Update to leverage property tree schema

Author: Levi-Armstrong

motion_planners/ompl/src/ompl_motion_planner.cpp

@@ -208,7 +208,7 @@ long OMPLMotionPlanner::assignTrajectory(tesseract::command_language::CompositeI
   bool found{ false };
   Eigen::Index row{ 0 };
   auto& ci = output.getInstructions();
-  for (auto it = ci.begin() + static_cast<long>(start_index); it != ci.end(); ++it)
+  for (auto it = ci.begin() + start_index; it != ci.end(); ++it)
   {
     if (it->isMoveInstruction())
     {

task_composer/core/CMakeLists.txt

@@ -19,6 +19,7 @@ add_library(
   src/task_composer_plugin_factory.cpp
   src/task_composer_server.cpp
   src/task_composer_task.cpp
+  src/yaml_extensions.cpp
   src/yaml_utils.cpp)
 add_library(tesseract::task_composer ALIAS task_composer)
 if(NOT WIN32 AND NOT APPLE)

task_composer/core/include/tesseract/task_composer/nodes/remap_task.h

@@ -53,6 +53,8 @@ class TESSERACT_TASK_COMPOSER_NODES_EXPORT RemapTask : public TaskComposerTask
   explicit RemapTask(std::string name, const YAML::Node& config, const TaskComposerPluginFactory& plugin_factory);
   ~RemapTask() override = default;
 
+  static tesseract::common::PropertyTree schema();
+
 private:
   bool copy_{ false };
 

task_composer/core/include/tesseract/task_composer/task_composer_graph.h

@@ -57,6 +57,9 @@ class TaskComposerGraph : public TaskComposerNode
   TaskComposerGraph(TaskComposerGraph&&) = delete;
   TaskComposerGraph& operator=(TaskComposerGraph&&) = delete;
 
+  /** @brief Return the PropertyTree schema for a TaskComposerGraph. */
+  static tesseract::common::PropertyTree schema();
+
   /**
    * @brief Get the root node of the graph
    * @return The root node uuid

task_composer/core/include/tesseract/task_composer/task_composer_node.h

@@ -82,6 +82,9 @@ class TaskComposerNode
 
   int run(TaskComposerContext& context, OptionalTaskComposerExecutor executor = std::nullopt) const;
 
+  /** @brief Return the PropertyTree schema for this node type. */
+  static tesseract::common::PropertyTree schema();
+
   /** @brief Set the name of the node */
   void setName(const std::string& name);
 

task_composer/core/include/tesseract/task_composer/task_composer_plugin_factory.h

@@ -70,6 +70,9 @@ class TaskComposerNodeFactory
                                                    const YAML::Node& config,
                                                    const TaskComposerPluginFactory& plugin_factory) const = 0;
 
+  /** @brief Return the PropertyTree schema describing the config this factory accepts */
+  virtual tesseract::common::PropertyTree schema() const;
+
   static std::string getSection();
 };
 
@@ -85,6 +88,9 @@ class TaskComposerExecutorFactory
 
   virtual std::unique_ptr<TaskComposerExecutor> create(const std::string& name, const YAML::Node& config) const = 0;
 
+  /** @brief Return the PropertyTree schema describing the config this factory accepts */
+  virtual tesseract::common::PropertyTree schema() const;
+
   static std::string getSection();
 };
 

task_composer/core/include/tesseract/task_composer/task_composer_plugin_factory_utils.h

@@ -25,6 +25,7 @@
 #define TESSERACT_TASK_COMPOSER_TASK_COMPOSER_PLUGIN_FACTORY_UTILS_H
 
 #include <tesseract/task_composer/task_composer_plugin_factory.h>
+#include <tesseract/common/property_tree.h>
 
 namespace tesseract::task_composer
 {
@@ -38,6 +39,8 @@ class TaskComposerTaskFactory : public TaskComposerNodeFactory
   {
     return std::make_unique<TaskType>(name, config, plugin_factory);
   }
+
+  tesseract::common::PropertyTree schema() const override { return TaskType::schema(); }
 };
 
 template <typename ExecutorType>
@@ -48,7 +51,10 @@ class TaskComposerExecutorFactoryImpl : public TaskComposerExecutorFactory
   {
     return std::make_unique<ExecutorType>(name, config);
   }
+
+  tesseract::common::PropertyTree schema() const override { return ExecutorType::schema(); }
 };
+
 }  // namespace tesseract::task_composer
 
 #endif  // TESSERACT_TASK_COMPOSER_TASK_COMPOSER_PLUGIN_FACTORY_UTILS_H

task_composer/core/include/tesseract/task_composer/task_composer_task.h

@@ -52,6 +52,9 @@ class TaskComposerTask : public TaskComposerNode
   TaskComposerTask(TaskComposerTask&&) = delete;
   TaskComposerTask& operator=(TaskComposerTask&&) = delete;
 
+  /** @brief Return the PropertyTree schema for this task type. */
+  static tesseract::common::PropertyTree schema();
+
   /**
    * @brief If true this node should call context.abort(uuid_) after run method returns
    * @param enable True if task should call context.abort(uuid_) after run method returns

task_composer/core/include/tesseract/task_composer/test_suite/test_task.h

@@ -64,6 +64,8 @@ class TestTask : public TaskComposerTask
   bool operator==(const TestTask& rhs) const;
   bool operator!=(const TestTask& rhs) const;
 
+  static tesseract::common::PropertyTree schema();
+
 private:
   static TaskComposerNodePorts ports();
 

task_composer/core/include/tesseract/task_composer/yaml_extensions.h

@@ -30,6 +30,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract/common/yaml_extensions.h>
+#include <tesseract/common/fwd.h>
 #include <tesseract/task_composer/task_composer_keys.h>
 
 namespace YAML
@@ -69,6 +70,8 @@ struct convert<tesseract::task_composer::TaskComposerKeys>
 
     return true;
   }
+
+  static tesseract::common::PropertyTree schema();
 };
 
 }  // namespace YAML