mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
simplify exception handling
This could have been done already back when `runCompute` was introduced. Wrapping the calls in try/catch comes from the previous implementation directly calling `compute()`.
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1e10aaccfd
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@ -152,7 +152,11 @@ public:
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void runCompute() {
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ROS_DEBUG_STREAM_NAMED("Stage", "Computing stage '" << name() << "'");
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auto compute_start_time = std::chrono::steady_clock::now();
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try {
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compute();
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} catch (const Property::error& e) {
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me()->reportPropertyError(e);
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}
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auto compute_stop_time = std::chrono::steady_clock::now();
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total_compute_time_ += compute_stop_time - compute_start_time;
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}
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@ -643,14 +643,9 @@ bool SerialContainer::canCompute() const {
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void SerialContainer::compute() {
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for (const auto& stage : pimpl()->children()) {
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try {
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if (!stage->pimpl()->canCompute())
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continue;
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stage->pimpl()->runCompute();
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} catch (const Property::error& e) {
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stage->reportPropertyError(e);
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}
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}
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}
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@ -781,11 +776,7 @@ bool WrapperBase::canCompute() const {
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}
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void WrapperBase::compute() {
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try {
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wrapped()->pimpl()->runCompute();
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} catch (const Property::error& e) {
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wrapped()->reportPropertyError(e);
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}
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}
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bool Alternatives::canCompute() const {
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@ -797,11 +788,7 @@ bool Alternatives::canCompute() const {
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void Alternatives::compute() {
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for (const auto& stage : pimpl()->children()) {
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try {
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stage->pimpl()->runCompute();
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} catch (const Property::error& e) {
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stage->reportPropertyError(e);
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}
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}
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}
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@ -840,11 +827,7 @@ void Fallbacks::compute() {
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if (!active_child_)
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return;
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try {
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active_child_->pimpl()->runCompute();
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} catch (const Property::error& e) {
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active_child_->reportPropertyError(e);
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}
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}
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void Fallbacks::onNewSolution(const SolutionBase& s) {
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@ -894,11 +877,7 @@ bool Merger::canCompute() const {
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void Merger::compute() {
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for (const auto& stage : pimpl()->children()) {
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try {
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stage->pimpl()->runCompute();
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} catch (const Property::error& e) {
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stage->reportPropertyError(e);
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}
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}
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}
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