Merge branch 'master' into ros2

Author: rhaschke

.github/workflows/ci.yaml

@@ -51,7 +51,7 @@ jobs:
     name: "${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }}"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           submodules: recursive
 
@@ -78,14 +78,14 @@ jobs:
           subdir: target_ws/install
 
       - name: Upload test artifacts (on failure)
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
         with:
           name: test-results-${{ matrix.env.IMAGE }}${{ matrix.env.NAME && '-' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && '-clang-tidy' || '' }}
           path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
 
       - name: Upload clang-tidy fixes (on failure)
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         if: failure() && steps.ici.outputs.clang_tidy_checks
         with:
           name: clang-tidy-fixes.yaml
@@ -106,7 +106,7 @@ jobs:
           lcov_capture_args: --ignore-errors=source,gcov,mismatch,negative
           ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"'
       - name: Upload codecov report
-        uses: codecov/codecov-action@v3
+        uses: codecov/codecov-action@v6
         if: contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && steps.ici.outputs.target_test_results == '0'
         with:
           files: ${{ env.BASEDIR }}/target_ws/coverage.info

.github/workflows/format.yaml

@@ -13,7 +13,7 @@ jobs:
     name: pre-commit
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           submodules: recursive
       - name: Install clang-format-14

.github/workflows/prerelease.yaml

@@ -34,7 +34,7 @@ jobs:
           # free up a lot of stuff from /usr/local
           sudo rm -rf /usr/local
           df -h
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           submodules: recursive
       - name: industrial_ci

.pre-commit-config.yaml

@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v5.0.0
+    rev: v6.0.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict
@@ -29,7 +29,7 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/psf/black
-    rev: 25.1.0
+    rev: 26.3.1
     hooks:
       - id: black
         args: ["--line-length", "100"]

core/src/container.cpp

@@ -328,7 +328,7 @@ void ContainerBasePrivate::liftSolution(const SolutionBasePtr& solution, const I
 
 ContainerBase::ContainerBase(ContainerBasePrivate* impl) : Stage(impl) {
 	auto& p = properties();
-	p.declare<bool>("pruning", std::string("enable pruning?")).configureInitFrom(Stage::PARENT, "pruning");
+	p.declare<bool>("pruning", false, std::string("enable pruning?")).configureInitFrom(Stage::PARENT, "pruning");
 }
 
 size_t ContainerBase::numChildren() const {
@@ -535,24 +535,24 @@ void SerialContainer::onNewSolution(const SolutionBase& current) {
 	SolutionCollector<Interface::BACKWARD> incoming(num_before, current);
 	SolutionCollector<Interface::FORWARD> outgoing(num_after, current);
 
-	// collect (and sort) all solutions spanning from start to end of this container
-	ordered<SolutionSequencePtr> sorted;
+	// collect (and lift) all solutions spanning from start to end of this container
 	for (auto& in : incoming.solutions) {
 		for (auto& out : outgoing.solutions) {
 			InterfaceState::Priority prio = in.second + InterfaceState::Priority(1u, current.cost()) + out.second;
 			assert(prio.enabled());
 			// found a complete solution path connecting start to end?
 			if (prio.depth() == children.size()) {
-				SolutionSequence::container_type solution;
-				solution.reserve(children.size());
+				SolutionSequence::container_type seq;
+				seq.reserve(children.size());
 				// insert incoming solutions in reverse order
-				solution.insert(solution.end(), in.first.rbegin(), in.first.rend());
+				seq.insert(seq.end(), in.first.rbegin(), in.first.rend());
 				// insert current solution
-				solution.push_back(&current);
+				seq.push_back(&current);
 				// insert outgoing solutions in normal order
-				solution.insert(solution.end(), out.first.begin(), out.first.end());
-				// store solution in sorted list
-				sorted.insert(std::make_shared<SolutionSequence>(std::move(solution), prio.cost(), this));
+				seq.insert(seq.end(), out.first.begin(), out.first.end());
+				// create SolutionSequence and lift it to external interface
+				auto solution = std::make_shared<SolutionSequence>(std::move(seq), prio.cost(), this);
+				impl->liftSolution(solution, solution->internalStart(), solution->internalEnd());
 			}
 			if (prio.depth() > 1) {
 				// update state priorities along the whole partial solution path
@@ -562,10 +562,6 @@ void SerialContainer::onNewSolution(const SolutionBase& current) {
 		}
 	}
 	// printChildrenInterfaces(*this->pimpl(), true, *current.creator());
-
-	// finally, store + announce new solutions to external interface
-	for (const auto& solution : sorted)
-		impl->liftSolution(solution, solution->internalStart(), solution->internalEnd());
 }
 
