Add name to data storage to hold pipeline name

tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_data_storage.h

@@ -56,12 +56,25 @@ class TaskComposerDataStorage
   TaskComposerDataStorage(TaskComposerDataStorage&&) noexcept;
   TaskComposerDataStorage& operator=(TaskComposerDataStorage&&) noexcept;
 
+  /**
+   * @brief Get the name data storage.
+   * @details This is primarily used to hold the pipeline name
+   * @return The name
+   */
+  std::string getName() const;
+
+  /**
+   * @brief Set the name
+   * @param name The name
+   */
+  void setName(const std::string& name);
+
   /**
    * @brief Check if key exists
    * @param key The key to check for
    * @return True if the key exist, otherwise false
    */
-  bool hasKey(const std::string& key);
+  bool hasKey(const std::string& key) const;
 
   /**
    * @brief Set data for the provided key
@@ -109,6 +122,7 @@ class TaskComposerDataStorage
   void serialize(Archive& ar, const unsigned int version);  // NOLINT
 
   mutable std::shared_mutex mutex_;
+  std::string name_;
   std::unordered_map<std::string, tesseract_common::AnyPoly> data_;
 };
 

tesseract_task_composer/core/src/task_composer_data_storage.cpp

@@ -81,7 +81,19 @@ TaskComposerDataStorage& TaskComposerDataStorage::operator=(TaskComposerDataStor
   return *this;
 }
 
-bool TaskComposerDataStorage::hasKey(const std::string& key)
+std::string TaskComposerDataStorage::getName() const
+{
+  std::shared_lock lock(mutex_);
+  return name_;
+}
+
+void TaskComposerDataStorage::setName(const std::string& name)
+{
+  std::unique_lock lock(mutex_);
+  name_ = name;
+}
+
+bool TaskComposerDataStorage::hasKey(const std::string& key) const
 {
   std::shared_lock lock(mutex_);
   return (data_.find(key) != data_.end());
@@ -162,7 +174,7 @@ bool TaskComposerDataStorage::operator==(const TaskComposerDataStorage& rhs) con
   std::shared_lock lhs_lock(mutex_, std::defer_lock);
   std::shared_lock rhs_lock(rhs.mutex_, std::defer_lock);
   std::scoped_lock lock{ lhs_lock, rhs_lock };
-  return (data_ == rhs.data_);
+  return ((data_ == rhs.data_) && (name_ == rhs.name_));
 }
 
 bool TaskComposerDataStorage::operator!=(const TaskComposerDataStorage& rhs) const { return !operator==(rhs); }
@@ -171,6 +183,7 @@ template <class Archive>
 void TaskComposerDataStorage::serialize(Archive& ar, const unsigned int /*version*/)
 {
   std::unique_lock lock(mutex_);
+  ar& boost::serialization::make_nvp("name", name_);
   ar& boost::serialization::make_nvp("data", data_);
 }
 

tesseract_task_composer/core/src/task_composer_server.cpp

@@ -34,6 +34,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_task_composer/core/task_composer_executor.h>
 #include <tesseract_task_composer/core/task_composer_future.h>
 #include <tesseract_task_composer/core/task_composer_node.h>
+#include <tesseract_task_composer/core/task_composer_data_storage.h>
 #include <tesseract_task_composer/core/task_composer_plugin_factory.h>
 
 namespace tesseract_planning
@@ -129,6 +130,7 @@ std::unique_ptr<TaskComposerFuture> TaskComposerServer::run(const std::string& t
   if (t_it == tasks_.end())
     throw std::runtime_error("Task with name '" + task_name + "' does not exist!");
 
+  data_storage->setName(task_name);
   return e_it->second->run(*t_it->second, std::move(data_storage), dotgraph);
 }
 
@@ -141,6 +143,7 @@ std::unique_ptr<TaskComposerFuture> TaskComposerServer::run(const TaskComposerNo
   if (it == executors_.end())
     throw std::runtime_error("Executor with name '" + executor_name + "' does not exist!");
 
+  data_storage->setName(node.getName());
   return it->second->run(node, std::move(data_storage), dotgraph);
 }