From 24a84b1c9f70b26d4c0015448aa4cfb22f596f77 Mon Sep 17 00:00:00 2001
From: Levi Armstrong <levi.armstrong@gmail.com>
Date: Sun, 17 Sep 2023 07:53:32 -0500
Subject: [PATCH] fixup

---
 .../core/src/task_composer_node_info.cpp               | 10 ++++++++--
 .../test/tesseract_task_composer_core_unit.cpp         |  7 +++++++
 2 files changed, 15 insertions(+), 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
index 72953de1fc9..fc2c853a896 100644
--- a/tesseract_task_composer/core/src/task_composer_node_info.cpp
+++ b/tesseract_task_composer/core/src/task_composer_node_info.cpp
@@ -103,7 +103,9 @@ 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)
 {
@@ -111,6 +113,7 @@ TaskComposerNodeInfoContainer& TaskComposerNodeInfoContainer::operator=(const Ta
   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();
 
@@ -123,7 +126,8 @@ 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
 {
@@ -131,6 +135,7 @@ TaskComposerNodeInfoContainer& TaskComposerNodeInfoContainer::operator=(TaskComp
   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
index 067d9a36c6e..d97fe267618 100644
--- 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