fixup

tesseract-robotics · Sep 17, 2023 · 24a84b1 · 24a84b1
1 parent 77efd2a
commit 24a84b1
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Showing 2 changed files with 15 additions and 2 deletions.
diff --git a/tesseract_task_composer/core/src/task_composer_node_info.cpp b/tesseract_task_composer/core/src/task_composer_node_info.cpp
@@ -103,14 +103,17 @@ TaskComposerNodeInfoContainer::TaskComposerNodeInfoContainer(const TaskComposerN
   std::shared_lock rhs_lock(other.mutex_, std::defer_lock);
   std::scoped_lock lock{ lhs_lock, rhs_lock };
 
-  *this = other;
+  aborting_node_ = other.aborting_node_;
+  for (const auto& pair : other.info_map_)
+    info_map_[pair.first] = pair.second->clone();
 }
 TaskComposerNodeInfoContainer& TaskComposerNodeInfoContainer::operator=(const TaskComposerNodeInfoContainer& other)
 {
   std::unique_lock lhs_lock(mutex_, std::defer_lock);
   std::shared_lock rhs_lock(other.mutex_, std::defer_lock);
   std::scoped_lock lock{ lhs_lock, rhs_lock };
 
+  aborting_node_ = other.aborting_node_;
   for (const auto& pair : other.info_map_)
     info_map_[pair.first] = pair.second->clone();
 
@@ -123,14 +126,16 @@ TaskComposerNodeInfoContainer::TaskComposerNodeInfoContainer(TaskComposerNodeInf
   std::unique_lock rhs_lock(other.mutex_, std::defer_lock);
   std::scoped_lock lock{ lhs_lock, rhs_lock };
 
-  *this = std::move(other);
+  aborting_node_ = other.aborting_node_;
+  info_map_ = std::move(other.info_map_);
 }
 TaskComposerNodeInfoContainer& TaskComposerNodeInfoContainer::operator=(TaskComposerNodeInfoContainer&& other) noexcept
 {
   std::unique_lock lhs_lock(mutex_, std::defer_lock);
   std::unique_lock rhs_lock(other.mutex_, std::defer_lock);
   std::scoped_lock lock{ lhs_lock, rhs_lock };
 
+  aborting_node_ = other.aborting_node_;
   info_map_ = std::move(other.info_map_);
 
   return *this;
@@ -252,6 +257,7 @@ template <class Archive>
 void TaskComposerNodeInfoContainer::serialize(Archive& ar, const unsigned int /*version*/)
 {
   std::unique_lock<std::shared_mutex> lock(mutex_);
+  ar& BOOST_SERIALIZATION_NVP(aborting_node_);
   ar& BOOST_SERIALIZATION_NVP(info_map_);
 }
 

diff --git a/tesseract_task_composer/test/tesseract_task_composer_core_unit.cpp b/tesseract_task_composer/test/tesseract_task_composer_core_unit.cpp
@@ -168,10 +168,14 @@ TEST(TesseractTaskComposerCoreUnit, TaskComposerNodeInfoContainerTests)  // NOLI
   auto node_info = std::make_unique<TaskComposerNodeInfo>(node);
 
   auto node_info_container = std::make_unique<TaskComposerNodeInfoContainer>();
+  EXPECT_TRUE(node_info_container->getAbortingNode().is_nil());
   EXPECT_TRUE(node_info_container->getInfoMap().empty());
+  auto aborted_uuid = node.getUUID();
   node_info_container->addInfo(std::move(node_info));
+  node_info_container->setAborted(aborted_uuid);
   EXPECT_EQ(node_info_container->getInfoMap().size(), 1);
   EXPECT_TRUE(node_info_container->getInfo(node.getUUID()) != nullptr);
+  EXPECT_TRUE(node_info_container->getAbortingNode() == aborted_uuid);
 
   // Serialization
   test_suite::runSerializationPointerTest(node_info_container, "TaskComposerNodeInfoContainerTests");
@@ -180,15 +184,18 @@ TEST(TesseractTaskComposerCoreUnit, TaskComposerNodeInfoContainerTests)  // NOLI
   auto copy_node_info_container = std::make_unique<TaskComposerNodeInfoContainer>(*node_info_container);
   EXPECT_EQ(copy_node_info_container->getInfoMap().size(), 1);
   EXPECT_TRUE(copy_node_info_container->getInfo(node.getUUID()) != nullptr);
+  EXPECT_TRUE(copy_node_info_container->getAbortingNode() == aborted_uuid);
 
   // Move
   auto move_node_info_container = std::make_unique<TaskComposerNodeInfoContainer>(std::move(*node_info_container));
   EXPECT_EQ(move_node_info_container->getInfoMap().size(), 1);
   EXPECT_TRUE(move_node_info_container->getInfo(node.getUUID()) != nullptr);
+  EXPECT_TRUE(move_node_info_container->getAbortingNode() == aborted_uuid);
 
   move_node_info_container->clear();
   EXPECT_TRUE(move_node_info_container->getInfoMap().empty());
   EXPECT_TRUE(move_node_info_container->getInfo(node.getUUID()) == nullptr);
+  EXPECT_TRUE(move_node_info_container->getAbortingNode().is_nil());
 }
 
 TEST(TesseractTaskComposerCoreUnit, TaskComposerNodeTests)  // NOLINT