 @@ class TaskComposerNode
TaskComposerNode(std::string name = "TaskComposerNode",
TaskComposerNodeType type = TaskComposerNodeType::NODE,
TaskComposerNodePorts ports = TaskComposerNodePorts(),
bool conditional = false);
bool conditional = false,
int return_value_override = -1);
explicit TaskComposerNode(std::string name,
TaskComposerNodeType type,
TaskComposerNodePorts ports,
Expand Down Expand Up @@ -220,6 +221,13 @@ class TaskComposerNode
/** @brief The nodes ports definition */
TaskComposerNodePorts ports_;

/**
* @brief Value with which to override the return value nominally provided by runImpl() in the TaskComposerNodeInfo.
* @details The return value provided by runImpl() will be overriden with this value when it is >= 0.
* This value can be set to force a task to behave in a specific way (e.g., for debugging or unit tests).
*/
int return_value_override_{ -1 };

/** @brief Indicate if task triggers abort */
bool trigger_abort_{ false };

Expand Down
13 changes: 12 additions & 1 deletion tesseract_task_composer/core/src/task_composer_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -87,14 +87,16 @@
TaskComposerNode::TaskComposerNode(std::string name,
TaskComposerNodeType type,
TaskComposerNodePorts ports,
bool conditional)
bool conditional,
int return_value_override)
: name_(std::move(name))
, ns_(name_)
, type_(type)
, uuid_(boost::uuids::random_generator()())
, uuid_str_(boost::uuids::to_string(uuid_))
, conditional_(conditional)
, ports_(std::move(ports))
, return_value_override_(return_value_override)
{
}

Expand Down Expand Up @@ -126,6 +128,9 @@

output_keys_ = n.as<TaskComposerKeys>();
}

if (YAML::Node n = config["return_value_override"])
return_value_override_ = n.as<int>();
}
catch (const std::exception& e)
{
Expand Down Expand Up @@ -158,6 +163,12 @@
try
{
results = runImpl(context, executor);
if (return_value_override_ >= 0)
{
results.return_value = return_value_override_;
results.status_message += " (Return value overridden to " + std::to_string(return_value_override_) + ")";
results.color = "yellow";

Check warning on line 170 in tesseract_task_composer/core/src/task_composer_node.cpp

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tesseract_task_composer/core/src/task_composer_node.cpp#L168-L170 

Added lines #L168 - L170 were not covered by tests
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Personally, I would vote for a color other than yellow as that is already used elsewhere. Maybe a blue or cyan? I was going to say gray, but that appears to already be used to represent "abort"

}
}
catch (const std::exception& e)
{
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