Add verbose options to process input so planner verbosity can be turned on

Author: Levi-Armstrong

tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_input.h

@@ -52,29 +52,38 @@ struct ProcessInput
   ProcessInput(tesseract::Tesseract::ConstPtr tesseract,
                const Instruction* instruction,
                const ManipulatorInfo& manip_info,
-               Instruction* seed);
+               Instruction* seed,
+               bool verbose = false);
 
   ProcessInput(tesseract::Tesseract::ConstPtr tesseract,
                const Instruction* instruction,
                const ManipulatorInfo& manip_info,
                const PlannerProfileRemapping& plan_profile_remapping,
                const PlannerProfileRemapping& composite_profile_remapping,
-               Instruction* seed);
+               Instruction* seed,
+               bool verbose = false);
 
   ProcessInput(tesseract::Tesseract::ConstPtr tesseract,
                const Instruction* instruction,
                const PlannerProfileRemapping& plan_profile_remapping,
                const PlannerProfileRemapping& composite_profile_remapping,
-               Instruction* seed);
+               Instruction* seed,
+               bool verbose = false);
 
-  ProcessInput(tesseract::Tesseract::ConstPtr tesseract, const Instruction* instruction, Instruction* seed);
+  ProcessInput(tesseract::Tesseract::ConstPtr tesseract,
+               const Instruction* instruction,
+               Instruction* seed,
+               bool verbose = false);
 
   /** @brief Tesseract associated with current state of the system */
   const tesseract::Tesseract::ConstPtr tesseract;
 
   /** @brief Global Manipulator Information */
   const ManipulatorInfo& manip_info;
 
+  /** @brief Verbose Output */
+  bool verbose{ false };
+
   /**
    * @brief This allows the remapping of the Plan Profile identified in the command language to a specific profile for a
    * given motion planner.

tesseract/tesseract_planning/tesseract_process_managers/src/process_generators/motion_planner_process_generator.cpp

@@ -160,7 +160,7 @@ int MotionPlannerProcessGenerator::conditionalProcess(ProcessInput input) const
   PlannerResponse response;
 
   bool verbose = false;
-  if (console_bridge::getLogLevel() == console_bridge::LogLevel::CONSOLE_BRIDGE_LOG_DEBUG)
+  if (input.verbose || console_bridge::getLogLevel() == console_bridge::LogLevel::CONSOLE_BRIDGE_LOG_DEBUG)
     verbose = true;
   auto status = planner_->solve(request, response, verbose);
 

tesseract/tesseract_planning/tesseract_process_managers/src/process_input.cpp

@@ -43,9 +43,11 @@ static const PlannerProfileRemapping EMPTY_PROFILE_MAPPING;
 ProcessInput::ProcessInput(tesseract::Tesseract::ConstPtr tesseract,
                            const Instruction* instruction,
                            const ManipulatorInfo& manip_info,
-                           Instruction* seed)
+                           Instruction* seed,
+                           bool verbose)
   : tesseract(std::move(tesseract))
   , manip_info(manip_info)
+  , verbose(verbose)
   , plan_profile_remapping(EMPTY_PROFILE_MAPPING)
   , composite_profile_remapping(EMPTY_PROFILE_MAPPING)
   , instruction_(instruction)
@@ -58,9 +60,11 @@ ProcessInput::ProcessInput(tesseract::Tesseract::ConstPtr tesseract,
                            const ManipulatorInfo& manip_info,
                            const PlannerProfileRemapping& plan_profile_remapping,
                            const PlannerProfileRemapping& composite_profile_remapping,
-                           Instruction* seed)
+                           Instruction* seed,
+                           bool verbose)
   : tesseract(std::move(tesseract))
   , manip_info(manip_info)
+  , verbose(verbose)
   , plan_profile_remapping(plan_profile_remapping)
   , composite_profile_remapping(composite_profile_remapping)
   , instruction_(instruction)
@@ -72,19 +76,25 @@ ProcessInput::ProcessInput(tesseract::Tesseract::ConstPtr tesseract,
                            const Instruction* instruction,
                            const PlannerProfileRemapping& plan_profile_remapping,
                            const PlannerProfileRemapping& composite_profile_remapping,
-                           Instruction* seed)
+                           Instruction* seed,
+                           bool verbose)
   : tesseract(std::move(tesseract))
   , manip_info(EMPTY_MANIPULATOR_INFO)
+  , verbose(verbose)
   , plan_profile_remapping(plan_profile_remapping)
   , composite_profile_remapping(composite_profile_remapping)
   , instruction_(instruction)
   , results_(seed)
 {
 }
 
-ProcessInput::ProcessInput(tesseract::Tesseract::ConstPtr tesseract, const Instruction* instruction, Instruction* seed)
+ProcessInput::ProcessInput(tesseract::Tesseract::ConstPtr tesseract,
+                           const Instruction* instruction,
+                           Instruction* seed,
+                           bool verbose)
   : tesseract(std::move(tesseract))
   , manip_info(EMPTY_MANIPULATOR_INFO)
+  , verbose(verbose)
   , plan_profile_remapping(EMPTY_PROFILE_MAPPING)
   , composite_profile_remapping(EMPTY_PROFILE_MAPPING)
   , instruction_(instruction)