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tesseract-robotics · Jul 24, 2024 · 8ff54de · 8ff54de
1 parent d307c66
commit 8ff54de
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Showing 3 changed files with 29 additions and 27 deletions.
diff --git a/tesseract_task_composer/core/src/task_composer_graph.cpp b/tesseract_task_composer/core/src/task_composer_graph.cpp
@@ -352,15 +352,15 @@ TaskComposerGraph::dump(std::ostream& os,
 
   std::ostringstream sub_graphs;
   const std::string tmp = toString(uuid_);
-  os << "subgraph cluster_" << tmp << " {\n color=black;\n label = \"" << name_ << "\\n(" << uuid_str_ << ")";
-  os << "\\n Inputs: " << input_keys_;
-  os << "\\n Outputs: " << output_keys_;
-  os << "\\n Conditional: " << ((conditional_) ? "True" : "False");
+  os << "subgraph cluster_" << tmp << " {\n color=black;\n label = \"" << name_ << "\\nUUID: " << uuid_str_ << "\\n";
+  os << "Inputs:\\l" << input_keys_;
+  os << "Outputs:\\l" << output_keys_;
+  os << "Conditional: " << ((conditional_) ? "True" : "False") << "\\l";
   if (getType() == TaskComposerNodeType::PIPELINE || getType() == TaskComposerNodeType::GRAPH)
   {
     auto it = results_map.find(getUUID());
     if (it != results_map.end())
-      os << "\\nTime: " << std::fixed << std::setprecision(3) << it->second->elapsed_time << "s";
+      os << "Time: " << std::fixed << std::setprecision(3) << it->second->elapsed_time << "s\\l";
   }
   os << "\";";
   for (const auto& pair : nodes_)
@@ -377,12 +377,13 @@ TaskComposerGraph::dump(std::ostream& os,
       const std::string tmp = toString(node->uuid_, "node_");
       const TaskComposerKeys& input_keys = node->getInputKeys();
       const TaskComposerKeys& output_keys = node->getOutputKeys();
-      os << std::endl << tmp << " [shape=box3d, label=\"Subgraph: " << node->name_ << "\\n(" << node->uuid_str_ << ")";
-      os << "\\n Inputs: " << input_keys;
-      os << "\\n Outputs: " << output_keys;
-      os << "\\n Conditional: " << ((node->isConditional()) ? "True" : "False");
+      os << std::endl
+         << tmp << " [shape=box3d, label=\"Subgraph: " << node->name_ << "\\nUUID: " << node->uuid_str_ << "\\n";
+      os << "Inputs:\\l" << input_keys;
+      os << "Outputs:\\l" << output_keys;
+      os << "Conditional: " << ((node->isConditional()) ? "True" : "False") << "\\l";
       if (it != results_map.end())
-        os << "\\nTime: " << std::fixed << std::setprecision(3) << it->second->elapsed_time << "s";
+        os << "Time: " << std::fixed << std::setprecision(3) << it->second->elapsed_time << "s\\l";
 
       os << "\", margin=\"0.1\", color=" << color << "];\n";  // NOLINT
       node->dump(sub_graphs, this, results_map);

diff --git a/tesseract_task_composer/core/src/task_composer_keys.cpp b/tesseract_task_composer/core/src/task_composer_keys.cpp
@@ -87,17 +87,16 @@ void TaskComposerKeys::serialize(Archive& ar, const unsigned int /*version*/)
 
 std::ostream& operator<<(std::ostream& os, const TaskComposerKeys& keys)
 {
-  os << "[";
   std::size_t cnt{ 0 };
   for (const auto& pair : keys.data())
   {
     if (pair.second.index() == 0)
     {
-      os << pair.first << ":" << std::get<std::string>(pair.second);
+      os << "\t" << pair.first << ": " << std::get<std::string>(pair.second);
     }
     else
     {
-      os << pair.first << ":[";
+      os << "\t" << pair.first << ":[";
       const auto& vs = std::get<std::vector<std::string>>(pair.second);
       for (std::size_t i = 0; i < vs.size(); ++i)
       {
@@ -107,12 +106,9 @@ std::ostream& operator<<(std::ostream& os, const TaskComposerKeys& keys)
       }
       os << "]";
     }
-    if (cnt < keys.size() - 1)
-      os << ", ";
-
+    os << "\\l";
     ++cnt;
   }
-  os << "]";
 
   return os;
 }

diff --git a/tesseract_task_composer/core/src/task_composer_node.cpp b/tesseract_task_composer/core/src/task_composer_node.cpp
@@ -363,14 +363,16 @@ TaskComposerNode::dump(std::ostream& os,
   if (conditional_)
   {
     os << std::endl << tmp << " [shape=diamond, label=\"" << name_ << "\\n";
-    os << "Namespace: " << ns_ << "\\n(" << uuid_str_ << ")";
-    os << "\\n Inputs: " << input_keys_;
-    os << "\\n Outputs: " << output_keys_;
+    os << "UUID: " << uuid_str_ << "\\n";
+    os << "Namespace: " << ns_ << "\\l";
+    os << "Inputs:\\l" << input_keys_;
+    os << "Outputs:\\l" << output_keys_;
 
     if (it != results_map.end())
     {
-      os << "\\nTime: " << std::fixed << std::setprecision(3) << it->second->elapsed_time << "s"
-         << "\\n`" << std::to_string(it->second->status_code) << "::" << it->second->status_message << "`";
+      os << "Time: " << std::fixed << std::setprecision(3) << it->second->elapsed_time << "s\\l"
+         << "Status Code: " << std::to_string(it->second->status_code) << "\\l"
+         << "Status Msg: " << it->second->status_message << "\\l";
     }
     os << "\", color=black, fillcolor=" << color << ", style=filled];\n";
 
@@ -384,14 +386,17 @@ TaskComposerNode::dump(std::ostream& os,
   }
   else
   {
-    os << std::endl << tmp << " [label=\"" << name_ << "\\n(" << uuid_str_ << ")";
-    os << "\\n Inputs: " << input_keys_;
-    os << "\\n Outputs: " << output_keys_;
+    os << std::endl << tmp << " [label=\"" << name_ << "\\n";
+    os << "UUID: " << uuid_str_ << "\\n";
+    os << "Namespace: " << ns_ << "\\l";
+    os << "Inputs:\\l" << input_keys_;
+    os << "Outputs:\\l" << output_keys_;
 
     if (it != results_map.end())
     {
-      os << "\\nTime: " << std::fixed << std::setprecision(3) << it->second->elapsed_time << "s"
-         << "\\n'" << std::to_string(it->second->status_code) << "::" << it->second->status_message << "'";
+      os << "Time: " << std::fixed << std::setprecision(3) << it->second->elapsed_time << "s\\l"
+         << "Status Code: " << std::to_string(it->second->status_code) << "\\l"
+         << "Status Msg: " << it->second->status_message << "\\l";
     }
     os << "\", color=black, fillcolor=" << color << ", style=filled];\n";