Add status_code to TaskComposerNodeInfo

Author: Levi-Armstrong

tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node_info.h

@@ -91,8 +91,11 @@ class TaskComposerNodeInfo
   /** @brief Value returned from the Task on completion */
   int return_value{ -1 };
 
+  /** @brief Status code */
+  int status_code{ 0 };
+
   /** @brief Status message */
-  std::string message;
+  std::string status_message;
 
   /** @brief The start time */
   std::chrono::system_clock::time_point start_time{ std::chrono::system_clock::now() };

tesseract_task_composer/core/include/tesseract_task_composer/core/test_suite/task_composer_node_info_unit.hpp

@@ -44,6 +44,7 @@ void runTaskComposerNodeInfoTest()
   {  // Default
     T node_info;
     EXPECT_EQ(node_info.return_value, -1);
+    EXPECT_EQ(node_info.status_code, 0);
     EXPECT_TRUE(tesseract_common::almostEqualRelativeAndAbs(node_info.elapsed_time, 0));
     EXPECT_TRUE(node_info.uuid.is_nil());
     EXPECT_TRUE(node_info.parent_uuid.is_nil());
@@ -59,6 +60,7 @@ void runTaskComposerNodeInfoTest()
     TaskComposerNode node;
     T node_info(node);
     EXPECT_EQ(node_info.return_value, -1);
+    EXPECT_EQ(node_info.status_code, 0);
     EXPECT_TRUE(tesseract_common::almostEqualRelativeAndAbs(node_info.elapsed_time, 0));
     EXPECT_FALSE(node_info.uuid.is_nil());
     EXPECT_EQ(node_info.uuid, node.getUUID());

tesseract_task_composer/core/src/nodes/done_task.cpp

@@ -49,8 +49,9 @@ std::unique_ptr<TaskComposerNodeInfo> DoneTask::runImpl(TaskComposerContext& /*c
   auto info = std::make_unique<TaskComposerNodeInfo>(*this);
   info->color = "green";
   info->return_value = 1;
-  info->message = "Successful";
-  CONSOLE_BRIDGE_logDebug("%s", info->message.c_str());
+  info->status_code = 1;
+  info->status_message = "Successful";
+  CONSOLE_BRIDGE_logDebug("%s", info->status_message.c_str());
   return info;
 }
 

tesseract_task_composer/core/src/nodes/error_task.cpp

@@ -49,8 +49,9 @@ std::unique_ptr<TaskComposerNodeInfo> ErrorTask::runImpl(TaskComposerContext& /*
   auto info = std::make_unique<TaskComposerNodeInfo>(*this);
   info->color = "red";
   info->return_value = 0;
-  info->message = "Error";
-  CONSOLE_BRIDGE_logDebug("%s", info->message.c_str());
+  info->status_code = 0;
+  info->status_message = "Error";
+  CONSOLE_BRIDGE_logDebug("%s", info->status_message.c_str());
   return info;
 }
 

tesseract_task_composer/core/src/nodes/remap_task.cpp

@@ -71,13 +71,15 @@ std::unique_ptr<TaskComposerNodeInfo> RemapTask::runImpl(TaskComposerContext& co
   {
     info->color = "green";
     info->return_value = 1;
-    info->message = "Successful";
+    info->status_code = 1;
+    info->status_message = "Successful";
   }
   else
   {
     info->color = "red";
     info->return_value = 0;
-    info->message = "Failed to remap data.";
+    info->status_code = 0;
+    info->status_message = "Failed to remap data.";
   }
   return info;
 }

tesseract_task_composer/core/src/nodes/start_task.cpp

@@ -54,8 +54,9 @@ std::unique_ptr<TaskComposerNodeInfo> StartTask::runImpl(TaskComposerContext& /*
 {
   auto info = std::make_unique<TaskComposerNodeInfo>(*this);
   info->color = "green";
-  info->message = "Successful";
   info->return_value = 1;
+  info->status_code = 1;
+  info->status_message = "Successful";
   return info;
 }
 

