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https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
add debug logs to pruning code
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2d775ffe28
commit
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@ -107,6 +107,7 @@ void ContainerBasePrivate::compute() {
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}
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}
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void ContainerBasePrivate::onNewFailure(const Stage& child, const InterfaceState* from, const InterfaceState* to) {
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void ContainerBasePrivate::onNewFailure(const Stage& child, const InterfaceState* from, const InterfaceState* to) {
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ROS_DEBUG_STREAM_NAMED("Pruning", "'" << child.name() << "' generated a failure");
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switch (child.pimpl()->interfaceFlags()) {
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switch (child.pimpl()->interfaceFlags()) {
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case GENERATE:
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case GENERATE:
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// just ignore: the pair of (new) states isn't known to us anyway
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// just ignore: the pair of (new) states isn't known to us anyway
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@ -114,22 +115,23 @@ void ContainerBasePrivate::onNewFailure(const Stage& child, const InterfaceState
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break;
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break;
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case PROPAGATE_FORWARDS: // mark from as failed (backwards)
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case PROPAGATE_FORWARDS: // mark from as failed (backwards)
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ROS_DEBUG_STREAM_NAMED("Pruning", "prune backward branch");
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setStatus<Interface::BACKWARD>(from, InterfaceState::Status::FAILED);
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setStatus<Interface::BACKWARD>(from, InterfaceState::Status::FAILED);
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break;
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break;
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case PROPAGATE_BACKWARDS: // mark to as failed (forwards)
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case PROPAGATE_BACKWARDS: // mark to as failed (forwards)
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ROS_DEBUG_STREAM_NAMED("Pruning", "prune backward branch");
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setStatus<Interface::FORWARD>(to, InterfaceState::Status::FAILED);
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setStatus<Interface::FORWARD>(to, InterfaceState::Status::FAILED);
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break;
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break;
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case CONNECT:
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case CONNECT:
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if (const Connecting* conn = dynamic_cast<const Connecting*>(&child)) {
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if (const Connecting* conn = dynamic_cast<const Connecting*>(&child)) {
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auto cimpl = conn->pimpl();
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auto cimpl = conn->pimpl();
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ROS_DEBUG_STREAM_NAMED("Connecting", "'" << child.name() << "' generated a failure");
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if (!cimpl->hasPendingOpposites<Interface::FORWARD>(from)) {
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if (!cimpl->hasPendingOpposites<Interface::FORWARD>(from)) {
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ROS_DEBUG_STREAM_NAMED("Connecting", "prune backward branch");
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ROS_DEBUG_STREAM_NAMED("Pruning", "prune backward branch");
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setStatus<Interface::BACKWARD>(from, InterfaceState::Status::FAILED);
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setStatus<Interface::BACKWARD>(from, InterfaceState::Status::FAILED);
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}
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}
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if (!cimpl->hasPendingOpposites<Interface::BACKWARD>(to)) {
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if (!cimpl->hasPendingOpposites<Interface::BACKWARD>(to)) {
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ROS_DEBUG_STREAM_NAMED("Connecting", "prune forward branch");
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ROS_DEBUG_STREAM_NAMED("Pruning", "prune forward branch");
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setStatus<Interface::FORWARD>(to, InterfaceState::Status::FAILED);
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setStatus<Interface::FORWARD>(to, InterfaceState::Status::FAILED);
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}
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}
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}
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}
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@ -444,6 +446,9 @@ inline void updateStatePrios(const SolutionSequence::container_type& partial_sol
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}
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}
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void SerialContainer::onNewSolution(const SolutionBase& current) {
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void SerialContainer::onNewSolution(const SolutionBase& current) {
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ROS_DEBUG_STREAM_NAMED("SerialContainer", "'" << this->name() << "' received solution of child stage '"
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<< current.creator()->name() << "'");
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// failures should never trigger this callback
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// failures should never trigger this callback
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assert(!current.isFailure());
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assert(!current.isFailure());
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