Improve task composer code coverage

Author: Levi-Armstrong

tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_executor.h

@@ -69,9 +69,6 @@ class TaskComposerExecutor
   /** @brief Queries the number of running tasks at the time of this call */
   virtual long getTaskCount() const = 0;
 
-  bool operator==(const TaskComposerExecutor& rhs) const;
-  bool operator!=(const TaskComposerExecutor& rhs) const;
-
 protected:
   std::string name_;
 

tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_task.h

@@ -44,7 +44,6 @@ class TaskComposerTask : public TaskComposerNode
   using UPtr = std::unique_ptr<TaskComposerTask>;
   using ConstUPtr = std::unique_ptr<const TaskComposerTask>;
 
-  TaskComposerTask();
   explicit TaskComposerTask(std::string name, TaskComposerNodePorts ports, bool conditional);
   explicit TaskComposerTask(std::string name, TaskComposerNodePorts ports, const YAML::Node& config);
   ~TaskComposerTask() override = default;

tesseract_task_composer/core/src/task_composer_executor.cpp

@@ -44,10 +44,4 @@ std::unique_ptr<TaskComposerFuture> TaskComposerExecutor::run(const TaskComposer
   return runImpl(node, std::move(context));
 }
 
-bool TaskComposerExecutor::operator==(const TaskComposerExecutor& rhs) const { return (name_ == rhs.name_); }
-
-// LCOV_EXCL_START
-bool TaskComposerExecutor::operator!=(const TaskComposerExecutor& rhs) const { return !operator==(rhs); }
-// LCOV_EXCL_STOP
-
 }  // namespace tesseract_planning

tesseract_task_composer/core/src/task_composer_task.cpp

@@ -33,7 +33,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_planning
 {
-TaskComposerTask::TaskComposerTask() : TaskComposerTask("TaskComposerTask", TaskComposerNodePorts{}, true) {}
 TaskComposerTask::TaskComposerTask(std::string name, TaskComposerNodePorts ports, bool conditional)
   : TaskComposerNode(std::move(name), TaskComposerNodeType::TASK, std::move(ports), conditional)
 {

tesseract_task_composer/taskflow/include/tesseract_task_composer/taskflow/taskflow_task_composer_executor.h

@@ -80,9 +80,6 @@ class TaskflowTaskComposerExecutor : public TaskComposerExecutor
 
   long getTaskCount() const override final;
 
-  bool operator==(const TaskflowTaskComposerExecutor& rhs) const;
-  bool operator!=(const TaskflowTaskComposerExecutor& rhs) const;
-
 private:
   std::size_t num_threads_;
   std::unique_ptr<tf::Executor> executor_;

tesseract_task_composer/taskflow/src/taskflow_task_composer_executor.cpp

@@ -251,17 +251,4 @@ long TaskflowTaskComposerExecutor::getWorkerCount() const { return static_cast<l
 
 long TaskflowTaskComposerExecutor::getTaskCount() const { return static_cast<long>(executor_->num_topologies()); }
 
-bool TaskflowTaskComposerExecutor::operator==(const TaskflowTaskComposerExecutor& rhs) const
-{
-  bool equal = true;
-  equal &= (num_threads_ == rhs.num_threads_);
-  equal &= TaskComposerExecutor::operator==(rhs);
-  return equal;
-}
-
-bool TaskflowTaskComposerExecutor::operator!=(const TaskflowTaskComposerExecutor& rhs) const
-{
-  return !operator==(rhs);
-}
-
 }  // namespace tesseract_planning

tesseract_task_composer/test/tesseract_task_composer_core_unit.cpp

@@ -35,13 +35,38 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 using namespace tesseract_planning;
 
+TEST(TesseractTaskComposerCoreUnit, TaskComposerKeysTests)  // NOLINT
+{
+  TaskComposerKeys keys;
+  EXPECT_TRUE(keys.size() == 0);
+  keys.add("first", "I1");
+  keys.add("second", std::vector<std::string>{ "I2" });
+  EXPECT_EQ(keys.get("first"), "I1");
+  EXPECT_EQ(keys.get<std::vector<std::string>>("second"), std::vector<std::string>{ "I2" });
+  EXPECT_TRUE(keys.has("first"));
+  EXPECT_TRUE(keys.has("second"));
+  std::map<std::string, std::string> renaming;
+  renaming["I1"] = "I3";
+  renaming["I2"] = "I4";
+  keys.rename(renaming);
+  EXPECT_EQ(keys.get("first"), "I3");
+  EXPECT_EQ(keys.get<std::vector<std::string>>("second"), std::vector<std::string>{ "I4" });
+  keys.remove("second");
+  EXPECT_FALSE(keys.has("second"));
+
+  TaskComposerKeys copy{ keys };
+  EXPECT_TRUE(keys == copy);
+  EXPECT_FALSE(keys != copy);
+}
+
 TEST(TesseractTaskComposerCoreUnit, TaskComposerDataStorageTests)  // NOLINT
 {
   std::string key{ "joint_state" };
   std::vector<std::string> joint_names{ "joint_1", "joint_2" };
   Eigen::Vector2d joint_values(5, 10);
   tesseract_common::JointState js(joint_names, joint_values);
-  TaskComposerDataStorage data;
+  TaskComposerDataStorage data("test_name");
+  EXPECT_EQ(data.getName(), "test_name");
   EXPECT_FALSE(data.hasKey(key));
   EXPECT_TRUE(data.getData(key).isNull());
 
@@ -2326,6 +2351,7 @@ TEST(TesseractTaskComposerCoreUnit, TaskComposerForEachTaskTests)  // NOLINT
     // Solve
     auto executor = factory.createTaskComposerExecutor(factory.getDefaultTaskComposerExecutorPlugin());
     auto context = std::make_shared<TaskComposerContext>("abc", std::move(data));
+    context->dotgraph = true;
     EXPECT_EQ(task.run(*context, *executor), 1);
     auto node_info = context->task_infos->getInfo(task.getUUID());
     if (!node_info.has_value())