 SerialContainer::SerialContainer(SerialContainerPrivate* impl) : ContainerBase(impl) {}
@@ -1035,6 +1031,11 @@ bool FallbacksPrivatePropagator::nextJob() {
 	}
 
 	// When arriving here, we have a valid job_ and a current_ child to feed it. Let's do that.
+	if (dir_ == Interface::FORWARD)
+		setStatus<Interface::BACKWARD>(nullptr, nullptr, &*job_, InterfaceState::Status::ENABLED);
+	else
+		setStatus<Interface::FORWARD>(nullptr, nullptr, &*job_, InterfaceState::Status::ENABLED);
+
 	copyState(dir_, job_, (*current_)->pimpl()->pullInterface(dir_), Interface::UpdateFlags());
 	return true;
 }

core/src/stage.cpp

@@ -86,7 +86,7 @@ void InitStageException::append(InitStageException& other) {
 }
 
 const char* InitStageException::what() const noexcept {
-	static const char* msg = "Error initializing stage(s). RCLCPP_ERROR_STREAM(e) for details.";
+	static const char* msg = "mtc::InitStageException. Use RCLCPP_ERROR_STREAM(exc) for details.";
 	return msg;
 }
 
@@ -821,7 +821,7 @@ void ConnectingPrivate::newState(Interface::iterator it, Interface::UpdateFlags
 		for (Interface::iterator oit : oit_to_enable)
 			parent_pimpl->setStatus<opposite<dir>()>(me(), &*it, &*oit, InterfaceState::Status::ENABLED);
 
-		if (!have_enabled_opposites)  // prune new state and associated branch if necessary
+		if (!have_enabled_opposites && parent()->pruning())  // prune new state and associated branch if necessary
 			// pass creator=nullptr to skip hasPendingOpposites() check as we did this here already
 			parent_pimpl->setStatus<dir>(nullptr, nullptr, &*it, InterfaceState::Status::ARMED);
 	}

core/src/task.cpp

@@ -95,7 +95,6 @@ const ContainerBase* TaskPrivate::stages() const {
 
 Task::Task(const std::string& ns, bool introspection, ContainerBase::pointer&& container)
   : WrapperBase(new TaskPrivate(this, ns), std::move(container)) {
-	setPruning(false);
 	setTimeout(std::numeric_limits<double>::max());
 
 	// monitor state on commandline

core/test/test_fallback.cpp

@@ -196,3 +196,19 @@ TEST_F(FallbacksFixtureConnect, connectStageInsideFallbacks) {
 	EXPECT_TRUE(t.plan());
 	EXPECT_COSTS(t.solutions(), testing::ElementsAre(11, 12, 22, 121));
 }
+
+TEST_F(FallbacksFixtureConnect, connectInsideSerialInsideFallbacks) {
+	t.add(std::make_unique<GeneratorMockup>(PredefinedCosts({ 0.0 })));
+	auto fallbacks = std::make_unique<Fallbacks>("Fallbacks");
+	auto serial = std::make_unique<SerialContainer>("Serial1");
+	serial->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(0.0)));
+	serial->add(std::make_unique<ConnectMockup>(PredefinedCosts::constant(1.0)));
+	serial->add(std::make_unique<BackwardMockup>(PredefinedCosts::constant(INF)));
+	serial->add(std::make_unique<GeneratorMockup>(PredefinedCosts::single(2.0)));
+	fallbacks->add(std::move(serial));
+	fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(4.0)));
+
+	t.add(std::move(fallbacks));
+	EXPECT_TRUE(t.plan());
+	EXPECT_COSTS(t.solutions(), testing::ElementsAre(4.0));
+}