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Adds optional callback on item planned to CommandListManager #3597

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Adds optional callback on item planned to CommandListManager #3597

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@riv-tnoble riv-tnoble commented Apr 29, 2024 •
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Description

  • Adds an on_item_planned callback to Pilz's CommandListManager (solve and solveSequenceItems) to allow callers to respond to plan completion of an item
  • Prerequisite for Add progress to MoveGroupSequence Feedback #3596
  • Defaults to empty lambda for backwards-compatibility
  • Adds test case checking callback is called

Checklist

  • Required by CI: Code is auto formatted using clang-format
  • Extend the tutorials / documentation reference
  • Document API changes relevant to the user in the MIGRATION.md notes (Backwards compatibility maintained)
  • Create tests, which fail without this PR reference
  • Include a screenshot if changing a GUI (No GUI changes)
  • While waiting for someone to review your request, please help review another open pull request to support the maintainers

@riv-tnoble riv-tnoble requested a review from jschleicher as a code owner April 29, 2024 12:23
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riv-tnoble commented Apr 29, 2024

@rhaschke Ready for review when you have time.

I've left the action feedback part of #3596 out of this PR as I can't remember the process for coordinating the workflows with changes to msgs packages.

Will start on that tomorrow.

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rhaschke reviewed Apr 30, 2024
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I've left the action feedback part of #3596 out of this PR as I can't remember the process for coordinating the workflows with changes to msgs packages.

You can temporarily link to your moveit_msgs version in upstream.rosinstall. The corresponding commit should be removed after merging moveit_msgs and before merging this PR.

@riv-tnoble riv-tnoble requested a review from rhaschke April 30, 2024 13:56
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riv-tnoble commented May 1, 2024

@rhaschke Ready for re-review when you get time

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I suggest integrating the actual action feedback in this PR as well. This clarifies the need for the API extension.

...pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/command_list_manager.h Outdated
#include <string>

#include <boost/optional.hpp>
#include <boost/function.hpp>
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This is not needed anymore, is it?

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Done 👍

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riv-tnoble commented May 1, 2024 •
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I suggest integrating the actual action feedback in this PR as well. This clarifies the need for the API extension.

Can do, although I'm quite busy at work at the moment so might be a bit longer until I can pick up the rest. Might also be nice to merge the stuff we can without having this PR waiting on the msgs PR (sounds like it might be a while before the workflows run for that one)?

@riv-tnoble riv-tnoble requested a review from rhaschke May 1, 2024 10:14
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rhaschke commented May 1, 2024

I'm fine to wait for the final implementation. The message merge is pending anyway.

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codecov-commenter commented Jun 1, 2024 •
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⚠️ Please install the 'codecov app svg image' to ensure uploads and comments are reliably processed by Codecov.

Codecov Report

Attention: Patch coverage is 75.00000% with 3 lines in your changes missing coverage. Please review.

Project coverage is 47.14%. Comparing base (c174715) to head (ff79176).
Report is 68 commits behind head on master.

Files with missing lines Patch % Lines
...nner/test/integrationtest_command_list_manager.cpp 75.00% 2 Missing ⚠️
...strial_motion_planner/src/command_list_manager.cpp 66.67% 1 Missing ⚠️

❗ Your organization needs to install the Codecov GitHub app to enable full functionality.

Additional details and impacted files 
@@            Coverage Diff             @@
##           master    #3597      +/-   ##
==========================================
- Coverage   47.15%   47.14%   -0.00%     
==========================================
  Files         603      603              
  Lines       58999    59221     +222     
  Branches     6969     7005      +36     
==========================================
+ Hits        27814    27916     +102     
- Misses      30773    30887     +114     
- Partials      412      418       +6

☔ View full report in Codecov by Sentry.
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@rhaschke rhaschke added the more work needed Everyone is invited to contribute label Jan 9, 2025
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