Merge pull request #370 from marip8/update/task-composer-factory-cons…

…tructor Add new task composer plugin factory constructor
tesseract-robotics · Sep 22, 2023 · 762398f · 762398f
2 parents 129694d + 7369172
commit 762398f
Show file tree

Hide file tree

Showing 4 changed files with 59 additions and 0 deletions.
diff --git a/.github/workflows/add_sources.sh b/.github/workflows/add_sources.sh
@@ -1,4 +1,5 @@
 #! /bin/bash
+apt update -qq
 apt install -y --no-install-recommends software-properties-common
 add-apt-repository -y ppa:ros-industrial/ppa
 apt update -qq
diff --git a/...ct_task_composer/core/include/tesseract_task_composer/core/task_composer_plugin_factory.h b/...ct_task_composer/core/include/tesseract_task_composer/core/task_composer_plugin_factory.h
@@ -95,6 +95,12 @@ class TaskComposerPluginFactory
   TaskComposerPluginFactory(TaskComposerPluginFactory&&) = default;
   TaskComposerPluginFactory& operator=(TaskComposerPluginFactory&&) = default;
 
+  /**
+   * @brief Load plugins from a configuration object
+   * @param config The config object
+   */
+  TaskComposerPluginFactory(const tesseract_common::TaskComposerPluginInfo& config);
+
   /**
    * @brief Load plugins from yaml node
    * @param config The config node
@@ -113,6 +119,12 @@ class TaskComposerPluginFactory
    */
   TaskComposerPluginFactory(const std::string& config);
 
+  /**
+   * @brief Loads plugins from a configuration object
+   * @param config the config object
+   */
+  void loadConfig(const tesseract_common::TaskComposerPluginInfo& config);
+
   /**
    * @brief Load plugins from yaml node
    * @param config The config node

diff --git a/tesseract_task_composer/core/src/task_composer_plugin_factory.cpp b/tesseract_task_composer/core/src/task_composer_plugin_factory.cpp
@@ -49,6 +49,12 @@ TaskComposerPluginFactory::TaskComposerPluginFactory()
                  boost::token_compress_on);
 }
 
+TaskComposerPluginFactory::TaskComposerPluginFactory(const tesseract_common::TaskComposerPluginInfo& config)
+  : TaskComposerPluginFactory()
+{
+  loadConfig(config);
+}
+
 TaskComposerPluginFactory::TaskComposerPluginFactory(const YAML::Node& config) : TaskComposerPluginFactory()
 {
   loadConfig(config);
@@ -69,6 +75,19 @@ TaskComposerPluginFactory::TaskComposerPluginFactory(const std::string& config)
 // If not the forward declare of PluginLoader cause compiler error.
 TaskComposerPluginFactory::~TaskComposerPluginFactory() = default;
 
+void TaskComposerPluginFactory::loadConfig(const tesseract_common::TaskComposerPluginInfo& config)
+{
+  plugin_loader_.search_libraries.insert(config.search_libraries.begin(), config.search_libraries.end());
+  plugin_loader_.search_paths.insert(config.search_paths.begin(), config.search_paths.end());
+
+  executor_plugin_info_.plugins.insert(config.executor_plugin_infos.plugins.begin(),
+                                       config.executor_plugin_infos.plugins.end());
+  executor_plugin_info_.default_plugin = config.executor_plugin_infos.default_plugin;
+
+  task_plugin_info_.plugins.insert(config.task_plugin_infos.plugins.begin(), config.task_plugin_infos.plugins.end());
+  task_plugin_info_.default_plugin = config.task_plugin_infos.default_plugin;
+}
+
 void TaskComposerPluginFactory::loadConfig(const YAML::Node& config)
 {
   if (const YAML::Node& plugin_info = config[tesseract_common::TaskComposerPluginInfo::CONFIG_KEY])

diff --git a/tesseract_task_composer/test/tesseract_task_composer_plugin_factories_unit.cpp b/tesseract_task_composer/test/tesseract_task_composer_plugin_factories_unit.cpp
@@ -31,6 +31,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_task_composer/core/task_composer_plugin_factory.h>
 #include <tesseract_common/utils.h>
 #include <tesseract_common/types.h>
+#include <tesseract_common/yaml_utils.h>
 
 using namespace tesseract_planning;
 
@@ -157,6 +158,32 @@ TEST(TesseractTaskComposerFactoryUnit, LoadAndExportPluginTest)  // NOLINT
     TaskComposerPluginFactory check_factory(export_config_path);
     runTaskComposerFactoryTest(check_factory, plugin_config);
   }
+
+  // TaskComposerPluginInfo Constructor
+  {
+    tesseract_common::fs::path config_path(std::string(TESSERACT_TASK_COMPOSER_DIR) + "/config/"
+                                                                                      "task_composer_plugins.yaml");
+
+    YAML::Node plugin_config = YAML::LoadFile(config_path.string());
+    const YAML::Node& plugins = plugin_config[tesseract_common::TaskComposerPluginInfo::CONFIG_KEY];
+    const auto search_paths = plugins["search_paths"].as<std::vector<std::string>>();
+    const auto search_libraries = plugins["search_libraries"].as<std::vector<std::string>>();
+
+    tesseract_common::TaskComposerPluginInfo info;
+    info.search_paths.insert(search_paths.begin(), search_paths.end());
+    info.search_libraries.insert(search_libraries.begin(), search_libraries.end());
+    info.task_plugin_infos.plugins = plugins["tasks"]["plugins"].as<tesseract_common::PluginInfoMap>();
+    info.executor_plugin_infos.plugins = plugins["executors"]["plugins"].as<tesseract_common::PluginInfoMap>();
+    info.executor_plugin_infos.default_plugin = plugins["executors"]["default"].as<std::string>();
+
+    TaskComposerPluginFactory factory(info);
+    runTaskComposerFactoryTest(factory, plugin_config);
+
+    auto export_config_path = tesseract_common::fs::path(tesseract_common::getTempPath()) / "task_composer_plugins_"
+                                                                                            "export.yaml";
+    TaskComposerPluginFactory check_factory(export_config_path);
+    runTaskComposerFactoryTest(check_factory, plugin_config);
+  }
 }
 
 TEST(TesseractTaskComposerFactoryUnit, PluginFactorAPIUnit)  // NOLINT