tesseract_task_composer/core/src/nodes/sync_task.cpp

@@ -54,8 +54,9 @@ std::unique_ptr<TaskComposerNodeInfo> SyncTask::runImpl(TaskComposerContext& /*c
 {
   auto info = std::make_unique<TaskComposerNodeInfo>(*this);
   info->color = "green";
-  info->message = "Successful";
   info->return_value = 1;
+  info->status_code = 1;
+  info->status_message = "Successful";
   return info;
 }
 

tesseract_task_composer/core/src/task_composer_node.cpp

@@ -168,7 +168,7 @@ TaskComposerNode::dump(std::ostream& os,
     if (it != results_map.end())
     {
       os << "\\nTime: " << std::fixed << std::setprecision(3) << it->second->elapsed_time << "s"
-         << "\\n`" << it->second->message << "`";
+         << "\\n`" << std::to_string(it->second->status_code) << "::" << it->second->status_message << "`";
     }
     os << "\", color=black, fillcolor=" << color << ", style=filled];\n";
 
@@ -205,7 +205,7 @@ TaskComposerNode::dump(std::ostream& os,
     if (it != results_map.end())
     {
       os << "\\nTime: " << std::fixed << std::setprecision(3) << it->second->elapsed_time << "s"
-         << "\\n'" << it->second->message << "'";
+         << "\\n'" << std::to_string(it->second->status_code) << "::" << it->second->status_message << "'";
     }
     os << "\", color=black, fillcolor=" << color << ", style=filled];\n";
 

tesseract_task_composer/core/src/task_composer_node_info.cpp

@@ -63,7 +63,8 @@ bool TaskComposerNodeInfo::operator==(const TaskComposerNodeInfo& rhs) const
   equal &= uuid == rhs.uuid;
   equal &= parent_uuid == rhs.parent_uuid;
   equal &= return_value == rhs.return_value;
-  equal &= message == rhs.message;
+  equal &= status_code == rhs.status_code;
+  equal &= status_message == rhs.status_message;
   equal &= start_time == rhs.start_time;
   equal &= tesseract_common::almostEqualRelativeAndAbs(elapsed_time, rhs.elapsed_time, max_diff);
   equal &= tesseract_common::isIdentical(inbound_edges, rhs.inbound_edges, false);
@@ -90,7 +91,8 @@ void TaskComposerNodeInfo::serialize(Archive& ar, const unsigned int /*version*/
   ar& boost::serialization::make_nvp("uuid", uuid);
   ar& boost::serialization::make_nvp("parent_uuid", parent_uuid);
   ar& boost::serialization::make_nvp("return_value", return_value);
-  ar& boost::serialization::make_nvp("message", message);
+  ar& boost::serialization::make_nvp("status_code", status_code);
+  ar& boost::serialization::make_nvp("status_message", status_message);
   ar& boost::serialization::make_nvp("start_time",
                                      boost::serialization::make_binary_object(&start_time, sizeof(start_time)));
   ar& boost::serialization::make_nvp("elapsed_time", elapsed_time);

tesseract_task_composer/core/src/task_composer_pipeline.cpp

@@ -60,8 +60,9 @@ int TaskComposerPipeline::run(TaskComposerContext& context, OptionalTaskComposer
     info->input_keys = input_keys_;
     info->output_keys = output_keys_;
     info->return_value = 0;
+    info->status_code = 0;
+    info->status_message = "Aborted";
     info->color = "white";
-    info->message = "Aborted";
     info->aborted_ = true;
     context.task_infos.addInfo(std::move(info));
     return 0;
@@ -78,7 +79,8 @@ int TaskComposerPipeline::run(TaskComposerContext& context, OptionalTaskComposer
   {
     results = std::make_unique<TaskComposerNodeInfo>(*this);
     results->color = "red";
-    results->message = "Exception thrown: " + std::string(e.what());
+    results->status_code = -1;
+    results->status_message = "Exception thrown: " + std::string(e.what());
     results->return_value = 0;
   }
   timer.stop();
@@ -127,7 +129,8 @@ std::unique_ptr<TaskComposerNodeInfo> TaskComposerPipeline::runImpl(TaskComposer
       info->output_keys = output_keys_;
       info->return_value = static_cast<int>(i);
       info->color = node_info->color;
-      info->message = node_info->message;
+      info->status_code = node_info->status_code;
+      info->status_message = node_info->status_message;
       info->elapsed_time = timer.elapsedSeconds();
       return info;
     }