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Fix task's move constructor #371

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merged 4 commits into from
Jun 14, 2022
Merged

Fix task's move constructor #371

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06d5370
Add test that trigger the bug
JafarAbdi Jun 9, 2022
ed09dea
Fix TaskPrivate's move assignment operator
JafarAbdi Jun 9, 2022
f2336bf
Fixup: Maintain introspection status from other task
rhaschke Jun 14, 2022
194a4df
Slightly simplify code
rhaschke Jun 14, 2022
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1 change: 0 additions & 1 deletion core/src/task.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -77,7 +77,6 @@ TaskPrivate::TaskPrivate(Task* me, const std::string& ns)
TaskPrivate& TaskPrivate::operator=(TaskPrivate&& other) {
this->WrapperBasePrivate::operator=(std::move(other));
ns_ = std::move(other.ns_);
introspection_ = std::move(other.introspection_);
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Maybe I should reset other.introspection_?

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Moving a unique_ptr like this should correctly reset other's introspection_ pointer.

robot_model_ = std::move(other.robot_model_);
robot_model_loader_ = std::move(other.robot_model_loader_);
task_cbs_ = std::move(other.task_cbs_);
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29 changes: 29 additions & 0 deletions core/test/test_move_to.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
#include "models.h"
#include "stage_mockups.h"

#include <moveit/task_constructor/task.h>
#include <moveit/task_constructor/stages/move_to.h>
Expand Down Expand Up @@ -160,6 +161,34 @@ TEST_F(PandaMoveTo, poseIKFrameAttachedSubframeTarget) {
}
#endif

// This test require a running rosmaster
TEST(Task, taskMoveConstructor) {
auto create_task = [] {
moveit::core::RobotModelConstPtr robot_model = getModel();
Task t("first");
t.setRobotModel(robot_model);
auto ref = new stages::FixedState("fixed");
auto scene = std::make_shared<planning_scene::PlanningScene>(t.getRobotModel());
ref->setState(scene);

t.add(Stage::pointer(ref));
t.add(std::make_unique<ConnectMockup>());
t.add(std::make_unique<MonitoringGeneratorMockup>(ref));
return t;
};

// Segfaults when introspection is enabled
Task t;
t = create_task();

try {
t.init();
EXPECT_TRUE(t.plan(1));
} catch (const InitStageException& e) {
ADD_FAILURE() << "InitStageException:" << std::endl << e << t;
}
}

int main(int argc, char** argv) {
testing::InitGoogleTest(&argc, argv);
ros::init(argc, argv, "move_to_test");
Expand Down